#ifndef __ODESOLVER_H__
#define __ODESOLVER_H__
/***************************************************************************
   File:        ODESolver.h 
   Created:     08/22/2001                                                                 
   Author:      Maxim Garber                                                
                Computer Science Department                                 
                University of North Carolina - Chapel Hill                  
                garber@cs.unc.edu                                           
                                                                            
   Description: An abstract class which defines a general differential
                equation solver.
                                                                            
----------------------------------------------------------------------------.
   Copyright 2001 Maxim Garber                                              
   UNC Motion Planning Research Group                                       
                                                                            
                                                                            
*****************************************************************************/
#include "ODESystem.h"

class ODESolver
{
public:
  ODESolver(){}
  ~ODESolver(){}

  // sets the system to be integrated
  virtual void SetSystem(ODESystem* system){_system = system;}

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

protected:
  // the system being integrated
  ODESystem* _system;
};
#endif //__ODESOLVER_H__