Computational routine
eng

csslti4

File content

#include "scicos_block4.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=GetNstate(block);
  double* x=GetState(block);
  double* xd=GetDerState(block);
  double* rpar=GetRparPtrs(block);
  double* y=GetRealOutPortPtrs(block,1);
  double* u=GetRealInPortPtrs(block,1);
  int noutsz=GetOutPortRows(block,1);
  int ninsz=GetInPortRows(block,1);
  
  lb=nx*nx;
  lc=lb+nx*ninsz;
  
  if (flag ==1 || flag ==6){
    /* y=c*x+d*u     */
    ld=lc+nx*noutsz;
    if (nx==0) {
      C2F(dmmul)(&rpar[ld],&noutsz,u,&ninsz,y,&noutsz,&noutsz,&ninsz,&un);
    }else{
      C2F(dmmul)(&rpar[lc],&noutsz,x,&nx,y,&noutsz,&noutsz,&nx,&un);
      C2F(dmmul1)(&rpar[ld],&noutsz,u,&ninsz,y,&noutsz,&noutsz,&ninsz,&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,&ninsz,xd,&nx,&nx,&ninsz,&un);
  }
}