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# Inform user
echo Creating $1_obs.m
# Remove the old log file
rm -f obs_r2m.log
rm -f $1_obs.m?
# Use reduce to accomplish the transformation
$SYMBOLIC >obs_r2m.log << EOF
%Read the reduce definitions file
in "$1_def.r";
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# Inform user
echo Creating $1_obs.m
# Remove the old log file
rm -f obs_r2m.log
rm -f $1_obs.m?
rm -f $1_obsa.m
# Is the system affine (look in the _obs.r file
affine=`grep 'affine :=' $1_obs.r | awk '{print $3}' | sed 's/;//'`
# Use reduce to accomplish the transformation
$SYMBOLIC >obs_r2m.log << EOF
%Read the reduce definitions file
in "$1_def.r";
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ON BigFloat, NumVal;
PRECISION 16; %Compatible with Matlab
OFF Nat;
ON NERO; % Suppress zero elements
mtt_matrix := MTTYY;
mtt_matrix_n := MTTNY*(MTTGPCNy+1);
mtt_matrix_m := 1;
mtt_matrix_name := Y;
OUT "$1_obs.m1";
write "function Y = $1_obs(x,u)";
write "%GPC O function in matlab form for system $1;;";
write "%File $1_obs.m;;";
write "%Generated by MTT;;";
write "%";
write "%";
write "% Set up the Y matrix";
write "Y = zeros(", mtt_matrix_n, ",1);";
SHUT "$1_obs.m1";
GENTRANOUT "$1_obs.m3";
write "%";
write "% Translate the expression for Y";
matlab_matrix();
GENTRANSHUT "$1_obs.m3";
EOF
# Create the globals
sympar2global_txt2m $1> $1_obs.m2
# Change name
echo 'Y = mtt_matrix;' > $1_obs.m4
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ON BigFloat, NumVal;
PRECISION 16; %Compatible with Matlab
OFF Nat;
ON NERO; % Suppress zero elements
% Matrix output function
in"$MTTPATH/trans/matlab_matrix.r";
OUT "$1_obs.m2";
write "% Set up the State variables";
FOR i := 1:MTTNx DO
BEGIN
write "mttx", i, " = x(", i, ");";
END;
IF affine=0 THEN
BEGIN
write "%";
write "% Set up the inputs and input derivatives";
FOR i := 1:MTTNu DO
BEGIN
write "mttu", i, " = u(", i, ",1);";
FOR j := 1:MTTGPCNu DO
BEGIN
write "mttu", i,j, " = u(", i, ",", j+1, ");";
END;
END;
%write "%";
%write "% Set up the Y matrix";
%write "Y = zeros(", mtt_matrix_n, ",1);";
END;
SHUT "$1_obs.m2";
IF affine=1 THEN
BEGIN
GENTRANOUT "$1_obs.m3";
MTT_Matrix := MTTObs_o$
MTT_Matrix_name := "MTTO_o"$
MTT_Matrix_n := (MTTGPCNY+1)*MTTNy$
MTT_Matrix_m := 1$
matlab_Matrix()$
GENTRAN O_o := mtt_matrix;
MTT_Matrix := MTTObs_h$
MTT_Matrix_name := "MTTO_h"$
MTT_Matrix_n := (MTTGPCNy+1)*MTTNy$
MTT_Matrix_m := (MTTGPCNu+1)*MTTNu$
matlab_Matrix()$
GENTRAN O_h := mtt_matrix;
GENTRANSHUT "$1_obs.m3";
END
ELSE
BEGIN
GENTRANOUT "$1_obs.m3";
mtt_matrix := MTTYY$
mtt_matrix_n := MTTNY*(MTTGPCNy+1)$
mtt_matrix_m := 1$
mtt_matrix_name := Y$
matlab_matrix();
GENTRAN YY := mtt_matrix;
GENTRANSHUT "$1_obs.m3";
END;
EOF
if [ "$affine" = "1" ]; then
lang_header $1 obs m x [o_o,o_h] > $1_obs.m1
else
lang_header $1 obs m x,u yy > $1_obs.m1
fi
# Put together the pieces
matlab_tidy $1_obs.m3
cat $1_obs.m? >$1_obs.m
rm -f $1_obs.m?
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