{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4317","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4317/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4317/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4317/events","html_url":"https://github.com/RobotLocomotion/drake/pull/4317","id":192672228,"number":4317,"title":"Removed RigidBodyTree constructor that takes as input a URDF file name.","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},"labels":[{"id":77798003,"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/priority:%20high","name":"priority: high","color":"b60205","default":false}],"state":"open","locked":false,"assignee":{"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},"assignees":[{"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},{"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}],"milestone":null,"comments":21,"created_at":"2016-11-30T20:36:54Z","updated_at":"2016-12-02T22:41:33Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/4317","html_url":"https://github.com/RobotLocomotion/drake/pull/4317","diff_url":"https://github.com/RobotLocomotion/drake/pull/4317.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/4317.patch"},"body":"This goes towards the goal of decoupling the `RigidBodyTree` from the parsers. The layering should be: parsers depend on `RigidBodyTree` and _not the other way around_.\r\n\r\nI was motivated to prioritize this because it will make it easier for me to remove the \"directory crawling\" that's currently being done by `populatePackageMap()`, which is defined in `xml_util.h`.\r\n\r\n<!-- Reviewable:start -->\r\n---\r\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/4317)\r\n<!-- Reviewable:end -->\r\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/264582138","html_url":"https://github.com/RobotLocomotion/drake/pull/4317#issuecomment-264582138","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4317","id":264582138,"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},"created_at":"2016-12-02T22:41:33Z","updated_at":"2016-12-02T22:41:33Z","body":"<img class=\"emoji\" title=\":lgtm:\" alt=\":lgtm:\" align=\"absmiddle\" src=\"https://reviewable.io/lgtm.png\" height=\"20\" width=\"61\"/>\n\n---\n\nReviewed 17 of 34 files at r1, 4 of 9 files at r2, 7 of 12 files at r3, 6 of 7 files at r4, 1 of 1 files at r5.\nReview status: all files reviewed at latest revision, 2 unresolved discussions.\n\n---\n\n*[drake/examples/Acrobot/test/acrobot_urdf_dynamics_test.cc, line 8 at r1](https://reviewable.io:443/reviews/robotlocomotion/drake/4317#-KXuqDe3jl8KtpXf6b_t:-KY0d0_MTyYT4bL0Ukd_:b-ucfknh) ([raw file](https://github.com/robotlocomotion/drake/blob/444e642d76870f1fe11d9abb86f52a8da5ee7c2f/drake/examples/Acrobot/test/acrobot_urdf_dynamics_test.cc#L8)):*\n<details><summary><i>Previously, liangfok (Chien-Liang Fok) wrote…</i></summary><blockquote>\n\nYes, here is the official text from the guide:\n\n> You should include all the headers that define the symbols you rely upon, except in the unusual case of forward declaration. If you rely on symbols from bar.h, don't count on the fact that you included foo.h which (currently) includes bar.h: include bar.h yourself, unless foo.h explicitly demonstrates its intent to provide you the symbols of bar.h. However, any includes present in the related header do not need to be included again in the related cc (i.e., foo.cc can rely on foo.h's includes).\n\nhttps://google.github.io/styleguide/cppguide.html#Names_and_Order_of_Includes\n\nDrake clarifies this rule as follows:\n\n> While we encourage you to Include What You Use (IWYU) since it improves code transparency and readability, it will not be strictly enforced. Instead, we enforce a “weak include” style that simply requires every symbol referenced within a file be covered by the transitive closure of all #include statements in the file. We decided to make this exception because (1) we can always adopt an IWYU rule later, (2) to reduce verbosity, and (3) we don’t have a tool to enforce IWYU at this time.\n\nhttp://drake.mit.edu/code_style_guide.html#code-style-guide-cpp-exceptions\n</blockquote></details>\n\nThanks!\n\n---\n\n*[drake/multibody/constraint/test/rigid_body_constraint_test.cc, line 33 at r5](https://reviewable.io:443/reviews/robotlocomotion/drake/4317#-KY0fqCf6Iw5Lm1enNMT:-KY0fqCf6Iw5Lm1enNMU:b-4v4hbk) ([raw file](https://github.com/robotlocomotion/drake/blob/8db482efadd47f76047a37e0632bcb92ad9ce892/drake/multibody/constraint/test/rigid_body_constraint_test.cc#L33)):*\n> ```cpp\n>   kc1_lb << 0, 0, 0;\n>   kc1_ub << 0, 0, 0;\n>   std::unique_ptr<WorldCoMConstraint> world_com_constraint;\n> ```\n\nBTW, nice!\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/4317#-:-KY0gltq3idRYmMHemE9:bnfp4nl)*\n<!-- Sent from Reviewable.io -->\n"}}
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