{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2402","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2402/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2402/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2402/events","html_url":"https://github.com/RobotLocomotion/drake/pull/2402","id":155762056,"number":2402,"title":"Updates to collision model google test + some doc","user":{"login":"amcastro-tri","id":17601461,"avatar_url":"https://avatars.githubusercontent.com/u/17601461?v=3","gravatar_id":"","url":"https://api.github.com/users/amcastro-tri","html_url":"https://github.com/amcastro-tri","followers_url":"https://api.github.com/users/amcastro-tri/followers","following_url":"https://api.github.com/users/amcastro-tri/following{/other_user}","gists_url":"https://api.github.com/users/amcastro-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/amcastro-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/amcastro-tri/subscriptions","organizations_url":"https://api.github.com/users/amcastro-tri/orgs","repos_url":"https://api.github.com/users/amcastro-tri/repos","events_url":"https://api.github.com/users/amcastro-tri/events{/privacy}","received_events_url":"https://api.github.com/users/amcastro-tri/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/team:%20dynamics","name":"team: dynamics","color":"0052cc"},{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/type:%20cleanup","name":"type: cleanup","color":"009800"},{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/type:%20documentation","name":"type: documentation","color":"009800"}],"state":"open","locked":false,"assignee":{"login":"sherm1","id":4088016,"avatar_url":"https://avatars.githubusercontent.com/u/4088016?v=3","gravatar_id":"","url":"https://api.github.com/users/sherm1","html_url":"https://github.com/sherm1","followers_url":"https://api.github.com/users/sherm1/followers","following_url":"https://api.github.com/users/sherm1/following{/other_user}","gists_url":"https://api.github.com/users/sherm1/gists{/gist_id}","starred_url":"https://api.github.com/users/sherm1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sherm1/subscriptions","organizations_url":"https://api.github.com/users/sherm1/orgs","repos_url":"https://api.github.com/users/sherm1/repos","events_url":"https://api.github.com/users/sherm1/events{/privacy}","received_events_url":"https://api.github.com/users/sherm1/received_events","type":"User","site_admin":false},"milestone":null,"comments":9,"created_at":"2016-05-19T15:13:15Z","updated_at":"2016-05-19T19:37:02Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/2402","html_url":"https://github.com/RobotLocomotion/drake/pull/2402","diff_url":"https://github.com/RobotLocomotion/drake/pull/2402.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/2402.patch"},"body":"This PR simply:\r\n1. Updates documentation for `Model::collidingPoints` and `Model::collidingPointsCheckOnly`\r\n2. Updates `model_test.cc` to use `EXPECT_NEAR` and `isApprox`, which are more appropriate for floating point comparisons.\r\n3. Demonstrates how to use `AngleAxis` to setup simple isometries in `model_test.cc`.\n\n<!-- Reviewable:start -->\n---\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"35\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/2402) &emsp; Multiple assignees:&emsp;<img alt=\"@jwnimmer-tri\" height=\"20\" width=\"20\" align=\"absmiddle\" src=\"https://avatars.githubusercontent.com/u/17596505?s=40&v=3\">&nbsp;<a href=\"/robotlocomotion/drake/pulls/assigned/jwnimmer-tri\">jwnimmer-tri</a>,&emsp;<img alt=\"@sherm1\" height=\"20\" width=\"20\" align=\"absmiddle\" src=\"https://avatars.githubusercontent.com/u/4088016?s=40&v=3\">&nbsp;<a href=\"/robotlocomotion/drake/pulls/assigned/sherm1\">sherm1</a>\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/220429676","html_url":"https://github.com/RobotLocomotion/drake/pull/2402#issuecomment-220429676","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/2402","id":220429676,"user":{"login":"liangfok","id":1388098,"avatar_url":"https://avatars.githubusercontent.com/u/1388098?v=3","gravatar_id":"","url":"https://api.github.com/users/liangfok","html_url":"https://github.com/liangfok","followers_url":"https://api.github.com/users/liangfok/followers","following_url":"https://api.github.com/users/liangfok/following{/other_user}","gists_url":"https://api.github.com/users/liangfok/gists{/gist_id}","starred_url":"https://api.github.com/users/liangfok/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/liangfok/subscriptions","organizations_url":"https://api.github.com/users/liangfok/orgs","repos_url":"https://api.github.com/users/liangfok/repos","events_url":"https://api.github.com/users/liangfok/events{/privacy}","received_events_url":"https://api.github.com/users/liangfok/received_events","type":"User","site_admin":false},"created_at":"2016-05-19T19:37:02Z","updated_at":"2016-05-19T19:37:02Z","body":"\n\n\n\n\n\nReview status: 1 of 4 files reviewed at latest revision, 9 unresolved discussions.\n\n---\n\n*[drake/systems/plants/collision/test/model_test.cc, line 84 \\[r1\\]](https://reviewable.io:443/reviews/robotlocomotion/drake/2402#-KI8gOYU7ipwYVqmP46x:-KI9WBPoPzy-RSR6Thu_:-289750271) ([raw file](https://github.com/robotlocomotion/drake/blob/7547a380d5ebb2c1d26fd50204f37116abe7ebff/drake/systems/plants/collision/test/model_test.cc#L84)):*\n<details><summary><i>Previously, amcastro-tri (Alejandro Castro) wrote…</i></summary>\n> @sherm1: is not an exact comparison because `points[0].getNormal()` was internally computed by Bullet, is not an analytical value. \n> @jwnimmer-tri, @liangfok: yes, `eigen_matrix_compare.h` provides a more exhaustive evaluation of why exactly caused the matrices to be different, like it'll tell you what element is different. Very good for debugging. `isApprox` won't tell you what elements in the matrices are not equal but for sure it'll fail if matrices are different size or not equal by `tolerance`. I am ok with using either one, not a big gain in this case anyway. \n> The change I propose is to simply change an inherently `int` check by a floating precision one. In this very simple test with simple geometries both pass. That won't be the case with more complex geometries (I am working on a gtest right now)\n</details>\nOK sounds good. Marking myself as \"satisfied.\"\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/2402)*\n<!-- Sent from Reviewable.io -->\n"}}