{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3278","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3278/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3278/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3278/events","html_url":"https://github.com/RobotLocomotion/drake/issues/3278","id":173573147,"number":3278,"title":"Carve out the non-matlab portions of `drake/util` into new homes","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},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":1,"created_at":"2016-08-27T02:31:36Z","updated_at":"2016-08-27T02:40:14Z","closed_at":null,"body":"Related to #3253, we should find new homes for the C++ forward-looking portions of `drake/util`.  This has been happening incrementally (see prior `common` and `math` related PRs, such as #2666, #2779, #2785 #3041 #3121, and cleanups like #3166 #3179 #3180 #3276 #3277).  This issue can serve as the burn-down list for finishing up.\r\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/242890881","html_url":"https://github.com/RobotLocomotion/drake/issues/3278#issuecomment-242890881","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3278","id":242890881,"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":"2016-08-27T02:40:14Z","updated_at":"2016-08-27T02:40:14Z","body":"Here is my rough cut for uses of `util` that remain:\r\n```\r\n./systems/controllers/controlUtil.cpp:7:#include \"drake/util/drakeUtil.h\"\r\n./systems/controllers/InstantaneousQPController.cpp:15:#include \"drake/util/lcmUtil.h\"\r\n./systems/controllers/InstantaneousQPController.cpp:17:#include \"drake/util/yaml/yamlUtil.h\"\r\n./systems/controllers/LQR.h:10:#include \"drake/util/drakeGradientUtil.h\"\r\n./systems/controllers/LQR.h:11:#include \"drake/util/drakeUtil.h\"\r\n./systems/controllers/QPCommon.h:11:#include \"drake/util/drakeUtil.h\"\r\n./systems/controllers/simple_feedback_trajectory_controller.h:8:#include \"drake/util/drakeUtil.h\"\r\n./systems/plants/constraint/RigidBodyConstraint.cpp:11:#include \"drake/util/drakeGeometryUtil.h\"\r\n./systems/plants/constraint/RigidBodyConstraint.h:13:#include \"drake/util/drakeUtil.h\"\r\n./systems/plants/joints/FixedAxisOneDoFJoint.h:12:#include \"drake/util/drakeGradientUtil.h\"\r\n./systems/plants/joints/QuaternionFloatingJoint.h:7:#include \"drake/util/drakeGeometryUtil.h\"\r\n./systems/plants/joints/RollPitchYawFloatingJoint.h:7:#include \"drake/util/drakeGeometryUtil.h\"\r\n./systems/plants/RigidBody.cpp:5:#include \"drake/util/drakeGeometryUtil.h\"\r\n./systems/plants/RigidBodyTree.cpp:13:#include \"drake/util/drakeGeometryUtil.h\"\r\n./systems/plants/RigidBodyTree.cpp:14:#include \"drake/util/drakeUtil.h\"\r\n./systems/plants/RigidBodyTree.h:26:#include \"drake/util/drakeGeometryUtil.h\"\r\n./systems/plants/RigidBodyTree.h:27:#include \"drake/util/drakeUtil.h\"\r\n./systems/plants/test/testKinematicsCacheChecks.cpp:11:#include \"drake/util/drakeGeometryUtil.h\"\r\n./systems/robotInterfaces/QPLocomotionPlan.cpp:19:#include \"drake/util/drakeGeometryUtil.h\"\r\n./systems/robotInterfaces/QPLocomotionPlan.cpp:20:#include \"drake/util/drakeUtil.h\"\r\n./systems/robotInterfaces/QPLocomotionPlan.cpp:21:#include \"drake/util/lcmUtil.h\"\r\n./systems/robotInterfaces/QPLocomotionPlan.cpp:22:#include \"drake/util/convexHull.h\"\r\n\r\n./examples/Atlas/atlas_dynamics_demo.cc:7:#include \"drake/util/drakeAppUtil.h\"\r\n./examples/Cars/car_sim_lcm.cc:8:#include \"drake/util/drakeAppUtil.h\"\r\n./examples/Cars/multi_car_sim_lcm.cc:8:#include \"drake/util/drakeAppUtil.h\"\r\n./examples/kuka_iiwa_arm/run_kuka_iiwa_arm_dynamics.cc:11:#include \"drake/util/drakeAppUtil.h\"\r\n./examples/Pendulum/pendulum_run_dynamics.cc:11:#include \"drake/util/drakeAppUtil.h\"\r\n./examples/Pendulum/pendulum_run_energy_shaping.cc:9:#include \"drake/util/drakeAppUtil.h\"\r\n./examples/Pendulum/pendulum_run_lqr.cc:10:#include \"drake/util/drakeAppUtil.h\"\r\n./examples/Pendulum/pendulum_run_swing_up.cc:18:#include \"drake/util/drakeAppUtil.h\"\r\n./examples/Quadrotor/Quadrotor.h:9:#include \"drake/util/drakeGeometryUtil.h\"\r\n./examples/Quadrotor/runDynamics.cpp:10:#include \"drake/util/drakeAppUtil.h\"\r\n./examples/Quadrotor/runLQR.cpp:10:#include \"drake/util/drakeAppUtil.h\"\r\n```\r\n\r\nThe systems stuff is a mixed bag; some are probably spurious, some will be one-liners, and some will required a little thought (e.g., yaml).\r\n\r\nThe examples mostly just need porting to use `gflags`.\r\n"}}
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