#! /bin/sh
######################################
##### Model Transformation Tools #####
######################################
# Bourne shell script: mtt
# P.J.Gawthrop Oct 1989, Dec 1989, 1990, 1991, Oct 1993, Dec 1993, Jan 1994, Dec 95, Nov 1996.
# Copyright (c) P.J.Gawthrop, 1989, 1990, 1991, 1993, 1994, 1995, 1996.
###############################################################
## Version control history
###############################################################
## $Header$
## $Log$
# Revision 1.60 1997/03/20 10:25:41 peterg
# Generates a compehensive default params file.
#
# Revision 1.59 1997/03/19 10:14:04 peterg
# Now produces a stripped acausal bond graph.
#
# Revision 1.58 1997/03/18 17:58:12 peterg
# Generates label files containing all variables in fig file.
# Generates sympar file for all levels in system.
# Generates txt version of sympar file.
#
# Revision 1.57 1997/03/10 09:24:58 peterg
# a.out now deleted in the clean operation
#
# Revision 1.56 1997/03/05 08:24:09 peterg
# Delete a.out after it has run.
#
# Revision 1.55 1997/02/24 19:31:10 peterg
# Removed numpar.m requirement from .m files
#
## Revision 1.54 1997/02/09 20:33:13 peterg
## Replaced a.out with ./a.out
##
## Revision 1.53 1997/02/09 20:30:04 peterg
## Copied from tweedledum.
##
# Revision 1.54 1997/02/07 13:33:03 peterg
# Added ; to _input.c file - bug fix.
#
# Revision 1.53 1997/02/07 13:25:04 peterg
# Version 2.3
#
# Revision 1.52 1997/01/21 22:55:59 peterg
# Minor bug fixes
#
## Revision 1.51 1997/01/21 13:16:40 peterg
## Included transformations to language c for:
## ode
## params
## numpar
##
## Revision 1.50 1996/12/21 19:46:52 peterg
## Set to 2.2++
## Changed \* --> \\* in rbg_fig2m.awk
##
## Revision 1.49 1996/12/19 19:55:22 peterg
## Version 2.2 -- Linux.
##
## Revision 1.48 1996/12/07 21:33:52 peterg
## Changed _input file to give unit step on ALL inputs
##
## Revision 1.47 1996/12/07 20:50:16 peterg
## *** empty log message ***
##
## Revision 1.46 1996/12/05 10:48:51 peterg
## Put sympar in clean list.
## sympar now sucks in params.r file
##
## Revision 1.45 1996/12/05 10:41:39 peterg
## Saved many changes over past 2 weeks.
##
# Revision 1.44 1996/11/12 16:04:25 peterg
# Really VERSION 2.1
#
# Revision 1.43 1996/11/12 08:52:57 peterg
# Fixed bug in test arg to if - missing "".
#
# Revision 1.42 1996/11/11 17:23:03 peterg
# Added numpar.m requirement to all .m targets
#
## Revision 1.41 1996/11/11 17:18:32 peterg
## VERSION 2.1
##
## Revision 1.40 1996/11/09 21:17:38 peterg
## Fixed bug with copying at level 0.
##
## Revision 1.39 1996/11/09 20:22:54 peterg
## VERSION 2.0
##
## Revision 1.38 1996/11/09 20:17:34 peterg
## Fixed bug with null ARGS argument
## Put in new lib paths.
##
## Revision 1.37 1996/11/09 18:47:46 peterg
## Added new copy command (using find).
## More documaentation stuff.
##
# Revision 1.36 1996/11/03 21:19:02 peterg
# Recursice generation of Constitutive Relationship files.
#
## Revision 1.35 1996/11/02 10:19:19 peterg
## Constitutive Relationship generation from lbl file
##
## Revision 1.34 1996/11/01 13:34:35 peterg
## -q (quiet) switch added
##
## Revision 1.33 1996/11/01 12:34:45 peterg
## Added browser - mtt_help
##
## Revision 1.32 1996/10/31 20:48:41 peterg
## Revised html generation.
## Stopped deletion of rep.txt file.
##
# Revision 1.31 1996/10/20 19:23:54 peterg
# Automatic generation of sub-system abg.m files.
#
## Revision 1.30 1996/10/01 14:08:05 peterg
## Replaced $() by ``
## Replaced make with gmake
##
# Revision 1.29 1996/10/01 11:04:05 peter
# Changed name of html document.
#
## Revision 1.28 1996/09/13 18:44:11 peter
## Added params dependencies.
##
## Revision 1.27 1996/09/12 19:24:56 peter
## New numpar/params setup.
##
## Revision 1.26 1996/09/10 17:04:47 peter
## Added impulse response (ir) representation.
##
## Revision 1.25 1996/08/30 20:03:45 peter
## Removed dependencies from vc
##
## Revision 1.24 1996/08/30 18:37:17 peter
## inor changes.
##
## Revision 1.23 1996/08/30 11:10:37 peter
## More files in clean up.
##
## Revision 1.22 1996/08/30 10:07:51 peter
## Removed impicit creation of abg.fig file.
##
## Revision 1.21 1996/08/22 12:19:51 peter
## Added various document viewers.
##
## Revision 1.20 1996/08/20 08:24:53 peter
## Now with version control.
##
## Revision 1.19 1996/08/19 15:33:22 peter
## Included new state matric (sm) rep.
## Generate step response (sr) from sm.
##
## Revision 1.18 1996/08/19 13:30:54 peter
## New CLEAN target.
##
## Revision 1.17 1996/08/19 06:48:14 peter
## Explicit figure editing.
##
## Revision 1.16 1996/08/18 19:58:36 peter
## Report generation included.
##
## Revision 1.15 1996/08/18 12:01:01 peter
## Unified format of time responses.
##
## Revision 1.14 1996/08/16 14:52:24 peter
## Added two alternative view options - dview and pview.
##
## Revision 1.13 1996/08/16 08:24:31 peter
## Correctly chooses how to make a ps file using $REPTYPE.
##
## Revision 1.12 1996/08/15 16:47:47 peter
## DAE solution (experimental) included.
##
## Revision 1.11 1996/08/15 11:55:30 peter
## Checks for changed argument.
## Handles frequency response.
##
## Revision 1.10 1996/08/15 07:44:24 peter
## Now handles generic transformations using %.
##
## Revision 1.9 1996/08/14 09:16:08 peter
## Step response now goes through m, dat and gdat conversions
##
## Revision 1.8 1996/08/12 20:19:52 peter
## Arguments now passed via $1_args.m file
##
## Revision 1.7 1996/08/11 19:49:27 peter
## Parameter passing (via $4) added.
##
## Revision 1.6 1996/08/11 10:40:56 peter
## Added new numpar stuff.
## Added step response.
##
## Revision 1.5 1996/08/10 14:13:47 peter
## Added impulse and frequency response stuff.
##
## Revision 1.4 1996/08/10 09:19:48 peter
## Put in help, info and warranty stuff.
##
## Revision 1.3 1996/08/09 15:13:13 peter
## Generic viewing of any representation via ps files implemented.
##
## Revision 1.2 1996/08/05 19:50:55 peter
## Put in fig.fig target.
##
## Revision 1.1 1996/08/04 17:29:42 peter
## Initial revision
##
###############################################################
# MTT recursion level is zero unless explicitly set
level=0
#Computation mode is octave by default
computation=octave
#Look for a command line argument
while [ -n "`echo $1 | grep '-'`" ]; do
case $1 in
-q )
quiet=quiet ;;
-c )
computation=c ;;
-l )
level=$2; shift ;;
esac
shift
done
#Print header if not in quiet (-q) mode.
if [ "$quiet" != "quiet" ]; then
echo
echo 'MTT (Model Transformation Tools) version 2.3++'
echo 'This is free software with ABSOLUTELY NO WARRANTY.'
echo 'Type `mtt warranty'\' 'for details.'
echo
fi
if [ -z "$1" ]; then
echo 'Usage: mtt help'
echo ' mtt info'
echo ' mtt info topic'
echo ' mtt manual'
echo ' mtt warranty'
echo ' mtt clean'
echo ' mtt <system_name> clean'
echo ' mtt copy <system_name> <path_name>'
echo ' mtt <system_name> <representation> vc'
echo ' mtt <system_name> <representation> <language>'
echo ' mtt <system_name> <representation> <language> <parameters>'
exit
fi
if [ "$1" = "info" ] && [ "$3" = "" ]; then
echo Invoking info
info -f $MTTPATH/doc/mtt.info $2
exit
fi
if [ "$1" = "help" ]; then
mtt_help $2 $3
exit
fi
if [ "$1" = "hinfo" ] && [$2 = ""]; then
echo Invoking $HTMLVIEW
(cd $MTTPATH/doc; $HTMLVIEW ./mtt_toc.html)&
exit
fi
if [ "$1" = "manual" ] && [$2 = ""]; then
echo Invoking $DVIVIEW
$DVIVIEW $MTTPATH/doc/mtt.dvi &
exit
fi
if [ "$1" = "warranty" ] && [$2 = ""]; then
cat << EOF
Copyright (C) 1989, 1990, 1991, 1992, 1993, 1994, 1995,1996 Peter J. Gawthrop
This is free software with ABSOLUTELY NO WARRANTY.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, write to the Free Software
Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
EOF
exit
fi
# Clean up
if [ "$1" = "clean" ] && [ "$2" = "" ]; then
echo 'Removing all generated files for all systems'
rm -f *.log mtt_info.txt warning.txt
rm -f *_abg.m *_abg.ps *_args.* *_cr.r *_cr.txt
rm -f *_sympar.r *_sympar.c *_sympar.txt
rm -f *_rbg.* *_cmp.* *_fig.fig *_*cbg.* *_ese.* *_def.*
rm -f *_sub.sh *_type.sh
rm -f *_dae*.* *_cse.* *_ode*.c *_ode*.m *_obs.* *_rfe.* *_ss.*
rm -f *_dm.* *_csm.* *_sm.* *_tf.* *_sr*.* *_ir*.* *_*fr.*
rm -f *_numpar.m *_numpar.c
rm -f mtt_error.txt mtt_info.txt a.out
exit
fi
# Clean up named system
if [ "$2" = "clean" ] && [ "$3" = "" ]; then
echo 'Removing all generated files for system ' $1
rm -f *.log mtt_info.txt warning.txt
rm -f $1_abg.m $1_abg.ps $1_args.* $1_cr.r $1_cr.txt
rm -f $1_sympar.r $1_sympar.c $1_sympar.txt
rm -f $1_rbg.* $1_cmp.* $1_fig.fig $1*_*cbg.* $1*_ese.* $1_def.*
rm -f $1_sub.sh $1_type.sh
rm -f $1_dae*.* $1_cse.* $1_ode*.c $1_ode*.m $1_obs.* $1_rfe.* $1_ss.*
rm -f $1_dm.* $1_csm.* $1_sm.* $1_tf.* $1_sr*.* $1_ir*.* $1_*fr.*
rm -f $1_numpar.m $1_numpar.c
rm -f mtt_error.txt mtt_info.txt a.out
exit
fi
#SUMMARY abg acausal bond graph (fig)
#SUMMARY abg acausal bond graph (ps)
#SUMMARY abg acausal bond graph (view)
# Invoke explicit requests for modification
if [ "$2" = "abg" ] && [ "$3" = "fig" ]; then
echo Editing $1_$2.$3
($FIG $1_$2.$3; cp $1_abg.fig $1_$1_abg.fig) &
exit
fi
# Copy systems from the library
if [ "$1" = "copy" ]; then
# check that its not here already
file_exists=`ls $2_abg.fig 2> /dev/null`
if [ -n "$file_exists" ]; then
if [ "$quiet" != "quiet" ]; then
echo $2_abg.fig exists already - no action taken
fi
else
path_name=$3
if [ -z "$path_name" ]; then
path_name=$MTTPATH/lib/examples
fi
echo Copying system $2 to here
find $path_name -name "$2_*.*" -exec cp {} . \;
fi
exit
fi
# Save up the argument list in a file; but only if argument has changed
ARGS=$4;
#DIFF doesn't like empty files - so put a blank if empty
if [ -z "$ARGS" ]; then
ARGS=' ';
fi
cat > $1_args.new <<EOF
$ARGS
EOF
DIFF=`diff -bq $1_args.m $1_args.new 2>/dev/null`
if [ -n "$DIFF" ]; then
mv $1_args.new $1_args.m
fi
# Classify the representation - needed for conversion route to postscript
case $2 in
abg )
REPTYPE='bg' ;;
sabg )
REPTYPE='bg' ;;
cbg )
REPTYPE='bg' ;;
odes)
REPTYPE='data' ;;
odeso)
REPTYPE='data' ;;
odess)
REPTYPE='data' ;;
odesso)
REPTYPE='data' ;;
daes)
REPTYPE='data' ;;
daeso)
REPTYPE='data' ;;
ir)
REPTYPE='data' ;;
iro)
REPTYPE='data' ;;
sr)
REPTYPE='data' ;;
sro)
REPTYPE='data' ;;
lmfr)
REPTYPE='data' ;;
lpfr)
REPTYPE='data' ;;
nyfr)
REPTYPE='data' ;;
nifr)
REPTYPE='data' ;;
*)
REPTYPE='tex' ;;
esac
# Version control
VC=''
if [ "$3" = "vc" ]; then
case $2 in
abg )
VC='ok'
VCext='fig' ;;
lbl )
VC='ok'
VCext='txt' ;;
simp )
VC='ok'
VCext='r' ;;
params )
VC='ok'
VCext='m' ;;
input )
VC='ok'
VCext='m' ;;
sspar )
VC='ok'
VCext='r' ;;
*)
echo Version control is not appropriate for representation $2
exit ;;
esac
fi
# This is the main mtt programme
gmake -s -f - $1_$2.$3 << EOF
# Cancel implicit rules I don't want
%.dvi: %.tex
# If level>0, try and get subsystem files
ifneq ("$level","0")
$1_abg.fig:
mtt -q copy $1 $MTTPATH/lib/comp/compound
endif
# Create an arg file if it doesn't exist
$1_args.m:
touch $1_args.m
#Create empty files (with titles) if not already there
#SUMMARY lbl label file (txt)
$1_lbl.txt:
abg2lbl_fig2txt $1
#SUMMARY cr constitutive relationship for each subsystem (txt)
$1_cr.txt: $1_sub.sh
lbl2cr_txt2txt $1
if [ "$level" = "0" ]; then \
mv $1_cr.txt MTT_cr.txt; \
else \
cat $1_cr.txt >> MTT_cr.txt; \
fi
sh $1_sub.sh "mtt -q -l $level+1 " ' cr txt'
if [ "$level" = "0" ]; then \
sort -u MTT_cr.txt> $1_cr.txt; \
fi
#SUMMARY cr constitutive relationship for each subsystem (r)
$1_cr.r: $1_cr.txt
cr_txt2r $1
#SUMMARY sympar symbolic parameters (txt)
# Lbl to sympar conversion
$1_sympar.txt: $1_sub.sh
lbl2sympar_txt2txt $1
if [ "$level" = "0" ]; then \
mv $1_sympar.txt MTT_sympar.txt; \
else \
cat $1_sympar.txt >> MTT_sympar.txt; \
fi
sh $1_sub.sh "mtt -q -l $level+1 " ' sympar txt'
if [ "$level" = "0" ]; then \
sort -u MTT_sympar.txt> $1_sympar.txt; \
fi
# ## Old version -- just looks on top level
# ## $1_sympar.r: $1_lbl.txt $1_params.r
# ## lbl2sympar_txt2r $1
# ## echo "IN \"$1_params.r\";" >> $1_sympar.r
# ## echo 'END;' >> $1_sympar.r
#SUMMARY sympar symbolic parameters (r)
$1_sympar.r: $1_sympar.txt
sympar_txt2r $1
#SUMMARY sympar symbolic parameters (c)
# txt to c sympar conversion
$1_sympar.c: $1_sympar.txt
sympar_txt2c $1
#SUMMARY sympar symbolic parameters (h)
# txt to ch (c header file) sympar conversion
$1_sympar.h: $1_sympar.txt
sympar_txt2h $1
#SUMMARY simp simplification information (r)
$1_simp.r:
echo Creating $1_simp.r
( \
echo "%% Reduce comands to simplify output for system $1 ($1_simp.r)"; \
cat $MTTPATH/trans/m/rcs_header.txt; \
echo 'END;'; \
)> $1_simp.r
#SUMMARY numpar numerical parameter declaration (m)
$1_numpar.m: $1_sympar.r $1_params.m
sympar2numpar_r2m $1
#SUMMARY numpar numerical parameter declaration (c)
$1_numpar.c: $1_sympar.r
sympar2numpar_r2c $1
#SUMMARY params numerical parameter setting (m)
$1_params.m:
echo Creating $1_params.m
( \
echo "%% Parameter file for system $1 ($1_params.m)"; \
echo "%% This file provides the system params for simulation:";\
cat $MTTPATH/trans/m/rcs_header.txt; \
echo; \
)> $1_params.m
#SUMMARY params numerical parameter setting (c)
$1_params.c:
sympar2params_txt2c $1
#SUMMARY odes ODE simulation header file (h)
$1_odes.h:
echo Creating $1_odes.h
( \
echo '/*'; \
echo "%% Parameter file for system $1 ($1_odes.h)"; \
echo "%% This file provides the params for simulation:";\
echo '*/'; \
echo '#define DT 0.1 /* Time step (for printing) */'; \
echo '#define LAST 10.0 /* Last time */'; \
echo '#define STEPFACTOR 1000 /* Integration steps per time step */'; \
)> $1_odes.h
#SUMMARY params symbolic parameter setting (r)
$1_params.r:
echo Creating $1_params.r
( \
echo "%% Parameter file for system $1 ($1_params.r)"; \
echo "%% This file provides symbolic parameters for simplification";\
cat $MTTPATH/trans/m/rcs_header.txt; \
echo 'END;'; \
)> $1_params.r
#SUMMARY input input signal definition (m)
$1_input.m:
echo Creating $1_input.m
( \
echo "function u = $1_input(t)"; \
echo "%% Input file for system $1 ($1_input.m)"; \
echo "%% This file provides the system input for simulation:";\
cat $MTTPATH/trans/m/rcs_header.txt; \
echo; \
echo "% Set up system definitions"; \
echo "[nx,ny,nu,nz,nyz] = $1_def;"; \
echo "% Change the following lines as you wish"; \
echo "u = ones(nu,1);"; \
)> $1_input.m
#SUMMARY input input signal definition (c)
$1_input.c:
echo Creating $1_input.c
( \
echo "$1_input(t)"; \
echo ' double t;'; \
echo '/*'; \
echo "%% Input file for system $1 ($1_input.c)"; \
echo "%% This file provides the system input for simulation:";\
echo '*/'; \
cat $MTTPATH/trans/rcs_header.c; \
echo; \
echo "/* Change the following lines as you wish */"; \
echo '{'; \
echo ' extern double u;'; \
echo '};'; \
)> $1_input.c
#SUMMARY sspar steady-state definition (r)
$1_sspar.r:
echo Creating $1_sspar.r
(\
echo "%% Reduce steady-state parameter file for $1 ($1_sspar.r)"; \
cat $MTTPATH/trans/m/rcs_header.txt; \
echo 'END;'; \
)> $1_sspar.r
#SUMMARY rep report (txt)
#SUMMARY rep report (tex)
#SUMMARY rep report (view)
$1_rep.txt:
echo Creating $1_rep.txt
( \
echo "%% Outline report file for system $1 ($1_rep.txt)"; \
cat $MTTPATH/trans/m/rcs_header.txt; \
echo "abg ps"; \
echo "lbl txt"; \
echo "cbg ps"; \
echo "dae tex"; \
)> $1_rep.txt
#SUMMARY rbg raw bond graph (m)
#Raw bond graph: fig file to mfile
$1_rbg.m: $1_abg.fig $1_lbl.txt
rbg_fig2m $1
$1_cmp.m: $1_rbg.m
$1_fig.fig: $1_rbg.m
#SUMMARY sabg stripped acausal bond graph (fig)
#SUMMARY sabg stripped acausal bond graph (ps)
#SUMMARY sabg stripped acausal bond graph (view)
$1_sabg.fig: $1_rbg.m
#Subsystem creation commands
$1_sub.sh: $1_cmp.m
cmp2sub_m2sh $1
#SUMMARY abg acausal bond graph (m)
#Raw bond graph to acausal bond graph: mfile
$1_abg.m: $1_rbg.m $1_sub.sh
sh $1_sub.sh "mtt -q -l $level+1 " ' abg m'
rbg2abg_m $1
#SUMMARY cbg causal bond graph (m)
#Acausal bond graph to causal bond graph: mfile
$1_cbg.m: $1_abg.m
abg2cbg_m $1
$1_type.sh: $1_cbg.m
#SUMMARY cbg causal bond graph (fig)
#Causal bond graph: mfile to fig conversion
$1_cbg.fig: $1_cbg.m $1_rbg.m $1_fig.fig $1_type.sh
cbg_m2fig $1
#SUMMARY ese elementary system equations (r)
#SUMMARY def definitions - system orders etc. (r)
#Elementary system equations + definitions
$1_ese.r: $1_cbg.m
cbg2ese_m2r $1
$1_def.r: $1_ese.r
touch $1_def.r
$1_def.m: $1_def.r
def_r2m $1; matlab_tidy $1_def.m;
#SUMMARY dae differential-algebraic equations (r)
#SUMMARY dae differential-algebraic equations (m)
#SUMMARY dae differential-algebraic equations (tex)
#SUMMARY dae differential-algebraic equations (view)
#SUMMARY dae differential-algebraic equations (ps)
#Differential-algebraic equations
$1_dae.r: $1_ese.r $1_cr.r $1_sympar.r
ese2dae_r $1; tidy $1_dae.r
$1_dae.m: $1_def.r $1_dae.r $1_sympar.r
dae_r2m $1; matlab_tidy $1_dae.m; matlab_tidy $1_daeo.m
$1_dae.c: $1_def.r $1_dae.r $1_sympar.r
dae_r2c $1; c_tidy $1_dae.c
$1_dae.tex: $1_dae.r $1_simp.r
dae_r2tex $1; latex_tidy $1_dae.tex
#SUMMARY cse constrained-state equations (r)
#SUMMARY cse constrained-state equations (m)
#SUMMARY cse constrained-state equations (tex)
#SUMMARY cse constrained-state equations (view)
#SUMMARY cse constrained-state equations (ps)
#Constrained-state equations
$1_cse.r: $1_dae.r $1_def.r $1_sympar.r
dae2cse_r $1; tidy $1_cse.r
$1_cse.m: $1_def.r $1_cse.r $1_sympar.r
cse_r2m $1; matlab_tidy $1_cse.m
$1_cse.tex: $1_cse.r $1_sympar.r $1_simp.r
cse_r2tex $1; latex_tidy $1_cse.tex
#SUMMARY ode ordinary differential equations (r)
#SUMMARY ode ordinary differential equations (m)
#SUMMARY ode ordinary differential equations (c)
#SUMMARY ode ordinary differential equations (tex)
#SUMMARY ode ordinary differential equations (view)
#SUMMARY ode ordinary differential equations (ps)
#Ordinary differential equations
$1_ode.r: $1_cse.r $1_def.r $1_sympar.r
cse2ode_r $1; tidy $1_ode.r
$1_ode.m: $1_def.r $1_ode.r $1_sympar.r
ode_r2m $1; matlab_tidy $1_ode.m; matlab_tidy $1_odeo.m
$1_ode.c: $1_def.r $1_ode.r $1_sympar.r $1_sympar.c
ode_r2c $1
$1_ode.tex: $1_ode.r $1_sympar.r $1_simp.r
ode_r2tex $1; latex_tidy $1_ode.tex
#SUMMARY obs observer equations for CGPC (r)
#SUMMARY obs observer equations for CGPC (m)
#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_sympar.r
ode2obs_r $1; tidy $1_obs.r
$1_obs.m: $1_def.r $1_obs.r $1_sympar.r $1_numpar.m
obs_r2m $1; matlab_tidy $1_obs.m
$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 rfe robot-form equations (ps)
#Robot-form equations
$1_rfe.r: $1_cse.r $1_csm.r $1_def.r $1_sympar.r
cse2rfe_r $1; tidy $1_rfe.r
$1_rfe.tex: $1_rfe.r $1_sympar.r $1_simp.r
rfe_r2tex $1; latex_tidy $1_rfe.tex
#SUMMARY ss steady-state equations (r)
#SUMMARY ss steady-state equations (m)
#SUMMARY ss steady-state equations (tex)
#SUMMARY ss steady-state equations (view)
#SUMMARY ss steady-state equations (ps)
#Steady-states
$1_ss.r: $1_def.r $1_sspar.r $1_sympar.r $1_cr.r $1_dae.r
sspar2ss_r $1; tidy $1_ss.r
$1_ss.m: $1_def.r $1_sympar.r $1_ss.r $1_numpar.m
ss_r2m $1; matlab_tidy $1_ss.m
$1_ss.tex: $1_def.r $1_ss.r $1_sympar.r $1_simp.r
ss_r2tex $1; latex_tidy $1_ss.tex
#SUMMARY dm descriptor matrices (r)
#SUMMARY dm descriptor matrices (m)
#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_sympar.r $1_numpar.m
dm_r2m $1; matlab_tidy $1_dm.m
$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_ss.r $1_sympar.r
cse2csm_r $1; tidy $1_csm.r
$1_csm.m: $1_def.r $1_csm.r
csm_r2m $1; matlab_tidy $1_csm.m
$1_csm.tex: $1_csm.r $1_sympar.r $1_simp.r
csm_r2tex $1; latex_tidy $1_csm.tex
#SUMMARY sm state matrices (r)
#SUMMARY sm state matrices (m)
#SUMMARY sm state matrices (tex)
#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; tidy $1_sm.r
$1_sm.m: $1_def.r $1_sm.r
sm_r2m $1; matlab_tidy $1_sm.m
$1_sm.tex: $1_sm.r $1_sympar.r $1_simp.r
sm_r2tex $1; latex_tidy $1_sm.tex
#SUMMARY tf transfer function (r)
#SUMMARY tf transfer function (m)
#SUMMARY tf transfer function (tex)
#SUMMARY tf transfer function (view)
#SUMMARY tf transfer function (ps)
#Linearised system: transfer function
$1_tf.r: $1_dm.r $1_sympar.r
dm2tf_r $1; tidy $1_tf.r
$1_tf.m: $1_def.r $1_tf.r
tf_r2m $1; matlab_tidy $1_tf.m
$1_tf.tex: $1_def.r $1_tf.r $1_sympar.r $1_simp.r
tf_r2tex $1; latex_tidy $1_tf.tex
#SUMMARY ir impulse response - state (m)
#SUMMARY ir impulse response - state (dat)
#SUMMARY ir impulse response - state (ps)
#SUMMARY ir impulse response - state (view)
#SUMMARY iro impulse response - output (m)
#SUMMARY iro impulse response - output (dat)
#SUMMARY iro impulse response - output (ps)
#SUMMARY iro impulse response - output (view)
#SUMMARY sr step response - state (m)
#SUMMARY sr step response - state (dat)
#SUMMARY sr step response - state (ps)
#SUMMARY sr step response - state (view)
#SUMMARY sro step response - output (m)
#SUMMARY sro step response - output (dat)
#SUMMARY sro step response - output (ps)
#SUMMARY sro step response - output (view)
#SUMMARY odes ode solution - state (m)
#SUMMARY odes ode solution - state (dat)
#SUMMARY odes ode solution - state (ps)
#SUMMARY odes ode solution - state (view)
#SUMMARY odes ode solution - state & output(c)
#SUMMARY odeso ode solution - output (m)
#SUMMARY odeso ode solution - output (dat)
#SUMMARY odeso ode solution - output (ps)
#SUMMARY odeso ode solution - output (view)
#SUMMARY daes dae solution - state (m)
#SUMMARY daes dae solution - state (dat)
#SUMMARY daes dae solution - state (ps)
#SUMMARY daes dae solution - state (view)
#SUMMARY daeso dae solution - output (m)
#SUMMARY daeso dae solution - output (dat)
#SUMMARY daeso dae solution - output (ps)
#SUMMARY daeso dae solution - output (view)
#Time responses
$1_ir.m: $1_sm.m $1_numpar.m $1_params.m $1_args.m $1_def.m
sm2ir_m $1 '$ARGS'
$1_iro.m: $1_ir.m
touch $1_iro.m
$1_sr.m: $1_sm.m $1_numpar.m $1_params.m $1_args.m $1_def.m
sm2sr_m $1 '$ARGS'
$1_sro.m: $1_sr.m
touch $1_sro.m
$1_odes.c: $1_ode.c $1_def.r $1_sympar.r
ode2odes_r2c $1
ifeq ($computation,octave)
$1_odes.m: $1_ode.m $1_numpar.m $1_params.m $1_args.m $1_def.m $1_input.m
ode2odes_m $1 '$ARGS'
endif
ifeq ($computation,c)
$1_odes.m: $1_odes.c $1_ode.c $1_numpar.c $1_odes.h\
$1_sympar.c $1_sympar.h\
$1_params.c $1_input.c
echo Creating $1_odes.m
echo Creating $1_odeso.m
echo 'Compiling ...'
gcc $1_odes.c $1_ode.c $1_numpar.c $1_params.c $1_input.c -lm
echo 'Running ...'; ./a.out; echo 'Done.'
endif
$1_odeso.m: $1_odes.m
touch $1_odeso.m
$1_daes.m: $1_dae.m $1_numpar.m $1_params.m $1_args.m $1_def.m $1_input.m
dae2daes_m $1 '$ARGS'
$1_daeso.m: $1_daes.m
touch $1_daeso.m
#SUMMARY odess ode numerical steady-states - states (m)
#SUMMARY odess ode numerical steady-states - states (dat)
#SUMMARY odess ode numerical steady-states - states (ps)
#SUMMARY odess ode numerical steady-states - states (view)
#SUMMARY odesso ode numerical steady-states - outputs (m)
#SUMMARY odesso ode numerical steady-states - outputs (dat)
#SUMMARY odesso ode numerical steady-states - outputs (ps)
#SUMMARY odesso ode numerical steady-states - outputs (view)
#Numerical steady states
$1_odess.m: $1_ode.m $1_numpar.m $1_params.m $1_args.m $1_def.m $1_input.m
ode2odess_m $1 '$ARGS'
$1_odesso.m: $1_odess.m
touch $1_odesso.m
#SUMMARY fr frequency response (m)
#SUMMARY fr frequency response (dat)
#SUMMARY fr frequency response (ps)
#SUMMARY fr frequency response (view)
#SUMMARY lmfr loglog modulus frequency response (m)
#SUMMARY lmfr loglog modulus frequency response (dat)
#SUMMARY lmfr loglog modulus frequency response (ps)
#SUMMARY lmfr loglog modulus frequency response (view)
#SUMMARY lpfr semilog phase frequency response (m)
#SUMMARY lpfr semilog phase frequency response (dat)
#SUMMARY lpfr semilog phase frequency response (ps)
#SUMMARY lpfr semilog phase frequency response (view)
#SUMMARY nyfr Nyquist style frequency response (m)
#SUMMARY nyfr Nyquist style frequency response (dat)
#SUMMARY nyfr Nyquist style frequency response (ps)
#SUMMARY nyfr Nyquist style frequency response (view)
#SUMMARY nifr Nichols style frequency response (m)
#SUMMARY nifr Nichols style frequency response (dat)
#SUMMARY nifr Nichols style frequency response (ps)
#SUMMARY nifr Nichols style frequency response (view)
#Frequency responses
$1_fr.m: $1_dm.m $1_numpar.m $1_params.m $1_args.m $1_def.m
dm2fr_m $1 '$ARGS'
$1_lmfr.m: $1_fr.m
touch $1_lmfr.m
$1_lpfr.m: $1_fr.m
touch $1_lpfr.m
$1_nyfr.m: $1_fr.m
touch $1_nyfr.m
$1_nifr.m: $1_fr.m
touch $1_nifr.m
#Partially-known system indentification structure matrices
$1_pkim.r: $1_tf.r $1_sympar.r
tf2pkim_r $1; tidy $1_pki.r
$1_pkim.tex: $1_def.r $1_pkim.r $1_sympar.r
pkim_r2tex $1; latex_tidy $1_pkim.tex
#Generic conversion of data files from m to dat format
$1_$2.dat: $1_$2.m
m2dat $1_$2
#Generic conversion of data files from dat to (gplot) gdat format
$1_$2.gdat: $1_$2.dat
dat2gdat $1_$2
#Generic conversion of Latex to latex document
$1_$2.doc: $1_$2.tex
tex2doc $1 $2
#Generic conversion of LaTeX doc to dvi
$1_$2.dvi: $1_$2.doc
echo Creating $1_$2.dvi
latex $1_$2.doc > /dev/null; latex $1_$2.doc > /dev/null
#Create PostScript version of fig files
ifeq ($REPTYPE,bg)
$1_$2.ps : $1_$2.fig
echo Creating $1_$2.ps
multi_command2 'fig2dev -Lps' $1 $2.fig $2.ps | sh
endif
ifeq ($REPTYPE,data)
#Create PostScript version of dat file
$1_$2.ps: $1_$2.gdat
gdat2ps $1_$2 '$ARGS'
endif
ifeq ($REPTYPE,tex)
#Create PostScript version of dvi file
$1_$2.ps: $1_$2_doc.dvi
echo Creating $1_$2.ps
dvips -o $1_$2.ps $1_$2_doc
endif
ifeq ($REPTYPE,tex)
#Create html version of dvi file
$1_$2.html: $1_$2.dvi $1_$2.doc
echo Creating $1_$2/$1_$2.html
latex2html $1_$2.doc
endif
#Default view
ifeq ($REPTYPE,bg)
$1_$2.view : $1_$2.pview
endif
ifeq ($REPTYPE,data)
# This is the gnuplot version which leaves lots of defunct processes
# $1_$2.view : $1_$2.dview
$1_$2.view: $1_$2.ps
ghostview $1_$2.ps&
endif
ifeq ($REPTYPE,tex)
$1_$2.view : $1_$2.tview
endif
#View a ps file
$1_$2.pview: $1_$2.ps
echo Creating view of $1_$2
multi_command $PSVIEW $1 $2.ps | sh
#View a gdat file
$1_$2.dview: $1_$2.gdat
echo Creating view of $1_$2
gdat2view $1_$2 '$ARGS'&
#View a tex file
$1_$2.tview: $1_$2.dvi
echo Creating view of $1_$2
$DVIVIEW $1_$2.dvi&
#Report generation
$1_rep.make: $1_rep.txt $1_args.m
rep_txt2make $1
$1_rep.tex: $1_rep.make
cat $1_rep.make | sh
rep_txt2tex $1;
# Version control system - uses RCS
RCS:
echo Creating RCS
mkdir RCS
$1_$2.vc: RCS
echo Version control on $1_$2.$VCext
ci -I $1_$2.$VCext </dev/tty ; co -l $1_$2.$VCext
EOF