%% Script Description
% Determine if we take into account the flexibilities,
% does that changes a lot

%%
clear; close all; clc;

%% Initialize all the stage by default
run init_data.m

%% Options for Linearized
options = linearizeOptions;
options.SampleTime = 0;

%% Name of the Simulink File
mdl = 'sim_micro_station';

%% Micro-Hexapod
% Input/Output definition
io(1) = linio([mdl, '/Micro-Station/Fm_ext'],1,'openinput');
io(2) = linio([mdl, '/Micro-Station/Fg_ext'],1,'openinput');
io(3) = linio([mdl, '/Micro-Station/Dm_inertial'],1,'output');
io(4) = linio([mdl, '/Micro-Station/Ty_inertial'],1,'output');
io(5) = linio([mdl, '/Micro-Station/Ry_inertial'],1,'output');
io(6) = linio([mdl, '/Micro-Station/Dg_inertial'],1,'output');


%% Run the linearization
initializeTy();

G_ms_flexible = linearize(mdl, io, 0);

% Input/Output names
G_ms_flexible.InputName  = {'Fmx', 'Fmy', 'Fmz',...
                            'Fgx', 'Fgy', 'Fgz'};
G_ms_flexible.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
                            'Tyx', 'Tyy', 'Tyz', ...
                            'Ryx', 'Ryy', 'Ryz', ...
                            'Dgx', 'Dgy', 'Dgz'};

%% Run the linearization
initializeTy(struct('rigid', true));

G_ms_ty_rigid = linearize(mdl, io, 0);

% Input/Output names
G_ms_ty_rigid.InputName  = {'Fmx', 'Fmy', 'Fmz',...
                            'Fgx', 'Fgy', 'Fgz'};
G_ms_ty_rigid.OutputName = {'Dmx', 'Dmy', 'Dmz', ...
                            'Tyx', 'Tyy', 'Tyz', ...
                            'Ryx', 'Ryy', 'Ryz', ...
                            'Dgx', 'Dgy', 'Dgz'};

%% Save the obtained transfer functions
save('./mat/id_micro_station_flexibility.mat', 'G_ms_flexible', 'G_ms_ty_rigid');