{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8609","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8609/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8609/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8609/events","html_url":"https://github.com/RobotLocomotion/drake/pull/8609","id":314883156,"number":8609,"title":"Add more compile time check for updating constraint 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Reviewable:start -->\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/8609)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/382048663","html_url":"https://github.com/RobotLocomotion/drake/pull/8609#issuecomment-382048663","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/8609","id":382048663,"user":{"login":"sammy-tri","id":17596504,"avatar_url":"https://avatars3.githubusercontent.com/u/17596504?v=4","gravatar_id":"","url":"https://api.github.com/users/sammy-tri","html_url":"https://github.com/sammy-tri","followers_url":"https://api.github.com/users/sammy-tri/followers","following_url":"https://api.github.com/users/sammy-tri/following{/other_user}","gists_url":"https://api.github.com/users/sammy-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/sammy-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sammy-tri/subscriptions","organizations_url":"https://api.github.com/users/sammy-tri/orgs","repos_url":"https://api.github.com/users/sammy-tri/repos","events_url":"https://api.github.com/users/sammy-tri/events{/privacy}","received_events_url":"https://api.github.com/users/sammy-tri/received_events","type":"User","site_admin":false},"created_at":"2018-04-17T16:04:57Z","updated_at":"2018-04-17T16:04:57Z","author_association":"CONTRIBUTOR","body":"In the previous implementation, this check was already present because `UpdateLowerBound` and `UpdateUpperBound` were calling `set_bounds` to do the actual update.  This seems to spread the checking over more functions but not introduce any more checks, which I'm not sure is an improvement.  Is there an additional motivation for this PR?\n\n---\n\nReviewed 1 of 1 files at r2.\nReview status: all files reviewed at latest revision, 1 unresolved discussion.\n\n---\n\n*[solvers/constraint.h, line 137 at r2](https://beta.reviewable.io/reviews/robotlocomotion/drake/8609#-LAJLC4s-6HIkpPDoh-9:-LAJLC4s-6HIkpPDoh-A:bq0cvyw) ([raw file](https://github.com/robotlocomotion/drake/blob/87ed4b3a6a5eb5cc1481d27a29723752a6eec040/solvers/constraint.h#L137)):*\n> ```objc\n>                   const Eigen::MatrixBase<DerivedU>& upper_bound) {\n>     if (lower_bound.rows() != num_constraints() ||\n>         upper_bound.rows() != num_constraints() || lower_bound.cols() != 1 ||\n> ```\n\nIs losing the check on number of columns here intentional?  The comment still calls for only one column, and I', not sure having more than one would work out well.\n\n---\n\n\n*Comments from [Reviewable](https://beta.reviewable.io/reviews/robotlocomotion/drake/8609#-:-LAJKnfaE_MXJOaQDYWE:b-2d6oj3)*\n<!-- Sent from Reviewable.io -->\n"}}
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