tcslti4_routcos

Computational routine
eng

##
tcslti4

### File content

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

    #include "scicos_block.h"
    #include "../machine.h"

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

    void tcslti4(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=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+d*u1 */
        ld=lc+nx*outsz[0];

        C2F(dmmul)(&rpar[lc],outsz,x,&nx,y,outsz,outsz,&nx,&un);
        C2F(dmmul1)(&rpar[ld],outsz,u1,&insz[0],y,outsz,outsz,&insz[0],&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);
      }
    }