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Updated library
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WBToolboxLibrary.mdl: R2012A
WBToolboxLibrary.slx: R2014B
WBToolboxLibrary_repository.mdl: R2016B
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@diegoferigo
diegoferigo committed Aug 11, 2017
1 parent 8630976 commit 7e1d745
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Showing 3 changed files with 570 additions and 349 deletions.
106 changes: 67 additions & 39 deletions toolbox/WBToolboxLibrary.mdl
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Original file line number Diff line number Diff line change
Expand Up @@ -8,15 +8,15 @@ Library {
DisableAllScopes off
FPTRunName "Run 1"
MaxMDLFileLineLength 120
Created "Thu Feb 06 02:21:39 2014"
Created "Thu Feb 06 01:21:39 2014"
Creator "jorhabib"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
LastModifiedBy "icub"
ModifiedDateFormat "%<Auto>"
LastModifiedDate "Fri Aug 11 07:02:44 2017"
RTWModifiedTimeStamp 424335764
ModelVersionFormat "1.%<AutoIncrement:383>"
LastModifiedDate "Fri Aug 11 11:57:00 2017"
RTWModifiedTimeStamp 424353420
ModelVersionFormat "1.%<AutoIncrement:390>"
ConfigurationManager "none"
SampleTimeColors off
SampleTimeAnnotations off
Expand Down Expand Up @@ -755,7 +755,7 @@ Library {
}
System {
Name "WBToolboxLibrary"
Location [173, 232, 1453, 953]
Location [123, 132, 1403, 853]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
Expand Down Expand Up @@ -789,7 +789,7 @@ Library {
MaskIconUnits "autoscale"
System {
Name "Utilities"
Location [173, 232, 1453, 953]
Location [470, 205, 1750, 926]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
Expand All @@ -801,7 +801,7 @@ Library {
TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
TiledPageScale 1
ShowPageBoundaries off
ZoomFactor "166"
ZoomFactor "175"
Block {
BlockType SubSystem
Name "DampPinv"
Expand Down Expand Up @@ -917,20 +917,20 @@ Library {
Block {
BlockType Demux
Name " Demux "
SID "107::1618"
SID "107::1624"
Ports [1, 1]
Position [270, 230, 320, 270]
ZOrder 98
ZOrder 104
Outputs "1"
}
Block {
BlockType S-Function
Name " SFunction "
SID "107::1617"
SID "107::1623"
Tag "Stateflow S-Function WBToolboxLibrary 6"
Ports [2, 2]
Position [180, 100, 230, 160]
ZOrder 97
ZOrder 103
FunctionName "sf_sfun"
PortCounts "[2 2]"
SFunctionDeploymentMode off
Expand All @@ -945,9 +945,9 @@ Library {
Block {
BlockType Terminator
Name " Terminator "
SID "107::1619"
SID "107::1625"
Position [460, 241, 480, 259]
ZOrder 99
ZOrder 105
}
Block {
BlockType Outport
Expand Down Expand Up @@ -1033,29 +1033,57 @@ Library {
MaskHideContents off
}
Block {
BlockType Reference
BlockType S-Function
Name "DiscreteFilter"
SID "1772"
Ports [1, 1]
Position [440, 260, 500, 290]
ZOrder 83
Position [400, 245, 460, 275]
ZOrder 82
BackgroundColor "yellow"
LibraryVersion "1.386"
SourceBlock "WBToolboxLibrary/Utilities/DiscreteFilter"
SourceType "Discrete Filter"
filterType "Generic"
numCoeffs "[0]"
denCoeffs "[0]"
Fc "0"
Ts "0"
orderMedianFilter "0"
FunctionName "WBToolbox"
Parameters "'DiscreteFilter',filterType,numCoeffs,denCoeffs,Fc,Ts,orderMedianFilter,y0,u0"
SFunctionDeploymentMode off
EnableBusSupport off
MaskType "Discrete Filter"
MaskDescription "This block wraps the Filter, FirstOrderLowPassFilter, and MedianFilter from iCub::ctrl."
MaskPromptString "Type of the filter|Numerator Coefficients*|Denominator Coefficients*|Cut Frequency (Hz)|Samplin"
"g time (s)|Order|Define initial conditions|Output y0|Input u0"
MaskStyleString "popup(Generic|FirstOrderLowPassFilter|MedianFilter),edit,edit,edit,edit,edit,checkbox,edit,edit"
MaskVariables "filterType=@1;numCoeffs=@2;denCoeffs=@3;Fc=@4;Ts=@5;orderMedianFilter=@6;initStatus=@7;y0=@8;u0=@"
"9;"
MaskTunableValueString "on,on,on,on,on,on,on,on,on"
MaskCallbackString "% From: https://it.mathworks.com/help/simulink/slref/simulink.mask-class.html\nfilterType = g"
"et_param(gcb, 'filterType');\ninitStatus = get_param(gcb, 'initStatus')\np = Simulink.Mask.get(gcbh);\nhowToCoeffs "
"= p.getDialogControl('howToCoeffs');\n\n%set_param(gcb, 'initStatus','off');\nif (strcmp(initStatus,'on'))\n vis"
"_init = 'on';\nelse\n vis_init = 'off';\nend\n\nif(strcmp(filterType, 'Generic'))\n set_param(gcb, 'MaskVisib"
"ilities',{'on','on','on','off','off','off','on',vis_init,vis_init});\n howToCoeffs.Visible = 'on';\nelseif(strcm"
"p(filterType, 'FirstOrderLowPassFilter'))\n set_param(gcb, 'MaskVisibilities',{'on','off','off','on','on','off',"
"'on',vis_init,'off'});\n howToCoeffs.Visible = 'off';\nelseif(strcmp(filterType, 'MedianFilter'))\n set_param"
"(gcb, 'MaskVisibilities',{'on','off','off','off','off','on','on',vis_init,'off'});\n howToCoeffs.Visible = 'off'"
";\nend\n\nclear filterType initStatus p howToCoeffs;||||||initStatus = get_param(gcb, 'initStatus');\nvisibilitie"
"s = get_param(gcb, 'MaskVisibilities');\nfilterType = get_param(gcb, 'filterType');\n\nif (strcmp(initStatus,'off"
"'))\n visibilities{8} = 'off';\n visibilities{9} = 'off';\nelseif (strcmp(initStatus,'on'))\n visibilities"
"{8} = 'on';\n if (strcmp(filterType,'Generic'))\n visibilities{9} = 'on';\n end\nend\n\nset_param(gcb,"
" 'MaskVisibilities', visibilities);\n\nclear initStatus visibilities filterType;||"
MaskEnableString "on,on,on,on,on,on,on,on,on"
MaskVisibilityString "on,on,on,off,off,off,on,off,off"
MaskToolTipString "on,on,on,on,on,on,on,on,on"
MaskInitialization "filterType = get_param(gcb, 'filterType');\nnumCoeffs = mat2str(numCoeffs);\ndenCoeffs = ma"
"t2str(denCoeffs);\ny0 = mat2str(y0);\nu0 = mat2str(u0);"
MaskDisplay "disp('Filter')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskPortRotate "default"
MaskIconUnits "autoscale"
MaskValueString "Generic|[0]|[0]|0|0|0|off|[0]|[0]"
}
Block {
BlockType S-Function
Name "DoFs converter"
SID "1771"
Ports [1, 5]
Position [240, 241, 385, 309]
Position [160, 226, 305, 294]
ZOrder 81
InitFcn "if ~exist('WBT_robotName','var')\n WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n W"
"BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n WBT_wbiFilename = 'yarpWholeBodyInterf"
Expand Down Expand Up @@ -1124,7 +1152,7 @@ Library {
"else\n visibility{2} = 'on';\n visibility{4} = 'off';\nend\nset_param(gcb, 'MaskVisibilities',visibility);\nc"
"lear externalSettlingTime||||||"
MaskEnableString "on,on,on,on,on,on,on"
MaskVisibilityString "on,on,on,on,on,on,off"
MaskVisibilityString "on,on,on,off,on,on,off"
MaskToolTipString "on,on,on,on,on,on,on"
MaskDisplay "firstDer = get_param(gcb, 'firstDerivatives');\nsecondDer = get_param(gcb, 'secondDerivatives');\ni"
"nitialValues = get_param(gcb, 'explicitInitialValue');\nexternalSettlingTimeParam = get_param(gcb, 'externalSettlin"
Expand Down Expand Up @@ -1322,20 +1350,20 @@ Library {
Block {
BlockType Demux
Name " Demux "
SID "112::1609"
SID "112::1615"
Ports [1, 1]
Position [270, 230, 320, 270]
ZOrder 98
ZOrder 104
Outputs "1"
}
Block {
BlockType S-Function
Name " SFunction "
SID "112::1608"
SID "112::1614"
Tag "Stateflow S-Function WBToolboxLibrary 7"
Ports [2, 2]
Position [180, 100, 230, 160]
ZOrder 97
ZOrder 103
FunctionName "sf_sfun"
PortCounts "[2 2]"
SFunctionDeploymentMode off
Expand All @@ -1350,9 +1378,9 @@ Library {
Block {
BlockType Terminator
Name " Terminator "
SID "112::1610"
SID "112::1616"
Position [460, 241, 480, 259]
ZOrder 99
ZOrder 105
}
Block {
BlockType Outport
Expand Down Expand Up @@ -1780,20 +1808,20 @@ Library {
Block {
BlockType Demux
Name " Demux "
SID "1300::1609"
SID "1300::1615"
Ports [1, 1]
Position [270, 230, 320, 270]
ZOrder 86
ZOrder 92
Outputs "1"
}
Block {
BlockType S-Function
Name " SFunction "
SID "1300::1608"
SID "1300::1614"
Tag "Stateflow S-Function WBToolboxLibrary 1"
Ports [2, 2]
Position [180, 100, 230, 160]
ZOrder 85
ZOrder 91
FunctionName "sf_sfun"
PortCounts "[2 2]"
SFunctionDeploymentMode off
Expand All @@ -1808,9 +1836,9 @@ Library {
Block {
BlockType Terminator
Name " Terminator "
SID "1300::1610"
SID "1300::1616"
Position [460, 241, 480, 259]
ZOrder 87
ZOrder 93
}
Block {
BlockType Outport
Expand Down
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