#ifndef LOCOMOTORPRIMITIVES_MANAGER_H_
#define LOCOMOTORPRIMITIVES_MANAGER_H_

#include "OpenSim/OpenSim.h"

class LocomotorPrimitivesManager : public OpenSim::Manager
{
public:
	LocomotorPrimitivesManager(OpenSim::Model &model, SimTK::Integrator &integrator)
		: OpenSim::Manager(model, integrator) { }
	bool integrate(SimTK::State &s, double dtFirst=1.0e-6);
	bool doIntegration(SimTK::State &s, int step, double dtFirst);
};

#endif /* LOCOMOTORPRIMITIVES_MANAGER_H_ */