//
//  Academic License - for use in teaching, academic research, and meeting
//  course requirements at degree granting institutions only.  Not for
//  government, commercial, or other organizational use.
//
//  calculateGravityForce.cpp
//
//  Code generation for function 'calculateGravityForce'
//


// Include files
#include "calculateGravityForce.h"
#include "getGravityForce.h"
#include "get_Kinematics.h"
#include "rt_nonfinite.h"

// Variable Definitions
static emlrtRSInfo emlrtRSI = { 12,    // lineNo
  "calculateGravityForce",             // fcnName
  "C:\\R1000 EVT GravityForce V1\\calculateGravityForce.m"// pathName
};

static emlrtRSInfo b_emlrtRSI = { 13,  // lineNo
  "calculateGravityForce",             // fcnName
  "C:\\R1000 EVT GravityForce V1\\calculateGravityForce.m"// pathName
};

// Function Definitions
void calculateGravityForce(const emlrtStack *sp, const real_T thetaMea[9],
  real_T GravityForce[6])
{
  real_T expl_temp;
  real_T robot_m[9];
  real_T robot_I[81];
  real_T b_expl_temp[27];
  real_T c_expl_temp[27];
  real_T d_expl_temp[27];
  real_T e_expl_temp[27];
  real_T robot_slist[54];
  real_T f_expl_temp[9];
  real_T g_expl_temp[9];
  real_T h_expl_temp[9];
  real_T robot_Home_com[27];
  real_T robot_Home_R[81];
  real_T robot_Home_P[27];
  real_T robot_Home_M[144];
  struct_T robot_kine;
  real_T robot_gravity[3];
  emlrtStack st;
  st.prev = sp;
  st.tls = sp->tls;
  st.site = &emlrtRSI;
  get_Kinematics(&st, &expl_temp, robot_m, robot_I, b_expl_temp, c_expl_temp,
                 d_expl_temp, e_expl_temp, robot_slist, f_expl_temp, g_expl_temp,
                 h_expl_temp, robot_Home_com, robot_Home_R, robot_Home_P,
                 robot_Home_M, &robot_kine, robot_gravity);
  st.site = &b_emlrtRSI;
  getGravityForce(&st, thetaMea, robot_m, robot_I, robot_slist, robot_Home_R,
                  &robot_kine, robot_gravity, GravityForce);
}

// End of code generation (calculateGravityForce.cpp)