text: /* Include files */
  #include "MPC_framework_sfun.h"
  #include "c1_MPC_framework.h"
  #include "c2_MPC_framework.h"
  #include "c3_MPC_framework.h"
  #include "c4_MPC_framework.h"
  #include "c7_MPC_framework.h"
  #include "c8_MPC_framework.h"
  
  /* Type Definitions */
  
  /* Named Constants */
  
  /* Variable Declarations */
  
  /* Variable Definitions */
  uint8_T _sfEvent_;
  uint32_T _MPC_frameworkMachineNumber_;
  real_T _sfTime_;
  
  /* Function Declarations */
  
  /* Function Definitions */
  void MPC_framework_initializer(void)
  {
    _sfEvent_ = CALL_EVENT;
  }
  
  void MPC_framework_terminator(void)
  {
  }
  
  /* SFunction Glue Code */
  unsigned int sf_MPC_framework_method_dispatcher(SimStruct *simstructPtr, const
   char *chartName, int_T method, void *data)
  {
    if(!strcmp_ignore_ws(chartName,"MPC_framework/State Machine/ SFunction ")) {
      c1_MPC_framework_method_dispatcher(simstructPtr, method, data);
      return 1;
    }
    if(!strcmp_ignore_ws(chartName,"MPC_framework/Inverse geometry/Subsystem/invgeo/ SFunction "))
    {
      c2_MPC_framework_method_dispatcher(simstructPtr, method, data);
      return 1;
    }
    if(!strcmp_ignore_ws(chartName,"MPC_framework/Trajectory design/Trajectory design1/Curve calculation/Joint reference singal 1/ SFunction "))
    {
      c3_MPC_framework_method_dispatcher(simstructPtr, method, data);
      return 1;
    }
    if(!strcmp_ignore_ws(chartName,"MPC_framework/Trajectory design/Trajectory design1/Curve calculation/Joint reference singal 2/ SFunction "))
    {
      c4_MPC_framework_method_dispatcher(simstructPtr, method, data);
      return 1;
    }
    if(!strcmp_ignore_ws(chartName,"MPC_framework/Trajectory design/Trajectory design1/Init/Trajectory design 1/ SFunction "))
    {
      c7_MPC_framework_method_dispatcher(simstructPtr, method, data);
      return 1;
    }
    if(!strcmp_ignore_ws(chartName,"MPC_framework/Trajectory design/Trajectory design1/Init/Trajectory design 2/ SFunction "))
    {
      c8_MPC_framework_method_dispatcher(simstructPtr, method, data);
      return 1;
    }
    return 0;
  }
  unsigned int sf_MPC_framework_process_check_sum_call( int nlhs, mxArray *
   plhs[], int nrhs, const mxArray * prhs[] )
  {
  #ifdef MATLAB_MEX_FILE
    char commandName[20];
    if (nrhs<1 || !mxIsChar(prhs[0]) ) return 0;
    /* Possible call to get the checksum */
    mxGetString(prhs[0], commandName,sizeof(commandName)/sizeof(char));
    commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
    if(strcmp(commandName,"sf_get_check_sum")) return 0;
    plhs[0] = mxCreateDoubleMatrix( 1,4,mxREAL);
    if(nrhs>1 && mxIsChar(prhs[1])) {
      mxGetString(prhs[1], commandName,sizeof(commandName)/sizeof(char));
      commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
      if(!strcmp(commandName,"machine")) {
        ((real_T *)mxGetPr((plhs[0])))[0] = (real_T)(2853016054U);
        ((real_T *)mxGetPr((plhs[0])))[1] = (real_T)(2874335334U);
        ((real_T *)mxGetPr((plhs[0])))[2] = (real_T)(2568698101U);
        ((real_T *)mxGetPr((plhs[0])))[3] = (real_T)(2205291570U);
      }else if(!strcmp(commandName,"exportedFcn")) {
        ((real_T *)mxGetPr((plhs[0])))[0] = (real_T)(0U);
        ((real_T *)mxGetPr((plhs[0])))[1] = (real_T)(0U);
        ((real_T *)mxGetPr((plhs[0])))[2] = (real_T)(0U);
        ((real_T *)mxGetPr((plhs[0])))[3] = (real_T)(0U);
      }else if(!strcmp(commandName,"makefile")) {
        ((real_T *)mxGetPr((plhs[0])))[0] = (real_T)(3442602329U);
        ((real_T *)mxGetPr((plhs[0])))[1] = (real_T)(2322553597U);
        ((real_T *)mxGetPr((plhs[0])))[2] = (real_T)(3344909884U);
        ((real_T *)mxGetPr((plhs[0])))[3] = (real_T)(546093224U);
      }else if(nrhs==3 && !strcmp(commandName,"chart")) {
        unsigned int chartFileNumber;
        chartFileNumber = (unsigned int)mxGetScalar(prhs[2]);
        switch(chartFileNumber) {
         case 1:
          {
            extern void sf_c1_MPC_framework_get_check_sum(mxArray *plhs[]);
            sf_c1_MPC_framework_get_check_sum(plhs);
            break;
          }
  
         case 2:
          {
            extern void sf_c2_MPC_framework_get_check_sum(mxArray *plhs[]);
            sf_c2_MPC_framework_get_check_sum(plhs);
            break;
          }
  
         case 3:
          {
            extern void sf_c3_MPC_framework_get_check_sum(mxArray *plhs[]);
            sf_c3_MPC_framework_get_check_sum(plhs);
            break;
          }
  
         case 4:
          {
            extern void sf_c4_MPC_framework_get_check_sum(mxArray *plhs[]);
            sf_c4_MPC_framework_get_check_sum(plhs);
            break;
          }
  
         case 7:
          {
            extern void sf_c7_MPC_framework_get_check_sum(mxArray *plhs[]);
            sf_c7_MPC_framework_get_check_sum(plhs);
            break;
          }
  
         case 8:
          {
            extern void sf_c8_MPC_framework_get_check_sum(mxArray *plhs[]);
            sf_c8_MPC_framework_get_check_sum(plhs);
            break;
          }
  
         default:
          ((real_T *)mxGetPr((plhs[0])))[0] = (real_T)(0.0);
          ((real_T *)mxGetPr((plhs[0])))[1] = (real_T)(0.0);
          ((real_T *)mxGetPr((plhs[0])))[2] = (real_T)(0.0);
          ((real_T *)mxGetPr((plhs[0])))[3] = (real_T)(0.0);
        }
      }else if(!strcmp(commandName,"target")) {
        ((real_T *)mxGetPr((plhs[0])))[0] = (real_T)(2673756024U);
        ((real_T *)mxGetPr((plhs[0])))[1] = (real_T)(1524368602U);
        ((real_T *)mxGetPr((plhs[0])))[2] = (real_T)(3134565827U);
        ((real_T *)mxGetPr((plhs[0])))[3] = (real_T)(1947018348U);
      }else {
        return 0;
      }
    } else{
      ((real_T *)mxGetPr((plhs[0])))[0] = (real_T)(1497835440U);
      ((real_T *)mxGetPr((plhs[0])))[1] = (real_T)(1078096579U);
      ((real_T *)mxGetPr((plhs[0])))[2] = (real_T)(3223471371U);
      ((real_T *)mxGetPr((plhs[0])))[3] = (real_T)(626089462U);
    }
    return 1;
  #else
    return 0;
  #endif
  }
  
  unsigned int sf_MPC_framework_autoinheritance_info( int nlhs, mxArray * plhs[],
   int nrhs, const mxArray * prhs[] )
  {
  #ifdef MATLAB_MEX_FILE
    char commandName[32];
    if (nrhs<2 || !mxIsChar(prhs[0]) ) return 0;
    /* Possible call to get the autoinheritance_info */
    mxGetString(prhs[0], commandName,sizeof(commandName)/sizeof(char));
    commandName[(sizeof(commandName)/sizeof(char)-1)] = '\0';
    if(strcmp(commandName,"get_autoinheritance_info")) return 0;
    {
      unsigned int chartFileNumber;
      chartFileNumber = (unsigned int)mxGetScalar(prhs[1]);
      switch(chartFileNumber) {
       case 1:
        {
          extern mxArray *sf_c1_MPC_framework_get_autoinheritance_info(void);
          plhs[0] = sf_c1_MPC_framework_get_autoinheritance_info();
          break;
        }
  
       case 2:
        {
          extern mxArray *sf_c2_MPC_framework_get_autoinheritance_info(void);
          plhs[0] = sf_c2_MPC_framework_get_autoinheritance_info();
          break;
        }
  
       case 3:
        {
          extern mxArray *sf_c3_MPC_framework_get_autoinheritance_info(void);
          plhs[0] = sf_c3_MPC_framework_get_autoinheritance_info();
          break;
        }
  
       case 4:
        {
          extern mxArray *sf_c4_MPC_framework_get_autoinheritance_info(void);
          plhs[0] = sf_c4_MPC_framework_get_autoinheritance_info();
          break;
        }
  
       case 7:
        {
          extern mxArray *sf_c7_MPC_framework_get_autoinheritance_info(void);
          plhs[0] = sf_c7_MPC_framework_get_autoinheritance_info();
          break;
        }
  
       case 8:
        {
          extern mxArray *sf_c8_MPC_framework_get_autoinheritance_info(void);
          plhs[0] = sf_c8_MPC_framework_get_autoinheritance_info();
          break;
        }
  
       default:
        plhs[0] = mxCreateDoubleMatrix(0,0,mxREAL);
      }
    }
    return 1;
  #else
    return 0;
  #endif
  }
  void MPC_framework_debug_initialize(void)
  {
    _MPC_frameworkMachineNumber_ =
    sf_debug_initialize_machine("MPC_framework","sfun",0,6,0,0,0);
    sf_debug_set_machine_event_thresholds(_MPC_frameworkMachineNumber_,0,0);
    sf_debug_set_machine_data_thresholds(_MPC_frameworkMachineNumber_,0);
  }
  
  void MPC_framework_register_exported_symbols(SimStruct* S)
  {
  }
  