{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4122","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4122/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4122/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4122/events","html_url":"https://github.com/RobotLocomotion/drake/pull/4122","id":188816259,"number":4122,"title":"Add generic conditional expression (cond)","user":{"login":"soonho-tri","id":20779767,"avatar_url":"https://avatars.githubusercontent.com/u/20779767?v=3","gravatar_id":"","url":"https://api.github.com/users/soonho-tri","html_url":"https://github.com/soonho-tri","followers_url":"https://api.github.com/users/soonho-tri/followers","following_url":"https://api.github.com/users/soonho-tri/following{/other_user}","gists_url":"https://api.github.com/users/soonho-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/soonho-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/soonho-tri/subscriptions","organizations_url":"https://api.github.com/users/soonho-tri/orgs","repos_url":"https://api.github.com/users/soonho-tri/repos","events_url":"https://api.github.com/users/soonho-tri/events{/privacy}","received_events_url":"https://api.github.com/users/soonho-tri/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":7,"created_at":"2016-11-11T18:01:20Z","updated_at":"2016-11-11T18:44:16Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/4122","html_url":"https://github.com/RobotLocomotion/drake/pull/4122","diff_url":"https://github.com/RobotLocomotion/drake/pull/4122.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/4122.patch"},"body":"\n\n<!-- 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/4122)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/260026050","html_url":"https://github.com/RobotLocomotion/drake/pull/4122#issuecomment-260026050","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4122","id":260026050,"user":{"login":"soonho-tri","id":20779767,"avatar_url":"https://avatars.githubusercontent.com/u/20779767?v=3","gravatar_id":"","url":"https://api.github.com/users/soonho-tri","html_url":"https://github.com/soonho-tri","followers_url":"https://api.github.com/users/soonho-tri/followers","following_url":"https://api.github.com/users/soonho-tri/following{/other_user}","gists_url":"https://api.github.com/users/soonho-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/soonho-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/soonho-tri/subscriptions","organizations_url":"https://api.github.com/users/soonho-tri/orgs","repos_url":"https://api.github.com/users/soonho-tri/repos","events_url":"https://api.github.com/users/soonho-tri/events{/privacy}","received_events_url":"https://api.github.com/users/soonho-tri/received_events","type":"User","site_admin":false},"created_at":"2016-11-11T18:44:16Z","updated_at":"2016-11-11T18:44:16Z","body":"\n\n\n\n\n\n\n\n*[drake/common/test/symbolic_expression_test.cc, line 1169 at r1](https://reviewable.io:443/reviews/robotlocomotion/drake/4122#-KWJYJr6A-1dynlOF1CZ:-KWJgvTLPoayCFzlvWWj:bzhou50) ([raw file](https://github.com/robotlocomotion/drake/blob/4d872e6e489e6fe4502b4082cbe59ace6fb36ed7/drake/common/test/symbolic_expression_test.cc#L1169)):*\n<details><summary><i>Previously, soonho-tri (Soonho Kong) wrote…</i></summary>\n> ```c++\n> template <typename ScalarType, typename BooleanType, typename... Rest>\n> ScalarType cond(const BooleanType& f_cond, const ScalarType& e_then,\n>                 Rest... rest) {\n>   return if_then_else(f_cond, e_then, cond(rest...));\n> }\n> ```\n> \n> Possibly related-topic: I was thinking about omitting a template parameter `BooleanType` and using something like `std::result_of<std::less(ScalarType)>` (or something like that). I guess it might help solve this problem. But `FunctionalForm` doesn't provide `operator<` (nor `std::less`). So I didn't implement this way.\n</details>\nHmm.. please ignore the previous comment.\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/4122)*\n<!-- Sent from Reviewable.io -->\n"}}
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