{"action":"opened","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2556","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2556/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2556/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2556/events","html_url":"https://github.com/RobotLocomotion/drake/issues/2556","id":160212985,"number":2556,"title":"MathematicalProgram needs test coverage","user":{"login":"ggould-tri","id":17596413,"avatar_url":"https://avatars.githubusercontent.com/u/17596413?v=3","gravatar_id":"","url":"https://api.github.com/users/ggould-tri","html_url":"https://github.com/ggould-tri","followers_url":"https://api.github.com/users/ggould-tri/followers","following_url":"https://api.github.com/users/ggould-tri/following{/other_user}","gists_url":"https://api.github.com/users/ggould-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/ggould-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ggould-tri/subscriptions","organizations_url":"https://api.github.com/users/ggould-tri/orgs","repos_url":"https://api.github.com/users/ggould-tri/repos","events_url":"https://api.github.com/users/ggould-tri/events{/privacy}","received_events_url":"https://api.github.com/users/ggould-tri/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/priority:%20low","name":"priority: low","color":"e99695"},{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/team:%20optimization","name":"team: optimization","color":"0052cc"},{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/type:%20cleanup","name":"type: cleanup","color":"009800"},{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/type:%20feature%20request","name":"type: feature request","color":"0e8a16"}],"state":"open","locked":false,"assignee":{"login":"ggould-tri","id":17596413,"avatar_url":"https://avatars.githubusercontent.com/u/17596413?v=3","gravatar_id":"","url":"https://api.github.com/users/ggould-tri","html_url":"https://github.com/ggould-tri","followers_url":"https://api.github.com/users/ggould-tri/followers","following_url":"https://api.github.com/users/ggould-tri/following{/other_user}","gists_url":"https://api.github.com/users/ggould-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/ggould-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ggould-tri/subscriptions","organizations_url":"https://api.github.com/users/ggould-tri/orgs","repos_url":"https://api.github.com/users/ggould-tri/repos","events_url":"https://api.github.com/users/ggould-tri/events{/privacy}","received_events_url":"https://api.github.com/users/ggould-tri/received_events","type":"User","site_admin":false},"milestone":null,"comments":0,"created_at":"2016-06-14T15:34:28Z","updated_at":"2016-06-14T15:34:28Z","closed_at":null,"body":"MathematicalProgram uses the C++ type system to implement a lattice of problem types.  This lattice was initially simple and lived without test coverage.  As the categories of problems and solvers becomes more complex, unit tests will be required.\r\n\r\nThese tests should be relatively black-box tests of choice of solvers given particular constraints, costs, and solver availabilities, as it is not clear that a type-system-based lattice will fully express solver choice decisions in the future once we can demand additional solver features (eg, active constraint sets)."}}
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