{"action":"closed","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1028","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1028/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1028/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/1028/events","html_url":"https://github.com/RobotLocomotion/drake/issues/1028","id":70128959,"number":1028,"title":"DrakeSystem.getModel constructs a new system every time (and gets called relatively frequently)","user":{"login":"RussTedrake","id":6442292,"avatar_url":"https://avatars.githubusercontent.com/u/6442292?v=3","gravatar_id":"","url":"https://api.github.com/users/RussTedrake","html_url":"https://github.com/RussTedrake","followers_url":"https://api.github.com/users/RussTedrake/followers","following_url":"https://api.github.com/users/RussTedrake/following{/other_user}","gists_url":"https://api.github.com/users/RussTedrake/gists{/gist_id}","starred_url":"https://api.github.com/users/RussTedrake/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RussTedrake/subscriptions","organizations_url":"https://api.github.com/users/RussTedrake/orgs","repos_url":"https://api.github.com/users/RussTedrake/repos","events_url":"https://api.github.com/users/RussTedrake/events{/privacy}","received_events_url":"https://api.github.com/users/RussTedrake/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/type:%20cleanup","name":"type: cleanup","color":"009800"}],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-04-22T13:41:03Z","updated_at":"2015-04-24T01:25:25Z","closed_at":"2015-04-24T01:25:25Z","body":"e.g., in the cascade and feedback systems \r\n\r\nshould probably construct it once at the beginning and then only if the number of inputs, outputs, limits, etc have changed."}}