{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/6712","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/6712/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/6712/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/6712/events","html_url":"https://github.com/RobotLocomotion/drake/pull/6712","id":246637704,"number":6712,"title":"Moving qp_inverse_dynamics from examples to 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of git move and namespace changes. \r\n\r\nThe only significant big change is that I split HumanoidStatus into a base class that only has the kinematics related data (RobotKinematicState). \r\n\r\nfirst step to #6712\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/6712)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/319402426","html_url":"https://github.com/RobotLocomotion/drake/pull/6712#issuecomment-319402426","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/6712","id":319402426,"user":{"login":"sammy-tri","id":17596504,"avatar_url":"https://avatars3.githubusercontent.com/u/17596504?v=4","gravatar_id":"","url":"https://api.github.com/users/sammy-tri","html_url":"https://github.com/sammy-tri","followers_url":"https://api.github.com/users/sammy-tri/followers","following_url":"https://api.github.com/users/sammy-tri/following{/other_user}","gists_url":"https://api.github.com/users/sammy-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/sammy-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sammy-tri/subscriptions","organizations_url":"https://api.github.com/users/sammy-tri/orgs","repos_url":"https://api.github.com/users/sammy-tri/repos","events_url":"https://api.github.com/users/sammy-tri/events{/privacy}","received_events_url":"https://api.github.com/users/sammy-tri/received_events","type":"User","site_admin":false},"created_at":"2017-08-01T15:17:48Z","updated_at":"2017-08-01T15:17:48Z","body":"+(status: curate commits before merging) \n\nPartial pass completed.  Taking a break for a bit but should get to the rest of this today.\n\n---\n\nReviewed 38 of 89 files at r1, 6 of 21 files at r2, 1 of 1 files at r5.\nReview status: all files reviewed at latest revision, 7 unresolved discussions.\n\n---\n\n*[drake/multibody/test/rigid_body_tree_alias_groups_test.cc, line 10 at r4](https://reviewable.io:443/reviews/robotlocomotion/drake/6712#-KqTGbdtihN-rnPU2s2Z:-KqTGbdussmWCdZD-efU:b-6qzht2) ([raw file](https://github.com/robotlocomotion/drake/blob/db95965db24236e3dcf0332b7d57d944f307d092/drake/multibody/test/rigid_body_tree_alias_groups_test.cc#L10)):*\n> ```cpp\n> namespace drake {\n> namespace examples {\n> namespace qp_inverse_dynamics {\n> ```\n\nDo we still want these namespaces here?\n\n---\n\n*[drake/multibody/test/rigid_body_tree_alias_groups_test.cc, line 13 at r4](https://reviewable.io:443/reviews/robotlocomotion/drake/6712#-KqTGxQnlCDKGhhn9Q5t:-KqTGxQnlCDKGhhn9Q5u:bhqb6tq) ([raw file](https://github.com/robotlocomotion/drake/blob/db95965db24236e3dcf0332b7d57d944f307d092/drake/multibody/test/rigid_body_tree_alias_groups_test.cc#L13)):*\n> ```cpp\n> namespace param_parsers {\n> \n> // body_group {\n> ```\n\nIt seems brittle to duplicate the body of the test file here (as evidenced by the fact that it got out of sync once).  Consider deleting it?\n\n---\n\n*[drake/systems/controllers/qp_inverse_dynamics/qp_inverse_dynamics.cc, line 73 at r4](https://reviewable.io:443/reviews/robotlocomotion/drake/6712#-KqTLagSTsLv70u8OveK:-KqTLagSTsLv70u8OveL:b-5ieelp) ([raw file](https://github.com/robotlocomotion/drake/blob/db95965db24236e3dcf0332b7d57d944f307d092/drake/systems/controllers/qp_inverse_dynamics/qp_inverse_dynamics.cc#L73)):*\n> ```cpp\n> \n> void QpInverseDynamics::ResizeQP(const RigidBodyTree<double>& robot,\n>                             const QpInput& input) {\n> ```\n\nOdd indentation\n\n---\n\n*[drake/systems/controllers/qp_inverse_dynamics/qp_inverse_dynamics.cc, line 335 at r4](https://reviewable.io:443/reviews/robotlocomotion/drake/6712#-KqTLcfod_iaC9qe-jK1:-KqTLcfod_iaC9qe-jK2:b-5ieelp) ([raw file](https://github.com/robotlocomotion/drake/blob/db95965db24236e3dcf0332b7d57d944f307d092/drake/systems/controllers/qp_inverse_dynamics/qp_inverse_dynamics.cc#L335)):*\n> ```cpp\n> \n> int QpInverseDynamics::Control(const RobotKinematicState<double>& rs,\n>                           const QpInput& input, QpOutput* output) {\n> ```\n\nOdd indentation\n\n---\n\n*[drake/systems/controllers/qp_inverse_dynamics/robot_kinematic_state.h, line 17 at r4](https://reviewable.io:443/reviews/robotlocomotion/drake/6712#-KqTHcmGnDLjH9_z2Okd:-KqTHcmGnDLjH9_z2Oke:b-cwqnkd) ([raw file](https://github.com/robotlocomotion/drake/blob/db95965db24236e3dcf0332b7d57d944f307d092/drake/systems/controllers/qp_inverse_dynamics/robot_kinematic_state.h#L17)):*\n> ```objc\n>  * A wrapper class around KinematicsCache and several useful matrices such as\n>  * the inertia matrix, etc. This class serves mainly as a explicit cache to\n>  * avoid repeated computation. This class can be replaced with System's cache\n> ```\n\n\"with System's cache is ready\" sounds kinda awkward\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/6712#-:-KqT3IMI6JmMXbSlgHy2:b-rwiyrj)*\n<!-- Sent from Reviewable.io -->\n"}}
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