{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8803","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8803/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8803/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8803/events","html_url":"https://github.com/RobotLocomotion/drake/pull/8803","id":322457174,"number":8803,"title":"Enable non-allocating calls to doKinematics, ComputeFramePose, Spatia…","user":{"login":"JoshPetersen-TRI","id":37562008,"avatar_url":"https://avatars1.githubusercontent.com/u/37562008?v=4","gravatar_id":"","url":"https://api.github.com/users/JoshPetersen-TRI","html_url":"https://github.com/JoshPetersen-TRI","followers_url":"https://api.github.com/users/JoshPetersen-TRI/followers","following_url":"https://api.github.com/users/JoshPetersen-TRI/following{/other_user}","gists_url":"https://api.github.com/users/JoshPetersen-TRI/gists{/gist_id}","starred_url":"https://api.github.com/users/JoshPetersen-TRI/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/JoshPetersen-TRI/subscriptions","organizations_url":"https://api.github.com/users/JoshPetersen-TRI/orgs","repos_url":"https://api.github.com/users/JoshPetersen-TRI/repos","events_url":"https://api.github.com/users/JoshPetersen-TRI/events{/privacy}","received_events_url":"https://api.github.com/users/JoshPetersen-TRI/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2018-05-11T23:00:29Z","updated_at":"2018-05-11T23:00:30Z","closed_at":null,"author_association":"NONE","pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/8803","html_url":"https://github.com/RobotLocomotion/drake/pull/8803","diff_url":"https://github.com/RobotLocomotion/drake/pull/8803.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/8803.patch"},"body":"…lVelocity and SpatialJacobian\r\n\r\n- Change checkCachedKinematicsSettings to take in a char* to prevent allocating a std::string\r\n- Redefine transformSpatialMotion to preallocate a maximum of 6 columns for dynamic matrices\r\n- Move geometricJacobian from transformSpatialMotion to explict calculation of frame changes\r\n- Add a new set of ComputeXSpatialVelocityJacobian methods which take as argument the Jacobian to prevent allocation. This includes adding a new geometricJacobian method and findKinematicPath which use preallocated private member variables"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/388505668","html_url":"https://github.com/RobotLocomotion/drake/pull/8803#issuecomment-388505668","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8803","id":388505668,"user":{"login":"drake-jenkins-bot","id":16707381,"avatar_url":"https://avatars0.githubusercontent.com/u/16707381?v=4","gravatar_id":"","url":"https://api.github.com/users/drake-jenkins-bot","html_url":"https://github.com/drake-jenkins-bot","followers_url":"https://api.github.com/users/drake-jenkins-bot/followers","following_url":"https://api.github.com/users/drake-jenkins-bot/following{/other_user}","gists_url":"https://api.github.com/users/drake-jenkins-bot/gists{/gist_id}","starred_url":"https://api.github.com/users/drake-jenkins-bot/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/drake-jenkins-bot/subscriptions","organizations_url":"https://api.github.com/users/drake-jenkins-bot/orgs","repos_url":"https://api.github.com/users/drake-jenkins-bot/repos","events_url":"https://api.github.com/users/drake-jenkins-bot/events{/privacy}","received_events_url":"https://api.github.com/users/drake-jenkins-bot/received_events","type":"User","site_admin":false},"created_at":"2018-05-11T23:00:30Z","updated_at":"2018-05-11T23:00:30Z","author_association":"NONE","body":"Can one of the admins verify this patch?"}}
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