{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3107","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3107/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3107/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3107/events","html_url":"https://github.com/RobotLocomotion/drake/pull/3107","id":170494261,"number":3107,"title":"Add DircolTrajectoryOptimization in C++","user":{"login":"sammy-tri","id":17596504,"avatar_url":"https://avatars.githubusercontent.com/u/17596504?v=3","gravatar_id":"","url":"https://api.github.com/users/sammy-tri","html_url":"https://github.com/sammy-tri","followers_url":"https://api.github.com/users/sammy-tri/followers","following_url":"https://api.github.com/users/sammy-tri/following{/other_user}","gists_url":"https://api.github.com/users/sammy-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/sammy-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sammy-tri/subscriptions","organizations_url":"https://api.github.com/users/sammy-tri/orgs","repos_url":"https://api.github.com/users/sammy-tri/repos","events_url":"https://api.github.com/users/sammy-tri/events{/privacy}","received_events_url":"https://api.github.com/users/sammy-tri/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/status:%20do%20not%20merge","name":"status: do not merge","color":"e67e22"}],"state":"open","locked":false,"assignee":{"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},"assignees":[{"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":2,"created_at":"2016-08-10T19:07:45Z","updated_at":"2016-08-10T20:06:21Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/3107","html_url":"https://github.com/RobotLocomotion/drake/pull/3107","diff_url":"https://github.com/RobotLocomotion/drake/pull/3107.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/3107.patch"},"body":"This adds running costs and dynamic constraints.  Also adds an example (and a test) of a pendulum swing up trajectory.\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/3107)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/238987451","html_url":"https://github.com/RobotLocomotion/drake/pull/3107#issuecomment-238987451","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3107","id":238987451,"user":{"login":"sammy-tri","id":17596504,"avatar_url":"https://avatars.githubusercontent.com/u/17596504?v=3","gravatar_id":"","url":"https://api.github.com/users/sammy-tri","html_url":"https://github.com/sammy-tri","followers_url":"https://api.github.com/users/sammy-tri/followers","following_url":"https://api.github.com/users/sammy-tri/following{/other_user}","gists_url":"https://api.github.com/users/sammy-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/sammy-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sammy-tri/subscriptions","organizations_url":"https://api.github.com/users/sammy-tri/orgs","repos_url":"https://api.github.com/users/sammy-tri/repos","events_url":"https://api.github.com/users/sammy-tri/events{/privacy}","received_events_url":"https://api.github.com/users/sammy-tri/received_events","type":"User","site_admin":false},"created_at":"2016-08-10T20:06:21Z","updated_at":"2016-08-10T20:06:21Z","body":"Adding do not merge tag since the test needs to be disabled when no solver present (like on windows) and it doesn't currently pass with IPOPT on Linux.  Should be minor changes, I think starting review is still OK."}}
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