bht_g_controls(nom,fish)

function [] = bht_g_controls(nom,fish)
% BHT_G_CONTROLS
% 
% Generate a controls M-File's pattern.
% 
% Syntax
% 
%     BHT_G_CONTROLS(filename,fish)
% 
% Description
% 
%     The function is ran by BHT_DATA_COMPILE on user's request. It generates
%     the controls M-File's pattern 'filename.m', based on the bodies'
%     architechture as it is described by the structure array variable
%     fish. Except when all of the articulated bodies are reduced to single
%     solids, the generated M-File is incomplete and can not be used before
%     being completed by the user.
% 
% See also BHT_DATA_COMPILE 

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%                                                                         %
%                      BIOHYDRODYNAMICS MATLAB TOOLBOX                    %
%                                                                         %
%                         A. MUNNIER and B. PINCON                        %
%                                                                         %
% [e-mail]        [e-mail]   %
% http://www.iecn.u-nancy.fr/~munnier  http://www.iecn.u-nancy.fr/~pincon %
%                                                                         %
%                                                                         %
%                      INSTITUT ELIE CARTAN, NANCY 1                      %
%                       http://www.iecn.u-nancy.fr/                       %
%                                                                         %
%                      INRIA Lorraine, Projet CORIDA                      %
%                    http://www.iecn.u-nancy.fr/~corida/                  %
%                                                                         %  
%                                                                         %  
%                                                                         %
%                                                                         %
%                            August 15th 2008                             %
%                                                                         %
%                                               GNU GPL v3 licence        %
%                                                                         %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

%##########################################################################
nom_fichier = [nom, '.m'];
fid = fopen(nom_fichier, 'w');
fprintf(fid, 'function [c,dc,dttc] = %s(t,cont_parameters)\n',nom);


nb_control = 0;
nb_fish = numel(fish);
for k = 1:nb_fish
    nb_control = nb_control+numel(fish{k})-1;
end
 fprintf(fid,'%% ======================================================\n');
 fprintf(fid,'%% preallocating output variables\n');
 fprintf(fid,'c = zeros(%d,1);\n',nb_control);
 fprintf(fid,'dc = zeros(%d,1);\n',nb_control);
 fprintf(fid,'dttc = zeros(%d,1);\n',nb_control);
 fprintf(fid,'%% ======================================================\n');
 fprintf(fid,'%% Warning: non zero controls velocities (dc) at the\n');
 fprintf(fid,'%% time t = 0 may produce strong fish''s drift.\n');
 fprintf(fid,'%% ======================================================\n');
 fprintf(fid,'%% \n');
 fprintf(fid,'%% \n');
 %=========================================================================
 iter_cont = 0;
 iter_cont1 = 0;
for k = 1:nb_fish;
    nb_solid = numel(fish{k});
    if nb_solid > 1
        fprintf(fid,'%% ======================================================\n');
        fprintf(fid,'%%                     fish %d\n',k);
        fprintf(fid,'%% ======================================================\n');
        fprintf(fid,'%% \t\t\t joint\t\t\t  control number\n'); 
        fprintf(fid,'%% ______________________________________________________\n');
        
        for j=2: nb_solid
            iter_cont = iter_cont+1;
            current = fish{k}(j).label;
            father = fish{k}(j).father;
            fprintf(fid,'%%  %12s-%-12s',father,current);
            fprintf(fid,' \t\t %-d\n',iter_cont);
        end
        for j = 2:nb_solid
            iter_cont1 = iter_cont1+1;
         fprintf(fid,'%% ======================================================\n');
            fprintf(fid,'c(%d) = \n',iter_cont1);
            fprintf(fid,'dc(%d) = \n',iter_cont1);
            fprintf(fid,'dttc(%d) = \n',iter_cont1);
        end
    end
end
fprintf(fid,'%% ======================================================\n');
fprintf(fid,'%% Use the fonction BHT_CONTROLS_CHECK to check the formula');
fclose(fid);