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the process, I also created a new System 2.0 shared library for KUKA iiwa demos called `drakeKukaIiwaArmCommon`. I wasn't able to add the System 2.0 methods into the previously existing `drakeKukaIiwaArm` library (which is based on System 1.0) due to naming conflicts related to `Gain`.\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/3745)\r\n<!-- Reviewable:end -->\r\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/253018225","html_url":"https://github.com/RobotLocomotion/drake/pull/3745#issuecomment-253018225","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3745","id":253018225,"user":{"login":"liangfok","id":1388098,"avatar_url":"https://avatars.githubusercontent.com/u/1388098?v=3","gravatar_id":"","url":"https://api.github.com/users/liangfok","html_url":"https://github.com/liangfok","followers_url":"https://api.github.com/users/liangfok/followers","following_url":"https://api.github.com/users/liangfok/following{/other_user}","gists_url":"https://api.github.com/users/liangfok/gists{/gist_id}","starred_url":"https://api.github.com/users/liangfok/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/liangfok/subscriptions","organizations_url":"https://api.github.com/users/liangfok/orgs","repos_url":"https://api.github.com/users/liangfok/repos","events_url":"https://api.github.com/users/liangfok/events{/privacy}","received_events_url":"https://api.github.com/users/liangfok/received_events","type":"User","site_admin":false},"created_at":"2016-10-11T19:23:28Z","updated_at":"2016-10-11T19:23:28Z","body":"\n\n\n\nReview status: 7 of 8 files reviewed at latest revision, 4 unresolved discussions.\n\n---\n\n*[drake/examples/kuka_iiwa_arm/iiwa_common.h, line 3 at r2](https://reviewable.io:443/reviews/robotlocomotion/drake/3745#-KTozSj6bJh7m6ozUhwm:-KTpBXH6tMYhhJ4DK5yB:b-896fix) ([raw file](https://github.com/robotlocomotion/drake/blob/d9b286bb4007525ed835adfb0c562f94247fef14/drake/examples/kuka_iiwa_arm/iiwa_common.h#L3)):*\n<details><summary><i>Previously, sammy-tri wrote…</i></summary>\n> unused\n</details>\nDone.\n\n---\n\n*[drake/examples/kuka_iiwa_arm/iiwa_common.h, line 5 at r2](https://reviewable.io:443/reviews/robotlocomotion/drake/3745#-KTozTWRZ8V4FH-lJAxZ:-KTpBXsQlOCVvWagvg_3:b-896fix) ([raw file](https://github.com/robotlocomotion/drake/blob/d9b286bb4007525ed835adfb0c562f94247fef14/drake/examples/kuka_iiwa_arm/iiwa_common.h#L5)):*\n<details><summary><i>Previously, sammy-tri wrote…</i></summary>\n> unused\n</details>\nDone.\n\n---\n\n*[drake/examples/kuka_iiwa_arm/iiwa_common.h, line 6 at r2](https://reviewable.io:443/reviews/robotlocomotion/drake/3745#-KTozUF0DBQR7X0EAOK5:-KTpBYZwiVlBAuPn0mUA:b-896fix) ([raw file](https://github.com/robotlocomotion/drake/blob/d9b286bb4007525ed835adfb0c562f94247fef14/drake/examples/kuka_iiwa_arm/iiwa_common.h#L6)):*\n<details><summary><i>Previously, sammy-tri wrote…</i></summary>\n> unused\n</details>\nDone.\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/3745)*\n<!-- Sent from Reviewable.io -->\n"}}
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