{"action":"created","issue":{"url":"https://api.github.com/repos/dartsim/dart/issues/1260","repository_url":"https://api.github.com/repos/dartsim/dart","labels_url":"https://api.github.com/repos/dartsim/dart/issues/1260/labels{/name}","comments_url":"https://api.github.com/repos/dartsim/dart/issues/1260/comments","events_url":"https://api.github.com/repos/dartsim/dart/issues/1260/events","html_url":"https://github.com/dartsim/dart/pull/1260","id":419404937,"node_id":"MDExOlB1bGxSZXF1ZXN0MjU5OTE2OTUx","number":1260,"title":"Fix not copying constraints in setting new constraint solver","user":{"login":"jslee02","id":4038467,"node_id":"MDQ6VXNlcjQwMzg0Njc=","avatar_url":"https://avatars3.githubusercontent.com/u/4038467?v=4","gravatar_id":"","url":"https://api.github.com/users/jslee02","html_url":"https://github.com/jslee02","followers_url":"https://api.github.com/users/jslee02/followers","following_url":"https://api.github.com/users/jslee02/following{/other_user}","gists_url":"https://api.github.com/users/jslee02/gists{/gist_id}","starred_url":"https://api.github.com/users/jslee02/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jslee02/subscriptions","organizations_url":"https://api.github.com/users/jslee02/orgs","repos_url":"https://api.github.com/users/jslee02/repos","events_url":"https://api.github.com/users/jslee02/events{/privacy}","received_events_url":"https://api.github.com/users/jslee02/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":{"url":"https://api.github.com/repos/dartsim/dart/milestones/48","html_url":"https://github.com/dartsim/dart/milestone/48","labels_url":"https://api.github.com/repos/dartsim/dart/milestones/48/labels","id":3650597,"node_id":"MDk6TWlsZXN0b25lMzY1MDU5Nw==","number":48,"title":"DART 6.8.0","description":"Target branch: `master`","creator":{"login":"jslee02","id":4038467,"node_id":"MDQ6VXNlcjQwMzg0Njc=","avatar_url":"https://avatars3.githubusercontent.com/u/4038467?v=4","gravatar_id":"","url":"https://api.github.com/users/jslee02","html_url":"https://github.com/jslee02","followers_url":"https://api.github.com/users/jslee02/followers","following_url":"https://api.github.com/users/jslee02/following{/other_user}","gists_url":"https://api.github.com/users/jslee02/gists{/gist_id}","starred_url":"https://api.github.com/users/jslee02/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jslee02/subscriptions","organizations_url":"https://api.github.com/users/jslee02/orgs","repos_url":"https://api.github.com/users/jslee02/repos","events_url":"https://api.github.com/users/jslee02/events{/privacy}","received_events_url":"https://api.github.com/users/jslee02/received_events","type":"User","site_admin":false},"open_issues":1,"closed_issues":11,"state":"open","created_at":"2018-09-13T06:02:00Z","updated_at":"2019-03-11T10:49:00Z","due_on":null,"closed_at":null},"comments":1,"created_at":"2019-03-11T10:49:00Z","updated_at":"2019-03-12T14:36:58Z","closed_at":null,"author_association":"MEMBER","pull_request":{"url":"https://api.github.com/repos/dartsim/dart/pulls/1260","html_url":"https://github.com/dartsim/dart/pull/1260","diff_url":"https://github.com/dartsim/dart/pull/1260.diff","patch_url":"https://github.com/dartsim/dart/pull/1260.patch"},"body":"### Motivation\r\n`World::setConstraint()` doesn't copy constraints.\r\n\r\n### Solution\r\nIntroduce `ConstraintSolver::setFromOtherConstraintSolver()` to properly copy skeletons and contraints from existing constraint solver. This is to let `ConstraintSolver` handle the copy instead of the caller (e.g., `World`).\r\n\r\n***\r\n\r\n**Before creating a pull request**\r\n\r\n- [x] Document new methods and classes\r\n- [x] Format new code files using `clang-format`\r\n\r\n**Before merging a pull request**\r\n\r\n- [x] Set version target by selecting a milestone on the right side\r\n- [x] Summarize this change in `CHANGELOG.md`\r\n- [x] Add unit test(s) for this change\r\n"},"comment":{"url":"https://api.github.com/repos/dartsim/dart/issues/comments/472027422","html_url":"https://github.com/dartsim/dart/pull/1260#issuecomment-472027422","issue_url":"https://api.github.com/repos/dartsim/dart/issues/1260","id":472027422,"node_id":"MDEyOklzc3VlQ29tbWVudDQ3MjAyNzQyMg==","user":{"login":"jslee02","id":4038467,"node_id":"MDQ6VXNlcjQwMzg0Njc=","avatar_url":"https://avatars3.githubusercontent.com/u/4038467?v=4","gravatar_id":"","url":"https://api.github.com/users/jslee02","html_url":"https://github.com/jslee02","followers_url":"https://api.github.com/users/jslee02/followers","following_url":"https://api.github.com/users/jslee02/following{/other_user}","gists_url":"https://api.github.com/users/jslee02/gists{/gist_id}","starred_url":"https://api.github.com/users/jslee02/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jslee02/subscriptions","organizations_url":"https://api.github.com/users/jslee02/orgs","repos_url":"https://api.github.com/users/jslee02/repos","events_url":"https://api.github.com/users/jslee02/events{/privacy}","received_events_url":"https://api.github.com/users/jslee02/received_events","type":"User","site_admin":false},"created_at":"2019-03-12T14:36:58Z","updated_at":"2019-03-12T14:36:58Z","author_association":"MEMBER","body":"> Do we have any strategy for copying constraints over when cloning a world? It looks like we're not handling that currently. Since this PR is targeted at fixing a specific downstream issue for Gazebo, we can punt on the cloning concern, but it may be worth opening an issue about it if we're not currently cloning constraints.\r\n\r\nGood point! Let me fix that in a separate PR."}}
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