{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4362","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4362/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4362/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4362/events","html_url":"https://github.com/RobotLocomotion/drake/pull/4362","id":193394403,"number":4362,"title":"change the decision variable name ","user":{"login":"hongkai-dai","id":6314000,"avatar_url":"https://avatars.githubusercontent.com/u/6314000?v=3","gravatar_id":"","url":"https://api.github.com/users/hongkai-dai","html_url":"https://github.com/hongkai-dai","followers_url":"https://api.github.com/users/hongkai-dai/followers","following_url":"https://api.github.com/users/hongkai-dai/following{/other_user}","gists_url":"https://api.github.com/users/hongkai-dai/gists{/gist_id}","starred_url":"https://api.github.com/users/hongkai-dai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hongkai-dai/subscriptions","organizations_url":"https://api.github.com/users/hongkai-dai/orgs","repos_url":"https://api.github.com/users/hongkai-dai/repos","events_url":"https://api.github.com/users/hongkai-dai/events{/privacy}","received_events_url":"https://api.github.com/users/hongkai-dai/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"login":"siyuanfeng-tri","id":19416233,"avatar_url":"https://avatars.githubusercontent.com/u/19416233?v=3","gravatar_id":"","url":"https://api.github.com/users/siyuanfeng-tri","html_url":"https://github.com/siyuanfeng-tri","followers_url":"https://api.github.com/users/siyuanfeng-tri/followers","following_url":"https://api.github.com/users/siyuanfeng-tri/following{/other_user}","gists_url":"https://api.github.com/users/siyuanfeng-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/siyuanfeng-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/siyuanfeng-tri/subscriptions","organizations_url":"https://api.github.com/users/siyuanfeng-tri/orgs","repos_url":"https://api.github.com/users/siyuanfeng-tri/repos","events_url":"https://api.github.com/users/siyuanfeng-tri/events{/privacy}","received_events_url":"https://api.github.com/users/siyuanfeng-tri/received_events","type":"User","site_admin":false},"assignees":[{"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},{"login":"siyuanfeng-tri","id":19416233,"avatar_url":"https://avatars.githubusercontent.com/u/19416233?v=3","gravatar_id":"","url":"https://api.github.com/users/siyuanfeng-tri","html_url":"https://github.com/siyuanfeng-tri","followers_url":"https://api.github.com/users/siyuanfeng-tri/followers","following_url":"https://api.github.com/users/siyuanfeng-tri/following{/other_user}","gists_url":"https://api.github.com/users/siyuanfeng-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/siyuanfeng-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/siyuanfeng-tri/subscriptions","organizations_url":"https://api.github.com/users/siyuanfeng-tri/orgs","repos_url":"https://api.github.com/users/siyuanfeng-tri/repos","events_url":"https://api.github.com/users/siyuanfeng-tri/events{/privacy}","received_events_url":"https://api.github.com/users/siyuanfeng-tri/received_events","type":"User","site_admin":false}],"milestone":null,"comments":9,"created_at":"2016-12-05T01:50:27Z","updated_at":"2016-12-05T03:14:43Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/4362","html_url":"https://github.com/RobotLocomotion/drake/pull/4362","diff_url":"https://github.com/RobotLocomotion/drake/pull/4362.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/4362.patch"},"body":"Now when we add decision variables to mathematical program, there are two options to specify the names of the newly added variables.\r\n\r\n1. Specify each variable name explicitly, as\r\n   ```\r\n   AddContinuousVariable(rows, cols, std::vector<string> names);\r\n   ```\r\n   where `names` should be a vector of size `rows * cols`, containing the name of each new variable.\r\n2. Specify the shared name of all newly added decision variables. For each individual decision variable, the program appends an index to its name.\r\n   ```\r\n   AddContinuousDecisionVariables(2, 3, \"X\")\r\n   ```\r\n   will add a matrix of decision variables, with names\r\n   ```\r\n   X(0, 0), X(0, 1), X(0, 2)\r\n   X(1, 0), X(1, 1), X(1, 2)\r\n   ```\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/4362)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/264759079","html_url":"https://github.com/RobotLocomotion/drake/pull/4362#issuecomment-264759079","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4362","id":264759079,"user":{"login":"hongkai-dai","id":6314000,"avatar_url":"https://avatars.githubusercontent.com/u/6314000?v=3","gravatar_id":"","url":"https://api.github.com/users/hongkai-dai","html_url":"https://github.com/hongkai-dai","followers_url":"https://api.github.com/users/hongkai-dai/followers","following_url":"https://api.github.com/users/hongkai-dai/following{/other_user}","gists_url":"https://api.github.com/users/hongkai-dai/gists{/gist_id}","starred_url":"https://api.github.com/users/hongkai-dai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hongkai-dai/subscriptions","organizations_url":"https://api.github.com/users/hongkai-dai/orgs","repos_url":"https://api.github.com/users/hongkai-dai/repos","events_url":"https://api.github.com/users/hongkai-dai/events{/privacy}","received_events_url":"https://api.github.com/users/hongkai-dai/received_events","type":"User","site_admin":false},"created_at":"2016-12-05T03:14:43Z","updated_at":"2016-12-05T03:14:43Z","body":"+@sherm1 for platform review since it is almost Monday.\n\n---\n\nReview status: 4 of 5 files reviewed at latest revision, 2 unresolved discussions.\n\n---\n\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/4362#-:-KYByQf2cNMBtusk_-HC:bco7n5x)*\n<!-- Sent from Reviewable.io -->\n"}}
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