tcslti4.c

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#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);
  }
}

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