#include "mex.h"
#include "SDModel.h"
#include "SDModel_common.h"
void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[]){
	/*	INPUT: 
			model - pointer to a model
			X0 - initial state
 body - body to apply impulse to
 F - (3x1) vector of impulse magnitude
		OUTPUT:			
			X_new - new state after impulse
	*/
	int i;
	double *pointer_to_model;
 SDModel *mod;
	
	if(nrhs!=4) 
 mexErrMsgTxt("model_impulse: Wrong number of input arguments"); 
 
	if ( (pointer_to_model = mxGetPr(prhs[0])) == NULL )
		mexErrMsgTxt("model_impulse: Argument 0 is not a valid pointer to an SDModel object\n");
	if ( (mod = (SDModel *) ((long) pointer_to_model[0]))== NULL )
		mexErrMsgTxt("model_impulse: Argument 0 is not a valid pointer to an SDModel object\n");
 
 
	if (mxGetM(prhs[1])!=(mod->NQ()+mod->NU()) || mxGetN(prhs[1])!=1)
 mexErrMsgTxt("model_impulse: Wrong size of input argument 1"); 
	if (mxGetM(prhs[2])!=1 || mxGetN(prhs[2])!=1)
 mexErrMsgTxt("model_impulse: Wrong size of input argument 2"); 
	if (mxGetM(prhs[3])!=3 || mxGetN(prhs[3])!=1)
 mexErrMsgTxt("model_impulse: Wrong size of input argument 3"); 
	if (nlhs>1)
 mexErrMsgTxt("model_impulse: Too many output arguments"); 
 plhs[0] = mxCreateDoubleMatrix(mod->NQ()+mod->NU(),1,mxREAL);
 
 mod->sdinit();
 
 impulse_force(mod, mxGetPr(prhs[1]), (int)mxGetScalar(prhs[2]), mxGetPr(prhs[3]), mxGetPr(plhs[0]));
}
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