text: #pragma once
  
  #include "prx/simulation/plant.hpp"
  
  namespace prx
  {
      class double_integrator_2d_t : public plant_t 
      {
          public:
          double_integrator_2d_t(const std::string& path);
          virtual ~double_integrator_2d_t();
  
          virtual void propagate(const double simulation_step) override final;
  
  		virtual void update_configuration() override;
  
          protected:
          virtual void compute_derivative() override final;
  
  		double x,y,dx,dy,ddx,ddy;
      };
  }
  PRX_REGISTER_SYSTEM(double_integrator_2d_t, 2D_DoubleInt)