/* Copyright 2002 The MathWorks, Inc. */

/* $Revision: 1.2.4.1 $ */
/*
 *
 *   --- THIS FILE GENERATED BY S-FUNCTION BUILDER: 2.0 ---
 *
 *   This file is a wrapper S-function produced by the S-Function
 *   Builder which only recognizes certain fields.  Changes made
 *   outside these fields will be lost the next time the block is
 *   used to load, edit, and resave this file. This file will be overwritten
 *   by the S-function Builder block. If you want to edit this file by hand, 
 *   you must change it only in the area defined as:  
 *
 *        %%%-SFUNWIZ_wrapper_XXXXX_Changes_BEGIN 
 *            Your Changes go here
 *        %%%-SFUNWIZ_wrapper_XXXXXX_Changes_END
 *
 *   For better compatibility with the Real-Time Workshop, the
 *   "wrapper" S-function technique is used.  This is discussed
 *   in the Real-Time Workshop User's Manual in the Chapter titled,
 *   "Wrapper S-functions".
 *
 *   Created: Thu May  9 15:57:55 2002
 */


/*
 * Include Files
 *
 */
#include "tmwtypes.h"
/* %%%-SFUNWIZ_wrapper_includes_Changes_BEGIN --- EDIT HERE TO _END */
#include <math.h>





/* %%%-SFUNWIZ_wrapper_includes_Changes_END --- EDIT HERE TO _BEGIN */
#define u_width 3
#define y_width 3
/*
 * Create external references here.  
 *
 */
/* %%%-SFUNWIZ_wrapper_externs_Changes_BEGIN --- EDIT HERE TO _END */
/* extern double func(double a); */




/* %%%-SFUNWIZ_wrapper_externs_Changes_END --- EDIT HERE TO _BEGIN */

/*
 * Output functions
 *
 */
void euler2dc_Outputs_wrapper(const real32_T *worke,
                          real32_T *dircos)
{
/* %%%-SFUNWIZ_wrapper_Outputs_Changes_BEGIN --- EDIT HERE TO _END */
/*
   * Euler angles to direction cosine matrix conversion
   *
   * Given phi, theta, psi in an array, calculate the
   * 3x3 direction cosine matrix:
   *
   * | cos(psi)*cos(theta), sin(psi)*cos(theta), -sin(theta)                |
   * | cos(psi)*sin(theta)*sin(phi)-sin(psi)*cos(phi),                      |
   * |                      sin(psi)*sin(theta)*sin(phi)+cos(psi)*cos(phi), |
   * |                                           cos(theta)*sin(phi)        |
   * | cos(psi)*sin(theta)*cos(phi)+sin(psi)*sin(phi),                      |
   * |                      sin(psi)*sin(theta)*cos(phi)-cos(psi)*sin(phi), |
   * |                                           cos(theta)*cos(phi)        |
   *
   */
      float sphi = (float) sin(*worke );
      float cphi = (float) cos(*worke++ );
      float stht = (float) sin(*worke );  
      float ctht = (float) cos(*worke++ );  
      float spsi = (float) sin(*worke );
      float cpsi = (float) cos(*worke );
      
       
      /* 
       * Walk down the column-major 3x3 
       * matrix and put in the results 
       * specified in the comment above.
       */
      
      *dircos++   = cpsi*ctht;   /* 1,1 done */
      *dircos     = cpsi*stht;         	 	 
      *(dircos+1) = *dircos;           	 	 
      *dircos    *= sphi;	           	 	 
      *dircos++  -= spsi*cphi;   /* 2,1 done */
      *dircos    *= cphi;	           	 	 
      *dircos++  += spsi*sphi;   /* 3,1 done */
      *dircos++   = spsi*ctht;   /* 1,2 done */
      *dircos     = spsi*stht;         	 	 
      *(dircos+1) = *dircos;           	 	 
      *dircos    *= sphi;	           	 	 
      *dircos++  += cpsi*cphi;   /* 2,2 done */
      *dircos    *= cphi;	           	 	 
      *dircos++  -= cpsi*sphi;   /* 3,2 done */
      *dircos++   = -stht;       /* 1,3 done */
      *dircos++   = ctht*sphi;   /* 2,3 done */
      *dircos     = ctht*cphi;   /* 3,3 done */
   
  
 

/* %%%-SFUNWIZ_wrapper_Outputs_Changes_END --- EDIT HERE TO _BEGIN */
}

/*
 * Updates function
 *
 */
void euler2dc_Update_wrapper(const real32_T *worke,
                          const real32_T *dircos )
{
/* %%%-SFUNWIZ_wrapper_Update_Changes_BEGIN --- EDIT HERE TO _END */
 
   
  
 

/* %%%-SFUNWIZ_wrapper_Update_Changes_END --- EDIT HERE TO _BEGIN */
}

/*
 *  Derivatives function
 *
 */
void euler2dc_Derivatives_wrapper(const real32_T *worke,
                          const real32_T *dircos,
                          real_T *dx )
{
/* %%%-SFUNWIZ_wrapper_Derivatives_Changes_BEGIN --- EDIT HERE TO _END */

  
 

/* %%%-SFUNWIZ_wrapper_Derivatives_Changes_END --- EDIT HERE TO _BEGIN */
}