Overview
Comment:Fixed cc and c problems to do with pow(x,y) and integers
mtt/lib/reduce/fix_c.r is included in rdae2dae and cse2smx_lang for
-c, -cc and -oct options
Downloads: Tarball | ZIP archive | SQL archive
Timelines: family | ancestors | descendants | both | origin/master | trunk
Files: files | file ages | folders
SHA3-256: 47742bde53a9d7f85371c9630b07864555d316f6589967cb926ed73d2541c2f5
User & Date: gawthrop@users.sourceforge.net on 2001-04-11 09:44:26
Other Links: branch diff | manifest | tags
Context
2001-04-11
15:34:56
Fixed bug to do with multiple outputs check-in: a230d6637d user: gawthrop@users.sourceforge.net tags: origin/master, trunk
09:44:26
Fixed cc and c problems to do with pow(x,y) and integers
mtt/lib/reduce/fix_c.r is included in rdae2dae and cse2smx_lang for
-c, -cc and -oct options check-in: 47742bde53 user: gawthrop@users.sourceforge.net tags: origin/master, trunk
07:52:45
Temporary fix to avoid incorrect _input.cc with stdin check-in: 51ac8a149a user: gawthrop@users.sourceforge.net tags: origin/master, trunk
Changes
Hide Diffs Side-by-Side Diffs Ignore Whitespace Patch

Modified mttroot/mtt/bin/mtt from [995a31ae51] to [d5403023fe].

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# Copyright (C) 2001 by Peter J. Gawthrop

###############################################################
## Version control history
###############################################################
## $Header$
## $Log$
## Revision 1.304  2001/04/11 07:35:22  gawthrop
## Now uses system_cr.h in place of system.h in .c rep -
##   compatible with older code
##
## Revision 1.303  2001/04/10 12:54:50  gawthrop
## Minor fixes for sensitivity versions
##
## Revision 1.302  2001/04/06 05:24:30  geraint
## -stdin for .cc reps.
##
## Revision 1.301  2001/04/05 03:46:12  geraint
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                mtt_switches="$mtt_switches $1";
		reset=reset;;  

	-p )
                mtt_switches="$mtt_switches $1";
		print='-p';;
	-c )
                fixcc='-fixcc'
                mtt_switches="$mtt_switches $1";
                matrix_smxa="-matrix";
		computation=c ;;
	-cc )
                fixcc='-fixcc'
                mtt_switches="$mtt_switches $1";
                matrix_smxa="-matrix";
		computation=cc ;;
	-o )
                mtt_switches="$mtt_switches $1";
		dae_is_ode=1 ;;
	-nocr )
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                mtt_switches="$mtt_switches $1";
                stdin=stdin;;
	-sub )  mtt_switches="$mtt_switches $1 $2";
                sub='-sub'; 
                subsystem="_"$2;
                shift;;
	-oct )
                fixcc='-fixcc'
                mtt_switches="$mtt_switches $1";
                using_oct=yes;
                m=oct
                ;;
	-opt )  mtt_switches="$mtt_switches $1";
                optimise='-optimise';;
	-partition ) mtt_switches="$mtt_switches $1";
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.PRECIOUS: mtt_%.o
mtt_%.o: mtt_%.cc
	echo Compiling mtt_\$*.cc
	${MTT_CXX} ${MTT_CXXFLAGS} ${MTT_CXXINCS} -c $< -DSTANDALONE $define_octave_dev

# Generates code to write reduce code
$1_ode_write.r: $1_def.m
	def2write_r  $1 $2
	def2write_r  $1 $2 $computation

ifeq ("$sensitivity","sensitivity")
ifeq ("$level","0")
$1_abg.fig: $sys_abg.fig
	abg2sensitivity_fig $sys_s
else # Either find the sensitivity model or fetch the model and create sensitivity model
$1_abg.fig:
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	echo Doing subsystems
	mtt_make_subsystems  ${sys} dae r
endif
ifeq ($rdae_is_dae,1)
	echo Copying $1_rdae.r to $1_dae.r
	cp $1_rdae.r  $1_dae.r
else
	rdae2dae_r ${Subsystem}; tidy ${Subsystem}_dae.r
	rdae2dae_r ${fixcc} ${Subsystem}; tidy ${Subsystem}_dae.r
endif

$1_dae.m: $1_def.r $1_dae.r  $1_sympars.txt
	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
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#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
		cse2smx_lang $fixcc $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
		cse2smx_lang $fixcc $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
		cse2smx_lang $fixcc $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.
︙

Modified mttroot/mtt/bin/trans/cse2smx_lang from [cb9652010b] to [01dd94a076].

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    -matrix)
	matrix='yes';
	;;
    -optimise)
	optimise='LOAD SCOPE; ON GENTRANOPT;';
        iname='INAME mtt_o;';
	;;
    -fixcc )
        include=`echo 'in "'$MTT_LIB'/reduce/fix_c.r";'`
        blurb2='fixing c and cc code';
		;;
    *)
	echo $1 is an unknown option
        exit;;
  esac
  shift
done
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# Inform user
if [ -n "$optimise" ]; then
    blurbopt=' using code optimisation'
fi

echo Creating $1_$rep.$lang $blurb $blurbopt
echo Creating $1_$rep.$lang $blurb $blurbopt $blurb2
#echo Creating $1_smxx.$lang
#echo Creating $1_smxtx.$lang

# Remove the old log file
rm -f cse2smx_r.log
rm -f $1_smx.$lang
rm -f $1_smxx.$lang
rm -f $1_smxtx.$lang
rm -f $1_$rep.body

# Use reduce to accomplish the transformation
$SYMBOLIC << EOF  >cse2smx_lang.log

lang := $lang;

%% Fixes for c and cc (if needed)
$include;

in "$1_subs.r";
in "$1_def.r";
in "$1_cse.r";
in "$1_cr.r";

clear mttx; % Dont need this now - use mkid instead
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Modified mttroot/mtt/bin/trans/def2write_r from [1f67ee80a1] to [7008801453].

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# Copyright (C) 2000 by Peter J. Gawthrop

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.6  2000/11/29 20:48:53  peterg
## Zapped unnecessary Npar creation
##
## Revision 1.5  2000/11/09 10:12:24  peterg
## Removed debugging line
##
## Revision 1.4  2000/10/14 16:19:54  peterg
## Just optimize one line at a time ...
##
## Revision 1.3  2000/10/11 09:07:17  peterg
## Added csex rep (cse without E)
##
## Revision 1.2  2000/10/10 21:02:17  peterg
## Added cse reps
##
## Revision 1.1  2000/10/10 09:07:32  peterg
## Initial revision
##
###############################################################


sys=$1 # System name
rep=$2 # System representation

# Inform User
echo Creating $1_$2_write.r
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    *)
        echo def2write_r: representation $rep not recognised
        exit
esac

# Write out the code
echo 'off echo$ load scope$'                    >$1_$2_write.r

for matrix in $matrices; do
    n=`first "$ns"`; ns=`rest "$ns"` 
    m=`first "$ms"`; ms=`rest "$ms"`
    is=`n2m 1 $n`; 
    js=`n2m 1 $m`; 
    for i in $is; do
      for j in $js; do
︙

Modified mttroot/mtt/bin/trans/rdae2dae_r from [26191cff7e] to [2d68ae9a32].

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

###############################################################
## Version control history
###############################################################
## $Id$
## $Log$
## Revision 1.6  2001/02/03 13:40:45  gawthrop
## Added explicit MTTNu
##
## Revision 1.5  2000/12/28 12:39:02  peterg
## Put under RCS
##
## Revision 1.4  2000/09/04 08:42:53  peterg
## Put in extra echo to space output
##
## Revision 1.3  2000/09/02 15:55:11  peterg
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  case $1 in
	-I )
                info=info;;
	-partition )
                partition=yes;
                blurb='with partitioning';
		;;
	-fixcc )
                include=`echo 'in "'$MTT_LIB'/reduce/fix_c.r";'`
                blurb2='fixing c and cc code';
		;;
	*)
		echo "$1 is an invalid argument - ignoring";
                exit ;;
  esac
  shift
done
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crname=$topname"_cr.r"
subsname=$topname"_subs.r"
rdaename=$sysname"_rdae.r"
daename=$sysname"_dae.r"
logname="rdae2dae.log"

# Inform user
echo Creating $daename
echo Creating $daename $blurb $blurb2

# Remove the old log file
rm -f $logname

# Use symbolic algebra to accomplish the transformation
$SYMBOLIC >$logname  << EOF

% Fix c code if required
$include

%Read the formatting function
in "$MTTPATH/trans/reduce_matrix.r";

% CRs
in "$crname";
︙

Modified mttroot/mtt/cc/include/useful-functions.hh from [3c59bd0844] to [37750f990b]. 



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#define pi 3.14159 // Predefine pi

#ifndef HAVE_USEFUL_FUNCTIONS_HH
#define HAVE_USEFUL_FUNCTIONS_HH


#ifdef __CPLUSPLUS
template <class class_t>
#else




︙







Modified mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/gRODa_abg.fig
from [57eb63138e]
to [38a3b778aa].




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	 10125 9450 990 9450 990 8100 10125 8100 10125 9450
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 8550 5400 9225 6075 8955 6075
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 8685 5265 8415 5535
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3375 5175 2025 3825 2250 3825
4 1 -1 0 0 0 20 0.0000 4 195 150 5628 5268 1\001
4 1 -1 0 0 0 20 0.0000 4 195 315 6933 5268 I:J\001
4 1 -1 0 0 0 20 0.0000 4 195 150 2927 5312 1\001
4 1 -1 0 0 0 20 0.0000 4 195 150 2972 2792 0\001
4 1 -1 0 0 0 20 0.0000 4 195 150 2927 7742 0\001
4 1 -1 0 0 0 20 0.0000 4 195 150 8328 5313 1\001
4 1 -1 0 0 0 20 0.0000 4 195 150 8373 2793 0\001
4 1 -1 0 0 0 20 0.0000 4 195 150 8328 7743 0\001
4 1 -1 0 0 0 20 0.0000 4 270 735 9676 5266 I:m_y\001
4 1 -1 0 0 0 20 0.0000 4 240 735 1531 5221 I:m_x\001
4 1 -1 0 0 0 20 0.0000 4 195 1170 4636 4141 EMTF:c1\001
4 1 -1 0 0 0 20 0.0000 4 195 1170 4681 6391 EMTF:c2\001
4 1 -1 0 0 0 20 0.0000 4 195 1155 7156 4141 EMTF:s1\001
4 1 -1 0 0 0 20 0.0000 4 195 1155 7156 6391 EMTF:s2\001
4 1 5 0 0 0 20 0.0000 4 195 150 3603 5313 0\001
4 1 26 0 0 0 16 0.0000 4 210 330 6751 4456 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 450 6751 3781 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 330 6751 6076 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 450 6751 6706 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 570 6211 6526 [mod]\001
4 1 5 0 0 0 20 0.0000 4 210 990 4681 5266 INTF:th\001
4 1 -1 0 0 0 20 0.0000 4 195 135 5628 5268 1\001
4 1 -1 0 0 0 20 0.0000 4 195 270 6933 5268 I:J\001
4 1 -1 0 0 0 20 0.0000 4 195 135 2927 5312 1\001
4 1 -1 0 0 0 20 0.0000 4 195 135 2972 2792 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 2927 7742 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 8328 5313 1\001
4 1 -1 0 0 0 20 0.0000 4 195 135 8373 2793 0\001
4 1 -1 0 0 0 20 0.0000 4 195 135 8328 7743 0\001
4 1 -1 0 0 0 20 0.0000 4 255 660 9676 5266 I:m_y\001
4 1 -1 0 0 0 20 0.0000 4 255 660 1531 5221 I:m_x\001
4 1 -1 0 0 0 20 0.0000 4 195 1110 4636 4141 EMTF:c1\001
4 1 -1 0 0 0 20 0.0000 4 195 1110 4681 6391 EMTF:c2\001
4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 4141 EMTF:s1\001
4 1 -1 0 0 0 20 0.0000 4 195 1095 7156 6391 EMTF:s2\001
4 1 5 0 0 0 20 0.0000 4 195 135 3603 5313 0\001
4 1 26 0 0 0 16 0.0000 4 210 345 6751 4456 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 465 6751 3781 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 345 6751 6076 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 465 6751 6706 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 585 6211 6526 [mod]\001
4 1 5 0 0 0 20 0.0000 4 195 960 4681 5266 INTF:th\001
4 1 1 1 0 0 20 0.0000 4 195 210 2925 10035 X\001
4 1 1 1 0 32 20 0.0000 4 150 195 5580 9990 a\001
4 1 1 1 0 32 20 0.0000 4 135 180 5580 9990 a\001
4 1 1 1 0 0 20 0.0000 4 195 210 8280 9990 Y\001
4 2 26 0 0 0 16 0.0000 4 210 570 3960 4140 [mod]\001
4 2 26 0 0 0 16 0.0000 4 210 570 6345 4095 [mod]\001
4 2 26 0 0 0 16 0.0000 4 210 570 3960 6210 [mod]\001
4 1 26 0 0 0 16 0.0000 4 210 330 4590 4455 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 450 4545 3780 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 450 4590 6660 [out]\001
4 0 26 0 0 0 16 0.0000 4 210 330 4365 6030 [in]\001
4 1 4 0 0 0 20 0.0000 4 270 1485 2971 1216 SS:[xTip_a]\001
4 1 4 0 0 0 20 0.0000 4 270 1500 2971 9361 SS:[xTip_b]\001
4 1 4 0 0 0 20 0.0000 4 285 1485 8372 1217 SS:[yTip_a]\001
4 1 4 0 0 0 20 0.0000 4 285 1500 8417 9362 SS:[yTip_b]\001
4 1 4 0 0 0 20 0.0000 4 270 2250 5671 1216 SS:[angularTip_a]\001
4 1 4 0 0 0 20 0.0000 4 270 2265 5671 9361 SS:[angularTip_b]\001
4 1 1 1 0 0 20 0.0000 4 255 630 1350 2700 Tip a\001
4 1 1 1 0 0 20 0.0000 4 195 1470 1260 6300 Mass centre\001
4 1 1 1 0 0 20 0.0000 4 270 645 1350 9855 Tip b\001
4 1 -1 0 0 0 20 0.0000 4 270 810 9360 6345 SS:mg\001
4 2 4 0 0 0 20 0.0000 4 270 1290 1935 3735 SS:[angle]\001
4 2 26 0 0 0 16 0.0000 4 210 585 3960 4140 [mod]\001
4 2 26 0 0 0 16 0.0000 4 210 585 6345 4095 [mod]\001
4 2 26 0 0 0 16 0.0000 4 210 585 3960 6210 [mod]\001
4 1 26 0 0 0 16 0.0000 4 210 345 4590 4455 [in]\001
4 1 26 0 0 0 16 0.0000 4 210 465 4545 3780 [out]\001
4 1 26 0 0 0 16 0.0000 4 210 465 4590 6660 [out]\001
4 0 26 0 0 0 16 0.0000 4 210 345 4365 6030 [in]\001
4 1 4 0 0 0 20 0.0000 4 255 1380 2971 1216 SS:[xTip_a]\001
4 1 4 0 0 0 20 0.0000 4 255 1380 2971 9361 SS:[xTip_b]\001
4 1 4 0 0 0 20 0.0000 4 255 1380 8372 1217 SS:[yTip_a]\001
4 1 4 0 0 0 20 0.0000 4 255 1380 8417 9362 SS:[yTip_b]\001
4 1 4 0 0 0 20 0.0000 4 255 2130 5671 1216 SS:[angularTip_a]\001
4 1 4 0 0 0 20 0.0000 4 255 2130 5671 9361 SS:[angularTip_b]\001
4 1 1 1 0 0 20 0.0000 4 255 600 1350 2700 Tip a\001
4 1 1 1 0 0 20 0.0000 4 195 1380 1260 6300 Mass centre\001
4 1 1 1 0 0 20 0.0000 4 255 600 1350 9855 Tip b\001
4 1 -1 0 0 0 20 0.0000 4 255 720 9360 6345 Se:mg\001
4 2 4 0 0 0 20 0.0000 4 255 1200 1935 3735 SS:[angle]\001








Modified mttroot/mtt/lib/comp/compound/Mechanical/Mechanical-2D/gRODa/gRODa_lbl.txt
from [7648c14a12]
to [66ade3ce45].




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%% Label file for system gRODa (gRODa_lbl.txt)

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  1999/08/05 08:04:40  peterg
% %% Initial revision
% %%
% %% Revision 1.3  1998/11/30 10:47:53  peterg
% %% Added extra a_a and a_b aliases
% %%
% %% Revision 1.2  1998/11/25 13:55:42  peterg
% %% Added missig attribute field m*g,internal
% %%
% %% Revision 1.1  1998/11/25 10:48:34  peterg




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%Modulated transformers
s1	lsin	flow,l_a
s2	lsin	flow,l_b
c1	lcos	flow,l_a
c2	lcos	flow,l_b


% Component type SS
	mg			SS		m*g,internal
% Component type Se
	mg			SS		m*g


	[angularTip_a]		SS		external,external
	[angularTip_b]		SS		external,external
	[xTip_a]		SS		external,external
	[xTip_b]		SS		external,external
	[yTip_a]		SS		external,external
	[yTip_b]		SS		external,external
	[angle]			SS		external,external


	








Modified mttroot/mtt/lib/examples/Identification/idNonlinearTanks/idNonlinearTanks_subs.r
from [2fa7735088]
to [254628ce3b].



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% Default SUBS file
% File idRC_subs.r
% Generated by MTT on Tue Apr  3 09:43:38 BST 2001.


% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2001/04/05 12:00:18  gawthrop
% %% Identification example
% %%
% %% Revision 1.1  2000/12/28 09:13:38  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% Put algebraic substitution commands here

%The following is now done automatically
FOR ALL x,y LET x^y = pow(x,y);
% FOR ALL x,y LET x^y = pow(x,y);
END;








Modified mttroot/mtt/lib/examples/Identification/idRC/sidRC_subs.r
from [84a767b42e]
to [c8c2752116].



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% Default SUBS file
% File sidRC_subs.r
% Generated by MTT on Tue Apr  3 09:43:38 BST 2001.


% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2001/04/05 11:57:29  gawthrop
% %% Identification example
% %%
% %% Revision 1.1  2000/12/28 09:13:38  peterg
% %% Initial revision
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% Put algebraic substitution commands here


%The following is now done automatically
FOR ALL x,y LET x^y = pow(x,y); % Use the pow function
%FOR ALL x,y LET x^y = pow(x,y); % Use the pow function

ON ROUNDED; % No integer output
%ON ROUNDED; % No integer output

END;








Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/Cart_abg.fig
from [c7e129b96f]
to [451fec60c3].



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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 90 3915 6615 4320
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2475 4050 3825 4050 3600 4275
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 4050 5625 4050 5400 4275
4 1 0 100 0 18 20 0.0000 4 210 165 4050 4140 1\001
4 1 4 100 0 18 20 0.0000 4 285 870 6165 4140 SS:[y]\001
4 2 0 100 0 18 20 0.0000 4 285 2310 2430 4140 Sf:zero_velocity\001
-6
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4050 2925 4050 1575 4275 1800
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 3150 5625 3150 5400 3375
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 4950 5625 4950 5400 5175
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 2475 3825 2475 4275
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2475 3150 3825 3150 3600 3375
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3825 4950 2475 4950 2700 5175
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 3825 2925 2870 1970 2870 2289
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4288 2957 5243 2002 5243 2320
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6525 3150 7875 3150 7650 3375
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
	 9900 5850 225 5850 225 900 9900 900 9900 5850
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2475 4050 3825 4050 3600 4275
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 4050 5625 4050 5400 4275
4 1 1 101 0 3 20 0.0000 4 270 1290 4140 3600 x-velocity\001
4 1 0 100 0 18 20 0.0000 4 210 165 4050 3240 1\001
4 1 4 100 0 18 20 0.0000 4 285 1425 1710 3240 SS:[drive]\001
4 1 1 101 0 3 20 0.0000 4 270 1275 4185 4500 y-velocity\001
4 1 1 101 0 3 20 0.0000 4 270 2130 4050 5490 angular-velocity\001
4 1 0 100 0 18 20 0.0000 4 210 165 4050 5040 1\001
4 1 4 100 0 18 20 0.0000 4 285 870 6165 5040 SS:[a]\001
4 2 0 100 0 18 20 0.0000 4 300 780 2430 5040 R:r_p\001
4 1 0 100 0 18 20 0.0000 4 285 765 2835 1845 R:r_c\001
4 1 4 100 0 18 20 0.0000 4 285 870 4050 1440 SS:[x]\001
4 1 0 100 0 18 20 0.0000 4 285 795 5355 1845 I:m_c\001
4 1 0 100 0 18 20 0.0000 4 225 660 6075 3240 INTF\001
4 0 0 100 0 18 20 0.0000 4 225 1665 8010 3240 De:Position\001
4 1 1 101 0 3 20 0.0000 4 270 1155 4140 3600 x-velocity\001
4 1 0 100 0 18 20 0.0000 4 195 150 4050 3240 1\001
4 1 4 100 0 18 20 0.0000 4 270 1320 1710 3240 SS:[drive]\001
4 1 1 101 0 3 20 0.0000 4 270 1125 4185 4500 y-velocity\001
4 1 1 101 0 3 20 0.0000 4 270 1905 4050 5490 angular-velocity\001
4 1 0 100 0 18 20 0.0000 4 195 150 4050 5040 1\001
4 1 4 100 0 18 20 0.0000 4 270 825 6165 5040 SS:[a]\001
4 2 0 100 0 18 20 0.0000 4 270 735 2430 5040 R:r_p\001
4 1 0 100 0 18 20 0.0000 4 270 720 2835 1845 R:r_c\001
4 1 4 100 0 18 20 0.0000 4 270 825 4050 1440 SS:[x]\001
4 1 0 100 0 18 20 0.0000 4 270 735 5355 1845 I:m_c\001
4 1 0 100 0 18 20 0.0000 4 210 630 6075 3240 INTF\001
4 0 0 100 0 18 20 0.0000 4 210 1590 8010 3240 De:Position\001
4 1 0 100 0 18 20 0.0000 4 195 150 4050 4140 1\001
4 1 4 100 0 18 20 0.0000 4 270 825 6165 4140 SS:[y]\001
4 2 0 100 0 18 20 0.0000 4 270 2190 2430 4140 Sf:zero_velocity\001








Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/Cart_lbl.txt
from [45427e6965]
to [947eebb4f2].



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%% Label file for system Cart (Cart_lbl.txt)
%SUMMARY Cart
%DESCRIPTION <Detailed description here>
%DESCRIPTION Simple cart model

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/12/28 18:00:45  peterg
% %% To RCS
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS	
%ALIAS	in	drive
%ALIAS	pendulum|out	x,y,a
%UNITS  drive     translational N m/s
b%UNITS  x         translational N m/s
%UNITS  y         translational N m/s
%UNITS  a         rotational N*m radian/s


% Argument aliases
%ALIAS	$1	m_c

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn




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% Component type SS
	[a]	SS		external,external
	[drive]	SS		external,external
	[x]	SS		external,external
	[y]	SS		external,external

% Component type Df
	v_c			SS	external
% Component type De
	Position			SS	external

% Component type Sf
	zero_velocity		SS	0











Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_abg.fig
from [4f8b99a8bb]
to [95293b57ef].



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#FIG 3.2
Portrait
Center
Metric
A4      
100.00
Single
-2
1200 2
6 3780 4005 3870 4545
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 2
	 3825 4050 3825 4500
-6
1 4 0 2 1 7 51 0 -1 0.000 1 0.0000 3700 4909 203 203 3497 4909 3903 4909
1 4 0 2 1 7 51 0 -1 0.000 1 0.0000 4817 4902 203 203 4614 4902 5020 4902
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 2475 4275 3825 4275 3600 4500
2 4 0 2 1 7 101 0 -1 0.000 0 0 7 0 0 5
	 5175 4725 3375 4725 3375 3825 5175 3825 5175 4725
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 4275 4050 5230 3095 5230 3414
2 1 0 2 1 7 101 0 -1 0.000 0 0 -1 0 0 5
	 4477 3712 5872 2317 6052 2497 4702 3847 4522 3667
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
	 6750 5400 1125 5400 1125 2025 6750 2025 6750 5400
4 1 0 100 0 18 20 0.0000 4 225 600 4275 4365 Cart\001
4 1 0 100 0 18 20 0.0000 4 225 645 2070 4365 Se:F\001
4 1 0 100 0 18 20 0.0000 4 225 1440 5355 3060 InvertedPendulum\001
4 1 0 100 0 18 20 0.0000 4 210 570 4275 4365 Cart\001
4 1 0 100 0 18 20 0.0000 4 270 840 2070 4365 SS:[F]\001
4 1 0 100 0 18 20 0.0000 4 210 2445 5355 3060 InvertedPendulum\001








Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_input.txt
from [5ab6c2c810]
to [eed0316c02].



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# -*-octave-*- Put Emacs into octave-mode
# Input specification (InvertedPendulumOnCart_input.txt)
# Generated by MTT at Thu Aug  5 09:17:30 BST 1999
###############################################################
## -*-octave-*- Put Emacs into octave-mode ##
 
## 
## System InvertedPendulumOnCart, representation input, language txt; 
## File idInvertedPendulumOnCart_input.txt; 
## Generated by MTT on Thu Apr  5 15:27:30 BST 2001; 

## Version control history
###############################################################
## $Id$
## $Log$
###############################################################

# Set the inputs
## Removed by MTT on Fri Nov 10 14:31:10 GMT 2000: mttu(1) = 1.0*t<1 -1.0*((t>=1)&&(t<2)); 	# u (InvertedPendulumOnCart_F)

invertedpendulumoncart_f_1_u	= 1.0*t<1 -1.0*((t>=1)&&(t<2));
InvertedPendulumOnCart_f	= 1.0*(t<1); # Force for 1 sec








Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_lbl.txt
from [cc84de002b]
to [f7c8e12ace].



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%% Label file for system InvertedPendulumOnCart (InvertedPendulumOnCart_lbl.txt)
%SUMMARY InvertedPendulumOnCart
%DESCRIPTION <Detailed description here>
%DESCRIPTION An Inverted Pendulum on a Cart

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/12/28 18:00:45  peterg
% %% To RCS
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%ALIAS in   F
%UNITS F    translational  N m/s

% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn
%	     blank

% ---- Component labels ----

% Component type Se
	F   SS	 external
% Component type SS
	[F]   SS	 external,internal












Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulumOnCart_subs.r
from [95d5640b1d]
to [752962d684].



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% Default SUBS file
% File InvertedPendulumOnCart_subs.r
% Generated by MTT on Thu Nov  9 18:55:44 GMT 2000.


% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.2  2001/04/02 10:57:57  gawthrop
% %% Added missing ;
% %%
% %% Revision 1.1  2000/12/28 18:00:45  peterg
% %% To RCS
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

% Put algebraic substitution commands here

for all x let cos(x)^2+sin(x)^2 = 1;

FOR ALL x,y LET x^y = pow(x,y); % Use the pow function

ON ROUNDED; % No integer output

END;








Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulum_abg.fig
from [574af9822e]
to [fd34fadce3].




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6 3555 4545 6345 4770
4 1 4 100 0 18 14 0.0000 4 210 495 3825 4725 [x_a]\001
4 1 4 100 0 18 14 0.0000 4 210 510 4950 4725 [y_a]\001
4 1 4 100 0 18 14 0.0000 4 210 510 6075 4725 [a_a]\001
-6
2 1 0 2 0 7 100 0 -1 0.000 0 0 -1 0 0 3
	 6840 4950 8190 4950 7965 5175
2 4 0 2 31 7 101 0 -1 0.000 0 0 7 0 0 5
	 9675 7425 3150 7425 3150 2475 9675 2475 9675 7425
4 1 4 100 0 18 20 0.0000 4 285 870 3825 7065 SS:[x]\001
4 1 4 100 0 18 20 0.0000 4 285 870 4950 7065 SS:[y]\001
4 1 4 100 0 18 20 0.0000 4 285 870 6075 7065 SS:[a]\001
4 1 0 100 0 18 20 0.0000 4 285 1590 4964 5040 gRODa:rod\001
4 1 0 100 0 18 20 0.0000 4 285 960 3825 3015 Se:x_0\001
4 1 0 100 0 18 20 0.0000 4 285 960 4950 3015 Se:y_0\001
4 1 0 100 0 18 20 0.0000 4 285 960 6030 3015 Se:a_0\001
4 1 4 100 0 18 20 0.0000 4 270 825 3825 7065 SS:[x]\001
4 1 4 100 0 18 20 0.0000 4 270 825 4950 7065 SS:[y]\001
4 1 4 100 0 18 20 0.0000 4 270 825 6075 7065 SS:[a]\001
4 1 0 100 0 18 20 0.0000 4 270 1545 4964 5040 gRODa:rod\001
4 1 0 100 0 18 20 0.0000 4 270 915 3825 3015 Se:x_0\001
4 1 0 100 0 18 20 0.0000 4 270 915 4950 3015 Se:y_0\001
4 1 0 100 0 18 20 0.0000 4 270 915 6030 3015 Se:a_0\001
4 1 4 100 0 18 14 0.0000 4 210 270 6660 4995 [a]\001
4 1 0 100 0 18 20 0.0000 4 225 1200 8865 5040 De:theta\001
4 1 0 100 0 18 20 0.0000 4 210 1140 8865 5040 De:theta\001








Modified mttroot/mtt/lib/examples/Mechanical/Mechanical-2D/InvertedPendulumOnCart/InvertedPendulum_lbl.txt
from [ecf421bd70]
to [4d5db894bb].



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%% Label file for system InvertedPendulum (InvertedPendulum_lbl.txt)
%SUMMARY InvertedPendulum
%DESCRIPTION <Detailed description here>

% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% Version control history
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %% $Id$
% %% $Log$
% %% Revision 1.1  2000/12/28 18:00:45  peterg
% %% To RCS
% %%
% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%


% Port aliases
%UNITS  x         translational N m/s
%UNITS  y         translational N m/s
%UNITS  a         rotational N*m radian/s


%ALIAS	in	x,y,a
%ALIAS	in|cart	x,y,a


% Argument aliases

%% Each line should be of one of the following forms:
%	     a comment (ie starting with %)
%	     component-name	cr_name	arg1,arg2,..argn




︙







Added mttroot/mtt/lib/reduce/fix_c.r version [ce0b4c95c5].






















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%% Fixes for c-code generation

ON ROUNDED$ % No integer output

%% Changes x^y to pow(x,y)
 OPERATOR pow$
 FOR ALL x,y LET x^y = pow(x,y)$ % Use the pow function
 
 %% Derivatives
 FOR ALL f,g,x LET df(pow(f,g),x)=
 	   pow(f,g-1) * (df(f,x)*g + df(g,x)*f*log(f))$

 %% Special cases
 FOR ALL x LET pow(x,0) = 1$
 FOR ALL x LET pow(x,1) = x$


END$






















MTT: Model Transformation Tools
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