/*
 * File: F_vctr_fcn.c
 *
 * MATLAB Coder version            : 4.1
 * C/C++ source code generated on  : 25-Mar-2020 16:46:36
 */

/* Include Files */
#include "F_vctr_fcn.h"

/* Function Definitions */

/*
 * F_VCTR_FCN
 *     TAU_FRCN = F_VCTR_FCN(IN1,IN2)
 * Arguments    : const double in1[6]
 *                const double in2[18]
 *                double tau_frcn[6]
 * Return Type  : void
 */
void F_vctr_fcn(const double in1[6], const double in2[18], double tau_frcn[6])
{
  double x;
  double b_x;
  double c_x;
  double d_x;
  double e_x;
  double f_x;

  /*     This function was generated by the Symbolic Math Toolbox version 8.2. */
  /*     25-Mar-2020 14:56:46 */
  x = in1[0];
  if (in1[0] < 0.0) {
    x = -1.0;
  } else if (in1[0] > 0.0) {
    x = 1.0;
  } else {
    if (in1[0] == 0.0) {
      x = 0.0;
    }
  }

  b_x = in1[1];
  if (in1[1] < 0.0) {
    b_x = -1.0;
  } else if (in1[1] > 0.0) {
    b_x = 1.0;
  } else {
    if (in1[1] == 0.0) {
      b_x = 0.0;
    }
  }

  c_x = in1[2];
  if (in1[2] < 0.0) {
    c_x = -1.0;
  } else if (in1[2] > 0.0) {
    c_x = 1.0;
  } else {
    if (in1[2] == 0.0) {
      c_x = 0.0;
    }
  }

  d_x = in1[3];
  if (in1[3] < 0.0) {
    d_x = -1.0;
  } else if (in1[3] > 0.0) {
    d_x = 1.0;
  } else {
    if (in1[3] == 0.0) {
      d_x = 0.0;
    }
  }

  e_x = in1[4];
  if (in1[4] < 0.0) {
    e_x = -1.0;
  } else if (in1[4] > 0.0) {
    e_x = 1.0;
  } else {
    if (in1[4] == 0.0) {
      e_x = 0.0;
    }
  }

  f_x = in1[5];
  if (in1[5] < 0.0) {
    f_x = -1.0;
  } else if (in1[5] > 0.0) {
    f_x = 1.0;
  } else {
    if (in1[5] == 0.0) {
      f_x = 0.0;
    }
  }

  tau_frcn[0] = (in2[2] + in2[0] * in1[0]) + in2[1] * x;
  tau_frcn[1] = (in2[5] + in2[3] * in1[1]) + in2[4] * b_x;
  tau_frcn[2] = (in2[8] + in2[6] * in1[2]) + in2[7] * c_x;
  tau_frcn[3] = (in2[11] + in2[9] * in1[3]) + in2[10] * d_x;
  tau_frcn[4] = (in2[14] + in2[12] * in1[4]) + in2[13] * e_x;
  tau_frcn[5] = (in2[17] + in2[15] * in1[5]) + in2[16] * f_x;
}

/*
 * File trailer for F_vctr_fcn.c
 *
 * [EOF]
 */