#include "scicos_block.h" #include "../machine.h" extern int C2F(dmmul)(); extern int C2F(dmmul1)(); void csslti4(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* u=block->inptr[0]; 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*u */ ld=lc+nx*outsz[0]; if (nx==0) { C2F(dmmul)(&rpar[ld],outsz,u,insz,y,outsz,outsz,insz,&un); }else{ C2F(dmmul)(&rpar[lc],outsz,x,&nx,y,outsz,outsz,&nx,&un); C2F(dmmul1)(&rpar[ld],outsz,u,insz,y,outsz,outsz,insz,&un); } } else if (flag ==0){ /* xd=a*x+b*u */ C2F(dmmul)(&rpar[0],&nx,x,&nx,xd,&nx,&nx,&nx,&un); C2F(dmmul1)(&rpar[lb],&nx,u,insz,xd,&nx,&nx,insz,&un); } }