[URL='http://www.mathworks.com/access/helpdesk/help/techdoc/ref/function.html'][COLOR=#0000FF]function[/COLOR][/URL] [COLOR=#080][[/COLOR]FwStell, FhStell[COLOR=#080]][/COLOR] = fcn[COLOR=#080]([/COLOR]phi, phip, x, xp, lh, lhp[COLOR=#080])[/COLOR]  
[COLOR=#228B22]% 2D Zustandsregler[/COLOR]  
k11 = [COLOR=#33f]50[/COLOR];  
k12 = [COLOR=#33f]100[/COLOR];  
k13 = [COLOR=#33f]0[/COLOR];  
k14 = [COLOR=#33f]0[/COLOR];  
k15 = [COLOR=#33f]0[/COLOR];  
k16 = [COLOR=#33f]0[/COLOR];  

k21 = [COLOR=#33f]0[/COLOR];  
k22 = [COLOR=#33f]0[/COLOR];  
k23 = [COLOR=#33f]0[/COLOR];  
k24 = [COLOR=#33f]0[/COLOR];  
k25 = [COLOR=#33f]0[/COLOR];  
k26 = [COLOR=#33f]0[/COLOR];  

lh_soll = [COLOR=#33f]0.3[/COLOR];  

FwStell = k11*phi + k12*phip + k13*x + k14*xp + k15*lh + k16*lhp;  
FhStell = k21*phi + k22*phip + k23*[URL='http://www.mathworks.com/access/helpdesk/help/techdoc/ref/abs.html'][COLOR=#0000FF]abs[/COLOR][/URL][COLOR=#080]([/COLOR]x[COLOR=#080])[/COLOR] + k24*[URL='http://www.mathworks.com/access/helpdesk/help/techdoc/ref/abs.html'][COLOR=#0000FF]abs[/COLOR][/URL][COLOR=#080]([/COLOR]xp[COLOR=#080])[/COLOR] + k25*[COLOR=#080]([/COLOR]lh_soll-lh[COLOR=#080])[/COLOR] + k26*lhp;  

FwStell = [COLOR=#33f]-1[/COLOR] * FwStell;  
FhStell = [COLOR=#33f]-1[/COLOR] * FhStell;

clc;


% Symbole für die Gleichungen definieren
syms M g m lh lhp lf phi phip phipp Jz x xp xpp


% lh ... Aktuelle Länge des Hubs
% lhp ... 1 Ableitung von Aktuelle Länge des Hubs
% lhpp ... 2 Ableitung von Aktuelle Länge des Hubs
% lf ... Länge des Fixanteils der Höhe


% phi ... Aktuelle Winkel PHI
% phip ... 1 Ableitung von Aktuelle Winkel PHI
% phipp ... 2 Ableitung von Aktuelle Winkel PHI


% x ... Aktuelle Länge x der Auslengkung des Wagen
% xp ... 1 Ableitung Aktuelle Länge x der Auslengkung des Wagen
% xpp ... 2 Ableitung Aktuelle Länge x der Auslengkung des Wagen


% Jz ... Drehmoment TODO Abhängig machen


% Definitionen
ls = (lh + lf) / 2;


% Teilkörper Last
%----------------


% Kinetische Energie der Last
ftl =  m/2 * ((phip*x)^2 + lhp^2);


% Potentielle Energie der Last
ful = m * g * ((lh + lf) * ( 1 - cos (phi)) - (x * sin (phi)));


% Teilkörper T-Stück
%-------------------


% Kinetische Energie der T-Stücks
ftt =  Jz/2 * phip^2 + m/2*(phip*(lf+lh)+xp+lhp)^2;


% Potentielle Energie des T-Stücks
fut = ls * M * (cos (phi) - 1);


% Gesamtenergie
%--------------


tges = ftl + ftt;
uges = ful + fut;


Lges = tges + uges;




diff (Lges, x)
diff (Lges, xp)

#include <iostream>
#define    COLOM    2
#define    ROW        2


using namespace std;


class Matrix
{
public:
    Matrix( double (*matrix)[ROW]);
    Matrix (const Matrix& m);
    ~Matrix ();
    double    det(void);
    bool    isSingular(void);
    void print(void);
private:
    double matrix_ [COLOM] [ROW];
    int    matrixSize_;
};


Matrix::~Matrix()  
{     
    cout << "\nDestructor: " << matrix_ << "\n"; 
    //delete [] matrix_;
    delete [](double *) matrix_[0];
    delete [](double *) matrix_[1];
    //delete    matrix_;
    //delete [] matrix_;
};


Matrix::Matrix( double  (*matrix)[ROW]  =0) : matrixSize_(sizeof(double) * COLOM * ROW)
{


    double    tmpMatrix [COLOM][ROW] = {{0,0}, {0,0}};


    if (matrix == 0)
    {
        memcpy(matrix_, tmpMatrix, matrixSize_);
    }
    else
    {
        memcpy(matrix_, matrix, matrixSize_);
    }


}


Matrix::Matrix(const Matrix& m) : matrixSize_(m.matrixSize_)
{
    memcpy (matrix_, m.matrix_, matrixSize_);
}


bool Matrix::isSingular(void)
{
    return (det() == 0);
}


double Matrix::det(void)
{
    return (matrix_[0][0]*matrix_[1][1] - matrix_[1][0]*matrix_[0][1]);
    //DET = ad-bc
}


void Matrix::print(void)
{
    for (int i=0; i < ROW; i++)
    {
        cout << "Row " << i << " : ";
        for (int j=0; j < COLOM; j++)
        {
            cout << matrix_[j][i] << " ";
        }
        cout << "\n";
    }
}

# This blank configuration will automatically use DHCP for any net.*
# scripts in /etc/init.d.  To create a more complete configuration,
# please review /usr/share/doc/openrc/net.example and save your configuration
# in /etc/conf.d/net (this file :]!).
modules_eth0=("dhcpcd")
config_eth0=( "dhclient" )


# wpa_supplicant gegen�ber wireless-tools bevorzugen
modules_wlan0=("wpa_supplicant")


# Es ist wichtig, dass wir wpa_supplicant mitteilen welcher Treiber
# verwendet werden soll, da es nicht sehr gut raten kann.
wpa_suppclient_wlan0="-Dwext"


config_wlan0=("dhclient")


ifplugd_eth0="..."
ifplugd_eth0="--api-mode=wlan"

#!/bin/sh
# Copyright 1999-2004 Gentoo Foundation
# Distributed under the terms of the GNU General Public License v2
#
# Gentoo-specific ifplugd.action
#
# This file gets called by ifplugd when it wants to bring an interface
# up or down.
#


if grep -q initng /proc/1/cmdline
then
    EXEC="/sbin/ngc"
    INITNG="yes"
else
    EXEC="/etc/init.d/net.$1"
    INITNG="no"
fi


case "$2" in
    up)
        if [ '${INITNG}' = 'yes' ]
        then
            ARGS="-u net/$1"
        else
            dhclient eth0
            ARGS="--quiet start"
        fi
        ;;
    down)
        if [ '${INITNG}' = 'yes' ]
        then
            ARGS="-d net/$1"
        else
            ARGS="--quiet stop"
        fi
        ;;
    *)
        echo "$0: wrong arguments" >&2
        echo "Call with <interface> <up|down>" >&2
        exit 1
        ;;
esac


export IN_BACKGROUND=true


if [ -x '${EXEC}' ]
then
    ${EXEC} ${ARGS}
    exit 0
else
    logger -t ifplugd.action "Error: Couldn't configure $1, no ${EXEC} !"
    exit 1
fi


# vim: set ts=4

modules |         boot
             net.eth0 | default
           localmount |         boot
             netmount | default
            syslog-ng | default
            savecache |              shutdown
                dmesg |                       sysinit
              urandom |         boot
            net.wlan0 | default
                 swap |         boot
                local | default
                 mtab |         boot
               procfs |         boot
              keymaps | default
            killprocs |              shutdown
              hwclock |         boot
                 root |         boot
                 udev |                       sysinit
             hostname |         boot
       udev-postmount | default
                 dbus | default
               net.lo |         boot
               sysctl |         boot
                 fsck |         boot
                devfs |                       sysinit
           vixie-cron | default
             mount-ro |              shutdown
                  xdm | default
             bootmisc |         boot
                 sshd | default

[    15.471] Current Operating System: Linux OPPENHEIMER_GENTOO 2.6.38-gentoo-r6 #1 SMP PREEMPT Wed Jul 6 14:32:34 CEST 2011 i686
    (WW) warning, (EE) error, (NI) not implemented, (??) unknown.
[    17.585] (II) Loading extension MIT-SCREEN-SAVER
[    17.644] (EE) Failed to load module "dri" (module does not exist, 0)
[    17.644] (EE) Failed to load module "dri2" (module does not exist, 0)
[    20.457] (EE) NVIDIA: Failed to load module "dri2" (module does not exist, 0)
[    21.060] (EE) module ABI major version (11) doesn't match the server's version (12)
[    21.060] (EE) Failed to load module "evdev" (module requirement mismatch, 0)
[    21.060] (EE) No input driver matching `evdev'
[    21.062] (EE) module ABI major version (11) doesn't match the server's version (12)
[    21.062] (EE) Failed to load module "evdev" (module requirement mismatch, 0)
[    21.062] (EE) No input driver matching `evdev'
[    21.075] (EE) module ABI major version (11) doesn't match the server's version (12)
[    21.075] (EE) Failed to load module "evdev" (module requirement mismatch, 0)
[    21.075] (EE) No input driver matching `evdev'
[    21.076] (EE) module ABI major version (11) doesn't match the server's version (12)
[    21.076] (EE) Failed to load module "evdev" (module requirement mismatch, 0)
[    21.076] (EE) No input driver matching `evdev'
[    21.077] (EE) module ABI major version (11) doesn't match the server's version (12)
[    21.077] (EE) Failed to load module "evdev" (module requirement mismatch, 0)
[    21.077] (EE) No input driver matching `evdev'

...


Section "Module"
    Load  "dbe"
    Load  "glx"
    Load  "record"
    #Load  "dri2"
    #Load  "dri"        
    Load  "extmod"
EndSection


Section "InputDevice"
    Identifier  "Keyboard0"
    Driver      "kbd"
        Option "XkbLayout"    "us,de"
        Option "XkbOptions"   "grp:alt_shift_toggle,grp_led:scroll"
EndSection


Section "InputDevice"
    Identifier  "Mouse0"
    Driver      "mouse"
    Option        "Protocol" "auto"
    Option        "Device" "/dev/input/mice"
    Option        "ZAxisMapping" "4 5 6 7"
EndSection


...

[$Version]
update_info=kwin_focus2.upd:kwin_focus2,kwin3_plugin.upd:kde3.2,kwin.upd:kde3.0r1,kwin.upd:kde3.2Xinerama,kwin_on_off.upd:kwin_on_off,kwin_focus1.upd:kwin_focus1


[Compositing]
CheckIsSafe=true
Enabled=false
OpenGLIsUnsafe=false


[Desktops]
Name_1=
Name_2=
Name_3=
Name_4=
Number=4


[TabBox]
ListMode=0
ShowTabBox=true


[Windows]
IgnoreFocusStealingClasses=kio_uiserver

# We always try and start X on a static VT. The various DMs normally default
# to using VT7. If you wish to use the xdm init script, then you should ensure
# that the VT checked is the same VT your DM wants to use. We do this check to
# ensure that you haven't accidentally configured something to run on the VT
# in your /etc/inittab file so that you don't get a dead keyboard.
CHECKVT=7


# What display manager do you use ?  [ xdm | gdm | kdm | kdm-4.3 | gpe | entrance ]
# NOTE: If this is set in /etc/rc.conf, that setting will override this one.
#
# KDE-specific note:
# - If you are using kdeprefix go with "kdm-4.Y", e.g. "kdm-4.3".
#     You can find possible versions by looking at the directories in /usr/kde/.
# - Else, if you are using KDE 3 enter "kdm-3.5"
# - Else, if you are using KDE 4 enter "kdm" without a version
DISPLAYMANAGER="kdm"