# Copyright (c) P.J.Gawthrop 1991, 1992, 1994, 1995, 1996.

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.5  1998/04/07 08:12:12  peterg
## Added affine form.
##
## Revision 1.4  1998/04/07 05:45:12  peterg
## Reverted to an older version due to untraceable bug in new version
##
## Revision 1.3  1996/08/25 10:07:05  peter
## Remove a du state ment causaing touble
##      - but needs more work.
##

%    END;
%  END;


% Try and split the obs function into affine form (O(x,u) = o(x) + h(x)u)
affine := 1;
MTTNuu := (MTTGPCNu+1)*MTTNu;
write "1 affine := ", affine, ";";

IF affine=1 THEN
BEGIN
%IF (affine=1) THEN
%BEGIN
  MATRIX MTTObs_o(MTTNyy,1);
  MATRIX MTTObs_h(MTTNyy,MTTNuu);
write "2 affine := ", affine, ";";
  FOR i := 1:MTTNyy DO
  BEGIN
write "3 affine := ", affine, ";";
    MTTObs_o(i,1) := MTTYY(i,1);
    k := 0;
    FOR j := 1:MTTNuu DO
    FOR j := 1:MTTNu DO
    FOR jj := 0:MTTGPCNu DO
    BEGIN
      k := k+1;
      %Expand as polynomial in uj
      coeffs := coeff(MTTObs_o(i,1), MTTu(j,1));
      %Expand as polynomial in u_j^[jj]
      coeffs := coeff(MTTObs_o(i,1), MTTUU(j,jj+1));
      MTTObs_o(i,1) := first(coeffs);
      IF length(coeffs)>1 THEN
        MTTObs_h(i,j) := second(coeffs);
      IF length(coeffs)>2 THEN affine := 0;
        MTTObs_h(i,k) := second(coeffs);
      IF length(coeffs)>2 THEN 
        affine := -1;
    END;
  END;
END;
%END;



%%Create the _obs.r file
OUT "$1_obs.r";

affine := affine;
IF affine=1 THEN
  write "affine := 1; % The O function is affine in u"
ELSE
  write "affine := 0; % The O function is not affine in u";


write "% The matrix sizes";
write "MTTNyy := ", MTTNyy, ";";
write "MTTNuu := ", MTTNuu, ";";

mtt_matrix := MTTYY$
mtt_matrix_n := MTTNyy$
mtt_matrix_m := 1$
mtt_matrix_name := "MTTYY"$
reduce_matrix();