Andres Valenzuela

> don't compute signed distance for bounding volumes. Just to be sure I'm understanding correctly, we would still be able to use the broadphase in signed-distance queries, right?

That sounds about right, Pat. Sorry for the mysterious, do-nothing code! On Thu, Oct 22, 2015 at 7:39 AM Pat Marion [email protected] wrote: > I think we can remove it...

The intended use here is *not* for simulation. It's for trajectory optimization (at least that's why I want it). Consider this portion of the dynamics constraint in `systems::trajectory_optimization::DirectTranscription`: https://github.com/RobotLocomotion/drake/blob/82ae060eea9c2f1e6b9fa79c8574e1464d6dff8e/systems/trajectory_optimization/direct_transcription.cc#L83-L86

Would we then continue calling `CalcDiscreteVariableUpdates()` to advance the system? Or would there be an additional `EvalDiscreteVariableUpdates()` method?

I was mostly thinking of the lack of parallelism that Russ mentioned in the original post.

Sorry for the confusion. I think (correct me if I'm wrong, @RussTedrake) that the original complaint of missing parallelism was *entirely* about the names. Personally, I don't have any objection...

We've seen this behavior when there's too long a gap between commands being sent to FRI. FRI decides that your connection is bad and kicks you out. @sammy-tri may have...