{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4190","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4190/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4190/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4190/events","html_url":"https://github.com/RobotLocomotion/drake/issues/4190","id":190602800,"number":4190,"title":"Cleanup of trajectories-related source paths","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":[{"id":366762542,"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/priority:%20medium","name":"priority: medium","color":"e99695","default":false},{"id":366761608,"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/team:%20software%20core","name":"team: software core","color":"0052cc","default":false},{"id":77797802,"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/type:%20cleanup","name":"type: cleanup","color":"009800","default":false}],"state":"open","locked":false,"assignee":{"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},"assignees":[{"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}],"milestone":null,"comments":1,"created_at":"2016-11-21T02:07:15Z","updated_at":"2016-11-21T02:07:59Z","closed_at":null,"body":"(Per discussion on slack...)\r\n\r\nWe should clean up the scattered nature of our trajectories-related C++ code.  Currently, we have:\r\n- `drake/systems/trajectories`\r\n- `drake/solvers/qpSpline`\r\n- `drake/solvers/trajectoryOptimization`\r\n\r\nThe strong consensus was that:\r\n- (1) these should all move to the same subdirectory (or siblings of a common parent) -- which is captured in this issue;\r\n  - (a) the `drake/systems/trajectories` and `drake/solvers/trajectoryOptimization` files should go directly into the new home (no separate subdirs);\r\n  - (b) the `drake/solvers/qpSpline` files should probably stay partitioned as a subdirectory of the new home, in case we want to refactor or ditch them as a group;\r\n- (2) there should be a `TrajectorySystem<T>` source in `systems/framework/primitives` that takes a trajectory object and produces the trajectory on a system output port -- which is a separate issue.\r\n\r\nThe proposal for the new home is `drake/common/trajectories`.  That yields a dependency graph of `common/trajectories -> solvers -> math -> common` (because trajectories uses `MathematicalProgram`).  That's not technically circular (CMake and Bazel are both (I think) okay with it), but in my dream world the top-level dirs are 100% layered with no back-references.  Perhaps we live with it for now.\r\n\r\nWhen we move these files, we'll also take care of the #1965 renames on them."},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/261825990","html_url":"https://github.com/RobotLocomotion/drake/issues/4190#issuecomment-261825990","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4190","id":261825990,"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":"2016-11-21T02:07:59Z","updated_at":"2016-11-21T02:07:59Z","body":"/CC @siyuanfeng-tri @manuelli @sammy-tri @Lucy-tri"}}
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