#ifndef __ODEMIDPOINT_H__
#define __ODEMIDPOINT_H__
/***************************************************************************
   File:        ODEMidpoint.h                                                            
   Created:     08/22/2001                                                                
   Author:      Maxim Garber                                                
                Computer Science Department                                 
                University of North Carolina - Chapel Hill                  
                garber@cs.unc.edu                                           
                                                                            
   Description: Implements the midpoint method (Runge-Kutta 2/3) ODE
                solver.                                                                            
----------------------------------------------------------------------------.
   Copyright 2001 Maxim Garber                                              
   UNC Motion Planning Research Group                                       
                                                                            
                                                                            
*****************************************************************************/
#include "ODESolver.h"
#include "ODEEuler.h"
#include "Singleton.h"

// forward declaration
class ODEMidpoint;

// singleton typedef.  
typedef Singleton<ODEMidpoint> MidpointSolver;

class ODEMidpoint : public ODESolver
{
public:
  // sets the system used for evaluating the function derivative
  virtual void SetSystem(ODESystem* system);

  // calls the ODE solver to intergrate the system given a configuration and a timestep
  // - returns the resulting configuration
  virtual void Integrate(const ODEConfig& config, float time, float timeStep, 
                         ODEConfig& newConfig);

protected:
  // protected for singleton use only
  ODEMidpoint(){EulerSolver::Instantiate();}
  ~ODEMidpoint(){}
};
#endif //__ODEMIDPOINT_H__