static real_T c1_mpower(SFc1_varymultiswarmInstanceStruct *chartInstance, real_T c1_a) { real_T c1_b_a; real_T c1_c_a; real_T c1_ak; real_T c1_d_a; real_T c1_e_a; real_T c1_b; c1_b_a = c1_a; c1_c_a = c1_b_a; c1_eml_scalar_eg(chartInstance); c1_ak = c1_c_a; c1_d_a = c1_ak; c1_eml_scalar_eg(chartInstance); c1_e_a = c1_d_a; c1_b = c1_d_a; return c1_e_a * c1_b; }
static void sf_c1_Pointing_Cntrl_Act(SFc1_Pointing_Cntrl_ActInstanceStruct *chartInstance) { real_T c1_hoistedGlobal; real_T c1_b_hoistedGlobal; real_T c1_c_hoistedGlobal; real_T c1_u; real_T c1_Lmax; real_T c1_Lsat; uint32_T c1_debug_family_var_map[7]; real_T c1_Llim; real_T c1_nargin = 3.0; real_T c1_nargout = 1.0; real_T c1_y; real_T c1_varargin_1; real_T c1_varargin_2; real_T c1_b_varargin_2; real_T c1_varargin_3; real_T c1_x; real_T c1_b_y; real_T c1_b_x; real_T c1_c_y; real_T c1_xk; real_T c1_yk; real_T c1_c_x; real_T c1_d_y; real_T c1_b_varargin_1; real_T c1_c_varargin_2; real_T c1_d_varargin_2; real_T c1_b_varargin_3; real_T c1_d_x; real_T c1_e_y; real_T c1_e_x; real_T c1_f_y; real_T c1_b_xk; real_T c1_b_yk; real_T c1_f_x; real_T c1_g_y; real_T *c1_b_u; real_T *c1_h_y; real_T *c1_b_Lmax; real_T *c1_b_Lsat; c1_b_Lsat = (real_T *)ssGetInputPortSignal(chartInstance->S, 2); c1_b_Lmax = (real_T *)ssGetInputPortSignal(chartInstance->S, 1); c1_h_y = (real_T *)ssGetOutputPortSignal(chartInstance->S, 1); c1_b_u = (real_T *)ssGetInputPortSignal(chartInstance->S, 0); _sfTime_ = (real_T)ssGetT(chartInstance->S); _SFD_CC_CALL(CHART_ENTER_SFUNCTION_TAG, 0U, chartInstance->c1_sfEvent); _SFD_DATA_RANGE_CHECK(*c1_b_u, 0U); _SFD_DATA_RANGE_CHECK(*c1_h_y, 1U); _SFD_DATA_RANGE_CHECK(*c1_b_Lmax, 2U); _SFD_DATA_RANGE_CHECK(*c1_b_Lsat, 3U); chartInstance->c1_sfEvent = CALL_EVENT; _SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 0U, chartInstance->c1_sfEvent); c1_hoistedGlobal = *c1_b_u; c1_b_hoistedGlobal = *c1_b_Lmax; c1_c_hoistedGlobal = *c1_b_Lsat; c1_u = c1_hoistedGlobal; c1_Lmax = c1_b_hoistedGlobal; c1_Lsat = c1_c_hoistedGlobal; _SFD_SYMBOL_SCOPE_PUSH_EML(0U, 7U, 7U, c1_debug_family_names, c1_debug_family_var_map); _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c1_Llim, 0U, c1_sf_marshallOut, c1_sf_marshallIn); _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c1_nargin, 1U, c1_sf_marshallOut, c1_sf_marshallIn); _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c1_nargout, 2U, c1_sf_marshallOut, c1_sf_marshallIn); _SFD_SYMBOL_SCOPE_ADD_EML(&c1_u, 3U, c1_sf_marshallOut); _SFD_SYMBOL_SCOPE_ADD_EML(&c1_Lmax, 4U, c1_sf_marshallOut); _SFD_SYMBOL_SCOPE_ADD_EML(&c1_Lsat, 5U, c1_sf_marshallOut); _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c1_y, 6U, c1_sf_marshallOut, c1_sf_marshallIn); CV_EML_FCN(0, 0); _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 4); if (CV_EML_IF(0, 1, 0, c1_u >= 0.0)) { _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 5); c1_Llim = c1_Lmax - c1_Lsat; _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 6); if (CV_EML_IF(0, 1, 1, c1_Llim < 0.0)) { _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 7); c1_y = 0.0; } else { _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 9); c1_varargin_1 = c1_Llim; c1_varargin_2 = c1_u; c1_b_varargin_2 = c1_varargin_1; c1_varargin_3 = c1_varargin_2; c1_x = c1_b_varargin_2; c1_b_y = c1_varargin_3; c1_b_x = c1_x; c1_c_y = c1_b_y; c1_eml_scalar_eg(chartInstance); c1_xk = c1_b_x; c1_yk = c1_c_y; c1_c_x = c1_xk; c1_d_y = c1_yk; c1_eml_scalar_eg(chartInstance); c1_y = muDoubleScalarMin(c1_c_x, c1_d_y); } } else { _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 12); c1_Llim = -c1_Lmax - c1_Lsat; _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 13); if (CV_EML_IF(0, 1, 2, c1_Llim > 0.0)) { _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 14); c1_y = 0.0; } else { _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 16); c1_b_varargin_1 = c1_Llim; c1_c_varargin_2 = c1_u; c1_d_varargin_2 = c1_b_varargin_1; c1_b_varargin_3 = c1_c_varargin_2; c1_d_x = c1_d_varargin_2; c1_e_y = c1_b_varargin_3; c1_e_x = c1_d_x; c1_f_y = c1_e_y; c1_eml_scalar_eg(chartInstance); c1_b_xk = c1_e_x; c1_b_yk = c1_f_y; c1_f_x = c1_b_xk; c1_g_y = c1_b_yk; c1_eml_scalar_eg(chartInstance); c1_y = muDoubleScalarMax(c1_f_x, c1_g_y); } } _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, -16); _SFD_SYMBOL_SCOPE_POP(); *c1_h_y = c1_y; _SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 0U, chartInstance->c1_sfEvent); _SFD_CHECK_FOR_STATE_INCONSISTENCY(_Pointing_Cntrl_ActMachineNumber_, chartInstance->chartNumber, chartInstance->instanceNumber); }
static void sf_c1_Model_justmodel2(SFc1_Model_justmodel2InstanceStruct *chartInstance) { int32_T c1_i2; real_T c1_hoistedGlobal; real_T c1_time; uint32_T c1_debug_family_var_map[5]; real_T c1_surge; real_T c1_nargin = 1.0; real_T c1_nargout = 1.0; real_T c1_Force[3]; int32_T c1_i3; real_T c1_b; real_T c1_y; real_T c1_b_b; real_T c1_b_y; real_T c1_x; real_T c1_b_x; real_T c1_c_b; real_T c1_c_y; real_T c1_d_b; real_T c1_d_y; real_T c1_c_x; real_T c1_d_x; real_T c1_e_b; real_T c1_e_y; real_T c1_e_x; real_T c1_f_x; real_T c1_f_y; real_T c1_varargin_1; real_T c1_varargin_2; real_T c1_g_x; real_T c1_h_x; real_T c1_xk; real_T c1_i_x; int32_T c1_i4; real_T *c1_b_time; real_T (*c1_b_Force)[3]; c1_b_Force = (real_T (*)[3])ssGetOutputPortSignal(chartInstance->S, 1); c1_b_time = (real_T *)ssGetInputPortSignal(chartInstance->S, 0); _sfTime_ = (real_T)ssGetT(chartInstance->S); _SFD_CC_CALL(CHART_ENTER_SFUNCTION_TAG, 0U, chartInstance->c1_sfEvent); _SFD_DATA_RANGE_CHECK(*c1_b_time, 0U); for (c1_i2 = 0; c1_i2 < 3; c1_i2++) { _SFD_DATA_RANGE_CHECK((*c1_b_Force)[c1_i2], 1U); } chartInstance->c1_sfEvent = CALL_EVENT; _SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 0U, chartInstance->c1_sfEvent); c1_hoistedGlobal = *c1_b_time; c1_time = c1_hoistedGlobal; _SFD_SYMBOL_SCOPE_PUSH_EML(0U, 5U, 5U, c1_debug_family_names, c1_debug_family_var_map); _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c1_surge, 0U, c1_b_sf_marshallOut, c1_b_sf_marshallIn); _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c1_nargin, 1U, c1_b_sf_marshallOut, c1_b_sf_marshallIn); _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c1_nargout, 2U, c1_b_sf_marshallOut, c1_b_sf_marshallIn); _SFD_SYMBOL_SCOPE_ADD_EML(&c1_time, 3U, c1_b_sf_marshallOut); _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(c1_Force, 4U, c1_sf_marshallOut, c1_sf_marshallIn); CV_EML_FCN(0, 0); _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 3); for (c1_i3 = 0; c1_i3 < 3; c1_i3++) { c1_Force[c1_i3] = 0.0; } _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 5); c1_b = c1_time; c1_y = 0.066666666666666666 * c1_b; c1_b_b = c1_time; c1_b_y = 0.5 * c1_b_b; c1_x = c1_b_y; c1_b_x = c1_x; c1_b_x = muDoubleScalarCos(c1_b_x); c1_c_b = c1_b_x; c1_c_y = 10.0 * c1_c_b; c1_d_b = c1_time; c1_d_y = 0.3 * c1_d_b; c1_c_x = c1_d_y + 0.32; c1_d_x = c1_c_x; c1_d_x = muDoubleScalarSin(c1_d_x); c1_e_b = c1_d_x; c1_e_y = 14.0 * c1_e_b; c1_e_x = c1_c_y + c1_e_y; c1_f_x = c1_e_x; c1_f_y = muDoubleScalarAbs(c1_f_x); c1_varargin_1 = c1_y + c1_f_y; c1_varargin_2 = c1_varargin_1; c1_g_x = c1_varargin_2; c1_h_x = c1_g_x; c1_eml_scalar_eg(chartInstance); c1_xk = c1_h_x; c1_i_x = c1_xk; c1_eml_scalar_eg(chartInstance); c1_surge = muDoubleScalarMin(c1_i_x, 40.0); _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 7); c1_Force[0] = c1_surge; _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, -7); _SFD_SYMBOL_SCOPE_POP(); for (c1_i4 = 0; c1_i4 < 3; c1_i4++) { (*c1_b_Force)[c1_i4] = c1_Force[c1_i4]; } _SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 0U, chartInstance->c1_sfEvent); _SFD_CHECK_FOR_STATE_INCONSISTENCY(_Model_justmodel2MachineNumber_, chartInstance->chartNumber, chartInstance->instanceNumber); }
static void c1_chartstep_c1_Qmod(SFc1_QmodInstanceStruct *chartInstance) { real_T c1_hoistedGlobal; real_T c1_b_hoistedGlobal; real_T c1_c_hoistedGlobal; int32_T c1_i5; real_T c1_T[4]; real_T c1_k; real_T c1_m; real_T c1_g; int32_T c1_i6; real_T c1_R[9]; uint32_T c1_debug_family_var_map[9]; real_T c1_Thrust[3]; real_T c1_nargin = 5.0; real_T c1_nargout = 1.0; real_T c1_y[3]; real_T c1_a; real_T c1_b; real_T c1_b_y; real_T c1_A; real_T c1_B; real_T c1_x; real_T c1_c_y; real_T c1_b_x; real_T c1_d_y; real_T c1_e_y; int32_T c1_i7; real_T c1_b_a[9]; int32_T c1_i8; real_T c1_b_b[3]; int32_T c1_i9; real_T c1_f_y[3]; int32_T c1_i10; int32_T c1_i11; real_T c1_dv1[3]; int32_T c1_i12; int32_T c1_i13; real_T *c1_b_k; real_T *c1_b_m; real_T *c1_b_g; real_T (*c1_g_y)[3]; real_T (*c1_b_R)[9]; real_T (*c1_b_T)[4]; c1_b_R = (real_T (*)[9])ssGetInputPortSignal(chartInstance->S, 4); c1_g_y = (real_T (*)[3])ssGetOutputPortSignal(chartInstance->S, 1); c1_b_g = (real_T *)ssGetInputPortSignal(chartInstance->S, 3); c1_b_m = (real_T *)ssGetInputPortSignal(chartInstance->S, 2); c1_b_k = (real_T *)ssGetInputPortSignal(chartInstance->S, 1); c1_b_T = (real_T (*)[4])ssGetInputPortSignal(chartInstance->S, 0); _SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 0U, chartInstance->c1_sfEvent); c1_hoistedGlobal = *c1_b_k; c1_b_hoistedGlobal = *c1_b_m; c1_c_hoistedGlobal = *c1_b_g; for (c1_i5 = 0; c1_i5 < 4; c1_i5++) { c1_T[c1_i5] = (*c1_b_T)[c1_i5]; } c1_k = c1_hoistedGlobal; c1_m = c1_b_hoistedGlobal; c1_g = c1_c_hoistedGlobal; for (c1_i6 = 0; c1_i6 < 9; c1_i6++) { c1_R[c1_i6] = (*c1_b_R)[c1_i6]; } sf_debug_symbol_scope_push_eml(0U, 9U, 9U, c1_debug_family_names, c1_debug_family_var_map); sf_debug_symbol_scope_add_eml_importable(c1_Thrust, 0U, c1_sf_marshallOut, c1_sf_marshallIn); sf_debug_symbol_scope_add_eml_importable(&c1_nargin, 1U, c1_c_sf_marshallOut, c1_b_sf_marshallIn); sf_debug_symbol_scope_add_eml_importable(&c1_nargout, 2U, c1_c_sf_marshallOut, c1_b_sf_marshallIn); sf_debug_symbol_scope_add_eml(c1_T, 3U, c1_d_sf_marshallOut); sf_debug_symbol_scope_add_eml(&c1_k, 4U, c1_c_sf_marshallOut); sf_debug_symbol_scope_add_eml(&c1_m, 5U, c1_c_sf_marshallOut); sf_debug_symbol_scope_add_eml(&c1_g, 6U, c1_c_sf_marshallOut); sf_debug_symbol_scope_add_eml(c1_R, 7U, c1_b_sf_marshallOut); sf_debug_symbol_scope_add_eml_importable(c1_y, 8U, c1_sf_marshallOut, c1_sf_marshallIn); CV_EML_FCN(0, 0); _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 5); c1_a = c1_k; c1_b = ((c1_T[0] + c1_T[1]) + c1_T[2]) + c1_T[3]; c1_b_y = c1_a * c1_b; c1_A = c1_b_y; c1_B = c1_m; c1_x = c1_A; c1_c_y = c1_B; c1_b_x = c1_x; c1_d_y = c1_c_y; c1_e_y = c1_b_x / c1_d_y; c1_Thrust[0] = 0.0; c1_Thrust[1] = 0.0; c1_Thrust[2] = c1_e_y; _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 7); for (c1_i7 = 0; c1_i7 < 9; c1_i7++) { c1_b_a[c1_i7] = c1_R[c1_i7]; } for (c1_i8 = 0; c1_i8 < 3; c1_i8++) { c1_b_b[c1_i8] = c1_Thrust[c1_i8]; } c1_eml_scalar_eg(chartInstance); c1_eml_scalar_eg(chartInstance); for (c1_i9 = 0; c1_i9 < 3; c1_i9++) { c1_f_y[c1_i9] = 0.0; c1_i10 = 0; for (c1_i11 = 0; c1_i11 < 3; c1_i11++) { c1_f_y[c1_i9] += c1_b_a[c1_i10 + c1_i9] * c1_b_b[c1_i11]; c1_i10 += 3; } } c1_dv1[0] = 0.0; c1_dv1[1] = 0.0; c1_dv1[2] = -c1_g; for (c1_i12 = 0; c1_i12 < 3; c1_i12++) { c1_y[c1_i12] = c1_f_y[c1_i12] - c1_dv1[c1_i12]; } _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, -7); sf_debug_symbol_scope_pop(); for (c1_i13 = 0; c1_i13 < 3; c1_i13++) { (*c1_g_y)[c1_i13] = c1_y[c1_i13]; } _SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 0U, chartInstance->c1_sfEvent); }
static void sf_c1_TTR_RobustMPC_RTmdl(SFc1_TTR_RobustMPC_RTmdlInstanceStruct *chartInstance) { int32_T c1_i0; real_T c1_hoistedGlobal; real_T c1_u_ctrl; int32_T c1_i1; real_T c1_U_bounds[2]; uint32_T c1_debug_family_var_map[6]; real_T c1_i; real_T c1_nargin = 2.0; real_T c1_nargout = 1.0; real_T c1_u_ctrl_out; real_T c1_varargin_1; real_T c1_varargin_2; real_T c1_b_varargin_2; real_T c1_varargin_3; real_T c1_x; real_T c1_y; real_T c1_b_x; real_T c1_b_y; real_T c1_xk; real_T c1_yk; real_T c1_c_x; real_T c1_c_y; real_T c1_b_varargin_1; real_T c1_c_varargin_2; real_T c1_d_varargin_2; real_T c1_b_varargin_3; real_T c1_d_x; real_T c1_d_y; real_T c1_e_x; real_T c1_e_y; real_T c1_b_xk; real_T c1_b_yk; real_T c1_f_x; real_T c1_f_y; real_T *c1_b_u_ctrl; real_T *c1_b_u_ctrl_out; real_T (*c1_b_U_bounds)[2]; c1_b_U_bounds = (real_T (*)[2])ssGetInputPortSignal(chartInstance->S, 1); c1_b_u_ctrl_out = (real_T *)ssGetOutputPortSignal(chartInstance->S, 1); c1_b_u_ctrl = (real_T *)ssGetInputPortSignal(chartInstance->S, 0); _sfTime_ = (real_T)ssGetT(chartInstance->S); _SFD_CC_CALL(CHART_ENTER_SFUNCTION_TAG, 0U, chartInstance->c1_sfEvent); _SFD_DATA_RANGE_CHECK(*c1_b_u_ctrl, 0U); _SFD_DATA_RANGE_CHECK(*c1_b_u_ctrl_out, 1U); for (c1_i0 = 0; c1_i0 < 2; c1_i0++) { _SFD_DATA_RANGE_CHECK((*c1_b_U_bounds)[c1_i0], 2U); } chartInstance->c1_sfEvent = CALL_EVENT; _SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 0U, chartInstance->c1_sfEvent); c1_hoistedGlobal = *c1_b_u_ctrl; c1_u_ctrl = c1_hoistedGlobal; for (c1_i1 = 0; c1_i1 < 2; c1_i1++) { c1_U_bounds[c1_i1] = (*c1_b_U_bounds)[c1_i1]; } _SFD_SYMBOL_SCOPE_PUSH_EML(0U, 6U, 6U, c1_debug_family_names, c1_debug_family_var_map); _SFD_SYMBOL_SCOPE_ADD_EML(&c1_i, 0U, c1_sf_marshallOut); _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c1_nargin, 1U, c1_sf_marshallOut, c1_sf_marshallIn); _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c1_nargout, 2U, c1_sf_marshallOut, c1_sf_marshallIn); _SFD_SYMBOL_SCOPE_ADD_EML(&c1_u_ctrl, 3U, c1_sf_marshallOut); _SFD_SYMBOL_SCOPE_ADD_EML(c1_U_bounds, 4U, c1_b_sf_marshallOut); _SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c1_u_ctrl_out, 5U, c1_sf_marshallOut, c1_sf_marshallIn); CV_EML_FCN(0, 0); _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 9); c1_u_ctrl_out = c1_u_ctrl; _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 11); CV_EML_IF(0, 1, 0, FALSE); _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 17); c1_i = 1.0; CV_EML_FOR(0, 1, 0, 1); _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 18); c1_varargin_1 = c1_u_ctrl; c1_varargin_2 = c1_U_bounds[0]; c1_b_varargin_2 = c1_varargin_1; c1_varargin_3 = c1_varargin_2; c1_x = c1_b_varargin_2; c1_y = c1_varargin_3; c1_b_x = c1_x; c1_b_y = c1_y; c1_eml_scalar_eg(chartInstance); c1_xk = c1_b_x; c1_yk = c1_b_y; c1_c_x = c1_xk; c1_c_y = c1_yk; c1_eml_scalar_eg(chartInstance); c1_u_ctrl_out = muDoubleScalarMax(c1_c_x, c1_c_y); _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, 19); c1_b_varargin_1 = c1_u_ctrl; c1_c_varargin_2 = c1_U_bounds[1]; c1_d_varargin_2 = c1_b_varargin_1; c1_b_varargin_3 = c1_c_varargin_2; c1_d_x = c1_d_varargin_2; c1_d_y = c1_b_varargin_3; c1_e_x = c1_d_x; c1_e_y = c1_d_y; c1_eml_scalar_eg(chartInstance); c1_b_xk = c1_e_x; c1_b_yk = c1_e_y; c1_f_x = c1_b_xk; c1_f_y = c1_b_yk; c1_eml_scalar_eg(chartInstance); c1_u_ctrl_out = muDoubleScalarMin(c1_f_x, c1_f_y); CV_EML_FOR(0, 1, 0, 0); _SFD_EML_CALL(0U, chartInstance->c1_sfEvent, -19); _SFD_SYMBOL_SCOPE_POP(); *c1_b_u_ctrl_out = c1_u_ctrl_out; _SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 0U, chartInstance->c1_sfEvent); _SFD_CHECK_FOR_STATE_INCONSISTENCY(_TTR_RobustMPC_RTmdlMachineNumber_, chartInstance->chartNumber, chartInstance->instanceNumber); }