{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/7929","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/7929/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/7929/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/7929/events","html_url":"https://github.com/RobotLocomotion/drake/pull/7929","id":293738052,"number":7929,"title":"Articulated Body Algorithm (partial first pass)","user":{"login":"bobbyluig","id":6313359,"avatar_url":"https://avatars0.githubusercontent.com/u/6313359?v=4","gravatar_id":"","url":"https://api.github.com/users/bobbyluig","html_url":"https://github.com/bobbyluig","followers_url":"https://api.github.com/users/bobbyluig/followers","following_url":"https://api.github.com/users/bobbyluig/following{/other_user}","gists_url":"https://api.github.com/users/bobbyluig/gists{/gist_id}","starred_url":"https://api.github.com/users/bobbyluig/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/bobbyluig/subscriptions","organizations_url":"https://api.github.com/users/bobbyluig/orgs","repos_url":"https://api.github.com/users/bobbyluig/repos","events_url":"https://api.github.com/users/bobbyluig/events{/privacy}","received_events_url":"https://api.github.com/users/bobbyluig/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":8,"created_at":"2018-02-02T00:59:41Z","updated_at":"2018-02-07T20:30:06Z","closed_at":null,"author_association":"CONTRIBUTOR","pull_request":{"url":"https://api.github.com/repos/RobotLocomotion/drake/pulls/7929","html_url":"https://github.com/RobotLocomotion/drake/pull/7929","diff_url":"https://github.com/RobotLocomotion/drake/pull/7929.diff","patch_url":"https://github.com/RobotLocomotion/drake/pull/7929.patch"},"body":"This is an initial PR for the implementation of the articulated body algorithm. It sets up caching structure and implements a partial first pass which computes articulated body inertias. There is also a corresponding test from Featherstone's ABI example.\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/7929)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/363900377","html_url":"https://github.com/RobotLocomotion/drake/pull/7929#issuecomment-363900377","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/7929","id":363900377,"user":{"login":"amcastro-tri","id":17601461,"avatar_url":"https://avatars3.githubusercontent.com/u/17601461?v=4","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":"2018-02-07T20:30:06Z","updated_at":"2018-02-07T20:30:06Z","author_association":"CONTRIBUTOR","body":"\n\n\n\nReviewed 7 of 8 files at r4.\nReview status: all files reviewed at latest revision, 2 unresolved discussions.\n\n---\n\n*[multibody/multibody_tree/articulated_body_cache.cc, line 5 at r1](https://reviewable.io:443/reviews/robotlocomotion/drake/7929#-L4Lv9nIuRsNO8w-Qi2v:-L4lwwtrLC8z3bmsiG-R:bu4kcpz) ([raw file](https://github.com/robotlocomotion/drake/blob/43e4d4323abb5a70c2128758a2e38068a32ef1d7/multibody/multibody_tree/articulated_body_cache.cc#L5)):*\n<details><summary><i>Previously, bobbyluig (Lujing Cen) wrote…</i></summary><blockquote>\n\nThe LLDT decomposition and symmetry test in `ArticulatedBodyInertia` which checks for physical validity is preventing this from compiling with symbolic support.\n</blockquote></details>\n\nI just pushed a fix.\n\n---\n\n*[multibody/multibody_tree/articulated_body_cache.h, line 44 at r3](https://reviewable.io:443/reviews/robotlocomotion/drake/7929#-L4le-gjhRFoe6vkuNZW:-L4lx1CNTksoZnByRqcn:b-mx0t97) ([raw file](https://github.com/robotlocomotion/drake/blob/b49b918d95b31d3bbffb363646367d1f697d12f7/multibody/multibody_tree/articulated_body_cache.h#L44)):*\n<details><summary><i>Previously, amcastro-tri (Alejandro Castro) wrote…</i></summary><blockquote>\n\nwhat about \"Returns a const reference to the articulated body inertia Pplus_PB_W for the articulated body subsystem formed by all bodies outboard from body B, projected across its inboard mobilizer to frame P, about point Bo, and expressed in the world frame W\", so that our notation and docs are consistent across classes.\n</blockquote></details>\n\nfix pushed.\n\n---\n\n*[multibody/multibody_tree/articulated_body_inertia.h, line 126 at r3](https://reviewable.io:443/reviews/robotlocomotion/drake/7929#-L4lfJFBn47MVKqjoFpM:-L4lxSmrbVaZSvomLVq-:b-mx0t97) ([raw file](https://github.com/robotlocomotion/drake/blob/b49b918d95b31d3bbffb363646367d1f697d12f7/multibody/multibody_tree/articulated_body_inertia.h#L126)):*\n<details><summary><i>Previously, amcastro-tri (Alejandro Castro) wrote…</i></summary><blockquote>\n\nBTW, warning is not correct. An exception is thrown in Debug builds if `IsPhysicallyValid()` fails\n</blockquote></details>\n\nfix pushed.\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/7929)*\n<!-- Sent from Reviewable.io -->\n"}}
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