c7_deltarobot.c

It is a huge matlab document, kinematic represantation and control of Modified Delta Mechanism which

  int32_T c7_i20;
  int32_T c7_i21;
  int32_T c7_i22;
  int32_T c7_i23;
  int32_T c7_i24;
  int32_T c7_i25;
  int32_T c7_i26;
  int32_T c7_i27;
  real_T c7_vb_x;
  real_T c7_wb_x;
  real_T c7_xb_x;
  real_T c7_yb_x;
  real_T c7_ac_x;
  real_T c7_bc_x;
  real_T c7_cc_x;
  real_T c7_dc_x;
  int32_T c7_i28;
  static real_T c7_dv0[3] = { 1.0, 0.0, 0.0 };

  int32_T c7_i29;
  int32_T c7_i30;
  real_T c7_xb_a[9];
  int32_T c7_i31;
  int32_T c7_i32;
  real_T c7_yb_a[9];
  int32_T c7_i33;
  int32_T c7_i34;
  static real_T c7_dv1[9] = { 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 };

  real_T c7_dv2[9];
  int32_T c7_i35;
  int32_T c7_i36;
  real_T c7_dv3[9];
  real_T c7_dv4[9];
  int32_T c7_i37;
  int32_T c7_i38;
  real_T c7_ec_x;
  real_T c7_fc_x;
  real_T c7_gc_x;
  real_T c7_hc_x;
  real_T c7_ic_x;
  real_T c7_ac_a;
  real_T c7_jc_x;
  real_T c7_xb_b;
  real_T c7_kb_y;
  real_T c7_kc_x;
  real_T c7_bc_a;
  real_T c7_lc_x;
  real_T c7_yb_b;
  real_T c7_lb_y;
  real_T c7_mc_x;
  real_T c7_nc_x;
  real_T c7_oc_x;
  real_T c7_cc_a;
  real_T c7_pc_x;
  real_T c7_ac_b;
  real_T c7_mb_y;
  real_T c7_qc_x;
  real_T c7_dc_a;
  real_T c7_rc_x;
  real_T c7_bc_b;
  real_T c7_nb_y;
  real_T c7_sc_x;
  real_T c7_tc_x;
  int32_T c7_i39;
  int32_T c7_i40;
  real_T c7_ec_a[9];
  int32_T c7_i41;
  int32_T c7_i42;
  real_T c7_fc_a[9];
  int32_T c7_i43;
  int32_T c7_i44;
  real_T c7_dv5[9];
  int32_T c7_i45;
  int32_T c7_i46;
  real_T c7_dv6[9];
  real_T c7_dv7[9];
  int32_T c7_i47;
  int32_T c7_i48;
  real_T c7_uc_x;
  real_T c7_vc_x;
  real_T c7_wc_x;
  real_T c7_xc_x;
  real_T c7_yc_x;
  real_T c7_ad_x;
  real_T c7_bd_x;
  real_T c7_cd_x;
  int32_T c7_i49;
  int32_T c7_i50;
  int32_T c7_i51;
  real_T c7_gc_a[9];
  int32_T c7_i52;
  int32_T c7_i53;
  real_T c7_cc_b[9];
  int32_T c7_i54;
  int32_T c7_i55;
  real_T c7_hc_a[9];
  int32_T c7_i56;
  int32_T c7_i57;
  real_T c7_dc_b[9];
  int32_T c7_i58;
  int32_T c7_i59;
  real_T c7_dv8[9];
  real_T c7_ic_a[9];
  int32_T c7_i60;
  int32_T c7_i61;
  real_T c7_jc_a[9];
  int32_T c7_i62;
  int32_T c7_i63;
  real_T c7_dv9[9];
  int32_T c7_i64;
  int32_T c7_i65;
  real_T c7_dv10[9];
  real_T c7_dv11[9];
  int32_T c7_i66;
  int32_T c7_i67;
  real_T c7_kc_a;
  real_T c7_dd_x;
  real_T c7_ec_b;
  real_T c7_lc_a;
  real_T c7_ed_x;
  real_T c7_fc_b;
  real_T c7_ob_y;
  real_T c7_mc_a;
  real_T c7_fd_x;
  real_T c7_gc_b;
  real_T c7_pb_y;
  real_T c7_nc_a;
  real_T c7_gd_x;
  real_T c7_hc_b;
  real_T c7_oc_a;
  real_T c7_hd_x;
  real_T c7_ic_b;
  real_T c7_qb_y;
  real_T c7_pc_a;
  real_T c7_id_x;
  real_T c7_jc_b;
  real_T c7_rb_y;
  real_T c7_qc_a;
  real_T c7_jd_x;
  real_T c7_kc_b;
  real_T c7_sb_y;
  real_T c7_rc_a;
  real_T c7_kd_x;
  real_T c7_lc_b;
  real_T c7_sc_a;
  real_T c7_ld_x;
  real_T c7_mc_b;
  real_T c7_tb_y;
  real_T c7_tc_a;
  real_T c7_md_x;
  real_T c7_nc_b;
  real_T c7_ub_y;
  real_T c7_uc_a;
  real_T c7_nd_x;
  real_T c7_oc_b;
  real_T c7_vc_a;
  real_T c7_od_x;
  real_T c7_pc_b;
  real_T c7_vb_y;
  real_T c7_wc_a;
  real_T c7_pd_x;
  real_T c7_qc_b;
  real_T c7_wb_y;
  real_T c7_xc_a;
  real_T c7_qd_x;
  real_T c7_rc_b;
  real_T c7_xb_y;
  real_T c7_rd_x;
  real_T c7_yc_a;
  real_T c7_sd_x;
  real_T c7_sc_b;
  real_T c7_yb_y;
  real_T c7_td_x;
  real_T c7_ad_a;
  real_T c7_ud_x;
  real_T c7_tc_b;
  real_T c7_ac_y;
  real_T c7_vd_x;
  real_T c7_wd_x;
  int32_T c7_i68;
  int32_T c7_i69;
  real_T c7_bd_a[9];
  int32_T c7_i70;
  int32_T c7_i71;
  real_T c7_cd_a[9];
  int32_T c7_i72;
  int32_T c7_i73;
  real_T c7_dv12[9];
  int32_T c7_i74;
  int32_T c7_i75;
  real_T c7_dv13[9];
  real_T c7_dv14[9];
  int32_T c7_i76;
  int32_T c7_i77;
  real_T c7_dd_a;
  real_T c7_xd_x;
  real_T c7_uc_b;
  real_T c7_bc_y;
  real_T c7_ed_a;
  real_T c7_yd_x;
  real_T c7_vc_b;
  real_T c7_cc_y;
  real_T c7_fd_a;
  real_T c7_ae_x;
  real_T c7_wc_b;
  real_T c7_dc_y;
  real_T c7_gd_a;
  real_T c7_be_x;
  real_T c7_xc_b;
  real_T c7_ec_y;
  real_T c7_ce_x;
  real_T c7_de_x;
  real_T c7_ee_x;
  real_T c7_fe_x;
  int32_T c7_i78;
  int32_T c7_i79;
  real_T c7_hd_a[9];
  int32_T c7_i80;
  int32_T c7_i81;
  real_T c7_yc_b[9];
  int32_T c7_i82;
  int32_T c7_i83;
  real_T c7_id_a[9];
  int32_T c7_i84;
  int32_T c7_i85;
  real_T c7_ad_b[9];
  int32_T c7_i86;
  int32_T c7_i87;
  real_T c7_dv15[9];
  real_T c7_jd_a[9];
  int32_T c7_i88;
  int32_T c7_i89;
  real_T c7_kd_a[9];
  int32_T c7_i90;
  int32_T c7_i91;
  real_T c7_dv16[9];
  int32_T c7_i92;
  int32_T c7_i93;
  real_T c7_dv17[9];
  real_T c7_dv18[9];
  int32_T c7_i94;
  int32_T c7_i95;
  real_T c7_ld_a;
  real_T c7_ge_x;
  real_T c7_bd_b;
  real_T c7_fc_y;
  real_T c7_md_a;
  real_T c7_he_x;
  real_T c7_cd_b;
  real_T c7_nd_a;
  real_T c7_ie_x;
  real_T c7_dd_b;
  real_T c7_gc_y;
  real_T c7_od_a;
  real_T c7_je_x;
  real_T c7_ed_b;
  real_T c7_pd_a;
  real_T c7_ke_x;
  real_T c7_fd_b;
  real_T c7_hc_y;
  real_T c7_qd_a;
  real_T c7_le_x;
  real_T c7_gd_b;
  real_T c7_ic_y;
  real_T c7_rd_a;
  real_T c7_me_x;
  real_T c7_hd_b;
  real_T c7_jc_y;
  real_T c7_sd_a;
  real_T c7_ne_x;
  real_T c7_id_b;
  real_T c7_td_a;
  real_T c7_oe_x;
  real_T c7_jd_b;
  real_T c7_kc_y;
  real_T c7_ud_a;
  real_T c7_pe_x;
  real_T c7_kd_b;
  real_T c7_lc_y;
  real_T c7_vd_a;
  real_T c7_qe_x;
  real_T c7_ld_b;
  real_T c7_wd_a;
  real_T c7_re_x;
  real_T c7_md_b;
  real_T c7_mc_y;
  real_T c7_xd_a;
  real_T c7_se_x;
  real_T c7_nd_b;
  real_T c7_nc_y;
  real_T c7_yd_a;
  real_T c7_te_x;
  real_T c7_od_b;
  real_T c7_oc_y;
  real_T c7_ue_x;
  real_T c7_ae_a;
  real_T c7_ve_x;
  real_T c7_pd_b;
  real_T c7_pc_y;
  real_T c7_we_x;
  real_T c7_be_a;
  real_T c7_xe_x;
  real_T c7_qd_b;
  real_T c7_qc_y;
  real_T c7_ye_x;
  real_T c7_af_x;
  int32_T c7_i96;
  int32_T c7_i97;
  real_T c7_ce_a[9];
  int32_T c7_i98;
  int32_T c7_i99;
  real_T c7_de_a[9];
  int32_T c7_i100;
  int32_T c7_i101;
  real_T c7_dv19[9];
  int32_T c7_i102;
  int32_T c7_i103;
  real_T c7_dv20[9];
  real_T c7_dv21[9];
  int32_T c7_i104;
  int32_T c7_i105;
  real_T c7_ee_a;
  real_T c7_bf_x;
  real_T c7_rd_b;
  real_T c7_rc_y;
  real_T c7_fe_a;
  real_T c7_cf_x;
  real_T c7_sd_b;
  real_T c7_sc_y;
  real_T c7_ge_a;
  real_T c7_df_x;
  real_T c7_td_b;
  real_T c7_tc_y;
  real_T c7_he_a;
  real_T c7_ef_x;
  real_T c7_ud_b;
  real_T c7_uc_y;
  real_T c7_ff_x;
  real_T c7_gf_x;
  real_T c7_hf_x;
  real_T c7_if_x;
  int32_T c7_i106;
  int32_T c7_i107;
  real_T c7_ie_a[9];
  int32_T c7_i108;
  int32_T c7_i109;
  real_T c7_vd_b[9];
  int32_T c7_i110;
  int32_T c7_i111;
  real_T c7_je_a[9];
  int32_T c7_i112;
  int32_T c7_i113;
  real_T c7_wd_b[9];
  int32_T c7_i114;
  int32_T c7_i115;
  real_T c7_dv22[9];
  real_T c7_ke_a[9];
  int32_T c7_i116;
  int32_T c7_i117;
  real_T c7_le_a[9];
  int32_T c7_i118;
  int32_T c7_i119;
  real_T c7_dv23[9];
  int32_T c7_i120;
  int32_T c7_i121;
  real_T c7_dv24[9];
  real_T c7_dv25[9];
  int32_T c7_i122;
  int32_T c7_i123;
  int32_T c7_i124;
  int32_T c7_i125;
  int32_T c7_i126;
  int32_T c7_i127;
  int32_T c7_i128;
  int32_T c7_i129;
  int32_T c7_i130;
  int32_T c7_i131;
  int32_T c7_i132;
  int32_T c7_i133;
  int32_T c7_i134;
  int32_T c7_i135;
  real_T *c7_b_zb3;
  real_T *c7_b_yb3;
  real_T *c7_b_xb3;
  real_T *c7_b_zb2;
  real_T *c7_b_yb2;
  real_T *c7_b_xb2;
  real_T *c7_b_zb1;
  real_T *c7_b_yb1;
  real_T *c7_b_xb1;
  real_T *c7_b_za3;
  real_T *c7_b_ya3;
  real_T *c7_b_xa3;
  real_T *c7_b_za2;
  real_T *c7_b_ya2;
  real_T *c7_b_xa2;
  real_T *c7_b_za1;
  real_T *c7_b_ya1;
  real_T *c7_b_xa1;
  real_T *c7_b_zee;
  real_T *c7_b_yee;
  real_T *c7_b_xee;
  real_T *c7_b_phi_b3;
  real_T *c7_b_phi_b2;
  real_T *c7_b_phi_b1;
  real_T *c7_b_theta_b3;
  real_T *c7_b_theta_b2;
  real_T *c7_b_theta_b1;
  real_T *c7_b_theta_a3;
  real_T *c7_b_theta_a2;
  real_T *c7_b_theta_a1;
  real_T (*c7_b_rot_a1)[9];
  real_T (*c7_b_rot_a2)[9];
  real_T (*c7_b_rot_a3)[9];
  real_T (*c7_b_rot_b1)[9];
  real_T (*c7_b_rot_b2)[9];
  real_T (*c7_b_rot_b3)[9];
  c7_b_rot_a1 = (real_T (*)[9])ssGetOutputPortSignal(chartInstance.S, 1);
  c7_b_xb2 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 22);
  c7_b_theta_a3 = (real_T *)ssGetInputPortSignal(chartInstance.S, 2);
  c7_b_xa2 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 13);
  c7_b_phi_b3 = (real_T *)ssGetInputPortSignal(chartInstance.S, 8);
  c7_b_zb3 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 27);
  c7_b_rot_b1 = (real_T (*)[9])ssGetOutputPortSignal(chartInstance.S, 4);
  c7_b_xa1 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 10);
  c7_b_theta_a2 = (real_T *)ssGetInputPortSignal(chartInstance.S, 1);
  c7_b_za1 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 12);
  c7_b_theta_a1 = (real_T *)ssGetInputPortSignal(chartInstance.S, 0);
  c7_b_yb2 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 23);
  c7_b_xb1 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 19);
  c7_b_za3 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 18);
  c7_b_theta_b3 = (real_T *)ssGetInputPortSignal(chartInstance.S, 5);
  c7_b_xee = (real_T *)ssGetOutputPortSignal(chartInstance.S, 7);
  c7_b_ya1 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 11);
  c7_b_phi_b2 = (real_T *)ssGetInputPortSignal(chartInstance.S, 7);
  c7_b_yb1 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 20);
  c7_b_zee = (real_T *)ssGetOutputPortSignal(chartInstance.S, 9);
  c7_b_theta_b2 = (real_T *)ssGetInputPortSignal(chartInstance.S, 4);
  c7_b_theta_b1 = (real_T *)ssGetInputPortSignal(chartInstance.S, 3);
  c7_b_yee = (real_T *)ssGetOutputPortSignal(chartInstance.S, 8);
  c7_b_xb3 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 25);
  c7_b_rot_b2 = (real_T (*)[9])ssGetOutputPortSignal(chartInstance.S, 5);
  c7_b_ya2 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 14);
  c7_b_phi_b1 = (real_T *)ssGetInputPortSignal(chartInstance.S, 6);
  c7_b_zb1 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 21);
  c7_b_za2 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 15);
  c7_b_ya3 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 17);
  c7_b_rot_a3 = (real_T (*)[9])ssGetOutputPortSignal(chartInstance.S, 3);
  c7_b_xa3 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 16);
  c7_b_yb3 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 26);
  c7_b_zb2 = (real_T *)ssGetOutputPortSignal(chartInstance.S, 24);
  c7_b_rot_b3 = (real_T (*)[9])ssGetOutputPortSignal(chartInstance.S, 6);
  c7_b_rot_a2 = (real_T (*)[9])ssGetOutputPortSignal(chartInstance.S, 2);
  _SFD_CC_CALL(CHART_ENTER_DURING_FUNCTION_TAG,0);