{"action":"created","issue":{"url":"https://api.github.com/repos/ipab-slmc/exotica/issues/460","repository_url":"https://api.github.com/repos/ipab-slmc/exotica","labels_url":"https://api.github.com/repos/ipab-slmc/exotica/issues/460/labels{/name}","comments_url":"https://api.github.com/repos/ipab-slmc/exotica/issues/460/comments","events_url":"https://api.github.com/repos/ipab-slmc/exotica/issues/460/events","html_url":"https://github.com/ipab-slmc/exotica/issues/460","id":392261147,"node_id":"MDU6SXNzdWUzOTIyNjExNDc=","number":460,"title":"'getSolver' does not return a solver","user":{"login":"christian-rauch","id":8226248,"node_id":"MDQ6VXNlcjgyMjYyNDg=","avatar_url":"https://avatars0.githubusercontent.com/u/8226248?v=4","gravatar_id":"","url":"https://api.github.com/users/christian-rauch","html_url":"https://github.com/christian-rauch","followers_url":"https://api.github.com/users/christian-rauch/followers","following_url":"https://api.github.com/users/christian-rauch/following{/other_user}","gists_url":"https://api.github.com/users/christian-rauch/gists{/gist_id}","starred_url":"https://api.github.com/users/christian-rauch/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/christian-rauch/subscriptions","organizations_url":"https://api.github.com/users/christian-rauch/orgs","repos_url":"https://api.github.com/users/christian-rauch/repos","events_url":"https://api.github.com/users/christian-rauch/events{/privacy}","received_events_url":"https://api.github.com/users/christian-rauch/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":3,"created_at":"2018-12-18T17:32:13Z","updated_at":"2018-12-18T17:51:23Z","closed_at":null,"author_association":"MEMBER","body":"The method `Scene::getSolver()` is rather badly named since it actually returns a `KinematicTree` and not a solver as in `exotica::MotionSolver`.\r\n\r\nThis is especially confusing if used with the Python bindings, since after setting up a solver and a problem like:\r\n```Python\r\nself.solver = exo.Setup.createSolver(...)\r\nself.problem = exo.Setup.createProblem(...)\r\nself.solver.specifyProblem(self.problem)\r\n```\r\na further call to:\r\n```Python\r\nproblem_solver = self.problem.getScene().getSolver()\r\n```\r\nsuggests that `problem_solver` is the same instance as the `self.solver` defined above.\r\n\r\nThe method `Scene::getSolver()` should be renamed to something like `Scene::getKinematicTree()`."},"comment":{"url":"https://api.github.com/repos/ipab-slmc/exotica/issues/comments/448309805","html_url":"https://github.com/ipab-slmc/exotica/issues/460#issuecomment-448309805","issue_url":"https://api.github.com/repos/ipab-slmc/exotica/issues/460","id":448309805,"node_id":"MDEyOklzc3VlQ29tbWVudDQ0ODMwOTgwNQ==","user":{"login":"christian-rauch","id":8226248,"node_id":"MDQ6VXNlcjgyMjYyNDg=","avatar_url":"https://avatars0.githubusercontent.com/u/8226248?v=4","gravatar_id":"","url":"https://api.github.com/users/christian-rauch","html_url":"https://github.com/christian-rauch","followers_url":"https://api.github.com/users/christian-rauch/followers","following_url":"https://api.github.com/users/christian-rauch/following{/other_user}","gists_url":"https://api.github.com/users/christian-rauch/gists{/gist_id}","starred_url":"https://api.github.com/users/christian-rauch/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/christian-rauch/subscriptions","organizations_url":"https://api.github.com/users/christian-rauch/orgs","repos_url":"https://api.github.com/users/christian-rauch/repos","events_url":"https://api.github.com/users/christian-rauch/events{/privacy}","received_events_url":"https://api.github.com/users/christian-rauch/received_events","type":"User","site_admin":false},"created_at":"2018-12-18T17:51:23Z","updated_at":"2018-12-18T17:51:23Z","author_association":"MEMBER","body":"Shall we delay this change until after the next release? It will break a lot of user code."}}
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