integrator_runge_kutta12.hpp

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/*
 *    This file is part of ACADO Toolkit.
 *
 *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
 *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
 *    Milan Vukov, Rien Quirynen, KU Leuven.
 *    Developed within the Optimization in Engineering Center (OPTEC)
 *    under supervision of Moritz Diehl. All rights reserved.
 *
 *    ACADO Toolkit is free software; you can redistribute it and/or
 *    modify it under the terms of the GNU Lesser General Public
 *    License as published by the Free Software Foundation; either
 *    version 3 of the License, or (at your option) any later version.
 *
 *    ACADO Toolkit is distributed in the hope that it will be useful,
 *    but WITHOUT ANY WARRANTY; without even the implied warranty of
 *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 *    Lesser General Public License for more details.
 *
 *    You should have received a copy of the GNU Lesser General Public
 *    License along with ACADO Toolkit; if not, write to the Free Software
 *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 *
 */



#ifndef ACADO_TOOLKIT_INTEGRATOR_RUNGE_KUTTA12_HPP
#define ACADO_TOOLKIT_INTEGRATOR_RUNGE_KUTTA12_HPP


#include <acado/integrator/integrator_fwd.hpp>


BEGIN_NAMESPACE_ACADO


class IntegratorRK12 : public IntegratorRK
{
        //
        // PUBLIC MEMBER FUNCTIONS:
        //

        public:

                IntegratorRK12( );

                IntegratorRK12( const DifferentialEquation &rhs_ );

                IntegratorRK12( const IntegratorRK12& arg );

                virtual ~IntegratorRK12( );

                virtual IntegratorRK12& operator=( const IntegratorRK12& arg );

                virtual Integrator* clone() const;


                virtual returnValue init( const DifferentialEquation &rhs_ );
                
                virtual returnValue step(       int number  
                                                                        );
                
                
        protected:

                virtual void initializeButcherTableau();

};


CLOSE_NAMESPACE_ACADO



#include <acado/integrator/integrator_runge_kutta23.ipp>


#endif  // ACADO_TOOLKIT_INTEGRATOR_RUNGE_KUTTA23_HPP

// end of file.