c7_deltarobot.c

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

  c7_se_x = c7_phi_b3;
  c7_nd_b = c7_se_x;
  c7_nd_b = sin(c7_nd_b);
  c7_nc_y = c7_xd_a * c7_nd_b;
  c7_rot_c3[4] = c7_nc_y - c7_mc_y;
  _SFD_EML_CALL(0,88);
  c7_yd_a = 0.5;
  c7_te_x = c7_theta_a3 + c7_theta_b3;
  c7_od_b = c7_te_x;
  c7_od_b = sin(c7_od_b);
  c7_oc_y = c7_yd_a * c7_od_b;
  c7_rot_c3[7] = c7_oc_y;
  _SFD_EML_CALL(0,89);
  c7_ue_x = c7_phi_b3;
  c7_ae_a = c7_ue_x;
  c7_ae_a = sin(c7_ae_a);
  c7_ve_x = c7_theta_a3 + c7_theta_b3;
  c7_pd_b = c7_ve_x;
  c7_pd_b = sin(c7_pd_b);
  c7_pc_y = c7_ae_a * c7_pd_b;
  c7_rot_c3[2] = c7_pc_y;
  _SFD_EML_CALL(0,90);
  c7_we_x = c7_phi_b3;
  c7_be_a = c7_we_x;
  c7_be_a = cos(c7_be_a);
  c7_xe_x = c7_theta_a3 + c7_theta_b3;
  c7_qd_b = c7_xe_x;
  c7_qd_b = sin(c7_qd_b);
  c7_qc_y = c7_be_a * c7_qd_b;
  c7_rot_c3[5] = c7_qc_y;
  _SFD_EML_CALL(0,91);
  c7_ye_x = c7_theta_a3 + c7_theta_b3;
  c7_af_x = c7_ye_x;
  c7_af_x = cos(c7_af_x);
  c7_rot_c3[8] = c7_af_x;
  _SFD_EML_CALL(0,92);
  for (c7_i96 = 0; c7_i96 < 3; c7_i96 = c7_i96 + 1) {
    for (c7_i97 = 0; c7_i97 < 3; c7_i97 = c7_i97 + 1) {
      c7_ce_a[c7_i97 + 3 * c7_i96] = c7_rot_c3[c7_i97 + 3 * c7_i96];
    }
  }

  for (c7_i98 = 0; c7_i98 < 3; c7_i98 = c7_i98 + 1) {
    for (c7_i99 = 0; c7_i99 < 3; c7_i99 = c7_i99 + 1) {
      c7_de_a[c7_i99 + 3 * c7_i98] = c7_ce_a[c7_i99 + 3 * c7_i98];
    }
  }

  for (c7_i100 = 0; c7_i100 < 3; c7_i100 = c7_i100 + 1) {
    for (c7_i101 = 0; c7_i101 < 3; c7_i101 = c7_i101 + 1) {
      c7_dv19[c7_i101 + 3 * c7_i100] = c7_dv1[c7_i101 + 3 * c7_i100];
    }
  }

  for (c7_i102 = 0; c7_i102 < 3; c7_i102 = c7_i102 + 1) {
    for (c7_i103 = 0; c7_i103 < 3; c7_i103 = c7_i103 + 1) {
      c7_dv20[c7_i103 + 3 * c7_i102] = 0.0;
    }
  }

  c7_eml_xgemm(c7_de_a, c7_dv19, c7_dv20, c7_dv21);
  for (c7_i104 = 0; c7_i104 < 3; c7_i104 = c7_i104 + 1) {
    for (c7_i105 = 0; c7_i105 < 3; c7_i105 = c7_i105 + 1) {
      c7_rot_c3[c7_i105 + 3 * c7_i104] = c7_dv21[c7_i105 + 3 * c7_i104];
    }
  }

  _SFD_EML_CALL(0,94);
  c7_rot_b3[0] = -0.5;
  _SFD_EML_CALL(0,95);
  c7_ee_a = 0.8660254;
  c7_bf_x = c7_theta_a3 + c7_theta_b3;
  c7_rd_b = c7_bf_x;
  c7_rd_b = cos(c7_rd_b);
  c7_rc_y = c7_ee_a * c7_rd_b;
  c7_rot_b3[3] = c7_rc_y;
  _SFD_EML_CALL(0,96);
  c7_fe_a = -0.8660254;
  c7_cf_x = c7_theta_a3 + c7_theta_b3;
  c7_sd_b = c7_cf_x;
  c7_sd_b = sin(c7_sd_b);
  c7_sc_y = c7_fe_a * c7_sd_b;
  c7_rot_b3[6] = c7_sc_y;
  _SFD_EML_CALL(0,97);
  c7_rot_b3[1] = -0.8660254;
  _SFD_EML_CALL(0,98);
  c7_ge_a = -0.5;
  c7_df_x = c7_theta_a3 + c7_theta_b3;
  c7_td_b = c7_df_x;
  c7_td_b = cos(c7_td_b);
  c7_tc_y = c7_ge_a * c7_td_b;
  c7_rot_b3[4] = c7_tc_y;
  _SFD_EML_CALL(0,99);
  c7_he_a = 0.5;
  c7_ef_x = c7_theta_a3 + c7_theta_b3;
  c7_ud_b = c7_ef_x;
  c7_ud_b = sin(c7_ud_b);
  c7_uc_y = c7_he_a * c7_ud_b;
  c7_rot_b3[7] = c7_uc_y;
  _SFD_EML_CALL(0,100);
  c7_rot_b3[2] = 0.0;
  _SFD_EML_CALL(0,101);
  c7_ff_x = c7_theta_a3 + c7_theta_b3;
  c7_gf_x = c7_ff_x;
  c7_gf_x = sin(c7_gf_x);
  c7_rot_b3[5] = c7_gf_x;
  _SFD_EML_CALL(0,102);
  c7_hf_x = c7_theta_a3 + c7_theta_b3;
  c7_if_x = c7_hf_x;
  c7_if_x = cos(c7_if_x);
  c7_rot_b3[8] = c7_if_x;
  _SFD_EML_CALL(0,103);
  for (c7_i106 = 0; c7_i106 < 3; c7_i106 = c7_i106 + 1) {
    for (c7_i107 = 0; c7_i107 < 3; c7_i107 = c7_i107 + 1) {
      c7_ie_a[c7_i107 + 3 * c7_i106] = c7_rot_c3[c7_i107 + 3 * c7_i106];
    }
  }

  for (c7_i108 = 0; c7_i108 < 3; c7_i108 = c7_i108 + 1) {
    for (c7_i109 = 0; c7_i109 < 3; c7_i109 = c7_i109 + 1) {
      c7_vd_b[c7_i109 + 3 * c7_i108] = c7_rot_b3[c7_i109 + 3 * c7_i108];
    }
  }

  for (c7_i110 = 0; c7_i110 < 3; c7_i110 = c7_i110 + 1) {
    for (c7_i111 = 0; c7_i111 < 3; c7_i111 = c7_i111 + 1) {
      c7_je_a[c7_i111 + 3 * c7_i110] = c7_ie_a[c7_i111 + 3 * c7_i110];
    }
  }

  for (c7_i112 = 0; c7_i112 < 3; c7_i112 = c7_i112 + 1) {
    for (c7_i113 = 0; c7_i113 < 3; c7_i113 = c7_i113 + 1) {
      c7_wd_b[c7_i113 + 3 * c7_i112] = c7_vd_b[c7_i113 + 3 * c7_i112];
    }
  }

  for (c7_i114 = 0; c7_i114 < 3; c7_i114 = c7_i114 + 1) {
    for (c7_i115 = 0; c7_i115 < 3; c7_i115 = c7_i115 + 1) {
      c7_dv22[c7_i115 + 3 * c7_i114] = 0.0;
    }
  }

  c7_eml_xgemm(c7_je_a, c7_wd_b, c7_dv22, c7_ke_a);
  for (c7_i116 = 0; c7_i116 < 3; c7_i116 = c7_i116 + 1) {
    for (c7_i117 = 0; c7_i117 < 3; c7_i117 = c7_i117 + 1) {
      c7_le_a[c7_i117 + 3 * c7_i116] = c7_ke_a[c7_i117 + 3 * c7_i116];
    }
  }

  for (c7_i118 = 0; c7_i118 < 3; c7_i118 = c7_i118 + 1) {
    for (c7_i119 = 0; c7_i119 < 3; c7_i119 = c7_i119 + 1) {
      c7_dv23[c7_i119 + 3 * c7_i118] = c7_dv1[c7_i119 + 3 * c7_i118];
    }
  }

  for (c7_i120 = 0; c7_i120 < 3; c7_i120 = c7_i120 + 1) {
    for (c7_i121 = 0; c7_i121 < 3; c7_i121 = c7_i121 + 1) {
      c7_dv24[c7_i121 + 3 * c7_i120] = 0.0;
    }
  }

  c7_eml_xgemm(c7_le_a, c7_dv23, c7_dv24, c7_dv25);
  for (c7_i122 = 0; c7_i122 < 3; c7_i122 = c7_i122 + 1) {
    for (c7_i123 = 0; c7_i123 < 3; c7_i123 = c7_i123 + 1) {
      c7_rot_b3[c7_i123 + 3 * c7_i122] = c7_dv25[c7_i123 + 3 * c7_i122];
    }
  }

  _SFD_EML_CALL(0,-103);
  sf_debug_symbol_scope_pop();
  for (c7_i124 = 0; c7_i124 < 3; c7_i124 = c7_i124 + 1) {
    for (c7_i125 = 0; c7_i125 < 3; c7_i125 = c7_i125 + 1) {
      (*c7_b_rot_a1)[c7_i125 + 3 * c7_i124] = c7_rot_a1[c7_i125 + 3 * c7_i124];
    }
  }

  for (c7_i126 = 0; c7_i126 < 3; c7_i126 = c7_i126 + 1) {
    for (c7_i127 = 0; c7_i127 < 3; c7_i127 = c7_i127 + 1) {
      (*c7_b_rot_a2)[c7_i127 + 3 * c7_i126] = c7_rot_a2[c7_i127 + 3 * c7_i126];
    }
  }

  for (c7_i128 = 0; c7_i128 < 3; c7_i128 = c7_i128 + 1) {
    for (c7_i129 = 0; c7_i129 < 3; c7_i129 = c7_i129 + 1) {
      (*c7_b_rot_a3)[c7_i129 + 3 * c7_i128] = c7_rot_a3[c7_i129 + 3 * c7_i128];
    }
  }

  for (c7_i130 = 0; c7_i130 < 3; c7_i130 = c7_i130 + 1) {
    for (c7_i131 = 0; c7_i131 < 3; c7_i131 = c7_i131 + 1) {
      (*c7_b_rot_b1)[c7_i131 + 3 * c7_i130] = c7_rot_b1[c7_i131 + 3 * c7_i130];
    }
  }

  for (c7_i132 = 0; c7_i132 < 3; c7_i132 = c7_i132 + 1) {
    for (c7_i133 = 0; c7_i133 < 3; c7_i133 = c7_i133 + 1) {
      (*c7_b_rot_b2)[c7_i133 + 3 * c7_i132] = c7_rot_b2[c7_i133 + 3 * c7_i132];
    }
  }

  for (c7_i134 = 0; c7_i134 < 3; c7_i134 = c7_i134 + 1) {
    for (c7_i135 = 0; c7_i135 < 3; c7_i135 = c7_i135 + 1) {
      (*c7_b_rot_b3)[c7_i135 + 3 * c7_i134] = c7_rot_b3[c7_i135 + 3 * c7_i134];
    }
  }

  *c7_b_xee = c7_xee;
  *c7_b_yee = c7_yee;
  *c7_b_zee = c7_zee;
  *c7_b_xa1 = c7_xa1;
  *c7_b_ya1 = c7_ya1;
  *c7_b_za1 = c7_za1;
  *c7_b_xa2 = c7_xa2;
  *c7_b_ya2 = c7_ya2;
  *c7_b_za2 = c7_za2;
  *c7_b_xa3 = c7_xa3;
  *c7_b_ya3 = c7_ya3;
  *c7_b_za3 = c7_za3;
  *c7_b_xb1 = c7_xb1;
  *c7_b_yb1 = c7_yb1;
  *c7_b_zb1 = c7_zb1;
  *c7_b_xb2 = c7_xb2;
  *c7_b_yb2 = c7_yb2;
  *c7_b_zb2 = c7_zb2;
  *c7_b_xb3 = c7_xb3;
  *c7_b_yb3 = c7_yb3;
  *c7_b_zb3 = c7_zb3;
  _SFD_CC_CALL(EXIT_OUT_OF_FUNCTION_TAG,0);
}

static void init_script_number_translation(uint32_T c7_machineNumber, uint32_T
  c7_chartNumber)
{
}

static void c7_eml_xgemm(real_T c7_A[9], real_T c7_B[9], real_T c7_C[9], real_T
  c7_b_C[9])
{
  int32_T c7_i136;
  int32_T c7_i137;
  real_T c7_b_A[9];
  int32_T c7_i138;
  int32_T c7_i139;
  real_T c7_b_B[9];
  int32_T c7_i140;
  int32_T c7_i141;
  real_T c7_c_A[9];
  int32_T c7_i142;
  int32_T c7_i143;
  real_T c7_c_B[9];
  int32_T c7_i144;
  int32_T c7_i145;
  int32_T c7_i146;
  for (c7_i136 = 0; c7_i136 < 3; c7_i136 = c7_i136 + 1) {
    for (c7_i137 = 0; c7_i137 < 3; c7_i137 = c7_i137 + 1) {
      c7_b_A[c7_i137 + 3 * c7_i136] = c7_A[c7_i137 + 3 * c7_i136];
    }
  }

  for (c7_i138 = 0; c7_i138 < 3; c7_i138 = c7_i138 + 1) {
    for (c7_i139 = 0; c7_i139 < 3; c7_i139 = c7_i139 + 1) {
      c7_b_B[c7_i139 + 3 * c7_i138] = c7_B[c7_i139 + 3 * c7_i138];
    }
  }

  for (c7_i140 = 0; c7_i140 < 3; c7_i140 = c7_i140 + 1) {
    for (c7_i141 = 0; c7_i141 < 3; c7_i141 = c7_i141 + 1) {
      c7_c_A[c7_i141 + 3 * c7_i140] = c7_b_A[c7_i141 + 3 * c7_i140];
    }
  }

  for (c7_i142 = 0; c7_i142 < 3; c7_i142 = c7_i142 + 1) {
    for (c7_i143 = 0; c7_i143 < 3; c7_i143 = c7_i143 + 1) {
      c7_c_B[c7_i143 + 3 * c7_i142] = c7_b_B[c7_i143 + 3 * c7_i142];
    }
  }

  for (c7_i144 = 0; c7_i144 < 3; c7_i144 = c7_i144 + 1) {
    for (c7_i145 = 0; c7_i145 < 3; c7_i145 = c7_i145 + 1) {
      c7_b_C[c7_i144 + 3 * c7_i145] = 0.0;
      for (c7_i146 = 0; c7_i146 < 3; c7_i146 = c7_i146 + 1) {
        c7_b_C[c7_i144 + 3 * c7_i145] = c7_b_C[c7_i144 + 3 * c7_i145] +
          c7_c_A[c7_i144 + 3 * c7_i146] * c7_c_B[c7_i146 + 3 * c7_i145];
      }
    }
  }
}

static const mxArray *c7_sf_marshall(void *c7_chartInstance, void *c7_u)
{
  const mxArray *c7_y = NULL;
  real_T c7_b_u;
  const mxArray *c7_b_y = NULL;
  c7_y = NULL;
  c7_b_u = *((real_T *)c7_u);
  c7_b_y = NULL;
  sf_mex_assign(&c7_b_y, sf_mex_create(&c7_b_u, "y", 0, 0U, 0U, 0));
  sf_mex_assign(&c7_y, c7_b_y);
  return c7_y;
}

static const mxArray *c7_b_sf_marshall(void *c7_chartInstance, void *c7_u)
{
  const mxArray *c7_y = NULL;
  int32_T c7_i147;
  int32_T c7_i148;
  real_T c7_b_u[9];
  const mxArray *c7_b_y = NULL;
  c7_y = NULL;
  for (c7_i147 = 0; c7_i147 < 3; c7_i147 = c7_i147 + 1) {
    for (c7_i148 = 0; c7_i148 < 3; c7_i148 = c7_i148 + 1) {
      c7_b_u[c7_i148 + 3 * c7_i147] = (*((real_T (*)[9])c7_u))[c7_i148 + 3 *
        c7_i147];
    }
  }

  c7_b_y = NULL;
  sf_mex_assign(&c7_b_y, sf_mex_create(&c7_b_u, "y", 0, 0U, 1U, 2, 3, 3));
  sf_mex_assign(&c7_y, c7_b_y);
  return c7_y;
}

const mxArray *sf_c7_DeltaRobot_get_eml_resolved_functions_info(void)
{
  const mxArray *c7_nameCaptureInfo = NULL;
  c7_ResolvedFunctionInfo c7_info[44];
  const mxArray *c7_m0 = NULL;
  int32_T c7_i149;
  c7_ResolvedFunctionInfo *c7_r0;
  c7_nameCaptureInfo = NULL;
  c7_info_helper(c7_info);
  sf_mex_assign(&c7_m0, sf_mex_createstruct("nameCaptureInfo", 1, 44));
  for (c7_i149 = 0; c7_i149 < 44; c7_i149 = c7_i149 + 1) {
    c7_r0 = &c7_info[c7_i149];
    sf_mex_addfield(c7_m0, sf_mex_create(c7_r0->context, "nameCaptureInfo", 13,
      0U, 0U, 2, 1, strlen(c7_r0->context)), "context",
                    "nameCaptureInfo", c7_i149);
    sf_mex_addfield(c7_m0, sf_mex_create(c7_r0->name, "nameCaptureInfo", 13, 0U,
      0U, 2, 1, strlen(c7_r0->name)), "name",
                    "nameCaptureInfo", c7_i149);
    sf_mex_addfield(c7_m0, sf_mex_create(c7_r0->dominantType, "nameCaptureInfo",
      13, 0U, 0U, 2, 1, strlen(c7_r0->dominantType)),
                    "dominantType", "nameCaptureInfo", c7_i149);
    sf_mex_addfield(c7_m0, sf_mex_create(c7_r0->resolved, "nameCaptureInfo", 13,
      0U, 0U, 2, 1, strlen(c7_r0->resolved)), "resolved",
                    "nameCaptureInfo", c7_i149);
    sf_mex_addfield(c7_m0, sf_mex_create(&c7_r0->fileLength, "nameCaptureInfo",
      7, 0U, 0U, 0), "fileLength", "nameCaptureInfo", c7_i149);
    sf_mex_addfield(c7_m0, sf_mex_create(&c7_r0->fileTime1, "nameCaptureInfo", 7,
      0U, 0U, 0), "fileTime1", "nameCaptureInfo", c7_i149);
    sf_mex_addfield(c7_m0, sf_mex_create(&c7_r0->fileTime2, "nameCaptureInfo", 7,
      0U, 0U, 0), "fileTime2", "nameCaptureInfo", c7_i149);
  }

  sf_mex_assign(&c7_nameCaptureInfo, c7_m0);
  return c7_nameCaptureInfo;
}

static void c7_info_helper(c7_ResolvedFunctionInfo c7_info[44])
{
  c7_info[0].context = "[I]$matlabroot$/toolbox/eml/lib/matlab/ops/mtimes.m";
  c7_info[0].name = "eml_xgemm";
  c7_info[0].dominantType = "int32";
  c7_info[0].resolved =
    "[I]$matlabroot$/toolbox/eml/lib/matlab/eml/blas/eml_xgemm.m";
  c7_info[0].fileLength = 2968U;
  c7_info[0].fileTime1 = 1192463236U;
  c7_info[0].fileTime2 = 0U;
  c7_info[1].context = "";
  c7_info[1].name = "zeros";
  c7_info[1].dominantType = "double";
  c7_info[1].resolved = "[B]zeros";
  c7_info[1].fileLength = 0U;
  c7_info[1].fileTime1 = 0U;
  c7_info[1].fileTime2 = 0U;
  c7_info[2].context =
    "[I]$matlabroot$/toolbox/eml/lib/matlab/eml/blas/internal/eml_blas_xgemm.m";
  c7_info[2].name = "eml_refblas_xgemm";
  c7_info[2].dominantType = "int32";
  c7_info[2].resolved =
    "[I]$matlabroot$/toolbox/eml/lib/matlab/eml/blas/refblas/eml_refblas_xgemm.m";
  c7_info[2].fileLength = 5746U;
  c7_info[2].fileTime1 = 1195310800U;
  c7_info[2].fileTime2 = 0U;
  c7_info[3].context = "";
  c7_info[3].name = "sin";
  c7_info[3].dominantType = "double";
  c7_info[3].resolved = "[I]$matlabroot$/toolbox/eml/lib/matlab/elfun/sin.m";
  c7_info[3].fileLength = 867U;
  c7_info[3].fileTime1 = 1192463108U;
  c7_info[3].fileTime2 = 0U;
  c7_info[4].context = "[I]$matlabroot$/toolbox/eml/lib/matlab/ops/mtimes.m";
  c7_info[4].name = "eq";
  c7_info[4].dominantType = "double";
  c7_info[4].resolved = "[B]eq";
  c7_info[4].fileLength = 0U;
  c7_info[4].fileTime1 = 0U;
  c7_info[4].fileTime2 = 0U;
  c7_info[5].context = "[I]$matlabroot$/toolbox/eml/lib/matlab/elfun/cos.m";
  c7_info[5].name = "isreal";
  c7_info[5].dominantType = "double";
  c7_info[5].resolved = "[B]isreal";
  c7_info[5].fileLength = 0U;
  c7_info[5].fileTime1 = 0U;
  c7_info[5].fileTime2 = 0U;
  c7_info[6].context = "[I]$matlabroot$/toolbox/eml/lib/matlab/ops/mtimes.m";
  c7_info[6].name = "ones";
  c7_info[6].dominantType = "char";
  c7_info[6].resolved = "[B]ones";
  c7_info[6].fileLength = 0U;
  c7_info[6].fileTime1 = 0U;
  c7_info[6].fileTime2 = 0U;
  c7_info[7].context = "[I]$matlabroot$/toolbox/eml/lib/matlab/ops/mtimes.m";
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