{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8854","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8854/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8854/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8854/events","html_url":"https://github.com/RobotLocomotion/drake/pull/8854","id":325480484,"node_id":"MDExOlB1bGxSZXF1ZXN0MTg5ODA1OTQz","number":8854,"title":"Add Relative Distance Constraint to 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curate commits before 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it possible to add relative distance constraints between two point on a RigidBodyTree.\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/8854)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/394862146","html_url":"https://github.com/RobotLocomotion/drake/pull/8854#issuecomment-394862146","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8854","id":394862146,"node_id":"MDEyOklzc3VlQ29tbWVudDM5NDg2MjE0Ng==","user":{"login":"mpetersen94","id":31107801,"node_id":"MDQ6VXNlcjMxMTA3ODAx","avatar_url":"https://avatars0.githubusercontent.com/u/31107801?v=4","gravatar_id":"","url":"https://api.github.com/users/mpetersen94","html_url":"https://github.com/mpetersen94","followers_url":"https://api.github.com/users/mpetersen94/followers","following_url":"https://api.github.com/users/mpetersen94/following{/other_user}","gists_url":"https://api.github.com/users/mpetersen94/gists{/gist_id}","starred_url":"https://api.github.com/users/mpetersen94/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mpetersen94/subscriptions","organizations_url":"https://api.github.com/users/mpetersen94/orgs","repos_url":"https://api.github.com/users/mpetersen94/repos","events_url":"https://api.github.com/users/mpetersen94/events{/privacy}","received_events_url":"https://api.github.com/users/mpetersen94/received_events","type":"User","site_admin":false},"created_at":"2018-06-05T21:12:46Z","updated_at":"2018-06-05T21:12:46Z","author_association":"NONE","body":"I've added some unit tests and addressed the build failure.  I'm not sure what you are referring to with constraint numbering. Neither the continuous nor discrete formulation of RBP seems to make any assumptions about the number of constraints.\n\n---\n\nReview status: 0 of 7 files reviewed at latest revision, 1 unresolved discussion.\n\n---\n\n*[multibody/rigid_body_distance_constraint.h, line 14 at r1](https://reviewable.io/reviews/robotlocomotion/drake/8854#-LDm_nmlAFNqW96Eyj5z:-LEGmGhn6xQFDdskjfH2:b-jg49yp) ([raw file](https://github.com/robotlocomotion/drake/blob/7f6479efbbcb6dc5412858d0ffc520c992d74916/multibody/rigid_body_distance_constraint.h#L14)):*\n<details><summary><i>Previously, sherm1 (Michael Sherman) wrote…</i></summary><blockquote>\n\nClass name still abbreviates Distance and Constraint.\n</blockquote></details>\n\nShould be fully fixed now.\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io/reviews/robotlocomotion/drake/8854#-:-LEGmYkn7WJeQy8ETMCL:br9560b)*\n<!-- Sent from Reviewable.io -->\n"}}
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