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ch"},"body":"Substantive idea here comes from @SeanCurtis-TRI.  Fixes #4325.\n\n<!-- Reviewable:start -->\n---\nThis change is [<img src=\"https://reviewable.io/review_button.svg\" height=\"34\" align=\"absmiddle\" alt=\"Reviewable\"/>](https://reviewable.io/reviews/robotlocomotion/drake/4331)\n<!-- Reviewable:end -->\n"},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/264536199","html_url":"https://github.com/RobotLocomotion/drake/pull/4331#issuecomment-264536199","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/4331","id":264536199,"user":{"login":"sherm1","id":4088016,"avatar_url":"https://avatars.githubusercontent.com/u/4088016?v=3","gravatar_id":"","url":"https://api.github.com/users/sherm1","html_url":"https://github.com/sherm1","followers_url":"https://api.github.com/users/sherm1/followers","following_url":"https://api.github.com/users/sherm1/following{/other_user}","gists_url":"https://api.github.com/users/sherm1/gists{/gist_id}","starred_url":"https://api.github.com/users/sherm1/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sherm1/subscriptions","organizations_url":"https://api.github.com/users/sherm1/orgs","repos_url":"https://api.github.com/users/sherm1/repos","events_url":"https://api.github.com/users/sherm1/events{/privacy}","received_events_url":"https://api.github.com/users/sherm1/received_events","type":"User","site_admin":false},"created_at":"2016-12-02T19:09:18Z","updated_at":"2016-12-02T19:09:18Z","body":"\n\n\n\nReviewed 2 of 2 files at r5, 1 of 1 files at r6.\nReview status: all files reviewed at latest revision, 7 unresolved discussions.\n\n---\n\n*[drake/systems/analysis/integrator_base.h, line 177 at r6](https://reviewable.io:443/reviews/robotlocomotion/drake/4331#-KY-voNaXKQBQFFacI5d:-KY-voNaXKQBQFFacI5e:b-s7epqq) ([raw file](https://github.com/robotlocomotion/drake/blob/feae9885e1a672a7d7a1e6caa0c9f251430c1969/drake/systems/analysis/integrator_base.h#L177)):*\n> ```objc\n>    * discrete event. For fixed step integrators, all steps will be taken at the\n>    * maximum step size *unless* an event would be missed.\n>    * TODO(edrumwri): Update this comment when stretch size is configurable.\n> ```\n\nBTW, this shouldn't be in a doxygen comment.\n\n---\n\n*[drake/systems/analysis/integrator_base.h, line 188 at r6](https://reviewable.io:443/reviews/robotlocomotion/drake/4331#-KY-vuw9x1VmXB3jBJ_5:-KY-vuw9x1VmXB3jBJ_6:b-s7epqq) ([raw file](https://github.com/robotlocomotion/drake/blob/feae9885e1a672a7d7a1e6caa0c9f251430c1969/drake/systems/analysis/integrator_base.h#L188)):*\n> ```objc\n>    * a soft maximum: the integrator may stretch it by as much as 1% to hit a\n>    * discrete event.\n>    * TODO(edrumwri): Update this comment when stretch size is configurable.\n> ```\n\nBTW, this shouldn't be in a doxygen comment.\n\n---\n\n*[drake/systems/analysis/integrator_base.h, line 322 at r6](https://reviewable.io:443/reviews/robotlocomotion/drake/4331#-KY-w04PLGYtEKZUyTj-:-KY-w04PLGYtEKZUyTj0:b-s7epqq) ([raw file](https://github.com/robotlocomotion/drake/blob/feae9885e1a672a7d7a1e6caa0c9f251430c1969/drake/systems/analysis/integrator_base.h#L322)):*\n> ```objc\n>    * Error controlled integrators may take smaller steps.\n>    *\n>    * TODO(edrumwri): Make the stretch size configurable.\n> ```\n\nBTW, this shouldn't be in a doxygen comment.\n\n---\n\n\n*Comments from [Reviewable](https://reviewable.io:443/reviews/robotlocomotion/drake/4331)*\n<!-- Sent from Reviewable.io -->\n"}}
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