static void sf_c2_function_call_test(void)
{
uint8_T c2_previousEvent;
real_T c2_b_a;
real_T c2_b_b;
real_T c2_b_y;
_sfTime_ = (real_T)ssGetT(chartInstance.S);
_SFD_DATA_RANGE_CHECK(*c2_a(), 2U);
_SFD_DATA_RANGE_CHECK(*c2_y(), 1U);
_SFD_DATA_RANGE_CHECK(*c2_b(), 0U);
c2_previousEvent = _sfEvent_;
_sfEvent_ = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG,0);
c2_b_a = *c2_a();
c2_b_b = *c2_b();
sf_debug_push_symbol_scope(3U, 0U);
sf_debug_symbol_scope_add_symbol("y", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_b_y, 0);
sf_debug_symbol_scope_add_symbol("b", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_b_b, 0);
sf_debug_symbol_scope_add_symbol("a", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_b_a, 0);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,4);
if(CV_EML_IF(0, 0, c2_b_a != c2_b_b)) {
/* This block supports an embeddable subset of the MATLAB language. */
/* See the help menu for details. */
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,4);
c2_b_y = 1.0;
} else {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,5);
c2_b_y = 0.0;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,-5);
sf_debug_pop_symbol_scope();
*c2_y() = c2_b_y;
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG,0);
_sfEvent_ = c2_previousEvent;
sf_debug_check_for_state_inconsistency(_function_call_testMachineNumber_,
chartInstance.chartNumber, chartInstance.instanceNumber);
}
static void sf_c1_object_tracker_intensity(void)
{
uint8_T c1_previousEvent;
real_T c1_b_DirectionCode;
int32_T c1_b_BlobCount;
real_T c1_BRAKEDIFF;
real_T c1_DIFFTHING;
_sfTime_ = (real_T)ssGetT(chartInstance.S);
_SFD_DATA_RANGE_CHECK(*c1_DirectionCode(), 1U);
_SFD_DATA_RANGE_CHECK((real_T)*c1_BlobCount(), 0U);
c1_previousEvent = _sfEvent_;
_sfEvent_ = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG,0);
c1_b_DirectionCode = *c1_DirectionCode();
c1_b_BlobCount = *c1_BlobCount();
sf_debug_push_symbol_scope(7U, 0U);
sf_debug_symbol_scope_add_symbol("movecount", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &chartInstance.c1_movecount, 0);
sf_debug_symbol_scope_add_symbol("brakecount", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &chartInstance.c1_brakecount, 0);
sf_debug_symbol_scope_add_symbol("startflag", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &chartInstance.c1_startflag, 0);
sf_debug_symbol_scope_add_symbol("BRAKEDIFF", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c1_BRAKEDIFF, 0);
sf_debug_symbol_scope_add_symbol("DIFFTHING", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c1_DIFFTHING, 0);
sf_debug_symbol_scope_add_symbol("BlobCount", 6, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c1_b_BlobCount, 0);
sf_debug_symbol_scope_add_symbol("DirectionCode", 0, 0U, 0U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 0, &c1_b_DirectionCode, 0);
CV_EML_FCN(0, 0);
/* This block supports an embeddable subset of the MATLAB language. */
/* See the help menu for details. */
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,4);
c1_DIFFTHING = 5.0;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,5);
c1_BRAKEDIFF = 2.0;
/* no of frames after which the position of the car is updated. */
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,12);
if(CV_EML_IF(0, 0, !chartInstance.c1_startflag_not_empty)) {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,13);
chartInstance.c1_startflag = 1.0;
chartInstance.c1_startflag_not_empty = true;
} else {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,15);
chartInstance.c1_startflag = 0.0;
chartInstance.c1_startflag_not_empty = true;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,18);
if(CV_EML_IF(0, 1, !chartInstance.c1_brakecount_not_empty)) {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,19);
chartInstance.c1_brakecount = 0.0;
chartInstance.c1_brakecount_not_empty = true;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,22);
if(CV_EML_IF(0, 2, !chartInstance.c1_movecount_not_empty)) {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,23);
chartInstance.c1_movecount = 0.0;
chartInstance.c1_movecount_not_empty = true;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,26);
if(CV_EML_IF(0, 3, (real_T)c1_b_BlobCount == 0.0)) {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,27);
chartInstance.c1_movecount = c1_DIFFTHING;
chartInstance.c1_movecount_not_empty = true;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,28);
chartInstance.c1_brakecount = 0.0;
chartInstance.c1_brakecount_not_empty = true;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,29);
chartInstance.c1_startflag = 1.0;
chartInstance.c1_startflag_not_empty = true;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,30);
sf_mex_call("BrakeAll", 0U, 0U);
} else {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,34);
chartInstance.c1_movecount = chartInstance.c1_movecount + 1.0;
chartInstance.c1_movecount_not_empty = true;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,35);
chartInstance.c1_brakecount = chartInstance.c1_brakecount + 1.0;
chartInstance.c1_brakecount_not_empty = true;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,37);
if(CV_EML_IF(0, 4, chartInstance.c1_brakecount >= c1_BRAKEDIFF)) {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,38);
sf_mex_call("BrakeAll", 0U, 0U);
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,42);
if(CV_EML_COND(0, 0, chartInstance.c1_movecount >= c1_DIFFTHING) ||
CV_EML_COND(0, 1, chartInstance.c1_startflag == 1.0)) {
CV_EML_MCDC(0, 0, true);
CV_EML_IF(0, 5, true);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,44);
if(CV_EML_IF(0, 6, c1_b_DirectionCode == 1.0)) {
/* Forward */
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,45);
sf_mex_call("MoveForward", 0U, 1U, 6, 1.0);
} else {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,46);
if(CV_EML_IF(0, 7, c1_b_DirectionCode == 2.0)) {
/* Left */
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,47);
sf_mex_call("MoveLeft", 0U, 1U, 6, 1.0);
} else {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,48);
if(CV_EML_IF(0, 8, c1_b_DirectionCode == 3.0)) {
/* Right */
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,49);
sf_mex_call("MoveRight", 0U, 1U, 6, 1.0);
}
}
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,52);
sf_mex_call("MoveForward", 0U, 1U, 6, 1.0);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,53);
chartInstance.c1_movecount = 0.0;
chartInstance.c1_movecount_not_empty = true;
} else {
CV_EML_MCDC(0, 0, false);
CV_EML_IF(0, 5, false);
}
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,-53);
sf_debug_pop_symbol_scope();
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG,0);
_sfEvent_ = c1_previousEvent;
sf_debug_check_for_state_inconsistency(_object_tracker_intensityMachineNumber_,
chartInstance.chartNumber, chartInstance.
instanceNumber);
}
static void sf_c3_MPC_framework(void)
{
uint8_T c3_previousEvent;
real32_T c3_b_a0;
real32_T c3_b_a1;
real32_T c3_b_a2;
real32_T c3_b_a3;
real32_T c3_b_a4;
real32_T c3_b_a5;
real_T c3_b_t_sim;
real_T c3_b_t_end;
real32_T c3_Q[3];
real_T c3_T[6][3];
real32_T c3_b_qapp;
real32_T c3_b_qap;
real32_T c3_b_qa;
real_T c3_a;
real_T c3_b_a;
real_T c3_b;
real_T c3_k;
real_T c3_b_k;
real_T c3_x;
real_T c3_xk;
real_T c3_ak;
real_T c3_b_x;
real_T c3_b_xk;
real_T c3_bk;
real_T c3_c_x;
real_T c3_y;
real_T c3_b_y;
real_T c3_c;
real_T c3_A;
real_T c3_B;
real_T c3_d_x;
real_T c3_c_y;
real_T c3_z;
real_T c3_d_y;
real_T c3_b_A;
real_T c3_b_B;
real_T c3_e_x;
real_T c3_e_y;
real_T c3_b_z;
real_T c3_f_y;
real_T c3_c_A;
real_T c3_c_B;
real_T c3_f_x;
real_T c3_g_y;
real_T c3_c_z;
real_T c3_h_y;
real_T c3_d_A;
real_T c3_d_B;
real_T c3_g_x;
real_T c3_i_y;
real_T c3_d_z;
real_T c3_j_y;
real_T c3_e_A;
real_T c3_e_B;
real_T c3_h_x;
real_T c3_k_y;
real_T c3_e_z;
real_T c3_l_y;
real_T c3_f_A;
real_T c3_f_B;
real_T c3_i_x;
real_T c3_m_y;
real_T c3_f_z;
real_T c3_n_y;
real_T c3_g_A;
real_T c3_g_B;
real_T c3_j_x;
real_T c3_o_y;
real_T c3_g_z;
real_T c3_p_y;
real_T c3_q_y[6][1];
real_T c3_r_y[6][1];
real_T c3_em_dv0[6][1];
int32_T c3_em_i0;
int32_T c3_em_i1;
int32_T c3_em_i2;
int32_T c3_em_i3;
int32_T c3_em_i4;
real32_T c3_b_T[6][3];
real32_T c3_c_a0[6];
int32_T c3_em_i5;
int32_T c3_em_i6;
_sfTime_ = (real_T)ssGetT(chartInstance.S);
_SFD_DATA_RANGE_CHECK((real_T)*c3_a0(), 3U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_a1(), 9U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_a2(), 1U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_a3(), 8U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_a4(), 0U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_a5(), 6U);
_SFD_DATA_RANGE_CHECK(*c3_t_sim(), 4U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_qa(), 2U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_qap(), 10U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_qapp(), 7U);
_SFD_DATA_RANGE_CHECK(*c3_t_end(), 5U);
c3_previousEvent = _sfEvent_;
_sfEvent_ = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG,2);
c3_b_a0 = *c3_a0();
c3_b_a1 = *c3_a1();
c3_b_a2 = *c3_a2();
c3_b_a3 = *c3_a3();
c3_b_a4 = *c3_a4();
c3_b_a5 = *c3_a5();
c3_b_t_sim = *c3_t_sim();
c3_b_t_end = *c3_t_end();
sf_debug_push_symbol_scope(13U, 0U);
sf_debug_symbol_scope_add_symbol("Q", 1, 1U, 3U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 1, &c3_Q, 0);
sf_debug_symbol_scope_add_symbol("T", 0, 2U, 3U, 6U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 1, &c3_T, 0);
sf_debug_symbol_scope_add_symbol("qapp", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c3_b_qapp, 0);
sf_debug_symbol_scope_add_symbol("qap", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_qap, 0);
sf_debug_symbol_scope_add_symbol("qa", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_qa, 0);
sf_debug_symbol_scope_add_symbol("t_end", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c3_b_t_end, 0);
sf_debug_symbol_scope_add_symbol("t_sim", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c3_b_t_sim, 0);
sf_debug_symbol_scope_add_symbol("a5", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_a5, 0);
sf_debug_symbol_scope_add_symbol("a4", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_a4, 0);
sf_debug_symbol_scope_add_symbol("a3", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_a3, 0);
sf_debug_symbol_scope_add_symbol("a2", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_a2, 0);
sf_debug_symbol_scope_add_symbol("a1", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_a1, 0);
sf_debug_symbol_scope_add_symbol("a0", 1, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c3_b_a0, 0);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,4);
if(CV_EML_IF(0, 0, c3_b_t_sim >= c3_b_t_end)) {
/* This block supports an embeddable subset of the MATLAB language. */
/* See the help menu for details. */
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,5);
c3_b_t_sim = c3_b_t_end;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,7);
c3_a = c3_b_t_sim;
c3_b_a = c3_a;
c3_b = 5.0;
c3_k = 1.0;
c3_b_k = c3_k;
c3_x = c3_b_a;
c3_xk = c3_x;
c3_ak = c3_xk;
c3_b_x = c3_b;
c3_b_xk = c3_b_x;
c3_bk = c3_b_xk;
if(c3_ak < 0.0) {
c3_c_x = c3_bk;
c3_y = floor(c3_c_x);
if(c3_y != c3_bk) {
sf_mex_call("error", 0U, 1U, 15,
"Domain error. To compute complex results, make at least one input complex, e.g. \'power(complex(a),b)\'.");
}
}
_SFD_EML_ARRAY_BOUNDS_CHECK("y", (int32_T)_SFD_INTEGER_CHECK("k", c3_b_k), 1,
1, 1);
c3_b_y = pow(c3_ak, c3_bk);
c3_c = c3_b_y;
c3_A = c3_c;
c3_B = 20.0;
c3_d_x = c3_A;
c3_c_y = c3_B;
c3_z = c3_d_x / c3_c_y;
c3_d_y = c3_z;
c3_b_A = c3_mpower(c3_b_t_sim);
c3_b_B = 12.0;
c3_e_x = c3_b_A;
c3_e_y = c3_b_B;
c3_b_z = c3_e_x / c3_e_y;
c3_f_y = c3_b_z;
c3_c_A = c3_b_mpower(c3_b_t_sim);
c3_c_B = 6.0;
c3_f_x = c3_c_A;
c3_g_y = c3_c_B;
c3_c_z = c3_f_x / c3_g_y;
c3_h_y = c3_c_z;
c3_d_A = c3_c_mpower(c3_b_t_sim);
c3_d_B = 2.0;
c3_g_x = c3_d_A;
c3_i_y = c3_d_B;
c3_d_z = c3_g_x / c3_i_y;
c3_j_y = c3_d_z;
c3_e_A = c3_mpower(c3_b_t_sim);
c3_e_B = 4.0;
c3_h_x = c3_e_A;
c3_k_y = c3_e_B;
c3_e_z = c3_h_x / c3_k_y;
c3_l_y = c3_e_z;
c3_f_A = c3_b_mpower(c3_b_t_sim);
c3_f_B = 3.0;
c3_i_x = c3_f_A;
c3_m_y = c3_f_B;
c3_f_z = c3_i_x / c3_m_y;
c3_n_y = c3_f_z;
c3_g_A = c3_c_mpower(c3_b_t_sim);
c3_g_B = 2.0;
c3_j_x = c3_g_A;
c3_o_y = c3_g_B;
c3_g_z = c3_j_x / c3_o_y;
c3_p_y = c3_g_z;
c3_q_y[0][0] = c3_d_y;
c3_q_y[1][0] = c3_f_y;
c3_q_y[2][0] = c3_h_y;
c3_q_y[3][0] = c3_j_y;
c3_q_y[4][0] = c3_b_t_sim;
c3_q_y[5][0] = 1.0;
c3_r_y[0][0] = c3_l_y;
c3_r_y[1][0] = c3_n_y;
c3_r_y[2][0] = c3_p_y;
c3_r_y[3][0] = c3_b_t_sim;
c3_r_y[4][0] = 1.0;
c3_r_y[5][0] = 0.0;
c3_em_dv0[0][0] = c3_b_mpower(c3_b_t_sim);
c3_em_dv0[1][0] = c3_c_mpower(c3_b_t_sim);
c3_em_dv0[2][0] = c3_b_t_sim;
c3_em_dv0[3][0] = 1.0;
c3_em_dv0[4][0] = 0.0;
c3_em_dv0[5][0] = 0.0;
for(c3_em_i0 = 0; c3_em_i0 < 6; c3_em_i0 = c3_em_i0 + 1) {
c3_T[c3_em_i0][0] = c3_q_y[c3_em_i0][0];
}
for(c3_em_i1 = 0; c3_em_i1 < 6; c3_em_i1 = c3_em_i1 + 1) {
c3_T[c3_em_i1][1] = c3_r_y[c3_em_i1][0];
}
for(c3_em_i2 = 0; c3_em_i2 < 6; c3_em_i2 = c3_em_i2 + 1) {
c3_T[c3_em_i2][2] = c3_em_dv0[c3_em_i2][0];
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,10);
for(c3_em_i3 = 0; c3_em_i3 < 6; c3_em_i3 = c3_em_i3 + 1) {
for(c3_em_i4 = 0; c3_em_i4 < 3; c3_em_i4 = c3_em_i4 + 1) {
c3_b_T[c3_em_i3][c3_em_i4] = (real32_T)c3_T[c3_em_i3][c3_em_i4];
}
}
c3_c_a0[0] = c3_b_a0;
c3_c_a0[1] = c3_b_a1;
c3_c_a0[2] = c3_b_a2;
c3_c_a0[3] = c3_b_a3;
c3_c_a0[4] = c3_b_a4;
c3_c_a0[5] = c3_b_a5;
for(c3_em_i5 = 0; c3_em_i5 < 3; c3_em_i5 = c3_em_i5 + 1) {
c3_Q[c3_em_i5] = 0.0F;
for(c3_em_i6 = 0; c3_em_i6 < 6; c3_em_i6 = c3_em_i6 + 1) {
c3_Q[c3_em_i5] = c3_Q[c3_em_i5] + c3_b_T[c3_em_i6][c3_em_i5] *
c3_c_a0[c3_em_i6];
}
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,12);
c3_b_qa = c3_Q[0];
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,13);
c3_b_qap = c3_Q[1];
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,14);
c3_b_qapp = c3_Q[2];
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,-14);
sf_debug_pop_symbol_scope();
*c3_qa() = c3_b_qa;
*c3_qap() = c3_b_qap;
*c3_qapp() = c3_b_qapp;
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG,2);
_sfEvent_ = c3_previousEvent;
sf_debug_check_for_state_inconsistency(_MPC_frameworkMachineNumber_,
chartInstance.chartNumber, chartInstance.instanceNumber);
}
static void c2_c2_MPC_framework(void)
{
real_T c2_b_x;
real_T c2_b_y;
real_T c2_b_al1_c;
real_T c2_b_al2_c;
real_T c2_b_a1;
real_T c2_b_a2;
real_T c2_al2_2;
real_T c2_al1_al2_2;
real_T c2_sin_al1_al2_2;
real_T c2_cos_al1_al2_2;
real_T c2_al2_1;
real_T c2_al1_al2_1;
real_T c2_sin_al1_al2_1;
real_T c2_cos_al1_al2_1;
real_T c2_al2_n;
real_T c2_al2_p;
real_T c2_al1_2;
real_T c2_al1_1;
real_T c2_cos_al1_n;
real_T c2_cos_al1_p;
real_T c2_sin_al1_n;
real_T c2_sin_al1_p;
real_T c2_D;
real_T c2_cos_al2;
real_T c2_d;
uint8_T c2_b_error;
real_T c2_b_al2;
real_T c2_b_al1;
real_T c2_c_x;
real_T c2_c_y;
boolean_T c2_em_b0;
boolean_T c2_em_b1;
real_T c2_A;
real_T c2_B;
real_T c2_d_x;
real_T c2_d_y;
real_T c2_z;
real_T c2_e_y;
real_T c2_e_x;
real_T c2_f_y;
real_T c2_b_A;
real_T c2_b_B;
real_T c2_f_x;
real_T c2_g_y;
real_T c2_b_z;
real_T c2_h_y;
real_T c2_g_x;
real_T c2_i_y;
real_T c2_c_A;
real_T c2_c_B;
real_T c2_h_x;
real_T c2_j_y;
real_T c2_c_z;
real_T c2_k_y;
real_T c2_i_x;
real_T c2_l_y;
real_T c2_d_A;
real_T c2_d_B;
real_T c2_j_x;
real_T c2_m_y;
real_T c2_d_z;
real_T c2_n_y;
real_T c2_k_x;
real_T c2_o_y;
real_T c2_e_A;
real_T c2_e_B;
real_T c2_l_x;
real_T c2_p_y;
real_T c2_e_z;
real_T c2_q_y;
real_T c2_m_x;
real_T c2_k;
real_T c2_b_k;
real_T c2_r_y;
real_T c2_n_x;
real_T c2_s_y;
real_T c2_f_A;
real_T c2_f_B;
real_T c2_o_x;
real_T c2_t_y;
real_T c2_f_z;
real_T c2_u_y;
real_T c2_p_x;
real_T c2_v_y;
real_T c2_g_A;
real_T c2_g_B;
real_T c2_q_x;
real_T c2_w_y;
real_T c2_g_z;
real_T c2_x_y;
real_T c2_r_x;
real_T c2_y_y;
real_T c2_h_A;
real_T c2_h_B;
real_T c2_s_x;
real_T c2_ab_y;
real_T c2_h_z;
real_T c2_bb_y;
real_T c2_t_x;
real_T c2_cb_y;
real_T c2_i_A;
real_T c2_i_B;
real_T c2_u_x;
real_T c2_db_y;
real_T c2_i_z;
real_T c2_eb_y;
real_T c2_v_x;
real_T c2_fb_y;
real_T c2_w_x;
real_T c2_gb_y;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG,1);
c2_b_x = *c2_x();
c2_b_y = *c2_y();
c2_b_al1_c = *c2_al1_c();
c2_b_al2_c = *c2_al2_c();
c2_b_a1 = *c2_a1();
c2_b_a2 = *c2_a2();
sf_debug_push_symbol_scope(28U, 0U);
sf_debug_symbol_scope_add_symbol("al2_2", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_al2_2, 0);
sf_debug_symbol_scope_add_symbol("al1_al2_2", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_al1_al2_2, 0);
sf_debug_symbol_scope_add_symbol("sin_al1_al2_2", 0, 0U, 0U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 0, &c2_sin_al1_al2_2, 0);
sf_debug_symbol_scope_add_symbol("cos_al1_al2_2", 0, 0U, 0U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 0, &c2_cos_al1_al2_2, 0);
sf_debug_symbol_scope_add_symbol("al2_1", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_al2_1, 0);
sf_debug_symbol_scope_add_symbol("al1_al2_1", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_al1_al2_1, 0);
sf_debug_symbol_scope_add_symbol("sin_al1_al2_1", 0, 0U, 0U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 0, &c2_sin_al1_al2_1, 0);
sf_debug_symbol_scope_add_symbol("cos_al1_al2_1", 0, 0U, 0U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 0, &c2_cos_al1_al2_1, 0);
sf_debug_symbol_scope_add_symbol("al2_n", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_al2_n, 0);
sf_debug_symbol_scope_add_symbol("al2_p", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_al2_p, 0);
sf_debug_symbol_scope_add_symbol("al1_2", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_al1_2, 0);
sf_debug_symbol_scope_add_symbol("al1_1", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_al1_1, 0);
sf_debug_symbol_scope_add_symbol("cos_al1_n", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_cos_al1_n, 0);
sf_debug_symbol_scope_add_symbol("cos_al1_p", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_cos_al1_p, 0);
sf_debug_symbol_scope_add_symbol("sin_al1_n", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_sin_al1_n, 0);
sf_debug_symbol_scope_add_symbol("sin_al1_p", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_sin_al1_p, 0);
sf_debug_symbol_scope_add_symbol("D", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_D, 0);
sf_debug_symbol_scope_add_symbol("cos_al2", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_cos_al2, 0);
sf_debug_symbol_scope_add_symbol("d", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_d, 0);
sf_debug_symbol_scope_add_symbol("error", 3, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_b_error, 0);
sf_debug_symbol_scope_add_symbol("al2", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_b_al2, 0);
sf_debug_symbol_scope_add_symbol("al1", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_b_al1, 0);
sf_debug_symbol_scope_add_symbol("a2", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_b_a2, 0);
sf_debug_symbol_scope_add_symbol("a1", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_b_a1, 0);
sf_debug_symbol_scope_add_symbol("al2_c", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_b_al2_c, 0);
sf_debug_symbol_scope_add_symbol("al1_c", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c2_b_al1_c, 0);
sf_debug_symbol_scope_add_symbol("y", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_b_y, 0);
sf_debug_symbol_scope_add_symbol("x", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_b_x, 0);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,3);
c2_c_x = c2_mpower(c2_b_x) + c2_mpower(c2_b_y);
c2_c_y = sqrt(c2_c_x);
c2_d = c2_c_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,4);
c2_em_b0 = (c2_mpower(c2_d) > c2_mpower(c2_b_a1) + c2_mpower(c2_b_a2));
c2_em_b1 = (c2_d < c2_b_a1 - c2_b_a2);
if(CV_EML_IF(0, 0, c2_em_b0 || c2_em_b1)) {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,5);
c2_b_al1 = c2_b_al1_c;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,6);
c2_b_al2 = c2_b_al2_c;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,7);
c2_b_error = 1U;
} else {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,11);
c2_A = ((c2_mpower(c2_b_x) + c2_mpower(c2_b_y)) - c2_mpower(c2_b_a1)) -
c2_mpower(c2_b_a2);
c2_B = 2.0 * c2_b_a1 * c2_b_a2;
c2_d_x = c2_A;
c2_d_y = c2_B;
c2_z = c2_d_x / c2_d_y;
c2_e_y = c2_z;
c2_cos_al2 = c2_e_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,12);
c2_D = c2_b_a1 + c2_b_a2 * c2_cos_al2;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,14);
c2_e_x = (c2_mpower(c2_b_x) + c2_mpower(c2_b_y)) - c2_mpower(c2_D);
c2_f_y = sqrt(c2_e_x);
c2_b_A = c2_D * c2_b_y + c2_b_x * c2_f_y;
c2_b_B = c2_mpower(c2_b_x) + c2_mpower(c2_b_y);
c2_f_x = c2_b_A;
c2_g_y = c2_b_B;
c2_b_z = c2_f_x / c2_g_y;
c2_h_y = c2_b_z;
c2_sin_al1_p = c2_h_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,15);
c2_g_x = (c2_mpower(c2_b_x) + c2_mpower(c2_b_y)) - c2_mpower(c2_D);
c2_i_y = sqrt(c2_g_x);
c2_c_A = c2_D * c2_b_y - c2_b_x * c2_i_y;
c2_c_B = c2_mpower(c2_b_x) + c2_mpower(c2_b_y);
c2_h_x = c2_c_A;
c2_j_y = c2_c_B;
c2_c_z = c2_h_x / c2_j_y;
c2_k_y = c2_c_z;
c2_sin_al1_n = c2_k_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,17);
c2_i_x = (c2_mpower(c2_b_x) + c2_mpower(c2_b_y)) - c2_mpower(c2_D);
c2_l_y = sqrt(c2_i_x);
c2_d_A = c2_D * c2_b_x + c2_b_y * c2_l_y;
c2_d_B = c2_mpower(c2_b_x) + c2_mpower(c2_b_y);
c2_j_x = c2_d_A;
c2_m_y = c2_d_B;
c2_d_z = c2_j_x / c2_m_y;
c2_n_y = c2_d_z;
c2_cos_al1_p = c2_n_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,18);
c2_k_x = (c2_mpower(c2_b_x) + c2_mpower(c2_b_y)) - c2_mpower(c2_D);
c2_o_y = sqrt(c2_k_x);
c2_e_A = c2_D * c2_b_x - c2_b_y * c2_o_y;
c2_e_B = c2_mpower(c2_b_x) + c2_mpower(c2_b_y);
c2_l_x = c2_e_A;
c2_p_y = c2_e_B;
c2_e_z = c2_l_x / c2_p_y;
c2_q_y = c2_e_z;
c2_cos_al1_n = c2_q_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,20);
c2_al1_1 = c2_atan2(c2_sin_al1_p, c2_cos_al1_n);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,22);
c2_al1_2 = c2_atan2(c2_sin_al1_n, c2_cos_al1_p);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,24);
c2_m_x = c2_cos_al2;
c2_k = 1.0;
c2_b_k = c2_k;
_SFD_EML_ARRAY_BOUNDS_CHECK("x", (int32_T)_SFD_INTEGER_CHECK("k", c2_b_k),
1, 1, 1);
if(c2_m_x < -1.0) {
} else {
_SFD_EML_ARRAY_BOUNDS_CHECK("x", (int32_T)_SFD_INTEGER_CHECK("k", c2_b_k),
1, 1, 1);
if(c2_m_x > 1.0) {
} else {
goto label_1;
}
}
sf_mex_call("error", 0U, 1U, 15,
"Domain error. To compute complex results from real x, use \'acos(complex(x))\'.");
label_1:;
c2_r_y = acos(c2_m_x);
c2_al2_p = c2_r_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,25);
c2_al2_n = -c2_al2_p;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,27);
c2_n_x = c2_al1_1;
c2_s_y = cos(c2_n_x);
c2_f_A = c2_b_x - c2_b_a1 * c2_s_y;
c2_f_B = c2_b_a2;
c2_o_x = c2_f_A;
c2_t_y = c2_f_B;
c2_f_z = c2_o_x / c2_t_y;
c2_u_y = c2_f_z;
c2_cos_al1_al2_1 = c2_u_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,28);
c2_p_x = c2_al1_1;
c2_v_y = sin(c2_p_x);
c2_g_A = c2_b_y - c2_b_a1 * c2_v_y;
c2_g_B = c2_b_a2;
c2_q_x = c2_g_A;
c2_w_y = c2_g_B;
c2_g_z = c2_q_x / c2_w_y;
c2_x_y = c2_g_z;
c2_sin_al1_al2_1 = c2_x_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,29);
c2_al1_al2_1 = c2_atan2(c2_sin_al1_al2_1, c2_cos_al1_al2_1);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,30);
c2_al2_1 = c2_al1_al2_1 - c2_al1_1;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,32);
c2_r_x = c2_al1_2;
c2_y_y = cos(c2_r_x);
c2_h_A = c2_b_x - c2_b_a1 * c2_y_y;
c2_h_B = c2_b_a2;
c2_s_x = c2_h_A;
c2_ab_y = c2_h_B;
c2_h_z = c2_s_x / c2_ab_y;
c2_bb_y = c2_h_z;
c2_cos_al1_al2_2 = c2_bb_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,33);
c2_t_x = c2_al1_2;
c2_cb_y = sin(c2_t_x);
c2_i_A = c2_b_y - c2_b_a1 * c2_cb_y;
c2_i_B = c2_b_a2;
c2_u_x = c2_i_A;
c2_db_y = c2_i_B;
c2_i_z = c2_u_x / c2_db_y;
c2_eb_y = c2_i_z;
c2_sin_al1_al2_2 = c2_eb_y;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,34);
c2_al1_al2_2 = c2_atan2(c2_sin_al1_al2_2, c2_cos_al1_al2_2);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,35);
c2_al2_2 = c2_al1_al2_2 - c2_al1_2;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,37);
c2_v_x = c2_b_al1_c - c2_al1_1;
c2_fb_y = fabs(c2_v_x);
c2_w_x = c2_b_al1_c - c2_al1_2;
c2_gb_y = fabs(c2_w_x);
if(CV_EML_IF(0, 1, c2_fb_y < c2_gb_y)) {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,38);
c2_b_al1 = c2_al1_1;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,39);
c2_b_al2 = c2_al2_1;
} else {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,41);
c2_b_al1 = c2_al1_2;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,42);
c2_b_al2 = c2_al2_2;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,45);
c2_b_error = 0U;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,-45);
sf_debug_pop_symbol_scope();
*c2_al1() = c2_b_al1;
*c2_al2() = c2_b_al2;
*c2_error() = c2_b_error;
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG,1);
}
static void sf_c2_object_tracker_intensity(void)
{
int32_T c2_em_i0;
int32_T c2_em_i1;
int32_T c2_em_i2;
int32_T c2_em_i3;
int32_T c2_em_i4;
int32_T c2_em_i5;
uint8_T c2_previousEvent;
int32_T c2_em_i6;
int32_T c2_em_i7;
uint16_T c2_b_CentroidArray[10][2];
real_T c2_b_booleof;
int32_T c2_em_i8;
uint16_T c2_b_StartCoords[2];
uint16_T c2_b_VidSize[2];
uint16_T c2_centroid[2];
real_T c2_i;
uint16_T c2_m;
uint16_T c2_myvector[10][1];
uint16_T c2_ally[10][1];
uint16_T c2_allx[10][1];
uint16_T c2_z[2];
uint16_T c2_b_CentroidCol;
uint16_T c2_b_LineVector[4][1];
uint16_T c2_b_CentroidCoords[2];
boolean_T c2_r;
int32_T c2_em_i9;
int32_T c2_em_i10;
int32_T c2_em_i11;
uint16_T c2_c_CentroidArray[10][1];
uint16_T c2_b_z;
int32_T c2_em_i12;
uint32_T c2_em_u0;
uint32_T c2_em_u1;
uint32_T c2_em_u2;
uint16_T c2_em_u3;
int32_T c2_em_i13;
uint16_T c2_d_CentroidArray[10][1];
uint16_T c2_c_z;
int32_T c2_em_i14;
uint32_T c2_em_u4;
uint32_T c2_em_u5;
uint32_T c2_em_u6;
uint16_T c2_em_u7;
int32_T c2_em_i15;
uint16_T c2_b_allx[10][1];
uint16_T c2_em_uv0[10][1];
int32_T c2_em_i16;
uint16_T c2_b_ally[10][1];
uint16_T c2_em_uv1[10][1];
int32_T c2_em_i17;
uint32_T c2_em_u8;
uint16_T c2_em_u9;
int32_T c2_em_i18;
uint16_T c2_x[10][1];
uint16_T c2_b_x[10][1];
real_T c2_jstart;
uint16_T c2_minval;
real_T c2_indx;
real_T c2_j1;
real_T c2_b_j1;
uint16_T c2_a;
uint16_T c2_b;
boolean_T c2_p;
uint16_T c2_b_minval;
real_T c2_b_indx;
int32_T c2_em_i19;
static int32_T c2_em_iv0[2][1] = { { 0 }, { 1 } };
int32_T c2_em_i20;
int32_T c2_em_i21;
int32_T c2_em_i22;
uint16_T c2_A;
real_T c2_B;
uint16_T c2_c_x;
real_T c2_y;
uint16_T c2_d_x;
real_T c2_b_y;
real_T c2_k;
real_T c2_b_k;
uint16_T c2_e_x;
real_T c2_c_y;
real_T c2_c_k;
real_T c2_d_k;
uint16_T c2_f_x;
uint16_T c2_xk;
real_T c2_b_xk;
real_T c2_g_x;
real_T c2_c_xk;
real_T c2_yk;
real_T c2_zk;
real_T c2_em_d0;
real_T c2_em_d1;
uint16_T c2_d_z;
uint16_T c2_e_z;
uint16_T c2_f_z;
uint16_T c2_d_y;
int32_T c2_em_i23;
int32_T c2_em_i24;
_sfTime_ = (real_T)ssGetT(chartInstance.S);
for(c2_em_i0 = 0; c2_em_i0 < 2; c2_em_i0 = c2_em_i0 + 1) {
_SFD_DATA_RANGE_CHECK((real_T)c2_CentroidCoords()[c2_em_i0], 1U);
}
for(c2_em_i1 = 0; c2_em_i1 < 10; c2_em_i1 = c2_em_i1 + 1) {
for(c2_em_i2 = 0; c2_em_i2 < 2; c2_em_i2 = c2_em_i2 + 1) {
_SFD_DATA_RANGE_CHECK((real_T)c2_CentroidArray()[(c2_em_i1 << 1) +
c2_em_i2], 5U);
}
}
for(c2_em_i3 = 0; c2_em_i3 < 4; c2_em_i3 = c2_em_i3 + 1) {
_SFD_DATA_RANGE_CHECK((real_T)c2_LineVector()[c2_em_i3], 2U);
}
_SFD_DATA_RANGE_CHECK(*c2_booleof(), 3U);
for(c2_em_i4 = 0; c2_em_i4 < 2; c2_em_i4 = c2_em_i4 + 1) {
_SFD_DATA_RANGE_CHECK((real_T)c2_StartCoords()[c2_em_i4], 6U);
}
for(c2_em_i5 = 0; c2_em_i5 < 2; c2_em_i5 = c2_em_i5 + 1) {
_SFD_DATA_RANGE_CHECK((real_T)c2_VidSize()[c2_em_i5], 0U);
}
_SFD_DATA_RANGE_CHECK((real_T)*c2_CentroidCol(), 4U);
c2_previousEvent = _sfEvent_;
_sfEvent_ = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG,1);
for(c2_em_i6 = 0; c2_em_i6 < 10; c2_em_i6 = c2_em_i6 + 1) {
for(c2_em_i7 = 0; c2_em_i7 < 2; c2_em_i7 = c2_em_i7 + 1) {
c2_b_CentroidArray[c2_em_i6][c2_em_i7] = c2_CentroidArray()[(c2_em_i6 <<
1) + c2_em_i7];
}
}
c2_b_booleof = *c2_booleof();
for(c2_em_i8 = 0; c2_em_i8 < 2; c2_em_i8 = c2_em_i8 + 1) {
c2_b_StartCoords[c2_em_i8] = c2_StartCoords()[c2_em_i8];
c2_b_VidSize[c2_em_i8] = c2_VidSize()[c2_em_i8];
}
sf_debug_push_symbol_scope(15U, 0U);
sf_debug_symbol_scope_add_symbol("LastCentroid", 5, 1U, 2U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 1, &chartInstance.c2_LastCentroid, 0);
sf_debug_symbol_scope_add_symbol("centroid", 5, 1U, 2U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 1, &c2_centroid, 0);
sf_debug_symbol_scope_add_symbol("i", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_i, 0);
sf_debug_symbol_scope_add_symbol("m", 5, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 0, &c2_m, 0);
sf_debug_symbol_scope_add_symbol("myvector", 5, 2U, 1U, 10U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 1, &c2_myvector, 0);
sf_debug_symbol_scope_add_symbol("ally", 5, 2U, 1U, 10U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 1, &c2_ally, 0);
sf_debug_symbol_scope_add_symbol("allx", 5, 2U, 1U, 10U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 1, &c2_allx, 0);
sf_debug_symbol_scope_add_symbol("z", 5, 1U, 2U, 0U, 0U, 1.0, 0, 0.0, 0U, 0,
0U, 1, &c2_z, 0);
sf_debug_symbol_scope_add_symbol("CentroidCol", 5, 0U, 0U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 0, &c2_b_CentroidCol, 0);
sf_debug_symbol_scope_add_symbol("LineVector", 5, 2U, 1U, 4U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 1, &c2_b_LineVector, 0);
sf_debug_symbol_scope_add_symbol("CentroidCoords", 5, 1U, 2U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 1, &c2_b_CentroidCoords, 0);
sf_debug_symbol_scope_add_symbol("VidSize", 5, 1U, 2U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 1, &c2_b_VidSize, 0);
sf_debug_symbol_scope_add_symbol("StartCoords", 5, 1U, 2U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 1, &c2_b_StartCoords, 0);
sf_debug_symbol_scope_add_symbol("booleof", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c2_b_booleof, 0);
sf_debug_symbol_scope_add_symbol("CentroidArray", 5, 2U, 2U, 10U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 1, &c2_b_CentroidArray, 0);
CV_EML_FCN(0, 0);
/* This block supports an embeddable subset of the MATLAB language. */
/* See the help menu for details. */
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,6);
if(CV_EML_COND(0, 0, !chartInstance.c2_LastCentroid_not_empty)) {
} else {
c2_r = true;
if(CV_EML_COND(0, 1, c2_b_booleof == (real_T)c2_r)) {
} else {
CV_EML_MCDC(0, 0, false);
CV_EML_IF(0, 0, false);
goto label_1;
}
}
CV_EML_MCDC(0, 0, true);
CV_EML_IF(0, 0, true);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,7);
for(c2_em_i9 = 0; c2_em_i9 < 2; c2_em_i9 = c2_em_i9 + 1) {
chartInstance.c2_LastCentroid[c2_em_i9] = c2_b_StartCoords[c2_em_i9];
}
chartInstance.c2_LastCentroid_not_empty = true;
label_1:;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,10);
for(c2_em_i10 = 0; c2_em_i10 < 2; c2_em_i10 = c2_em_i10 + 1) {
c2_z[c2_em_i10] = chartInstance.c2_LastCentroid[c2_em_i10];
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,12);
for(c2_em_i11 = 0; c2_em_i11 < 10; c2_em_i11 = c2_em_i11 + 1) {
c2_c_CentroidArray[c2_em_i11][0] = c2_b_CentroidArray[c2_em_i11][0];
}
c2_b_z = c2_z[0];
for(c2_em_i12 = 0; c2_em_i12 < 10; c2_em_i12 = c2_em_i12 + 1) {
c2_em_u0 = (uint32_T)c2_c_CentroidArray[c2_em_i12][0];
c2_em_u1 = c2_em_u0 - (uint32_T)c2_b_z;
if(c2_em_u1 > c2_em_u0) {
c2_em_u1 = 0U;
}
c2_em_u2 = c2_em_u1;
if(c2_em_u2 > 65535U) {
c2_em_u3 = MAX_uint16_T;
} else {
c2_em_u3 = (uint16_T)c2_em_u2;
}
c2_allx[c2_em_i12][0] = c2_em_u3;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,13);
for(c2_em_i13 = 0; c2_em_i13 < 10; c2_em_i13 = c2_em_i13 + 1) {
c2_d_CentroidArray[c2_em_i13][0] = c2_b_CentroidArray[c2_em_i13][1];
}
c2_c_z = c2_z[1];
for(c2_em_i14 = 0; c2_em_i14 < 10; c2_em_i14 = c2_em_i14 + 1) {
c2_em_u4 = (uint32_T)c2_d_CentroidArray[c2_em_i14][0];
c2_em_u5 = c2_em_u4 - (uint32_T)c2_c_z;
if(c2_em_u5 > c2_em_u4) {
c2_em_u5 = 0U;
}
c2_em_u6 = c2_em_u5;
if(c2_em_u6 > 65535U) {
c2_em_u7 = MAX_uint16_T;
} else {
c2_em_u7 = (uint16_T)c2_em_u6;
}
c2_ally[c2_em_i14][0] = c2_em_u7;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,14);
for(c2_em_i15 = 0; c2_em_i15 < 10; c2_em_i15 = c2_em_i15 + 1) {
c2_b_allx[c2_em_i15][0] = c2_allx[c2_em_i15][0];
}
c2_power((uint16_T *)c2_b_allx, 2.0, (uint16_T *)c2_em_uv0);
for(c2_em_i16 = 0; c2_em_i16 < 10; c2_em_i16 = c2_em_i16 + 1) {
c2_b_ally[c2_em_i16][0] = c2_ally[c2_em_i16][0];
}
c2_power((uint16_T *)c2_b_ally, 2.0, (uint16_T *)c2_em_uv1);
for(c2_em_i17 = 0; c2_em_i17 < 10; c2_em_i17 = c2_em_i17 + 1) {
c2_em_u8 = (uint32_T)c2_em_uv0[c2_em_i17][0] +
(uint32_T)c2_em_uv1[c2_em_i17][0];
if(c2_em_u8 > 65535U) {
c2_em_u9 = MAX_uint16_T;
} else {
c2_em_u9 = (uint16_T)c2_em_u8;
}
c2_myvector[c2_em_i17][0] = c2_em_u9;
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,15);
for(c2_em_i18 = 0; c2_em_i18 < 10; c2_em_i18 = c2_em_i18 + 1) {
c2_x[c2_em_i18][0] = c2_myvector[c2_em_i18][0];
c2_b_x[c2_em_i18][0] = c2_x[c2_em_i18][0];
}
c2_jstart = 1.0;
c2_minval = (*(uint16_T (*)[10])&c2_b_x)[0];
c2_indx = c2_jstart;
c2_j1 = 2.0;
while(c2_j1 <= 10.0) {
c2_b_j1 = c2_j1;
c2_a = (*(uint16_T
(*)[10])&c2_b_x)[(int32_T)_SFD_EML_ARRAY_BOUNDS_CHECK("x",
(int32_T)_SFD_INTEGER_CHECK("j1", c2_b_j1), 1, 10, 1)
- 1];
c2_b = c2_minval;
c2_p = (c2_a < c2_b);
if(c2_p) {
c2_minval = (*(uint16_T
(*)[10])&c2_b_x)[(int32_T)_SFD_EML_ARRAY_BOUNDS_CHECK("x",
(int32_T)_SFD_INTEGER_CHECK("j1", c2_b_j1), 1, 10
, 1) - 1];
c2_indx = c2_b_j1;
}
c2_j1 = c2_j1 + 1.0;
sf_mex_listen_for_ctrl_c(chartInstance.S);
}
c2_b_minval = c2_minval;
c2_b_indx = c2_indx;
c2_m = c2_b_minval;
c2_i = c2_b_indx;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,16);
for(c2_em_i19 = 0; c2_em_i19 < 2; c2_em_i19 = c2_em_i19 + 1) {
c2_centroid[c2_em_i19] =
c2_b_CentroidArray[(int32_T)_SFD_EML_ARRAY_BOUNDS_CHECK("CentroidArray",
(int32_T)_SFD_INTEGER_CHECK("i",
c2_i), 1, 10, 2) - 1][c2_em_iv0[c2_em_i19][0]];
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,18);
if(CV_EML_COND(0, 2, (real_T)(*(uint16_T
(*)[10])&c2_myvector)[(int32_T)_SFD_EML_ARRAY_BOUNDS_CHECK("myvector",
(int32_T)
_SFD_INTEGER_CHECK("i", c2_i), 1, 10, 1) - 1] < 10000.0) && CV_EML_COND(0,
3, (real_T)c2_centroid[0] > 0.0) && CV_EML_COND(0, 4, (
real_T)c2_centroid[1] > 10.0)) {
CV_EML_MCDC(0, 1, true);
CV_EML_IF(0, 1, true);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,19);
for(c2_em_i20 = 0; c2_em_i20 < 2; c2_em_i20 = c2_em_i20 + 1) {
chartInstance.c2_LastCentroid[c2_em_i20] = c2_centroid[c2_em_i20];
}
chartInstance.c2_LastCentroid_not_empty = true;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,20);
for(c2_em_i21 = 0; c2_em_i21 < 2; c2_em_i21 = c2_em_i21 + 1) {
c2_b_CentroidCoords[c2_em_i21] = c2_centroid[c2_em_i21];
}
} else {
CV_EML_MCDC(0, 1, false);
CV_EML_IF(0, 1, false);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,22);
for(c2_em_i22 = 0; c2_em_i22 < 2; c2_em_i22 = c2_em_i22 + 1) {
c2_b_CentroidCoords[c2_em_i22] = c2_z[c2_em_i22];
}
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,25);
c2_A = c2_b_VidSize[1];
c2_B = 2.0;
c2_c_x = c2_A;
c2_y = c2_B;
c2_d_x = c2_c_x;
c2_b_y = c2_y;
c2_k = 1.0;
c2_b_k = c2_k;
_SFD_EML_ARRAY_BOUNDS_CHECK("y", (int32_T)_SFD_INTEGER_CHECK("k", c2_b_k), 1,
1, 1);
if(c2_b_y == 0.0) {
sf_mex_call("warning", 0U, 1U, 15, "Divide by zero.");
}
c2_e_x = c2_d_x;
c2_c_y = c2_b_y;
c2_c_k = 1.0;
c2_d_k = c2_c_k;
c2_f_x = c2_e_x;
c2_xk = c2_f_x;
c2_b_xk = (real_T)c2_xk;
c2_g_x = c2_c_y;
c2_c_xk = c2_g_x;
c2_yk = c2_c_xk;
c2_zk = c2_b_xk / c2_yk;
_SFD_EML_ARRAY_BOUNDS_CHECK("z", (int32_T)_SFD_INTEGER_CHECK("k", c2_d_k), 1,
1, 1);
c2_em_d0 = c2_zk;
c2_em_d1 = c2_em_d0 < 0.0 ? ceil(c2_em_d0 - 0.5) : floor(c2_em_d0 + 0.5);
c2_d_z = (uint16_T)(c2_em_d1 <= 65535.0 ? c2_em_d1 >= 0.0 ? c2_em_d1 : 0.0 :
65535.0);
c2_e_z = c2_d_z;
c2_f_z = c2_e_z;
c2_d_y = c2_f_z;
c2_b_LineVector[0][0] = c2_b_VidSize[0];
c2_b_LineVector[1][0] = c2_d_y;
c2_b_LineVector[2][0] = c2_b_CentroidCoords[0];
c2_b_LineVector[3][0] = c2_b_CentroidCoords[1];
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,26);
c2_b_CentroidCol = c2_b_CentroidCoords[1];
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,-26);
sf_debug_pop_symbol_scope();
for(c2_em_i23 = 0; c2_em_i23 < 2; c2_em_i23 = c2_em_i23 + 1) {
c2_CentroidCoords()[c2_em_i23] = c2_b_CentroidCoords[c2_em_i23];
}
for(c2_em_i24 = 0; c2_em_i24 < 4; c2_em_i24 = c2_em_i24 + 1) {
c2_LineVector()[c2_em_i24] = c2_b_LineVector[c2_em_i24][0];
}
*c2_CentroidCol() = c2_b_CentroidCol;
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG,1);
_sfEvent_ = c2_previousEvent;
sf_debug_check_for_state_inconsistency(_object_tracker_intensityMachineNumber_,
chartInstance.chartNumber, chartInstance.
instanceNumber);
}
static void sf_c3_object_tracker_without_centroid(void)
{
int32_T c3_em_i0;
uint8_T c3_previousEvent;
real_T c3_b_CentroidCol;
int32_T c3_em_i1;
real_T c3_b_StartCoords[2];
int32_T c3_b_BlobCount;
real_T c3_ScreenCenter;
real_T c3_DIFFTHRESHOLD;
real_T c3_STOP;
real_T c3_RIGHT;
real_T c3_LEFT;
real_T c3_STRAIGHT;
real_T c3_b_DirectionCode;
_sfTime_ = (real_T)ssGetT(chartInstance.S);
_SFD_DATA_RANGE_CHECK(*c3_CentroidCol(), 2U);
for(c3_em_i0 = 0; c3_em_i0 < 2; c3_em_i0 = c3_em_i0 + 1) {
_SFD_DATA_RANGE_CHECK(c3_StartCoords()[c3_em_i0], 3U);
}
_SFD_DATA_RANGE_CHECK(*c3_DirectionCode(), 0U);
_SFD_DATA_RANGE_CHECK((real_T)*c3_BlobCount(), 1U);
c3_previousEvent = _sfEvent_;
_sfEvent_ = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG,2);
c3_b_CentroidCol = *c3_CentroidCol();
for(c3_em_i1 = 0; c3_em_i1 < 2; c3_em_i1 = c3_em_i1 + 1) {
c3_b_StartCoords[c3_em_i1] = c3_StartCoords()[c3_em_i1];
}
c3_b_BlobCount = *c3_BlobCount();
sf_debug_push_symbol_scope(10U, 0U);
sf_debug_symbol_scope_add_symbol("ScreenCenter", 0, 0U, 0U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 0, &c3_ScreenCenter, 0);
sf_debug_symbol_scope_add_symbol("DIFFTHRESHOLD", 0, 0U, 0U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 0, &c3_DIFFTHRESHOLD, 0);
sf_debug_symbol_scope_add_symbol("STOP", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c3_STOP, 0);
sf_debug_symbol_scope_add_symbol("RIGHT", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c3_RIGHT, 0);
sf_debug_symbol_scope_add_symbol("LEFT", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
0, 0U, 0, &c3_LEFT, 0);
sf_debug_symbol_scope_add_symbol("STRAIGHT", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c3_STRAIGHT, 0);
sf_debug_symbol_scope_add_symbol("DirectionCode", 0, 0U, 0U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 0, &c3_b_DirectionCode, 0);
sf_debug_symbol_scope_add_symbol("BlobCount", 6, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
0U, 0, 0U, 0, &c3_b_BlobCount, 0);
sf_debug_symbol_scope_add_symbol("StartCoords", 0, 1U, 2U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 1, &c3_b_StartCoords, 0);
sf_debug_symbol_scope_add_symbol("CentroidCol", 0, 0U, 0U, 0U, 0U, 1.0, 0,
0.0, 0U, 0, 0U, 0, &c3_b_CentroidCol, 0);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,3);
c3_STRAIGHT = 1.0;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,4);
c3_LEFT = 2.0;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,5);
c3_RIGHT = 3.0;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,6);
c3_STOP = 4.0;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,8);
c3_DIFFTHRESHOLD = 20.0;
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,9);
c3_ScreenCenter = c3_b_StartCoords[1];
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,11);
if(CV_EML_IF(0, 0, (real_T)c3_b_BlobCount == 0.0)) {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,12);
c3_b_DirectionCode = c3_STOP;
} else {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,13);
if(CV_EML_IF(0, 1, c3_b_CentroidCol < c3_ScreenCenter - c3_DIFFTHRESHOLD)) {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,14);
c3_b_DirectionCode = c3_LEFT;
} else {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,15);
if(CV_EML_IF(0, 2, c3_b_CentroidCol > c3_ScreenCenter + c3_DIFFTHRESHOLD))
{
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,16);
c3_b_DirectionCode = c3_RIGHT;
} else {
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,18);
c3_b_DirectionCode = c3_STRAIGHT;
}
}
}
_SFD_EML_CALL(STATE_DURING_DURING_ACTION_TAG,0,-18);
sf_debug_pop_symbol_scope();
*c3_DirectionCode() = c3_b_DirectionCode;
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG,2);
_sfEvent_ = c3_previousEvent;
sf_debug_check_for_state_inconsistency(_object_tracker_without_centroidMachineNumber_,
chartInstance.chartNumber, chartInstance.
instanceNumber);
}
