Method: RCSimCinterface.rcsim_make_systemI

Defined in:
ext/hruby_sim/hruby_rcsim_build.c

.rcsim_make_systemI(name, systemT) ⇒ Object

Creating a system instance C object.



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# File 'ext/hruby_sim/hruby_rcsim_build.c', line 363

VALUE rcsim_make_systemI(VALUE mod, VALUE name, VALUE systemT) {
    // printf("rcsim_make_systemI\n");
    /* Allocates the system instance. */
    SystemI systemI = (SystemI)malloc(sizeof(SystemIS));
    // printf("systemI=%p\n",systemI);
    /* Set it up. */
    systemI->kind = SYSTEMI;
    systemI->owner = NULL;
    systemI->name = strdup(StringValueCStr(name));
    // printf("systemI->name=%p\n",systemI->name);
    // /* Name is made empty since redundant with Eigen system. */
    // systemI->name = "";
    value_to_rcsim(SystemTS,systemT,systemI->system);
    systemI->num_systems = 1;
    systemI->systems = (SystemT*)malloc(sizeof(SystemT[1]));
    // printf("systemI->systems=%p\n",systemI->systems); fflush(stdout);
    systemI->systems[0] = systemI->system;
    /* Configure the systemI to execute the default systemT. */
    configure(systemI,0);
    /* Returns the C system instance embedded into a ruby VALUE. */
    VALUE res;
    rcsim_to_value(SystemIS,systemI,res);
    return res;
}