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);
}
/* Function Definitions */
void closestPoint(const real_T p_test[3], const real_T p1[3], const real_T p2[3],
const real_T p3[3], real_T p_plane[3])
{
real_T a;
real_T b;
real_T c;
real_T d;
real_T e;
real_T E1[3];
int32_T i;
real_T b_p_plane;
real_T b_E1;
real_T D;
real_T det;
real_T s;
real_T t;
real_T invDet;
real_T tmp0;
real_T tmp1;
/* CLOSESTPOINT returns the closest points to p_test on the triangle */
/* defined by p1, p2, and p3. All points are column vectors. */
/* This uses the algorithm from: */
/* http://www.geometrictools.com/Documentation/DistancePoint3Triangle3.pdf */
/* a = dot(E0,E0); */
/* b = dot(E0,E1); */
/* c = dot(E1,E1); */
/* d = dot(E0,D); */
/* e = dot(E1,D); */
a = 0.0;
b = 0.0;
c = 0.0;
d = 0.0;
e = 0.0;
for (i = 0; i < 3; i++) {
b_p_plane = p2[i] - p1[i];
b_E1 = p3[i] - p1[i];
D = p1[i] - p_test[i];
a += b_p_plane * b_p_plane;
b += b_p_plane * b_E1;
c += b_E1 * b_E1;
d += b_p_plane * D;
e += b_E1 * D;
p_plane[i] = b_p_plane;
E1[i] = b_E1;
}
/* f = dot(D,D); */
det = a * c - b * b;
s = b * e - c * d;
t = b * d - a * e;
if (s + t < det) {
if (s < 0.0) {
if (t < 0.0) {
/* region = 4 */
if (d < 0.0) {
s = muDoubleScalarMin(muDoubleScalarMax(-d / a, 0.0), 1.0);
t = 0.0;
} else {
s = 0.0;
t = muDoubleScalarMin(muDoubleScalarMax(-e / c, 0.0), 1.0);
}
} else {
/* region = 3 */
s = 0.0;
t = muDoubleScalarMin(muDoubleScalarMax(-e / c, 0.0), 1.0);
}
} else if (t < 0.0) {
/* region = 5 */
s = muDoubleScalarMin(muDoubleScalarMax(-d / a, 0.0), 1.0);
t = 0.0;
} else {
/* region = 0 */
invDet = 1.0 / det;
s *= invDet;
t *= invDet;
}
} else if (s < 0.0) {
/* region = 2 */
tmp0 = b + d;
tmp1 = c + e;
if (tmp1 > tmp0) {
s = muDoubleScalarMin(muDoubleScalarMax((tmp1 - tmp0) / ((a - 2.0 * b) + c),
0.0), 1.0);
t = 1.0 - s;
} else {
s = 0.0;
t = muDoubleScalarMin(muDoubleScalarMax(-e / c, 0.0), 1.0);
}
} else if (t < 0.0) {
/* region = 6 */
tmp0 = b + e;
tmp1 = a + d;
if (tmp1 > tmp0) {
t = muDoubleScalarMin(muDoubleScalarMax((tmp1 - tmp0) / ((a - 2.0 * b) + c),
0.0), 1.0);
s = 1.0 - t;
} else {
t = 0.0;
s = muDoubleScalarMin(muDoubleScalarMax(-d / a, 0.0), 1.0);
}
} else {
/* region = 1 */
s = muDoubleScalarMin(muDoubleScalarMax((((c + e) - b) - d) / ((a - 2.0 * b)
+ c), 0.0), 1.0);
t = 1.0 - s;
}
for (i = 0; i < 3; i++) {
p_plane[i] = (p1[i] + p_plane[i] * s) + E1[i] * t;
}
}
/* Function Definitions */
void imshift(uint8_T I[270000], const real_T disparity[2])
{
real_T xStart2;
real_T yStart2;
real_T xEnd2;
real_T yEnd2;
int32_T i2;
int32_T i3;
int32_T i4;
int32_T i5;
int32_T tmp_size_idx_0;
int32_T loop_ub;
int32_T i6;
int32_T tmp_data[225];
int32_T b_tmp_size_idx_0;
int32_T b_tmp_data[400];
emxArray_uint8_T *b_I;
int32_T iv3[3];
int32_T i7;
int32_T b_loop_ub;
int32_T i8;
int32_T c_I[3];
int32_T c_tmp_data[400];
int32_T d_tmp_data[225];
emxArray_uint8_T *d_I;
emlrtHeapReferenceStackEnterFcnR2012b(emlrtRootTLSGlobal);
xStart2 = muDoubleScalarMax(1.0, 1.0 + disparity[0]);
yStart2 = muDoubleScalarMax(1.0, 1.0 + disparity[1]);
xEnd2 = muDoubleScalarMin(225.0, 225.0 + disparity[0]);
yEnd2 = muDoubleScalarMin(400.0, 400.0 + disparity[1]);
i2 = (int32_T)muDoubleScalarMax(1.0, 1.0 - disparity[0]) - 1;
i3 = (int32_T)muDoubleScalarMin(225.0, 225.0 - disparity[0]);
i4 = (int32_T)muDoubleScalarMax(1.0, 1.0 - disparity[1]) - 1;
i5 = (int32_T)muDoubleScalarMin(400.0, 400.0 - disparity[1]);
tmp_size_idx_0 = ((int32_T)xEnd2 - (int32_T)xStart2) + 1;
loop_ub = (int32_T)xEnd2 - (int32_T)xStart2;
for (i6 = 0; i6 <= loop_ub; i6++) {
tmp_data[i6] = ((int32_T)xStart2 + i6) - 1;
}
b_tmp_size_idx_0 = ((int32_T)yEnd2 - (int32_T)yStart2) + 1;
loop_ub = (int32_T)yEnd2 - (int32_T)yStart2;
for (i6 = 0; i6 <= loop_ub; i6++) {
b_tmp_data[i6] = ((int32_T)yStart2 + i6) - 1;
}
emxInit_uint8_T(&b_I, 3, &emlrtRTEI, TRUE);
iv3[0] = tmp_size_idx_0;
iv3[1] = b_tmp_size_idx_0;
iv3[2] = 3;
i6 = b_I->size[0] * b_I->size[1] * b_I->size[2];
b_I->size[0] = i3 - i2;
b_I->size[1] = i5 - i4;
b_I->size[2] = 3;
emxEnsureCapacity((emxArray__common *)b_I, i6, (int32_T)sizeof(uint8_T),
&emlrtRTEI);
for (i6 = 0; i6 < 3; i6++) {
loop_ub = i5 - i4;
for (i7 = 0; i7 < loop_ub; i7++) {
b_loop_ub = i3 - i2;
for (i8 = 0; i8 < b_loop_ub; i8++) {
b_I->data[(i8 + b_I->size[0] * i7) + b_I->size[0] * b_I->size[1] * i6] =
I[((i2 + i8) + 225 * (i4 + i7)) + 90000 * i6];
}
}
}
for (i6 = 0; i6 < 3; i6++) {
c_I[i6] = b_I->size[i6];
}
emxFree_uint8_T(&b_I);
emlrtSubAssignSizeCheckR2012b(iv3, 3, c_I, 3, &emlrtECI, emlrtRootTLSGlobal);
for (i6 = 0; i6 < b_tmp_size_idx_0; i6++) {
c_tmp_data[i6] = b_tmp_data[i6];
}
for (i6 = 0; i6 < tmp_size_idx_0; i6++) {
d_tmp_data[i6] = tmp_data[i6];
}
emxInit_uint8_T(&d_I, 3, &emlrtRTEI, TRUE);
i6 = d_I->size[0] * d_I->size[1] * d_I->size[2];
d_I->size[0] = i3 - i2;
d_I->size[1] = i5 - i4;
d_I->size[2] = 3;
emxEnsureCapacity((emxArray__common *)d_I, i6, (int32_T)sizeof(uint8_T),
&emlrtRTEI);
for (i6 = 0; i6 < 3; i6++) {
loop_ub = i5 - i4;
for (i7 = 0; i7 < loop_ub; i7++) {
b_loop_ub = i3 - i2;
for (i8 = 0; i8 < b_loop_ub; i8++) {
d_I->data[(i8 + d_I->size[0] * i7) + d_I->size[0] * d_I->size[1] * i6] =
I[((i2 + i8) + 225 * (i4 + i7)) + 90000 * i6];
}
}
}
for (i2 = 0; i2 < 3; i2++) {
loop_ub = d_I->size[1];
for (i3 = 0; i3 < loop_ub; i3++) {
b_loop_ub = d_I->size[0];
for (i4 = 0; i4 < b_loop_ub; i4++) {
I[(d_tmp_data[i4] + 225 * c_tmp_data[i3]) + 90000 * i2] = d_I->data[(i4
+ d_I->size[0] * i3) + d_I->size[0] * d_I->size[1] * i2];
}
}
}
emxFree_uint8_T(&d_I);
if (xStart2 == 1.0) {
if (xEnd2 + 1.0 > 225.0) {
i2 = 0;
i3 = 0;
} else {
i2 = (int32_T)(xEnd2 + 1.0);
i2 = emlrtDynamicBoundsCheckFastR2012b(i2, 1, 225, &b_emlrtBCI,
emlrtRootTLSGlobal) - 1;
i3 = 225;
}
tmp_size_idx_0 = i3 - i2;
for (i3 = 0; i3 < 3; i3++) {
for (i4 = 0; i4 < 400; i4++) {
for (i5 = 0; i5 < tmp_size_idx_0; i5++) {
I[((i2 + i5) + 225 * i4) + 90000 * i3] = 0;
}
}
}
} else {
for (i2 = 0; i2 < 3; i2++) {
for (i3 = 0; i3 < 400; i3++) {
loop_ub = (int32_T)(xStart2 - 1.0);
for (i4 = 0; i4 < loop_ub; i4++) {
I[(i4 + 225 * i3) + 90000 * i2] = 0;
}
}
}
}
if (yStart2 == 1.0) {
if (yEnd2 + 1.0 > 400.0) {
i2 = 0;
i3 = 0;
} else {
i2 = (int32_T)(yEnd2 + 1.0);
i2 = emlrtDynamicBoundsCheckFastR2012b(i2, 1, 400, &emlrtBCI,
emlrtRootTLSGlobal) - 1;
i3 = 400;
}
tmp_size_idx_0 = i3 - i2;
for (i3 = 0; i3 < 3; i3++) {
for (i4 = 0; i4 < tmp_size_idx_0; i4++) {
for (i5 = 0; i5 < 225; i5++) {
I[(i5 + 225 * (i2 + i4)) + 90000 * i3] = 0;
}
}
}
} else {
for (i2 = 0; i2 < 3; i2++) {
loop_ub = (int32_T)(yStart2 - 1.0);
for (i3 = 0; i3 < loop_ub; i3++) {
for (i4 = 0; i4 < 225; i4++) {
I[(i4 + 225 * i3) + 90000 * i2] = 0;
}
}
}
}
emlrtHeapReferenceStackLeaveFcnR2012b(emlrtRootTLSGlobal);
}
static void c_eml_qrsolve(const emlrtStack *sp, const emxArray_real_T *A,
emxArray_real_T *B, emxArray_real_T *Y)
{
emxArray_real_T *b_A;
emxArray_real_T *work;
int32_T mn;
int32_T i51;
int32_T ix;
emxArray_real_T *tau;
emxArray_int32_T *jpvt;
int32_T m;
int32_T n;
int32_T b_mn;
emxArray_real_T *vn1;
emxArray_real_T *vn2;
int32_T k;
boolean_T overflow;
boolean_T b12;
int32_T i;
int32_T i_i;
int32_T nmi;
int32_T mmi;
int32_T pvt;
int32_T iy;
boolean_T b13;
real_T xnorm;
int32_T i52;
real_T atmp;
real_T d16;
boolean_T b14;
boolean_T b_i;
ptrdiff_t n_t;
ptrdiff_t incx_t;
double * xix0_t;
boolean_T exitg1;
const mxArray *y;
static const int32_T iv78[2] = { 1, 8 };
const mxArray *m14;
char_T cv76[8];
static const char_T cv77[8] = { '%', '%', '%', 'd', '.', '%', 'd', 'e' };
char_T cv78[14];
uint32_T unnamed_idx_0;
emlrtStack st;
emlrtStack b_st;
emlrtStack c_st;
emlrtStack d_st;
emlrtStack e_st;
emlrtStack f_st;
emlrtStack g_st;
emlrtStack h_st;
st.prev = sp;
st.tls = sp->tls;
b_st.prev = &st;
b_st.tls = st.tls;
c_st.prev = &b_st;
c_st.tls = b_st.tls;
d_st.prev = &c_st;
d_st.tls = c_st.tls;
e_st.prev = &d_st;
e_st.tls = d_st.tls;
f_st.prev = &e_st;
f_st.tls = e_st.tls;
g_st.prev = &f_st;
g_st.tls = f_st.tls;
h_st.prev = &g_st;
h_st.tls = g_st.tls;
emlrtHeapReferenceStackEnterFcnR2012b(sp);
emxInit_real_T(sp, &b_A, 2, &m_emlrtRTEI, true);
b_emxInit_real_T(sp, &work, 1, &rb_emlrtRTEI, true);
mn = (int32_T)muDoubleScalarMin(A->size[0], A->size[1]);
st.site = &mc_emlrtRSI;
b_st.site = &nc_emlrtRSI;
c_st.site = &oc_emlrtRSI;
i51 = b_A->size[0] * b_A->size[1];
b_A->size[0] = A->size[0];
b_A->size[1] = A->size[1];
emxEnsureCapacity(&c_st, (emxArray__common *)b_A, i51, (int32_T)sizeof(real_T),
&m_emlrtRTEI);
ix = A->size[0] * A->size[1];
for (i51 = 0; i51 < ix; i51++) {
b_A->data[i51] = A->data[i51];
}
b_emxInit_real_T(&c_st, &tau, 1, &m_emlrtRTEI, true);
b_emxInit_int32_T(&c_st, &jpvt, 2, &m_emlrtRTEI, true);
m = b_A->size[0];
n = b_A->size[1];
b_mn = muIntScalarMin_sint32(b_A->size[0], b_A->size[1]);
i51 = tau->size[0];
tau->size[0] = b_mn;
emxEnsureCapacity(&c_st, (emxArray__common *)tau, i51, (int32_T)sizeof(real_T),
&n_emlrtRTEI);
d_st.site = &mf_emlrtRSI;
e_st.site = &rb_emlrtRSI;
f_st.site = &sb_emlrtRSI;
g_st.site = &tb_emlrtRSI;
eml_signed_integer_colon(&g_st, b_A->size[1], jpvt);
if ((b_A->size[0] == 0) || (b_A->size[1] == 0)) {
} else {
ix = b_A->size[1];
i51 = work->size[0];
work->size[0] = ix;
emxEnsureCapacity(&c_st, (emxArray__common *)work, i51, (int32_T)sizeof
(real_T), &m_emlrtRTEI);
for (i51 = 0; i51 < ix; i51++) {
work->data[i51] = 0.0;
}
b_emxInit_real_T(&c_st, &vn1, 1, &pb_emlrtRTEI, true);
b_emxInit_real_T(&c_st, &vn2, 1, &qb_emlrtRTEI, true);
d_st.site = &tc_emlrtRSI;
ix = b_A->size[1];
i51 = vn1->size[0];
vn1->size[0] = ix;
emxEnsureCapacity(&c_st, (emxArray__common *)vn1, i51, (int32_T)sizeof
(real_T), &pb_emlrtRTEI);
i51 = vn2->size[0];
vn2->size[0] = ix;
emxEnsureCapacity(&c_st, (emxArray__common *)vn2, i51, (int32_T)sizeof
(real_T), &qb_emlrtRTEI);
k = 1;
d_st.site = &nf_emlrtRSI;
overflow = (b_A->size[1] > 2147483646);
if (overflow) {
e_st.site = &db_emlrtRSI;
check_forloop_overflow_error(&e_st);
}
for (ix = 0; ix + 1 <= b_A->size[1]; ix++) {
d_st.site = &sc_emlrtRSI;
vn1->data[ix] = b_eml_xnrm2(&d_st, b_A->size[0], b_A, k);
vn2->data[ix] = vn1->data[ix];
k += b_A->size[0];
}
d_st.site = &rc_emlrtRSI;
if (1 > b_mn) {
b12 = false;
} else {
b12 = (b_mn > 2147483646);
}
if (b12) {
e_st.site = &db_emlrtRSI;
check_forloop_overflow_error(&e_st);
}
for (i = 1; i <= b_mn; i++) {
i_i = (i + (i - 1) * m) - 1;
nmi = n - i;
mmi = m - i;
d_st.site = &of_emlrtRSI;
ix = eml_ixamax(&d_st, 1 + nmi, vn1, i);
pvt = (i + ix) - 2;
if (pvt + 1 != i) {
d_st.site = &pf_emlrtRSI;
e_st.site = &bc_emlrtRSI;
f_st.site = &cc_emlrtRSI;
ix = 1 + m * pvt;
iy = 1 + m * (i - 1);
g_st.site = &dc_emlrtRSI;
if (1 > m) {
b13 = false;
} else {
b13 = (m > 2147483646);
}
if (b13) {
h_st.site = &db_emlrtRSI;
check_forloop_overflow_error(&h_st);
}
for (k = 1; k <= m; k++) {
i51 = b_A->size[0] * b_A->size[1];
xnorm = b_A->data[emlrtDynamicBoundsCheckFastR2012b(ix, 1, i51,
&le_emlrtBCI, &f_st) - 1];
i51 = b_A->size[0] * b_A->size[1];
i52 = b_A->size[0] * b_A->size[1];
b_A->data[emlrtDynamicBoundsCheckFastR2012b(ix, 1, i51, &le_emlrtBCI,
&f_st) - 1] = b_A->data[emlrtDynamicBoundsCheckFastR2012b(iy, 1, i52,
&le_emlrtBCI, &f_st) - 1];
i51 = b_A->size[0] * b_A->size[1];
b_A->data[emlrtDynamicBoundsCheckFastR2012b(iy, 1, i51, &le_emlrtBCI,
&f_st) - 1] = xnorm;
ix++;
iy++;
}
ix = jpvt->data[pvt];
jpvt->data[pvt] = jpvt->data[i - 1];
jpvt->data[i - 1] = ix;
vn1->data[pvt] = vn1->data[i - 1];
vn2->data[pvt] = vn2->data[i - 1];
}
if (i < m) {
d_st.site = &qc_emlrtRSI;
atmp = b_A->data[i_i];
d16 = 0.0;
if (1 + mmi <= 0) {
} else {
e_st.site = &wc_emlrtRSI;
xnorm = b_eml_xnrm2(&e_st, mmi, b_A, i_i + 2);
if (xnorm != 0.0) {
xnorm = muDoubleScalarHypot(b_A->data[i_i], xnorm);
if (b_A->data[i_i] >= 0.0) {
xnorm = -xnorm;
}
if (muDoubleScalarAbs(xnorm) < 1.0020841800044864E-292) {
ix = 0;
do {
ix++;
e_st.site = &xc_emlrtRSI;
b_eml_xscal(&e_st, mmi, 9.9792015476736E+291, b_A, i_i + 2);
xnorm *= 9.9792015476736E+291;
atmp *= 9.9792015476736E+291;
} while (!(muDoubleScalarAbs(xnorm) >= 1.0020841800044864E-292));
e_st.site = &yc_emlrtRSI;
xnorm = b_eml_xnrm2(&e_st, mmi, b_A, i_i + 2);
xnorm = muDoubleScalarHypot(atmp, xnorm);
if (atmp >= 0.0) {
xnorm = -xnorm;
}
d16 = (xnorm - atmp) / xnorm;
e_st.site = &ad_emlrtRSI;
b_eml_xscal(&e_st, mmi, 1.0 / (atmp - xnorm), b_A, i_i + 2);
e_st.site = &bd_emlrtRSI;
if (1 > ix) {
b14 = false;
} else {
b14 = (ix > 2147483646);
}
if (b14) {
f_st.site = &db_emlrtRSI;
check_forloop_overflow_error(&f_st);
}
for (k = 1; k <= ix; k++) {
xnorm *= 1.0020841800044864E-292;
}
atmp = xnorm;
} else {
d16 = (xnorm - b_A->data[i_i]) / xnorm;
atmp = 1.0 / (b_A->data[i_i] - xnorm);
e_st.site = &cd_emlrtRSI;
b_eml_xscal(&e_st, mmi, atmp, b_A, i_i + 2);
atmp = xnorm;
}
}
}
tau->data[i - 1] = d16;
} else {
atmp = b_A->data[i_i];
d_st.site = &pc_emlrtRSI;
tau->data[i - 1] = eml_matlab_zlarfg();
}
b_A->data[i_i] = atmp;
if (i < n) {
atmp = b_A->data[i_i];
b_A->data[i_i] = 1.0;
d_st.site = &qf_emlrtRSI;
eml_matlab_zlarf(&d_st, mmi + 1, nmi, i_i + 1, tau->data[i - 1], b_A, i
+ i * m, m, work);
b_A->data[i_i] = atmp;
}
d_st.site = &rf_emlrtRSI;
if (i + 1 > n) {
b_i = false;
} else {
b_i = (n > 2147483646);
}
if (b_i) {
e_st.site = &db_emlrtRSI;
check_forloop_overflow_error(&e_st);
}
for (ix = i; ix + 1 <= n; ix++) {
if (vn1->data[ix] != 0.0) {
xnorm = muDoubleScalarAbs(b_A->data[(i + b_A->size[0] * ix) - 1]) /
vn1->data[ix];
xnorm = 1.0 - xnorm * xnorm;
if (xnorm < 0.0) {
xnorm = 0.0;
}
atmp = vn1->data[ix] / vn2->data[ix];
atmp = xnorm * (atmp * atmp);
if (atmp <= 1.4901161193847656E-8) {
if (i < m) {
d_st.site = &sf_emlrtRSI;
e_st.site = &uc_emlrtRSI;
if (mmi < 1) {
xnorm = 0.0;
} else {
f_st.site = &vc_emlrtRSI;
g_st.site = &vc_emlrtRSI;
n_t = (ptrdiff_t)(mmi);
g_st.site = &vc_emlrtRSI;
incx_t = (ptrdiff_t)(1);
i51 = b_A->size[0] * b_A->size[1];
i52 = (i + m * ix) + 1;
xix0_t = (double *)(&b_A->data[emlrtDynamicBoundsCheckFastR2012b
(i52, 1, i51, &vb_emlrtBCI, &f_st) - 1]);
xnorm = dnrm2(&n_t, xix0_t, &incx_t);
}
vn1->data[ix] = xnorm;
vn2->data[ix] = vn1->data[ix];
} else {
vn1->data[ix] = 0.0;
vn2->data[ix] = 0.0;
}
} else {
d_st.site = &tf_emlrtRSI;
vn1->data[ix] *= muDoubleScalarSqrt(xnorm);
}
}
}
}
emxFree_real_T(&vn2);
emxFree_real_T(&vn1);
}
atmp = 0.0;
if (mn > 0) {
xnorm = muDoubleScalarMax(A->size[0], A->size[1]) * muDoubleScalarAbs
(b_A->data[0]) * 2.2204460492503131E-16;
k = 0;
exitg1 = false;
while ((!exitg1) && (k <= mn - 1)) {
if (muDoubleScalarAbs(b_A->data[k + b_A->size[0] * k]) <= xnorm) {
st.site = &lc_emlrtRSI;
y = NULL;
m14 = emlrtCreateCharArray(2, iv78);
for (i = 0; i < 8; i++) {
cv76[i] = cv77[i];
}
emlrtInitCharArrayR2013a(&st, 8, m14, cv76);
emlrtAssign(&y, m14);
b_st.site = &tg_emlrtRSI;
emlrt_marshallIn(&b_st, c_sprintf(&b_st, b_sprintf(&b_st, y,
emlrt_marshallOut(14.0), emlrt_marshallOut(6.0), &o_emlrtMCI),
emlrt_marshallOut(xnorm), &p_emlrtMCI), "sprintf", cv78);
st.site = &kc_emlrtRSI;
b_eml_warning(&st, atmp, cv78);
exitg1 = true;
} else {
atmp++;
k++;
}
}
}
unnamed_idx_0 = (uint32_T)A->size[1];
i51 = Y->size[0];
Y->size[0] = (int32_T)unnamed_idx_0;
emxEnsureCapacity(sp, (emxArray__common *)Y, i51, (int32_T)sizeof(real_T),
&m_emlrtRTEI);
ix = (int32_T)unnamed_idx_0;
for (i51 = 0; i51 < ix; i51++) {
Y->data[i51] = 0.0;
}
for (ix = 0; ix < mn; ix++) {
if (tau->data[ix] != 0.0) {
xnorm = B->data[ix];
i51 = A->size[0] + (int32_T)(1.0 - ((1.0 + (real_T)ix) + 1.0));
emlrtForLoopVectorCheckR2012b((1.0 + (real_T)ix) + 1.0, 1.0, A->size[0],
mxDOUBLE_CLASS, i51, &ac_emlrtRTEI, sp);
for (i = 0; i < i51; i++) {
unnamed_idx_0 = ((uint32_T)ix + i) + 2U;
xnorm += b_A->data[((int32_T)unnamed_idx_0 + b_A->size[0] * ix) - 1] *
B->data[(int32_T)unnamed_idx_0 - 1];
}
xnorm *= tau->data[ix];
if (xnorm != 0.0) {
B->data[ix] -= xnorm;
i51 = A->size[0] + (int32_T)(1.0 - ((1.0 + (real_T)ix) + 1.0));
emlrtForLoopVectorCheckR2012b((1.0 + (real_T)ix) + 1.0, 1.0, A->size[0],
mxDOUBLE_CLASS, i51, &yb_emlrtRTEI, sp);
for (i = 0; i < i51; i++) {
unnamed_idx_0 = ((uint32_T)ix + i) + 2U;
B->data[(int32_T)unnamed_idx_0 - 1] -= b_A->data[((int32_T)
unnamed_idx_0 + b_A->size[0] * ix) - 1] * xnorm;
}
}
}
}
emxFree_real_T(&tau);
emlrtForLoopVectorCheckR2012b(1.0, 1.0, atmp, mxDOUBLE_CLASS, (int32_T)atmp,
&xb_emlrtRTEI, sp);
for (i = 0; i < (int32_T)atmp; i++) {
Y->data[jpvt->data[i] - 1] = B->data[i];
}
emlrtForLoopVectorCheckR2012b(atmp, -1.0, 1.0, mxDOUBLE_CLASS, (int32_T)-(1.0
+ (-1.0 - atmp)), &wb_emlrtRTEI, sp);
for (ix = 0; ix < (int32_T)-(1.0 + (-1.0 - atmp)); ix++) {
xnorm = atmp + -(real_T)ix;
Y->data[jpvt->data[(int32_T)xnorm - 1] - 1] = eml_div(Y->data[jpvt->data
[(int32_T)xnorm - 1] - 1], b_A->data[((int32_T)xnorm + b_A->size[0] *
((int32_T)xnorm - 1)) - 1]);
for (i = 0; i < (int32_T)(xnorm - 1.0); i++) {
Y->data[jpvt->data[i] - 1] -= Y->data[jpvt->data[(int32_T)xnorm - 1] - 1] *
b_A->data[i + b_A->size[0] * ((int32_T)xnorm - 1)];
}
}
emxFree_int32_T(&jpvt);
emxFree_real_T(&work);
emxFree_real_T(&b_A);
emlrtHeapReferenceStackLeaveFcnR2012b(sp);
}
/* Function Definitions */
void rsf2csf(const emxArray_real_T *Ur, const emxArray_real_T *Tr,
emxArray_creal_T *U, emxArray_creal_T *T)
{
int32_T y;
int32_T loop_ub;
int16_T varargin_1[2];
int32_T mtmp;
int32_T m;
real_T c;
real_T b;
real_T temp;
real_T p;
real_T bcmax;
real_T scale;
real_T bb;
real_T b_p;
real_T cs;
int32_T b_scale;
real_T b_c;
real_T mu1_re;
emlrtPushRtStackR2012b(&bh_emlrtRSI, emlrtRootTLSGlobal);
y = T->size[0] * T->size[1];
T->size[0] = Tr->size[0];
T->size[1] = Tr->size[1];
emxEnsureCapacity((emxArray__common *)T, y, (int32_T)sizeof(creal_T),
&v_emlrtRTEI);
loop_ub = Tr->size[0] * Tr->size[1];
for (y = 0; y < loop_ub; y++) {
T->data[y].re = Tr->data[y];
T->data[y].im = 0.0;
}
y = U->size[0] * U->size[1];
U->size[0] = Ur->size[0];
U->size[1] = Ur->size[1];
emxEnsureCapacity((emxArray__common *)U, y, (int32_T)sizeof(creal_T),
&v_emlrtRTEI);
loop_ub = Ur->size[0] * Ur->size[1];
for (y = 0; y < loop_ub; y++) {
U->data[y].re = Ur->data[y];
U->data[y].im = 0.0;
}
for (y = 0; y < 2; y++) {
varargin_1[y] = (int16_T)Tr->size[y];
}
mtmp = varargin_1[0];
if (varargin_1[1] < varargin_1[0]) {
mtmp = varargin_1[1];
}
for (y = 0; y < 2; y++) {
varargin_1[y] = (int16_T)Ur->size[y];
}
loop_ub = varargin_1[0];
if (varargin_1[1] < varargin_1[0]) {
loop_ub = varargin_1[1];
}
mtmp = (int32_T)muDoubleScalarMin(mtmp, loop_ub);
if (mtmp == 0) {
} else {
for (m = mtmp - 1; m + 1 >= 2; m--) {
if (Tr->data[m + Tr->size[0] * (m - 1)] != 0.0) {
emlrtPushRtStackR2012b(&ch_emlrtRSI, emlrtRootTLSGlobal);
c = Tr->data[m + Tr->size[0] * (m - 1)];
b = Tr->data[(m + Tr->size[0] * m) - 1];
temp = Tr->data[(m + Tr->size[0] * (m - 1)) - 1];
if (Tr->data[m + Tr->size[0] * (m - 1)] == 0.0) {
} else if (Tr->data[(m + Tr->size[0] * m) - 1] == 0.0) {
temp = Tr->data[m + Tr->size[0] * m];
b = -Tr->data[m + Tr->size[0] * (m - 1)];
c = 0.0;
} else if ((Tr->data[(m + Tr->size[0] * (m - 1)) - 1] - Tr->data[m +
Tr->size[0] * m] == 0.0) && ((Tr->data[(m + Tr->size[0] * m)
- 1] < 0.0) != (Tr->data[m + Tr->size[0] * (m - 1)] < 0.0))) {
} else {
temp = Tr->data[(m + Tr->size[0] * (m - 1)) - 1] - Tr->data[m +
Tr->size[0] * m];
p = 0.5 * temp;
bcmax = muDoubleScalarMax(muDoubleScalarAbs(Tr->data[(m + Tr->size[0] *
m) - 1]), muDoubleScalarAbs(Tr->data[m + Tr->size[0] * (m - 1)]));
if (!(Tr->data[(m + Tr->size[0] * m) - 1] < 0.0)) {
loop_ub = 1;
} else {
loop_ub = -1;
}
if (!(Tr->data[m + Tr->size[0] * (m - 1)] < 0.0)) {
y = 1;
} else {
y = -1;
}
scale = muDoubleScalarMax(muDoubleScalarAbs(p), bcmax);
bcmax = p / scale * p + bcmax / scale * (muDoubleScalarMin
(muDoubleScalarAbs(Tr->data[(m + Tr->size[0] * m) - 1]),
muDoubleScalarAbs(Tr->data[m + Tr->size[0] * (m - 1)])) * (real_T)
loop_ub * (real_T)y);
if (bcmax >= 8.8817841970012523E-16) {
emlrtPushRtStackR2012b(&gg_emlrtRSI, emlrtRootTLSGlobal);
bb = muDoubleScalarSqrt(scale) * muDoubleScalarSqrt(bcmax);
emlrtPopRtStackR2012b(&gg_emlrtRSI, emlrtRootTLSGlobal);
if (!(p < 0.0)) {
b_p = bb;
} else {
b_p = -bb;
}
temp = Tr->data[m + Tr->size[0] * m] + (p + b_p);
b = Tr->data[(m + Tr->size[0] * m) - 1] - Tr->data[m + Tr->size[0] *
(m - 1)];
c = 0.0;
} else {
scale = Tr->data[(m + Tr->size[0] * m) - 1] + Tr->data[m + Tr->size
[0] * (m - 1)];
bcmax = muDoubleScalarHypot(scale, temp);
emlrtPushRtStackR2012b(&hg_emlrtRSI, emlrtRootTLSGlobal);
bb = 0.5 * (1.0 + muDoubleScalarAbs(scale) / bcmax);
if (bb < 0.0) {
emlrtPushRtStackR2012b(&x_emlrtRSI, emlrtRootTLSGlobal);
eml_error();
emlrtPopRtStackR2012b(&x_emlrtRSI, emlrtRootTLSGlobal);
}
cs = muDoubleScalarSqrt(bb);
emlrtPopRtStackR2012b(&hg_emlrtRSI, emlrtRootTLSGlobal);
if (!(scale < 0.0)) {
b_scale = 1;
} else {
b_scale = -1;
}
bcmax = -(p / (bcmax * cs)) * (real_T)b_scale;
scale = Tr->data[(m + Tr->size[0] * (m - 1)) - 1] * cs + Tr->data[(m
+ Tr->size[0] * m) - 1] * bcmax;
bb = -Tr->data[(m + Tr->size[0] * (m - 1)) - 1] * bcmax + Tr->data
[(m + Tr->size[0] * m) - 1] * cs;
p = Tr->data[m + Tr->size[0] * (m - 1)] * cs + Tr->data[m + Tr->
size[0] * m] * bcmax;
temp = -Tr->data[m + Tr->size[0] * (m - 1)] * bcmax + Tr->data[m +
Tr->size[0] * m] * cs;
b = bb * cs + temp * bcmax;
c = -scale * bcmax + p * cs;
temp = 0.5 * ((scale * cs + p * bcmax) + (-bb * bcmax + temp * cs));
if (c != 0.0) {
if (b != 0.0) {
if ((b < 0.0) == (c < 0.0)) {
emlrtPushRtStackR2012b(&ig_emlrtRSI, emlrtRootTLSGlobal);
emlrtPopRtStackR2012b(&ig_emlrtRSI, emlrtRootTLSGlobal);
emlrtPushRtStackR2012b(&jg_emlrtRSI, emlrtRootTLSGlobal);
emlrtPopRtStackR2012b(&jg_emlrtRSI, emlrtRootTLSGlobal);
bb = muDoubleScalarSqrt(muDoubleScalarAbs(b)) *
muDoubleScalarSqrt(muDoubleScalarAbs(c));
emlrtPushRtStackR2012b(&kg_emlrtRSI, emlrtRootTLSGlobal);
emlrtPopRtStackR2012b(&kg_emlrtRSI, emlrtRootTLSGlobal);
if (!(c < 0.0)) {
b_c = bb;
} else {
b_c = -bb;
}
temp += b_c;
b -= c;
c = 0.0;
}
} else {
b = -c;
c = 0.0;
}
}
}
}
if (c == 0.0) {
bcmax = 0.0;
} else {
emlrtPushRtStackR2012b(&lg_emlrtRSI, emlrtRootTLSGlobal);
bcmax = muDoubleScalarSqrt(muDoubleScalarAbs(b)) * muDoubleScalarSqrt
(muDoubleScalarAbs(c));
emlrtPopRtStackR2012b(&lg_emlrtRSI, emlrtRootTLSGlobal);
}
emlrtPopRtStackR2012b(&ch_emlrtRSI, emlrtRootTLSGlobal);
mu1_re = temp - Tr->data[m + Tr->size[0] * m];
scale = muDoubleScalarHypot(muDoubleScalarHypot(mu1_re, bcmax), Tr->
data[m + Tr->size[0] * (m - 1)]);
if (bcmax == 0.0) {
mu1_re /= scale;
cs = 0.0;
} else if (mu1_re == 0.0) {
mu1_re = 0.0;
cs = bcmax / scale;
} else {
mu1_re /= scale;
cs = bcmax / scale;
}
c = Tr->data[m + Tr->size[0] * (m - 1)] / scale;
emlrtPushRtStackR2012b(&dh_emlrtRSI, emlrtRootTLSGlobal);
emlrtPopRtStackR2012b(&dh_emlrtRSI, emlrtRootTLSGlobal);
for (loop_ub = m - 1; loop_ub + 1 <= mtmp; loop_ub++) {
b = T->data[(m + T->size[0] * loop_ub) - 1].re;
temp = T->data[(m + T->size[0] * loop_ub) - 1].im;
bb = T->data[(m + T->size[0] * loop_ub) - 1].re;
p = T->data[(m + T->size[0] * loop_ub) - 1].im;
bcmax = T->data[(m + T->size[0] * loop_ub) - 1].im;
scale = T->data[(m + T->size[0] * loop_ub) - 1].re;
T->data[(m + T->size[0] * loop_ub) - 1].re = (mu1_re * bb + cs * p) +
c * T->data[m + T->size[0] * loop_ub].re;
T->data[(m + T->size[0] * loop_ub) - 1].im = (mu1_re * bcmax - cs *
scale) + c * T->data[m + T->size[0] * loop_ub].im;
bcmax = mu1_re * T->data[m + T->size[0] * loop_ub].re - cs * T->data[m
+ T->size[0] * loop_ub].im;
scale = mu1_re * T->data[m + T->size[0] * loop_ub].im + cs * T->data[m
+ T->size[0] * loop_ub].re;
T->data[m + T->size[0] * loop_ub].re = bcmax - c * b;
T->data[m + T->size[0] * loop_ub].im = scale - c * temp;
}
emlrtPushRtStackR2012b(&eh_emlrtRSI, emlrtRootTLSGlobal);
emlrtPopRtStackR2012b(&eh_emlrtRSI, emlrtRootTLSGlobal);
for (loop_ub = 0; loop_ub + 1 <= m + 1; loop_ub++) {
b = T->data[loop_ub + T->size[0] * (m - 1)].re;
temp = T->data[loop_ub + T->size[0] * (m - 1)].im;
bcmax = mu1_re * T->data[loop_ub + T->size[0] * (m - 1)].re - cs *
T->data[loop_ub + T->size[0] * (m - 1)].im;
scale = mu1_re * T->data[loop_ub + T->size[0] * (m - 1)].im + cs *
T->data[loop_ub + T->size[0] * (m - 1)].re;
bb = T->data[loop_ub + T->size[0] * m].re;
p = T->data[loop_ub + T->size[0] * m].im;
T->data[loop_ub + T->size[0] * (m - 1)].re = bcmax + c * bb;
T->data[loop_ub + T->size[0] * (m - 1)].im = scale + c * p;
bb = T->data[loop_ub + T->size[0] * m].re;
p = T->data[loop_ub + T->size[0] * m].im;
bcmax = T->data[loop_ub + T->size[0] * m].im;
scale = T->data[loop_ub + T->size[0] * m].re;
T->data[loop_ub + T->size[0] * m].re = (mu1_re * bb + cs * p) - c * b;
T->data[loop_ub + T->size[0] * m].im = (mu1_re * bcmax - cs * scale) -
c * temp;
}
emlrtPushRtStackR2012b(&fh_emlrtRSI, emlrtRootTLSGlobal);
emlrtPopRtStackR2012b(&fh_emlrtRSI, emlrtRootTLSGlobal);
for (loop_ub = 0; loop_ub + 1 <= mtmp; loop_ub++) {
b = U->data[loop_ub + U->size[0] * (m - 1)].re;
temp = U->data[loop_ub + U->size[0] * (m - 1)].im;
bcmax = mu1_re * U->data[loop_ub + U->size[0] * (m - 1)].re - cs *
U->data[loop_ub + U->size[0] * (m - 1)].im;
scale = mu1_re * U->data[loop_ub + U->size[0] * (m - 1)].im + cs *
U->data[loop_ub + U->size[0] * (m - 1)].re;
bb = U->data[loop_ub + U->size[0] * m].re;
p = U->data[loop_ub + U->size[0] * m].im;
U->data[loop_ub + U->size[0] * (m - 1)].re = bcmax + c * bb;
U->data[loop_ub + U->size[0] * (m - 1)].im = scale + c * p;
bb = U->data[loop_ub + U->size[0] * m].re;
p = U->data[loop_ub + U->size[0] * m].im;
bcmax = U->data[loop_ub + U->size[0] * m].im;
scale = U->data[loop_ub + U->size[0] * m].re;
U->data[loop_ub + U->size[0] * m].re = (mu1_re * bb + cs * p) - c * b;
U->data[loop_ub + U->size[0] * m].im = (mu1_re * bcmax - cs * scale) -
c * temp;
}
T->data[m + T->size[0] * (m - 1)].re = 0.0;
T->data[m + T->size[0] * (m - 1)].im = 0.0;
}
}
}
emlrtPopRtStackR2012b(&bh_emlrtRSI, emlrtRootTLSGlobal);
}
static void sf_c6_TTR_mdl(SFc6_TTR_mdlInstanceStruct *chartInstance)
{
int32_T c6_i0;
real_T c6_hoistedGlobal;
real_T c6_u_ctrl;
int32_T c6_i1;
real_T c6_U_bounds[2];
uint32_T c6_debug_family_var_map[6];
real_T c6_i;
real_T c6_nargin = 2.0;
real_T c6_nargout = 1.0;
real_T c6_u_ctrl_out;
real_T c6_varargin_1;
real_T c6_varargin_2;
real_T c6_b_varargin_2;
real_T c6_varargin_3;
real_T c6_x;
real_T c6_y;
real_T c6_b_x;
real_T c6_b_y;
real_T c6_xk;
real_T c6_yk;
real_T c6_c_x;
real_T c6_c_y;
real_T c6_b_varargin_1;
real_T c6_c_varargin_2;
real_T c6_d_varargin_2;
real_T c6_b_varargin_3;
real_T c6_d_x;
real_T c6_d_y;
real_T c6_e_x;
real_T c6_e_y;
real_T c6_b_xk;
real_T c6_b_yk;
real_T c6_f_x;
real_T c6_f_y;
real_T *c6_b_u_ctrl;
real_T *c6_b_u_ctrl_out;
real_T (*c6_b_U_bounds)[2];
c6_b_U_bounds = (real_T (*)[2])ssGetInputPortSignal(chartInstance->S, 1);
c6_b_u_ctrl_out = (real_T *)ssGetOutputPortSignal(chartInstance->S, 1);
c6_b_u_ctrl = (real_T *)ssGetInputPortSignal(chartInstance->S, 0);
_sfTime_ = (real_T)ssGetT(chartInstance->S);
_SFD_CC_CALL(CHART_ENTER_SFUNCTION_TAG, 5U, chartInstance->c6_sfEvent);
_SFD_DATA_RANGE_CHECK(*c6_b_u_ctrl, 0U);
_SFD_DATA_RANGE_CHECK(*c6_b_u_ctrl_out, 1U);
for (c6_i0 = 0; c6_i0 < 2; c6_i0++) {
_SFD_DATA_RANGE_CHECK((*c6_b_U_bounds)[c6_i0], 2U);
}
chartInstance->c6_sfEvent = CALL_EVENT;
_SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG, 5U, chartInstance->c6_sfEvent);
c6_hoistedGlobal = *c6_b_u_ctrl;
c6_u_ctrl = c6_hoistedGlobal;
for (c6_i1 = 0; c6_i1 < 2; c6_i1++) {
c6_U_bounds[c6_i1] = (*c6_b_U_bounds)[c6_i1];
}
_SFD_SYMBOL_SCOPE_PUSH_EML(0U, 6U, 6U, c6_debug_family_names,
c6_debug_family_var_map);
_SFD_SYMBOL_SCOPE_ADD_EML(&c6_i, 0U, c6_sf_marshallOut);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c6_nargin, 1U, c6_sf_marshallOut,
c6_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c6_nargout, 2U, c6_sf_marshallOut,
c6_sf_marshallIn);
_SFD_SYMBOL_SCOPE_ADD_EML(&c6_u_ctrl, 3U, c6_sf_marshallOut);
_SFD_SYMBOL_SCOPE_ADD_EML(c6_U_bounds, 4U, c6_b_sf_marshallOut);
_SFD_SYMBOL_SCOPE_ADD_EML_IMPORTABLE(&c6_u_ctrl_out, 5U, c6_sf_marshallOut,
c6_sf_marshallIn);
CV_EML_FCN(0, 0);
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 9);
c6_u_ctrl_out = c6_u_ctrl;
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 11);
CV_EML_IF(0, 1, 0, FALSE);
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 17);
c6_i = 1.0;
CV_EML_FOR(0, 1, 0, 1);
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 18);
c6_varargin_1 = c6_u_ctrl;
c6_varargin_2 = c6_U_bounds[0];
c6_b_varargin_2 = c6_varargin_1;
c6_varargin_3 = c6_varargin_2;
c6_x = c6_b_varargin_2;
c6_y = c6_varargin_3;
c6_b_x = c6_x;
c6_b_y = c6_y;
c6_eml_scalar_eg(chartInstance);
c6_xk = c6_b_x;
c6_yk = c6_b_y;
c6_c_x = c6_xk;
c6_c_y = c6_yk;
c6_eml_scalar_eg(chartInstance);
c6_u_ctrl_out = muDoubleScalarMax(c6_c_x, c6_c_y);
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, 19);
c6_b_varargin_1 = c6_u_ctrl;
c6_c_varargin_2 = c6_U_bounds[1];
c6_d_varargin_2 = c6_b_varargin_1;
c6_b_varargin_3 = c6_c_varargin_2;
c6_d_x = c6_d_varargin_2;
c6_d_y = c6_b_varargin_3;
c6_e_x = c6_d_x;
c6_e_y = c6_d_y;
c6_eml_scalar_eg(chartInstance);
c6_b_xk = c6_e_x;
c6_b_yk = c6_e_y;
c6_f_x = c6_b_xk;
c6_f_y = c6_b_yk;
c6_eml_scalar_eg(chartInstance);
c6_u_ctrl_out = muDoubleScalarMin(c6_f_x, c6_f_y);
CV_EML_FOR(0, 1, 0, 0);
_SFD_EML_CALL(0U, chartInstance->c6_sfEvent, -19);
_SFD_SYMBOL_SCOPE_POP();
*c6_b_u_ctrl_out = c6_u_ctrl_out;
_SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG, 5U, chartInstance->c6_sfEvent);
_SFD_CHECK_FOR_STATE_INCONSISTENCY(_TTR_mdlMachineNumber_,
chartInstance->chartNumber, chartInstance->instanceNumber);
}
/* Function Definitions */
void clcPMP_olyHyb_tmp(const emlrtStack *sp, real_T engKinPre, real_T engKinAct,
real_T gea, real_T slp, real_T batEng, real_T psiBatEng, real_T psiTim, real_T
batPwrAux, real_T batEngStp, real_T wayStp, const struct0_T *par, real_T
*cosHamMin, real_T *batFrcOut, real_T *fulFrcOut)
{
real_T mtmp;
real_T vehVel;
real_T b_engKinPre[2];
real_T crsSpdVec[2];
int32_T i18;
int32_T k;
boolean_T y;
boolean_T exitg3;
boolean_T exitg2;
real_T crsSpd;
real_T whlTrq;
real_T crsTrq;
real_T iceTrqMax;
real_T iceTrqMin;
real_T b_par[100];
real_T emoTrqMaxPos;
real_T emoTrqMinPos;
real_T emoTrqMax;
real_T emoTrqMin;
real_T batPwrMax;
real_T batPwrMin;
real_T batOcv;
real_T batEngDltMin;
real_T batEngDltMax;
real_T batEngDltMinInx;
real_T batEngDltMaxInx;
real_T batEngDlt;
real_T fulFrc;
real_T batFrc;
real_T b_batFrc;
real_T batPwr;
real_T emoTrq;
real_T iceTrq;
real_T fulPwr;
int32_T ixstart;
int32_T itmp;
int32_T ix;
boolean_T exitg1;
emlrtStack st;
emlrtStack b_st;
st.prev = sp;
st.tls = sp->tls;
b_st.prev = &st;
b_st.tls = st.tls;
/* CLCPMP Minimizing Hamiltonian: Co-States for soc and time */
/* Erstellungsdatum der ersten Version 19.08.2015 - Stephan Uebel */
/* */
/* Batterieleistungsgrenzen hinzugefügt am 13.12.2015 */
/* ^^added battery power limit */
/* */
/* Massenaufschlag durch Trägheitsmoment herausgenommen */
/* ^^Mass increment removed by inertia */
/* */
/* % Inputdefinition */
/* */
/* engKinPre - Double(1,1) - kinetische Energie am Intervallanfang in J */
/* ^^ kinetic energy at start of interval (J) */
/* engKinAct - Double(1,1) - kinetische Energie am Intervallende in J */
/* ^^ kinetic energe at end of interval (J) */
/* gea - Double(1,1) - Gang */
/* ^^ gear */
/* slp - Double(1,1) - Steigung in rad */
/* ^^ slope in radians */
/* iceFlg - Boolean(1,1) - Flag für Motorzustand */
/* ^^ flag for motor condition */
/* batEng - Double(1,1) - Batterieenergie in J */
/* ^^ battery energy (J) */
/* psibatEng - Double(1,1) - Costate für Batterieenergie ohne Einheit */
/* ^^ costate for battery energy w/o unity */
/* psiTim - Double(1,1) - Costate für die Zeit ohne Einheit */
/* ^^ costate for time without unity */
/* batPwrAux - Double(1,1) - elektr. Nebenverbraucherleistung in W */
/* ^^ electric auxiliary power consumed (W) */
/* batEngStp - Double(1,1) - Drehmomentschritt */
/* ^^ torque step <- no, it's a battery step */
/* wayStp - Double(1,1) - Intervallschrittweite in m */
/* ^^ interval step distance (m) */
/* par - Struct(1,1) - Modelldaten */
/* ^^ model data */
/* % Initialisieren der Ausgabe der Funktion */
/* initializing function output */
/* Ausgabewert des Minimums der Hamiltonfunktion */
/* output for minimizing the hamiltonian */
*cosHamMin = rtInf;
/* Batterieladungsänderung im Wegschritt beir minimaler Hamiltonfunktion */
/* battery change in path_idx step with the minial hamiltonian */
*batFrcOut = rtInf;
/* Kraftstoffkraftänderung im Wegschritt bei minimaler Hamiltonfunktion */
/* fuel change in path_idx step with the minimal hamiltonian */
*fulFrcOut = 0.0;
/* % Initialisieren der persistent Größen */
/* initialize the persistance variables */
/* Diese werden die nur einmal für die Funktion berechnet */
/* only calculated once for the function */
if (!crsSpdHybMax_not_empty) {
/* maximale Drehzahl Elektrommotor */
/* maximum electric motor rotational speed */
/* maximale Drehzahl der Kurbelwelle */
/* maximum crankshaft rotational speed */
crsSpdHybMax = muDoubleScalarMin(par->iceSpdMgd[14850], par->emoSpdMgd[14850]);
crsSpdHybMax_not_empty = true;
/* minimale Drehzahl der Kurbelwelle */
/* minimum crankshaft rotational speed */
crsSpdHybMin = par->iceSpdMgd[0];
}
/* % Initialisieren der allgemein benötigten Kenngrößen */
/* initializing the commonly required parameters */
/* mittlere kinetische Energie im Wegschritt berechnen */
/* define the average kinetic energy at path_idx step - is just previous KE */
/* mittlere Geschwindigkeit im Wegschritt berechnen */
/* define the average speed at path_idx step */
mtmp = 2.0 * engKinPre / par->vehMas;
st.site = &g_emlrtRSI;
if (mtmp < 0.0) {
b_st.site = &h_emlrtRSI;
eml_error(&b_st);
}
vehVel = muDoubleScalarSqrt(mtmp);
/* % vorzeitiger Funktionsabbruch? */
/* premature function termination? */
/* Drehzahl der Kurbelwelle und Grenzen */
/* crankshaft speed and limits */
/* Aus den kinetischen Energien des Fahrzeugs wird über die Raddrehzahl */
/* und die übersetzung vom Getriebe die Kurbelwellendrehzahl berechnet. */
/* Zeilenrichtung entspricht den Gängen. (Zeilenvektor) */
/* from the vehicle's kinetic energy, the crankshaft speed is calculated */
/* by the speed and gearbox translation. Line direction corresponding to */
/* the aisles (row rector). EQUATION 1 */
b_engKinPre[0] = engKinPre;
b_engKinPre[1] = engKinAct;
for (i18 = 0; i18 < 2; i18++) {
crsSpdVec[i18] = 2.0 * b_engKinPre[i18] / par->vehMas;
}
st.site = &f_emlrtRSI;
for (k = 0; k < 2; k++) {
if (crsSpdVec[k] < 0.0) {
b_st.site = &h_emlrtRSI;
eml_error(&b_st);
}
}
for (k = 0; k < 2; k++) {
crsSpdVec[k] = muDoubleScalarSqrt(crsSpdVec[k]);
}
i18 = par->geaRat->size[1];
k = (int32_T)gea;
emlrtDynamicBoundsCheckR2012b(k, 1, i18, &mb_emlrtBCI, sp);
mtmp = par->geaRat->data[(int32_T)gea - 1];
for (i18 = 0; i18 < 2; i18++) {
crsSpdVec[i18] = mtmp * crsSpdVec[i18] / par->whlDrr;
}
/* Abbruch, wenn die Drehzahlen der Kurbelwelle zu hoch im hybridischen */
/* Modus */
/* stop if the crankshaft rotatoinal speed is too high in hybrid mode */
y = false;
k = 0;
exitg3 = false;
while ((!exitg3) && (k < 2)) {
if (!!(crsSpdVec[k] > crsSpdHybMax)) {
y = true;
exitg3 = true;
} else {
k++;
}
}
if (y) {
} else {
/* Falls die Drehzahl des Verbrennungsmotors niedriger als die */
/* Leerlaufdrehzahl ist, */
/* stop if crankhaft rotional speed is lower than the idling speed */
y = false;
k = 0;
exitg2 = false;
while ((!exitg2) && (k < 2)) {
if (!!(crsSpdVec[k] < crsSpdHybMin)) {
y = true;
exitg2 = true;
} else {
k++;
}
}
if (y) {
} else {
/* Prüfen, ob die Drehzahlgrenze des Elektromotors eingehalten wird */
/* check if electric motor speed limit is maintained */
/* mittlere Kurbelwellendrehzahlen berechnen */
/* calculate average crankshaft rotational speed */
/* - really just selecting the previous path_idx KE crankshaft speed */
crsSpd = crsSpdVec[0];
/* % Längsdynamik berechnen */
/* calculate longitundinal dynamics */
/* Es wird eine konstante Beschleunigung angenommen, die im Wegschritt */
/* wayStp das Fahrzeug von velPre auf velAct beschleunigt. */
/* constant acceleration assumed when transitioning from velPre to velAct */
/* for the selected wayStp path_idx step distance */
/* Berechnen der konstanten Beschleunigung */
/* calculate the constant acceleration */
/* Aus der mittleren kinetischen Energie im Intervall, der mittleren */
/* Steigung und dem Gang lässt sich über die Fahrwiderstandsgleichung */
/* die nötige Fahrwiderstandskraft berechnen, die aufgebracht werden */
/* muss, um diese zu realisieren. */
/* from the (avg) kinetic energy in the interval, the (avg) slope and */
/* transition can calculate the necessary traction force on the driving */
/* resistance equation (PART OF EQUATION 5) */
/* Steigungskraft aus der mittleren Steigung berechnen (Skalar) */
/* gradiant force from the calculated (average) gradient */
/* Rollreibungskraft berechnen (Skalar) */
/* calculated rolling friction force - not included in EQ 5??? */
/* Luftwiderstandskraft berechnen (2*c_a/m * E_kin) (Skalar) */
/* calculated air resistance force */
/* % Berechnung der minimalen kosten der Hamiltonfunktion */
/* Calculating the minimum cost of the Hamiltonian */
/* % Berechnen der Kraft am Rad für Antriebsstrangmodus */
/* calculate the force on the wheel for the drivetrain mode */
/* % dynamische Fahrzeugmasse bei Fahrzeugmotor an berechnen. Das */
/* % heißt es werden Trägheitsmoment von Verbrennungsmotor, */
/* % Elektromotor und Rädern mit einbezogen. */
/* calculate dynamic vehicle mass with the vehicle engine (with the moment */
/* of intertia of the ICE, electric motor, and wheels) */
/* vehMasDyn = (par.iceMoi_geaRat(gea) +... */
/* par.emoGeaMoi_geaRat(gea) + par.whlMoi)/par.whlDrr^2 ... */
/* + par.vehMas; */
/* Radkraft berechnen (Beschleunigungskraft + Steigungskraft + */
/* Rollwiderstandskraft + Luftwiderstandskraft) */
/* caluclating wheel forces (accerlation force + gradient force + rolling */
/* resistance + air resistance) EQUATION 5 */
/* % Getriebeübersetzung und -verlust */
/* gear ratio and loss */
/* Das Drehmoment des Rades ergibt sich über den Radhalbmesser aus */
/* der Fahrwiderstandskraft. */
/* the weel torque is obtained from the wheel radius of the rolling */
/* resistance force (torque = force * distance (in this case, radius) */
whlTrq = ((((engKinAct - engKinPre) / (par->vehMas * wayStp) * par->vehMas
+ par->vehMas * 9.81 * muDoubleScalarSin(slp)) +
par->whlRolResCof * par->vehMas * 9.81 * muDoubleScalarCos(slp))
+ 2.0 * par->drgCof / par->vehMas * engKinPre) * par->whlDrr;
/* Berechnung des Kurbelwellenmoments */
/* Hier muss unterschieden werden, ob das Radmoment positiv oder */
/* negativ ist, da nur ein einfacher Wirkungsgrad für das Getriebe */
/* genutzt wird */
/* it's important to determine sign of crankshaft torque (positive or */
/* negative), since only a simple efficiency is used for the transmission */
/* PART OF EQ4 <- perhaps reversed? not too sure */
if (whlTrq < 0.0) {
i18 = par->geaRat->size[1];
k = (int32_T)gea;
emlrtDynamicBoundsCheckR2012b(k, 1, i18, &nb_emlrtBCI, sp);
crsTrq = whlTrq / par->geaRat->data[(int32_T)gea - 1] * par->geaEfy;
} else {
i18 = par->geaRat->size[1];
k = (int32_T)gea;
emlrtDynamicBoundsCheckR2012b(k, 1, i18, &ob_emlrtBCI, sp);
crsTrq = whlTrq / par->geaRat->data[(int32_T)gea - 1] / par->geaEfy;
}
/* % Verbrennungsmotor */
/* internal combustion engine */
/* maximales Moment des Verbrennungsmotors berechnen */
/* calculate max torque of the engine (quadratic based on rotation speed) */
iceTrqMax = (par->iceTrqMaxCof[0] * (crsSpdVec[0] * crsSpdVec[0]) +
par->iceTrqMaxCof[1] * crsSpdVec[0]) + par->iceTrqMaxCof[2];
/* minimales Moment des Verbrennungsmotors berechnen */
/* calculating mimimum ICE moment */
iceTrqMin = (par->iceTrqMinCof[0] * (crsSpdVec[0] * crsSpdVec[0]) +
par->iceTrqMinCof[1] * crsSpdVec[0]) + par->iceTrqMinCof[2];
/* % Elektromotor */
/* electric motor */
/* maximales Moment, dass die E-Maschine liefern kann */
/* max torque that the electric motor can provide - from interpolation */
/* emoTrqMaxPos = ... */
/* lininterp1(par.emoSpdMgd(1,:)',par.emoTrqMax_emoSpd,crsSpd); */
for (i18 = 0; i18 < 100; i18++) {
b_par[i18] = par->emoSpdMgd[150 * i18];
}
emoTrqMaxPos = interp1q(b_par, par->emoTrqMax_emoSpd, crsSpdVec[0]);
/* Die gültigen Kurbelwellenmomente müssen kleiner sein als das */
/* Gesamtmoment von E-Motor und Verbrennungsmotor */
/* The valid crankshaft moments must be less than the total moment of the */
/* electric motor and the ICE.Otherwise, leave the function */
if (crsTrq > iceTrqMax + emoTrqMaxPos) {
} else {
/* % %% Optimaler Momentensplit - Minimierung der Hamiltonfunktion */
/* optimum torque split - minimizing the Hamiltonian */
/* Die Vorgehensweise ist ähnlich wie bei der ECMS. Es wird ein Vektor der */
/* möglichen Batterieenergieänderungen aufgestellt. Aus diesen lässt sich */
/* eine Batterieklemmleistung berechnen. Aus der über das */
/* Kurbelwellenmoment, ein Elektromotormoment berechnet werden kann. */
/* Über das geforderte Kurbelwellenmoment, kann für jedes Moment des */
/* Elektromotors ein Moment des Verbrennungsmotors gefunden werden. Für */
/* jedes Momentenpaar kann die Hamiltonfunktion berechnet werden. */
/* Ausgegeben wird der minimale Wert der Hamiltonfunktion und die */
/* durch das dabei verwendete Elektromotormoment verursachte */
/* Batterieladungsänderung. */
/* The procedure is similar to ECMS. It's based on a vector of possible */
/* battery energy changes, from which a battery terminal power can be */
/* calculated. */
/* From the crankshaft torque, an electric motor torque can be */
/* calculated, and an engine torque can be found for every electric motor */
/* moment. */
/* For every moment-pair the Hamiltonian can be calculated. It */
/* outputs the minimum Hamilotnian value and the battery charge change */
/* caused by the electric motor torque used. */
/* % Elektromotor - Aufstellen des Batterienergievektors */
/* electric motor - positioning the battery energy vectors */
if (batEngStp > 0.0) {
/* Skalar - änderung der minimalen Batterieenergieänderung */
/* Skalar - änderung der maximalen Batterieenergieänderung */
/* FUNCTION CALL */
/* Skalar - Wegschrittweite */
/* Skalar - mittlere Geschwindigkeit im Intervall */
/* Skalar - Nebenverbraucherlast */
/* Skalar - Batterieenergie */
/* struct - Fahrzeugparameter */
/* Skalar - crankshaft rotational speed */
/* Skalar - crankshaft torque */
/* Skalar - min ICE torque allowed */
/* Skalar - max ICE torque allowed */
/* Skalar - max EM torque possible */
st.site = &e_emlrtRSI;
/* Skalar - änderung der minimalen Batterieenergieänderung */
/* Skalar - änderung der maximalen Batterieenergieänderung */
/* Skalar - Wegschrittweite */
/* Skalar - Geschwindigkeit im Intervall */
/* Skalar - Nebenverbraucherlast */
/* Skalar - Batterieenergie */
/* struct - Fahrzeugparameter */
/* Skalar - crankshaft rotational speed */
/* Skalar - crankshaft torque */
/* Skalar - min ICE torque allowed */
/* Skalar - max ICE torque */
/* Skalar - max EM torque possible */
/* BatEngDltClc Calculates the change in battery energy */
/* */
/* Erstellungsdatum der ersten Version 17.11.2015 - Stephan Uebel */
/* Berechnung der Verluste des Elektromotors bei voller rein elektrischer */
/* Fahrt (voller Lastpunktabsenkung) und bei voller Lastpunktanhebung */
/* Calculations of loss of electric motor at purely full electric */
/* Driving (full load point lowering) and at full load point raising */
/* */
/* Version vom 17.02.2016: Keine Einbeziehung von Rotationsmassen */
/* ^^ No inclusion of rotational masses */
/* */
/* Version vom 25.05.2016: Zero-Order-Hold (keine mittlere Geschwindigkeit) */
/* ^^ Zero-Order-Hold (no average velocities) */
/* % Initialisieren der Ausgabe der Funktion */
/* initializing the function output (delta battery_energy min and max) */
/* % Elektromotor */
/* minimales Moment, dass die E-Maschine liefern kann */
/* minimum moment that the EM can provide (max is an input to function) */
/* emoTrqMinPos = ... */
/* lininterp1(par.emoSpdMgd(1,:)',par.emoTrqMin_emoSpd,crsSpd); */
for (i18 = 0; i18 < 100; i18++) {
b_par[i18] = par->emoSpdMgd[150 * i18];
}
emoTrqMinPos = interp1q(b_par, par->emoTrqMin_emoSpd, crsSpdVec[0]);
/* % Verbrennungsmotor berechnen */
/* Durch EM zu lieferndes Kurbelwellenmoment */
/* crankshaft torque to be delivered by the electric motor (min and max) */
emoTrqMax = crsTrq - iceTrqMin;
emoTrqMin = crsTrq - iceTrqMax;
/* % Elektromotor berechnen */
/* calculate the electric motor */
if (emoTrqMaxPos < emoTrqMax) {
/* Moment des Elektromotors bei maximaler Entladung der Batterie */
/* EM torque at max battery discharge */
emoTrqMax = emoTrqMaxPos;
}
if (emoTrqMaxPos < emoTrqMin) {
/* Moment des Elektromotors bei minimaler Entladung der Batterie */
/* EM torque at min battery discharge */
emoTrqMin = emoTrqMaxPos;
}
emoTrqMax = muDoubleScalarMax(emoTrqMinPos, emoTrqMax);
emoTrqMin = muDoubleScalarMax(emoTrqMinPos, emoTrqMin);
/* % Berechnung der änderung der Batterieladung */
/* calculating the change in battery charge */
/* Interpolation der benötigten Batterieklemmleistung für das */
/* EM-Moment. Stellen die nicht definiert sind, werden mit inf */
/* ausgegeben. Positive Werte entsprechen entladen der Batterie. */
/* interpolating the required battery terminal power for the EM torque. */
/* Assign undefined values to inf. Positive values coresspond with battery */
/* discharge. */
/* batPwrMax = lininterp2(par.emoSpdMgd(1,:),par.emoTrqMgd(:,1),... */
/* par.emoPwr_emoSpd_emoTrq',crsSpd,emoTrqMax) + batPwrAux; */
/* */
/* batPwrMin = lininterp2(par.emoSpdMgd(1,:),par.emoTrqMgd(:,1),... */
/* par.emoPwr_emoSpd_emoTrq',crsSpd,emoTrqMin) + batPwrAux; */
b_st.site = &i_emlrtRSI;
batPwrMax = codegen_interp2(&b_st, par->emoSpdMgd, par->emoTrqMgd,
par->emoPwr_emoSpd_emoTrq, crsSpdVec[0], emoTrqMax) + batPwrAux;
b_st.site = &j_emlrtRSI;
batPwrMin = codegen_interp2(&b_st, par->emoSpdMgd, par->emoTrqMgd,
par->emoPwr_emoSpd_emoTrq, crsSpdVec[0], emoTrqMin) + batPwrAux;
/* überprüfen, ob Batterieleistung möglich */
/* make sure that current battery max power is not above bat max bounds */
if (batPwrMax > par->batPwrMax) {
batPwrMax = par->batPwrMax;
}
/* überprüfen, ob Batterieleistung möglich */
/* make sure that current battery min power is not below bat min bounds */
if (batPwrMin > par->batPwrMax) {
batPwrMin = par->batPwrMax;
}
/* Es kann vorkommen, dass mehr Leistung gespeist werden soll, als */
/* möglich ist. */
/* double check that the max and min still remain within the other bounds */
if (batPwrMax < par->batPwrMin) {
batPwrMax = par->batPwrMin;
}
if (batPwrMin < par->batPwrMin) {
batPwrMin = par->batPwrMin;
}
/* Batteriespannung aus Kennkurve berechnen */
/* calculating battery voltage of characteristic curve - eq?-------------- */
batOcv = batEng * par->batOcvCof_batEng[0] + par->batOcvCof_batEng[1];
/* FUNCTION CALL - min delta bat.energy */
/* Skalar - Batterieklemmleistung */
/* Skalar - mittlere Geschwindigkeit im Intervall */
/* Skalar - Entladewiderstand */
/* Skalar - Ladewiderstand */
/* Skalar - battery open-circuit voltage */
batEngDltMin = batFrcClc_tmp(batPwrMax, vehVel, par->batRstDch,
par->batRstChr, batOcv) * wayStp;
/* <-multiply by delta_S */
/* FUNCTION CALL - max delta bat.energy */
/* Skalar - Batterieklemmleistung */
/* Skalar - mittlere Geschwindigkeit im Intervall */
/* Skalar - Entladewiderstand */
/* Skalar - Ladewiderstand */
/* Skalar - battery open-circuit voltage */
batEngDltMax = batFrcClc_tmp(batPwrMin, vehVel, par->batRstDch,
par->batRstChr, batOcv) * wayStp;
/* Es werden 2 Fälle unterschieden: */
/* there are 2 different cases */
if ((batEngDltMin > 0.0) && (batEngDltMax > 0.0)) {
/* %% konventionelles Bremsen + Rekuperieren */
/* conventional brakes + recuperation */
/* */
/* set change in energy to discretized integer values w/ ceil and */
/* floor. This also helps for easy looping */
/* Konventionelles Bremsen wird ebenfalls untersucht. */
/* Hier liegt eventuell noch Beschleunigungspotential, da diese */
/* Zustandswechsel u.U. ausgeschlossen werden können. */
/* NOTE: u.U. = unter Ümständen = circumstances permitting */
/* convetional breaks also investigated. An accelerating potential */
/* is still possible, as these states can be excluded */
/* (circumstances permitting) <- ??? not sure what above means */
/* */
/* so if both min and max changes in battery energy are */
/* increasing, then set the delta min to zero */
batEngDltMinInx = 0.0;
batEngDltMaxInx = muDoubleScalarFloor(batEngDltMax / batEngStp);
} else {
batEngDltMinInx = muDoubleScalarCeil(batEngDltMin / batEngStp);
batEngDltMaxInx = muDoubleScalarFloor(batEngDltMax / batEngStp);
}
} else {
batEngDltMinInx = 0.0;
batEngDltMaxInx = 0.0;
}
/* you got a larger min chnage and a max change, you're out of bounds. Leave */
/* the function */
if (batEngDltMaxInx < batEngDltMinInx) {
} else {
/* % Schleife über alle Elektromotormomente */
/* now loop through all the electric-motor torques */
i18 = (int32_T)(batEngDltMaxInx + (1.0 - batEngDltMinInx));
emlrtForLoopVectorCheckR2012b(batEngDltMinInx, 1.0, batEngDltMaxInx,
mxDOUBLE_CLASS, i18, &o_emlrtRTEI, sp);
k = 0;
while (k <= i18 - 1) {
batEngDlt = (batEngDltMinInx + (real_T)k) * batEngStp;
/* open circuit voltage over each iteration */
batOcv = (batEng + batEngDlt) * par->batOcvCof_batEng[0] +
par->batOcvCof_batEng[1];
/* Skalar für die Batterieleistung in W */
/* Skalar Krafstoffkraft in N */
/* FUNCTION CALL */
/* Skalar für die Wegschrittweite in m, */
/* Skalar - vehicular velocity */
/* Nebenverbraucherlast */
/* Skalar - battery open circuit voltage */
/* Skalar - Batterieenergie�nderung, */
/* Skalar - crankshaft speed at given path_idx */
/* Skalar - crankshaft torque at given path_idx */
/* Skalar - min ICE torque allowed */
/* Skalar - max ICE torque */
/* struct der Fahrzeugparameter */
st.site = &d_emlrtRSI;
/* Skalar für die Batterieleistung */
/* Skalar Kraftstoffkraft */
/* Skalar für die Wegschrittweite in m */
/* vehicular velocity */
/* Nebenverbraucherlast */
/* Skalar - battery open circuit voltage */
/* Skalar - Batterieenergieänderung */
/* Skalar - crankshaft speed at given path_idx */
/* Skalar - crankshaft torque at given path_idx */
/* Skalar - min ICE torque allowed */
/* Skalar - max ICE torque */
/* struct der Fahrzeugparameter */
/* */
/* FULENGCLC Calculating fuel consumption */
/* Erstellungsdatum der ersten Version 04.09.2015 - Stephan Uebel */
/* */
/* Diese Funktion berechnet den Kraftstoffverbrauch für einen gegebenen */
/* Wegschritt der kinetischen Energie, der Batterieenergie und des */
/* Antriebsstrangzustands über dem Weg. */
/* this function calculates fuel consumption for a given route step of */
/* KE, the battery energy, and drivetrain state of the current path_idx */
/* */
/* Version vom 17.02.2016 : Rotationsmassen vernachlässigt */
/* ^^ neglected rotatary masses */
/* */
/* Version vom 25.05.2016: Zero-Order-Hold (keine mittlere Geschwindigkeit) */
/* */
/* version from 1.06.2016 - removed crsTrq calulations - they are already */
/* done in parent function (clcPMP_olHyb_tmp) and do not change w/ each */
/* iteration, making the caluclation here unnecessary */
/* % Initialisieren der Ausgabe der Funktion */
/* initializing function output */
/* Skalar - electric battery power (W) */
fulFrc = rtInf;
/* Skalar - fuel force intialization (N) */
/* % Batterie */
/* Batterieenergieänderung über dem Weg (Batteriekraft) */
/* Change in battery energy over the path_idx way (ie battery power) */
batFrc = batEngDlt / wayStp;
/* Fallunterscheidung, ob Batterie geladen oder entladen wird */
/* Case analysis - check if battery is charging or discharging. Set */
/* resistance accordingly */
/* elektrische Leistung des Elektromotors */
/* electric power from electric motor - DERIVATION? dunno */
/* innere Batterieleistung / internal batt power */
/* dissipat. Leist. / dissipated */
if (batFrc < 0.0) {
b_batFrc = par->batRstDch;
} else {
b_batFrc = par->batRstChr;
}
batPwr = (-batFrc * vehVel - batFrc * batFrc * (vehVel * vehVel) /
(batOcv * batOcv) * b_batFrc) - batPwrAux;
/* Nebenverbrauchlast / auxiliary power */
/* % Elektromotor */
/* Ermitteln des Kurbelwellenmoments durch EM aus Batterieleistung */
/* determine crankshaft torque cauesd by EM's battery power */
/* switching out codegen_interp2 for lininterp2-just might work! */
/* */
b_st.site = &k_emlrtRSI;
emoTrq = codegen_interp2(&b_st, par->emoSpdMgd, par->emoPwrMgd,
par->emoTrq_emoSpd_emoPwr, crsSpd, batPwr);
/* emoTrq = lininterp2(par.emoSpdMgd(1,:), par.emoPwrMgd(:,1),... */
/* par.emoTrq_emoSpd_emoPwr',crsSpd,emoPwrEle); */
if (muDoubleScalarIsInf(emoTrq)) {
} else {
/* Grenzen des Elektromotors müssen hier nicht überprüft werden, da die */
/* Ladungsdeltas schon so gewählt wurden, dass das maximale Motormoment */
/* nicht überstiegen wird. */
/* Electric motor limits need not be checked here, since the charge deltas */
/* have been chosen so that the max torque is not exceeded. */
/* % Verbrennungsmotor */
/* Ermitteln des Kurbelwellenmoments durch den Verbrennungsmotor */
/* Determining the crankshaft moment from the ICE */
iceTrq = crsTrq - emoTrq;
/* Wenn das Verbrennungsmotormoment kleiner als das minimale */
/* Moment ist, ist dieser in der Schubabschaltung. Das */
/* verbleibende Moment liefern die Bremsen */
/* If engine torque is less than the min torque, fuel is cut. The */
/* remaining torque is deliver the brakes. */
if (iceTrq < iceTrqMin) {
fulPwr = 0.0;
} else if (iceTrq > iceTrqMax) {
fulPwr = rtInf;
} else {
/* replacing another coden_interp2 */
b_st.site = &l_emlrtRSI;
fulPwr = codegen_interp2(&b_st, par->iceSpdMgd, par->iceTrqMgd,
par->iceFulPwr_iceSpd_iceTrq, crsSpd, iceTrq);
/* fulPwr = lininterp2(par.iceSpdMgd(1,:), par.iceTrqMgd(:,1), ... */
/* par.iceFulPwr_iceSpd_iceTrq', crsSpd, iceTrq); */
}
/* Berechnen der Kraftstoffkraft */
/* calculate fuel force */
fulFrc = fulPwr / vehVel;
/* Berechnen der Kraftstoffvolumenänderung */
/* caluclate change in fuel volume - energy, no? */
/* % Ende der Funktion */
}
/* FUNCTION CALL */
/* Skalar - Batterieklemmleistung */
/* Skalar - mittlere Geschwindigkeit im Intervall */
/* Skalar - Entladewiderstand */
/* Skalar - Ladewiderstand */
/* Skalar - battery open circuit voltage */
batFrc = batFrcClc_tmp(batPwr, vehVel, par->batRstDch,
par->batRstChr, batOcv);
/* %% Hamiltonfunktion bestimmen */
/* determine the hamiltonian */
/* Eq (29b) */
crsSpdVec[0] = (fulFrc + psiBatEng * batFrc) + psiTim / vehVel;
ixstart = 1;
mtmp = crsSpdVec[0];
itmp = 1;
if (muDoubleScalarIsNaN(crsSpdVec[0])) {
ix = 2;
exitg1 = false;
while ((!exitg1) && (ix < 3)) {
ixstart = 2;
if (!muDoubleScalarIsNaN(*cosHamMin)) {
mtmp = *cosHamMin;
itmp = 2;
exitg1 = true;
} else {
ix = 3;
}
}
}
if ((ixstart < 2) && (*cosHamMin < mtmp)) {
mtmp = *cosHamMin;
itmp = 2;
}
*cosHamMin = mtmp;
/* Wenn der aktuelle Punkt besser ist, als der in cosHamMin */
/* gespeicherte Wert, werden die Ausgabegrößen neu beschrieben. */
/* if the current point is better than the stored cosHamMin value, */
/* then the output values are rewritten (selected prev. value is = 2) */
if (itmp == 1) {
*batFrcOut = batFrc;
*fulFrcOut = fulFrc;
}
k++;
if (*emlrtBreakCheckR2012bFlagVar != 0) {
emlrtBreakCheckR2012b(sp);
}
}
}
}
}
}
/* end of function */
}
/* Function Definitions */
void NewtonRaphsonFR2dof(const emlrtStack *sp, real_T tol, real_T m1, real_T m2,
real_T c1, real_T c2, real_T k1, real_T k2, real_T beta, real_T fc11, real_T
fc12, real_T fc21, real_T fc22, real_T fMin, real_T fMax, real_T
numAmplSamples, real_T numPulsSamples, real_T aMax, real_T maxIter,
emxArray_real_T *Amplitude1FR, emxArray_real_T *Amplitude2FR, emxArray_real_T *
A1amplitudeFR, emxArray_real_T *A2amplitudeFR, emxArray_real_T *B1amplitudeFR,
emxArray_real_T *B2amplitudeFR, emxArray_real_T *W)
{
real_T kd;
real_T d;
real_T b;
int32_T n;
real_T anew;
real_T apnd;
boolean_T n_too_large;
real_T ndbl;
real_T cdiff;
real_T absa;
real_T absb;
int32_T k;
int32_T nm1d2;
real_T b_kd;
int32_T i;
int32_T j;
real_T b_n;
real_T amplitude1[2];
real_T amplitude2[2];
real_T F[4];
int32_T exitg1;
real_T scale;
real_T absxk;
real_T t;
real_T delta[4];
real_T dv0[16];
real_T dv1[16];
int32_T b_j;
int32_T c_n;
int32_T c_j;
int32_T d_n;
int32_T d_j;
int32_T e_n;
int32_T e_j;
int32_T f_n;
int32_T f_j;
int32_T g_n;
int32_T g_j;
int32_T h_n;
emlrtStack st;
emlrtStack b_st;
emlrtStack c_st;
st.prev = sp;
st.tls = sp->tls;
st.site = &emlrtRSI;
b_st.prev = &st;
b_st.tls = st.tls;
c_st.prev = &b_st;
c_st.tls = b_st.tls;
kd = fMin * 2.0 * 3.1415926535897931;
d = (fMax - fMin) / (numPulsSamples - 1.0) * 2.0 * 3.1415926535897931;
b = fMax * 2.0 * 3.1415926535897931;
b_st.site = &e_emlrtRSI;
if (muDoubleScalarIsNaN(kd) || muDoubleScalarIsNaN(d) || muDoubleScalarIsNaN(b))
{
n = 0;
anew = rtNaN;
apnd = b;
n_too_large = false;
} else if ((d == 0.0) || ((kd < b) && (d < 0.0)) || ((b < kd) && (d > 0.0))) {
n = -1;
anew = kd;
apnd = b;
n_too_large = false;
} else if (muDoubleScalarIsInf(kd) || muDoubleScalarIsInf(b)) {
n = 0;
anew = rtNaN;
apnd = b;
if (muDoubleScalarIsInf(d) || (kd == b)) {
n_too_large = true;
} else {
n_too_large = false;
}
n_too_large = !n_too_large;
} else if (muDoubleScalarIsInf(d)) {
n = 0;
anew = kd;
apnd = b;
n_too_large = false;
} else {
anew = kd;
ndbl = muDoubleScalarFloor((b - kd) / d + 0.5);
apnd = kd + ndbl * d;
if (d > 0.0) {
cdiff = apnd - b;
} else {
cdiff = b - apnd;
}
absa = muDoubleScalarAbs(kd);
absb = muDoubleScalarAbs(b);
if (muDoubleScalarAbs(cdiff) < 4.4408920985006262E-16 * muDoubleScalarMax
(absa, absb)) {
ndbl++;
apnd = b;
} else if (cdiff > 0.0) {
apnd = kd + (ndbl - 1.0) * d;
} else {
ndbl++;
}
n_too_large = (2.147483647E+9 < ndbl);
if (ndbl >= 0.0) {
n = (int32_T)ndbl - 1;
} else {
n = -1;
}
}
c_st.site = &f_emlrtRSI;
if (!n_too_large) {
} else {
emlrtErrorWithMessageIdR2012b(&c_st, &c_emlrtRTEI, "Coder:MATLAB:pmaxsize",
0);
}
k = W->size[0] * W->size[1];
W->size[0] = 1;
W->size[1] = n + 1;
emxEnsureCapacity(&b_st, (emxArray__common *)W, k, (int32_T)sizeof(real_T),
&emlrtRTEI);
if (n + 1 > 0) {
W->data[0] = anew;
if (n + 1 > 1) {
W->data[n] = apnd;
k = n + (n < 0);
if (k >= 0) {
nm1d2 = (int32_T)((uint32_T)k >> 1);
} else {
/* Function Definitions */
void occflow(const emlrtStack *sp, const emxArray_real_T *cgridvec,
emxArray_real_T *cgridvecprev, emxArray_real_T *context, const
emxArray_real_T *nei_idx, const emxArray_real_T *nei_weight, real_T
nei_filter_n, const emxArray_real_T *nei4u_idx, const
emxArray_real_T *nei4u_weight, real_T nei4u_filter_n, real_T occval,
real_T minthreshold, real_T maxthreshold, real_T reinitval, real_T
intensifyrate, real_T nocc_attenuaterate, real_T
unknown_attenuaterate, real_T sigm_coef, real_T
do_attenuation_first, emxArray_real_T *predvec, emxArray_real_T
*maxvec)
{
emxArray_boolean_T *x;
int32_T ix;
int32_T idx;
emxArray_boolean_T *r0;
int32_T nx;
emxArray_int32_T *ii;
boolean_T overflow;
int32_T iy;
boolean_T exitg6;
boolean_T guard3 = false;
boolean_T guard4 = false;
emxArray_real_T *newlyoccidx;
boolean_T exitg5;
boolean_T guard2 = false;
boolean_T b_guard3 = false;
emxArray_real_T *occidx;
boolean_T exitg4;
boolean_T guard1 = false;
boolean_T b_guard2 = false;
emxArray_real_T *noccidx;
int32_T nrnocc;
int32_T j;
emxArray_real_T *curr_col;
emxArray_real_T *updt_col;
emxArray_real_T *z;
int32_T coccidx;
boolean_T b_guard1 = false;
int32_T ixstart;
int32_T n;
real_T mtmp;
boolean_T exitg3;
int32_T varargin_1[2];
int32_T k;
int32_T iv3[2];
int32_T iv4[2];
real_T d0;
emxArray_real_T *tempcontext;
emxArray_real_T *b_nei4u_weight;
real_T sumval;
int32_T m;
int32_T iv5[2];
boolean_T b_ix;
boolean_T exitg2;
boolean_T b_ixstart;
int32_T varargin_2[2];
boolean_T p;
boolean_T exitg1;
emlrtStack st;
emlrtStack b_st;
emlrtStack c_st;
emlrtStack d_st;
emlrtStack e_st;
emlrtStack f_st;
(void)unknown_attenuaterate;
st.prev = sp;
st.tls = sp->tls;
b_st.prev = &st;
b_st.tls = st.tls;
c_st.prev = &b_st;
c_st.tls = b_st.tls;
d_st.prev = &c_st;
d_st.tls = c_st.tls;
e_st.prev = &d_st;
e_st.tls = d_st.tls;
f_st.prev = &e_st;
f_st.tls = e_st.tls;
emlrtHeapReferenceStackEnterFcnR2012b(sp);
emxInit_boolean_T(sp, &x, 1, &emlrtRTEI, true);
/* */
/* Occupancy flow with vector input */
/* */
/* Compute indices first */
ix = x->size[0];
x->size[0] = cgridvec->size[0];
emxEnsureCapacity(sp, (emxArray__common *)x, ix, (int32_T)sizeof(boolean_T),
&emlrtRTEI);
idx = cgridvec->size[0];
for (ix = 0; ix < idx; ix++) {
x->data[ix] = (cgridvec->data[ix] == occval);
}
emxInit_boolean_T(sp, &r0, 1, &emlrtRTEI, true);
ix = r0->size[0];
r0->size[0] = cgridvecprev->size[0];
emxEnsureCapacity(sp, (emxArray__common *)r0, ix, (int32_T)sizeof(boolean_T),
&emlrtRTEI);
idx = cgridvecprev->size[0];
for (ix = 0; ix < idx; ix++) {
r0->data[ix] = (cgridvecprev->data[ix] != occval);
}
ix = x->size[0];
nx = r0->size[0];
if (ix != nx) {
emlrtSizeEqCheck1DR2012b(ix, nx, &emlrtECI, sp);
}
st.site = &emlrtRSI;
ix = x->size[0];
emxEnsureCapacity(&st, (emxArray__common *)x, ix, (int32_T)sizeof(boolean_T),
&emlrtRTEI);
idx = x->size[0];
for (ix = 0; ix < idx; ix++) {
x->data[ix] = (x->data[ix] && r0->data[ix]);
}
emxFree_boolean_T(&r0);
emxInit_int32_T(&st, &ii, 1, &l_emlrtRTEI, true);
b_st.site = &i_emlrtRSI;
nx = x->size[0];
idx = 0;
ix = ii->size[0];
ii->size[0] = x->size[0];
emxEnsureCapacity(&b_st, (emxArray__common *)ii, ix, (int32_T)sizeof(int32_T),
&emlrtRTEI);
c_st.site = &j_emlrtRSI;
if (1 > x->size[0]) {
overflow = false;
} else {
overflow = (x->size[0] > 2147483646);
}
if (overflow) {
d_st.site = &l_emlrtRSI;
check_forloop_overflow_error(&d_st);
}
iy = 1;
exitg6 = false;
while ((!exitg6) && (iy <= nx)) {
guard3 = false;
if (x->data[iy - 1]) {
idx++;
ii->data[idx - 1] = iy;
if (idx >= nx) {
exitg6 = true;
} else {
guard3 = true;
}
} else {
guard3 = true;
}
if (guard3) {
iy++;
}
}
if (idx <= x->size[0]) {
} else {
emlrtErrorWithMessageIdR2012b(&b_st, &s_emlrtRTEI,
"Coder:builtins:AssertionFailed", 0);
}
if (x->size[0] == 1) {
if (idx == 0) {
ix = ii->size[0];
ii->size[0] = 0;
emxEnsureCapacity(&b_st, (emxArray__common *)ii, ix, (int32_T)sizeof
(int32_T), &emlrtRTEI);
}
} else {
if (1 > idx) {
ix = 0;
} else {
ix = idx;
}
c_st.site = &k_emlrtRSI;
overflow = !(ii->size[0] != 1);
guard4 = false;
if (overflow) {
overflow = false;
if (ix != 1) {
overflow = true;
}
if (overflow) {
overflow = true;
} else {
guard4 = true;
}
} else {
guard4 = true;
}
if (guard4) {
overflow = false;
}
d_st.site = &m_emlrtRSI;
if (!overflow) {
} else {
emlrtErrorWithMessageIdR2012b(&d_st, &t_emlrtRTEI,
"Coder:FE:PotentialVectorVector", 0);
}
nx = ii->size[0];
ii->size[0] = ix;
emxEnsureCapacity(&b_st, (emxArray__common *)ii, nx, (int32_T)sizeof(int32_T),
&c_emlrtRTEI);
}
emxInit_real_T(&b_st, &newlyoccidx, 1, &f_emlrtRTEI, true);
ix = newlyoccidx->size[0];
newlyoccidx->size[0] = ii->size[0];
emxEnsureCapacity(&st, (emxArray__common *)newlyoccidx, ix, (int32_T)sizeof
(real_T), &emlrtRTEI);
idx = ii->size[0];
for (ix = 0; ix < idx; ix++) {
newlyoccidx->data[ix] = ii->data[ix];
}
st.site = &b_emlrtRSI;
ix = x->size[0];
x->size[0] = cgridvec->size[0];
emxEnsureCapacity(&st, (emxArray__common *)x, ix, (int32_T)sizeof(boolean_T),
&emlrtRTEI);
idx = cgridvec->size[0];
for (ix = 0; ix < idx; ix++) {
x->data[ix] = (cgridvec->data[ix] == occval);
}
b_st.site = &i_emlrtRSI;
nx = x->size[0];
idx = 0;
ix = ii->size[0];
ii->size[0] = x->size[0];
emxEnsureCapacity(&b_st, (emxArray__common *)ii, ix, (int32_T)sizeof(int32_T),
&emlrtRTEI);
c_st.site = &j_emlrtRSI;
if (1 > x->size[0]) {
overflow = false;
} else {
overflow = (x->size[0] > 2147483646);
}
if (overflow) {
d_st.site = &l_emlrtRSI;
check_forloop_overflow_error(&d_st);
}
iy = 1;
exitg5 = false;
while ((!exitg5) && (iy <= nx)) {
guard2 = false;
if (x->data[iy - 1]) {
idx++;
ii->data[idx - 1] = iy;
if (idx >= nx) {
exitg5 = true;
} else {
guard2 = true;
}
} else {
guard2 = true;
}
if (guard2) {
iy++;
}
}
if (idx <= x->size[0]) {
} else {
emlrtErrorWithMessageIdR2012b(&b_st, &s_emlrtRTEI,
"Coder:builtins:AssertionFailed", 0);
}
if (x->size[0] == 1) {
if (idx == 0) {
ix = ii->size[0];
ii->size[0] = 0;
emxEnsureCapacity(&b_st, (emxArray__common *)ii, ix, (int32_T)sizeof
(int32_T), &emlrtRTEI);
}
} else {
if (1 > idx) {
ix = 0;
} else {
ix = idx;
}
c_st.site = &k_emlrtRSI;
overflow = !(ii->size[0] != 1);
b_guard3 = false;
if (overflow) {
overflow = false;
if (ix != 1) {
overflow = true;
}
if (overflow) {
overflow = true;
} else {
b_guard3 = true;
}
} else {
b_guard3 = true;
}
if (b_guard3) {
overflow = false;
}
d_st.site = &m_emlrtRSI;
if (!overflow) {
} else {
emlrtErrorWithMessageIdR2012b(&d_st, &t_emlrtRTEI,
"Coder:FE:PotentialVectorVector", 0);
}
nx = ii->size[0];
ii->size[0] = ix;
emxEnsureCapacity(&b_st, (emxArray__common *)ii, nx, (int32_T)sizeof(int32_T),
&c_emlrtRTEI);
}
emxInit_real_T(&b_st, &occidx, 1, &g_emlrtRTEI, true);
ix = occidx->size[0];
occidx->size[0] = ii->size[0];
emxEnsureCapacity(&st, (emxArray__common *)occidx, ix, (int32_T)sizeof(real_T),
&emlrtRTEI);
idx = ii->size[0];
for (ix = 0; ix < idx; ix++) {
occidx->data[ix] = ii->data[ix];
}
st.site = &c_emlrtRSI;
ix = x->size[0];
x->size[0] = cgridvec->size[0];
emxEnsureCapacity(&st, (emxArray__common *)x, ix, (int32_T)sizeof(boolean_T),
&emlrtRTEI);
idx = cgridvec->size[0];
for (ix = 0; ix < idx; ix++) {
x->data[ix] = (cgridvec->data[ix] != occval);
}
b_st.site = &i_emlrtRSI;
nx = x->size[0];
idx = 0;
ix = ii->size[0];
ii->size[0] = x->size[0];
emxEnsureCapacity(&b_st, (emxArray__common *)ii, ix, (int32_T)sizeof(int32_T),
&emlrtRTEI);
c_st.site = &j_emlrtRSI;
if (1 > x->size[0]) {
overflow = false;
} else {
overflow = (x->size[0] > 2147483646);
}
if (overflow) {
d_st.site = &l_emlrtRSI;
check_forloop_overflow_error(&d_st);
}
iy = 1;
exitg4 = false;
while ((!exitg4) && (iy <= nx)) {
guard1 = false;
if (x->data[iy - 1]) {
idx++;
ii->data[idx - 1] = iy;
if (idx >= nx) {
exitg4 = true;
} else {
guard1 = true;
}
} else {
guard1 = true;
}
if (guard1) {
iy++;
}
}
if (idx <= x->size[0]) {
} else {
emlrtErrorWithMessageIdR2012b(&b_st, &s_emlrtRTEI,
"Coder:builtins:AssertionFailed", 0);
}
if (x->size[0] == 1) {
if (idx == 0) {
ix = ii->size[0];
ii->size[0] = 0;
emxEnsureCapacity(&b_st, (emxArray__common *)ii, ix, (int32_T)sizeof
(int32_T), &emlrtRTEI);
}
} else {
if (1 > idx) {
ix = 0;
} else {
ix = idx;
}
c_st.site = &k_emlrtRSI;
overflow = !(ii->size[0] != 1);
b_guard2 = false;
if (overflow) {
overflow = false;
if (ix != 1) {
overflow = true;
}
if (overflow) {
overflow = true;
} else {
b_guard2 = true;
}
} else {
b_guard2 = true;
}
if (b_guard2) {
overflow = false;
}
d_st.site = &m_emlrtRSI;
if (!overflow) {
} else {
emlrtErrorWithMessageIdR2012b(&d_st, &t_emlrtRTEI,
"Coder:FE:PotentialVectorVector", 0);
}
nx = ii->size[0];
ii->size[0] = ix;
emxEnsureCapacity(&b_st, (emxArray__common *)ii, nx, (int32_T)sizeof(int32_T),
&c_emlrtRTEI);
}
emxFree_boolean_T(&x);
emxInit_real_T(&b_st, &noccidx, 1, &h_emlrtRTEI, true);
ix = noccidx->size[0];
noccidx->size[0] = ii->size[0];
emxEnsureCapacity(&st, (emxArray__common *)noccidx, ix, (int32_T)sizeof(real_T),
&emlrtRTEI);
idx = ii->size[0];
for (ix = 0; ix < idx; ix++) {
noccidx->data[ix] = ii->data[ix];
}
nrnocc = noccidx->size[0] - 1;
/* 1 Intensify newly occupied cells */
j = 0;
emxInit_real_T1(sp, &curr_col, 2, &i_emlrtRTEI, true);
emxInit_real_T1(sp, &updt_col, 2, &j_emlrtRTEI, true);
emxInit_real_T1(sp, &z, 2, &emlrtRTEI, true);
while (j <= newlyoccidx->size[0] - 1) {
/* For newly occupied cells */
ix = newlyoccidx->size[0];
if (!((j + 1 >= 1) && (j + 1 <= ix))) {
emlrtDynamicBoundsCheckR2012b(j + 1, 1, ix, &eb_emlrtBCI, sp);
}
coccidx = (int32_T)newlyoccidx->data[j] - 1;
ix = context->size[0];
nx = (int32_T)newlyoccidx->data[j];
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &emlrtBCI, sp);
}
st.site = &d_emlrtRSI;
b_st.site = &n_emlrtRSI;
c_st.site = &o_emlrtRSI;
ix = context->size[1];
b_guard1 = false;
if (ix == 1) {
b_guard1 = true;
} else {
ix = context->size[1];
if (ix != 1) {
b_guard1 = true;
} else {
overflow = false;
}
}
if (b_guard1) {
overflow = true;
}
if (overflow) {
} else {
emlrtErrorWithMessageIdR2012b(&c_st, &u_emlrtRTEI,
"Coder:toolbox:autoDimIncompatibility", 0);
}
ix = context->size[1];
if (ix > 0) {
} else {
emlrtErrorWithMessageIdR2012b(&c_st, &v_emlrtRTEI,
"Coder:toolbox:eml_min_or_max_varDimZero", 0);
}
d_st.site = &p_emlrtRSI;
ixstart = 1;
n = context->size[1];
nx = (int32_T)newlyoccidx->data[j];
mtmp = context->data[nx - 1];
ix = context->size[1];
if (ix > 1) {
if (muDoubleScalarIsNaN(mtmp)) {
e_st.site = &r_emlrtRSI;
ix = context->size[1];
if (2 > ix) {
overflow = false;
} else {
ix = context->size[1];
overflow = (ix > 2147483646);
}
if (overflow) {
f_st.site = &l_emlrtRSI;
check_forloop_overflow_error(&f_st);
}
ix = 2;
exitg3 = false;
while ((!exitg3) && (ix <= n)) {
ixstart = ix;
if (!muDoubleScalarIsNaN(context->data[coccidx + context->size[0] *
(ix - 1)])) {
mtmp = context->data[coccidx + context->size[0] * (ix - 1)];
exitg3 = true;
} else {
ix++;
}
}
}
ix = context->size[1];
if (ixstart < ix) {
e_st.site = &q_emlrtRSI;
ix = context->size[1];
if (ixstart + 1 > ix) {
overflow = false;
} else {
ix = context->size[1];
overflow = (ix > 2147483646);
}
if (overflow) {
f_st.site = &l_emlrtRSI;
check_forloop_overflow_error(&f_st);
}
for (ix = ixstart + 1; ix <= n; ix++) {
if (context->data[coccidx + context->size[0] * (ix - 1)] > mtmp) {
mtmp = context->data[coccidx + context->size[0] * (ix - 1)];
}
}
}
}
if (mtmp < minthreshold) {
idx = context->size[1];
iy = context->size[0];
nx = (int32_T)newlyoccidx->data[j];
if (!((nx >= 1) && (nx <= iy))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, iy, &b_emlrtBCI, sp);
}
for (ix = 0; ix < idx; ix++) {
context->data[(nx + context->size[0] * ix) - 1] = reinitval;
}
/* Reinitialize */
} else {
idx = context->size[1];
nx = (int32_T)newlyoccidx->data[j];
ix = updt_col->size[0] * updt_col->size[1];
updt_col->size[0] = 1;
updt_col->size[1] = idx;
emxEnsureCapacity(sp, (emxArray__common *)updt_col, ix, (int32_T)sizeof
(real_T), &emlrtRTEI);
for (ix = 0; ix < idx; ix++) {
updt_col->data[updt_col->size[0] * ix] = intensifyrate * context->data
[(nx + context->size[0] * ix) - 1];
}
/* Intensify */
st.site = &e_emlrtRSI;
b_st.site = &s_emlrtRSI;
c_st.site = &o_emlrtRSI;
d_st.site = &t_emlrtRSI;
ix = curr_col->size[0] * curr_col->size[1];
curr_col->size[0] = 1;
curr_col->size[1] = updt_col->size[1];
emxEnsureCapacity(&d_st, (emxArray__common *)curr_col, ix, (int32_T)sizeof
(real_T), &emlrtRTEI);
idx = updt_col->size[0] * updt_col->size[1];
for (ix = 0; ix < idx; ix++) {
curr_col->data[ix] = updt_col->data[ix];
}
e_st.site = &u_emlrtRSI;
for (ix = 0; ix < 2; ix++) {
varargin_1[ix] = updt_col->size[ix];
}
ix = z->size[0] * z->size[1];
z->size[0] = 1;
z->size[1] = updt_col->size[1];
emxEnsureCapacity(&e_st, (emxArray__common *)z, ix, (int32_T)sizeof(real_T),
&d_emlrtRTEI);
iy = updt_col->size[1];
ix = updt_col->size[0] * updt_col->size[1];
updt_col->size[0] = 1;
updt_col->size[1] = varargin_1[1];
emxEnsureCapacity(&e_st, (emxArray__common *)updt_col, ix, (int32_T)sizeof
(real_T), &e_emlrtRTEI);
if (dimagree(updt_col, curr_col)) {
} else {
emlrtErrorWithMessageIdR2012b(&e_st, &x_emlrtRTEI, "MATLAB:dimagree", 0);
}
e_st.site = &v_emlrtRSI;
if (1 > z->size[1]) {
overflow = false;
} else {
overflow = (z->size[1] > 2147483646);
}
if (overflow) {
f_st.site = &l_emlrtRSI;
check_forloop_overflow_error(&f_st);
}
for (k = 0; k + 1 <= iy; k++) {
updt_col->data[k] = muDoubleScalarMin(curr_col->data[k], maxthreshold);
}
/* Max-thesholding */
ix = context->size[0];
nx = (int32_T)newlyoccidx->data[j];
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &c_emlrtBCI, sp);
}
idx = context->size[1];
ix = ii->size[0];
ii->size[0] = idx;
emxEnsureCapacity(sp, (emxArray__common *)ii, ix, (int32_T)sizeof(int32_T),
&emlrtRTEI);
for (ix = 0; ix < idx; ix++) {
ii->data[ix] = ix;
}
iv3[0] = 1;
iv3[1] = ii->size[0];
emlrtSubAssignSizeCheckR2012b(iv3, 2, *(int32_T (*)[2])updt_col->size, 2,
&b_emlrtECI, sp);
nx = (int32_T)newlyoccidx->data[j];
idx = updt_col->size[1];
for (ix = 0; ix < idx; ix++) {
context->data[(nx + context->size[0] * ii->data[ix]) - 1] =
updt_col->data[updt_col->size[0] * ix];
}
}
j++;
if (*emlrtBreakCheckR2012bFlagVar != 0) {
emlrtBreakCheckR2012b(sp);
}
}
emxFree_real_T(&z);
/* 2 Attenuate unoccupied cells */
if (do_attenuation_first == 1.0) {
j = 0;
while (j <= nrnocc) {
/* For unoccupied cells */
ix = noccidx->size[0];
nx = j + 1;
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &d_emlrtBCI, sp);
}
ix = context->size[0];
nx = (int32_T)noccidx->data[j];
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &e_emlrtBCI, sp);
}
idx = context->size[1];
iy = (int32_T)noccidx->data[j];
ix = updt_col->size[0] * updt_col->size[1];
updt_col->size[0] = 1;
updt_col->size[1] = idx;
emxEnsureCapacity(sp, (emxArray__common *)updt_col, ix, (int32_T)sizeof
(real_T), &emlrtRTEI);
for (ix = 0; ix < idx; ix++) {
updt_col->data[updt_col->size[0] * ix] = context->data[(iy +
context->size[0] * ix) - 1] * nocc_attenuaterate;
}
/* Attenuate */
ix = context->size[0];
nx = (int32_T)noccidx->data[j];
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &f_emlrtBCI, sp);
}
idx = context->size[1];
ix = ii->size[0];
ii->size[0] = idx;
emxEnsureCapacity(sp, (emxArray__common *)ii, ix, (int32_T)sizeof(int32_T),
&emlrtRTEI);
for (ix = 0; ix < idx; ix++) {
ii->data[ix] = ix;
}
iv4[0] = 1;
iv4[1] = ii->size[0];
emlrtSubAssignSizeCheckR2012b(iv4, 2, *(int32_T (*)[2])updt_col->size, 2,
&c_emlrtECI, sp);
iy = (int32_T)noccidx->data[j];
idx = updt_col->size[1];
for (ix = 0; ix < idx; ix++) {
context->data[(iy + context->size[0] * ii->data[ix]) - 1] =
updt_col->data[updt_col->size[0] * ix];
}
j++;
if (*emlrtBreakCheckR2012bFlagVar != 0) {
emlrtBreakCheckR2012b(sp);
}
}
}
/* 4 Propagation */
j = 0;
while (j <= occidx->size[0] - 1) {
/* For occupied cells */
ix = occidx->size[0];
if (!((j + 1 >= 1) && (j + 1 <= ix))) {
emlrtDynamicBoundsCheckR2012b(j + 1, 1, ix, &bb_emlrtBCI, sp);
}
idx = context->size[1];
ix = context->size[0];
iy = (int32_T)occidx->data[j];
if (!((iy >= 1) && (iy <= ix))) {
emlrtDynamicBoundsCheckR2012b(iy, 1, ix, &g_emlrtBCI, sp);
}
ix = curr_col->size[0] * curr_col->size[1];
curr_col->size[0] = 1;
curr_col->size[1] = idx;
emxEnsureCapacity(sp, (emxArray__common *)curr_col, ix, (int32_T)sizeof
(real_T), &emlrtRTEI);
for (ix = 0; ix < idx; ix++) {
curr_col->data[curr_col->size[0] * ix] = context->data[(iy + context->
size[0] * ix) - 1];
}
ix = nei_idx->size[0];
nx = (int32_T)occidx->data[j];
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &h_emlrtBCI, sp);
}
ix = nei_weight->size[0];
nx = (int32_T)occidx->data[j];
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &i_emlrtBCI, sp);
}
emlrtForLoopVectorCheckR2012b(1.0, 1.0, nei_filter_n, mxDOUBLE_CLASS,
(int32_T)nei_filter_n, &p_emlrtRTEI, sp);
k = 0;
while (k <= (int32_T)nei_filter_n - 1) {
/* For all neighbor cells */
ix = curr_col->size[1];
nx = k + 1;
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &j_emlrtBCI, sp);
}
ix = nei_idx->size[1];
nx = k + 1;
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &k_emlrtBCI, sp);
}
ix = nei_weight->size[1];
nx = k + 1;
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &l_emlrtBCI, sp);
}
iy = (int32_T)occidx->data[j];
if (nei_idx->data[(iy + nei_idx->size[0] * k) - 1] != 0.0) {
/* If properly connected, propagate */
iy = (int32_T)occidx->data[j];
d0 = nei_idx->data[(iy + nei_idx->size[0] * k) - 1];
if (d0 != (int32_T)muDoubleScalarFloor(d0)) {
emlrtIntegerCheckR2012b(d0, &emlrtDCI, sp);
}
ix = context->size[0];
nx = (int32_T)d0;
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &m_emlrtBCI, sp);
}
ix = context->size[1];
nx = k + 1;
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &n_emlrtBCI, sp);
}
/* Maximum value thresholding */
iy = (int32_T)occidx->data[j];
idx = (int32_T)occidx->data[j];
nx = (int32_T)occidx->data[j];
ix = context->size[0];
nx = (int32_T)nei_idx->data[(nx + nei_idx->size[0] * k) - 1];
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &cb_emlrtBCI, sp);
}
ix = context->size[1];
if (!((k + 1 >= 1) && (k + 1 <= ix))) {
emlrtDynamicBoundsCheckR2012b(k + 1, 1, ix, &db_emlrtBCI, sp);
}
context->data[(nx + context->size[0] * k) - 1] = muDoubleScalarMax
(context->data[((int32_T)nei_idx->data[(iy + nei_idx->size[0] * k) - 1]
+ context->size[0] * k) - 1], muDoubleScalarMin
(nei_weight->data[(idx + nei_weight->size[0] * k) - 1] *
curr_col->data[k], maxthreshold));
/* Make sure current context propagation does not weaken the flow information */
}
k++;
if (*emlrtBreakCheckR2012bFlagVar != 0) {
emlrtBreakCheckR2012b(sp);
}
}
j++;
if (*emlrtBreakCheckR2012bFlagVar != 0) {
emlrtBreakCheckR2012b(sp);
}
}
emxFree_real_T(&occidx);
emxInit_real_T1(sp, &tempcontext, 2, &k_emlrtRTEI, true);
/* 5 Uncertainty in acceleration */
ix = tempcontext->size[0] * tempcontext->size[1];
tempcontext->size[0] = context->size[0];
tempcontext->size[1] = context->size[1];
emxEnsureCapacity(sp, (emxArray__common *)tempcontext, ix, (int32_T)sizeof
(real_T), &emlrtRTEI);
idx = context->size[0] * context->size[1];
for (ix = 0; ix < idx; ix++) {
tempcontext->data[ix] = context->data[ix];
}
emlrtForLoopVectorCheckR2012b(1.0, 1.0, nei_filter_n, mxDOUBLE_CLASS, (int32_T)
nei_filter_n, &q_emlrtRTEI, sp);
j = 0;
emxInit_real_T1(sp, &b_nei4u_weight, 2, &emlrtRTEI, true);
while (j <= (int32_T)nei_filter_n - 1) {
/* For all context level */
k = 0;
while (k <= nei_idx->size[0] - 1) {
/* For all cells */
sumval = 0.0;
emlrtForLoopVectorCheckR2012b(1.0, 1.0, nei4u_filter_n, mxDOUBLE_CLASS,
(int32_T)nei4u_filter_n, &r_emlrtRTEI, sp);
m = 0;
while (m <= (int32_T)nei4u_filter_n - 1) {
ix = nei4u_idx->size[0];
nx = k + 1;
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &o_emlrtBCI, sp);
}
ix = nei4u_idx->size[1];
nx = m + 1;
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &p_emlrtBCI, sp);
}
ix = nei4u_weight->size[0];
nx = k + 1;
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &q_emlrtBCI, sp);
}
ix = nei4u_weight->size[1];
nx = m + 1;
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &r_emlrtBCI, sp);
}
idx = nei4u_weight->size[1];
ix = nei4u_weight->size[0];
nx = 1 + k;
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &s_emlrtBCI, sp);
}
ix = b_nei4u_weight->size[0] * b_nei4u_weight->size[1];
b_nei4u_weight->size[0] = 1;
b_nei4u_weight->size[1] = idx;
emxEnsureCapacity(sp, (emxArray__common *)b_nei4u_weight, ix, (int32_T)
sizeof(real_T), &emlrtRTEI);
for (ix = 0; ix < idx; ix++) {
b_nei4u_weight->data[b_nei4u_weight->size[0] * ix] =
nei4u_weight->data[(nx + nei4u_weight->size[0] * ix) - 1];
}
st.site = &f_emlrtRSI;
mtmp = sum(&st, b_nei4u_weight);
if (nei4u_idx->data[k + nei4u_idx->size[0] * m] != 0.0) {
d0 = nei4u_idx->data[k + nei4u_idx->size[0] * m];
if (d0 != (int32_T)muDoubleScalarFloor(d0)) {
emlrtIntegerCheckR2012b(d0, &b_emlrtDCI, sp);
}
ix = context->size[0];
nx = (int32_T)d0;
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &t_emlrtBCI, sp);
}
ix = context->size[1];
nx = j + 1;
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &u_emlrtBCI, sp);
}
sumval += nei4u_weight->data[k + nei4u_weight->size[0] * m] / mtmp *
context->data[((int32_T)nei4u_idx->data[k + nei4u_idx->size[0] * m]
+ context->size[0] * j) - 1];
}
m++;
if (*emlrtBreakCheckR2012bFlagVar != 0) {
emlrtBreakCheckR2012b(sp);
}
}
ix = tempcontext->size[0];
nx = 1 + k;
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &y_emlrtBCI, sp);
}
ix = tempcontext->size[1];
if (!((j + 1 >= 1) && (j + 1 <= ix))) {
emlrtDynamicBoundsCheckR2012b(j + 1, 1, ix, &ab_emlrtBCI, sp);
}
tempcontext->data[(nx + tempcontext->size[0] * j) - 1] = sumval;
k++;
if (*emlrtBreakCheckR2012bFlagVar != 0) {
emlrtBreakCheckR2012b(sp);
}
}
j++;
if (*emlrtBreakCheckR2012bFlagVar != 0) {
emlrtBreakCheckR2012b(sp);
}
}
emxFree_real_T(&b_nei4u_weight);
ix = context->size[0] * context->size[1];
context->size[0] = tempcontext->size[0];
context->size[1] = tempcontext->size[1];
emxEnsureCapacity(sp, (emxArray__common *)context, ix, (int32_T)sizeof(real_T),
&emlrtRTEI);
idx = tempcontext->size[1];
for (ix = 0; ix < idx; ix++) {
iy = tempcontext->size[0];
for (nx = 0; nx < iy; nx++) {
context->data[nx + context->size[0] * ix] = tempcontext->data[nx +
tempcontext->size[0] * ix];
}
}
if (do_attenuation_first == 0.0) {
/* 2 Attenuate unoccupied cells */
j = 0;
while (j <= nrnocc) {
/* For unoccupied cells, attenuate */
ix = noccidx->size[0];
nx = j + 1;
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &v_emlrtBCI, sp);
}
ix = context->size[0];
nx = (int32_T)noccidx->data[j];
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &w_emlrtBCI, sp);
}
idx = context->size[1];
iy = (int32_T)noccidx->data[j];
ix = updt_col->size[0] * updt_col->size[1];
updt_col->size[0] = 1;
updt_col->size[1] = idx;
emxEnsureCapacity(sp, (emxArray__common *)updt_col, ix, (int32_T)sizeof
(real_T), &emlrtRTEI);
for (ix = 0; ix < idx; ix++) {
updt_col->data[updt_col->size[0] * ix] = context->data[(iy +
context->size[0] * ix) - 1] * nocc_attenuaterate;
}
ix = context->size[0];
nx = (int32_T)noccidx->data[j];
if (!((nx >= 1) && (nx <= ix))) {
emlrtDynamicBoundsCheckR2012b(nx, 1, ix, &x_emlrtBCI, sp);
}
idx = context->size[1];
ix = ii->size[0];
ii->size[0] = idx;
emxEnsureCapacity(sp, (emxArray__common *)ii, ix, (int32_T)sizeof(int32_T),
&emlrtRTEI);
for (ix = 0; ix < idx; ix++) {
ii->data[ix] = ix;
}
iv5[0] = 1;
iv5[1] = ii->size[0];
emlrtSubAssignSizeCheckR2012b(iv5, 2, *(int32_T (*)[2])updt_col->size, 2,
&d_emlrtECI, sp);
iy = (int32_T)noccidx->data[j];
idx = updt_col->size[1];
for (ix = 0; ix < idx; ix++) {
context->data[(iy + context->size[0] * ii->data[ix]) - 1] =
updt_col->data[updt_col->size[0] * ix];
}
j++;
if (*emlrtBreakCheckR2012bFlagVar != 0) {
emlrtBreakCheckR2012b(sp);
}
}
}
emxFree_int32_T(&ii);
emxFree_real_T(&updt_col);
emxFree_real_T(&noccidx);
/* 6 Prediction */
st.site = &g_emlrtRSI;
ix = tempcontext->size[0] * tempcontext->size[1];
tempcontext->size[0] = context->size[1];
tempcontext->size[1] = context->size[0];
emxEnsureCapacity(&st, (emxArray__common *)tempcontext, ix, (int32_T)sizeof
(real_T), &emlrtRTEI);
idx = context->size[0];
for (ix = 0; ix < idx; ix++) {
iy = context->size[1];
for (nx = 0; nx < iy; nx++) {
tempcontext->data[nx + tempcontext->size[0] * ix] = context->data[ix +
context->size[0] * nx];
}
}
b_st.site = &n_emlrtRSI;
c_st.site = &o_emlrtRSI;
if (((tempcontext->size[0] == 1) && (tempcontext->size[1] == 1)) ||
(tempcontext->size[0] != 1)) {
overflow = true;
} else {
overflow = false;
}
if (overflow) {
} else {
emlrtErrorWithMessageIdR2012b(&c_st, &u_emlrtRTEI,
"Coder:toolbox:autoDimIncompatibility", 0);
}
if (tempcontext->size[0] > 0) {
} else {
emlrtErrorWithMessageIdR2012b(&c_st, &v_emlrtRTEI,
"Coder:toolbox:eml_min_or_max_varDimZero", 0);
}
ix = curr_col->size[0] * curr_col->size[1];
curr_col->size[0] = 1;
curr_col->size[1] = tempcontext->size[1];
emxEnsureCapacity(&c_st, (emxArray__common *)curr_col, ix, (int32_T)sizeof
(real_T), &emlrtRTEI);
n = tempcontext->size[0];
ix = 0;
iy = -1;
d_st.site = &ab_emlrtRSI;
if (1 > tempcontext->size[1]) {
overflow = false;
} else {
overflow = (tempcontext->size[1] > 2147483646);
}
if (overflow) {
e_st.site = &l_emlrtRSI;
check_forloop_overflow_error(&e_st);
}
for (nx = 1; nx <= tempcontext->size[1]; nx++) {
d_st.site = &bb_emlrtRSI;
ixstart = ix;
idx = ix + n;
mtmp = tempcontext->data[ix];
if (n > 1) {
if (muDoubleScalarIsNaN(tempcontext->data[ix])) {
e_st.site = &r_emlrtRSI;
if (ix + 2 > idx) {
b_ix = false;
} else {
b_ix = (idx > 2147483646);
}
if (b_ix) {
f_st.site = &l_emlrtRSI;
check_forloop_overflow_error(&f_st);
}
k = ix + 1;
exitg2 = false;
while ((!exitg2) && (k + 1 <= idx)) {
ixstart = k;
if (!muDoubleScalarIsNaN(tempcontext->data[k])) {
mtmp = tempcontext->data[k];
exitg2 = true;
} else {
k++;
}
}
}
if (ixstart + 1 < idx) {
e_st.site = &q_emlrtRSI;
if (ixstart + 2 > idx) {
b_ixstart = false;
} else {
b_ixstart = (idx > 2147483646);
}
if (b_ixstart) {
f_st.site = &l_emlrtRSI;
check_forloop_overflow_error(&f_st);
}
for (k = ixstart + 1; k + 1 <= idx; k++) {
if (tempcontext->data[k] > mtmp) {
mtmp = tempcontext->data[k];
}
}
}
}
iy++;
curr_col->data[iy] = mtmp;
ix += n;
}
emxFree_real_T(&tempcontext);
ix = maxvec->size[0];
maxvec->size[0] = curr_col->size[1];
emxEnsureCapacity(sp, (emxArray__common *)maxvec, ix, (int32_T)sizeof(real_T),
&emlrtRTEI);
idx = curr_col->size[1];
for (ix = 0; ix < idx; ix++) {
maxvec->data[ix] = curr_col->data[curr_col->size[0] * ix];
}
emxFree_real_T(&curr_col);
st.site = &h_emlrtRSI;
/* sigm_a <= if we increase the value, than the sigm function gets peaky! */
b_st.site = &cb_emlrtRSI;
ix = predvec->size[0];
predvec->size[0] = maxvec->size[0];
emxEnsureCapacity(&b_st, (emxArray__common *)predvec, ix, (int32_T)sizeof
(real_T), &emlrtRTEI);
idx = maxvec->size[0];
for (ix = 0; ix < idx; ix++) {
predvec->data[ix] = -sigm_coef * maxvec->data[ix];
}
c_st.site = &cb_emlrtRSI;
b_exp(&c_st, predvec);
ix = predvec->size[0];
emxEnsureCapacity(&b_st, (emxArray__common *)predvec, ix, (int32_T)sizeof
(real_T), &emlrtRTEI);
idx = predvec->size[0];
for (ix = 0; ix < idx; ix++) {
predvec->data[ix] = 1.0 - predvec->data[ix];
}
ix = newlyoccidx->size[0];
newlyoccidx->size[0] = maxvec->size[0];
emxEnsureCapacity(&b_st, (emxArray__common *)newlyoccidx, ix, (int32_T)sizeof
(real_T), &emlrtRTEI);
idx = maxvec->size[0];
for (ix = 0; ix < idx; ix++) {
newlyoccidx->data[ix] = -sigm_coef * maxvec->data[ix];
}
c_st.site = &cb_emlrtRSI;
b_exp(&c_st, newlyoccidx);
ix = newlyoccidx->size[0];
emxEnsureCapacity(&b_st, (emxArray__common *)newlyoccidx, ix, (int32_T)sizeof
(real_T), &emlrtRTEI);
idx = newlyoccidx->size[0];
for (ix = 0; ix < idx; ix++) {
newlyoccidx->data[ix]++;
}
varargin_1[0] = predvec->size[0];
varargin_1[1] = 1;
varargin_2[0] = newlyoccidx->size[0];
varargin_2[1] = 1;
overflow = false;
p = true;
k = 0;
exitg1 = false;
while ((!exitg1) && (k < 2)) {
if (!(varargin_1[k] == varargin_2[k])) {
p = false;
exitg1 = true;
} else {
k++;
}
}
if (!p) {
} else {
overflow = true;
}
if (overflow) {
} else {
emlrtErrorWithMessageIdR2012b(&b_st, &w_emlrtRTEI, "MATLAB:dimagree", 0);
}
ix = predvec->size[0];
emxEnsureCapacity(&b_st, (emxArray__common *)predvec, ix, (int32_T)sizeof
(real_T), &emlrtRTEI);
idx = predvec->size[0];
for (ix = 0; ix < idx; ix++) {
predvec->data[ix] /= newlyoccidx->data[ix];
}
emxFree_real_T(&newlyoccidx);
/* 7 Save previous grid */
ix = cgridvecprev->size[0];
cgridvecprev->size[0] = cgridvec->size[0];
emxEnsureCapacity(sp, (emxArray__common *)cgridvecprev, ix, (int32_T)sizeof
(real_T), &emlrtRTEI);
idx = cgridvec->size[0];
for (ix = 0; ix < idx; ix++) {
cgridvecprev->data[ix] = cgridvec->data[ix];
}
emlrtHeapReferenceStackLeaveFcnR2012b(sp);
}