function varargout = simpleIRK(varargin)
    %SIMPLEIRK Construct an implicit Runge-Kutta integrator using a collocation scheme The
    %
    %  Function = SIMPLEIRK(Function f, int N, int order, char scheme, char solver, struct solver_options)
    %
    %constructed function has three inputs, corresponding to initial state (x0),
    %parameter (p) and integration time (h) and one output, corresponding to
    %final state (xf).
    %
    %Parameters:
    %-----------
    %
    %f:  ODE function with two inputs (x and p) and one output (xdot)
    %
    %N:  Number of integrator steps
    %
    %order:  Order of interpolating polynomials
    %
    %scheme:  Collocation scheme, as excepted by collocationPoints function.
    %
    %
    %
  [varargout{1:nargout}] = casadiMEX(960, varargin{:});
end
