{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/6814","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/6814/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/6814/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/6814/events","html_url":"https://github.com/RobotLocomotion/drake/pull/6814","id":249387391,"number":6814,"title":"Add shape specification to geometry","user":{"login":"SeanCurtis-TRI","id":22159799,"avatar_url":"https://avatars3.githubusercontent.com/u/22159799?v=4","gravatar_id":"","url":"https://api.github.com/users/SeanCurtis-TRI","html_url":"https://github.com/SeanCurtis-TRI","followers_url":"https://api.github.com/users/SeanCurtis-TRI/followers","following_url":"https://api.github.com/users/SeanCurtis-TRI/following{/other_user}","gists_url":"https://api.github.com/users/SeanCurtis-TRI/gists{/gist_id}","starred_url":"https://api.github.com/users/SeanCurtis-TRI/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/SeanCurtis-TRI/subscriptions","organizations_url":"https://api.github.com/users/SeanCurtis-TRI/orgs","repos_url":"https://api.github.com/users/SeanCurtis-TRI/repos","events_url":"https://api.github.com/users/SeanCurtis-TRI/events{/privacy}","received_events_url":"https://api.github.com/users/SeanCurtis-TRI/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}],"milestone":null,"comments":6,"created_at":"2017-08-10T15:32:43Z","updated_at":"2017-08-12T12:32:29Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/6814","html_url":"https://github.com/RobotLocomotion/drake/pull/6814","diff_url":"https://github.com/RobotLocomotion/drake/pull/6814.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/6814.patch"},"body":"This introduces the basic infrastructure for declaring geometric *shapes*\r\ninto the system. It includes to preliminary shapes (a half space and a\r\nsphere). This is *not* a complete set of shapes. It merely provides\r\nsufficient elements so that some computation can be illustrated. It also\r\ndefines the interface through which specifications become actual\r\noperational geometry without the expediency of type enumerations.\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/6814)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/321978268","html_url":"https://github.com/RobotLocomotion/drake/pull/6814#issuecomment-321978268","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/6814","id":321978268,"user":{"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},"created_at":"2017-08-12T12:32:29Z","updated_at":"2017-08-12T12:32:29Z","body":"<img class=\"emoji\" title=\":lgtm:\" alt=\":lgtm:\" align=\"absmiddle\" src=\"https://reviewable.io/lgtm.png\" height=\"20\" width=\"61\"/> pending one typo fix. Great to see this taking \"shape\"!\n\n---\n\nReviewed 1 of 1 files at r2, 3 of 3 files at r3.\nReview status: all files reviewed at latest revision, 3 unresolved discussions.\n\n---\n\n*[drake/geometry/shape_specification.h, line 86 at r1](https://reviewable.io:443/reviews/robotlocomotion/drake/6814#-KrCC6FlesVyE7rNFkXn:-KrLN5jrOh26coetRcTO:b-cx5waf) ([raw file](https://github.com/robotlocomotion/drake/blob/2335accd3583d8bdbe1157e7c17d65de186b3689/drake/geometry/shape_specification.h#L86)):*\n<details><summary><i>Previously, SeanCurtis-TRI (Sean Curtis) wrote…</i></summary><blockquote>\n\nThe simple answer is, \"no\". Several thoughts:\n\n1. These are merely specifications. No calculations are done with them. These specifications will get transformed when they enter the engine. It's the difference bewteen `collision::Element` and `bullet::CollisionElement` -- particularly w.r.t. `Mesh` types.\n2. Even in the engine, properties like \"sphere radius\" may still be straight-up doubles. They would only be Eigen scalars if we wanted to take the derivative w.r.t. the radius. (Seems unlikely, but this PR doesn't preclude that.)\n</blockquote></details>\n\nOK, as discussed in the main review comments.\n\n---\n\n*[drake/geometry/shape_specification.h, line 145 at r1](https://reviewable.io:443/reviews/robotlocomotion/drake/6814#-KrC8X-gUMob01PylpT5:-KrLNjjc8ztQFUMGSu98:b-2ys6wd) ([raw file](https://github.com/robotlocomotion/drake/blob/2335accd3583d8bdbe1157e7c17d65de186b3689/drake/geometry/shape_specification.h#L145)):*\n<details><summary><i>Previously, SeanCurtis-TRI (Sean Curtis) wrote…</i></summary><blockquote>\n\nI ended up changing how the translation is defined. This should resolve things. \n</blockquote></details>\n\n:) I was thinking of numerical error, but also that the origin you've chosen in the new revision is the only one that really has a claim to being \"canonical.\"\n\n---\n\n*[drake/geometry/test/shape_specification_test.cc, line 142 at r3](https://reviewable.io:443/reviews/robotlocomotion/drake/6814#-KrLPbI2mWkk8fVJUpN6:-KrLPbI2mWkk8fVJUpN7:b-ecso44) ([raw file](https://github.com/robotlocomotion/drake/blob/4dc0cf6bf8818f4ce83c29d29f9e623355265ba7/drake/geometry/test/shape_specification_test.cc#L142)):*\n> ```cpp\n>   }\n> \n>   // Case: n(0, 0, 1), p(1, 0, 0) --> <0, 0, 1> z-axis, <0, 0, 0> transform.\n> ```\n\nBTW: s/transform/translation\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/6814#-:-KrLQ1OKBsdHVYpCewen:bn9yxdm)*\n<!-- Sent from Reviewable.io -->\n"}}
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