{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/9072","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/9072/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/9072/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/9072/events","html_url":"https://github.com/RobotLocomotion/drake/issues/9072","id":336422589,"node_id":"MDU6SXNzdWUzMzY0MjI1ODk=","number":9072,"title":"More specific \"Transform\" class name.","user":{"login":"mitiguy","id":21087628,"node_id":"MDQ6VXNlcjIxMDg3NjI4","avatar_url":"https://avatars2.githubusercontent.com/u/21087628?v=4","gravatar_id":"","url":"https://api.github.com/users/mitiguy","html_url":"https://github.com/mitiguy","followers_url":"https://api.github.com/users/mitiguy/followers","following_url":"https://api.github.com/users/mitiguy/following{/other_user}","gists_url":"https://api.github.com/users/mitiguy/gists{/gist_id}","starred_url":"https://api.github.com/users/mitiguy/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mitiguy/subscriptions","organizations_url":"https://api.github.com/users/mitiguy/orgs","repos_url":"https://api.github.com/users/mitiguy/repos","events_url":"https://api.github.com/users/mitiguy/events{/privacy}","received_events_url":"https://api.github.com/users/mitiguy/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":{"login":"mitiguy","id":21087628,"node_id":"MDQ6VXNlcjIxMDg3NjI4","avatar_url":"https://avatars2.githubusercontent.com/u/21087628?v=4","gravatar_id":"","url":"https://api.github.com/users/mitiguy","html_url":"https://github.com/mitiguy","followers_url":"https://api.github.com/users/mitiguy/followers","following_url":"https://api.github.com/users/mitiguy/following{/other_user}","gists_url":"https://api.github.com/users/mitiguy/gists{/gist_id}","starred_url":"https://api.github.com/users/mitiguy/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mitiguy/subscriptions","organizations_url":"https://api.github.com/users/mitiguy/orgs","repos_url":"https://api.github.com/users/mitiguy/repos","events_url":"https://api.github.com/users/mitiguy/events{/privacy}","received_events_url":"https://api.github.com/users/mitiguy/received_events","type":"User","site_admin":false},"assignees":[{"login":"mitiguy","id":21087628,"node_id":"MDQ6VXNlcjIxMDg3NjI4","avatar_url":"https://avatars2.githubusercontent.com/u/21087628?v=4","gravatar_id":"","url":"https://api.github.com/users/mitiguy","html_url":"https://github.com/mitiguy","followers_url":"https://api.github.com/users/mitiguy/followers","following_url":"https://api.github.com/users/mitiguy/following{/other_user}","gists_url":"https://api.github.com/users/mitiguy/gists{/gist_id}","starred_url":"https://api.github.com/users/mitiguy/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mitiguy/subscriptions","organizations_url":"https://api.github.com/users/mitiguy/orgs","repos_url":"https://api.github.com/users/mitiguy/repos","events_url":"https://api.github.com/users/mitiguy/events{/privacy}","received_events_url":"https://api.github.com/users/mitiguy/received_events","type":"User","site_admin":false}],"milestone":null,"comments":19,"created_at":"2018-06-27T23:30:20Z","updated_at":"2018-07-13T15:22:13Z","closed_at":null,"author_association":"CONTRIBUTOR","body":"This issue relates to the name \"Transform\" and whether\r\nit should be modified/changed to make it more unique and\r\ndisambiguate from Eigen::Transform.\r\n\r\nAlthough I created the class/name \"Transform\", \r\nI have my doubts that this was the best name.\r\n\r\nCurrently, there are many uses of the word \"Transform\" in our code base.\r\n1.  There are many (more than 50) uses of \"Eigen::Transform\".\r\n2.  There is also \"using Eigen::Transform\"\r\n3.  There are more than 600 case-sensitive matches to Transform in our code\r\n     (this does not include our documentation or 3rd-party code).\r\n4.  There are many more case-insensitive matches to transform in\r\n     method names, variable names, etc.\r\n\r\nShould it be changed ?\r\n1.  Yes - change it to \"RigidTransform\".\r\n2.  Yes - change it to \"XTransform\".\r\n3.  Yes - change it to \"__________\".  Please make a suggestion.\r\n4.  No - leave it alone.\r\n\r\nAdditional context: \r\nThe Transform class is in drake/math.\r\nIt contains a RotationMatrix (guaranteed to be right-handed and orthonormal) and a position vector.\r\nThe RotationMatrix class and its associated RollPitchYaw classes have many methods that are meant to be more \"bullet-proof\" from a generic 3x3 matrix or 3x1 with 3 angles.\r\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/404865702","html_url":"https://github.com/RobotLocomotion/drake/issues/9072#issuecomment-404865702","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/9072","id":404865702,"node_id":"MDEyOklzc3VlQ29tbWVudDQwNDg2NTcwMg==","user":{"login":"thduynguyen","id":3386039,"node_id":"MDQ6VXNlcjMzODYwMzk=","avatar_url":"https://avatars1.githubusercontent.com/u/3386039?v=4","gravatar_id":"","url":"https://api.github.com/users/thduynguyen","html_url":"https://github.com/thduynguyen","followers_url":"https://api.github.com/users/thduynguyen/followers","following_url":"https://api.github.com/users/thduynguyen/following{/other_user}","gists_url":"https://api.github.com/users/thduynguyen/gists{/gist_id}","starred_url":"https://api.github.com/users/thduynguyen/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/thduynguyen/subscriptions","organizations_url":"https://api.github.com/users/thduynguyen/orgs","repos_url":"https://api.github.com/users/thduynguyen/repos","events_url":"https://api.github.com/users/thduynguyen/events{/privacy}","received_events_url":"https://api.github.com/users/thduynguyen/received_events","type":"User","site_admin":false},"created_at":"2018-07-13T15:22:13Z","updated_at":"2018-07-13T15:22:13Z","author_association":"CONTRIBUTOR","body":"Class name should be a noun. The action `transform` should be an operator/method of the class. `SE3` is a group, which has an operator `*`. Regarding the implementation details, algorithms should not concern about the underlying implementation of the class, be it a `RotationMatrix` or a `Quaternion`. We do need two different classes of rotation, however, `Pose3` (as a semi-product of `SO3` and `R3`) can template on `SO3` type. "}}
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