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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 <string.h>
#include "MALLOC.h"
#include "machine.h" /* C2F */
#include "scicos_block.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 tcsltj4(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;
int nx = block->nx;
double* x = block->x;
double* xd = block->xd;
double* rpar = block->rpar;
double* y = block->outptr[0];
double* u1 = block->inptr[0];
double* u2 = block->inptr[1];
int* outsz = block->outsz;
int* insz = block->insz;
lb = nx * nx;
lc = lb + nx * insz[0];
if (flag == 1 || flag == 6)
{
/* y=c*x*/
C2F(dmmul)(&rpar[lc], outsz, x, &nx, y, outsz, outsz, &nx, &un);
}
else if (flag == 2 && block->nevprt == 1)
{
/* x+=u2 */
memcpy(x, u2 , nx * sizeof(double));
}
else if (flag == 0 && block->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, &insz[0], xd, &nx, &nx, &insz[0], &un);
}
}
/*--------------------------------------------------------------------------*/
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