particle2d.h

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#ifndef GCOP_PARTICLE2D_H
#define GCOP_PARTICLE2D_H

#include "system.h"
#include <limits>

namespace gcop {
  
  using namespace std;
  using namespace Eigen;
  
  class Particle2d : public System<Vector4d, 4, 2> {
  public:
    Particle2d();
    
    double Step(Vector4d &xb, double t, const Vector4d &xa, 
                const Vector2d &u, double h, const VectorXd *p = 0,
                Matrix<double, 4, 4> *A = 0, Matrix<double, 4, 2> *B = 0, 
                Matrix<double, 4, Dynamic> *C = 0);
    
    double m;  
    double r;  
  }; 
}


#endif