{"action":"created","comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments/50211189","id":50211189,"diff_hunk":"@@ -658,14 +666,17 @@ function revertEnvVars()\n       %   wingvel_world_xzy\n       %     velocity of the wing in world coordinates\n       %   </pre>\n-      \n+      options.in_terms_of_qdot = false;\n       if (nargout>1)\n         \n-        [~, J, dJ] = forwardKin(manip,kinsol,kinframe,zeros(3,1));\n-        wingvel_world_xyz = J*qd; % assume still air. Air flow over the wing\n+        %[~, J, dJ] = forwardKin(manip,kinsol,kinframe,zeros(3,1));\n+        [x,J_geometric,dJ_geometric_dq] = forwardKin(manip,kinsol,kinframe,zeros(3,1),options);","path":"drake/systems/plants/@RigidBodyWing/RigidBodyWing.m","position":54,"original_position":54,"commit_id":"efdbbd35511664a285c71c953d585a555bf3da36","original_commit_id":"efdbbd35511664a285c71c953d585a555bf3da36","user":{"login":"hongkai-dai","id":6314000,"avatar_url":"https://avatars.githubusercontent.com/u/6314000?v=3","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},"body":"I think I should be blamed for this one. I called it geometric Jacobian in RigidBodyPropellor. m","created_at":"2016-01-20T03:33:32Z","updated_at":"2016-01-20T03:33:32Z","html_url":"https://github.com/RobotLocomotion/drake/pull/1618#discussion_r50211189","pull_request_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1618","_links":{"self":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments/50211189"},"html":{"href":"https://github.com/RobotLocomotion/drake/pull/1618#discussion_r50211189"},"pull_request":{"href":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1618"}}},"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1618","id":56304441,"html_url":"https://github.com/RobotLocomotion/drake/pull/1618","diff_url":"https://github.com/RobotLocomotion/drake/pull/1618.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/1618.patch","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1618","number":1618,"state":"open","locked":false,"title":"Fix RigidbodyWing for quaternion","user":{"login":"xuhao1","id":5087930,"avatar_url":"https://avatars.githubusercontent.com/u/5087930?v=3","gravatar_id":"","url":"https://api.github.com/users/xuhao1","html_url":"https://github.com/xuhao1","followers_url":"https://api.github.com/users/xuhao1/followers","following_url":"https://api.github.com/users/xuhao1/following{/other_user}","gists_url":"https://api.github.com/users/xuhao1/gists{/gist_id}","starred_url":"https://api.github.com/users/xuhao1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/xuhao1/subscriptions","organizations_url":"https://api.github.com/users/xuhao1/orgs","repos_url":"https://api.github.com/users/xuhao1/repos","events_url":"https://api.github.com/users/xuhao1/events{/privacy}","received_events_url":"https://api.github.com/users/xuhao1/received_events","type":"User","site_admin":false},"body":"I try to fix the problem that when rotation is quaternion we can't use rigidbodywing...\r\nAnd in my simulation this piece of code would run.\r\nAs for I am not familiar with Drake Source Code(and it lack document for me to understand...Everything is guess from source). Plz make sure the mathematics on line 541 and line 542 works.","created_at":"2016-01-18T05:56:04Z","updated_at":"2016-01-20T03:33:32Z","closed_at":null,"merged_at":null,"merge_commit_sha":"fbce82e8e54d7e7df66ddc87f6857101439ba003","assignee":null,"milestone":null,"commits_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1618/commits","review_comments_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1618/comments","review_comment_url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/comments{/number}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1618/comments","statuses_url":"https://api.github.com/repos/RobotLocomotion/drake/statuses/efdbbd35511664a285c71c953d585a555bf3da36","head":{"label":"xuhao1:fix_wing_quaternion","ref":"fix_wing_quaternion","sha":"efdbbd35511664a285c71c953d585a555bf3da36","user":{"login":"xuhao1","id":5087930,"avatar_url":"https://avatars.githubusercontent.com/u/5087930?v=3","gravatar_id":"","url":"https://api.github.com/users/xuhao1","html_url":"https://github.com/xuhao1","followers_url":"https://api.github.com/users/xuhao1/followers","following_url":"https://api.github.com/users/xuhao1/following{/other_user}","gists_url":"https://api.github.com/users/xuhao1/gists{/gist_id}","starred_url":"https://api.github.com/users/xuhao1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/xuhao1/subscriptions","organizations_url":"https://api.github.com/users/xuhao1/orgs","repos_url":"https://api.github.com/users/xuhao1/repos","events_url":"https://api.github.com/users/xuhao1/events{/privacy}","received_events_url":"https://api.github.com/users/xuhao1/received_events","type":"User","site_admin":false},"repo":{"id":49550343,"name":"drake","full_name":"xuhao1/drake","owner":{"login":"xuhao1","id":5087930,"avatar_url":"https://avatars.githubusercontent.com/u/5087930?v=3","gravatar_id":"","url":"https://api.github.com/users/xuhao1","html_url":"https://github.com/xuhao1","followers_url":"https://api.github.com/users/xuhao1/followers","following_url":"https://api.github.com/users/xuhao1/following{/other_user}","gists_url":"https://api.github.com/users/xuhao1/gists{/gist_id}","starred_url":"https://api.github.com/users/xuhao1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/xuhao1/subscriptions","organizations_url":"https://api.github.com/users/xuhao1/orgs","repos_url":"https://api.github.com/users/xuhao1/repos","events_url":"https://api.github.com/users/xuhao1/events{/privacy}","received_events_url":"https://api.github.com/users/xuhao1/received_events","type":"User","site_admin":false},"private":false,"html_url":"https://github.com/xuhao1/drake","description":"A planning, control, and analysis toolbox for nonlinear dynamical systems.  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