{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4389","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4389/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4389/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4389/events","html_url":"https://github.com/RobotLocomotion/drake/pull/4389","id":193856705,"number":4389,"title":"Add monolane implementation to 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Reviewable:start -->\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/4389)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/267614639","html_url":"https://github.com/RobotLocomotion/drake/pull/4389#issuecomment-267614639","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4389","id":267614639,"user":{"login":"jwnimmer-tri","id":17596505,"avatar_url":"https://avatars.githubusercontent.com/u/17596505?v=3","gravatar_id":"","url":"https://api.github.com/users/jwnimmer-tri","html_url":"https://github.com/jwnimmer-tri","followers_url":"https://api.github.com/users/jwnimmer-tri/followers","following_url":"https://api.github.com/users/jwnimmer-tri/following{/other_user}","gists_url":"https://api.github.com/users/jwnimmer-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/jwnimmer-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jwnimmer-tri/subscriptions","organizations_url":"https://api.github.com/users/jwnimmer-tri/orgs","repos_url":"https://api.github.com/users/jwnimmer-tri/repos","events_url":"https://api.github.com/users/jwnimmer-tri/events{/privacy}","received_events_url":"https://api.github.com/users/jwnimmer-tri/received_events","type":"User","site_admin":false},"created_at":"2016-12-16T15:11:00Z","updated_at":"2016-12-16T15:11:00Z","body":"\n\n\n\nReview status: 34 of 35 files reviewed at latest revision, 62 unresolved discussions, some commit checks failed.\n\n---\n\n*[drake/automotive/maliput/monolane/lane.h, line 140 at r7](https://reviewable.io:443/reviews/robotlocomotion/drake/4389#-KZ42I4tTJ2PsnRc5UvT:-KZ79BO-tEbGJoiCsOlp:b-yfweg5) ([raw file](https://github.com/robotlocomotion/drake/blob/60aed74c00f03964eb98c8a26f9f31b316495f2f/drake/automotive/maliput/monolane/lane.h#L140)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary><blockquote>\n\nCan `segment` be `nullptr`? If not, can it be a `const` reference?\n</blockquote></details>\n\n@liangfok It's aliased (the required lifetime is extended), so passing by pointer makes that clear (contrast it with id, which is copied).\n\n---\n\n*[drake/automotive/maliput/monolane/lane.h, line 44 at r9](https://reviewable.io:443/reviews/robotlocomotion/drake/4389#-KZ6vcMvl4BgQcmVA-Vv:-KZ78Lp100mM8bml7BaV:bhb2rhz) ([raw file](https://github.com/robotlocomotion/drake/blob/8ccd867d60d0016eec7bb3b8d9a35b79f49b40fe/drake/automotive/maliput/monolane/lane.h#L44)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary><blockquote>\n\nLet's format the math equation as an actual math formula since it'll be prettier in the generated website and it doesn't significantly reduce readability:\n\n```\n/// A cubic polynomial, @f[ f(p) = a + b p + c p^2 + d p^3 @f].\n```\n\nFor an in-tree example, see: `drake/systems/primitives/affine_system.h`\n</blockquote></details>\n\nThis is recommendation (not a style rule and not a defect), so should begin with \"BTW\" to let the author decide.\n\n---\n\n*[drake/automotive/maliput/monolane/lane.h, line 62 at r9](https://reviewable.io:443/reviews/robotlocomotion/drake/4389#-KZ6uQVJuReBPyZhISFV:-KZ78XljKkViGC4Lbv1e:b1fcu2m) ([raw file](https://github.com/robotlocomotion/drake/blob/8ccd867d60d0016eec7bb3b8d9a35b79f49b40fe/drake/automotive/maliput/monolane/lane.h#L62)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary><blockquote>\n\nLet's update this to also show the formula:\n\n```\n  /// Evaluates this polynomial's derivative,\n  ///@f[ \\frac{df}{dp} = b + 2 c p + 3 d p^2 @f], at @p p.\n```\n</blockquote></details>\n\nIs this a suggestion or a defect?\n\n---\n\n*[drake/automotive/maliput/monolane/lane.h, line 67 at r9](https://reviewable.io:443/reviews/robotlocomotion/drake/4389#-KZ6uzHJFnI-S6CEBtoD:-KZ78bqgRBVDylGrVA3G:b1fcu2m) ([raw file](https://github.com/robotlocomotion/drake/blob/8ccd867d60d0016eec7bb3b8d9a35b79f49b40fe/drake/automotive/maliput/monolane/lane.h#L67)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary><blockquote>\n\nLet's update this to also show the formula:\n\n```\n  /// Evaluates this polynomial's derivative,\n  ///@f[ \\frac{d^2f}{dp^2} = 2 c + 6 d p @f], at @p p.\n```\n\n</blockquote></details>\n\nIs this a suggestion or a defect?\n\n---\n\n*[drake/automotive/maliput/monolane/lane.h, line 77 at r9](https://reviewable.io:443/reviews/robotlocomotion/drake/4389#-KZ6zXVoKRCKb-hjOxrt:-KZ78dvcEU-mPQoFa3o5:b1fcu2m) ([raw file](https://github.com/robotlocomotion/drake/blob/8ccd867d60d0016eec7bb3b8d9a35b79f49b40fe/drake/automotive/maliput/monolane/lane.h#L77)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary><blockquote>\n\nInstead of \"relatively flat curves\" would it be more clear to say \"curves that are relatively flat because they have a large radius\"?\n</blockquote></details>\n\nIs this a suggestion or a defect?\n\n---\n\n*[drake/automotive/maliput/monolane/lane.h, line 79 at r9](https://reviewable.io:443/reviews/robotlocomotion/drake/4389#-KZ7-B2qqS13nOjVLBOM:-KZ78iNuPwpfy176hs3G:b1fcu2m) ([raw file](https://github.com/robotlocomotion/drake/blob/8ccd867d60d0016eec7bb3b8d9a35b79f49b40fe/drake/automotive/maliput/monolane/lane.h#L79)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary><blockquote>\n\nFor increased clarity, I think this method could be named `get_s_from_p()`.\n</blockquote></details>\n\nIs this a suggestion or a defect?\n\n---\n\n*[drake/automotive/maliput/monolane/lane.h, line 83 at r9](https://reviewable.io:443/reviews/robotlocomotion/drake/4389#-KZ7-fQmxz-s5PbGE80Y:-KZ78mALN7YLMo7fkDpY:b1fcu2m) ([raw file](https://github.com/robotlocomotion/drake/blob/8ccd867d60d0016eec7bb3b8d9a35b79f49b40fe/drake/automotive/maliput/monolane/lane.h#L83)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary><blockquote>\n\nConsider deleting \"the path-length parameterization\" or simply stating:\n\n> Returns the percentage of the curve covered, `p`,  given the path length `s`.\n</blockquote></details>\n\nIs this a suggestion or a defect?\n\n---\n\n*[drake/automotive/maliput/monolane/lane.h, line 84 at r9](https://reviewable.io:443/reviews/robotlocomotion/drake/4389#-KZ7-MyS1bzWvIwK_guF:-KZ78nnlDxh7cgFFwXBE:b1fcu2m) ([raw file](https://github.com/robotlocomotion/drake/blob/8ccd867d60d0016eec7bb3b8d9a35b79f49b40fe/drake/automotive/maliput/monolane/lane.h#L84)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary><blockquote>\n\nFor increased clarity, I think this method could be named `get_p_from_s()`.\n</blockquote></details>\n\nIs this a suggestion or a defect?\n\n---\n\n*[drake/automotive/maliput/monolane/lane.h, line 109 at r9](https://reviewable.io:443/reviews/robotlocomotion/drake/4389#-KZ71H-Q9Vd_2p4Dxtd0:-KZ78uZHuPnQ1lvWDkXz:b1fcu2m) ([raw file](https://github.com/robotlocomotion/drake/blob/8ccd867d60d0016eec7bb3b8d9a35b79f49b40fe/drake/automotive/maliput/monolane/lane.h#L109)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary><blockquote>\n\nConsider deleting the word \"base\" since I'm not sure it adds any clarity to what this method is doing.\n</blockquote></details>\n\nIs this a suggestion or a defect?\n\n---\n\n*[drake/automotive/maliput/monolane/lane.h, line 111 at r9](https://reviewable.io:443/reviews/robotlocomotion/drake/4389#-KZ72jLww6CerTo-jVNk:-KZ78wnqlRt6GNT-G9-k:b1fcu2m) ([raw file](https://github.com/robotlocomotion/drake/blob/8ccd867d60d0016eec7bb3b8d9a35b79f49b40fe/drake/automotive/maliput/monolane/lane.h#L111)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary><blockquote>\n\nShould we add the following text to the end of the above description?\n\n> , which must be globally unique.\n</blockquote></details>\n\nIs this a suggestion or a defect?\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/4389)*\n<!-- Sent from Reviewable.io -->\n"}}
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