#include <math.h> #include <memory.h> #include "scicos_block.h" #include "../machine.h" extern int C2F(dmmul)(); extern int C2F(dmmul1)(); void tcslti4(scicos_block *block,int flag) { /* Copyright INRIA Scicos block simulator continuous state space linear system simulator rpar(1:nx*nx)=A rpar(nx*nx+1:nx*nx+nx*nu)=B rpar(nx*nx+nx*nu+1:nx*nx+nx*nu+nx*ny)=C rpar(nx*nx+nx*nu+nx*ny+1:nx*nx+nx*nu+nx*ny+ny*nu)=D */ int un=1,lb,lc,ld; int nx=block->nx; double* x=block->x; double* xd=block->xd; double* rpar=block->rpar; double* y=block->outptr[0]; double* u1=block->inptr[0]; double* u2=block->inptr[1]; int* outsz=block->outsz; int* insz=block->insz; lb=nx*nx; lc=lb+nx*insz[0]; if (flag ==1 || flag ==6){ /* y=c*x+d*u1 */ ld=lc+nx*outsz[0]; C2F(dmmul)(&rpar[lc],outsz,x,&nx,y,outsz,outsz,&nx,&un); C2F(dmmul1)(&rpar[ld],outsz,u1,&insz[0],y,outsz,outsz,&insz[0],&un); }else if (flag == 2 && block->nevprt == 1){ /* x+=u2 */ memcpy(x,u2 ,nx*sizeof(double)); }else if (flag ==0 && block->nevprt == 0){ /* xd=a*x+b*u1 */ C2F(dmmul)(&rpar[0],&nx,x,&nx,xd,&nx,&nx,&nx,&un); C2F(dmmul1)(&rpar[lb],&nx,u1,&insz[0],xd,&nx,&nx,&insz[0],&un); } }