Computational routine
eng

tcslti4

File content

#include <math.h>
#include <memory.h>

#include "scicos_block4.h"
#include "../machine.h"

extern int C2F(dmmul)();
extern int C2F(dmmul1)();


void tcslti4(scicos_block *block,int flag)
{
  int _nevprt=GetNevIn(block);
  /* 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* u1=GetRealInPortPtrs(block,1);
  double* u2=GetRealInPortPtrs(block,2);
  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*u1 */  
    ld=lc+nx*noutsz;

    C2F(dmmul)(&rpar[lc],&noutsz,x,&nx,y,&noutsz,&noutsz,&nx,&un);
    C2F(dmmul1)(&rpar[ld],&noutsz,u1,&ninsz,y,&noutsz,&noutsz,ninsz,&un);

  }else if (flag == 2 && _nevprt == 1){
    /* x+=u2 */
    memcpy(x,u2 ,nx*sizeof(double));
  }else if (flag ==0 && _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,&ninsz,xd,&nx,&nx,&ninsz,&un);
  }
}