csslti4_routcos

Computational routine
eng

##
csslti4

### File content

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

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

    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,lc,ld;
      int nx=block->nx;
      double* x=block->x;
      double* xd=block->xd;
      double* rpar=block->rpar;
      double* y=block->outptr[0];
      double* u=block->inptr[0];
      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*u     */
        ld=lc+nx*outsz[0];
        if (nx==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);
          C2F(dmmul1)(&rpar[ld],outsz,u,insz,y,outsz,outsz,insz,&un);
        }
      }

      else if (flag ==0){
        /* xd=a*x+b*u */
        C2F(dmmul)(&rpar[0],&nx,x,&nx,xd,&nx,&nx,&nx,&un);
        C2F(dmmul1)(&rpar[lb],&nx,u,insz,xd,&nx,&nx,insz,&un);
      }
    }