Function integrate_rkmk_state_adaptive 

pub fn integrate_rkmk_state_adaptive<M, Tab, U, T, Y>(
    model: &M,
    drive: impl FnMut(Quantity<T>) -> M::Drive,
    time: &[Quantity<T>],
    abs_tol: Scalar,
    rel_tol: Scalar,
) -> Result<(Times<T>, U), IntegrationError>
where
    M: StateEvolution<T, Y>,
    Tab: EmbeddedTableau,
    EvolvedState<M, T, Y>: Clone,
    EvolvedIncrement<M, T, Y>: Clone + Differentiable<T>,
    T: Copy,
    Quantity<T>: Mul<Scalar, Output = Quantity<T>>,
    for<'a> &'a Derivative<EvolvedIncrement<M, T, Y>, T>: Mul<Quantity<T>, Output = EvolvedIncrement<M, T, Y>>,
    U: TensorVec<Item = EvolvedState<M, T, Y>>,

Runs super::integrate_rkmk_adaptive over a StateEvolution model, sampling drive at each stage time and starting from the model’s own initial state. time supplies only the span [time[0], time[last]]; the returned times are the steps the controller accepted.