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pull request adds arbitrary integrators; intent is that we keep the Simulator class functionality should still be the same while extending support to arbitrary ODE integration mechanisms. \r\n\r\n<!-- Reviewable:start -->\r\n---\r\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/3554)\r\n<!-- Reviewable:end -->\r\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/249733642","html_url":"https://github.com/RobotLocomotion/drake/pull/3554#issuecomment-249733642","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3554","id":249733642,"user":{"login":"edrumwri","id":2224335,"avatar_url":"https://avatars.githubusercontent.com/u/2224335?v=3","gravatar_id":"","url":"https://api.github.com/users/edrumwri","html_url":"https://github.com/edrumwri","followers_url":"https://api.github.com/users/edrumwri/followers","following_url":"https://api.github.com/users/edrumwri/following{/other_user}","gists_url":"https://api.github.com/users/edrumwri/gists{/gist_id}","starred_url":"https://api.github.com/users/edrumwri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/edrumwri/subscriptions","organizations_url":"https://api.github.com/users/edrumwri/orgs","repos_url":"https://api.github.com/users/edrumwri/repos","events_url":"https://api.github.com/users/edrumwri/events{/privacy}","received_events_url":"https://api.github.com/users/edrumwri/received_events","type":"User","site_admin":false},"created_at":"2016-09-27T00:13:43Z","updated_at":"2016-09-27T00:13:43Z","body":"\n\n\n\nReview status: 3 of 12 files reviewed at latest revision, 41 unresolved discussions.\n\n---\n\n*[drake/systems/analysis/simulator.h, line 122 at r5](https://reviewable.io:443/reviews/robotlocomotion/drake/3554#-KScUNVfsmq2xf5XVeFh:-KScyX5-KqaEXmaFONAI:b-ywcv28) ([raw file](https://github.com/robotlocomotion/drake/blob/bb9dce7c955a9fb4c1fae735ed6363a2f6f40b3f/drake/systems/analysis/simulator.h#L122)):*\n<details><summary><i>Previously, sherm1 (Michael Sherman) wrote…</i></summary>\n> I'm unclear now on what this routine does when a user accepts the default accuracy. In that case there is no user-supplied \"target\". Or would you consider the integrator default to be a \"target\"? And in that case what happens when no user request has been made? Please clarify the intended behavior and consider whether you want to distinguish reporting back a user-requested accuracy from the one that actually is being used. Note that an integrator might decide to modify the user's request -- they could ask for too much accuracy or not enough for the particular integrator. In that case there would be a very distinct \"user requested accuracy\" and \"accuracy in use\". \n</details>\nI'd consider the integrator default to be the target. WRT your second issue: would you imagine that a user would want to set the target accuracy (which might be too low), the integrator sets the target accuracy to a reasonable value, and then the user needs to retrieve the target accuracy that they set previously? I don't yet see the \"value\" in maintaining the two separate values. \n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/3554)*\n<!-- Sent from Reviewable.io -->\n"}}
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