{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4334","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4334/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4334/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4334/events","html_url":"https://github.com/RobotLocomotion/drake/pull/4334","id":192954772,"number":4334,"title":"Dev/spline","user":{"login":"siyuanfeng-tri","id":19416233,"avatar_url":"https://avatars.githubusercontent.com/u/19416233?v=3","gravatar_id":"","url":"https://api.github.com/users/siyuanfeng-tri","html_url":"https://github.com/siyuanfeng-tri","followers_url":"https://api.github.com/users/siyuanfeng-tri/followers","following_url":"https://api.github.com/users/siyuanfeng-tri/following{/other_user}","gists_url":"https://api.github.com/users/siyuanfeng-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/siyuanfeng-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/siyuanfeng-tri/subscriptions","organizations_url":"https://api.github.com/users/siyuanfeng-tri/orgs","repos_url":"https://api.github.com/users/siyuanfeng-tri/repos","events_url":"https://api.github.com/users/siyuanfeng-tri/events{/privacy}","received_events_url":"https://api.github.com/users/siyuanfeng-tri/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"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},"assignees":[{"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},{"login":"Lucy-tri","id":17619120,"avatar_url":"https://avatars.githubusercontent.com/u/17619120?v=3","gravatar_id":"","url":"https://api.github.com/users/Lucy-tri","html_url":"https://github.com/Lucy-tri","followers_url":"https://api.github.com/users/Lucy-tri/followers","following_url":"https://api.github.com/users/Lucy-tri/following{/other_user}","gists_url":"https://api.github.com/users/Lucy-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/Lucy-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Lucy-tri/subscriptions","organizations_url":"https://api.github.com/users/Lucy-tri/orgs","repos_url":"https://api.github.com/users/Lucy-tri/repos","events_url":"https://api.github.com/users/Lucy-tri/events{/privacy}","received_events_url":"https://api.github.com/users/Lucy-tri/received_events","type":"User","site_admin":false}],"milestone":null,"comments":22,"created_at":"2016-12-01T20:32:26Z","updated_at":"2016-12-05T16:08:12Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/4334","html_url":"https://github.com/RobotLocomotion/drake/pull/4334","diff_url":"https://github.com/RobotLocomotion/drake/pull/4334.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/4334.patch"},"body":"added spline generators for cubic splines (matlab spline / pchip)\n\n<!-- Reviewable:start -->\n---\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/4334)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/264895147","html_url":"https://github.com/RobotLocomotion/drake/pull/4334#issuecomment-264895147","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4334","id":264895147,"user":{"login":"siyuanfeng-tri","id":19416233,"avatar_url":"https://avatars.githubusercontent.com/u/19416233?v=3","gravatar_id":"","url":"https://api.github.com/users/siyuanfeng-tri","html_url":"https://github.com/siyuanfeng-tri","followers_url":"https://api.github.com/users/siyuanfeng-tri/followers","following_url":"https://api.github.com/users/siyuanfeng-tri/following{/other_user}","gists_url":"https://api.github.com/users/siyuanfeng-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/siyuanfeng-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/siyuanfeng-tri/subscriptions","organizations_url":"https://api.github.com/users/siyuanfeng-tri/orgs","repos_url":"https://api.github.com/users/siyuanfeng-tri/repos","events_url":"https://api.github.com/users/siyuanfeng-tri/events{/privacy}","received_events_url":"https://api.github.com/users/siyuanfeng-tri/received_events","type":"User","site_admin":false},"created_at":"2016-12-05T16:08:12Z","updated_at":"2016-12-05T16:08:12Z","body":"\n\n\n\nReview status: 2 of 5 files reviewed at latest revision, 8 unresolved discussions.\n\n---\n\n*[drake/common/trajectories/piecewise_polynomial.cc, line 583 at r2](https://reviewable.io:443/reviews/robotlocomotion/drake/4334#-KY0MYUzFbR_AfZCtjcs:-KYEYMrmduNOO7ooTpmW:b-tav3lw) ([raw file](https://github.com/robotlocomotion/drake/blob/e5d2f5e4e258ed604621dea3dbebe6624db833d1/drake/common/trajectories/piecewise_polynomial.cc#L583)):*\n<details><summary><i>Previously, Lucy-tri (Lucy) wrote…</i></summary><blockquote>\n\n> PiecewisePolynomial<CoefficientType>::Cubic(\nPlease provide a reference for this algorithm: textbook and chapter title, or Drake Matlab code, or web page, etc. \n</blockquote></details>\n\ni added some reference in the header.\n\n---\n\n*[drake/common/trajectories/piecewise_polynomial.cc, line 644 at r2](https://reviewable.io:443/reviews/robotlocomotion/drake/4334#-KY0Mzkj-AT9S90FEtVY:-KYEY_Ahd4fTMMd91cg0:b-tav3lw) ([raw file](https://github.com/robotlocomotion/drake/blob/e5d2f5e4e258ed604621dea3dbebe6624db833d1/drake/common/trajectories/piecewise_polynomial.cc#L644)):*\n<details><summary><i>Previously, Lucy-tri (Lucy) wrote…</i></summary><blockquote>\n\n> PiecewisePolynomial<CoefficientType>::Cubic(\nPlease provide a reference for this algorithm: textbook and chapter title, or Drake Matlab code, or web page, etc. \n</blockquote></details>\n\ni added some reference in the header.\n\n---\n\n*[drake/common/trajectories/piecewise_polynomial.cc, line 718 at r2](https://reviewable.io:443/reviews/robotlocomotion/drake/4334#-KY1Ei_RG_Xis60cURK0:-KYE_JifFM2gSi65VUCP:b-896fix) ([raw file](https://github.com/robotlocomotion/drake/blob/e5d2f5e4e258ed604621dea3dbebe6624db833d1/drake/common/trajectories/piecewise_polynomial.cc#L718)):*\n<details><summary><i>Previously, hongkai-dai (Hongkai Dai) wrote…</i></summary><blockquote>\n\nProbably we do not need to compute `dt3`? Since `dt3 / dt2 = dt`.\n</blockquote></details>\n\nDone.\n\n---\n\n*[drake/common/trajectories/piecewise_polynomial.h, line 150 at r1](https://reviewable.io:443/reviews/robotlocomotion/drake/4334#-KXxA9i-ah6TtOSIEkPG:-KYEXbc9Hfk-OnCQTEh8:bum47zs) ([raw file](https://github.com/robotlocomotion/drake/blob/f323777c6e44c89205b3a8b87ba9d7251be00af3/drake/common/trajectories/piecewise_polynomial.h#L150)):*\n<details><summary><i>Previously, hongkai-dai (Hongkai Dai) wrote…</i></summary><blockquote>\n\nBTW, I found http://home.uchicago.edu/~sctchoi/courses/cs138/interp.pdf this doc quite easy to read.\n</blockquote></details>\n\ni added the docs. \n\n---\n\n*[drake/common/trajectories/piecewise_polynomial.h, line 139 at r2](https://reviewable.io:443/reviews/robotlocomotion/drake/4334#-KY0lOjmK3q0GY8oSRQf:-KYEXQkURuEq4Vk_dnJz:bu5kw33) ([raw file](https://github.com/robotlocomotion/drake/blob/e5d2f5e4e258ed604621dea3dbebe6624db833d1/drake/common/trajectories/piecewise_polynomial.h#L139)):*\n<details><summary><i>Previously, hongkai-dai (Hongkai Dai) wrote…</i></summary><blockquote>\n\nIf we only have one knot, does the time duration of the polynomial extends to infinity? namely p(t) = Y if t >= T? If so , could you document this corner case?\n</blockquote></details>\n\ngood catch, it was a degenerate case. pp actually doesn't allow constructing a single knot point, it needs at least two. the last knot will just be used for timing, it's value will be ignored.\n\n---\n\n*[drake/common/trajectories/test/piecewise_polynomial_generation_test.cc, line 24 at r2](https://reviewable.io:443/reviews/robotlocomotion/drake/4334#-KY0_PtKTCns7lKZrCiw:-KYEYCbR-r1yQMt09yyF:b-896fix) ([raw file](https://github.com/robotlocomotion/drake/blob/e5d2f5e4e258ed604621dea3dbebe6624db833d1/drake/common/trajectories/test/piecewise_polynomial_generation_test.cc#L24)):*\n<details><summary><i>Previously, Lucy-tri (Lucy) wrote…</i></summary><blockquote>\n\nUse Eigen::Vector\n</blockquote></details>\n\nDone.\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/4334)*\n<!-- Sent from Reviewable.io -->\n"}}
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