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#ifndef _RUNGA_KUTTA_H_
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#define _RUNGA_KUTTA_H_
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#include <vector>
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class RungaKutta
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{
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  public:
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    static std::vector<double> rk4(
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        std::vector<double> start,
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        std::vector<double> (*func)(std::vector<double>),
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        double loop_time);
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    static std::vector<double> diff_drive_robot(std::vector<double> x);
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  private:
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    static std::vector<double> integrate(
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        std::vector<double> a,
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        std::vector<double> b,
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        double t);
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};
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#endif