From e7dba33a909e158dffc6ddb3361df10d427db631 Mon Sep 17 00:00:00 2001
From: siddhu8990
Date: Tue, 7 Feb 2017 16:16:31 +0530
Subject: Support for 'lqr' and 'lqe' added
---
includes/sci2clib.h | 6 +
macros/ASTManagement/AST_HandleEndGenFun.bin | Bin 97736 -> 97772 bytes
macros/ASTManagement/AST_HandleEndGenFun.sci | 2 +-
macros/ASTManagement/AST_HandleHeader.bin | Bin 39124 -> 39132 bytes
macros/ASTManagement/AST_HandleHeader.sci | 2 +-
macros/FunctionAnnotation/FA_GetOutArgInfo.bin | Bin 16804 -> 17656 bytes
macros/FunctionAnnotation/FA_GetOutArgInfo.sci | 14 +-
macros/FunctionAnnotation/FA_SCHUR_SZ.bin | Bin 1004 -> 872 bytes
macros/FunctionAnnotation/FA_SZ_LQE.bin | Bin 0 -> 876 bytes
macros/FunctionAnnotation/FA_SZ_LQE.sci | 8 +
macros/FunctionAnnotation/FA_SZ_LQR.bin | Bin 0 -> 700 bytes
macros/FunctionAnnotation/FA_SZ_LQR.sci | 6 +
macros/FunctionAnnotation/FA_SZ_LQR_K.bin | Bin 0 -> 920 bytes
macros/FunctionAnnotation/lib | Bin 2276 -> 2324 bytes
macros/FunctionAnnotation/names | 2 +
.../ToolInitialization/INIT_FillSCI2LibCDirs.bin | Bin 1331464 -> 1342296 bytes
.../ToolInitialization/INIT_FillSCI2LibCDirs.sci | 60 +++-
macros/findDeps/getAllHeaders.bin | Bin 33112 -> 33376 bytes
macros/findDeps/getAllHeaders.sci | 2 +
macros/findDeps/getAllInterfaces.bin | Bin 34484 -> 34796 bytes
macros/findDeps/getAllInterfaces.sci | 2 +
macros/findDeps/getAllSources.bin | Bin 196196 -> 196436 bytes
macros/findDeps/getAllSources.sci | 2 +
src/c/CACSD/includes/lqe.h | 26 ++
src/c/CACSD/includes/lqr.h | 26 ++
src/c/CACSD/includes/syslin.h | 2 +-
src/c/CACSD/interfaces/int_lqe.h | 25 ++
src/c/CACSD/interfaces/int_lqr.h | 25 ++
src/c/CACSD/interfaces/int_syslin.h | 36 +--
src/c/CACSD/lqe/dlqea.c | 59 ++++
src/c/CACSD/lqr/as_per_sci_code.c | 144 +++++++++
src/c/CACSD/lqr/dlqra.c | 352 +++++++++++++++++++++
src/c/CACSD/syslin/dsyslina.c | 59 ++--
src/c/linearAlgebra/schur/dgschura.c | 17 +-
src/c/linearAlgebra/schur/dschura.c | 25 +-
35 files changed, 842 insertions(+), 60 deletions(-)
create mode 100644 macros/FunctionAnnotation/FA_SZ_LQE.bin
create mode 100644 macros/FunctionAnnotation/FA_SZ_LQE.sci
create mode 100644 macros/FunctionAnnotation/FA_SZ_LQR.bin
create mode 100644 macros/FunctionAnnotation/FA_SZ_LQR.sci
create mode 100644 macros/FunctionAnnotation/FA_SZ_LQR_K.bin
create mode 100644 src/c/CACSD/includes/lqe.h
create mode 100644 src/c/CACSD/includes/lqr.h
create mode 100644 src/c/CACSD/interfaces/int_lqe.h
create mode 100644 src/c/CACSD/interfaces/int_lqr.h
create mode 100644 src/c/CACSD/lqe/dlqea.c
create mode 100644 src/c/CACSD/lqr/as_per_sci_code.c
create mode 100644 src/c/CACSD/lqr/dlqra.c
diff --git a/includes/sci2clib.h b/includes/sci2clib.h
index 14b8b4c8..1bc33716 100644
--- a/includes/sci2clib.h
+++ b/includes/sci2clib.h
@@ -377,6 +377,12 @@ extern "C" {
#include "syslin.h"
#include "int_syslin.h"
+#include "lqr.h"
+#include "int_lqr.h"
+
+#include "lqe.h"
+#include "int_lqe.h"
+
#include "schur.h"
#include "int_schur.h"
/*Functions related to opencv*/
diff --git a/macros/ASTManagement/AST_HandleEndGenFun.bin b/macros/ASTManagement/AST_HandleEndGenFun.bin
index a9e28eff..5c2833ea 100644
Binary files a/macros/ASTManagement/AST_HandleEndGenFun.bin and b/macros/ASTManagement/AST_HandleEndGenFun.bin differ
diff --git a/macros/ASTManagement/AST_HandleEndGenFun.sci b/macros/ASTManagement/AST_HandleEndGenFun.sci
index fa7b33a2..5ff7181f 100644
--- a/macros/ASTManagement/AST_HandleEndGenFun.sci
+++ b/macros/ASTManagement/AST_HandleEndGenFun.sci
@@ -316,7 +316,7 @@ NOutArg_mod = NOutArg
OutArg(1).FindLike = InArg(1).FindLike;
OutArg(1).Scope = 'Number_d';
else
- OutArg = FA_GetOutArgInfo(InArg,NInArg,OutArg,NOutArg,SharedInfo,FunPrecSpecifier,FunTypeAnnot,FunSizeAnnot,ReportFileName);
+ OutArg = FA_GetOutArgInfo(InArg,NInArg,OutArg,NOutArg,SharedInfo,FunPrecSpecifier,FunTypeAnnot,FunSizeAnnot,ReportFileName,ASTFunName);
end
// #RNU_RES_B
diff --git a/macros/ASTManagement/AST_HandleHeader.bin b/macros/ASTManagement/AST_HandleHeader.bin
index 268846f6..87ef763a 100644
Binary files a/macros/ASTManagement/AST_HandleHeader.bin and b/macros/ASTManagement/AST_HandleHeader.bin differ
diff --git a/macros/ASTManagement/AST_HandleHeader.sci b/macros/ASTManagement/AST_HandleHeader.sci
index 75b2f972..0237bd5f 100644
--- a/macros/ASTManagement/AST_HandleHeader.sci
+++ b/macros/ASTManagement/AST_HandleHeader.sci
@@ -165,7 +165,7 @@ SharedInfo.CurrentFunInfo.OutArg = ...
SharedInfo.CurrentFunInfo.OutArg,NOutArg,...
SharedInfo,...
SharedInfo.CurrentFunInfo.FunPrecSpecifier,...
- SharedInfo.CurrentFunInfo.FunTypeAnnot,SharedInfo.CurrentFunInfo.FunSizeAnnot,ReportFileName);
+ SharedInfo.CurrentFunInfo.FunTypeAnnot,SharedInfo.CurrentFunInfo.FunSizeAnnot,ReportFileName,'');
//#RNU_RES_B
// -------------------------------------------------------------------------
// --- Stores InArg structure into the temporary variables symbol table. ---
diff --git a/macros/FunctionAnnotation/FA_GetOutArgInfo.bin b/macros/FunctionAnnotation/FA_GetOutArgInfo.bin
index 2b75b7a3..e8048b72 100644
Binary files a/macros/FunctionAnnotation/FA_GetOutArgInfo.bin and b/macros/FunctionAnnotation/FA_GetOutArgInfo.bin differ
diff --git a/macros/FunctionAnnotation/FA_GetOutArgInfo.sci b/macros/FunctionAnnotation/FA_GetOutArgInfo.sci
index d9696c8b..a35281a8 100644
--- a/macros/FunctionAnnotation/FA_GetOutArgInfo.sci
+++ b/macros/FunctionAnnotation/FA_GetOutArgInfo.sci
@@ -1,5 +1,6 @@
function UpdatedOutArg = ...
- FA_GetOutArgInfo(InArg,NInArg,OutArg,NOutArg,SharedInfo,FunPrecSpecifier,FunTypeAnnot,FunSizeAnnot,ReportFileName)
+ FA_GetOutArgInfo(InArg,NInArg,OutArg,NOutArg,SharedInfo,FunPrecSpecifier, ...
+ FunTypeAnnot,FunSizeAnnot,ReportFileName,ASTFunName)
// function UpdatedOutArg = ...
// FA_GetOutArgInfo(InArg,NInArg,OutArg,NOutArg,SharedInfo,FunPrecSpecifier,FunTypeAnnot,FunSizeAnnot,ReportFileName)
// -----------------------------------------------------------------
@@ -23,7 +24,7 @@ function UpdatedOutArg = ...
// ------------------------------
// --- Check input arguments. ---
// ------------------------------
-SCI2CNInArgCheck(argn(2),9,9);
+SCI2CNInArgCheck(argn(2),10,10);
// -----------------------
// --- Initialization. ---
// -----------------------
@@ -121,8 +122,13 @@ for counterout = 1:NOutArg
UpdatedOutArg(counterout).Size(iterOutputPosition) = string(tmpeval);
end
end
-
- UpdatedOutArg(counterout).Value = %nan;
+ if(ASTFunName == 'syslin')
+ no_of_st = eval(InArg(2).Size(1))
+ no_of_ip = eval(InArg(3).Size(2))
+ UpdatedOutArg(counterout).Value = no_of_st+no_of_ip*0.1;
+ else
+ UpdatedOutArg(counterout).Value = %nan;
+ end
UpdatedOutArg(counterout).Dimension = GetSymbolDimension(UpdatedOutArg(counterout).Size);
UpdatedOutArg(counterout).Scope = 'Temp';//NUT anche su questo si puo' ragionare verifica anche la handleoperation.
end
diff --git a/macros/FunctionAnnotation/FA_SCHUR_SZ.bin b/macros/FunctionAnnotation/FA_SCHUR_SZ.bin
index 9d77eae8..d16f0292 100644
Binary files a/macros/FunctionAnnotation/FA_SCHUR_SZ.bin and b/macros/FunctionAnnotation/FA_SCHUR_SZ.bin differ
diff --git a/macros/FunctionAnnotation/FA_SZ_LQE.bin b/macros/FunctionAnnotation/FA_SZ_LQE.bin
new file mode 100644
index 00000000..2fb97727
Binary files /dev/null and b/macros/FunctionAnnotation/FA_SZ_LQE.bin differ
diff --git a/macros/FunctionAnnotation/FA_SZ_LQE.sci b/macros/FunctionAnnotation/FA_SZ_LQE.sci
new file mode 100644
index 00000000..e7aecf1c
--- /dev/null
+++ b/macros/FunctionAnnotation/FA_SZ_LQE.sci
@@ -0,0 +1,8 @@
+function outsize = FA_SZ_LQE(inval,insz)
+
+ inval = eval(inval)
+ insz = eval(insz)
+ outsize(1) = string(int(inval));
+ outsize(2) = string(insz-int(inval));
+
+endfunction
diff --git a/macros/FunctionAnnotation/FA_SZ_LQR.bin b/macros/FunctionAnnotation/FA_SZ_LQR.bin
new file mode 100644
index 00000000..2de9d568
Binary files /dev/null and b/macros/FunctionAnnotation/FA_SZ_LQR.bin differ
diff --git a/macros/FunctionAnnotation/FA_SZ_LQR.sci b/macros/FunctionAnnotation/FA_SZ_LQR.sci
new file mode 100644
index 00000000..2f199d0b
--- /dev/null
+++ b/macros/FunctionAnnotation/FA_SZ_LQR.sci
@@ -0,0 +1,6 @@
+function outsize = FA_SZ_LQR(inval)
+
+ inval = eval(inval)
+ outsize(1) = string(int(inval));
+ outsize(2) = string(modulo(inval*10,10));
+ endfunction
diff --git a/macros/FunctionAnnotation/FA_SZ_LQR_K.bin b/macros/FunctionAnnotation/FA_SZ_LQR_K.bin
new file mode 100644
index 00000000..a936e3be
Binary files /dev/null and b/macros/FunctionAnnotation/FA_SZ_LQR_K.bin differ
diff --git a/macros/FunctionAnnotation/lib b/macros/FunctionAnnotation/lib
index a1a11a90..4053992e 100644
Binary files a/macros/FunctionAnnotation/lib and b/macros/FunctionAnnotation/lib differ
diff --git a/macros/FunctionAnnotation/names b/macros/FunctionAnnotation/names
index 64cb2574..e072098d 100644
--- a/macros/FunctionAnnotation/names
+++ b/macros/FunctionAnnotation/names
@@ -19,6 +19,8 @@ FA_SZ_COL_DIAG_IN_EX
FA_SZ_DIFF
FA_SZ_FROM_VAL
FA_SZ_LINSPACE_ROW
+FA_SZ_LQE
+FA_SZ_LQR
FA_SZ_OPAPEX
FA_SZ_OPBACKSLASH
FA_SZ_OPCC
diff --git a/macros/ToolInitialization/INIT_FillSCI2LibCDirs.bin b/macros/ToolInitialization/INIT_FillSCI2LibCDirs.bin
index 3e07d5a8..ae688b27 100644
Binary files a/macros/ToolInitialization/INIT_FillSCI2LibCDirs.bin and b/macros/ToolInitialization/INIT_FillSCI2LibCDirs.bin differ
diff --git a/macros/ToolInitialization/INIT_FillSCI2LibCDirs.sci b/macros/ToolInitialization/INIT_FillSCI2LibCDirs.sci
index 93ca5084..bcf26703 100644
--- a/macros/ToolInitialization/INIT_FillSCI2LibCDirs.sci
+++ b/macros/ToolInitialization/INIT_FillSCI2LibCDirs.sci
@@ -5926,19 +5926,19 @@ PrintStringInfo('NIN= 4',ClassFileName,'file','y');
PrintStringInfo('NOUT= 1',ClassFileName,'file','y');
PrintStringInfo('OUT(1).TP= ''ss''',ClassFileName,'file','y');
PrintStringInfo('OUT(1).SZ(1)= FA_ADD(IN(2).SZ(1),IN(4).SZ(1))',ClassFileName,'file','y');
-PrintStringInfo('OUT(1).SZ(2)= FA_ADD(FA_ADD(IN(2).SZ(2),IN(3).SZ(2)), ''1'')',ClassFileName,'file','y');
+PrintStringInfo('OUT(1).SZ(2)= FA_ADD(FA_ADD(IN(2).SZ(2),IN(3).SZ(2)), ''2'')',ClassFileName,'file','y');
PrintStringInfo('NIN= 5',ClassFileName,'file','y');
PrintStringInfo('NOUT= 1',ClassFileName,'file','y');
PrintStringInfo('OUT(1).TP= ''ss''',ClassFileName,'file','y');
PrintStringInfo('OUT(1).SZ(1)= FA_ADD(IN(2).SZ(1),IN(4).SZ(1))',ClassFileName,'file','y');
-PrintStringInfo('OUT(1).SZ(2)= FA_ADD(FA_ADD(IN(2).SZ(2),IN(3).SZ(2)), ''1'')',ClassFileName,'file','y');
+PrintStringInfo('OUT(1).SZ(2)= FA_ADD(FA_ADD(IN(2).SZ(2),IN(3).SZ(2)), ''2'')',ClassFileName,'file','y');
PrintStringInfo('NIN= 6',ClassFileName,'file','y');
PrintStringInfo('NOUT= 1',ClassFileName,'file','y');
PrintStringInfo('OUT(1).TP= ''ss''',ClassFileName,'file','y');
PrintStringInfo('OUT(1).SZ(1)= FA_ADD(IN(2).SZ(1),IN(4).SZ(1))',ClassFileName,'file','y');
-PrintStringInfo('OUT(1).SZ(2)= FA_ADD(FA_ADD(IN(2).SZ(2),IN(3).SZ(2)), ''1'')',ClassFileName,'file','y');
+PrintStringInfo('OUT(1).SZ(2)= FA_ADD(FA_ADD(IN(2).SZ(2),IN(3).SZ(2)), ''2'')',ClassFileName,'file','y');
ClassFileName = fullfile(SCI2CLibCFLClsDir,ClassName+ExtensionCFuncListCls);
PrintStringInfo('g2d2d2d2'+ArgSeparator+'ss2',ClassFileName,'file','y');
@@ -6114,6 +6114,60 @@ INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCAnnFunDir,ClassName,GeneralReport,E
INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCFLFunDir,ClassName,GeneralReport,ExtensionCFuncListFun);
+//------------------------------------
+//---- Class lqr ---------------------
+//------------------------------------
+ClassName = 'LQR';
+
+// --- Class Annotation. ---
+PrintStringInfo(' Adding Class: '+ClassName+'.',GeneralReport,'file','y');
+ClassFileName = fullfile(SCI2CLibCAnnClsDir,ClassName+ExtensionCAnnCls);
+
+PrintStringInfo('NIN= 1',ClassFileName,'file','y');
+PrintStringInfo('NOUT= 2',ClassFileName,'file','y');
+PrintStringInfo('OUT(1).TP= ''d''',ClassFileName,'file','y');
+PrintStringInfo('OUT(1).SZ(1)= FA_SZ_1(FA_SZ_LQR(IN(1).VAL))',ClassFileName,'file','y');
+PrintStringInfo('OUT(1).SZ(2)= FA_SZ_1(FA_SZ_LQR(IN(1).VAL))',ClassFileName,'file','y');
+PrintStringInfo('OUT(2).TP= ''d''',ClassFileName,'file','y');
+PrintStringInfo('OUT(2).SZ(1)= FA_SZ_2(FA_SZ_LQR(IN(1).VAL))',ClassFileName,'file','y');
+PrintStringInfo('OUT(2).SZ(2)= FA_SZ_1(FA_SZ_LQR(IN(1).VAL))',ClassFileName,'file','y');
+
+ClassFileName = fullfile(SCI2CLibCFLClsDir,ClassName+ExtensionCFuncListCls);
+PrintStringInfo('ss2'+ArgSeparator+'d2d2',ClassFileName,'file','y');
+
+// --- Annotation Function And Function List Function. ---
+FunctionName = 'lqr';
+PrintStringInfo(' Adding Function: '+FunctionName+'.',GeneralReport,'file','y');
+INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCAnnFunDir,ClassName,GeneralReport,ExtensionCAnnFun);
+INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCFLFunDir,ClassName,GeneralReport,ExtensionCFuncListFun);
+
+//------------------------------------
+//---- Class lqe ---------------------
+//------------------------------------
+ClassName = 'LQE';
+
+// --- Class Annotation. ---
+PrintStringInfo(' Adding Class: '+ClassName+'.',GeneralReport,'file','y');
+ClassFileName = fullfile(SCI2CLibCAnnClsDir,ClassName+ExtensionCAnnCls);
+
+PrintStringInfo('NIN= 1',ClassFileName,'file','y');
+PrintStringInfo('NOUT= 2',ClassFileName,'file','y');
+PrintStringInfo('OUT(1).TP= ''d''',ClassFileName,'file','y');
+PrintStringInfo('OUT(1).SZ(1)= FA_SZ_1(FA_SZ_LQE(IN(1).VAL,IN(1).SZ(1)))',ClassFileName,'file','y');
+PrintStringInfo('OUT(1).SZ(2)= FA_SZ_1(FA_SZ_LQE(IN(1).VAL,IN(1).SZ(1)))',ClassFileName,'file','y');
+PrintStringInfo('OUT(2).TP= ''d''',ClassFileName,'file','y');
+PrintStringInfo('OUT(2).SZ(1)= FA_SZ_1(FA_SZ_LQE(IN(1).VAL,IN(1).SZ(1)))',ClassFileName,'file','y');
+PrintStringInfo('OUT(2).SZ(2)= FA_SZ_2(FA_SZ_LQE(IN(1).VAL,IN(1).SZ(1)))',ClassFileName,'file','y');
+
+ClassFileName = fullfile(SCI2CLibCFLClsDir,ClassName+ExtensionCFuncListCls);
+PrintStringInfo('ss2'+ArgSeparator+'d2d2',ClassFileName,'file','y');
+
+// --- Annotation Function And Function List Function. ---
+FunctionName = 'lqe';
+PrintStringInfo(' Adding Function: '+FunctionName+'.',GeneralReport,'file','y');
+INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCAnnFunDir,ClassName,GeneralReport,ExtensionCAnnFun);
+INIT_GenAnnFLFunctions(FunctionName,SCI2CLibCFLFunDir,ClassName,GeneralReport,ExtensionCFuncListFun);
+
// ////////////////////////////////////////////
// /////PARTE INTRODOTTA DA ALBERTO MOREA
// /////////////////////////////////////////////
diff --git a/macros/findDeps/getAllHeaders.bin b/macros/findDeps/getAllHeaders.bin
index 394987b7..f5bb98e9 100644
Binary files a/macros/findDeps/getAllHeaders.bin and b/macros/findDeps/getAllHeaders.bin differ
diff --git a/macros/findDeps/getAllHeaders.sci b/macros/findDeps/getAllHeaders.sci
index cbc2d540..b37f3e57 100644
--- a/macros/findDeps/getAllHeaders.sci
+++ b/macros/findDeps/getAllHeaders.sci
@@ -149,6 +149,8 @@ function allHeaders = getAllHeaders(SharedInfo)
"src/c/Files/includes/files.h"
"src/c/string/includes/convstr.h"
"src/c/CACSD/includes/syslin.h"
+ "src/c/CACSD/includes/lqr.h"
+ "src/c/CACSD/includes/lqe.h"
"src/c/linearAlgebra/includes/schur.h"];
//Header files required for "Arduino" output
diff --git a/macros/findDeps/getAllInterfaces.bin b/macros/findDeps/getAllInterfaces.bin
index 002cb38a..da506e8d 100644
Binary files a/macros/findDeps/getAllInterfaces.bin and b/macros/findDeps/getAllInterfaces.bin differ
diff --git a/macros/findDeps/getAllInterfaces.sci b/macros/findDeps/getAllInterfaces.sci
index 54c32e5c..32a0c6bb 100644
--- a/macros/findDeps/getAllInterfaces.sci
+++ b/macros/findDeps/getAllInterfaces.sci
@@ -144,6 +144,8 @@ function allInterfaces = getAllInterfaces(SharedInfo)
"src/c/Files/interfaces/int_files.h"
"src/c/string/interfaces/int_convstr.h"
"src/c/CACSD/interfaces/int_syslin.h"
+ "src/c/CACSD/interfaces/int_lqr.h"
+ "src/c/CACSD/interfaces/int_lqe.h"
"src/c/linearAlgebra/interfaces/int_schur.h"];
//Interface files required for "Arduino" output
diff --git a/macros/findDeps/getAllSources.bin b/macros/findDeps/getAllSources.bin
index 28567f67..aa5d4744 100644
Binary files a/macros/findDeps/getAllSources.bin and b/macros/findDeps/getAllSources.bin differ
diff --git a/macros/findDeps/getAllSources.sci b/macros/findDeps/getAllSources.sci
index 58c23e9b..3f789b47 100644
--- a/macros/findDeps/getAllSources.sci
+++ b/macros/findDeps/getAllSources.sci
@@ -979,6 +979,8 @@ function allSources = getAllSources(SharedInfo)
"src/c/Files/mput/i16mputa.c"
"src/c/string/convstr/gconvstrs.c"
"src/c/CACSD/syslin/dsyslina.c"
+ "src/c/CACSD/lqr/dlqra.c"
+ "src/c/CACSD/lqe/dlqea.c"
"src/c/linearAlgebra/schur/dschura.c"
"src/c/linearAlgebra/schur/dgschura.c"];
diff --git a/src/c/CACSD/includes/lqe.h b/src/c/CACSD/includes/lqe.h
new file mode 100644
index 00000000..1cc902fd
--- /dev/null
+++ b/src/c/CACSD/includes/lqe.h
@@ -0,0 +1,26 @@
+ /* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __LQE_H__
+#define __LQE_H__
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void dlqea(double* sys, int sys_rows, int sys_cols, double* X, double* K);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*__LQE_H__*/
diff --git a/src/c/CACSD/includes/lqr.h b/src/c/CACSD/includes/lqr.h
new file mode 100644
index 00000000..062d6e41
--- /dev/null
+++ b/src/c/CACSD/includes/lqr.h
@@ -0,0 +1,26 @@
+ /* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __LQR_H__
+#define __LQR_H__
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*__LQR_H__*/
diff --git a/src/c/CACSD/includes/syslin.h b/src/c/CACSD/includes/syslin.h
index 7d361c97..21b23294 100644
--- a/src/c/CACSD/includes/syslin.h
+++ b/src/c/CACSD/includes/syslin.h
@@ -20,7 +20,7 @@ extern "C" {
#endif
-void dsyslina(double* A, int no_of_states, double* B, int no_of_inputs, \
+void dsyslina(char* dom, double* A, int no_of_states, double* B, int no_of_inputs, \
double* C, int no_of_outputs, double* D, double* X0, double* out);
diff --git a/src/c/CACSD/interfaces/int_lqe.h b/src/c/CACSD/interfaces/int_lqe.h
new file mode 100644
index 00000000..d801bf3e
--- /dev/null
+++ b/src/c/CACSD/interfaces/int_lqe.h
@@ -0,0 +1,25 @@
+ /* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __INT_LQE_H__
+#define __INT_LQE_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define ss2lqed2d2(in1,size1,out1,out2) dlqea(in1,size1[0],size1[1],out1,out2);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*__INT_LQE_H__*/
diff --git a/src/c/CACSD/interfaces/int_lqr.h b/src/c/CACSD/interfaces/int_lqr.h
new file mode 100644
index 00000000..e6f534fc
--- /dev/null
+++ b/src/c/CACSD/interfaces/int_lqr.h
@@ -0,0 +1,25 @@
+ /* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+ */
+#ifndef __INT_LQR_H__
+#define __INT_LQR_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define ss2lqrd2d2(in1,size1,out1,out2) dlqra(in1,size1[0],size1[1],out1,out2);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif /*__INT_LQR_H__*/
diff --git a/src/c/CACSD/interfaces/int_syslin.h b/src/c/CACSD/interfaces/int_syslin.h
index 2327c383..3f74ea6e 100644
--- a/src/c/CACSD/interfaces/int_syslin.h
+++ b/src/c/CACSD/interfaces/int_syslin.h
@@ -18,57 +18,57 @@ extern "C" {
#endif
#define g2d2d2d2syslinss2(in1,size1,in2,size2,in3,size3,in4,size4,out) \
- dsyslina(in2,size2[0],in3,size3[1],in4,size4[0],NULL,NULL,out)
+ dsyslina(in1,in2,size2[0],in3,size3[1],in4,size4[0],NULL,NULL,out)
#define g2d2d2d2d2syslinss2(in1,size1,in2,size2,in3,size3,in4,size4,in5, \
- size5,out) dsyslina(in2,size2[0],in3,size3[1],in4,size4[0],in5,NULL,out)
+ size5,out) dsyslina(in1,in2,size2[0],in3,size3[1],in4,size4[0],in5,NULL,out)
#define g2d2d2d2d2d2syslinss2(in1,size1,in2,size2,in3,size3,in4,size4, \
- in5,size5,in6,size6,out) dsyslina(in2,size2[0],in3,size3[1],in4, \
+ in5,size5,in6,size6,out) dsyslina(in1,in2,size2[0],in3,size3[1],in4, \
size4[0],in5,in6,out)
//
#define g2d0d0d0syslinss2(in1,size1,in2,in3,in4,out) \
- dsyslina(in2,1,in3,1,in4,1,NULL,NULL,out)
+ dsyslina(in1,&in2,1,&in3,1,&in4,1,NULL,NULL,out)
#define g2d0d2d0syslinss2(in1,size1,in2,in3,size3,in4,out) \
- dsyslina(in2,1,in3,size3[1],in4,1,NULL,NULL,out)
+ dsyslina(in1,&in2,1,in3,size3[1],&in4,1,NULL,NULL,out)
#define g2d0d0d2syslinss2(in1,size1,in2,in3,in4,size4,out) \
- dsyslina(in2,1,in3,1,in4,size4[0],NULL,NULL,out)
+ dsyslina(in1,&in2,1,&in3,1,in4,size4[0],NULL,NULL,out)
#define g2d0d2d2syslinss2(in1,size1,in2,in3,size3,in4,size4,out) \
- dsyslina(in2,1,in3,size3[1],in4,size4[0],NULL,NULL,out)
+ dsyslina(in1,&in2,1,in3,size3[1],in4,size4[0],NULL,NULL,out)
//
#define g2d0d0d0d0syslinss2(in1,size1,in2,in3,in4,in5,out) \
- dsyslina(in2,1,in3,1,in4,1,in5,NULL,out)
+ dsyslina(in1,&in2,1,&in3,1,&in4,1,&in5,NULL,out)
#define g2d0d2d0d2syslinss2(in1,size1,in2,in3,size3,in4,in5,size5, \
- out) dsyslina(in2,1,in3,size3[1],in4,1,in5,NULL,out)
+ out) dsyslina(in1,&in2,1,in3,size3[1],&in4,1,&in5,NULL,out)
#define g2d0d0d2d2syslinss2(in1,size1,in2,in3,in4,size4,in5,size5, \
- out) dsyslina(in2,1,in3,1,in4,size4[0],in5,NULL,out)
+ out) dsyslina(in1,&in2,1,&in3,1,in4,size4[0],in5,NULL,out)
#define g2d0d2d2d2syslinss2(in1,size1,in2,in3,size3,in4,size4,in5, \
- size5, out) dsyslina(in2,1,in3,size3[1],in4,size4[0],in5,NULL,out)
+ size5, out) dsyslina(in1,&in2,1,in3,size3[1],in4,size4[0],in5,NULL,out)
#define g2d2d2d2d0syslinss2(in1,size1,in2,size2,in3,size3,in4,size4, \
- in5,out) dsyslina(in2,size2[0],in3,size3[1],in4,size4[0],in5,NULL,out)
+ in5,out) dsyslina(in1,in2,size2[0],in3,size3[1],in4,size4[0],&in5,NULL,out)
//
#define g2d0d0d0d0d0syslinss2(in1,size1,in2,in3,in4,in5,in6,out) \
- dsyslina(in2,1,in3,1,in4,1,in5,in6,out)
+ dsyslina(in1,&in2,1,&in3,1,&in4,1,&in5,&in6,out)
#define g2d0d2d0d2d0syslinss2(in1,size1,in2,in3,size3,in4,in5,size5, \
- in6,out) dsyslina(in2,1,in3,size3[1],in4,1,in5,in6,out)
+ in6,out) dsyslina(in1,&in2,1,in3,size3[1],in4,1,in5,&in6,out)
#define g2d0d0d2d2d0syslinss2(in1,size1,in2,in3,in4,size4,in5,size5, \
- in6,out) dsyslina(in2,1,in3,1,in4,size4[0],in5,in6,out)
+ in6,out) dsyslina(in1,&in2,1,in3,1,in4,size4[0],in5,&in6,out)
#define g2d0d2d2d2d0syslinss2(in1,size1,in2,in3,size3,in4,size4,in5, \
- size5,in6,out) dsyslina(in2,1,in3,size3[1],in4,size4[0],in5,in6,out)
+ size5,in6,out) dsyslina(in1,&in2,1,in3,size3[1],in4,size4[0],in5,&in6,out)
#define g2d2d2d2d0d2syslinss2(in1,size1,in2,size2,in3,size3,in4,size4, \
- in5,in6,size6,out) dsyslina(in2,size2[0],in3,size3[1],in4,size4[0], \
- in5,in6,out)
+ in5,in6,size6,out) dsyslina(in1,in2,size2[0],in3,size3[1],in4,size4[0], \
+ &in5,in6,out)
#ifdef __cplusplus
} /* extern "C" */
diff --git a/src/c/CACSD/lqe/dlqea.c b/src/c/CACSD/lqe/dlqea.c
new file mode 100644
index 00000000..bc729fb9
--- /dev/null
+++ b/src/c/CACSD/lqe/dlqea.c
@@ -0,0 +1,59 @@
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/*Function for calculating lqe gain. Refer 'lqe.sci' in scilab source.*/
+
+#include "lqr.h"
+#include "matrixTranspose.h"
+
+void dlqea(double* sys, int sys_rows, int sys_cols, double* X, double* K)
+{
+
+ double *sys_lqr, *K_lqr;
+ int row, col;
+ int sys_lqr_rows = sys_cols-2;
+ int sys_lqr_cols = sys_rows + 2;
+ int no_of_ip, no_of_st;
+
+ no_of_ip = sys[sys_rows*(sys_cols-1)+1];
+ no_of_st = sys[sys_rows*(sys_cols-1)];
+
+ /*Transpose given system and calculate LQR with new system. Transpose result
+ got from LQR*/
+
+ sys_lqr = (double*) malloc(sys_lqr_rows*sys_lqr_cols*sizeof(double));
+
+ for(col = 0; col<sys_lqr_cols; col++)
+ {
+ for(row = 0; row<sys_lqr_rows; row++)
+ {
+ sys_lqr[col*sys_lqr_rows+row] = sys[row*sys_rows+col];
+
+ }
+ }
+
+ /*Copy initial states and type of system*/
+ for(row = 0; row<sys_lqr_rows; row++)
+ {
+ sys_lqr[sys_lqr_rows*(sys_lqr_cols-2) + row] = sys[sys_rows*(sys_cols-2)+row];
+ }
+
+ /*Copy no of states and no of inputs*/
+ sys_lqr[sys_lqr_rows*(sys_lqr_cols-1)] = no_of_st;
+ sys_lqr[sys_lqr_rows*(sys_lqr_cols-1)+1] = sys_rows - no_of_st;
+
+ /*Calculate LQR gain*/
+ K_lqr = (double*) malloc(no_of_ip*no_of_st*sizeof(double));
+ dlqra(sys_lqr,sys_lqr_rows,sys_lqr_cols,X,K_lqr);
+
+ dtransposea(K_lqr,sys_rows - no_of_st,no_of_st,K);
+}
\ No newline at end of file
diff --git a/src/c/CACSD/lqr/as_per_sci_code.c b/src/c/CACSD/lqr/as_per_sci_code.c
new file mode 100644
index 00000000..01f002c3
--- /dev/null
+++ b/src/c/CACSD/lqr/as_per_sci_code.c
@@ -0,0 +1,144 @@
+
+ sizeBA = 2*no_of_states + no_of_inputs;
+ BigE = (double*) malloc (sizeBA*sizeBA*sizeof(double));
+ BigA = (double*) malloc (sizeBA*sizeBA*sizeof(double));
+
+ /*Setup BigE*/
+ deyea(BigE,sizeBA,sizeBA);
+
+ for(row = no_of_states*2; row<sizeBA; row++)
+ {
+ BigE[row*sizeBA+row] = 0;
+ }
+
+ /*Setup BigA*/
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ BigA[col*sizeBA+row] = A[col*no_of_states + row];
+ }
+ }
+
+ for(col=no_of_states; col < no_of_states*2; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ BigA[col*sizeBA+row] = 0;
+ }
+ }
+
+ for(col=2*no_of_states; col < sizeBA; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ BigA[col*sizeBA+row] = B[col*no_of_states + row];
+ }
+ }
+
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = no_of_states; row < 2*no_of_states; row++)
+ {
+ BigA[col*sizeBA+row] = -1.0*Q[col*no_of_states + row];
+ }
+ }
+
+ for(col=no_of_states; col < 2*no_of_states; col++)
+ {
+ for(row = no_of_states; row < 2*no_of_states; row++)
+ {
+ BigA[col*sizeBA+row] = -1.0*A[row*no_of_states + col];
+ }
+ }
+
+ for(col=2*no_of_states; col < sizeBA; col++)
+ {
+ for(row = no_of_states; row < 2*no_of_states; row++)
+ {
+ BigA[col*sizeBA+row] = -1.0*S[row*no_of_inputs + col];
+ }
+ }
+
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = 2*no_of_states; row < sizeBA; row++)
+ {
+ BigA[col*sizeBA+row] = S[col*no_of_inputs + row];
+ }
+ }
+
+ for(col=no_of_states; col < 2*no_of_states; col++)
+ {
+ for(row = 2*no_of_states; row < sizeBA; row++)
+ {
+ BigA[col*sizeBA+row] = B[row*no_of_inputs + col];
+ }
+ }
+
+
+ for(col=2*no_of_states; col < sizeBA; col++)
+ {
+ for(row = 2*no_of_states; row < sizeBA; row++)
+ {
+ BigA[col*sizeBA+row] = R[col*no_of_inputs + row];
+ }
+ }
+
+ /*Free up unwanted variables*/
+ free(A);
+ free(C);
+ free(C_t);
+ free(D);
+ free(D_t);
+ free(Q);
+
+ /*Inverse of R*/
+ Ri = (double*) malloc(no_of_inputs*no_of_inputs*sizeof(double));
+ dinverma(R,Ri,no_of_inputs);
+
+ /*Setup Left*/
+ Left = (double*) malloc(sizeBA*sizeBA*sizeof(double));
+ deyea(Left,sizeBA,sizeBA);
+
+ BRi = (double*) malloc(no_of_states*no_of_inputs*sizeof(double));
+ S_t = (double*) malloc(no_of_states*no_of_inputs*sizeof(double));
+ StRi = (double*) malloc(no_of_states*no_of_inputs*sizeof(double));
+
+ dtransposea(S,no_of_inputs,no_of_states,S_t);
+ dmula(B,no_of_states,no_of_inputs,Ri,no_of_inputs,no_of_inputs,BRi);
+ dmula(S_t,no_of_states,no_of_inputs,Ri,no_of_inputs,no_of_inputs,StRi);
+
+ for(col=2*no_of_states; col < sizeBA; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ Left[col*sizeBA+row] = -1.0*BRi[col*no_of_states + row];
+ }
+ }
+
+ for(col=2*no_of_states; col < sizeBA; col++)
+ {
+ for(row = no_of_states; row < 2*no_of_states; row++)
+ {
+ Left[col*sizeBA+row] = StRi[col*no_of_states + row];
+ }
+ }
+
+ for(col=2*no_of_states; col < sizeBA; col++)
+ {
+ for(row = 2*no_of_states; row < sizeBA; row++)
+ {
+ Left[col*sizeBA+row] = Ri[col*no_of_states + row];
+ }
+ }
+
+ /*Freeup umwanted variables*/
+ free(R);
+ free(BRi);
+ free(S_t);
+ free(StRi);
+ free(B);
+
+ LA = (double*) malloc(sizeBA*sizeBA*sizeof(double));
+ dmula(Left,sizeBA,sizeBA,BigA,sizeBA,sizeBA,LA);
\ No newline at end of file
diff --git a/src/c/CACSD/lqr/dlqra.c b/src/c/CACSD/lqr/dlqra.c
new file mode 100644
index 00000000..26a5e6c4
--- /dev/null
+++ b/src/c/CACSD/lqr/dlqra.c
@@ -0,0 +1,352 @@
+/* Copyright (C) 2017 - IIT Bombay - FOSSEE
+
+ This file must be used under the terms of the CeCILL.
+ This source file is licensed as described in the file COPYING, which
+ you should have received as part of this distribution. The terms
+ are also available at
+ http://www.cecill.info/licences/Licence_CeCILL_V2-en.txt
+ Author: Siddhesh Wani
+ Organization: FOSSEE, IIT Bombay
+ Email: toolbox@scilab.in
+*/
+
+/*Function for calculating lqr gain. Refer 'lqr.sci' in scilab source.*/
+
+#include <stdlib.h>
+#include "matrixTranspose.h"
+#include "matrixMultiplication.h"
+#include "eye.h"
+#include "matrixInversion.h"
+#include "subtraction.h"
+#include "addition.h"
+#include "schur.h"
+#include "matrixDivision.h"
+
+void dlqra(double* sys, int sys_rows, int sys_cols, double* X, double* K)
+{
+ int no_of_states, no_of_inputs, no_of_outputs, dom = 1;
+ int row,col;
+ no_of_states = sys[sys_rows*(sys_cols-1)];
+ no_of_inputs = sys[sys_rows*(sys_cols-1) + 1];
+ no_of_outputs = sys_rows - no_of_states;
+
+ double *A, *B, *C, *D;
+ double *B_t, *C_t, *D_t;
+ double *Q, *R, *S;
+ double *Ri, *LA, *LE;
+ double *BRi, *StRi, *S_t;
+ double *buf1, *buf2, *buf3, *buf4, *buf5, *buf6;
+
+ int ks;
+ double *wsmall, *X12, *phi12;
+
+ A = (double*) malloc (no_of_states*no_of_states*sizeof(double));
+ B = (double*) malloc (no_of_states*no_of_inputs*sizeof(double));
+ C = (double*) malloc (no_of_states*no_of_outputs*sizeof(double));
+ D = (double*) malloc (no_of_inputs*no_of_outputs*sizeof(double));
+
+ B_t = (double*) malloc (no_of_states*no_of_inputs*sizeof(double));
+ C_t = (double*) malloc (no_of_states*no_of_outputs*sizeof(double));
+ D_t = (double*) malloc (no_of_inputs*no_of_outputs*sizeof(double));
+
+ /*Get A from system matrix*/
+ for(col = 0; col < no_of_states; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ A[col*no_of_states + row] = sys[col*sys_rows + row];
+ }
+ }
+
+ /*Get matrix B from system matrix*/
+ for(col=0; col < no_of_inputs; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ B[col * no_of_states + row] = \
+ sys[col * sys_rows + no_of_states*sys_rows + row];
+ }
+ }
+
+ /*Get matrix C from system matrix*/
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = 0; row < no_of_outputs; row++)
+ {
+ C[col * no_of_outputs + row] = \
+ sys[no_of_states + (col*sys_rows) + row];
+ }
+ }
+
+ /*Get matrix D from system matrix*/
+ for(col=0; col < no_of_inputs; col++)
+ {
+ for(row = 0; row < no_of_outputs; row++)
+ {
+ D[col * no_of_outputs + row] = \
+ sys[(no_of_states+col)*sys_rows + no_of_states + row];
+ }
+ }
+
+ dom = sys[(sys_rows*(sys_cols-2)) + no_of_states];
+
+ Q = (double*) malloc (no_of_states*no_of_states*sizeof(double));
+ R = (double*) malloc (no_of_inputs*no_of_inputs*sizeof(double));
+ S = (double*) malloc (no_of_inputs*no_of_states*sizeof(double));
+
+ dtransposea(B,no_of_states,no_of_inputs,B_t);
+ dtransposea(C,no_of_outputs,no_of_states,C_t);
+ dtransposea(D,no_of_outputs,no_of_inputs,D_t);
+
+ dmulma(C_t,no_of_states,no_of_outputs,C,no_of_outputs,no_of_states,Q);
+ dmulma(D_t,no_of_inputs,no_of_outputs,D,no_of_outputs,no_of_inputs,R);
+ dmulma(D_t,no_of_inputs,no_of_outputs,C,no_of_outputs,no_of_states,S);
+
+ /*Free up unwanted variables*/
+
+ free(C);
+ free(C_t);
+ free(D);
+ free(D_t);
+
+
+ /*Inverse of R*/
+ Ri = (double*) malloc(no_of_inputs*no_of_inputs*sizeof(double));
+ dinverma(R,Ri,no_of_inputs);
+
+ BRi = (double*) malloc(no_of_states*no_of_inputs*sizeof(double));
+ S_t = (double*) malloc(no_of_states*no_of_inputs*sizeof(double));
+ StRi = (double*) malloc(no_of_states*no_of_inputs*sizeof(double));
+
+ dtransposea(S,no_of_inputs,no_of_states,S_t);
+ dmulma(B,no_of_states,no_of_inputs,Ri,no_of_inputs,no_of_inputs,BRi);
+ dmulma(S_t,no_of_states,no_of_inputs,Ri,no_of_inputs,no_of_inputs,StRi);
+
+ buf1 = (double*) malloc(no_of_states*no_of_states*sizeof(double));
+ buf2 = (double*) malloc(no_of_states*no_of_states*sizeof(double));
+
+ if(dom == 1)
+ {
+ /*Setup LA*/
+ LA = (double*) malloc(4*no_of_states*no_of_states*sizeof(double));
+ /*Block 11 --> A - B*Ri*S*/
+ dmulma(BRi,no_of_states,no_of_inputs,S,no_of_inputs,no_of_states,buf1);
+ ddiffa(A,no_of_states*no_of_states,buf1,no_of_states*no_of_states,buf2);
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ LA[col*2*no_of_states+row] = buf2[col*no_of_states + row];
+ }
+ }
+
+ /*Block 22= Block 11' --> -A' + S'*Ri*B'*/
+ dtransposea(buf2,no_of_states,no_of_states,buf1);
+ for(col=no_of_states; col < 2*no_of_states; col++)
+ {
+ for(row = no_of_states; row < 2*no_of_states; row++)
+ {
+ LA[col*2*no_of_states+row] = \
+ -1.0*buf1[(col-no_of_states)*no_of_states + (row-no_of_states)];
+ }
+ }
+
+ /*Block 12 --> -B*Ri*B'*/
+ dmulma(BRi,no_of_states,no_of_inputs,B_t,no_of_inputs,no_of_states,buf1);
+ for(col=no_of_states; col < 2*no_of_states; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ LA[col*2*no_of_states+row] = \
+ -1.0*buf1[(col-no_of_states)*no_of_states + row];
+ }
+ }
+
+ /*Block 21 --> -Q + S'*Ri*S*/
+ dmulma(StRi,no_of_states,no_of_inputs,S,no_of_inputs,no_of_states,buf1);
+ ddiffa(buf1,no_of_states*no_of_states,Q,no_of_states*no_of_states,buf2);
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = no_of_states; row < 2*no_of_states; row++)
+ {
+ LA[col*2*no_of_states+row] = \
+ buf2[col*no_of_states + (row-no_of_states)];
+ }
+ }
+
+
+ /*Freeup umwanted variables*/
+ free(A);
+ free(Q);
+ free(R);
+ free(BRi);
+ free(S_t);
+ free(StRi);
+ free(B);
+
+ /*Find schur decomposition of LA*/
+ wsmall = (double*) malloc(4*no_of_states*no_of_states*sizeof(double));
+ ks = dschura(LA,2*no_of_states,1,2,wsmall,NULL);
+
+ X12 = (double*) malloc(no_of_states*no_of_states*sizeof(double));
+ phi12 = (double*) malloc(no_of_states*no_of_states*sizeof(double));
+
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ X12[col*no_of_states + row] = wsmall[col*2*no_of_states+row];
+ }
+ }
+
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = no_of_states; row < 2*no_of_states; row++)
+ {
+ phi12[col*no_of_states + (row-no_of_states)] = \
+ wsmall[col*2*no_of_states+row];
+ }
+ }
+
+ drdivma(phi12,no_of_states,no_of_states,X12,no_of_states,no_of_states,X);
+
+ buf3 = (double*) malloc(no_of_inputs*no_of_states*sizeof(double));
+ buf4 = (double*) malloc(no_of_inputs*no_of_states*sizeof(double));
+
+ dmulma(B_t,no_of_inputs,no_of_states,X,no_of_states,no_of_states,buf3);
+ dadda(buf3,no_of_inputs*no_of_states,S,no_of_inputs*no_of_states,buf4);
+ dmulma(Ri,no_of_inputs,no_of_inputs,buf4,no_of_inputs,no_of_states,buf3);
+
+ for(row = 0;row<no_of_inputs*no_of_states;row++)
+ {
+ K[row] = -buf3[row];
+ }
+
+ }
+ else if(dom == 2)
+ {
+ /*Setup LA and LE*/
+ LA = (double*) malloc(4*no_of_states*no_of_states*sizeof(double));
+ deyea(LA,2*no_of_states,2*no_of_states);
+ LE = (double*) malloc(4*no_of_states*no_of_states*sizeof(double));
+ deyea(LE,2*no_of_states,2*no_of_states);
+
+ /*Block 11 --> A - B*Ri*S*/
+ dmulma(BRi,no_of_states,no_of_inputs,S,no_of_inputs,no_of_states,buf1);
+ ddiffa(A,no_of_states*no_of_states,buf1,no_of_states*no_of_states,buf2);
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ LA[col*2*no_of_states+row] = buf2[col*no_of_states + row];
+ }
+ }
+
+ /*Block 22= Block 11' --> A' - S'*Ri*B'*/
+ dtransposea(buf2,no_of_states,no_of_states,buf1);
+ for(col=no_of_states; col < 2*no_of_states; col++)
+ {
+ for(row = no_of_states; row < 2*no_of_states; row++)
+ {
+ LE[col*2*no_of_states+row] = \
+ buf1[(col-no_of_states)*no_of_states + (row-no_of_states)];
+ }
+ }
+
+ /*Block 21 --> -Q + S'*Ri*S*/
+ dmulma(StRi,no_of_states,no_of_inputs,S,no_of_inputs,no_of_states,buf1);
+ ddiffa(buf1,no_of_states*no_of_states,Q,no_of_states*no_of_states,buf2);
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = no_of_states; row < 2*no_of_states; row++)
+ {
+ LA[col*2*no_of_states+row] = \
+ buf2[col*no_of_states + (row-no_of_states)];
+ }
+ }
+
+
+ /*Block 12 --> B*Ri*B'*/
+ dmulma(BRi,no_of_states,no_of_inputs,B_t,no_of_inputs,no_of_states,buf1);
+ for(col=no_of_states; col < 2*no_of_states; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ LE[col*2*no_of_states+row] = \
+ buf1[(col-no_of_states)*no_of_states + row];
+ }
+ }
+
+
+ free(Q);
+ free(BRi);
+ free(S_t);
+ free(StRi);
+
+ /*Find schur decomposition of LA*/
+ wsmall = (double*) malloc(4*no_of_states*no_of_states*sizeof(double));
+ ks = dgschura(LA,2*no_of_states,LE,2,2,wsmall,NULL,NULL,NULL);
+
+ X12 = (double*) malloc(no_of_states*no_of_states*sizeof(double));
+ phi12 = (double*) malloc(no_of_states*no_of_states*sizeof(double));
+
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = 0; row < no_of_states; row++)
+ {
+ X12[col*no_of_states + row] = wsmall[col*2*no_of_states+row];
+ }
+ }
+
+ for(col=0; col < no_of_states; col++)
+ {
+ for(row = no_of_states; row < 2*no_of_states; row++)
+ {
+ phi12[col*no_of_states + (row-no_of_states)] = \
+ wsmall[col*2*no_of_states+row];
+ }
+ }
+
+ drdivma(phi12,no_of_states,no_of_states,X12,no_of_states,no_of_states,X);
+
+ buf5 = (double*) malloc(no_of_inputs*no_of_inputs*sizeof(double));
+ buf6 = (double*) malloc(no_of_inputs*no_of_inputs*sizeof(double));
+ buf3 = (double*) malloc(no_of_inputs*no_of_states*sizeof(double));
+ buf4 = (double*) malloc(no_of_inputs*no_of_states*sizeof(double));
+
+ /*inv(B'XB+R)*/
+ dmulma(B_t,no_of_inputs,no_of_states,X,no_of_states,no_of_states,buf3);
+ dmulma(buf3,no_of_inputs,no_of_states,B_t,no_of_states,no_of_inputs,buf6);
+ dadda(buf6,no_of_inputs*no_of_inputs,R,no_of_inputs*no_of_inputs,buf5);
+ dinverma(buf5,buf6,no_of_inputs);
+ /*B'XA+S*/
+ dmulma(B_t,no_of_inputs,no_of_states,X,no_of_states,no_of_states,buf3);
+ dmulma(buf3,no_of_inputs,no_of_states,A,no_of_states,no_of_states,buf4);
+ dadda(buf4,no_of_inputs*no_of_states,S,no_of_inputs*no_of_states,buf3);
+
+ dmulma(buf6,no_of_inputs,no_of_inputs,buf3,no_of_inputs,no_of_states,buf4);
+
+ for(row = 0;row<no_of_inputs*no_of_states;row++)
+ {
+ K[row] = -buf4[row];
+ }
+
+ free(A);
+ free(B);
+ free(R);
+ free(buf5);
+ free(buf6);
+
+ }
+
+ free(B_t);
+ free(S);
+ free(wsmall);
+ free(X12);
+ free(phi12);
+ free(buf1);
+ free(buf2);
+ free(buf3);
+ free(buf4);
+
+}
\ No newline at end of file
diff --git a/src/c/CACSD/syslin/dsyslina.c b/src/c/CACSD/syslin/dsyslina.c
index cd7fa6bc..3c20c65c 100644
--- a/src/c/CACSD/syslin/dsyslina.c
+++ b/src/c/CACSD/syslin/dsyslina.c
@@ -11,62 +11,70 @@
*/
/*Function for declaring state space system*/
+/*output structure is as follows :
+ | A B X0 |
+ | C D dom|
+ where dom is 1 for 'c' and 2 for 'd'
+ Another column is appended with no_of_states and no_inputs as its elements */
+
+
#include <stdlib.h>
-void dsyslina(double* A, int no_of_states, double* B, int no_of_inputs, \
+void dsyslina(char* dom, double* A, int no_of_states, double* B, int no_of_inputs, \
double* C, int no_of_outputs, double* D, double* X0, double* out)
{
int row = 0,col = 0;
- int no_of_cols = no_of_states + no_of_inputs + 1;
-
+ int no_of_cols = no_of_states + no_of_inputs + 2;
+ int no_of_rows = no_of_states + no_of_outputs;
/*Copy matrix A into out matrix*/
- for(row = 0; row < no_of_states; row++)
+ for(col = 0; col < no_of_states; col++)
{
- for(col = 0; col < no_of_states; col++)
+ for(row = 0; row < no_of_states; row++)
{
- out[row*no_of_cols + col] = A[row*no_of_states + col];
+ out[col*no_of_rows + row] = A[col*no_of_states + row];
}
}
/*Copy matrix B in out matrix*/
- for(row = 0; row < no_of_states; row++)
+ for(col=0; col < no_of_inputs; col++)
{
- for(col=0; col < no_of_inputs; col++)
+ for(row = 0; row < no_of_states; row++)
{
- out[row * no_of_cols + no_of_states + col] = B[row * no_of_inputs + col];
+ out[col * no_of_rows + no_of_states*no_of_rows + row] \
+ = B[col * no_of_states + row];
}
}
/*Copy matrix C in out matrix*/
- for(row = 0; row < no_of_outputs; row++)
+ for(col=0; col < no_of_states; col++)
{
- for(col=0; col < no_of_states; col++)
+ for(row = 0; row < no_of_outputs; row++)
{
- out[(no_of_states + row)*no_of_cols + col] = C[row * no_of_states + col];
+ out[no_of_states + (col*no_of_rows) + row] = C[col * no_of_outputs + row];
}
}
/*Copy matrix D in out matrix*/
if( D != NULL)
{
- for(row = 0; row < no_of_outputs; row++)
+ for(col=0; col < no_of_inputs; col++)
{
- for(col=0; col < no_of_inputs; col++)
+ for(row = 0; row < no_of_outputs; row++)
{
- out[(no_of_states+row)*no_of_cols + no_of_states+col] = \
- D[row * no_of_inputs + col];
+ out[(no_of_states+col)*no_of_rows + no_of_states + row] = \
+ D[col * no_of_outputs + row];
}
}
}
else
{
- for(row = 0; row < no_of_outputs; row++)
+ for(col=0; col < no_of_inputs; col++)
{
- for(col=0; col < no_of_inputs; col++)
+ for(row = 0; row < no_of_outputs; row++)
{
- out[(no_of_states+row)*no_of_cols + no_of_states+col] = 0;
+ out[(no_of_states+col)*no_of_rows + no_of_states + row] = 0;
}
}
}
@@ -76,19 +84,24 @@ void dsyslina(double* A, int no_of_states, double* B, int no_of_inputs, \
{
for(row = 0; row < no_of_states; row++)
{
- out[(row+1)*(no_of_cols) - 1] = X0[row];
-
+ out[(no_of_rows*(no_of_cols-1))+row] = X0[row];
}
}
else
{
for(row = 0; row < no_of_states; row++)
{
- out[(row+1)*(no_of_cols) - 1] = 0;
-
+ out[(no_of_rows*(no_of_cols-1))+row] = 0;
}
}
+ if(*dom == 'c')
+ out[(no_of_rows*(no_of_cols-2)) + no_of_states] = 1;
+ else if(*dom == 'd')
+ out[(no_of_rows*(no_of_cols-2)) + no_of_states] = 2;
+ /*Insert no of states and inputs in last column*/
+ out[(no_of_rows*(no_of_cols-1))] = no_of_states;
+ out[(no_of_rows*(no_of_cols-1))+1] = no_of_inputs;
}
\ No newline at end of file
diff --git a/src/c/linearAlgebra/schur/dgschura.c b/src/c/linearAlgebra/schur/dgschura.c
index 56d48455..f17da8c8 100644
--- a/src/c/linearAlgebra/schur/dgschura.c
+++ b/src/c/linearAlgebra/schur/dgschura.c
@@ -15,14 +15,15 @@
#include "lapack.h"
#include "stdlib.h"
#include "string.h"
-
+#include <math.h>
/*flag --> 0: nothing
--> 1: continuous
--> 2: discrete
*/
-lapack_logical selctg2( double* in1, double* in2, double* in3);
+lapack_logical selctg21( double* in1, double* in2, double* in3);
+lapack_logical selctg22( double* in1, double* in2, double* in3);
double dgschura(double* in1, int size, double* in2, int flag, int nout, \
double* out1, double* out2, double* out3, double* out4)
@@ -40,7 +41,7 @@ double dgschura(double* in1, int size, double* in2, int flag, int nout, \
modifies the input variable*/
/*Used incase of flag > 0*/
- LAPACK_D_SELECT3 selctg = &selctg2;
+ LAPACK_D_SELECT3 selctg = &selctg21;
if(nout >= 2){
JOBVSL = 'V';
@@ -143,7 +144,15 @@ double dgschura(double* in1, int size, double* in2, int flag, int nout, \
return ret;
}
-lapack_logical selctg2(double* in1, double* in2, double* in3)
+lapack_logical selctg21(double* in1, double* in2, double* in3)
+{
+ if((sqrt(*in1**in1+*in2**in2)/ *in3) < 1)
+ return 1;
+ else
+ return 0;
+}
+
+lapack_logical selctg22(double* in1, double* in2, double* in3)
{
if((sqrt(*in1**in1+*in2**in2)/ *in3) < 1)
return 1;
diff --git a/src/c/linearAlgebra/schur/dschura.c b/src/c/linearAlgebra/schur/dschura.c
index c31ddca2..79c41976 100644
--- a/src/c/linearAlgebra/schur/dschura.c
+++ b/src/c/linearAlgebra/schur/dschura.c
@@ -15,14 +15,15 @@
#include "lapack.h"
#include "stdlib.h"
#include "string.h"
-
+#include <math.h>
/*flag --> 0: nothing
--> 1: continuous
--> 2: discrete
*/
-lapack_logical selctg1( double* in1, double* in2);
+lapack_logical selctg11( double* in1, double* in2);
+lapack_logical selctg12( double* in1, double* in2);
double dschura(double* in1, int size, int flag, int nout, double* out1, \
double* out2)
@@ -38,9 +39,15 @@ double dschura(double* in1, int size, int flag, int nout, double* out1, \
double *buf; /*input is copied to buf, since lapack function direclty
modifies the input variable*/
- /*Used incase of flag > 0*/
- LAPACK_D_SELECT2 selctg = &selctg1;
+ /*Used incase of flag > 0*/
+ LAPACK_D_SELECT2 selctg;
+
+ if(flag == 1 || flag == 0)
+ selctg = &selctg11;
+ else if(flag == 2)
+ selctg = &selctg12;
+
if(nout >= 2) JOBVS = 'V';
if(flag > 0) SORT = 'S';
@@ -101,7 +108,15 @@ double dschura(double* in1, int size, int flag, int nout, double* out1, \
return ret;
}
-lapack_logical selctg1(double* in1, double* in2)
+lapack_logical selctg11(double* in1, double* in2)
+{
+ if(*in1 <= 0)
+ return 1;
+ else
+ return 0;
+}
+
+lapack_logical selctg12(double* in1, double* in2)
{
if(sqrt(*in1**in1+*in2**in2) < 1)
--
cgit