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torqueBalancingYoga.cpp
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/*
* torqueBalancingYoga.cpp
*
* Non-Degree Granting Education License -- for use at non-degree
* granting, nonprofit, educational organizations only. Not for
* government, commercial, or other organizational use.
*
* Code generation for model "torqueBalancingYoga".
*
* Model version : 1.3292
* Simulink Coder version : 8.14 (R2018a) 06-Feb-2018
* C++ source code generated on : Thu Sep 27 14:38:56 2018
*
* Target selection: grt.tlc
* Note: GRT includes extra infrastructure and instrumentation for prototyping
* Embedded hardware selection: 32-bit Generic
* Code generation objectives: Unspecified
* Validation result: Not run
*/
#include "torqueBalancingYoga.h"
#include "torqueBalancingYoga_private.h"
/* Forward declaration for local functions */
static void torqueBalancingYoga_rotz(real_T alpha, real_T R[9]);
static void torqueBalancingYoga_roty(real_T alpha, real_T R[9]);
static void torqueBalancingYoga_xgetrf(real_T A[16], int32_T ipiv[4], int32_T* info);
/* Function for MATLAB Function: '<S41>/fromImuToHomogeousTransformFCN' */
static void torqueBalancingYoga_rotz(real_T alpha, real_T R[9])
{
real_T R_tmp;
real_T R_tmp_0;
memset(&R[0], 0, 9U * sizeof(real_T));
R[8] = 1.0;
R_tmp_0 = std::cos(alpha);
R[0] = R_tmp_0;
R_tmp = std::sin(alpha);
R[3] = -R_tmp;
R[1] = R_tmp;
R[4] = R_tmp_0;
}
/* Function for MATLAB Function: '<S41>/fromImuToHomogeousTransformFCN' */
static void torqueBalancingYoga_roty(real_T alpha, real_T R[9])
{
real_T R_tmp;
real_T R_tmp_0;
memset(&R[0], 0, 9U * sizeof(real_T));
R[4] = 1.0;
R_tmp_0 = std::cos(alpha);
R[0] = R_tmp_0;
R_tmp = std::sin(alpha);
R[6] = R_tmp;
R[2] = -R_tmp;
R[8] = R_tmp_0;
}
/* Function for MATLAB Function: '<S41>/fromImuToHomogeousTransformFCN' */
static void torqueBalancingYoga_xgetrf(real_T A[16], int32_T ipiv[4], int32_T* info)
{
int32_T j;
int32_T c;
int32_T ix;
real_T smax;
real_T s;
int32_T k;
int32_T iy;
int32_T c_ix;
int32_T d;
int32_T ijA;
ipiv[0] = 1;
ipiv[1] = 2;
ipiv[2] = 3;
ipiv[3] = 4;
*info = 0;
for (j = 0; j < 3; j++) {
c = j * 5;
iy = 0;
ix = c;
smax = std::abs(A[c]);
for (k = 2; k <= 4 - j; k++) {
ix++;
s = std::abs(A[ix]);
if (s > smax) {
iy = k - 1;
smax = s;
}
}
if (A[c + iy] != 0.0) {
if (iy != 0) {
iy += j;
ipiv[j] = iy + 1;
smax = A[j];
A[j] = A[iy];
A[iy] = smax;
ix = j + 4;
iy += 4;
smax = A[ix];
A[ix] = A[iy];
A[iy] = smax;
ix += 4;
iy += 4;
smax = A[ix];
A[ix] = A[iy];
A[iy] = smax;
ix += 4;
iy += 4;
smax = A[ix];
A[ix] = A[iy];
A[iy] = smax;
}
iy = (c - j) + 4;
for (ix = c + 1; ix < iy; ix++) {
A[ix] /= A[c];
}
}
else {
*info = j + 1;
}
iy = c;
ix = c + 4;
for (k = 1; k <= 3 - j; k++) {
smax = A[ix];
if (A[ix] != 0.0) {
c_ix = c + 1;
d = (iy - j) + 8;
for (ijA = 5 + iy; ijA < d; ijA++) {
A[ijA] += A[c_ix] * -smax;
c_ix++;
}
}
ix += 4;
iy += 4;
}
}
if ((*info == 0) && (!(A[15] != 0.0))) {
*info = 4;
}
}
/*
* Output and update for atomic system:
* '<S41>/fromImuToHomogeousTransformFCN'
* '<S78>/fromImuToHomogeousTransformFCN'
* '<S80>/fromImuToHomogeousTransformFCN'
* '<S118>/fromImuToHomogeousTransformFCN'
* '<S120>/fromImuToHomogeousTransformFCN'
*/
void fromImuToHomogeousTransformFCN(const real_T rtu_imu_H_link[16],
const real_T rtu_imu_H_link_0[16],
const real_T rtu_link_H_base[16],
const real_T rtu_inertial_0[12],
const real_T rtu_inertial[12],
const real_T rtu_neck_pos[3],
B_fromImuToHomogeousTransform_T* localB,
P_torqueBalancingYoga_T* torqueBalancingYoga_P)
{
real_T inertial_0[12];
real_T inertial[12];
real_T wImu_R_link[9];
real_T wImu_R_link_0[9];
real_T rollPitchYaw_link_0[3];
real_T wImu_H_wImuAssumingNeckToZero[16];
real_T R[9];
real_T b_R[9];
real_T c_R[9];
real_T d_R[9];
real_T A[16];
int32_T ipiv[4];
int32_T info;
int32_T jAcol;
int32_T kBcol;
int32_T kAcol;
static const real_T B[16] = {-1.0,
1.2246467991473532E-16,
-1.2246467991473532E-16,
0.0,
-1.2246467991473532E-16,
-6.1232339957367648E-17,
1.0,
0.0,
1.2246467991473532E-16,
1.0,
6.123233995736766E-17,
0.0,
-0.018499999999999985,
0.12029999999999999,
0.0066000000000000043,
1.0};
static const real_T b[16] = {1.0,
0.0,
0.0,
0.0,
-0.0,
6.123233995736766E-17,
1.0,
0.0,
0.0,
-1.0,
6.123233995736766E-17,
0.0,
0.0,
0.0,
0.0066,
1.0};
static const int8_T c[4] = {0, 0, 0, 1};
static const real_T d[4] = {0.0, -1.0, 6.123233995736766E-17, 0.1108};
int32_T i;
real_T tmp[9];
real_T tmp_0[9];
real_T tmp_1[9];
real_T b_R_0[9];
real_T b_R_1[9];
real_T tmp_2[16];
real_T tmp_3[16];
real_T R_0[9];
real_T R_1[16];
real_T R_2[16];
real_T rollPitchYaw_link_idx_0;
real_T rollPitchYawFiltered_link_idx_2;
real_T rollPitchYawFiltered_link_idx_1;
real_T R_tmp;
/* MATLAB Function 'Robot State and References/Internal Coordinator/Base to fixed_link/LFoot to
* base link transform /fromImuToHomogeousTransformFCN': '<S46>:1' */
/* '<S46>:1:3' */
for (i = 0; i < 12; i++) {
inertial[i] = rtu_inertial[i] * 3.1415926535897931 / 180.0;
inertial_0[i] = rtu_inertial_0[i] * 3.1415926535897931 / 180.0;
}
memset(&R[0], 0, 9U * sizeof(real_T));
memset(&b_R[0], 0, 9U * sizeof(real_T));
memset(&c_R[0], 0, 9U * sizeof(real_T));
memset(&d_R[0], 0, 9U * sizeof(real_T));
R[0] = 1.0;
R_tmp = std::cos(inertial[0]);
R[4] = R_tmp;
rollPitchYawFiltered_link_idx_2 = std::sin(inertial[0]);
R[7] = -rollPitchYawFiltered_link_idx_2;
R[5] = rollPitchYawFiltered_link_idx_2;
R[8] = R_tmp;
b_R[8] = 1.0;
R_tmp = std::cos(inertial_0[2]);
b_R[0] = R_tmp;
rollPitchYawFiltered_link_idx_1 = std::sin(inertial_0[2]);
b_R[3] = -rollPitchYawFiltered_link_idx_1;
b_R[1] = rollPitchYawFiltered_link_idx_1;
b_R[4] = R_tmp;
c_R[4] = 1.0;
rollPitchYawFiltered_link_idx_1 = std::cos(inertial_0[1]);
c_R[0] = rollPitchYawFiltered_link_idx_1;
rollPitchYaw_link_idx_0 = std::sin(inertial_0[1]);
c_R[6] = rollPitchYaw_link_idx_0;
c_R[2] = -rollPitchYaw_link_idx_0;
c_R[8] = rollPitchYawFiltered_link_idx_1;
d_R[0] = 1.0;
rollPitchYaw_link_idx_0 = std::cos(inertial_0[0]);
d_R[4] = rollPitchYaw_link_idx_0;
rollPitchYawFiltered_link_idx_1 = std::sin(inertial_0[0]);
d_R[7] = -rollPitchYawFiltered_link_idx_1;
d_R[5] = rollPitchYawFiltered_link_idx_1;
d_R[8] = rollPitchYaw_link_idx_0;
torqueBalancingYoga_rotz(inertial[2], R_0);
torqueBalancingYoga_roty(inertial[1], tmp);
for (i = 0; i < 3; i++) {
for (info = 0; info < 3; info++) {
jAcol = i + 3 * info;
tmp_0[jAcol] = 0.0;
tmp_0[jAcol] = tmp_0[3 * info + i] + tmp[3 * info] * R_0[i];
tmp_0[jAcol] = tmp[3 * info + 1] * R_0[i + 3] + tmp_0[3 * info + i];
tmp_0[jAcol] = tmp[3 * info + 2] * R_0[i + 6] + tmp_0[3 * info + i];
}
for (info = 0; info < 3; info++) {
jAcol = i + 3 * info;
tmp_1[jAcol] = 0.0;
tmp_1[jAcol] = tmp_1[3 * info + i] + R[3 * info] * tmp_0[i];
tmp_1[jAcol] = R[3 * info + 1] * tmp_0[i + 3] + tmp_1[3 * info + i];
tmp_1[jAcol] = R[3 * info + 2] * tmp_0[i + 6] + tmp_1[3 * info + i];
}
for (info = 0; info < 3; info++) {
jAcol = i + 3 * info;
wImu_R_link[jAcol] = 0.0;
b_R_0[jAcol] = 0.0;
kAcol = 3 * info + i;
wImu_R_link[jAcol] = wImu_R_link[kAcol] + rtu_imu_H_link[info << 2] * tmp_1[i];
b_R_0[jAcol] = b_R_0[kAcol] + c_R[3 * info] * b_R[i];
wImu_R_link[jAcol] =
rtu_imu_H_link[(info << 2) + 1] * tmp_1[i + 3] + wImu_R_link[3 * info + i];
b_R_0[jAcol] = c_R[3 * info + 1] * b_R[i + 3] + b_R_0[3 * info + i];
wImu_R_link[jAcol] =
rtu_imu_H_link[(info << 2) + 2] * tmp_1[i + 6] + wImu_R_link[3 * info + i];
b_R_0[jAcol] = c_R[3 * info + 2] * b_R[i + 6] + b_R_0[3 * info + i];
}
for (info = 0; info < 3; info++) {
jAcol = i + 3 * info;
b_R_1[jAcol] = 0.0;
b_R_1[jAcol] = b_R_1[3 * info + i] + d_R[3 * info] * b_R_0[i];
b_R_1[jAcol] = d_R[3 * info + 1] * b_R_0[i + 3] + b_R_1[3 * info + i];
b_R_1[jAcol] = d_R[3 * info + 2] * b_R_0[i + 6] + b_R_1[3 * info + i];
}
for (info = 0; info < 3; info++) {
jAcol = i + 3 * info;
wImu_R_link_0[jAcol] = 0.0;
wImu_R_link_0[jAcol] =
wImu_R_link_0[3 * info + i] + rtu_imu_H_link_0[info << 2] * b_R_1[i];
wImu_R_link_0[jAcol] =
rtu_imu_H_link_0[(info << 2) + 1] * b_R_1[i + 3] + wImu_R_link_0[3 * info + i];
wImu_R_link_0[jAcol] =
rtu_imu_H_link_0[(info << 2) + 2] * b_R_1[i + 6] + wImu_R_link_0[3 * info + i];
}
rollPitchYaw_link_0[i] = 0.0;
}
if (wImu_R_link_0[2] < 1.0) {
if (wImu_R_link_0[2] > -1.0) {
rollPitchYaw_link_0[1] = std::asin(-wImu_R_link_0[2]);
rollPitchYaw_link_0[2] = atan2(wImu_R_link_0[1], wImu_R_link_0[0]);
}
else {
rollPitchYaw_link_0[2] = -atan2(-wImu_R_link_0[7], wImu_R_link_0[4]);
}
}
else {
rollPitchYaw_link_0[2] = atan2(-wImu_R_link_0[7], wImu_R_link_0[4]);
}
rollPitchYaw_link_idx_0 = 0.0;
rollPitchYawFiltered_link_idx_1 = 0.0;
if (wImu_R_link[2] < 1.0) {
if (wImu_R_link[2] > -1.0) {
rollPitchYawFiltered_link_idx_1 = std::asin(-wImu_R_link[2]);
rollPitchYawFiltered_link_idx_2 = atan2(wImu_R_link[1], wImu_R_link[0]);
rollPitchYaw_link_idx_0 = atan2(wImu_R_link[5], wImu_R_link[8]);
}
else {
rollPitchYawFiltered_link_idx_2 = -atan2(-wImu_R_link[7], wImu_R_link[4]);
}
}
else {
rollPitchYawFiltered_link_idx_2 = atan2(-wImu_R_link[7], wImu_R_link[4]);
}
if (torqueBalancingYoga_P->Config.FILTER_IMU_YAW) {
rollPitchYawFiltered_link_idx_2 = rollPitchYaw_link_0[2];
}
if (torqueBalancingYoga_P->Config.FILTER_IMU_PITCH) {
rollPitchYawFiltered_link_idx_1 = rollPitchYaw_link_0[1];
}
memset(&R[0], 0, 9U * sizeof(real_T));
memset(&b_R[0], 0, 9U * sizeof(real_T));
memset(&c_R[0], 0, 9U * sizeof(real_T));
R[8] = 1.0;
R_tmp = std::cos(rollPitchYawFiltered_link_idx_2);
R[0] = R_tmp;
rollPitchYawFiltered_link_idx_2 = std::sin(rollPitchYawFiltered_link_idx_2);
R[3] = -rollPitchYawFiltered_link_idx_2;
R[1] = rollPitchYawFiltered_link_idx_2;
R[4] = R_tmp;
b_R[4] = 1.0;
R_tmp = std::cos(rollPitchYawFiltered_link_idx_1);
b_R[0] = R_tmp;
rollPitchYawFiltered_link_idx_1 = std::sin(rollPitchYawFiltered_link_idx_1);
b_R[6] = rollPitchYawFiltered_link_idx_1;
b_R[2] = -rollPitchYawFiltered_link_idx_1;
b_R[8] = R_tmp;
c_R[0] = 1.0;
rollPitchYawFiltered_link_idx_1 = std::cos(rollPitchYaw_link_idx_0);
c_R[4] = rollPitchYawFiltered_link_idx_1;
rollPitchYaw_link_idx_0 = std::sin(rollPitchYaw_link_idx_0);
c_R[7] = -rollPitchYaw_link_idx_0;
c_R[5] = rollPitchYaw_link_idx_0;
c_R[8] = rollPitchYawFiltered_link_idx_1;
memcpy(&A[0], &B[0], sizeof(real_T) << 4U);
torqueBalancingYoga_xgetrf(A, ipiv, &info);
rollPitchYaw_link_idx_0 = std::cos(rtu_neck_pos[0] + 1.5707963267948966);
R_1[0] = rollPitchYaw_link_idx_0;
rollPitchYawFiltered_link_idx_1 = std::sin(rtu_neck_pos[0] + 1.5707963267948966);
R_1[4] = -rollPitchYawFiltered_link_idx_1 * 6.123233995736766E-17;
R_1[8] = rollPitchYawFiltered_link_idx_1;
R_1[12] = rollPitchYaw_link_idx_0 * 0.0095;
R_1[1] = rollPitchYawFiltered_link_idx_1;
R_1[5] = rollPitchYaw_link_idx_0 * 6.123233995736766E-17;
R_1[9] = -rollPitchYaw_link_idx_0;
R_1[13] = rollPitchYawFiltered_link_idx_1 * 0.0095;
rollPitchYaw_link_idx_0 = std::cos(rtu_neck_pos[1] - 1.5707963267948966);
R_2[0] = rollPitchYaw_link_idx_0;
rollPitchYawFiltered_link_idx_1 = std::sin(rtu_neck_pos[1] - 1.5707963267948966);
R_2[4] = -rollPitchYawFiltered_link_idx_1 * 6.123233995736766E-17;
R_2[8] = -rollPitchYawFiltered_link_idx_1;
R_2[12] = 0.0;
R_2[1] = rollPitchYawFiltered_link_idx_1;
R_2[5] = rollPitchYaw_link_idx_0 * 6.123233995736766E-17;
R_2[9] = -(-rollPitchYaw_link_idx_0);
R_2[13] = 0.0;
R_1[2] = 0.0;
R_1[3] = 0.0;
R_2[2] = 0.0;
R_2[3] = 0.0;
R_1[6] = 1.0;
R_1[7] = 0.0;
R_2[6] = -1.0;
R_2[7] = 0.0;
R_1[10] = 6.123233995736766E-17;
R_1[11] = 0.0;
R_2[10] = 6.123233995736766E-17;
R_2[11] = 0.0;
R_1[14] = 0.0;
R_1[15] = 1.0;
R_2[14] = 0.0;
R_2[15] = 1.0;
rollPitchYaw_link_idx_0 = std::cos(rtu_neck_pos[2] + 1.5707963267948966);
tmp_3[0] = rollPitchYaw_link_idx_0;
rollPitchYawFiltered_link_idx_1 = std::sin(rtu_neck_pos[2] + 1.5707963267948966);
tmp_3[4] = -rollPitchYawFiltered_link_idx_1 * 6.123233995736766E-17;
tmp_3[8] = -rollPitchYawFiltered_link_idx_1;
tmp_3[12] = rollPitchYaw_link_idx_0 * 0.0185;
tmp_3[1] = rollPitchYawFiltered_link_idx_1;
tmp_3[5] = rollPitchYaw_link_idx_0 * 6.123233995736766E-17;
tmp_3[9] = -(-rollPitchYaw_link_idx_0);
tmp_3[13] = rollPitchYawFiltered_link_idx_1 * 0.0185;
for (info = 0; info < 4; info++) {
for (jAcol = 0; jAcol < 4; jAcol++) {
tmp_2[info + (jAcol << 2)] = 0.0;
tmp_2[info + (jAcol << 2)] += R_2[jAcol << 2] * R_1[info];
tmp_2[info + (jAcol << 2)] += R_2[(jAcol << 2) + 1] * R_1[info + 4];
tmp_2[info + (jAcol << 2)] += R_2[(jAcol << 2) + 2] * R_1[info + 8];
tmp_2[info + (jAcol << 2)] += R_2[(jAcol << 2) + 3] * R_1[info + 12];
}
tmp_3[2 + (info << 2)] = d[info];
tmp_3[3 + (info << 2)] = c[info];
}
for (info = 0; info < 4; info++) {
for (jAcol = 0; jAcol < 4; jAcol++) {
R_1[info + (jAcol << 2)] = 0.0;
R_1[info + (jAcol << 2)] += tmp_3[jAcol << 2] * tmp_2[info];
R_1[info + (jAcol << 2)] += tmp_3[(jAcol << 2) + 1] * tmp_2[info + 4];
R_1[info + (jAcol << 2)] += tmp_3[(jAcol << 2) + 2] * tmp_2[info + 8];
R_1[info + (jAcol << 2)] += tmp_3[(jAcol << 2) + 3] * tmp_2[info + 12];
}
for (jAcol = 0; jAcol < 4; jAcol++) {
wImu_H_wImuAssumingNeckToZero[info + (jAcol << 2)] = 0.0;
wImu_H_wImuAssumingNeckToZero[info + (jAcol << 2)] += b[jAcol << 2] * R_1[info];
wImu_H_wImuAssumingNeckToZero[info + (jAcol << 2)] +=
b[(jAcol << 2) + 1] * R_1[info + 4];
wImu_H_wImuAssumingNeckToZero[info + (jAcol << 2)] +=
b[(jAcol << 2) + 2] * R_1[info + 8];
wImu_H_wImuAssumingNeckToZero[info + (jAcol << 2)] +=
b[(jAcol << 2) + 3] * R_1[info + 12];
}
}
for (info = 0; info < 4; info++) {
i = info << 2;
jAcol = info << 2;
for (kAcol = 1; kAcol <= info; kAcol++) {
kBcol = (kAcol - 1) << 2;
if (A[(kAcol + jAcol) - 1] != 0.0) {
wImu_H_wImuAssumingNeckToZero[i] -=
A[(kAcol + jAcol) - 1] * wImu_H_wImuAssumingNeckToZero[kBcol];
wImu_H_wImuAssumingNeckToZero[1 + i] -=
A[(kAcol + jAcol) - 1] * wImu_H_wImuAssumingNeckToZero[1 + kBcol];
wImu_H_wImuAssumingNeckToZero[2 + i] -=
A[(kAcol + jAcol) - 1] * wImu_H_wImuAssumingNeckToZero[2 + kBcol];
wImu_H_wImuAssumingNeckToZero[3 + i] -=
A[(kAcol + jAcol) - 1] * wImu_H_wImuAssumingNeckToZero[3 + kBcol];
}
}
rollPitchYaw_link_idx_0 = 1.0 / A[info + jAcol];
wImu_H_wImuAssumingNeckToZero[i] *= rollPitchYaw_link_idx_0;
wImu_H_wImuAssumingNeckToZero[1 + i] *= rollPitchYaw_link_idx_0;
wImu_H_wImuAssumingNeckToZero[2 + i] *= rollPitchYaw_link_idx_0;
wImu_H_wImuAssumingNeckToZero[3 + i] *= rollPitchYaw_link_idx_0;
}
for (info = 3; info >= 0; info--) {
i = info << 2;
jAcol = (info << 2) - 1;
for (kAcol = info + 2; kAcol < 5; kAcol++) {
kBcol = (kAcol - 1) << 2;
if (A[kAcol + jAcol] != 0.0) {
wImu_H_wImuAssumingNeckToZero[i] -=
A[kAcol + jAcol] * wImu_H_wImuAssumingNeckToZero[kBcol];
wImu_H_wImuAssumingNeckToZero[1 + i] -=
A[kAcol + jAcol] * wImu_H_wImuAssumingNeckToZero[1 + kBcol];
wImu_H_wImuAssumingNeckToZero[2 + i] -=
A[kAcol + jAcol] * wImu_H_wImuAssumingNeckToZero[2 + kBcol];
wImu_H_wImuAssumingNeckToZero[3 + i] -=
A[kAcol + jAcol] * wImu_H_wImuAssumingNeckToZero[3 + kBcol];
}
}
}
for (info = 2; info >= 0; info--) {
if (info + 1 != ipiv[info]) {
i = ipiv[info] - 1;
rollPitchYaw_link_idx_0 = wImu_H_wImuAssumingNeckToZero[info << 2];
wImu_H_wImuAssumingNeckToZero[info << 2] = wImu_H_wImuAssumingNeckToZero[i << 2];
wImu_H_wImuAssumingNeckToZero[i << 2] = rollPitchYaw_link_idx_0;
rollPitchYaw_link_idx_0 = wImu_H_wImuAssumingNeckToZero[(info << 2) + 1];
wImu_H_wImuAssumingNeckToZero[1 + (info << 2)] =
wImu_H_wImuAssumingNeckToZero[(i << 2) + 1];
wImu_H_wImuAssumingNeckToZero[1 + (i << 2)] = rollPitchYaw_link_idx_0;
rollPitchYaw_link_idx_0 = wImu_H_wImuAssumingNeckToZero[(info << 2) + 2];
wImu_H_wImuAssumingNeckToZero[2 + (info << 2)] =
wImu_H_wImuAssumingNeckToZero[(i << 2) + 2];
wImu_H_wImuAssumingNeckToZero[2 + (i << 2)] = rollPitchYaw_link_idx_0;
rollPitchYaw_link_idx_0 = wImu_H_wImuAssumingNeckToZero[(info << 2) + 3];
wImu_H_wImuAssumingNeckToZero[3 + (info << 2)] =
wImu_H_wImuAssumingNeckToZero[(i << 2) + 3];
wImu_H_wImuAssumingNeckToZero[3 + (i << 2)] = rollPitchYaw_link_idx_0;
}
}
for (info = 0; info < 3; info++) {
A[info << 2] = wImu_R_link_0[3 * info];
A[1 + (info << 2)] = wImu_R_link_0[3 * info + 1];
A[2 + (info << 2)] = wImu_R_link_0[3 * info + 2];
A[12 + info] = 0.0;
}
A[3] = 0.0;
A[7] = 0.0;
A[11] = 0.0;
A[15] = 1.0;
torqueBalancingYoga_xgetrf(A, ipiv, &info);
for (info = 0; info < 3; info++) {
for (jAcol = 0; jAcol < 3; jAcol++) {
i = info + 3 * jAcol;
d_R[i] = 0.0;
d_R[i] = d_R[3 * jAcol + info] + b_R[3 * jAcol] * R[info];
d_R[i] = b_R[3 * jAcol + 1] * R[info + 3] + d_R[3 * jAcol + info];
d_R[i] = b_R[3 * jAcol + 2] * R[info + 6] + d_R[3 * jAcol + info];
}
for (jAcol = 0; jAcol < 3; jAcol++) {
i = info + 3 * jAcol;
R_0[i] = 0.0;
R_0[i] = R_0[3 * jAcol + info] + c_R[3 * jAcol] * d_R[info];
R_0[i] = c_R[3 * jAcol + 1] * d_R[info + 3] + R_0[3 * jAcol + info];
R_0[i] = c_R[3 * jAcol + 2] * d_R[info + 6] + R_0[3 * jAcol + info];
}
}
for (info = 0; info < 3; info++) {
R_1[info << 2] = R_0[3 * info];
R_1[1 + (info << 2)] = R_0[3 * info + 1];
R_1[2 + (info << 2)] = R_0[3 * info + 2];
R_1[12 + info] = 0.0;
}
R_1[3] = 0.0;
R_1[7] = 0.0;
R_1[11] = 0.0;
R_1[15] = 1.0;
for (info = 0; info < 4; info++) {
for (jAcol = 0; jAcol < 4; jAcol++) {
R_2[jAcol + (info << 2)] = 0.0;
R_2[jAcol + (info << 2)] += rtu_link_H_base[info << 2] * R_1[jAcol];
R_2[jAcol + (info << 2)] += rtu_link_H_base[(info << 2) + 1] * R_1[jAcol + 4];
R_2[jAcol + (info << 2)] += rtu_link_H_base[(info << 2) + 2] * R_1[jAcol + 8];
R_2[jAcol + (info << 2)] += rtu_link_H_base[(info << 2) + 3] * R_1[jAcol + 12];
}
}
for (info = 0; info < 4; info++) {
for (jAcol = 0; jAcol < 4; jAcol++) {
localB->w_H_b[jAcol + (info << 2)] = 0.0;
localB->w_H_b[jAcol + (info << 2)] +=
R_2[info << 2] * wImu_H_wImuAssumingNeckToZero[jAcol];
localB->w_H_b[jAcol + (info << 2)] +=
R_2[(info << 2) + 1] * wImu_H_wImuAssumingNeckToZero[jAcol + 4];
localB->w_H_b[jAcol + (info << 2)] +=
R_2[(info << 2) + 2] * wImu_H_wImuAssumingNeckToZero[jAcol + 8];
localB->w_H_b[jAcol + (info << 2)] +=
R_2[(info << 2) + 3] * wImu_H_wImuAssumingNeckToZero[jAcol + 12];
}
}
for (info = 0; info < 3; info++) {
if (info + 1 != ipiv[info]) {
i = ipiv[info] - 1;
rollPitchYaw_link_idx_0 = localB->w_H_b[info];
localB->w_H_b[info] = localB->w_H_b[i];
localB->w_H_b[i] = rollPitchYaw_link_idx_0;
rollPitchYaw_link_idx_0 = localB->w_H_b[info + 4];
localB->w_H_b[info + 4] = localB->w_H_b[i + 4];
localB->w_H_b[i + 4] = rollPitchYaw_link_idx_0;
rollPitchYaw_link_idx_0 = localB->w_H_b[info + 8];
localB->w_H_b[info + 8] = localB->w_H_b[i + 8];
localB->w_H_b[i + 8] = rollPitchYaw_link_idx_0;
rollPitchYaw_link_idx_0 = localB->w_H_b[info + 12];
localB->w_H_b[info + 12] = localB->w_H_b[i + 12];
localB->w_H_b[i + 12] = rollPitchYaw_link_idx_0;
}
}
for (info = 0; info < 4; info++) {
i = info << 2;
if (localB->w_H_b[i] != 0.0) {
for (kBcol = 1; kBcol + 1 < 5; kBcol++) {
localB->w_H_b[kBcol + i] -= localB->w_H_b[i] * A[kBcol];
}
}
if (localB->w_H_b[1 + i] != 0.0) {
for (kBcol = 2; kBcol + 1 < 5; kBcol++) {
localB->w_H_b[kBcol + i] -= localB->w_H_b[1 + i] * A[kBcol + 4];
}
}
if (localB->w_H_b[2 + i] != 0.0) {
for (kBcol = 3; kBcol + 1 < 5; kBcol++) {
localB->w_H_b[kBcol + i] -= localB->w_H_b[2 + i] * A[kBcol + 8];
}
}
}
for (info = 0; info < 4; info++) {
i = info << 2;
if (localB->w_H_b[3 + i] != 0.0) {
localB->w_H_b[3 + i] /= A[15];
for (kBcol = 0; kBcol < 3; kBcol++) {
localB->w_H_b[kBcol + i] -= localB->w_H_b[3 + i] * A[kBcol + 12];
}
}
if (localB->w_H_b[2 + i] != 0.0) {
localB->w_H_b[2 + i] /= A[10];
for (kBcol = 0; kBcol < 2; kBcol++) {
localB->w_H_b[kBcol + i] -= localB->w_H_b[2 + i] * A[kBcol + 8];
}
}
if (localB->w_H_b[1 + i] != 0.0) {
localB->w_H_b[1 + i] /= A[5];
for (kBcol = 0; kBcol < 1; kBcol++) {
localB->w_H_b[kBcol + i] -= localB->w_H_b[1 + i] * A[kBcol + 4];
}
}
if (localB->w_H_b[i] != 0.0) {
localB->w_H_b[i] /= A[0];
}
}
}
/*
* System initialize for atomic system:
* '<S47>/MATLAB Function'
* '<S85>/MATLAB Function'
* '<S95>/MATLAB Function'
* '<S125>/MATLAB Function'
* '<S135>/MATLAB Function'
*/
void torqueBalan_MATLABFunction_Init(DW_MATLABFunction_torqueBalan_T* localDW)
{
localDW->state_not_empty = false;
}
/*
* Output and update for atomic system:
* '<S47>/MATLAB Function'
* '<S85>/MATLAB Function'
* '<S95>/MATLAB Function'
* '<S125>/MATLAB Function'
* '<S135>/MATLAB Function'
*/
void torqueBalancingY_MATLABFunction(const real_T rtu_s[16],
B_MATLABFunction_torqueBalanc_T* localB,
DW_MATLABFunction_torqueBalan_T* localDW)
{
/* MATLAB Function 'Utilities/holder /MATLAB Function': '<S51>:1' */
if (!localDW->state_not_empty) {
/* '<S51>:1:5' */
/* '<S51>:1:6' */
memcpy(&localDW->state[0], &rtu_s[0], sizeof(real_T) << 4U);
localDW->state_not_empty = true;
}
/* '<S51>:1:9' */
memcpy(&localB->s0[0], &localDW->state[0], sizeof(real_T) << 4U);
}
/*
* System initialize for atomic system:
* '<S48>/MATLAB Function'
* '<S86>/MATLAB Function'
* '<S96>/MATLAB Function'
* '<S126>/MATLAB Function'
* '<S136>/MATLAB Function'
*/
void torqueBal_MATLABFunction_m_Init(DW_MATLABFunction_torqueBal_k_T* localDW)
{
localDW->state_not_empty = false;
}
/*
* Output and update for atomic system:
* '<S48>/MATLAB Function'
* '<S86>/MATLAB Function'
* '<S96>/MATLAB Function'
* '<S126>/MATLAB Function'
* '<S136>/MATLAB Function'
*/
void torqueBalancin_MATLABFunction_l(const real_T rtu_s[12],
B_MATLABFunction_torqueBala_f_T* localB,
DW_MATLABFunction_torqueBal_k_T* localDW)
{
/* MATLAB Function 'Utilities/holder /MATLAB Function': '<S53>:1' */
if (!localDW->state_not_empty) {
/* '<S53>:1:5' */
/* '<S53>:1:6' */
memcpy(&localDW->state[0], &rtu_s[0], 12U * sizeof(real_T));
localDW->state_not_empty = true;
}
/* '<S53>:1:9' */
memcpy(&localB->s0[0], &localDW->state[0], 12U * sizeof(real_T));
}
/*
* System initialize for atomic system:
* '<S38>/MATLAB Function'
* '<S69>/MATLAB Function'
* '<S162>/MATLAB Function'
*/
void torqueBa_MATLABFunction_mb_Init(DW_MATLABFunction_torqueBal_l_T* localDW)
{
localDW->state_not_empty = false;
}
/*
* Output and update for atomic system:
* '<S38>/MATLAB Function'
* '<S69>/MATLAB Function'
* '<S162>/MATLAB Function'
*/
void torqueBalancin_MATLABFunction_k(const real_T rtu_s[23],
B_MATLABFunction_torqueBala_j_T* localB,
DW_MATLABFunction_torqueBal_l_T* localDW)
{
/* MATLAB Function 'Utilities/holder /MATLAB Function': '<S60>:1' */
if (!localDW->state_not_empty) {
/* '<S60>:1:5' */
/* '<S60>:1:6' */
memcpy(&localDW->state[0], &rtu_s[0], 23U * sizeof(real_T));
localDW->state_not_empty = true;
}
/* '<S60>:1:9' */
memcpy(&localB->s0[0], &localDW->state[0], 23U * sizeof(real_T));
}
/*
* System initialize for atomic system:
* '<S39>/MATLAB Function'
* '<S68>/MATLAB Function'
*/
void torqueBal_MATLABFunction_l_Init(DW_MATLABFunction_torqueBal_e_T* localDW)
{
localDW->state_not_empty = false;
}
/*
* Output and update for atomic system:
* '<S39>/MATLAB Function'
* '<S68>/MATLAB Function'
*/
void torqueBalancin_MATLABFunction_a(const real_T rtu_s[3],
B_MATLABFunction_torqueBala_p_T* localB,
DW_MATLABFunction_torqueBal_e_T* localDW)
{
/* MATLAB Function 'Utilities/holder /MATLAB Function': '<S62>:1' */
if (!localDW->state_not_empty) {
/* '<S62>:1:5' */
/* '<S62>:1:6' */
localDW->state[0] = rtu_s[0];
localDW->state[1] = rtu_s[1];
localDW->state[2] = rtu_s[2];
localDW->state_not_empty = true;
}
/* '<S62>:1:9' */
localB->s0[0] = localDW->state[0];
localB->s0[1] = localDW->state[1];
localB->s0[2] = localDW->state[2];
}
/* Function for MATLAB Function: '<S15>/Add motor reflected inertias' */
void torqueBalancingYogaModelClass::torqueBalancingYoga_xswap(real_T x[529],
int32_T ix0,
int32_T iy0)
{
int32_T ix;
int32_T iy;
real_T temp;
int32_T k;
ix = ix0 - 1;
iy = iy0 - 1;
for (k = 0; k < 23; k++) {
temp = x[ix];
x[ix] = x[iy];
x[iy] = temp;
ix += 23;
iy += 23;
}
}
/* Function for MATLAB Function: '<S15>/Add motor reflected inertias' */
void torqueBalancingYogaModelClass::torqueBalancingYoga_xgetrf_h(real_T A[529],
int32_T ipiv[23],
int32_T* info)
{
int32_T j;
int32_T c;
int32_T ix;
real_T smax;
real_T s;
int32_T k;
int32_T jA;
int32_T b_ix;
int32_T d;
int32_T ijA;
for (j = 0; j < 23; j++) {
ipiv[j] = 1 + j;
}
*info = 0;
for (j = 0; j < 22; j++) {
c = j * 24;
jA = 1;
ix = c;
smax = std::abs(A[c]);
for (k = 2; k <= 23 - j; k++) {
ix++;
s = std::abs(A[ix]);
if (s > smax) {
jA = k;
smax = s;
}
}
if (A[(c + jA) - 1] != 0.0) {
if (jA - 1 != 0) {
ipiv[j] = j + jA;
torqueBalancingYoga_xswap(A, j + 1, j + jA);
}
jA = (c - j) + 23;
for (ix = c + 1; ix < jA; ix++) {
A[ix] /= A[c];
}
}
else {
*info = j + 1;
}
jA = c;
ix = c + 23;
for (k = 1; k <= 22 - j; k++) {
smax = A[ix];
if (A[ix] != 0.0) {
b_ix = c + 1;
d = (jA - j) + 46;
for (ijA = 24 + jA; ijA < d; ijA++) {
A[ijA] += A[b_ix] * -smax;
b_ix++;
}
}
ix += 23;
jA += 23;
}
}
if ((*info == 0) && (!(A[528] != 0.0))) {
*info = 23;
}
}
/* Function for MATLAB Function: '<S15>/Add motor reflected inertias' */
void torqueBalancingYogaModelClass::torqueBalancingYoga_xtrsm(const real_T A[529], real_T B[529])
{
real_T temp;
int32_T jBcol;
int32_T jAcol;
int32_T kBcol;
int32_T j;
int32_T k;
int32_T i;
int32_T tmp;
for (j = 0; j < 23; j++) {
jBcol = 23 * j;
jAcol = 23 * j;
for (k = 1; k <= j; k++) {
kBcol = (k - 1) * 23;
if (A[(k + jAcol) - 1] != 0.0) {
for (i = 0; i < 23; i++) {
tmp = i + jBcol;
B[tmp] -= A[(k + jAcol) - 1] * B[i + kBcol];
}
}
}
temp = 1.0 / A[j + jAcol];
for (jAcol = 0; jAcol < 23; jAcol++) {
tmp = jAcol + jBcol;
B[tmp] *= temp;
}
}
}
/* Function for MATLAB Function: '<S15>/Add motor reflected inertias' */
void torqueBalancingYogaModelClass::torqueBalancingYoga_xtrsm_h(const real_T A[529], real_T B[529])
{
int32_T jAcol;
int32_T jBcol;
int32_T kBcol;
int32_T j;
int32_T k;
int32_T i;
int32_T tmp;
for (j = 22; j >= 0; j--) {
jBcol = 23 * j;
jAcol = 23 * j - 1;
for (k = j + 2; k < 24; k++) {
kBcol = (k - 1) * 23;
if (A[k + jAcol] != 0.0) {
for (i = 0; i < 23; i++) {
tmp = i + jBcol;
B[tmp] -= A[k + jAcol] * B[i + kBcol];
}
}
}
}
}
/* Function for MATLAB Function: '<S15>/Add motor reflected inertias' */
void torqueBalancingYogaModelClass::torqueBalancingYoga_mrdivide(const real_T A[529],
const real_T B[529],
real_T y[529])
{
int32_T jp;
int32_T ipiv[23];
int32_T info;
real_T temp;
int32_T xi;
memcpy(&torqueBalancingYoga_B.b_A_k[0], &B[0], 529U * sizeof(real_T));
torqueBalancingYoga_xgetrf_h(torqueBalancingYoga_B.b_A_k, ipiv, &info);
memcpy(&y[0], &A[0], 529U * sizeof(real_T));
torqueBalancingYoga_xtrsm(torqueBalancingYoga_B.b_A_k, y);
torqueBalancingYoga_xtrsm_h(torqueBalancingYoga_B.b_A_k, y);
for (info = 21; info >= 0; info--) {
if (info + 1 != ipiv[info]) {
jp = ipiv[info] - 1;
for (xi = 0; xi < 23; xi++) {
temp = y[23 * info + xi];
y[xi + 23 * info] = y[23 * jp + xi];
y[xi + 23 * jp] = temp;
}
}
}
}
void rt_mldivided4x4(const real_T u0[16], const real_T u1[16], real_T y[16])
{
real_T temp;
real_T A[16];
int8_T ipiv[4];
int32_T j;
int32_T ix;
real_T s;
int32_T iy;
int32_T j_0;
int32_T ijA;
int32_T jBcol;
int32_T kAcol;
int32_T k;