/* CalcBrakingCurves_Pkg::internalOperators::InitilizeAccForEBDFootCalc */ void InitilizeAccForEBDFootCalc_CalcBrakingCurves_Pkg_internalOperators( /* CalcBrakingCurves_Pkg::internalOperators::InitilizeAccForEBDFootCalc::target */Target_real_T_TargetManagement_types *target, /* CalcBrakingCurves_Pkg::internalOperators::InitilizeAccForEBDFootCalc::aSafe */ASafe_T_CalcBrakingCurves_types *aSafe, /* CalcBrakingCurves_Pkg::internalOperators::InitilizeAccForEBDFootCalc::BCACCForEBDFoot */BCAccumulator_type_CalcBrakingCurves_Pkg *BCACCForEBDFoot) { /* CalcBrakingCurves_Pkg::internalOperators::InitilizeAccForEBDFootCalc::_L9 */ static L_internal_real_Type_SDM_Types_Pkg _L9; /* CalcBrakingCurves_Pkg::internalOperators::InitilizeAccForEBDFootCalc::_L15 */ static kcg_real _L15; (*BCACCForEBDFoot).distance = (*target).distance; _L15 = /* 2 */ dV_ebi_for_V_SDM_Types_Pkg((*target).speed) + (*target).speed; (*BCACCForEBDFoot).speed = _L15; /* 3 */ getDistanceStepFromDistance_CalcBrakingCurves_Pkg_Step_Function_operators( (*target).distance, &(*aSafe).distance_definition, &_L9, &(*BCACCForEBDFoot).distanceIndex); /* 3 */ getSpeedStepFromSpeed_CalcBrakingCurves_Pkg_Step_Function_operators( _L15, &(*aSafe).speed_definition, &_L9, &(*BCACCForEBDFoot).speedIndex); /* 2 */ makeEmptyParabolaCurve_CalcBrakingCurves_types(&(*BCACCForEBDFoot).BC); }
/* SDM_Types_Pkg::CalcSpeeds */ void CalcSpeeds_SDM_Types_Pkg( /* SDM_Types_Pkg::CalcSpeeds::odometry */ Odometry_real_T_SDM_Types_Pkg *odometry, /* SDM_Types_Pkg::CalcSpeeds::v_MRSP */ V_internal_real_Type_SDM_Types_Pkg v_MRSP, /* SDM_Types_Pkg::CalcSpeeds::v_release */ V_internal_real_Type_SDM_Types_Pkg v_release, /* SDM_Types_Pkg::CalcSpeeds::v_target */ V_internal_real_Type_SDM_Types_Pkg v_target, /* SDM_Types_Pkg::CalcSpeeds::mrdt */ Target_real_T_TargetManagement_types *mrdt, /* SDM_Types_Pkg::CalcSpeeds::v_p_ebd */ V_internal_real_Type_SDM_Types_Pkg v_p_ebd, /* SDM_Types_Pkg::CalcSpeeds::v_p_sbd */ V_internal_real_Type_SDM_Types_Pkg v_p_sbd, /* SDM_Types_Pkg::CalcSpeeds::v_p_ebd_valid */ kcg_bool v_p_ebd_valid, /* SDM_Types_Pkg::CalcSpeeds::v_sbi_mrdt */ V_internal_real_Type_SDM_Types_Pkg v_sbi_mrdt, /* SDM_Types_Pkg::CalcSpeeds::speeds */ Speeds_T_SDM_Types_Pkg *speeds) { (*speeds).V_est = (*odometry).speed.v_safeNominal; (*speeds).V_MRSP = v_MRSP; (*speeds).V_release = v_release; (*speeds).V_target = v_target; (*speeds).v_sbi_mrdt = v_sbi_mrdt; (*speeds).v_p_mrdt = /* 1 */ P_SpeedRelatedToMRDT_SDM_Types_Pkg( v_p_ebd, v_p_sbd, v_target, v_p_ebd_valid); (*speeds).v_FLOI = /* 1 */ FloiSpeed_SDM_Types_Pkg( v_sbi_mrdt, v_target, v_MRSP, v_release, (*mrdt).targetType); (*speeds).dV_warning_V_MRSP = /* 1 */ dV_warning_for_V_SDM_Types_Pkg(v_MRSP); (*speeds).dV_warning_V_target = /* 2 */ dV_warning_for_V_SDM_Types_Pkg(v_target); (*speeds).dV_sbi_V_MRSP = /* 1 */ dV_sbi_for_V_SDM_Types_Pkg(v_MRSP); (*speeds).dV_sbi_V_target = /* 2 */ dV_sbi_for_V_SDM_Types_Pkg(v_target); (*speeds).dV_ebi_V_MRSP = /* 1 */ dV_ebi_for_V_SDM_Types_Pkg(v_MRSP); (*speeds).dV_ebi_V_target = /* 2 */ dV_ebi_for_V_SDM_Types_Pkg(v_target); }
/* CalcBrakingCurves_Pkg::internalOperators::InitilizeAccForEBDFootCalc */ void InitilizeAccForEBDFootCalc_CalcBrakingCurves_Pkg_internalOperators( /* CalcBrakingCurves_Pkg::internalOperators::InitilizeAccForEBDFootCalc::target */ Target_real_T_TargetManagement_types *target, /* CalcBrakingCurves_Pkg::internalOperators::InitilizeAccForEBDFootCalc::aSafe */ ASafe_T_CalcBrakingCurves_types *aSafe, /* CalcBrakingCurves_Pkg::internalOperators::InitilizeAccForEBDFootCalc::BCACCForEBDFoot */ BCAccumulator_type_CalcBrakingCurves_Pkg *BCACCForEBDFoot) { kcg_int i; /* CalcBrakingCurves_Pkg::internalOperators::InitilizeAccForEBDFootCalc::_L4 */ ParabolaCurveValid_T_CalcBrakingCurves_types _L4; /* CalcBrakingCurves_Pkg::internalOperators::InitilizeAccForEBDFootCalc::_L5 */ array_real_25 _L5; /* CalcBrakingCurves_Pkg::internalOperators::InitilizeAccForEBDFootCalc::_L11 */ kcg_real _L11; /* CalcBrakingCurves_Pkg::internalOperators::InitilizeAccForEBDFootCalc::_L15 */ kcg_real _L15; (*BCACCForEBDFoot).distance = (*target).distance; _L15 = /* 2 */ dV_ebi_for_V_SDM_Types_Pkg((*target).speed) + (*target).speed; (*BCACCForEBDFoot).speed = _L15; /* 3 */ getDistanceStepFromDistance_CalcBrakingCurves_Pkg_Step_Function_operators( (*target).distance, &(*aSafe).distance_definition, &_L11, &(*BCACCForEBDFoot).distanceIndex); /* 3 */ getSpeedStepFromSpeed_CalcBrakingCurves_Pkg_Step_Function_operators( _L15, &(*aSafe).speed_definition, &_L11, &(*BCACCForEBDFoot).speedIndex); _L11 = - 1.0; for (i = 0; i < 25; i++) { _L5[i] = _L11; _L4[i] = kcg_false; } kcg_copy_ParabolaCurveSpeeds_T_CalcBrakingCurves_types( &(*BCACCForEBDFoot).BC.speeds, &_L5); kcg_copy_ParabolaCurveAccelerations_T_CalcBrakingCurves_types( &(*BCACCForEBDFoot).BC.accelerations, &(*BCACCForEBDFoot).BC.speeds); kcg_copy_ParabolaCurveDistances_T_CalcBrakingCurves_types( &(*BCACCForEBDFoot).BC.distances, &_L5); kcg_copy_ParabolaCurveValid_T_CalcBrakingCurves_types( &(*BCACCForEBDFoot).BC.valid, &_L4); }