{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/6896","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/6896/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/6896/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/6896/events","html_url":"https://github.com/RobotLocomotion/drake/pull/6896","id":252415498,"number":6896,"title":"Correct the name of the transform in WorldPositionInFrameConstraint","user":{"login":"hongkai-dai","id":6314000,"avatar_url":"https://avatars2.githubusercontent.com/u/6314000?v=4","gravatar_id":"","url":"https://api.github.com/users/hongkai-dai","html_url":"https://github.com/hongkai-dai","followers_url":"https://api.github.com/users/hongkai-dai/followers","following_url":"https://api.github.com/users/hongkai-dai/following{/other_user}","gists_url":"https://api.github.com/users/hongkai-dai/gists{/gist_id}","starred_url":"https://api.github.com/users/hongkai-dai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hongkai-dai/subscriptions","organizations_url":"https://api.github.com/users/hongkai-dai/orgs","repos_url":"https://api.github.com/users/hongkai-dai/repos","events_url":"https://api.github.com/users/hongkai-dai/events{/privacy}","received_events_url":"https://api.github.com/users/hongkai-dai/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"login":"avalenzu","id":2574034,"avatar_url":"https://avatars3.githubusercontent.com/u/2574034?v=4","gravatar_id":"","url":"https://api.github.com/users/avalenzu","html_url":"https://github.com/avalenzu","followers_url":"https://api.github.com/users/avalenzu/followers","following_url":"https://api.github.com/users/avalenzu/following{/other_user}","gists_url":"https://api.github.com/users/avalenzu/gists{/gist_id}","starred_url":"https://api.github.com/users/avalenzu/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/avalenzu/subscriptions","organizations_url":"https://api.github.com/users/avalenzu/orgs","repos_url":"https://api.github.com/users/avalenzu/repos","events_url":"https://api.github.com/users/avalenzu/events{/privacy}","received_events_url":"https://api.github.com/users/avalenzu/received_events","type":"User","site_admin":false},"assignees":[{"login":"avalenzu","id":2574034,"avatar_url":"https://avatars3.githubusercontent.com/u/2574034?v=4","gravatar_id":"","url":"https://api.github.com/users/avalenzu","html_url":"https://github.com/avalenzu","followers_url":"https://api.github.com/users/avalenzu/followers","following_url":"https://api.github.com/users/avalenzu/following{/other_user}","gists_url":"https://api.github.com/users/avalenzu/gists{/gist_id}","starred_url":"https://api.github.com/users/avalenzu/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/avalenzu/subscriptions","organizations_url":"https://api.github.com/users/avalenzu/orgs","repos_url":"https://api.github.com/users/avalenzu/repos","events_url":"https://api.github.com/users/avalenzu/events{/privacy}","received_events_url":"https://api.github.com/users/avalenzu/received_events","type":"User","site_admin":false},{"login":"soonho-tri","id":20779767,"avatar_url":"https://avatars3.githubusercontent.com/u/20779767?v=4","gravatar_id":"","url":"https://api.github.com/users/soonho-tri","html_url":"https://github.com/soonho-tri","followers_url":"https://api.github.com/users/soonho-tri/followers","following_url":"https://api.github.com/users/soonho-tri/following{/other_user}","gists_url":"https://api.github.com/users/soonho-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/soonho-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/soonho-tri/subscriptions","organizations_url":"https://api.github.com/users/soonho-tri/orgs","repos_url":"https://api.github.com/users/soonho-tri/repos","events_url":"https://api.github.com/users/soonho-tri/events{/privacy}","received_events_url":"https://api.github.com/users/soonho-tri/received_events","type":"User","site_admin":false}],"milestone":null,"comments":3,"created_at":"2017-08-23T21:02:38Z","updated_at":"2017-08-24T16:13:53Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/6896","html_url":"https://github.com/RobotLocomotion/drake/pull/6896","diff_url":"https://github.com/RobotLocomotion/drake/pull/6896.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/6896.patch"},"body":"In the header file `rigid_body_constraint.h`, the name of the transform was `T_world_to_frame`, while in the  `.cc` file `rigid_body_constraint.cc`, the name is `T_frame_to_world` https://github.com/RobotLocomotion/drake/blob/master/drake/multibody/rigid_body_constraint.cc#L2142. The actual implementation indicate it should be `T_frame_to_world` https://github.com/RobotLocomotion/drake/blob/master/drake/multibody/rigid_body_constraint.cc#L2145.\n\n<!-- Reviewable:start -->\n---\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/6896)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/324683258","html_url":"https://github.com/RobotLocomotion/drake/pull/6896#issuecomment-324683258","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/6896","id":324683258,"user":{"login":"soonho-tri","id":20779767,"avatar_url":"https://avatars3.githubusercontent.com/u/20779767?v=4","gravatar_id":"","url":"https://api.github.com/users/soonho-tri","html_url":"https://github.com/soonho-tri","followers_url":"https://api.github.com/users/soonho-tri/followers","following_url":"https://api.github.com/users/soonho-tri/following{/other_user}","gists_url":"https://api.github.com/users/soonho-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/soonho-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/soonho-tri/subscriptions","organizations_url":"https://api.github.com/users/soonho-tri/orgs","repos_url":"https://api.github.com/users/soonho-tri/repos","events_url":"https://api.github.com/users/soonho-tri/events{/privacy}","received_events_url":"https://api.github.com/users/soonho-tri/received_events","type":"User","site_admin":false},"created_at":"2017-08-24T16:13:53Z","updated_at":"2017-08-24T16:13:53Z","body":"<img class=\"emoji\" title=\":lgtm:\" alt=\":lgtm:\" align=\"absmiddle\" src=\"https://reviewable.io/lgtm.png\" height=\"20\" width=\"61\"/> (aside super-minor BTWs)\n\n---\n\nReview status: all files reviewed at latest revision, 3 unresolved discussions.\n\n---\n\n*[drake/multibody/rigid_body_constraint.h, line 897 at r1](https://reviewable.io:443/reviews/robotlocomotion/drake/6896#-KsK-zfb4W9thq64zYIe:-KsK-zfb4W9thq64zYIf:bummpvq) ([raw file](https://github.com/robotlocomotion/drake/blob/88b49f4050ab294d3de859b7d239714dbbfd337f/drake/multibody/rigid_body_constraint.h#L897)):*\n> ```objc\n> \n> /**\n>  * Constrain the points Q on a body to be within a bounding box specified in a\n> ```\n\nBTW, `Constrain` -> `Constrains`.\n\n---\n\n*[drake/multibody/rigid_body_constraint.h, line 898 at r1](https://reviewable.io:443/reviews/robotlocomotion/drake/6896#-KsK0D-YesOg-ryNNrZg:-KsK0D-ZfTPkFKS7JJR6:by37mfo) ([raw file](https://github.com/robotlocomotion/drake/blob/88b49f4050ab294d3de859b7d239714dbbfd337f/drake/multibody/rigid_body_constraint.h#L898)):*\n> ```objc\n> /**\n>  * Constrain the points Q on a body to be within a bounding box specified in a\n>  * fixed frame F. Namely lb ≤ p_FQ ≤ ub\n> ```\n\nBTW, need a punctuation at the end.\n\n---\n\n*[drake/multibody/rigid_body_constraint.h, line 903 at r1](https://reviewable.io:443/reviews/robotlocomotion/drake/6896#-KsK04tcEuDN6KnxCGPe:-KsK04tcEuDN6KnxCGPf:bummpvq) ([raw file](https://github.com/robotlocomotion/drake/blob/88b49f4050ab294d3de859b7d239714dbbfd337f/drake/multibody/rigid_body_constraint.h#L903)):*\n> ```objc\n>  public:\n>   /**\n>    * Constrain the points Q on a body to be within a bounding box specified in\n> ```\n\nBTW, `Constrain` -> `Constrains`.\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/6896#-:-KsK0JbvJzQdvkkLQm80:bw13bwd)*\n<!-- Sent from Reviewable.io -->\n"}}
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