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/* Scicos
*
* Copyright (C) INRIA - METALAU Project <scicos@inria.fr>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* See the file ./license.txt
*/
/*--------------------------------------------------------------------------*/
#include "scicos_block.h"
#include "machine.h"
#include "dynlib_scicos_blocks.h"
/*--------------------------------------------------------------------------*/
extern int C2F(dmmul)(double *a, int *na, double *b, int *nb, double *c__,
int *nc, int *l, int *m, int *n);
extern int C2F(dmmul1)(double *a, int *na, double *b, int *nb, double *c__,
int *nc, int *l, int *m, int *n);
/*--------------------------------------------------------------------------*/
SCICOS_BLOCKS_IMPEXP 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 = 0, lc = 0, ld = 0;
int nx = block->nx;
int nout = block->nout;
int nin = block->nin;
double* x = NULL;
double* xd = NULL;
double* rpar = block->rpar;
double* y = NULL;
double* u = NULL;
int empty[2] = {0, 0};
int* outsz = empty;
int* insz = empty;
if (nout > 0)
{
outsz = block->outsz;
y = (double*) (block->outptr[0]);
}
if (nin > 0)
{
insz = block->insz;
u = (double*) (block->inptr[0]);
}
if (nx > 0)
{
x = block->x;
xd = block->xd;
}
lb = nx * nx;
lc = lb + nx * insz[0];
if (flag == 1 || flag == 6)
{
/* y=c*x+d*u */
if (nout > 0)
{
ld = lc + nx * outsz[0];
if (nx == 0)
{
if (nin > 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);
if (nin > 0)
{
C2F(dmmul1)(&rpar[ld], outsz, u, insz, y, outsz, outsz, insz, &un);
}
}
}
}
else if (flag == 0)
{
/* xd=a*x+b*u */
if (nx > 0)
{
C2F(dmmul)(&rpar[0], &nx, x, &nx, xd, &nx, &nx, &nx, &un);
if (nin > 0)
{
C2F(dmmul1)(&rpar[lb], &nx, u, insz, xd, &nx, &nx, insz, &un);
}
}
}
}
/*--------------------------------------------------------------------------*/
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