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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/249734047","html_url":"https://github.com/RobotLocomotion/drake/pull/3554#issuecomment-249734047","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3554","id":249734047,"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":"2016-09-27T00:16:17Z","updated_at":"2016-09-27T00:16:17Z","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 184 at r5](https://reviewable.io:443/reviews/robotlocomotion/drake/3554#-KSc_BG082pqtsBRyltr:-KScm98nOKjd1Ns19eZw:b-8ugqr8) ([raw file](https://github.com/robotlocomotion/drake/blob/bb9dce7c955a9fb4c1fae735ed6363a2f6f40b3f/drake/systems/analysis/simulator.h#L184)):*\n<details><summary><i>Previously, sherm1 (Michael Sherman) wrote…</i></summary>\n> How do we get this result for a discrete-only system? Is there always a \"no-op\" continuous step taken even with 0 continuous variables? (Same comment below.)\n</details>\nGreat question.  I'm putting a TODO in to make sure this is addressed when the discrete updates are hammered out.\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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