{"action":"created","issue":{"url":"https://api.github.com/repos/tkoolen/RigidBodyDynamics.jl/issues/106","repository_url":"https://api.github.com/repos/tkoolen/RigidBodyDynamics.jl","labels_url":"https://api.github.com/repos/tkoolen/RigidBodyDynamics.jl/issues/106/labels{/name}","comments_url":"https://api.github.com/repos/tkoolen/RigidBodyDynamics.jl/issues/106/comments","events_url":"https://api.github.com/repos/tkoolen/RigidBodyDynamics.jl/issues/106/events","html_url":"https://github.com/tkoolen/RigidBodyDynamics.jl/pull/106","id":185844715,"number":106,"title":"Make motion_subspace type stable","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},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2016-10-28T05:56:16Z","updated_at":"2016-10-28T06:04:58Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/tkoolen/RigidBodyDynamics.jl/pulls/106","html_url":"https://github.com/tkoolen/RigidBodyDynamics.jl/pull/106","diff_url":"https://github.com/tkoolen/RigidBodyDynamics.jl/pull/106.diff","patch_url":"https://github.com/tkoolen/RigidBodyDynamics.jl/pull/106.patch"},"body":"Fixes https://github.com/tkoolen/RigidBodyDynamics.jl/issues/84 by always returning a `GeometricJacobian` that uses a `SubArray` of an `SMatrix{3, 6}` as the underlying type.\r\n\r\nOn laptop, before:\r\n```\r\n  \"inverse_dynamics\" => BenchmarkTools.Trial: \r\n  samples:          10000\r\n  evals/sample:     1\r\n  time tolerance:   5.00%\r\n  memory tolerance: 1.00%\r\n  memory estimate:  60.67 kb\r\n  allocs estimate:  1246\r\n  minimum time:     331.88 μs (0.00% GC)\r\n  median time:      358.99 μs (0.00% GC)\r\n  mean time:        397.22 μs (1.87% GC)\r\n  maximum time:     3.74 ms (86.89% GC)\r\n  \"dynamics\" => BenchmarkTools.Trial: \r\n  samples:          10000\r\n  evals/sample:     1\r\n  time tolerance:   5.00%\r\n  memory tolerance: 1.00%\r\n  memory estimate:  68.27 kb\r\n  allocs estimate:  1245\r\n  minimum time:     320.61 μs (0.00% GC)\r\n  median time:      330.85 μs (0.00% GC)\r\n  mean time:        372.35 μs (2.17% GC)\r\n  maximum time:     4.15 ms (82.81% GC)\r\n  \"mass_matrix\" => BenchmarkTools.Trial: \r\n  samples:          10000\r\n  evals/sample:     1\r\n  time tolerance:   5.00%\r\n  memory tolerance: 1.00%\r\n  memory estimate:  50.98 kb\r\n  allocs estimate:  803\r\n  minimum time:     195.55 μs (0.00% GC)\r\n  median time:      209.60 μs (0.00% GC)\r\n  mean time:        224.22 μs (2.27% GC)\r\n  maximum time:     3.23 ms (89.51% GC)\r\n```\r\nafter:\r\n```\r\n  \"inverse_dynamics\" => BenchmarkTools.Trial: \r\n  samples:          10000\r\n  evals/sample:     1\r\n  time tolerance:   5.00%\r\n  memory tolerance: 1.00%\r\n  memory estimate:  60.86 kb\r\n  allocs estimate:  869\r\n  minimum time:     115.65 μs (0.00% GC)\r\n  median time:      124.50 μs (0.00% GC)\r\n  mean time:        136.79 μs (4.98% GC)\r\n  maximum time:     3.50 ms (92.61% GC)\r\n  \"dynamics\" => BenchmarkTools.Trial: \r\n  samples:          10000\r\n  evals/sample:     1\r\n  time tolerance:   5.00%\r\n  memory tolerance: 1.00%\r\n  memory estimate:  75.22 kb\r\n  allocs estimate:  1116\r\n  minimum time:     211.93 μs (0.00% GC)\r\n  median time:      216.91 μs (0.00% GC)\r\n  mean time:        249.27 μs (3.63% GC)\r\n  maximum time:     4.06 ms (87.02% GC)\r\n  \"mass_matrix\" => BenchmarkTools.Trial: \r\n  samples:          10000\r\n  evals/sample:     1\r\n  time tolerance:   5.00%\r\n  memory tolerance: 1.00%\r\n  memory estimate:  57.94 kb\r\n  allocs estimate:  674\r\n  minimum time:     94.70 μs (0.00% GC)\r\n  median time:      100.92 μs (0.00% GC)\r\n  mean time:        112.62 μs (4.70% GC)\r\n  maximum time:     2.52 ms (93.57% GC)\r\n```"},"comment":{"url":"https://api.github.com/repos/tkoolen/RigidBodyDynamics.jl/issues/comments/256843381","html_url":"https://github.com/tkoolen/RigidBodyDynamics.jl/pull/106#issuecomment-256843381","issue_url":"https://api.github.com/repos/tkoolen/RigidBodyDynamics.jl/issues/106","id":256843381,"user":{"login":"codecov-io","id":8655789,"avatar_url":"https://avatars.githubusercontent.com/u/8655789?v=3","gravatar_id":"","url":"https://api.github.com/users/codecov-io","html_url":"https://github.com/codecov-io","followers_url":"https://api.github.com/users/codecov-io/followers","following_url":"https://api.github.com/users/codecov-io/following{/other_user}","gists_url":"https://api.github.com/users/codecov-io/gists{/gist_id}","starred_url":"https://api.github.com/users/codecov-io/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/codecov-io/subscriptions","organizations_url":"https://api.github.com/users/codecov-io/orgs","repos_url":"https://api.github.com/users/codecov-io/repos","events_url":"https://api.github.com/users/codecov-io/events{/privacy}","received_events_url":"https://api.github.com/users/codecov-io/received_events","type":"User","site_admin":false},"created_at":"2016-10-28T06:04:56Z","updated_at":"2016-10-28T06:04:56Z","body":"## [Current coverage](https://codecov.io/gh/tkoolen/RigidBodyDynamics.jl/pull/106?src=pr) is 90.88% (diff: 100%)\n\n\n> No coverage report found for **master** at bd9df95.\n\n> Powered by [Codecov](https://codecov.io?src=pr). Last update [bd9df95...15162ac](https://codecov.io/gh/tkoolen/RigidBodyDynamics.jl/compare/bd9df95a73c4544af69d9c50b238f1380c2fccec...15162acf568af6728988bf98d03538d86eddfa13?src=pr)"}}
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