mex_wrapper.c File Reference

#include "libhybrid.h"
#include "mex.h"

Go to the source code of this file.

Macros
#define	HYB_MODEL_SOURCE   "model.c"
	To include the mex wrappe in your project you MUST define MATLAB_WRAPPER. More...
#define	MATLAB_SYSTEM_IDENTIFICATION
	MATLAB System Identification wrapper and common wrapper are different. More...

Functions
void	error_message (hyb_errorcode c)
	handler for errors from hyb_main_loop function More...
void	mexFunction (int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
	Entry point for MATLAB Api. More...

Detailed Description

Author

Matteo Ragni, Matteo Cocetti

Date

10 Jan 2018

Definition in file mex_wrapper.c.

Macro Definition Documentation

#define HYB_MODEL_SOURCE   "model.c"

To include the mex wrappe in your project you MUST define MATLAB_WRAPPER.

Name of the model to wrap

Please provide the name of source of the model to wrap. It will be included in the wrapper for compilation. The model should include at least:

• a flow map function
• a jump map function
• a jump set function
• an output function
• an hyb_opts structure with the name "options", and all the information set.

Definition at line 49 of file mex_wrapper.c.

#define MATLAB_SYSTEM_IDENTIFICATION

MATLAB System Identification wrapper and common wrapper are different.

The System Identification Wrapper and the common wrapper are different. The normal wrapper returns for each step, and it does not matter if the step is a either flow step or jump step. In the System Identification wrapper the function returns only in case of flow step. If there is more than one jump step it is not reported to the MATLAB engine. This forces the user to carefully decide which Jump Horizon to use. Reaching an horizon forces the raise of an error. This wrapper separation allows to keep always the flow time state synchronized with the System Identification sim time. This avoid the insertion of a delay \( e^{-T_s s} \) for each jump in the flow dynamic. For the System identification wrapper, simply define MATLAB_SYSTEM_IDENTIFICATION. If MATLAB_SYSTEM_IDENTIFICATION is not defined, the common wrapper is generated.

Definition at line 70 of file mex_wrapper.c.

Function Documentation

void error_message ( hyb_errorcode  c )

inline

handler for errors from hyb_main_loop function

This function handles the error code from the hyb_main_loop function. Any returning value different from HYB_SUCCESS raises a mexErrMsgIdAndTxt with a convenient error message.

Parameters

c	the error code from the hyb_main_loop function

Definition at line 85 of file mex_wrapper.c.

                                           {
  switch(ret) {
  case HYB_SUCCESS:
    return;
    break;
  case HYB_EMALLOC:
    mexErrMsgIdAndTxt("LIBHYBRID:Model:MallocError",
     "Allocation error in the discretization");
    break;
  case HYB_NULLPTR:
    mexErrMsgIdAndTxt("LIBHYBRID:Model:NullPointer",
     "Null pointer passed to the integrator");
    break;
  case HYB_TLIMIT:
    mexErrMsgIdAndTxt("LIBHYBRID:Model:tLimit",
     "Reached time horizon for hybrid model");
    break;
  case HYB_JLIMIT:
    mexErrMsgIdAndTxt("LIBHYBRID:Model:jLimit",
     "Reached jump horizon for hybrid model");
    break;
  case HYB_NOJUMP:
    mexErrMsgIdAndTxt("LIBHYBRID:Model:InvalidSet",
     "Invalid set conditions provided");
    break;
  default:
    mexErrMsgIdAndTxt("LIBHYBRID:Model:GenericError",
     "An unknown error was raised");
    break;
  }
}

void mexFunction	(	int	nlhs,
		mxArray *	plhs[],
		int	nrhs,
		const mxArray *	prhs[]
	)

Entry point for MATLAB Api.

The compilation and linking of a mex function generates a shared object that is dynamically loaded in MATLAB. The entry point for such library is the function mexFunction that is always called with the following arguments:

Parameters

nlhs	number of elements in the pointer for the output (lhs = left hand side)
plhs	pointer for data in the left hand side
nrhs	number of elements in the pointer for the input arguments (rhs = right hand side)
prhs	pointer for input data for the function

Definition at line 129 of file mex_wrapper.c.

                                                  {
  /* Declaration of input and output arguments. */
  double *x, *u, **p, *xp, *y, *sim_time;
  int     i, np;
  size_t  nu, nx;

  if (nrhs < 3) {
      mexErrMsgIdAndTxt("LIBHYBRID:Model:InvalidSyntax",
      "At least 4 inputs expected (t, u, x, p).");
  }

  np = nrhs - 3;

  /* Determine number of inputs and states. */
  nx = mxGetNumberOfElements(prhs[1]); /* Number of states. */
  nu = mxGetNumberOfElements(prhs[2]); /* Number of inputs. */

  if (nx != options.x_size) {
    mexErrMsgIdAndTxt("LIBHYBRID:Model:InvalidSyntax",
    "The dimension of input 2 should be %d", options.x_size);
  }

  /* Obtain double data pointers from mxArrays. */
  sim_time = mxGetPr(prhs[0]);  /* States at time t. */
  x = mxGetPr(prhs[1]);  /* States at time t. */
  u = mxGetPr(prhs[2]);  /* Inputs at time t. */

  p = mxCalloc(np, sizeof(double*));
  for (i = 0; i < np; i++)
    p[i] = mxGetPr(prhs[3+i]); /* Parameter arrays. */

  /* Create matrix for the return arguments. */
  plhs[0] = mxCreateDoubleMatrix(nx, 1, mxREAL);
  plhs[1] = mxCreateDoubleMatrix(options.y_size, 1, mxREAL);
  xp      = mxGetPr(plhs[0]); /* State derivative values. */
  y       = mxGetPr(plhs[1]); /* Output values. */

  #ifdef MATLAB_SYSTEM_IDENTIFICATION
  hyb_bool is_step = hyb_true;
  while (is_step) {
    hyb_errorcode ret = hyb_main_loop(&options, y, xp, sim_time[0], x, u, (const double**) p);
    is_step = (xp[1] == x[1] ? hyb_false : hyb_true);
    error_message(ret);
  }
  #else
    hyb_errorcode ret = hyb_main_loop(&options, y, xp, sim_time[0], x, u, (const double**) p);
    error_message(ret);
  #endif
  mxFree(p);
}