void Peer::ros2(double * y, double& tstart, double tend, IContinuous *continuousSystem, ITime *timeSystem) {
double *T=new double[_dimSys*_dimSys];
double *D=new double[_dimSys];
double *k1=new double[_dimSys];
double *k2=new double[_dimSys];
long int *P=new long int[_dimSys];
long int info;
long int dim=1;
double t=tstart;
const double gamma=1.-sqrt(2.)/2.;
char trans='N';
double hu=(tend-tstart)/10.;
for(int count=0; count<10; ++count) {
evalJ(t,y,T,continuousSystem, timeSystem,-hu*gamma);
for(int i=0; i<_dimSys;++ i) T[i*_dimSys+i]+=1.;
dgetrf_(&_dimSys, &_dimSys, T, &_dimSys, P, &info);
evalF(t,y,k1,continuousSystem, timeSystem);
evalD(t,y,D,continuousSystem, timeSystem);
for(int i=0; i<_dimSys;++ i) k1[i]+=gamma*hu*D[i];
dgetrs_(&trans, &_dimSys, &dim, T, &_dimSys, P, k1, &_dimSys, &info);
for(int i=0; i<_dimSys;++ i) y[i]+=hu*k1[i];
evalF(t,y,k2,continuousSystem, timeSystem);
for(int i=0; i<_dimSys;++ i) k2[i]+= hu*gamma*D[i]-2.*k1[i];
dgetrs_(&trans, &_dimSys, &dim, T, &_dimSys, P, k2, &_dimSys, &info);
for(int i=0; i<_dimSys;++ i) y[i]+=0.5*hu*(k1[i]+k2[i]);
}
}
uint8_t readB(){
switch (type){
case A_BYTE: return evalB();
case A_UINT: return evalU();
case A_INT: return evalI();
case A_LONG: return evalL();
case A_FLOAT: return evalF();
case A_DOUBLE: return evalD();
case A_TIME: return evalT();
default: return 0;
}
return 0;
}
uint32_t readT(){
switch (type){
case A_BYTE: return evalB();
case A_UINT: return evalU();
case A_INT: return evalI();
case A_LONG: return evalL();
case A_FLOAT: return evalF();
case A_DOUBLE: return evalD();
case A_TIME: return evalT();
case A_STRING: return 0;
case BAD_TYPE: return 0;
}
return 0;
}