# Copyright (C) 2000 by Peter J. Gawthrop

###############################################################
## Version control history
###############################################################
## $Header$
## $Log$
## Revision 1.254  2000/08/29 09:59:47  peterg
## Version 4.5 -- includes code optimisation using the "Scope" package in reduce
##
## Revision 1.253  2000/08/24 08:53:35  peterg
## New makesubs to create a .subs.r file with output switches to simplify output.
##
## Revision 1.252  2000/08/09 10:31:17  peterg
## Use -d option to find if its a book-style report
##
## Revision 1.251  2000/08/04 10:54:33  peterg

                start_at_abg='yes';;
	-stdin )
                mtt_switches="$mtt_switches $1";
                stdin=stdin;;
	-oct )
                mtt_switches="$mtt_switches $1";
                m='oct';;
	-opt )  mtt_switches="$mtt_switches $1";
                optimise='-optimise';;
        --version)                
                  echo 'MTT version' $version; exit;;
        --versions)                
                mtt_versions; exit;;
	*)
		echo "$1 is an invalid argument - ignoring" ;;
  esac

    echo '         -d  <dir>  use directory <dir>'
    echo '         -dc Maximise derivative (not integral) causality'
    echo '         -dc Maximise derivative (not integral) causality'
    echo '         -i implicit   Use implicit integration'
    echo '         -i euler      Use Euler integration'
    echo '         -o ode is same as dae'
    echo '         -oct use oct files in place of m files where appropriate'
    echo '         -opt optimise code generation'
    echo '         -p  print environment variables'
    echo '         -r  reset time stamp on representation'
    echo '         -s  try to generate sensitivity BG (experimental)'
    echo '         -ss use steady-state info to initialise simulations'
    echo '         -stdin read input data from standard input for  simulations'
    echo '         -t  tidy mode (default)'
    echo '         -u  untidy mode (leaves files in current dir)'

#Constrained-state equations
$1_cse.r: $1_dae.r $1_def.r $1_sympar.r $1_subs.r 
	dae2cse_r $Solve $1; tidy $1_cse.r $1_subs.r

#$1_cse.m: $1_def.r $1_cse.r $1_sympar.r  $1_subs.r 
#	cse_r2m $1; matlab_tidy $1_cse.m
$1_cse.m: $1_def.m $1_cse.r $1_sympars.txt
	mtt_r2m $optimise -parameters  $1 cse;  matlab_tidy $1_cse.m; matlab_tidy $1_cseo.m; 
$1_cseo.m: $1_cse.m
	touch $1_cseo.m
$1_cse.tex: $1_cse.r  $1_sympar.r $1_simp.r
	cse_r2tex $1 $2; latex_tidy $1_cse.tex


#SUMMARY scse	sensitivity constrained-state equations (r)
#SUMMARY scse	sensitivity constrained-state equations (tex)
#SUMMARY scse	sensitivity constrained-state equations (ps)

$1_scse.r: $1_cse.r $1_def.r 
	cse2scse_r  $1 "$4"; tidy $1_scse.r

#$1_cse.m: $1_def.r $1_cse.r $1_sympar.r  $1_subs.r 
#	cse_r2m $1; matlab_tidy $1_cse.m
$1_scse.m: $1_def.m $1_scse.r $1_sympars.txt
	mtt_r2m $optimise  -parameters $1 scse;  
	matlab_tidy $1_scse.m; matlab_tidy $1_scseo.m; 

$1_scse.tex: $1_scse.r  $1_sympar.r $1_simp.r
	cse_r2tex $1 $2; latex_tidy $1_scse.tex

#SUMMARY ode	ordinary differential equations (r)
#SUMMARY ode*	ordinary differential equations (m)

ifeq ($dae_is_ode,1)
$1_ode.r: $1_dae.r
	echo Copying $1_dae.r to $1_ode.r
	cp $1_dae.r  $1_ode.r
endif

$1_ode.m: $1_def.m $1_ode.r  $1_subs.r $1_sympars.txt
	mtt_r2m $optimise -parameters $1 ode m; matlab_tidy $1_ode.m

$1_ode.oct: $1_def.r $1_ode.p $1_sympars.txt
	mtt_p2oct $1 ode

$1_odeo.oct: $1_def.r $1_odeo.p $1_sympars.txt
	mtt_p2oct $1 odeo

#SUMMARY obs	observer equations for CGPC (tex)
#SUMMARY obs*	observer equations for CGPC (view)
#SUMMARY obs	observer equations for CGPC (ps)
#Observer functions for GPC
$1_obs.r: $1_ode.r $1_def.r $1_obspar.r $1_subs.r
	ode2obs_r $1; tidy $1_obs.r
$1_obs.m: $1_def.r $1_sympars.txt $1_obs.r $1_obspar.r $1_numpar.m
	mtt_r2m $optimise  -parameters $1 obs
$1_obs.tex: $1_obs.r  $1_sympar.r $1_simp.r
	obs_r2tex $1; latex_tidy $1_obs.tex


#SUMMARY rfe	robot-form equations (r)
#SUMMARY rfe	robot-form equations (tex)
#SUMMARY rfe*	robot-form equations (view)

#SUMMARY dm	descriptor matrices (tex)
#SUMMARY dm*	descriptor matrices (view)
#SUMMARY dm	descriptor matrices (ps)
#Linearised system: descriptor matrices
$1_dm.r: $1_dae.r $1_def.r $1_cr.r  $1_ss.r $1_sympar.r
	dae2dm_r $1; tidy $1_dm.r
$1_dm.m: $1_def.r $1_dm.r $1_sympars.txt
		mtt_r2m $optimise -parameters $1 dm
$1_dm.tex: $1_dm.r $1_sympar.r $1_simp.r 
	dm_r2tex $1; latex_tidy $1_dm.tex



#SUMMARY csm	constrained-state matrices (r)
#SUMMARY csm	constrained-state matrices (m)
#SUMMARY csm	constrained-state matrices (tex)
#SUMMARY csm	constrained-state matrices (view)
#SUMMARY csm    constrained-state matrices (ps)
#Linearised system: constrained-state matrices
$1_csm.r: $1_cse.r $1_def.r $1_cr.r $1_sspar.r
	cse2csm_r $1 csm; tidy $1_csm.r
$1_csm.m: $1_def.r $1_csm.r $1_sympars.txt
		mtt_r2m $optimise  -parameters $1 csm;  matlab_tidy $1_csm.m
$1_csm.tex: $1_csm.r  $1_sympar.r $1_simp.r
	csm_r2tex $1 csm; latex_tidy $1_csm.tex
#SUMMARY scsm	sensitivity constrained-state matrices (r)
#SUMMARY scsm	sensitivity constrained-state matrices (m)
#SUMMARY scsm	sensitivity constrained-state matrices (tex)
#SUMMARY scsm	sensitivity constrained-state matrices (view)
#SUMMARY scsm	sensitivity constrained-state matrices (ps)

#SUMMARY sm	state matrices (c)
#SUMMARY sm*	state matrices (view)
#SUMMARY sm	state matrices (ps)
#Linearised system: state matrices
$1_sm.r: $1_csm.r $1_def.r $1_cr.r $1_ss.r $1_sympar.r
	csm2sm_r $1 sm; tidy $1_sm.r
$1_sm.m: $1_def.r $1_sm.r $1_sympars.txt 
		mtt_r2m $optimise  -parameters $1 sm
$1_sm.icad:  $1_sm.m $1_numpar.m
		sm_m2icad $1
$1_sm.c: $1_def.r $1_sm.r $1_sympar.c
		sm_r2c $1
$1_sm.tex: $1_sm.r  $1_sympar.r $1_simp.r
	sm_r2tex $1 sm; latex_tidy $1_sm.tex

#SUMMARY ssm	sensitivity state matrices (r)
#SUMMARY ssm	sensitivity state matrices (icad)
#SUMMARY ssm	sensitivity state matrices (tex)
#SUMMARY ssm	sensitivity state matrices (c)
#SUMMARY ssm	sensitivity state matrices (ps)
#Linearised system: sensitivity state matrices
$1_ssm.r: $1_scsm.r $1_def.r $1_cr.r $1_ss.r $1_sympar.r
	csm2sm_r $1 ssm; tidy $1_ssm.r
$1_ssm.m: $1_def.r $1_ssm.r $1_sympars.txt 
		mtt_r2m $optimise -parameters $1 ssm
$1_ssm.tex: $1_ssm.r  $1_sympar.r $1_simp.r
	sm_r2tex $1 ssm; latex_tidy $1_ssm.tex

#SUMMARY smx	state matrices with variable state x (r)
#SUMMARY smx	state matrices with variable state x (m)
#SUMMARY smxx	Sparse computation of Ax (m)
#SUMMARY smxtx	Sparse computation of ATx (m)
$1_smx.r: $1_def.r $1_def.m $1_ode.r $1_subs.r
		ode2smx_lang $1 r; tidy $1_smx.r

$1_smx.m: $1_def.r $1_def.m $1_cse.r $1_sympars.txt $1_subs.r
		cse2smx_lang $optimise -parameters $1 smx m

$1_smxa.m: $1_def.r $1_def.m $1_cse.r $1_sympars.txt $1_subs.r
		cse2smx_lang $optimise -parameters $matrix_smxa $1 smxa m

$1_smxax.m: $1_def.r $1_def.m $1_cse.r $1_sympars.txt $1_subs.r
		cse2smx_lang $optimise -parameters $1 smxax m

#SUMMARY smc	controller form state matrices etc. - siso only (r)
#SUMMARY smc	controller form state matrices etc. - siso only (tex)
#SUMMARY smc*	controller form state matrices etc. - siso only (m)
#SUMMARY smc*	controller form state matrices etc. - siso only (view)
#SUMMARY smc	controller form state matrices etc. - siso only (ps)
#Linearised system: controller form state matrices etc.