{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2901","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2901/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2901/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2901/events","html_url":"https://github.com/RobotLocomotion/drake/pull/2901","id":167187046,"number":2901,"title":"Added Doxygen Comments To RigidBodyLoop and 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believe these descriptions are correct but would like others to confirm.\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/2901)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/235039784","html_url":"https://github.com/RobotLocomotion/drake/pull/2901#issuecomment-235039784","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2901","id":235039784,"user":{"login":"sherm1","id":4088016,"avatar_url":"https://avatars.githubusercontent.com/u/4088016?v=3","gravatar_id":"","url":"https://api.github.com/users/sherm1","html_url":"https://github.com/sherm1","followers_url":"https://api.github.com/users/sherm1/followers","following_url":"https://api.github.com/users/sherm1/following{/other_user}","gists_url":"https://api.github.com/users/sherm1/gists{/gist_id}","starred_url":"https://api.github.com/users/sherm1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sherm1/subscriptions","organizations_url":"https://api.github.com/users/sherm1/orgs","repos_url":"https://api.github.com/users/sherm1/repos","events_url":"https://api.github.com/users/sherm1/events{/privacy}","received_events_url":"https://api.github.com/users/sherm1/received_events","type":"User","site_admin":false},"created_at":"2016-07-25T18:24:02Z","updated_at":"2016-07-25T18:24:02Z","body":"Another platform pass done -- PTAL.\n\n---\n\nReviewed 2 of 2 files at r3.\nReview status: all files reviewed at latest revision, 5 unresolved discussions.\n\n---\n\n*[drake/systems/plants/rigid_body_actuator.h, line 38 \\[r2\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/2901#-KNXymWyP7H-j3K9N1_E:-KNYGFSGm-y9zMQcIxJm:59594214) ([raw file](https://github.com/robotlocomotion/drake/blob/92c3da48f823007949e31ae6152466e777581e13/drake/systems/plants/rigid_body_actuator.h#L38)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary>\n> This was inherited from [what's on master](https://github.com/RobotLocomotion/drake/blob/539faa7bcb9e682b091f7ea388bca9c2133e2be4/drake/systems/plants/rigid_body_actuator.h#L13). I'm afraid if I change it in this PR, this PR will explode due to modifying publicly accessible mutable member variables. I've created the following issue to track this fix in a future PR.\n> \n> https://github.com/RobotLocomotion/drake/issues/2922\n</details>\nI don't understand your objection. Just change the names in the header file -- you don't have to change the implementation to match. These are just formal parameters -- the names don't mean anything to the compiler, just to the human reader.\n\n---\n\n*[drake/systems/plants/rigid_body_loop.h, line 14 \\[r2\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/2901#-KNY0vqXkE44tVYTwdQv:-KNYGd6Thv1qi0S8ZotU:-1858865829) ([raw file](https://github.com/robotlocomotion/drake/blob/92c3da48f823007949e31ae6152466e777581e13/drake/systems/plants/rigid_body_loop.h#L14)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary>\n> Done.\n</details>\nI'm still not sure this is right. It suggests that the axis of rotation must be one of the three frame axes, but the signature of the method does not require that. It looks to me that the rotation axis can be any direction, in which case *none* of the orientation axes will remain aligned, although there will still only be 1 rotational DOF.\n\n---\n\n*[drake/systems/plants/rigid_body_loop.h, line 20 \\[r2\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/2901#-KNY1dJmnW3vxR1okmlB:-KNYGyO6NbUZ-uNPnx8S:1517052212) ([raw file](https://github.com/robotlocomotion/drake/blob/92c3da48f823007949e31ae6152466e777581e13/drake/systems/plants/rigid_body_loop.h#L20)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary>\n> Done.\n</details>\n\"Partially\" should apply to the orientation only, the origins appear to be fully constrained to remain coincident.\n\n---\n\n*[drake/systems/plants/rigid_body_loop.h, line 31 \\[r2\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/2901#-KNY1kJdjel0HKpqYoLM:-KNYHBzJEhu_OLPZ83DQ:-1786815077) ([raw file](https://github.com/robotlocomotion/drake/blob/92c3da48f823007949e31ae6152466e777581e13/drake/systems/plants/rigid_body_loop.h#L31)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary>\n> I _believe_ it does not matter which frame the axis of rotation is expressed in since the two frames are constrained to be the same.  I've updated to text to reflect this belief.\n</details>\nThat can't be right, Liang. The rotation axis is a physical property (meaning it affects actual motion). There are 3 measure numbers in that `axis_in` vector -- they have to be measured in some frame, and changing that frame would mean the direction of allowed rotation would change. It's true that the vector will remain fixed in both frames A and B, but it won't have the same measure numbers if expressed in one or the other.\n\n---\n\n*[drake/systems/plants/rigid_body_loop.h, line 35 \\[r2\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/2901#-KNY0YZTjOp8Pk4-rKdM:-KNYI0Sxyz-S8q3x5vFG:-1650268393) ([raw file](https://github.com/robotlocomotion/drake/blob/92c3da48f823007949e31ae6152466e777581e13/drake/systems/plants/rigid_body_loop.h#L35)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary>\n> I'll address this in a future PR: \n> \n> https://github.com/RobotLocomotion/drake/issues/2922\n</details>\nAgain, just change the names in the header file.\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/2901#-:-KNYI6XFM3Cw7RTijeXM:46810457)*\n<!-- Sent from Reviewable.io -->\n"}}
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