{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1618","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1618/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1618/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1618/events","html_url":"https://github.com/RobotLocomotion/drake/pull/1618","id":127158802,"number":1618,"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},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":2,"created_at":"2016-01-18T05:56:05Z","updated_at":"2016-01-20T03:30:51Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/1618","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"},"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."},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/173074726","html_url":"https://github.com/RobotLocomotion/drake/pull/1618#issuecomment-173074726","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1618","id":173074726,"user":{"login":"tkoolen","id":2585880,"avatar_url":"https://avatars.githubusercontent.com/u/2585880?v=3","gravatar_id":"","url":"https://api.github.com/users/tkoolen","html_url":"https://github.com/tkoolen","followers_url":"https://api.github.com/users/tkoolen/followers","following_url":"https://api.github.com/users/tkoolen/following{/other_user}","gists_url":"https://api.github.com/users/tkoolen/gists{/gist_id}","starred_url":"https://api.github.com/users/tkoolen/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tkoolen/subscriptions","organizations_url":"https://api.github.com/users/tkoolen/orgs","repos_url":"https://api.github.com/users/tkoolen/repos","events_url":"https://api.github.com/users/tkoolen/events{/privacy}","received_events_url":"https://api.github.com/users/tkoolen/received_events","type":"User","site_admin":false},"created_at":"2016-01-20T03:30:51Z","updated_at":"2016-01-20T03:30:51Z","body":"I think RigidBodyWing.computeWingVelocity is the first thing that needs to change; it should truly accept v instead of still doing stuff in terms of qd, as is currently the case. It should also compute gradients w.r.t. v instead of qd."}}