diff --git a/matlab/library/WBToolboxLibrary_repository.mdl b/matlab/library/WBToolboxLibrary_repository.mdl index 7bdf3d6a..92a436b3 100644 --- a/matlab/library/WBToolboxLibrary_repository.mdl +++ b/matlab/library/WBToolboxLibrary_repository.mdl @@ -1,13 +1,23 @@ Library { Name "WBToolboxLibrary_repository" - Version 8.4 + Version 10.3 SavedCharacterEncoding "UTF-8" + ModelUUID "ab3bc634-112e-4ce3-b3d3-90e66ca92abb" + LogicAnalyzerPlugin "on" + WebScopes_FoundationPlugin "on" + SLCCPlugin "on" + slcheck_filter_plugin "on" + DiagnosticSuppressor "on" + AnimationPlugin "on" + NotesPlugin "on" LibraryType "BlockLibrary" + EnableAccessToBaseWorkspace on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off FPTRunName "Run 1" MaxMDLFileLineLength 120 + LastSavedArchitecture "win64" Object { $PropName "BdWindowsInfo" $ObjectID 1 @@ -17,7 +27,7 @@ Library { $ObjectID 2 $ClassName "Simulink.WindowInfo" IsActive [1] - Location [-7.0, -7.0, 1550.0, 838.0] + Location [-6.0, 0.0, 781.0, 830.0] Object { $PropName "ModelBrowserInfo" $ObjectID 3 @@ -27,6 +37,7 @@ Library { Width [50] Height [50] Filter [9] + Minimized "Unset" } Object { $PropName "ExplorerBarInfo" @@ -40,111 +51,185 @@ Library { Object { $ObjectID 5 IsActive [1] + IsTabbed [1] ViewObjType "SimulinkTopLevel" LoadSaveID "0" - Extents [1875.0, 754.0] + Extents [913.0, 744.0] ZoomFactor [2.0] Offset [-51.647344237659695, -39.161038908920773] + SceneRectInView [-51.647344237659695, -39.161038908920773, 365.2, 297.6] } Object { $ObjectID 6 IsActive [0] + IsTabbed [1] ViewObjType "SimulinkSubsys" LoadSaveID "1296" - Extents [1920.0, 1080.0] - ZoomFactor [5.372535488267939] - Offset [-148.63713628266035, -126.90701985483781] + Extents [913.0, 744.0] + ZoomFactor [2.0] + Offset [-184.68563869352414, -164.64890379313098] + SceneRectInView [-184.68563869352414, -164.64890379313098, 365.2, 297.6] } Object { $ObjectID 7 IsActive [0] + IsTabbed [1] ViewObjType "SimulinkSubsys" LoadSaveID "192" - Extents [1920.0, 943.0] - ZoomFactor [3.0] - Offset [74.90953786263907, -40.098123523203938] + Extents [913.0, 744.0] + ZoomFactor [1.5] + Offset [371.69049024359208, -20.02193304701251] + SceneRectInView [371.69049024359208, -20.02193304701251, 486.93333333333334, 396.8] } Object { $ObjectID 8 IsActive [0] + IsTabbed [1] ViewObjType "SimulinkSubsys" LoadSaveID "202" Extents [1920.0, 1080.0] ZoomFactor [2.4606371641733422] Offset [213.61276834817869, 99.508993480891093] + SceneRectInView [213.61276834817869, 99.508993480891093, 624.2285625707126, 351.12856644602584] } Object { $ObjectID 9 IsActive [0] + IsTabbed [1] ViewObjType "SimulinkSubsys" LoadSaveID "176" Extents [1920.0, 1080.0] ZoomFactor [4.0] Offset [235.1044081864668, 52.222402871604459] + SceneRectInView [235.1044081864668, 52.222402871604459, 384.0, 216.0] } Object { $ObjectID 10 IsActive [0] + IsTabbed [1] ViewObjType "SimulinkSubsys" LoadSaveID "1633" - Extents [1920.0, 1080.0] + Extents [1875.0, 754.0] ZoomFactor [6.2999999999999989] Offset [-19.500372023809547, -9.9920634920635081] + SceneRectInView [-19.500372023809547, -9.9920634920635081, 238.09523809523816, 95.746031746031761] } Object { $ObjectID 11 IsActive [0] + IsTabbed [1] ViewObjType "SimulinkSubsys" LoadSaveID "1663" - Extents [1920.0, 1080.0] + Extents [1875.0, 754.0] ZoomFactor [5.95] Offset [-20.290375525210067, -14.021008403361336] + SceneRectInView [-20.290375525210067, -14.021008403361336, 252.10084033613447, 101.3781512605042] } Object { $ObjectID 12 IsActive [0] + IsTabbed [1] ViewObjType "SimulinkSubsys" LoadSaveID "369" - Extents [1920.0, 1080.0] - ZoomFactor [2.3928943762659358] - Offset [129.66449864161297, 90.0229369789349] + Extents [1875.0, 754.0] + ZoomFactor [3.0] + Offset [201.78631633871396, 105.24564709323813] + SceneRectInView [201.78631633871396, 105.24564709323813, 500.0, 201.06666666666666] } Object { $ObjectID 13 IsActive [0] + IsTabbed [1] ViewObjType "SimulinkSubsys" LoadSaveID "206" - Extents [1920.0, 1080.0] + Extents [1875.0, 754.0] ZoomFactor [6.0] Offset [252.44396551724139, 145.16666666666663] + SceneRectInView [252.44396551724139, 145.16666666666663, 250.0, 100.53333333333333] } Object { $ObjectID 14 IsActive [0] + IsTabbed [1] ViewObjType "SimulinkSubsys" LoadSaveID "209" - Extents [1920.0, 1080.0] - ZoomFactor [2.5] - Offset [-258.01185578242905, -157.8236768561307] + Extents [1875.0, 754.0] + ZoomFactor [1.0] + Offset [-850.3318557824291, -279.74367685613072] + SceneRectInView [-850.3318557824291, -279.74367685613072, 1500.0, 603.2] } PropName "EditorsInfo" } + Array { + Type "Simulink.DockComponentInfo" + Dimension 2 + Object { + $ObjectID 15 + Type "GLUE2:PropertyInspector" + ID "Property Inspector" + Visible [0] + CreateCallback "" + UserData "" + Floating [0] + DockPosition "Right" + Width [512] + Height [384] + Minimized "Unset" + } + Object { + $ObjectID 16 + Type "Simulink:Editor:ReferencedFiles" + ID "Referenced Files" + Visible [0] + CreateCallback "" + UserData "{\"filterShowRefModels\":\"true\",\"filterShowRefSubs\":\"true\",\"filterShowOnlyDirtyFiles\":\"false\"}\n" + Floating [0] + DockPosition "Left" + Width [512] + Height [384] + Minimized "Unset" + } + PropName "DockComponentsInfo" + } + WindowState "AAAA/wAAAAD9AAAAAgAAAAAAAAC9AAAB+PwCAAAABPsAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAA" + "AAAAAAA+wAAABYARABvAGMAawBXAGkAZABnAGUAdAA0AAAAAAD/////AAAAAAAAAAD7AAAAUgBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0Ac" + "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAAAP////8AAAB5AP////sAAABgAFMAaQBtAHUAb" + "ABpAG4AawA6AEUAZABpAHQAbwByADoAUgBlAGYAZQByAGUAbgBjAGUAZABGAGkAbABlAHMALwBSAGUAZgBlAHIAZQBuAGMAZQBkACAARgBpAGwAZ" + "QBzAAAAAAD/////AAAApwD///8AAAABAAAAAAAAAAD8AgAAAAH7AAAAVABHAEwAVQBFADIAOgBQAHIAbwBwAGUAcgB0AHkASQBuAHMAcABlAGMAd" + "ABvAHIALwBQAHIAbwBwAGUAcgB0AHkAIABJAG4AcwBwAGUAYwB0AG8AcgAAAAAA/////wAAAhYA////AAADvgAAAy8AAAABAAAAAgAAAAEAAAAC/" + "AAAAAA=" + Array { + Type "Cell" + Dimension 0 + PropName "PersistedApps" + } + WindowUuid "2367939c-8f2c-4934-945a-7bf0db2130e7" } + BDUuid "b1b9725e-2637-4af0-b0bd-a6b38f60ac9a" } + HideAutomaticNames on + SequenceViewerTimePrecision 3 + SequenceViewerHistory 1000 Created "Thu Feb 06 02:21:39 2014" Creator "jorhabib" ModifiedByFormat "%" LastModifiedBy "STraversaro" ModifiedDateFormat "%" - LastModifiedDate "Mon May 24 11:12:38 2021" + LastModifiedDate "Mon May 24 11:41:32 2021" RTWModifiedTimeStamp 543755558 - ModelVersionFormat "1.%" + ModelVersionFormat "%" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "all" WideLines off ShowLineDimensions off ShowPortDataTypes off + ShowAllPropagatedSignalLabels off + PortDataTypeDisplayFormat "AliasTypeOnly" + ShowEditTimeErrors on + ShowEditTimeWarnings on + ShowEditTimeAdvisorChecks off + ShowPortUnits off ShowDesignRanges off ShowLoopsOnError on IgnoreBidirectionalLines off @@ -152,15 +237,21 @@ Library { ShowTestPointIcons on ShowSignalResolutionIcons on ShowViewerIcons on + VariantCondition off ShowLinearizationAnnotations on + ShowVisualizeInsertedRTB on ShowMarkup on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off + BlockVariantConditionDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off + FunctionConnectors off + ScheduleConnectors off BrowserLookUnderMasks off + MultithreadedSim "auto" SimulationMode "normal" PauseTimes "5" NumberOfSteps 1 @@ -170,33 +261,13 @@ Library { LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" - RecordCoverage off - CovPath "/" - CovSaveName "covdata" - CovMetricSettings "dw" - CovNameIncrementing off - CovHtmlReporting off - CovForceBlockReductionOff on - CovEnableCumulative on - CovSaveCumulativeToWorkspaceVar on - CovSaveSingleToWorkspaceVar on - CovCumulativeVarName "covCumulativeData" - CovCumulativeReport off - CovReportOnPause on - CovModelRefEnable "Off" - CovExternalEMLEnable off - CovSFcnEnable off - CovBoundaryAbsTol 0.000010 - CovBoundaryRelTol 0.010000 - CovUseTimeInterval off - CovStartTime 0 - CovStopTime 0 ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" + ExtModeTrigSignalOutputPortIndex 0 ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 @@ -212,24 +283,31 @@ Library { ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock on + VariantFading on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off + OrderedModelArguments on Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 17 - Version "1.14.3" + Version "21.0.0" + DisabledProps [] + Description "" Array { Type "Handle" - Dimension 9 + Dimension 10 Simulink.SolverCC { $ObjectID 18 - Version "1.14.3" + Version "21.0.0" + DisabledProps [] + Description "" Components [] StartTime "0.0" StopTime "10.0" AbsTol "auto" + AutoScaleAbsTol on FixedStep "auto" InitialStep "auto" MaxOrder 5 @@ -242,24 +320,32 @@ Library { MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" - SolverMode "Auto" - EnableConcurrentExecution off + EnableMultiTasking on ConcurrentTasks off SolverName "ode45" SolverJacobianMethodControl "auto" + DaesscMode "auto" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Nonadaptive" AlgebraicLoopSolver "TrustRegion" + SolverInfoToggleStatus off + IsAutoAppliedInSIP off SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" InsertRTBMode "Whenever possible" + SampleTimeProperty [] + DecoupledContinuousIntegration off + MinimalZcImpactIntegration off + ODENIntegrationMethod "ode3" } Simulink.DataIOCC { $ObjectID 19 - Version "1.14.3" + Version "21.0.0" + DisabledProps [] + Description "" Components [] Decimation "1" ExternalInput "[t, u]" @@ -270,7 +356,7 @@ Library { LoadExternalInput off LoadInitialState off SaveFinalState off - SaveCompleteFinalSimState off + SaveOperatingPoint off SaveFormat "Array" SignalLoggingSaveFormat "ModelDataLogs" SaveOutput on @@ -279,6 +365,8 @@ Library { DSMLogging on InspectSignalLogs off VisualizeSimOutput on + StreamToWorkspace off + StreamVariableName "streamout" SaveTime on ReturnWorkspaceOutputs off StateSaveName "xout" @@ -290,10 +378,14 @@ Library { OutputTimes "[]" ReturnWorkspaceOutputsName "out" Refine "1" + LoggingToFile off + DatasetSignalFormat "timeseries" + LoggingFileName "out.mat" + LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { $ObjectID 20 - Version "1.14.3" + Version "21.0.0" Array { Type "Cell" Dimension 9 @@ -308,13 +400,16 @@ Library { Cell "EfficientTunableParamExpr" PropName "DisabledProps" } + Description "" Components [] BlockReduction on BooleanDataType on ConditionallyExecuteInputs on - InlineParams off - UseDivisionForNetSlopeComputation "Off" + DefaultParameterBehavior "Tunable" + UseDivisionForNetSlopeComputation "off" + GainParamInheritBuiltInType off UseFloatMulNetSlope off + InheritOutputTypeSmallerThanSingle off DefaultUnderspecifiedDataType "double" UseSpecifiedMinMax off InlineInvariantSignals off @@ -324,12 +419,15 @@ Library { CachingGlobalReferences off GlobalBufferReuse on StrengthReduction off + AdvancedOptControl "" ExpressionFolding on BooleansAsBitfields off BitfieldContainerType "uint_T" + BitwiseOrLogicalOp "Same as modeled" EnableMemcpy on MemcpyThreshold 64 PassReuseOutputArgsAs "Structure reference" + PassReuseOutputArgsThreshold 12 ExpressionDepthLimit 2147483647 LocalBlockOutputs on RollThreshold 5 @@ -342,21 +440,40 @@ Library { NoFixptDivByZeroProtection off EfficientFloat2IntCast off EfficientMapNaN2IntZero on - OptimizeModelRefInitCode off LifeSpan "inf" MaxStackSize "Inherit from target" BufferReusableBoundary on - SimCompilerOptimization "Off" + SimCompilerOptimization "off" AccelVerboseBuild off + OptimizeBlockOrder "off" + OptimizeDataStoreBuffers on + BusAssignmentInplaceUpdate on + DifferentSizesBufferReuse off + UseRowMajorAlgorithm off + OptimizationLevel "level2" + OptimizationPriority "Balanced" + OptimizationCustomize on + LabelGuidedReuse off + MultiThreadedLoops off + DenormalBehavior "GradualUnderflow" + EfficientTunableParamExpr off } Simulink.DebuggingCC { $ObjectID 21 - Version "1.14.3" + Version "21.0.0" + Array { + Type "Cell" + Dimension 1 + Cell "UseOnlyExistingSharedCode" + PropName "DisabledProps" + } + Description "" Components [] RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" + StringTruncationChecking "error" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" @@ -383,6 +500,7 @@ Library { MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" + ExportedTasksRateTransMsg "none" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" @@ -398,47 +516,75 @@ Library { UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" - FcnCallInpInsideContextMsg "EnableAllAsWarning" + FcnCallInpInsideContextMsg "warning" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" + UseOnlyExistingSharedCode "error" SFcnCompatibilityMsg "none" FrameProcessingCompatibilityMsg "error" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" + AllowSymbolicDim on + RowMajorDimensionSupport off ModelReferenceIOMsg "none" ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" + ModelReferenceNoExplicitFinalValueMsg "none" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" - SimStateInterfaceChecksumMismatchMsg "warning" - SimStateOlderReleaseMsg "error" + OperatingPointInterfaceChecksumMismatchMsg "warning" + NonCurrentReleaseOperatingPointMsg "error" + ChecksumConsistencyForSSReuse "none" + PregeneratedLibrarySubsystemCodeDiagnostic "warning" + MatchCodeGenerationContextForUpdateDiagram "none" InitInArrayFormatMsg "warning" StrictBusMsg "ErrorLevel1" BusNameAdapt "WarnAndRepair" NonBusSignalsTreatedAsBus "none" + SymbolicDimMinMaxWarning "warning" + LossOfSymbolicDimsSimulationWarning "warning" + LossOfSymbolicDimsCodeGenerationWarning "error" + SymbolicDimsDataTypeCodeGenerationDiagnostic "error" BlockIODiagnostic "none" SFUnusedDataAndEventsDiag "warning" SFUnexpectedBacktrackingDiag "warning" SFInvalidInputDataAccessInChartInitDiag "warning" SFNoUnconditionalDefaultTransitionDiag "warning" SFTransitionOutsideNaturalParentDiag "warning" - SFUnconditionalTransitionShadowingDiag "warning" + SFUnreachableExecutionPathDiag "warning" SFUndirectedBroadcastEventsDiag "warning" SFTransitionActionBeforeConditionDiag "warning" + SFOutputUsedAsStateInMooreChartDiag "error" + SFTemporalDelaySmallerThanSampleTimeDiag "warning" + SFSelfTransitionDiag "warning" + SFExecutionAtInitializationDiag "none" + SFMachineParentedDataDiag "warning" IntegerSaturationMsg "warning" - ModelReferenceCSMismatchMessage "none" + AllowedUnitSystems "all" + UnitsInconsistencyMsg "warning" + AllowAutomaticUnitConversions on + RCSCRenamedMsg "warning" + RCSCObservableMsg "warning" + ForceCombineOutputUpdateInSim off + UnitDatabase "" + UnderSpecifiedDimensionMsg "none" + DebugExecutionForFMUViaOutOfProcess off + ArithmeticOperatorsInVariantConditions "warning" + VariantConditionMismatch "none" } Simulink.HardwareCC { $ObjectID 22 - Version "1.14.3" + Version "21.0.0" + DisabledProps [] + Description "" Components [] ProdBitPerChar 8 ProdBitPerShort 16 @@ -448,6 +594,8 @@ Library { ProdBitPerFloat 32 ProdBitPerDouble 64 ProdBitPerPointer 32 + ProdBitPerSizeT 32 + ProdBitPerPtrDiffT 32 ProdLargestAtomicInteger "Char" ProdLargestAtomicFloat "None" ProdIntDivRoundTo "Undefined" @@ -464,6 +612,8 @@ Library { TargetBitPerFloat 32 TargetBitPerDouble 64 TargetBitPerPointer 32 + TargetBitPerSizeT 32 + TargetBitPerPtrDiffT 32 TargetLargestAtomicInteger "Char" TargetLargestAtomicFloat "None" TargetShiftRightIntArith on @@ -476,18 +626,25 @@ Library { TargetHWDeviceType "Specified" TargetUnknown off ProdEqTarget on + UseEmbeddedCoderFeatures on + UseSimulinkCoderFeatures on + HardwareBoardFeatureSet "EmbeddedCoderHSP" } Simulink.ModelReferenceCC { $ObjectID 23 - Version "1.14.3" + Version "21.0.0" + DisabledProps [] + Description "" Components [] UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" + EnableRefExpFcnMdlSchedulingChecks on CheckModelReferenceTargetMessage "error" EnableParallelModelReferenceBuilds off ParallelModelReferenceErrorOnInvalidPool on ParallelModelReferenceMATLABWorkerInit "None" ModelReferenceNumInstancesAllowed "Multi" PropagateVarSize "Infer from blocks in model" + ModelDependencies "" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off PropagateSignalLabelsOutOfModel off @@ -495,19 +652,56 @@ Library { } Simulink.SFSimCC { $ObjectID 24 - Version "1.14.3" + Version "21.0.0" + DisabledProps [] + Description "" Components [] + SimCustomSourceCode "" + SimCustomHeaderCode "" + SimCustomInitializer "" + SimCustomTerminator "" + SimReservedNameArray [] + SimUserSources "" + SimUserIncludeDirs "" + SimUserLibraries "" + SimUserDefines "" + SimCustomCompilerFlags "" + SimCustomLinkerFlags "" SFSimEcho on SimCtrlC on - SimIntegrity on + SimIntegrity "on" SimUseLocalCustomCode off SimParseCustomCode on + SimAnalyzeCustomCode off + SimDebugExecutionForCustomCode off SimGenImportedTypeDefs off + ModelFunctionsGlobalVisibility "on" + CompileTimeRecursionLimit 50 + EnableRuntimeRecursion on + MATLABDynamicMemAlloc on + MATLABDynamicMemAllocThreshold 65536 + LegacyBehaviorForPersistentVarInContinuousTime off + CustomCodeFunctionArrayLayout [] + DefaultCustomCodeFunctionArrayLayout "NotSpecified" + CustomCodeUndefinedFunction "UseInterfaceOnly" + CustomCodeGlobalsAsFunctionIO off + DefaultCustomCodeDeterministicFunctions "None" + CustomCodeDeterministicFunctions "" + SimHardwareAcceleration "generic" + SimTargetLang "C" + GPUAcceleration off + SimGPUMallocThreshold 200 + SimGPUStackLimitPerThread 1024 + SimGPUErrorChecks off + SimGPUCustomComputeCapability "" + SimGPUCompilerFlags "" + SimDLTargetLibrary "mkl-dnn" + SimDLAutoTuning on } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 25 - Version "1.14.3" + Version "21.0.0" Array { Type "Cell" Dimension 16 @@ -529,25 +723,43 @@ Library { Cell "CodeProfilingInstrumentation" PropName "DisabledProps" } + Description "" SystemTargetFile "grt.tlc" + HardwareBoard "None" + ShowCustomHardwareApp off + ShowEmbeddedHardwareApp off TLCOptions "" GenCodeOnly off MakeCommand "make_rtw" GenerateMakefile on PackageGeneratedCodeAndArtifacts off + PackageName "" TemplateMakefile "grt_default_tmf" PostCodeGenCommand "" GenerateReport off RTWVerbose on RetainRTWFile off + RTWBuildHooks [] ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off RTWUseLocalCustomCode off RTWUseSimCustomCode off + CustomSourceCode "" + CustomHeaderCode "" + CustomInclude "" + CustomSource "" + CustomLibrary "" + CustomDefine "" + CustomBLASCallback "" + CustomLAPACKCallback "" + CustomFFTCallback "" + CustomInitializer "" + CustomTerminator "" Toolchain "Automatically locate an installed toolchain" BuildConfiguration "Faster Builds" + CustomToolchainOptions [] IncludeHyperlinkInReport off LaunchReport off PortableWordSizes off @@ -555,9 +767,10 @@ Library { CodeExecutionProfiling off CodeExecutionProfileVariable "executionProfile" CodeProfilingSaveOptions "SummaryOnly" - CodeProfilingInstrumentation off + CodeProfilingInstrumentation "off" SILDebugging off TargetLang "C" + GenerateGPUCode "None" IncludeBusHierarchyInRTWFileBlockHierarchyMap off GenerateTraceInfo off GenerateTraceReport off @@ -567,16 +780,35 @@ Library { GenerateWebview off GenerateCodeMetricsReport off GenerateCodeReplacementReport off - RTWCompilerOptimization "Off" + GenerateMissedCodeReplacementReport off + RTWCompilerOptimization "off" + ObjectivePriorities [] RTWCustomCompilerOptimizations "" CheckMdlBeforeBuild "Off" SharedConstantsCachingThreshold 1024 + GPUKernelNamePrefix "" + GPUDeviceID -1 + GPUMallocMode "discrete" + GPUMallocThreshold 200 + GPUStackLimitPerThread 1024 + GPUcuBLAS on + GPUcuSOLVER on + GPUcuFFT on + GPUErrorChecks off + GPUComputeCapability "3.5" + GPUCustomComputeCapability "" + GPUCompilerFlags "" + GPUMaximumBlocksPerKernel 0 + DLTargetLibrary "none" + DLAutoTuning on + DLArmComputeVersion "19.05" + DLArmComputeArch "unspecified" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 26 - Version "1.14.3" + Version "21.0.0" Array { Type "Cell" Dimension 28 @@ -610,7 +842,9 @@ Library { Cell "BlockCommentType" PropName "DisabledProps" } + Description "" Components [] + Comment "" ForceParamTrailComments off GenerateComments on CommentStyle "Auto" @@ -625,32 +859,46 @@ Library { SFDataObjDesc off MATLABFcnDesc off MangleLength 1 + SharedChecksumLength 8 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M_T" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$R$N$M$F" + CustomSymbolStrModelFcn "$R$N" CustomSymbolStrFcnArg "rt$I$N$M" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" CustomSymbolStrUtil "$N$C" + CustomSymbolStrEmxType "emxArray_$M$N" + CustomSymbolStrEmxFcn "emx$M$N" + CustomUserTokenString "" + CustomCommentsFcn "" DefineNamingRule "None" + DefineNamingFcn "" ParamNamingRule "None" + ParamNamingFcn "" SignalNamingRule "None" + SignalNamingFcn "" InsertBlockDesc off InsertPolySpaceComments off SimulinkBlockComments on + BlockCommentType "BlockPathComment" + StateflowObjectComments on MATLABSourceComments off EnableCustomComments off + InternalIdentifierFile "" InternalIdentifier "Shortened" InlinedPrmAccess "Literals" ReqsInCode off UseSimReservedNames off + ReservedNameArray [] + EnumMemberNameClash "error" } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 27 - Version "1.14.3" + Version "21.0.0" Array { Type "Cell" Dimension 19 @@ -675,6 +923,7 @@ Library { Cell "PreserveStateflowLocalDataDimensions" PropName "DisabledProps" } + Description "" Components [] TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" @@ -683,9 +932,12 @@ Library { TargetLangStandard "C89/C90 (ANSI)" CodeReplacementLibrary "None" UtilityFuncGeneration "Auto" - ERTMultiwordTypeDef "System defined" + MultiwordTypeDef "System defined" MultiwordLength 2048 + DynamicStringBufferSize 256 GenerateFullHeader on + InferredTypesCompatibility off + ExistingSharedCode "" GenerateSampleERTMain off GenerateTestInterfaces off ModelReferenceCompliant on @@ -695,6 +947,7 @@ Library { IncludeMdlTerminateFcn on CombineOutputUpdateFcns off CombineSignalStateStructs off + GroupInternalDataByFunction off SuppressErrorStatus off IncludeFileDelimiter "Auto" ERTCustomFileBanners off @@ -702,11 +955,13 @@ Library { LogVarNameModifier "rt_" MatFileLogging on CodeInterfacePackaging "Nonreusable function" + PurelyIntegerCode off SupportNonFinite on SupportComplex on - PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on + RemoveDisableFunc off + RemoveResetFunc off SupportVariableSizeSignals off ParenthesesLevel "Nominal" CastingMode "Nominal" @@ -714,9 +969,21 @@ Library { ModelStepFunctionPrototypeControlCompliant off CPPClassGenCompliant on AutosarCompliant off + MDXCompliant off GRTInterface on GenerateAllocFcn off + UseToolchainInfoCompliant on GenerateSharedConstants on + CoderGroups [] + AccessMethods [] + LookupTableObjectStructAxisOrder "1,2,3,4,..." + LUTObjectStructOrderExplicitValues "Size,Breakpoints,Table" + LUTObjectStructOrderEvenSpacing "Size,Breakpoints,Table" + ArrayLayout "Column-major" + UnsupportedSFcnMsg "error" + ERTHeaderFileRootName "$R$E" + ERTSourceFileRootName "$R$E" + ERTDataFileRootName "$R_data" UseMalloc off ExtMode off ExtModeStaticAlloc off @@ -724,6 +991,7 @@ Library { ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" + ExtModeMexArgs "" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off @@ -735,9 +1003,49 @@ Library { PropName "Components" } } + SlCovCC.ConfigComp { + $ObjectID 28 + Version "21.0.0" + DisabledProps [] + Description "Simulink Coverage Configuration Component" + Components [] + Name "Simulink Coverage" + CovEnable off + CovScope "EntireSystem" + CovIncludeTopModel on + RecordCoverage off + CovPath "/" + CovSaveName "covdata" + CovCompData "" + CovMetricSettings "dw" + CovFilter "" + CovHTMLOptions "" + CovNameIncrementing off + CovForceBlockReductionOff on + CovEnableCumulative on + CovSaveCumulativeToWorkspaceVar on + CovSaveSingleToWorkspaceVar on + CovCumulativeVarName "covCumulativeData" + CovCumulativeReport off + CovSaveOutputData on + CovOutputDir "slcov_output/$ModelName$" + CovDataFileName "$ModelName$_cvdata" + CovReportOnPause on + CovModelRefEnable "off" + CovModelRefExcluded "" + CovExternalEMLEnable off + CovSFcnEnable off + CovBoundaryAbsTol 1e-05 + CovBoundaryRelTol 0.01 + CovUseTimeInterval off + CovStartTime 0 + CovStopTime 0 + CovMcdcMode "Masking" + } hdlcoderui.hdlcc { $ObjectID 29 - Version "1.14.3" + Version "21.0.0" + DisabledProps [] Description "HDL Coder custom configuration component" Components [] Name "HDL Coder" @@ -754,6 +1062,7 @@ Library { Name "Configuration" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 963, 135, 1843, 765 ] + ExtraOptions "" } PropName "ConfigurationSets" } @@ -762,12 +1071,13 @@ Library { ForegroundColor "black" BackgroundColor "white" DropShadow off - NamePlacement "normal" + NameLocation "bottom" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on + HideAutomaticName on BlockRotation 0 BlockMirror off } @@ -781,7 +1091,12 @@ Library { FontSize 10 FontWeight "normal" FontAngle "normal" + MarkupType "model" UseDisplayTextAsClickCallback off + AnnotationType "note_annotation" + FixedHeight off + FixedWidth off + Interpreter "off" } LineDefaults { FontName "Helvetica" @@ -792,8 +1107,8 @@ Library { MaskDefaults { SelfModifiable "off" IconFrame "on" - IconOpaque "on" - RunInitForIconRedraw "off" + IconOpaque "opaque" + RunInitForIconRedraw "analyze" IconRotate "none" PortRotate "default" IconUnits "autoscale" @@ -869,6 +1184,7 @@ Library { OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off + Unit "inherit" PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" @@ -880,7 +1196,7 @@ Library { } Block { BlockType Memory - X0 "0" + InitialCondition "0" InheritSampleTime off LinearizeMemory off LinearizeAsDelay off @@ -890,20 +1206,26 @@ Library { BlockType Outport Port "1" IconDisplay "Port number" + OutputFunctionCall off OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off + Unit "inherit" PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" + EnsureOutportIsVirtual off SourceOfInitialOutputValue "Dialog" OutputWhenDisabled "held" InitialOutput "[]" + MustResolveToSignalObject off OutputWhenUnConnected off + OutputWhenUnconnectedValue "0" + VectorParamsAs1DForOutWhenUnconnected on } Block { BlockType Product @@ -925,6 +1247,7 @@ Library { FunctionName "system" SFunctionModules "''" PortCounts "[]" + MultithreadedSim "auto" } Block { BlockType SubSystem @@ -933,12 +1256,14 @@ Library { PermitHierarchicalResolution "All" TreatAsAtomicUnit off MinAlgLoopOccurrences off + ScheduleAs "Sample time" SystemSampleTime "-1" RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" FunctionInterfaceSpec "void_void" FunctionWithSeparateData off + MatchGraphicalInterface off RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" @@ -952,8 +1277,17 @@ Library { MaskHideContents off SFBlockType "NONE" Variant off - GeneratePreprocessorConditionals off + VariantControlMode "expression" + VariantActivationTime "update diagram" + AllowZeroVariantControls off + PropagateVariantConditions off + TreatAsGroupedWhenPropagatingVariantConditions on ContentPreviewEnabled off + IsWebBlock off + IsInjectorSS off + Latency "0" + AutoFrameSizeCalculation off + IsWebBlockPanel off } Block { BlockType Sum @@ -977,8 +1311,12 @@ Library { } System { Name "WBToolboxLibrary_repository" - Location [-7, -7, 1543, 831] - Open off + Location [-6, 0, 775, 830] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Open on + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "black" @@ -992,6 +1330,7 @@ Library { ZoomFactor "200" ReportName "simulink-default.rpt" SIDHighWatermark "1861" + SimulinkSubDomain "Simulink" Block { BlockType SubSystem Name "Actuators" @@ -1011,7 +1350,11 @@ Library { System { Name "Actuators" Location [0, 27, 1920, 1080] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -1023,6 +1366,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "562" + SimulinkSubDomain "Simulink" Block { BlockType S-Function Name "SetMotorParameters" @@ -1036,6 +1380,7 @@ Library { "tKTau,kTau,setBemf,bemf" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 31 @@ -1336,7 +1681,11 @@ Library { System { Name "SetMotorReferences" Location [0, 27, 1920, 1080] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -1348,6 +1697,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "1000" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "References" @@ -1366,6 +1716,7 @@ Library { Parameters "'SetReferences','WBToolbox',WBTConfigParameters,configBlockAbsName,controlType,refSpeed" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off } Line { ZOrder 1 @@ -1511,7 +1862,11 @@ Library { System { Name "SetReferences" Location [0, 27, 1920, 1080] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -1523,6 +1878,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "1000" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "References" @@ -1541,6 +1897,7 @@ Library { Parameters "'SetReferences','WBToolbox',WBTConfigParameters,configBlockAbsName,controlType,refTrajectory" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off } Line { ZOrder 1 @@ -1572,7 +1929,11 @@ Library { System { Name "Model" Location [-7, -7, 1543, 831] - Open off + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Open on + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -1583,7 +1944,8 @@ Library { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "250" + ZoomFactor "100" + SimulinkSubDomain "Simulink" Block { BlockType SubSystem Name "Dynamics" @@ -1602,7 +1964,11 @@ Library { System { Name "Dynamics" Location [-7, -7, 1543, 831] - Open off + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Open on + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -1613,7 +1979,8 @@ Library { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "239" + ZoomFactor "300" + SimulinkSubDomain "Simulink" Block { BlockType SubSystem Name "CentroidalMomentum" @@ -1676,7 +2043,11 @@ Library { System { Name "CentroidalMomentum" Location [0, 27, 1920, 1080] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -1688,6 +2059,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "480" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Base Pose" @@ -1730,6 +2102,7 @@ Library { Parameters "'CentroidalMomentum','WBToolbox',WBTConfigParameters,configBlockAbsName" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -1835,7 +2208,11 @@ Library { System { Name "GetBiasForces" Location [0, 27, 1920, 1080] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -1847,6 +2224,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "395" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Base Pose" @@ -1907,6 +2285,7 @@ Library { Parameters "'InverseDynamics','WBToolbox',WBTConfigParameters,configBlockAbsName" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -2034,7 +2413,11 @@ Library { System { Name "GetGravityForces" Location [0, 27, 1920, 1080] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -2046,6 +2429,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "395" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Base Pose" @@ -2090,6 +2474,7 @@ Library { Parameters "'InverseDynamics','WBToolbox',WBTConfigParameters,configBlockAbsName" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -2176,6 +2561,7 @@ Library { Parameters "'InverseDynamics','WBToolbox',WBTConfigParameters,configBlockAbsName" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 92 @@ -2289,7 +2675,11 @@ Library { System { Name "MassMatrix" Location [-7, -7, 1543, 831] - Open off + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Open on + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -2301,6 +2691,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "630" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Base Pose" @@ -2327,6 +2718,7 @@ Library { Parameters "'MassMatrix','WBToolbox',WBTConfigParameters,configBlockAbsName" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -2380,7 +2772,11 @@ Library { System { Name "Jacobians" Location [-7, -7, 1543, 831] - Open off + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Open on + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -2392,6 +2788,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "246" + SimulinkSubDomain "Simulink" Block { BlockType S-Function Name "CentroidalTotalMomentumMatrix" @@ -2403,6 +2800,7 @@ Library { Parameters "'CentroidalTotalMomentumMatrix', 'WBToolbox', WBTConfigParameters, configBlockAbsName" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 103 @@ -2524,7 +2922,11 @@ Library { System { Name "DotJNu" Location [0, 27, 1920, 1080] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -2536,6 +2938,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "595" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Base Pose" @@ -2578,6 +2981,7 @@ Library { Parameters "'DotJNu','WBToolbox',WBTConfigParameters,configBlockAbsName,frameName" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -2710,7 +3114,11 @@ Library { System { Name "Jacobian" Location [-7, -7, 1543, 831] - Open off + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Open on + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -2722,6 +3130,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "595" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Base Pose" @@ -2748,6 +3157,7 @@ Library { Parameters "'Jacobian','WBToolbox',WBTConfigParameters,configBlockAbsName,frameName" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -2801,7 +3211,11 @@ Library { System { Name "Kinematics" Location [-7, -7, 1543, 831] - Open off + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Open on + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -2813,6 +3227,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "400" + SimulinkSubDomain "Simulink" Block { BlockType SubSystem Name "ForwardKinematics" @@ -2900,7 +3315,11 @@ Library { System { Name "ForwardKinematics" Location [0, 27, 1920, 1080] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -2912,6 +3331,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "595" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Base Pose" @@ -2938,6 +3358,7 @@ Library { Parameters "'ForwardKinematics','WBToolbox',WBTConfigParameters,configBlockAbsName,frameName" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -3161,7 +3582,11 @@ Library { System { Name "InverseKinematics" Location [0, 23, 1280, 744] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -3173,6 +3598,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "312" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Desired frame pose" @@ -3207,6 +3633,7 @@ Library { Parameters "'InverseKinematics',robotName,localName,wbiFile,wbiList,baseFrame, endEffFrame,optOption" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -3360,7 +3787,11 @@ Library { System { Name "RelativeTransform" Location [0, 27, 1920, 1080] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -3372,6 +3803,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "834" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Joint configuration" @@ -3390,6 +3822,7 @@ Library { Parameters "'RelativeTransform','WBToolbox',WBTConfigParameters,configBlockAbsName,frame1, frame2" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -3546,7 +3979,11 @@ Library { System { Name "RemoteInverseKinematics" Location [0, 27, 1920, 1080] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -3558,6 +3995,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "469" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Desired frame pose" @@ -3584,6 +4022,7 @@ Library { Parameters "'RemoteInverseKinematics',solverName, dofs, optOption" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -3638,7 +4077,11 @@ Library { System { Name "States" Location [-7, -7, 1543, 831] - Open off + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Open on + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -3650,6 +4093,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "600" + SimulinkSubDomain "Simulink" Block { BlockType SubSystem Name "GetLimits" @@ -3780,7 +4224,11 @@ Library { System { Name "GetLimits" Location [0, 27, 1920, 1080] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -3793,6 +4241,7 @@ Library { ShowPageBoundaries off ZoomFactor "966" SIDHighWatermark "1773" + SimulinkSubDomain "Simulink" Block { BlockType S-Function Name "S-Function" @@ -3804,6 +4253,7 @@ Library { Parameters "'GetLimits','WBToolbox',WBTConfigParameters,configBlockAbsName,limitsType" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -3930,7 +4380,11 @@ Library { System { Name "GetMeasurement" Location [0, 27, 1920, 1080] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -3942,6 +4396,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "1000" + SimulinkSubDomain "Simulink" Block { BlockType S-Function Name "S-Function" @@ -3953,6 +4408,7 @@ Library { Parameters "'GetMeasurement','WBToolbox',WBTConfigParameters,configBlockAbsName,measuredType" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -4069,7 +4525,11 @@ Library { System { Name "GetMotorMeasurement" Location [0, 27, 1920, 1080] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -4081,6 +4541,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "1000" + SimulinkSubDomain "Simulink" Block { BlockType S-Function Name "S-Function" @@ -4092,6 +4553,7 @@ Library { Parameters "'GetMeasurement','WBToolbox',WBTConfigParameters,configBlockAbsName,measuredType" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -4129,8 +4591,12 @@ Library { } System { Name "Utilities" - Location [-7, -7, 1543, 831] - Open off + Location [-6, 0, 775, 830] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Open on + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -4141,7 +4607,8 @@ Library { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "300" + ZoomFactor "150" + SimulinkSubDomain "Simulink" Block { BlockType SubSystem Name "Configuration" @@ -4343,7 +4810,11 @@ Library { System { Name "Configuration" Location [550, 86, 1677, 725] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -4356,6 +4827,7 @@ Library { ShowPageBoundaries off ZoomFactor "600" SIDHighWatermark "70" + SimulinkSubDomain "Simulink" Block { BlockType Constant Name "ImConfig" @@ -4406,7 +4878,11 @@ Library { System { Name "DampPinv" Location [0, 29, 1280, 744] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -4418,6 +4894,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "mat" @@ -4442,14 +4919,18 @@ Library { ZOrder -4 LibraryVersion "1.32" ErrorFcn "Stateflow.Translate.translate" - PermitHierarchicalResolution "ParametersOnly" + PermitHierarchicalResolution "ExplicitOnly" TreatAsAtomicUnit on RequestExecContextInheritance off SFBlockType "MATLAB Function" System { Name "Damped Pseudo Inverse" Location [12, 45, 1279, 3773] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -4461,7 +4942,8 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "1643" + SIDHighWatermark "1646" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "mat" @@ -4480,24 +4962,25 @@ Library { Block { BlockType Demux Name " Demux " - SID "107::1642" + SID "107::1645" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 122 + ZOrder 125 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "107::1641" - Tag "Stateflow S-Function WBToolboxLibrary_repository 6" + SID "107::1644" + Tag "Stateflow S-Function 6" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 121 + ZOrder 124 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off Port { PortNumber 2 Name "DPinv" @@ -4506,9 +4989,9 @@ Library { Block { BlockType Terminator Name " Terminator " - SID "107::1643" + SID "107::1646" Position [460, 241, 480, 259] - ZOrder 123 + ZOrder 126 } Block { BlockType Outport @@ -4518,7 +5001,7 @@ Library { ZOrder -6 } Line { - ZOrder 101 + ZOrder 106 SrcBlock "mat" SrcPort 1 Points [120, 0] @@ -4526,7 +5009,7 @@ Library { DstPort 1 } Line { - ZOrder 102 + ZOrder 107 SrcBlock "sigma" SrcPort 1 DstBlock " SFunction " @@ -4534,7 +5017,7 @@ Library { } Line { Name "DPinv" - ZOrder 103 + ZOrder 108 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -4542,14 +5025,14 @@ Library { DstPort 1 } Line { - ZOrder 104 + ZOrder 109 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 105 + ZOrder 110 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -4599,6 +5082,7 @@ Library { Parameters "'DiscreteFilter','WBToolbox',filterDataStruct" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 227 @@ -4822,7 +5306,11 @@ Library { System { Name "MatchSignalSizes" Location [548, 183, 3416, 1872] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -4834,13 +5322,14 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "1000" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Reference" SID "1819" Position [315, 178, 345, 192] ZOrder 240 - NamePlacement "alternate" + NameLocation "top" } Block { BlockType Inport @@ -4917,6 +5406,7 @@ Library { "ves,explicitInitialValue,externalSettlingTime,resetOnSettlingTime" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 252 @@ -5097,6 +5587,7 @@ Library { Parameters "'OSQP','WBToolbox',lbA,ubA,lb,ub,computeObjVal,stopIfFails" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 273 @@ -5253,6 +5744,7 @@ Library { Parameters "'QpOases','WBToolbox',lbA,ubA,lb,ub,computeObjVal,stopIfFails" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 292 @@ -5412,6 +5904,7 @@ Library { Parameters "'RealTimeSynchronizer','WBToolbox',period" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 311 @@ -5444,6 +5937,7 @@ Library { Parameters "'SimulatorSynchronizer','WBToolbox',period, serverPortName, clientPortName" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 313 @@ -5506,7 +6000,11 @@ Library { System { Name "TruncPinv" Location [0, 29, 1280, 744] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -5518,6 +6016,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "S" @@ -5542,14 +6041,18 @@ Library { ZOrder -4 LibraryVersion "1.32" ErrorFcn "Stateflow.Translate.translate" - PermitHierarchicalResolution "ParametersOnly" + PermitHierarchicalResolution "ExplicitOnly" TreatAsAtomicUnit on RequestExecContextInheritance off SFBlockType "MATLAB Function" System { Name "Truncated PseudoInverse" Location [12, 45, 1279, 3773] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -5561,7 +6064,8 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "1634" + SIDHighWatermark "1637" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "mat" @@ -5580,24 +6084,25 @@ Library { Block { BlockType Demux Name " Demux " - SID "112::1633" + SID "112::1636" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 122 + ZOrder 125 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "112::1632" - Tag "Stateflow S-Function WBToolboxLibrary_repository 7" + SID "112::1635" + Tag "Stateflow S-Function 7" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 121 + ZOrder 124 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off Port { PortNumber 2 Name "TPinv" @@ -5606,9 +6111,9 @@ Library { Block { BlockType Terminator Name " Terminator " - SID "112::1634" + SID "112::1637" Position [460, 241, 480, 259] - ZOrder 123 + ZOrder 126 } Block { BlockType Outport @@ -5618,7 +6123,7 @@ Library { ZOrder -6 } Line { - ZOrder 101 + ZOrder 106 SrcBlock "mat" SrcPort 1 Points [120, 0] @@ -5626,7 +6131,7 @@ Library { DstPort 1 } Line { - ZOrder 102 + ZOrder 107 SrcBlock "tol" SrcPort 1 DstBlock " SFunction " @@ -5634,7 +6139,7 @@ Library { } Line { Name "TPinv" - ZOrder 103 + ZOrder 108 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -5642,14 +6147,14 @@ Library { DstPort 1 } Line { - ZOrder 104 + ZOrder 109 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 105 + ZOrder 110 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -5699,6 +6204,7 @@ Library { Parameters "'YarpClock','WBToolbox'" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 319 @@ -5722,6 +6228,7 @@ Library { Parameters "'YarpRead','WBToolbox',portName,signalSize,blocking,timestamp,autoconnect,errorOnConnection,timeout" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 320 @@ -5819,6 +6326,7 @@ Library { Parameters "'YarpWrite','WBToolbox',portName,autoconnect,errorOnConnection" SFunctionDeploymentMode off EnableBusSupport off + SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 328 @@ -5883,7 +6391,11 @@ Library { System { Name "errors" Location [0, 29, 1280, 744] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -5895,6 +6407,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "x" @@ -6013,8 +6526,12 @@ Library { } System { Name "holder\n" - Location [-7, -7, 1543, 831] - Open off + Location [-6, 0, 775, 830] + SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Open on + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -6025,7 +6542,8 @@ Library { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "537" + ZoomFactor "200" + SimulinkSubDomain "Simulink" Block { BlockType Inport Name "s" @@ -6142,7 +6660,7 @@ Library { Annotation { SID "1213" Name "WHOLE BODY TOOLBOX" - Position [238, 157, 370, 173] + Position [172, 149, 304, 165] InternalMargins [0, 0, 0, 0] ForegroundColor "white" BackgroundColor "black" @@ -6165,7 +6683,7 @@ Library { "1) http://www.codyco.eu

\n

H2020 EU Project AnDy (No. 731540 H" "2020-ICT-2016-1) http://andy-project.eu

" - Position [245, 192, 421, 224] + Position [157, 176, 333, 208] InternalMargins [0, 0, 0, 0] ForegroundColor "white" BackgroundColor "black" @@ -6184,9 +6702,7 @@ Stateflow { machine { id 1 name "WBToolboxLibrary_repository" - created "06-Feb-2014 02:21:39" - isLibrary 1 - sfVersion 80000001 + sfVersion 80000041 firstTarget 18 } chart { @@ -6246,6 +6762,9 @@ Stateflow { primitive SF_DOUBLE_TYPE } complexity SF_COMPLEX_INHERITED + unit { + name "inherit" + } } dataType "Inherit: Same as Simulink" linkNode [2 0 5] @@ -6266,6 +6785,9 @@ Stateflow { } complexity SF_COMPLEX_INHERITED frame SF_FRAME_NO + unit { + name "inherit" + } } dataType "Inherit: Same as Simulink" linkNode [2 4 6] @@ -6288,6 +6810,9 @@ Stateflow { } complexity SF_COMPLEX_INHERITED frame SF_FRAME_INHERITED + unit { + name "inherit" + } } dataType "Inherit: Same as Simulink" linkNode [2 5 0] @@ -6387,6 +6912,9 @@ Stateflow { primitive SF_DOUBLE_TYPE } complexity SF_COMPLEX_INHERITED + unit { + name "inherit" + } } dataType "Inherit: Same as Simulink" linkNode [10 0 13] @@ -6407,6 +6935,9 @@ Stateflow { } complexity SF_COMPLEX_INHERITED frame SF_FRAME_NO + unit { + name "inherit" + } } dataType "Inherit: Same as Simulink" linkNode [10 12 14] @@ -6429,6 +6960,9 @@ Stateflow { } complexity SF_COMPLEX_INHERITED frame SF_FRAME_INHERITED + unit { + name "inherit" + } } dataType "Inherit: Same as Simulink" linkNode [10 13 0] diff --git a/matlab/library/exported/WBToolboxLibrary.slx b/matlab/library/exported/WBToolboxLibrary.slx index dbe9300a..b489513c 100644 Binary files a/matlab/library/exported/WBToolboxLibrary.slx and b/matlab/library/exported/WBToolboxLibrary.slx differ