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#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];
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);
}
}
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