diff --git a/matlab/library/WBToolboxLibrary_repository.mdl b/matlab/library/WBToolboxLibrary_repository.mdl index f6a85eee..3d367c4c 100644 --- a/matlab/library/WBToolboxLibrary_repository.mdl +++ b/matlab/library/WBToolboxLibrary_repository.mdl @@ -1,23 +1,13 @@ Library { Name "WBToolboxLibrary_repository" - Version 10.3 + Version 8.4 SavedCharacterEncoding "windows-1252" - ModelUUID "3ee331d3-5631-4689-8bd4-3364f1c40e77" - 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 @@ -37,7 +27,6 @@ Library { Width [50] Height [50] Filter [9] - Minimized "Unset" } Object { $PropName "ExplorerBarInfo" @@ -50,186 +39,112 @@ Library { Dimension 10 Object { $ObjectID 5 - IsActive [1] - IsTabbed [1] - ViewObjType "SimulinkSubsys" - LoadSaveID "192" - Extents [1875.0, 754.0] - ZoomFactor [1.25] - Offset [-217.09382355410617, -110.24437001728751] - SceneRectInView [-217.09382355410617, -110.24437001728751, 1200.0, 482.56] + IsActive [0] + ViewObjType "SimulinkTopLevel" + LoadSaveID "0" + Extents [1920.0, 1010.0] + ZoomFactor [2.7745535930960288] + Offset [-71.812363004544125, -62.351722393577177] } Object { $ObjectID 6 IsActive [0] - IsTabbed [1] ViewObjType "SimulinkSubsys" - LoadSaveID "109" - Extents [1920.0, 943.0] - ZoomFactor [1.0] - Offset [-615.5, -289.0] - SceneRectInView [-615.5, -289.0, 1536.0, 754.0] + LoadSaveID "1296" + Extents [1920.0, 1080.0] + ZoomFactor [5.2466166877616587] + Offset [-148.63713628266035, -114.21997476247031] } Object { $ObjectID 7 - IsActive [0] - IsTabbed [0] + IsActive [1] ViewObjType "SimulinkSubsys" - LoadSaveID "369" + LoadSaveID "192" Extents [1875.0, 754.0] - ZoomFactor [1.7203741212915529] - Offset [113.70627670699702, 95.246736292428238] - SceneRectInView [113.70627670699702, 95.246736292428238, 871.90337347895627, 350.62140992167093] + ZoomFactor [0.5] + Offset [-1896.0237954706945, -507.29812352320369] } Object { $ObjectID 8 IsActive [0] - IsTabbed [0] ViewObjType "SimulinkSubsys" LoadSaveID "209" - Extents [1875.0, 754.0] - ZoomFactor [1.2577147623019183] - Offset [-349.93148442964389, -157.8236768561307] - SceneRectInView [-349.93148442964389, -157.8236768561307, 1192.6392572944296, 479.59999999999997] + Extents [1920.0, 1080.0] + ZoomFactor [2.5] + Offset [-258.01185578242905, -157.8236768561307] } Object { $ObjectID 9 IsActive [0] - IsTabbed [0] - ViewObjType "SimulinkTopLevel" - LoadSaveID "0" - Extents [1875.0, 754.0] - ZoomFactor [2.1564637197664718] - Offset [-105.09593354909862, -25.811988773055376] - SceneRectInView [-105.09593354909862, -25.811988773055376, 695.58323019801992, 279.71720297029708] - } - Object { - $ObjectID 10 - IsActive [0] - IsTabbed [0] ViewObjType "SimulinkSubsys" LoadSaveID "202" - Extents [2522.0, 1199.0] + Extents [1920.0, 1080.0] ZoomFactor [2.4606371641733422] - Offset [213.61276834817875, 99.508993480891093] - SceneRectInView [213.61276834817875, 99.508993480891093, 1024.9377830750893, 487.27216570461223] + Offset [213.61276834817869, 99.508993480891093] } Object { - $ObjectID 11 + $ObjectID 10 IsActive [0] - IsTabbed [0] ViewObjType "SimulinkSubsys" LoadSaveID "176" - Extents [2522.0, 1199.0] + Extents [1920.0, 1080.0] ZoomFactor [4.0] Offset [235.1044081864668, 52.222402871604459] - SceneRectInView [235.1044081864668, 52.222402871604459, 630.5, 299.75] } Object { - $ObjectID 12 + $ObjectID 11 IsActive [0] - IsTabbed [0] ViewObjType "SimulinkSubsys" LoadSaveID "1633" - Extents [2010.0, 839.0] + Extents [1920.0, 1080.0] ZoomFactor [6.2999999999999989] - Offset [-19.500372023809547, -8.00793650793652] - SceneRectInView [-19.500372023809547, -8.00793650793652, 319.04761904761909, 133.17460317460319] + Offset [-19.500372023809547, -9.9920634920635081] } Object { - $ObjectID 13 + $ObjectID 12 IsActive [0] - IsTabbed [0] ViewObjType "SimulinkSubsys" LoadSaveID "1663" - Extents [2010.0, 839.0] + Extents [1920.0, 1080.0] ZoomFactor [5.95] - Offset [-20.290375525210067, -11.920168067226882] - SceneRectInView [-20.290375525210067, -11.920168067226882, 337.81512605042013, 141.00840336134453] + Offset [-20.290375525210067, -14.021008403361336] + } + Object { + $ObjectID 13 + IsActive [0] + ViewObjType "SimulinkSubsys" + LoadSaveID "369" + Extents [1920.0, 1080.0] + ZoomFactor [2.3928943762659363] + Offset [129.66449864161302, 90.022936978934951] } Object { $ObjectID 14 IsActive [0] - IsTabbed [0] ViewObjType "SimulinkSubsys" LoadSaveID "206" - Extents [1943.0, 884.0] + Extents [1920.0, 1080.0] ZoomFactor [6.0] - Offset [252.44396551724137, 145.16666666666663] - SceneRectInView [252.44396551724137, 145.16666666666663, 323.83333333333331, 147.33333333333334] + Offset [252.44396551724139, 145.16666666666663] } PropName "EditorsInfo" } - Array { - Type "Simulink.DockComponentInfo" - Dimension 2 - Object { - $ObjectID 15 - 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" - } - Object { - $ObjectID 16 - Type "GLUE2:PropertyInspector" - ID "Property Inspector" - Visible [0] - CreateCallback "" - UserData "" - Floating [0] - DockPosition "Right" - Width [512] - Height [384] - Minimized "Unset" - } - PropName "DockComponentsInfo" - } - WindowState "AAAA/wAAAAD9AAAAAgAAAAAAAAC9AAACivwCAAAABPsAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAA" - "AAAAAAA+wAAABYARABvAGMAawBXAGkAZABnAGUAdAA0AAAAAAD/////AAAAAAAAAAD7AAAAUgBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0Ac" - "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAANQAAAooAAAB5AP////sAAABgAFMAaQBtAHUAb" - "ABpAG4AawA6AEUAZABpAHQAbwByADoAUgBlAGYAZQByAGUAbgBjAGUAZABGAGkAbABlAHMALwBSAGUAZgBlAHIAZQBuAGMAZQBkACAARgBpAGwAZ" - "QBzAAAAAAD/////AAAApwD///8AAAABAAAAAAAAAAD8AgAAAAH7AAAAVABHAEwAVQBFADIAOgBQAHIAbwBwAGUAcgB0AHkASQBuAHMAcABlAGMAd" - "ABvAHIALwBQAHIAbwBwAGUAcgB0AHkAIABJAG4AcwBwAGUAYwB0AG8AcgAAAAAA/////wAAAhYA////AAAHgAAAAzkAAAABAAAAAgAAAAEAAAAC/" - "AAAAAEAAAACAAAAAA==" - Array { - Type "Cell" - Dimension 0 - PropName "PersistedApps" - } - WindowUuid "c7279315-9484-4d17-a8fb-89419ee2a0fe" } - BDUuid "f635108f-97cd-436e-9bd5-741f3038f9ba" } - HideAutomaticNames off - SequenceViewerTimePrecision 3 - SequenceViewerHistory 1000 Created "Thu Feb 06 02:21:39 2014" Creator "jorhabib" ModifiedByFormat "%" LastModifiedBy "STraversaro" ModifiedDateFormat "%" - LastModifiedDate "Tue May 18 14:54:55 2021" - RTWModifiedTimeStamp 543250488 - ModelVersionFormat "%" + LastModifiedDate "Sun May 23 19:57:20 2021" + RTWModifiedTimeStamp 543700640 + ModelVersionFormat "1.%" 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 @@ -237,21 +152,15 @@ 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 "on" SimulationMode "normal" PauseTimes "5" NumberOfSteps 1 @@ -261,13 +170,33 @@ 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 @@ -283,31 +212,24 @@ 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 "21.0.0" - DisabledProps [] - Description "" + Version "1.14.3" Array { Type "Handle" - Dimension 10 + Dimension 9 Simulink.SolverCC { $ObjectID 18 - Version "21.0.0" - DisabledProps [] - Description "" + Version "1.14.3" Components [] StartTime "0.0" StopTime "10.0" AbsTol "auto" - AutoScaleAbsTol on FixedStep "auto" InitialStep "auto" MaxOrder 5 @@ -320,32 +242,24 @@ Library { MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" - EnableMultiTasking on + SolverMode "Auto" + EnableConcurrentExecution off 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 "21.0.0" - DisabledProps [] - Description "" + Version "1.14.3" Components [] Decimation "1" ExternalInput "[t, u]" @@ -356,7 +270,7 @@ Library { LoadExternalInput off LoadInitialState off SaveFinalState off - SaveOperatingPoint off + SaveCompleteFinalSimState off SaveFormat "Array" SignalLoggingSaveFormat "ModelDataLogs" SaveOutput on @@ -365,8 +279,6 @@ Library { DSMLogging on InspectSignalLogs off VisualizeSimOutput on - StreamToWorkspace off - StreamVariableName "streamout" SaveTime on ReturnWorkspaceOutputs off StateSaveName "xout" @@ -378,14 +290,10 @@ Library { OutputTimes "[]" ReturnWorkspaceOutputsName "out" Refine "1" - LoggingToFile off - DatasetSignalFormat "timeseries" - LoggingFileName "out.mat" - LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { $ObjectID 20 - Version "21.0.0" + Version "1.14.3" Array { Type "Cell" Dimension 9 @@ -400,16 +308,13 @@ Library { Cell "EfficientTunableParamExpr" PropName "DisabledProps" } - Description "" Components [] BlockReduction on BooleanDataType on ConditionallyExecuteInputs on - DefaultParameterBehavior "Tunable" - UseDivisionForNetSlopeComputation "off" - GainParamInheritBuiltInType off + InlineParams off + UseDivisionForNetSlopeComputation "Off" UseFloatMulNetSlope off - InheritOutputTypeSmallerThanSingle off DefaultUnderspecifiedDataType "double" UseSpecifiedMinMax off InlineInvariantSignals off @@ -419,15 +324,12 @@ 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 @@ -440,40 +342,21 @@ 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 "21.0.0" - Array { - Type "Cell" - Dimension 1 - Cell "UseOnlyExistingSharedCode" - PropName "DisabledProps" - } - Description "" + Version "1.14.3" Components [] RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" - StringTruncationChecking "error" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" @@ -500,7 +383,6 @@ Library { MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" - ExportedTasksRateTransMsg "none" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" @@ -516,75 +398,47 @@ Library { UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" - FcnCallInpInsideContextMsg "warning" + FcnCallInpInsideContextMsg "EnableAllAsWarning" 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" - OperatingPointInterfaceChecksumMismatchMsg "warning" - NonCurrentReleaseOperatingPointMsg "error" - ChecksumConsistencyForSSReuse "none" - PregeneratedLibrarySubsystemCodeDiagnostic "warning" - MatchCodeGenerationContextForUpdateDiagram "none" + SimStateInterfaceChecksumMismatchMsg "warning" + SimStateOlderReleaseMsg "error" 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" - SFUnreachableExecutionPathDiag "warning" + SFUnconditionalTransitionShadowingDiag "warning" SFUndirectedBroadcastEventsDiag "warning" SFTransitionActionBeforeConditionDiag "warning" - SFOutputUsedAsStateInMooreChartDiag "error" - SFTemporalDelaySmallerThanSampleTimeDiag "warning" - SFSelfTransitionDiag "warning" - SFExecutionAtInitializationDiag "none" - SFMachineParentedDataDiag "warning" IntegerSaturationMsg "warning" - AllowedUnitSystems "all" - UnitsInconsistencyMsg "warning" - AllowAutomaticUnitConversions on - RCSCRenamedMsg "warning" - RCSCObservableMsg "warning" - ForceCombineOutputUpdateInSim off - UnitDatabase "" - UnderSpecifiedDimensionMsg "none" - DebugExecutionForFMUViaOutOfProcess off - ArithmeticOperatorsInVariantConditions "warning" - VariantConditionMismatch "none" + ModelReferenceCSMismatchMessage "none" } Simulink.HardwareCC { $ObjectID 22 - Version "21.0.0" - DisabledProps [] - Description "" + Version "1.14.3" Components [] ProdBitPerChar 8 ProdBitPerShort 16 @@ -594,8 +448,6 @@ Library { ProdBitPerFloat 32 ProdBitPerDouble 64 ProdBitPerPointer 32 - ProdBitPerSizeT 32 - ProdBitPerPtrDiffT 32 ProdLargestAtomicInteger "Char" ProdLargestAtomicFloat "None" ProdIntDivRoundTo "Undefined" @@ -612,8 +464,6 @@ Library { TargetBitPerFloat 32 TargetBitPerDouble 64 TargetBitPerPointer 32 - TargetBitPerSizeT 32 - TargetBitPerPtrDiffT 32 TargetLargestAtomicInteger "Char" TargetLargestAtomicFloat "None" TargetShiftRightIntArith on @@ -626,25 +476,18 @@ Library { TargetHWDeviceType "Specified" TargetUnknown off ProdEqTarget on - UseEmbeddedCoderFeatures on - UseSimulinkCoderFeatures on - HardwareBoardFeatureSet "EmbeddedCoderHSP" } Simulink.ModelReferenceCC { $ObjectID 23 - Version "21.0.0" - DisabledProps [] - Description "" + Version "1.14.3" 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 @@ -652,56 +495,19 @@ Library { } Simulink.SFSimCC { $ObjectID 24 - Version "21.0.0" - DisabledProps [] - Description "" + Version "1.14.3" 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 "21.0.0" + Version "1.14.3" Array { Type "Cell" Dimension 16 @@ -723,43 +529,25 @@ 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 @@ -767,10 +555,9 @@ Library { CodeExecutionProfiling off CodeExecutionProfileVariable "executionProfile" CodeProfilingSaveOptions "SummaryOnly" - CodeProfilingInstrumentation "off" + CodeProfilingInstrumentation off SILDebugging off TargetLang "C" - GenerateGPUCode "None" IncludeBusHierarchyInRTWFileBlockHierarchyMap off GenerateTraceInfo off GenerateTraceReport off @@ -780,35 +567,16 @@ Library { GenerateWebview off GenerateCodeMetricsReport off GenerateCodeReplacementReport off - GenerateMissedCodeReplacementReport off - RTWCompilerOptimization "off" - ObjectivePriorities [] + RTWCompilerOptimization "Off" 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 { $ObjectID 26 - Version "21.0.0" + Version "1.14.3" Array { Type "Cell" Dimension 28 @@ -842,9 +610,7 @@ Library { Cell "BlockCommentType" PropName "DisabledProps" } - Description "" Components [] - Comment "" ForceParamTrailComments off GenerateComments on CommentStyle "Auto" @@ -859,46 +625,32 @@ Library { SFDataObjDesc off MATLABFcnDesc off MangleLength 1 - SharedChecksumLength 8 CustomSymbolStrGlobalVar "$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" $ObjectID 27 - Version "21.0.0" + Version "1.14.3" Array { Type "Cell" Dimension 19 @@ -923,7 +675,6 @@ Library { Cell "PreserveStateflowLocalDataDimensions" PropName "DisabledProps" } - Description "" Components [] TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" @@ -932,12 +683,9 @@ Library { TargetLangStandard "C89/C90 (ANSI)" CodeReplacementLibrary "None" UtilityFuncGeneration "Auto" - MultiwordTypeDef "System defined" + ERTMultiwordTypeDef "System defined" MultiwordLength 2048 - DynamicStringBufferSize 256 GenerateFullHeader on - InferredTypesCompatibility off - ExistingSharedCode "" GenerateSampleERTMain off GenerateTestInterfaces off ModelReferenceCompliant on @@ -947,7 +695,6 @@ Library { IncludeMdlTerminateFcn on CombineOutputUpdateFcns off CombineSignalStateStructs off - GroupInternalDataByFunction off SuppressErrorStatus off IncludeFileDelimiter "Auto" ERTCustomFileBanners off @@ -955,13 +702,11 @@ Library { LogVarNameModifier "rt_" MatFileLogging on CodeInterfacePackaging "Nonreusable function" - PurelyIntegerCode off SupportNonFinite on SupportComplex on + PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on - RemoveDisableFunc off - RemoveResetFunc off SupportVariableSizeSignals off ParenthesesLevel "Nominal" CastingMode "Nominal" @@ -969,21 +714,9 @@ Library { ModelStepFunctionPrototypeControlCompliant off CPPClassGenCompliant on AutosarCompliant off - MDXCompliant off GRTInterface on GenerateAllocFcn off - UseToolchainInfoCompliant on GenerateSharedConstants on - CoderGroups [] - AccessMethods [] - LookupTableObjectStructAxisOrder "1,2,3,4,..." - LUTObjectStructOrderExplicitValues "Size,Breakpoints,Table" - LUTObjectStructOrderEvenSpacing "Size,Breakpoints,Table" - ArrayLayout "Column-major" - UnsupportedSFcnMsg "error" - ERTHeaderFileRootName "$R$E" - ERTSourceFileRootName "$R$E" - ERTDataFileRootName "$R_data" UseMalloc off ExtMode off ExtModeStaticAlloc off @@ -991,7 +724,6 @@ Library { ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" - ExtModeMexArgs "" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off @@ -1003,49 +735,9 @@ 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 "21.0.0" - DisabledProps [] + Version "1.14.3" Description "HDL Coder custom configuration component" Components [] Name "HDL Coder" @@ -1062,7 +754,6 @@ Library { Name "Configuration" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 963, 135, 1843, 765 ] - ExtraOptions "" } PropName "ConfigurationSets" } @@ -1071,13 +762,12 @@ Library { ForegroundColor "black" BackgroundColor "white" DropShadow off - NameLocation "bottom" + NamePlacement "normal" FontName "Helvetica" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on - HideAutomaticName on BlockRotation 0 BlockMirror off } @@ -1091,12 +781,7 @@ Library { FontSize 10 FontWeight "normal" FontAngle "normal" - MarkupType "model" UseDisplayTextAsClickCallback off - AnnotationType "note_annotation" - FixedHeight off - FixedWidth off - Interpreter "off" } LineDefaults { FontName "Helvetica" @@ -1107,8 +792,8 @@ Library { MaskDefaults { SelfModifiable "off" IconFrame "on" - IconOpaque "opaque" - RunInitForIconRedraw "analyze" + IconOpaque "on" + RunInitForIconRedraw "off" IconRotate "none" PortRotate "default" IconUnits "autoscale" @@ -1124,11 +809,6 @@ Library { ToolTip "on" } BlockParameterDefaults { - Block { - BlockType Clock - DisplayTime off - Decimation "10" - } Block { BlockType Constant Value "1" @@ -1174,6 +854,11 @@ Library { SaturateOnIntegerOverflow off SampleTime "-1" } + Block { + BlockType InitialCondition + Value "1" + SampleTime "-1" + } Block { BlockType Inport Port "1" @@ -1184,7 +869,6 @@ Library { OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off - Unit "inherit" PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" @@ -1194,30 +878,32 @@ Library { LatchInputForFeedbackSignals off Interpolate on } + Block { + BlockType Memory + X0 "0" + InheritSampleTime off + LinearizeMemory off + LinearizeAsDelay off + StateMustResolveToSignalObject off + } Block { 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 @@ -1239,7 +925,6 @@ Library { FunctionName "system" SFunctionModules "''" PortCounts "[]" - MultithreadedSim "auto" } Block { BlockType SubSystem @@ -1248,14 +933,12 @@ 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" @@ -1269,17 +952,8 @@ Library { MaskHideContents off SFBlockType "NONE" Variant off - VariantControlMode "expression" - VariantActivationTime "update diagram" - AllowZeroVariantControls off - PropagateVariantConditions off - TreatAsGroupedWhenPropagatingVariantConditions on + GeneratePreprocessorConditionals off ContentPreviewEnabled off - IsWebBlock off - IsInjectorSS off - Latency "0" - AutoFrameSizeCalculation off - IsWebBlockPanel off } Block { BlockType Sum @@ -1304,11 +978,7 @@ Library { System { Name "WBToolboxLibrary_repository" Location [-7, -7, 1543, 831] - SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "black" @@ -1319,10 +989,9 @@ Library { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "216" + ZoomFactor "277" ReportName "simulink-default.rpt" - SIDHighWatermark "1854" - SimulinkSubDomain "Simulink" + SIDHighWatermark "1861" Block { BlockType SubSystem Name "Actuators" @@ -1342,11 +1011,7 @@ 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" @@ -1358,7 +1023,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "562" - SimulinkSubDomain "Simulink" Block { BlockType S-Function Name "SetMotorParameters" @@ -1372,7 +1036,6 @@ Library { "tKTau,kTau,setBemf,bemf" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 31 @@ -1601,7 +1264,6 @@ Library { "bsName, WBTConfig] = WBToolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimul" "inkParameters;\n clear WBTConfig;\ncatch\nend" Display "disp(get_param(gcb,'controlType'))\n%port_label('input',1,'References')" - RunInitForIconRedraw "off" Object { $PropName "Parameters" $ObjectID 56 @@ -1674,11 +1336,7 @@ 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" @@ -1690,7 +1348,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "1000" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "References" @@ -1709,7 +1366,6 @@ Library { Parameters "'SetReferences','WBToolbox',WBTConfigParameters,configBlockAbsName,controlType,refSpeed" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off } Line { ZOrder 1 @@ -1747,7 +1403,6 @@ Library { "on\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig] = WBToolbox.BlockInitialization(gcb, gcs" ");\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n clear WBTConfig;\ncatch\nend" Display "disp(get_param(gcb,'controlType'))\n%port_label('input',1,'References')" - RunInitForIconRedraw "off" Array { Type "Simulink.MaskParameter" Dimension 3 @@ -1856,11 +1511,7 @@ 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" @@ -1872,7 +1523,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "1000" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "References" @@ -1891,7 +1541,6 @@ Library { Parameters "'SetReferences','WBToolbox',WBTConfigParameters,configBlockAbsName,controlType,refTrajectory" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off } Line { ZOrder 1 @@ -1923,11 +1572,7 @@ Library { System { Name "Model" Location [-7, -7, 1543, 831] - SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -1938,8 +1583,7 @@ Library { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "126" - SimulinkSubDomain "Simulink" + ZoomFactor "250" Block { BlockType SubSystem Name "Dynamics" @@ -1958,11 +1602,7 @@ Library { System { Name "Dynamics" Location [-7, -7, 1543, 831] - SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -1973,8 +1613,7 @@ Library { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "172" - SimulinkSubDomain "Simulink" + ZoomFactor "239" Block { BlockType SubSystem Name "CentroidalMomentum" @@ -1999,7 +1638,6 @@ Library { Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig] = WB" "Toolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n clear " "WBTConfig;\ncatch\nend" - RunInitForIconRedraw "off" Object { $PropName "DialogControls" $ObjectID 78 @@ -2038,11 +1676,7 @@ 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" @@ -2054,7 +1688,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "480" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Base Pose" @@ -2097,7 +1730,6 @@ Library { Parameters "'CentroidalMomentum','WBToolbox',WBTConfigParameters,configBlockAbsName" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -2105,7 +1737,6 @@ Library { SID "1700" Position [315, 73, 345, 87] ZOrder 25 - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 1 @@ -2166,7 +1797,6 @@ Library { Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig] = WB" "Toolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n clear " "WBTConfig;\ncatch\nend" - RunInitForIconRedraw "off" Object { $PropName "DialogControls" $ObjectID 83 @@ -2205,11 +1835,7 @@ 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" @@ -2221,7 +1847,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "395" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Base Pose" @@ -2282,7 +1907,6 @@ Library { Parameters "'InverseDynamics','WBToolbox',WBTConfigParameters,configBlockAbsName" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -2290,7 +1914,6 @@ Library { SID "1783" Position [300, 113, 330, 127] ZOrder 25 - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 1 @@ -2373,7 +1996,6 @@ Library { Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig] = WB" "Toolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n clear " "WBTConfig;\ncatch\nend" - RunInitForIconRedraw "off" Object { $PropName "DialogControls" $ObjectID 88 @@ -2412,11 +2034,7 @@ 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" @@ -2428,7 +2046,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "395" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Base Pose" @@ -2473,7 +2090,6 @@ Library { Parameters "'InverseDynamics','WBToolbox',WBTConfigParameters,configBlockAbsName" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -2481,7 +2097,6 @@ Library { SID "1789" Position [300, 113, 330, 127] ZOrder 25 - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 1 @@ -2561,7 +2176,6 @@ Library { Parameters "'InverseDynamics','WBToolbox',WBTConfigParameters,configBlockAbsName" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 92 @@ -2581,7 +2195,6 @@ Library { Display "port_label('output', 1, 'Torques')\n\nport_label('input', 1, 'Base pose')\nport_label('input', 2, 'Joints" " configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, 'Joints velocity')\nport_label('in" "put', 5, 'Base acceleration')\nport_label('input', 6, 'Joints acceleration')\n" - RunInitForIconRedraw "off" Object { $PropName "DialogControls" $ObjectID 93 @@ -2638,7 +2251,6 @@ Library { Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig] = WB" "Toolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n clear " "WBTConfig;\ncatch\nend" - RunInitForIconRedraw "off" Object { $PropName "DialogControls" $ObjectID 98 @@ -2676,12 +2288,8 @@ Library { } System { Name "MassMatrix" - Location [0, 0, 2048, 1080] - SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Location [-7, -7, 1543, 831] Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -2693,7 +2301,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "630" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Base Pose" @@ -2720,7 +2327,6 @@ Library { Parameters "'MassMatrix','WBToolbox',WBTConfigParameters,configBlockAbsName" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -2728,7 +2334,6 @@ Library { SID "1637" Position [245, 48, 275, 62] ZOrder 25 - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 1 @@ -2774,12 +2379,8 @@ Library { } System { Name "Jacobians" - Location [67, 148, 2627, 1588] - SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Location [-7, -7, 1543, 831] Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -2791,7 +2392,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "246" - SimulinkSubDomain "Simulink" Block { BlockType S-Function Name "CentroidalTotalMomentumMatrix" @@ -2803,7 +2403,6 @@ Library { Parameters "'CentroidalTotalMomentumMatrix', 'WBToolbox', WBTConfigParameters, configBlockAbsName" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 103 @@ -2925,11 +2524,7 @@ 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" @@ -2941,7 +2536,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "595" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Base Pose" @@ -2984,7 +2578,6 @@ Library { Parameters "'DotJNu','WBToolbox',WBTConfigParameters,configBlockAbsName,frameName" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -2992,7 +2585,6 @@ Library { SID "1689" Position [245, 58, 275, 72] ZOrder 25 - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 1 @@ -3117,12 +2709,8 @@ Library { } System { Name "Jacobian" - Location [0, 0, 2048, 1080] - SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Location [-7, -7, 1543, 831] Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -3134,7 +2722,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "595" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Base Pose" @@ -3161,7 +2748,6 @@ Library { Parameters "'Jacobian','WBToolbox',WBTConfigParameters,configBlockAbsName,frameName" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -3169,7 +2755,6 @@ Library { SID "1667" Position [245, 48, 275, 62] ZOrder 25 - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 1 @@ -3215,12 +2800,8 @@ Library { } System { Name "Kinematics" - Location [67, 148, 2627, 1588] - SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Location [-7, -7, 1543, 831] Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -3232,7 +2813,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "400" - SimulinkSubDomain "Simulink" Block { BlockType SubSystem Name "ForwardKinematics" @@ -3320,11 +2900,7 @@ 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" @@ -3336,7 +2912,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "595" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Base Pose" @@ -3363,7 +2938,6 @@ Library { Parameters "'ForwardKinematics','WBToolbox',WBTConfigParameters,configBlockAbsName,frameName" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -3371,7 +2945,6 @@ Library { SID "1651" Position [245, 48, 275, 62] ZOrder 25 - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 1 @@ -3588,11 +3161,7 @@ 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" @@ -3604,7 +3173,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "312" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Desired frame pose" @@ -3639,7 +3207,6 @@ Library { Parameters "'InverseKinematics',robotName,localName,wbiFile,wbiList,baseFrame, endEffFrame,optOption" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -3647,7 +3214,6 @@ Library { SID "1758" Position [280, 23, 310, 37] ZOrder 25 - VectorParamsAs1DForOutWhenUnconnected off } Block { BlockType Outport @@ -3656,7 +3222,6 @@ Library { Position [280, 68, 310, 82] ZOrder 27 Port "2" - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 1 @@ -3795,11 +3360,7 @@ 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" @@ -3811,7 +3372,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "834" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Joint configuration" @@ -3830,7 +3390,6 @@ Library { Parameters "'RelativeTransform','WBToolbox',WBTConfigParameters,configBlockAbsName,frame1, frame2" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -3838,7 +3397,6 @@ Library { SID "1803" Position [225, 48, 255, 62] ZOrder 25 - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 4 @@ -3988,11 +3546,7 @@ 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" @@ -4004,7 +3558,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "469" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Desired frame pose" @@ -4031,7 +3584,6 @@ Library { Parameters "'RemoteInverseKinematics',solverName, dofs, optOption" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -4039,7 +3591,6 @@ Library { SID "1765" Position [285, 48, 315, 62] ZOrder 27 - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 1 @@ -4086,12 +3637,8 @@ Library { } System { Name "States" - Location [2568, 323, 4549, 1448] - SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Location [-7, -7, 1543, 831] Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -4103,7 +3650,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "600" - SimulinkSubDomain "Simulink" Block { BlockType SubSystem Name "GetLimits" @@ -4134,7 +3680,6 @@ Library { SelfModifiable "on" Display "fprintf('%s\\n(%s)',get_param(gcb,'limitsType'),get_param(gcb,'limitsSource'))\n\nport_label('outpu" "t',1,'Min')\nport_label('output',2,'Max')" - RunInitForIconRedraw "off" Array { Type "Simulink.MaskParameter" Dimension 2 @@ -4235,11 +3780,7 @@ 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" @@ -4252,7 +3793,6 @@ Library { ShowPageBoundaries off ZoomFactor "966" SIDHighWatermark "1773" - SimulinkSubDomain "Simulink" Block { BlockType S-Function Name "S-Function" @@ -4264,7 +3804,6 @@ Library { Parameters "'GetLimits','WBToolbox',WBTConfigParameters,configBlockAbsName,limitsType" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -4272,7 +3811,6 @@ Library { SID "1690:1692" Position [220, 43, 250, 57] ZOrder 25 - VectorParamsAs1DForOutWhenUnconnected off } Block { BlockType Outport @@ -4281,7 +3819,6 @@ Library { Position [220, 78, 250, 92] ZOrder 26 Port "2" - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 1 @@ -4321,7 +3858,6 @@ Library { "] = WBToolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n " " clear WBTConfig;\ncatch\nend" Display "port_label('output', 1, get_param(gcb,'measuredType'))" - RunInitForIconRedraw "off" Object { $PropName "Parameters" $ObjectID 186 @@ -4394,11 +3930,7 @@ 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" @@ -4410,7 +3942,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "1000" - SimulinkSubDomain "Simulink" Block { BlockType S-Function Name "S-Function" @@ -4422,7 +3953,6 @@ Library { Parameters "'GetMeasurement','WBToolbox',WBTConfigParameters,configBlockAbsName,measuredType" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -4430,7 +3960,6 @@ Library { SID "1673" Position [210, 48, 240, 62] ZOrder 25 - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 1 @@ -4463,7 +3992,6 @@ Library { "] = WBToolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n " " clear WBTConfig;\ncatch\nend" Display "port_label('output', 1, get_param(gcb,'measuredType'))" - RunInitForIconRedraw "off" Object { $PropName "Parameters" $ObjectID 194 @@ -4541,11 +4069,7 @@ 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" @@ -4557,7 +4081,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "1000" - SimulinkSubDomain "Simulink" Block { BlockType S-Function Name "S-Function" @@ -4569,7 +4092,6 @@ Library { Parameters "'GetMeasurement','WBToolbox',WBTConfigParameters,configBlockAbsName,measuredType" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off } Block { BlockType Outport @@ -4577,7 +4099,6 @@ Library { SID "1798" Position [210, 48, 240, 62] ZOrder 25 - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 1 @@ -4609,11 +4130,7 @@ Library { System { Name "Utilities" Location [-7, -7, 1543, 831] - SystemRect [0.000000, 0.000000, 0.000000, 0.000000] - Open on - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" + Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -4624,8 +4141,7 @@ Library { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "125" - SimulinkSubDomain "Simulink" + ZoomFactor "50" Block { BlockType SubSystem Name "Configuration" @@ -4643,7 +4159,6 @@ Library { $ClassName "Simulink.Mask" SelfModifiable "on" Display "disp('Config')" - RunInitForIconRedraw "off" Array { Type "Simulink.MaskParameter" Dimension 8 @@ -4828,11 +4343,7 @@ 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" @@ -4845,7 +4356,6 @@ Library { ShowPageBoundaries off ZoomFactor "600" SIDHighWatermark "70" - SimulinkSubDomain "Simulink" Block { BlockType Constant Name "ImConfig" @@ -4883,7 +4393,6 @@ Library { $PropName "MaskObject" $ObjectID 225 $ClassName "Simulink.Mask" - RunInitForIconRedraw "off" Object { $PropName "Parameters" $ObjectID 226 @@ -4897,11 +4406,7 @@ 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" @@ -4913,7 +4418,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "mat" @@ -4938,18 +4442,14 @@ Library { ZOrder -4 LibraryVersion "1.32" ErrorFcn "Stateflow.Translate.translate" - PermitHierarchicalResolution "ExplicitOnly" + PermitHierarchicalResolution "ParametersOnly" 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" @@ -4961,8 +4461,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "1634" - SimulinkSubDomain "Simulink" + SIDHighWatermark "1637" Block { BlockType Inport Name "mat" @@ -4981,25 +4480,24 @@ Library { Block { BlockType Demux Name " Demux " - SID "107::1633" + SID "107::1636" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 113 + ZOrder 116 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "107::1632" - Tag "Stateflow S-Function 6" + SID "107::1635" + Tag "Stateflow S-Function WBToolboxLibrary_repository 6" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 112 + ZOrder 115 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off Port { PortNumber 2 Name "DPinv" @@ -5008,9 +4506,9 @@ Library { Block { BlockType Terminator Name " Terminator " - SID "107::1634" + SID "107::1637" Position [460, 241, 480, 259] - ZOrder 114 + ZOrder 117 } Block { BlockType Outport @@ -5018,10 +4516,9 @@ Library { SID "107::5" Position [460, 101, 480, 119] ZOrder -6 - VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 86 + ZOrder 91 SrcBlock "mat" SrcPort 1 Points [120, 0] @@ -5029,7 +4526,7 @@ Library { DstPort 1 } Line { - ZOrder 87 + ZOrder 92 SrcBlock "sigma" SrcPort 1 DstBlock " SFunction " @@ -5037,7 +4534,7 @@ Library { } Line { Name "DPinv" - ZOrder 88 + ZOrder 93 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -5045,14 +4542,14 @@ Library { DstPort 1 } Line { - ZOrder 89 + ZOrder 94 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 90 + ZOrder 95 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -5066,7 +4563,6 @@ Library { SID "108" Position [225, 73, 255, 87] ZOrder -5 - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 1 @@ -5103,7 +4599,6 @@ Library { Parameters "'DiscreteFilter','WBToolbox',filterDataStruct" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 227 @@ -5115,7 +4610,6 @@ Library { "umCoeffs;\nfilterDataStruct.DenCoeffs = denCoeffs;\nfilterDataStruct.y0 = y0;\nfilterDataStruct.u0 = u0;\nfilterD" "ataStruct.InitStatus = uint8(initStatus);" Display "disp('Filter')" - RunInitForIconRedraw "off" Array { Type "Simulink.MaskParameter" Dimension 9 @@ -5324,16 +4818,11 @@ Library { "nly 1D vectors." Display "port_label('input', 1, 'Reference')\nport_label('input', 2, 'Signal')\nport_label('output', 1, 'Sig" "nal')" - RunInitForIconRedraw "off" } 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" @@ -5345,14 +4834,13 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "1000" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "Reference" SID "1819" Position [315, 178, 345, 192] ZOrder 240 - NameLocation "top" + NamePlacement "alternate" } Block { BlockType Inport @@ -5383,7 +4871,6 @@ Library { SID "1823" Position [410, 243, 440, 257] ZOrder 244 - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 27 @@ -5430,7 +4917,6 @@ Library { "ves,explicitInitialValue,externalSettlingTime,resetOnSettlingTime" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 252 @@ -5603,15 +5089,14 @@ Library { Block { BlockType S-Function Name "OSQP" - SID "1854" + SID "1861" Ports [4, 2] - Position [640, -3, 825, 73] - ZOrder 253 + Position [650, -13, 835, 63] + ZOrder 255 FunctionName "BlockFactory" Parameters "'OSQP','WBToolbox',lbA,ubA,lb,ub,computeObjVal,stopIfFails" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 273 @@ -5768,7 +5253,6 @@ Library { Parameters "'QpOases','WBToolbox',lbA,ubA,lb,ub,computeObjVal,stopIfFails" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 292 @@ -5928,7 +5412,6 @@ Library { Parameters "'RealTimeSynchronizer','WBToolbox',period" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 311 @@ -5937,7 +5420,6 @@ Library { Description "This block slows down the simulation trying to match the period specified \nas parameter (in se" "conds).\nThe bigger the period the more probable \nis that Simulink can remain synched with it.\n" Display "disp('Real Time Synchronizer')" - RunInitForIconRedraw "off" Object { $PropName "Parameters" $ObjectID 312 @@ -5962,7 +5444,6 @@ Library { Parameters "'SimulatorSynchronizer','WBToolbox',period, serverPortName, clientPortName" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 313 @@ -5971,7 +5452,6 @@ Library { Description "This block synchronizes with the external simulation on a simulator \n(only Gazebo is supported" " at the moment).\n\n" Display "disp('Simulator Synchronizer')" - RunInitForIconRedraw "off" Array { Type "Simulink.MaskParameter" Dimension 3 @@ -6013,7 +5493,6 @@ Library { $PropName "MaskObject" $ObjectID 317 $ClassName "Simulink.Mask" - RunInitForIconRedraw "off" Object { $PropName "Parameters" $ObjectID 318 @@ -6026,12 +5505,8 @@ Library { } System { Name "TruncPinv" - Location [-7, -7, 1543, 831] - SystemRect [0.000000, 0.000000, 0.000000, 0.000000] - Open on - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" + Location [0, 29, 1280, 744] + Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -6043,7 +5518,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "S" @@ -6068,18 +5542,14 @@ Library { ZOrder -4 LibraryVersion "1.32" ErrorFcn "Stateflow.Translate.translate" - PermitHierarchicalResolution "ExplicitOnly" + PermitHierarchicalResolution "ParametersOnly" 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" @@ -6091,8 +5561,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "1625" - SimulinkSubDomain "Simulink" + SIDHighWatermark "1628" Block { BlockType Inport Name "mat" @@ -6111,25 +5580,24 @@ Library { Block { BlockType Demux Name " Demux " - SID "112::1624" + SID "112::1627" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 113 + ZOrder 116 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "112::1623" - Tag "Stateflow S-Function 7" + SID "112::1626" + Tag "Stateflow S-Function WBToolboxLibrary_repository 7" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 112 + ZOrder 115 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off Port { PortNumber 2 Name "TPinv" @@ -6138,9 +5606,9 @@ Library { Block { BlockType Terminator Name " Terminator " - SID "112::1625" + SID "112::1628" Position [460, 241, 480, 259] - ZOrder 114 + ZOrder 117 } Block { BlockType Outport @@ -6148,10 +5616,9 @@ Library { SID "112::5" Position [460, 101, 480, 119] ZOrder -6 - VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 86 + ZOrder 91 SrcBlock "mat" SrcPort 1 Points [120, 0] @@ -6159,7 +5626,7 @@ Library { DstPort 1 } Line { - ZOrder 87 + ZOrder 92 SrcBlock "tol" SrcPort 1 DstBlock " SFunction " @@ -6167,7 +5634,7 @@ Library { } Line { Name "TPinv" - ZOrder 88 + ZOrder 93 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -6175,14 +5642,14 @@ Library { DstPort 1 } Line { - ZOrder 89 + ZOrder 94 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 90 + ZOrder 95 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -6196,7 +5663,6 @@ Library { SID "113" Position [225, 73, 255, 87] ZOrder -5 - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 1 @@ -6233,7 +5699,6 @@ Library { Parameters "'YarpClock','WBToolbox'" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 319 @@ -6243,7 +5708,6 @@ Library { "the C++ function call yarp::os::Time::now()" SelfModifiable "on" Display "disp('YARP Time')\n" - RunInitForIconRedraw "off" } } Block { @@ -6258,7 +5722,6 @@ Library { Parameters "'YarpRead','WBToolbox',portName,signalSize,blocking,timestamp,autoconnect,errorOnConnection,timeout" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 320 @@ -6356,7 +5819,6 @@ Library { Parameters "'YarpWrite','WBToolbox',portName,autoconnect,errorOnConnection" SFunctionDeploymentMode off EnableBusSupport off - SFcnIsStateOwnerBlock off Object { $PropName "MaskObject" $ObjectID 328 @@ -6368,7 +5830,6 @@ Library { " \"yarp write ... /destinationPort\"\n" SelfModifiable "on" Display "disp('YarpWrite')" - RunInitForIconRedraw "off" Array { Type "Simulink.MaskParameter" Dimension 3 @@ -6418,16 +5879,11 @@ Library { Type "Errors" Description "Computes two kinds of errors. The first is just the difference between x\nand y while the secon" "d is the ratio (x-y)/y." - RunInitForIconRedraw "off" } 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" @@ -6439,7 +5895,6 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SimulinkSubDomain "Simulink" Block { BlockType Inport Name "x" @@ -6480,7 +5935,6 @@ Library { SID "719" Position [225, 13, 255, 27] ZOrder -5 - VectorParamsAs1DForOutWhenUnconnected off } Block { BlockType Outport @@ -6489,7 +5943,6 @@ Library { Position [220, 48, 250, 62] ZOrder -6 Port "2" - VectorParamsAs1DForOutWhenUnconnected off } Line { ZOrder 1 @@ -6557,16 +6010,11 @@ Library { $ClassName "Simulink.Mask" Type "Holder" Description "This block holds the first input value during the simulation." - RunInitForIconRedraw "off" } System { Name "holder\n" - Location [12, 45, 1340, 980] - SystemRect [0.000000, 0.000000, 0.000000, 0.000000] + Location [-7, -7, 1543, 831] Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" @@ -6577,210 +6025,115 @@ Library { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "100" - SimulinkSubDomain "Simulink" + ZoomFactor "525" Block { BlockType Inport Name "s" - SID "1297" - Position [145, 43, 175, 57] - ZOrder 13 + SID "1853" + Position [-140, -37, -110, -23] + ZOrder 28 } Block { - BlockType Clock - Name "Clock" - SID "1298" - Position [45, 65, 65, 85] - ZOrder 11 + BlockType Sum + Name "Add" + SID "1854" + Ports [2, 1] + Position [35, -50, 65, -20] + ZOrder 34 + Inputs "|++" } Block { - BlockType Reference - Name "Compare\nTo Constant" - SID "1299" - Ports [1, 1] - Position [90, 60, 120, 90] - ZOrder 10 - LibraryVersion "1.480" - SourceBlock "simulink/Logic and Bit\nOperations/Compare\nTo Constant" - SourceType "Compare To Constant" - SourceProductBaseCode "SL" - RTWMemSecFuncInitTerm "Inherit from model" - RTWMemSecFuncExecute "Inherit from model" - RTWMemSecDataConstants "Inherit from model" - RTWMemSecDataInternal "Inherit from model" - RTWMemSecDataParameters "Inherit from model" - ContentPreviewEnabled off - relop "==" - const "0" - OutDataTypeStr "boolean" - ZeroCross on + BlockType Constant + Name "Constant" + SID "1855" + Position [-140, -95, -110, -65] + ZOrder 32 + Value "0" } Block { - BlockType SubSystem - Name "MATLAB Function" - SID "1300" + BlockType InitialCondition + Name "IC" + SID "1856" + Position [-95, -102, -55, -58] + ZOrder 31 + } + Block { + BlockType Memory + Name "Memory" + SID "1857" + Position [70, -5, 100, 25] + ZOrder 30 + BlockMirror on + InheritSampleTime on + } + Block { + BlockType Product + Name "Product" + SID "1858" Ports [2, 1] - Position [235, 37, 305, 88] - ZOrder 15 - LibraryVersion "1.32" - ErrorFcn "Stateflow.Translate.translate" - PermitHierarchicalResolution "ExplicitOnly" - TreatAsAtomicUnit on - RequestExecContextInheritance off - SFBlockType "MATLAB Function" - System { - Name "MATLAB Function" - Location [12, 45, 1135, 3068] - SystemRect [0.000000, 0.000000, 0.000000, 0.000000] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "100" - SIDHighWatermark "1631" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "s" - SID "1300::24" - Position [20, 101, 40, 119] - ZOrder 10 - } - Block { - BlockType Inport - Name "unused" - SID "1300::26" - Position [20, 136, 40, 154] - ZOrder 12 - Port "2" - } - Block { - BlockType Demux - Name " Demux " - SID "1300::1630" - Ports [1, 1] - Position [270, 230, 320, 270] - ZOrder 101 - Outputs "1" - } - Block { - BlockType S-Function - Name " SFunction " - SID "1300::1629" - Tag "Stateflow S-Function 1" - Ports [2, 2] - Position [180, 100, 230, 160] - ZOrder 100 - FunctionName "sf_sfun" - PortCounts "[2 2]" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - Port { - PortNumber 2 - Name "s0" - } - } - Block { - BlockType Terminator - Name " Terminator " - SID "1300::1631" - Position [460, 241, 480, 259] - ZOrder 102 - } - Block { - BlockType Outport - Name "s0" - SID "1300::25" - Position [460, 101, 480, 119] - ZOrder 11 - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 86 - SrcBlock "s" - SrcPort 1 - Points [120, 0] - DstBlock " SFunction " - DstPort 1 - } - Line { - ZOrder 87 - SrcBlock "unused" - SrcPort 1 - DstBlock " SFunction " - DstPort 2 - } - Line { - Name "s0" - ZOrder 88 - Labels [0, 0] - SrcBlock " SFunction " - SrcPort 2 - DstBlock "s0" - DstPort 1 - } - Line { - ZOrder 89 - SrcBlock " Demux " - SrcPort 1 - DstBlock " Terminator " - DstPort 1 - } - Line { - ZOrder 90 - SrcBlock " SFunction " - SrcPort 1 - DstBlock " Demux " - DstPort 1 - } - } + Position [-25, -53, 5, -22] + ZOrder 33 } Block { BlockType Outport Name "s(0)" - SID "1301" - Position [330, 58, 360, 72] - ZOrder 14 - VectorParamsAs1DForOutWhenUnconnected off + SID "1859" + Position [145, -42, 175, -28] + ZOrder 29 } Line { - ZOrder 1 - SrcBlock "Clock" + ZOrder 5 + SrcBlock "Memory" SrcPort 1 - DstBlock "Compare\nTo Constant" - DstPort 1 + Points [-15, 0] + DstBlock "Add" + DstPort 2 } Line { - ZOrder 2 - SrcBlock "MATLAB Function" + ZOrder 6 + SrcBlock "Constant" SrcPort 1 - DstBlock "s(0)" + DstBlock "IC" DstPort 1 } Line { - ZOrder 3 + ZOrder 9 + SrcBlock "Add" + SrcPort 1 + Points [49, 0] + Branch { + ZOrder 8 + Points [0, 45] + DstBlock "Memory" + DstPort 1 + } + Branch { + ZOrder 7 + DstBlock "s(0)" + DstPort 1 + } + } + Line { + ZOrder 10 SrcBlock "s" SrcPort 1 - DstBlock "MATLAB Function" + DstBlock "Product" + DstPort 2 + } + Line { + ZOrder 11 + SrcBlock "IC" + SrcPort 1 + Points [10, 0] + DstBlock "Product" DstPort 1 } Line { - ZOrder 4 - SrcBlock "Compare\nTo Constant" + ZOrder 12 + SrcBlock "Product" SrcPort 1 - DstBlock "MATLAB Function" - DstPort 2 + DstBlock "Add" + DstPort 1 } } } @@ -6789,7 +6142,7 @@ Library { Annotation { SID "1213" Name "WHOLE BODY TOOLBOX" - Position [172, 149, 304, 165] + Position [238, 157, 370, 173] InternalMargins [0, 0, 0, 0] ForegroundColor "white" BackgroundColor "black" @@ -6812,7 +6165,7 @@ Library { "1) http://www.codyco.eu

\n

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

" - Position [157, 176, 333, 208] + Position [245, 192, 421, 224] InternalMargins [0, 0, 0, 0] ForegroundColor "white" BackgroundColor "black" @@ -6831,23 +6184,25 @@ Stateflow { machine { id 1 name "WBToolboxLibrary_repository" - sfVersion 80000041 - firstTarget 26 + created "06-Feb-2014 02:21:39" + isLibrary 1 + sfVersion 80000001 + firstTarget 18 } chart { id 2 machine 1 - name "Utilities/holder\n/MATLAB Function" - windowPosition [1152 -205 -179 985] + name "Utilities/DampPinv/Damped Pseudo Inverse" + windowPosition [699 -205 167 985] viewLimits [0 156.75 0 153.75] screen [1 1 3046 1050 1.25] treeNode [0 3 0 0] viewObj 2 toolbarMode LIBRARY_TOOLBAR - ssIdHighWaterMark 9 + ssIdHighWaterMark 8 decomposition CLUSTER_CHART type EML_CHART - chartFileNumber 1 + chartFileNumber 6 disableImplicitCasting 1 eml { name "fcn" @@ -6870,15 +6225,16 @@ Stateflow { decomposition CLUSTER_STATE eml { isEML 1 - script "function s0 = fcn(s, ~)\npersistent state\n%#codegen\n\nif isempty(state)\n state = s;\nend\n\n" - "s0 = state;" + script "function DPinv = fcn(mat,sigma)\n% Economody size svd of mat\n[U,S,V] = svd(mat,'econ');\n% Damp" + "ed version of S with sigma\nS(S>sigma)=S(S>sigma)./((S(S>sigma)).^2+sigma^2);\n% Damped pseudoinverse\nDPinv = V" + "*pinv(S)*U';" editorLayout "100 M4x1[10 5 700 500]" } } data { id 4 - ssIdNumber 7 - name "s" + ssIdNumber 4 + name "mat" scope INPUT_DATA machine 1 props { @@ -6888,22 +6244,16 @@ Stateflow { type { method SF_INHERITED_TYPE primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" } complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - unit { - name "inherit" - } } dataType "Inherit: Same as Simulink" linkNode [2 0 5] } data { id 5 - ssIdNumber 8 - name "s0" + ssIdNumber 5 + name "DPinv" scope OUTPUT_DATA machine 1 props { @@ -6913,22 +6263,17 @@ Stateflow { type { method SF_INHERITED_TYPE primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" } complexity SF_COMPLEX_INHERITED frame SF_FRAME_NO - unit { - name "inherit" - } } dataType "Inherit: Same as Simulink" linkNode [2 4 6] } data { id 6 - ssIdNumber 9 - name "unused" + ssIdNumber 8 + name "sigma" scope INPUT_DATA machine 1 props { @@ -6943,9 +6288,6 @@ Stateflow { } complexity SF_COMPLEX_INHERITED frame SF_FRAME_INHERITED - unit { - name "inherit" - } } dataType "Inherit: Same as Simulink" linkNode [2 5 0] @@ -6962,7 +6304,7 @@ Stateflow { transition { id 8 labelString "{eML_blk_kernel();}" - labelPosition [76.125 85.875 102.544 14.964] + labelPosition [80.125 91.875 102.544 14.964] fontSize 12 src { intersection [0 0 1 0 23.5747 14.625 0 0] @@ -6986,14 +6328,14 @@ Stateflow { instance { id 9 machine 1 - name "Utilities/holder\n/MATLAB Function" + name "Utilities/DampPinv/Damped Pseudo Inverse" chart 2 } chart { id 10 machine 1 - name "Utilities/DampPinv/Damped Pseudo Inverse" - windowPosition [699 -205 167 985] + name "Utilities/TruncPinv/Truncated PseudoInverse" + windowPosition [649 -205 167 985] viewLimits [0 156.75 0 153.75] screen [1 1 3046 1050 1.25] treeNode [0 11 0 0] @@ -7002,7 +6344,7 @@ Stateflow { ssIdHighWaterMark 8 decomposition CLUSTER_CHART type EML_CHART - chartFileNumber 6 + chartFileNumber 7 disableImplicitCasting 1 eml { name "fcn" @@ -7025,9 +6367,8 @@ Stateflow { decomposition CLUSTER_STATE eml { isEML 1 - script "function DPinv = fcn(mat,sigma)\n% Economody size svd of mat\n[U,S,V] = svd(mat,'econ');\n% Damp" - "ed version of S with sigma\nS(S>sigma)=S(S>sigma)./((S(S>sigma)).^2+sigma^2);\n% Damped pseudoinverse\nDPinv = V" - "*pinv(S)*U';" + script "function TPinv = fcn(mat,tol)\n%#codegen\n[U,S,V] = svd(mat,'econ');\n% Setting to zero value\n%" + " Setting to 1/S(i,i) singular values greater than tol\n S(S>tol)=1./S(S>tol);\n TPinv = V*pinv(S)*U';" editorLayout "100 M4x1[10 5 700 500]" } } @@ -7046,9 +6387,6 @@ Stateflow { primitive SF_DOUBLE_TYPE } complexity SF_COMPLEX_INHERITED - unit { - name "inherit" - } } dataType "Inherit: Same as Simulink" linkNode [10 0 13] @@ -7056,7 +6394,7 @@ Stateflow { data { id 13 ssIdNumber 5 - name "DPinv" + name "TPinv" scope OUTPUT_DATA machine 1 props { @@ -7069,9 +6407,6 @@ Stateflow { } complexity SF_COMPLEX_INHERITED frame SF_FRAME_NO - unit { - name "inherit" - } } dataType "Inherit: Same as Simulink" linkNode [10 12 14] @@ -7079,7 +6414,7 @@ Stateflow { data { id 14 ssIdNumber 8 - name "sigma" + name "tol" scope INPUT_DATA machine 1 props { @@ -7094,9 +6429,6 @@ Stateflow { } complexity SF_COMPLEX_INHERITED frame SF_FRAME_INHERITED - unit { - name "inherit" - } } dataType "Inherit: Same as Simulink" linkNode [10 13 0] @@ -7137,161 +6469,11 @@ Stateflow { instance { id 17 machine 1 - name "Utilities/DampPinv/Damped Pseudo Inverse" - chart 10 - } - chart { - id 18 - machine 1 name "Utilities/TruncPinv/Truncated PseudoInverse" - windowPosition [649 -205 167 985] - viewLimits [0 156.75 0 153.75] - screen [1 1 3046 1050 1.25] - treeNode [0 19 0 0] - viewObj 18 - toolbarMode LIBRARY_TOOLBAR - ssIdHighWaterMark 8 - decomposition CLUSTER_CHART - type EML_CHART - chartFileNumber 7 - disableImplicitCasting 1 - eml { - name "fcn" - } - firstData 20 - firstTransition 24 - firstJunction 23 - } - state { - id 19 - labelString "eML_blk_kernel()" - position [18 64.5 118 66] - fontSize 12 - chart 18 - treeNode [18 0 0 0] - superState SUBCHART - subviewer 18 - ssIdNumber 1 - type FUNC_STATE - decomposition CLUSTER_STATE - eml { - isEML 1 - script "function TPinv = fcn(mat,tol)\n%#codegen\n[U,S,V] = svd(mat,'econ');\n% Setting to zero value\n%" - " Setting to 1/S(i,i) singular values greater than tol\n S(S>tol)=1./S(S>tol);\n TPinv = V*pinv(S)*U';" - editorLayout "100 M4x1[10 5 700 500]" - } - } - data { - id 20 - ssIdNumber 4 - name "mat" - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - } - complexity SF_COMPLEX_INHERITED - unit { - name "inherit" - } - } - dataType "Inherit: Same as Simulink" - linkNode [18 0 21] - } - data { - id 21 - ssIdNumber 5 - name "TPinv" - scope OUTPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_NO - unit { - name "inherit" - } - } - dataType "Inherit: Same as Simulink" - linkNode [18 20 22] - } - data { - id 22 - ssIdNumber 8 - name "tol" - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - unit { - name "inherit" - } - } - dataType "Inherit: Same as Simulink" - linkNode [18 21 0] - } - junction { - id 23 - position [23.5747 49.5747 7] - chart 18 - subviewer 18 - ssIdNumber 3 - type CONNECTIVE_JUNCTION - linkNode [18 0 0] - } - transition { - id 24 - labelString "{eML_blk_kernel();}" - labelPosition [80.125 91.875 102.544 14.964] - fontSize 12 - src { - intersection [0 0 1 0 23.5747 14.625 0 0] - } - dst { - id 23 - intersection [1 0 -1 0 23.5747 42.5747 0 0] - } - midPoint [23.5747 24.9468] - chart 18 - dataLimits [21.175 25.975 14.625 42.575] - subviewer 18 - drawStyle SMART - slide { - sticky BOTH_STICK - } - executionOrder 1 - ssIdNumber 2 - linkNode [18 0 0] - } - instance { - id 25 - machine 1 - name "Utilities/TruncPinv/Truncated PseudoInverse" - chart 18 + chart 10 } target { - id 26 + id 18 machine 1 name "sfun" description "Default Simulink S-Function Target." diff --git a/matlab/library/WBToolboxLibrary_repository.mdl.r2019b b/matlab/library/WBToolboxLibrary_repository.mdl.r2019b deleted file mode 100644 index 4aac1f9c..00000000 --- a/matlab/library/WBToolboxLibrary_repository.mdl.r2019b +++ /dev/null @@ -1,7122 +0,0 @@ -Library { - Name "WBToolboxLibrary_repository" - Version 10.0 - SavedCharacterEncoding "UTF-8" - SLCCPlugin "on" - LogicAnalyzerPlugin "on" - AnimationPlugin "on" - DiagnosticSuppressor "on" - WebScopes_FoundationPlugin "on" - NotesPlugin "on" - LibraryType "BlockLibrary" - EnableAccessToBaseWorkspace on - ScopeRefreshTime 0.035000 - OverrideScopeRefreshTime on - DisableAllScopes off - FPTRunName "Run 1" - MaxMDLFileLineLength 120 - LastSavedArchitecture "glnxa64" - Object { - $PropName "BdWindowsInfo" - $ObjectID 1 - $ClassName "Simulink.BDWindowsInfo" - Object { - $PropName "WindowsInfo" - $ObjectID 2 - $ClassName "Simulink.WindowInfo" - IsActive [1] - Location [67.0, 148.0, 2560.0, 1440.0] - Object { - $PropName "ModelBrowserInfo" - $ObjectID 3 - $ClassName "Simulink.ModelBrowserInfo" - Visible [0] - DockPosition "Left" - Width [50] - Height [50] - Filter [9] - Minimized "Unset" - } - Object { - $PropName "ExplorerBarInfo" - $ObjectID 4 - $ClassName "Simulink.ExplorerBarInfo" - Visible [1] - } - Array { - Type "Simulink.EditorInfo" - Dimension 9 - Object { - $ObjectID 5 - IsActive [1] - IsTabbed [1] - ViewObjType "SimulinkTopLevel" - LoadSaveID "0" - Extents [2522.0, 1199.0] - ZoomFactor [4.0] - Offset [-71.812363004544125, -25.811988773055347] - SceneRectInView [-71.812363004544125, -25.811988773055347, 630.5, 299.75] - } - Object { - $ObjectID 6 - IsActive [0] - IsTabbed [0] - ViewObjType "SimulinkSubsys" - LoadSaveID "209" - Extents [2522.0, 1199.0] - ZoomFactor [2.5] - Offset [-258.01185578242905, -157.8236768561307] - SceneRectInView [-258.01185578242905, -157.8236768561307, 1008.8, 479.6] - } - Object { - $ObjectID 7 - IsActive [0] - IsTabbed [0] - ViewObjType "SimulinkSubsys" - LoadSaveID "202" - Extents [2522.0, 1199.0] - ZoomFactor [2.4606371641733422] - Offset [213.61276834817875, 99.508993480891093] - SceneRectInView [213.61276834817875, 99.508993480891093, 1024.9377830750893, 487.27216570461223] - } - Object { - $ObjectID 8 - IsActive [0] - IsTabbed [0] - ViewObjType "SimulinkSubsys" - LoadSaveID "176" - Extents [2522.0, 1199.0] - ZoomFactor [4.0] - Offset [235.1044081864668, 52.222402871604459] - SceneRectInView [235.1044081864668, 52.222402871604459, 630.5, 299.75] - } - Object { - $ObjectID 9 - IsActive [0] - IsTabbed [0] - ViewObjType "SimulinkSubsys" - LoadSaveID "1633" - Extents [2010.0, 839.0] - ZoomFactor [6.2999999999999989] - Offset [-19.500372023809547, -8.00793650793652] - SceneRectInView [-19.500372023809547, -8.00793650793652, 319.04761904761909, 133.17460317460319] - } - Object { - $ObjectID 10 - IsActive [0] - IsTabbed [0] - ViewObjType "SimulinkSubsys" - LoadSaveID "1663" - Extents [2010.0, 839.0] - ZoomFactor [5.95] - Offset [-20.290375525210067, -11.920168067226882] - SceneRectInView [-20.290375525210067, -11.920168067226882, 337.81512605042013, 141.00840336134453] - } - Object { - $ObjectID 11 - IsActive [0] - IsTabbed [0] - ViewObjType "SimulinkSubsys" - LoadSaveID "369" - Extents [2010.0, 839.0] - ZoomFactor [2.3928943762659363] - Offset [129.66449864161302, 95.246736292428238] - SceneRectInView [129.66449864161302, 95.246736292428238, 839.98692960972426, 350.621409921671] - } - Object { - $ObjectID 12 - IsActive [0] - IsTabbed [0] - ViewObjType "SimulinkSubsys" - LoadSaveID "192" - Extents [1943.0, 884.0] - ZoomFactor [1.75] - Offset [-198.60003045066941, -70.259004698103354] - SceneRectInView [-198.60003045066941, -70.259004698103354, 1110.2857142857142, 505.14285714285717] - } - Object { - $ObjectID 13 - IsActive [0] - IsTabbed [0] - ViewObjType "SimulinkSubsys" - LoadSaveID "206" - Extents [1943.0, 884.0] - ZoomFactor [6.0] - Offset [252.44396551724137, 145.16666666666663] - SceneRectInView [252.44396551724137, 145.16666666666663, 323.83333333333331, 147.33333333333334] - } - PropName "EditorsInfo" - } - Object { - $PropName "DockComponentsInfo" - $ObjectID 14 - $ClassName "Simulink.DockComponentInfo" - Type "GLUE2:PropertyInspector" - ID "Property Inspector" - Visible [0] - CreateCallback "" - UserData "" - Floating [0] - DockPosition "Right" - Width [640] - Height [480] - Minimized "Unset" - } - WindowState "AAAA/wAAAAD9AAAAAgAAAAAAAAC9AAACivwCAAAAA/sAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAA" - "AAAAAAA+wAAABYARABvAGMAawBXAGkAZABnAGUAdAA0AAAAAAD/////AAAAAAAAAAD7AAAAUgBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0Ac" - "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAANQAAAooAAABiAP///wAAAAEAAAAAAAAAAPwCA" - "AAAAfsAAABUAEcATABVAEUAMgA6AFAAcgBvAHAAZQByAHQAeQBJAG4AcwBwAGUAYwB0AG8AcgAvAFAAcgBvAHAAZQByAHQAeQAgAEkAbgBzAHAAZ" - "QBjAHQAbwByAAAAAAD/////AAAAOQD///8AAAoAAAAE7AAAAAEAAAACAAAAAQAAAAL8AAAAAQAAAAIAAAAA" - Array { - Type "Cell" - Dimension 0 - PropName "PersistedApps" - } - WindowUuid "c7279315-9484-4d17-a8fb-89419ee2a0fe" - } - BDUuid "f635108f-97cd-436e-9bd5-741f3038f9ba" - } - HideAutomaticNames off - Created "Thu Feb 06 02:21:39 2014" - Creator "jorhabib" - UpdateHistory "UpdateHistoryNever" - ModifiedByFormat "%" - LastModifiedBy "csartore" - ModifiedDateFormat "%" - LastModifiedDate "Thu Oct 08 17:42:42 2020" - RTWModifiedTimeStamp 524078665 - ModelVersionFormat "1.%" - 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 - ShowStorageClass off - ShowTestPointIcons on - ShowSignalResolutionIcons on - ShowViewerIcons on - SortedOrder off - VariantCondition off - ShowSubsystemDomainSpec off - ExecutionContextIcon off - ShowLinearizationAnnotations on - ShowVisualizeInsertedRTB on - ShowMarkup on - BlockNameDataTip off - BlockParametersDataTip off - BlockDescriptionStringDataTip off - BlockVariantConditionDataTip off - ToolBar on - StatusBar on - BrowserShowLibraryLinks off - FunctionConnectors off - BrowserLookUnderMasks off - MultiThreadCoSim on - SimulationMode "normal" - PauseTimes "5" - NumberOfSteps 1 - SnapshotBufferSize 10 - SnapshotInterval 10 - NumberOfLastSnapshots 0 - LinearizationMsg "none" - Profile off - ParamWorkspaceSource "MATLABWorkspace" - ExtModeBatchMode off - ExtModeEnableFloating on - ExtModeTrigType "manual" - ExtModeTrigMode "normal" - ExtModeTrigPort "1" - ExtModeTrigElement "any" - ExtModeTrigDuration 1000 - ExtModeTrigDurationFloating "auto" - ExtModeTrigHoldOff 0 - ExtModeTrigDelay 0 - ExtModeTrigDirection "rising" - ExtModeTrigLevel 0 - ExtModeArchiveMode "off" - ExtModeAutoIncOneShot off - ExtModeIncDirWhenArm off - ExtModeAddSuffixToVar off - ExtModeWriteAllDataToWs off - ExtModeArmWhenConnect on - ExtModeSkipDownloadWhenConnect off - ExtModeLogAll on - ExtModeAutoUpdateStatusClock on - ShowModelReferenceBlockVersion off - ShowModelReferenceBlockIO off - OrderedModelArguments on - Array { - Type "Handle" - Dimension 1 - Simulink.ConfigSet { - $ObjectID 15 - Version "19.1.1" - DisabledProps [] - Description "" - Array { - Type "Handle" - Dimension 10 - Simulink.SolverCC { - $ObjectID 16 - Version "19.1.1" - DisabledProps [] - Description "" - Components [] - StartTime "0.0" - StopTime "10.0" - AbsTol "auto" - AutoScaleAbsTol on - FixedStep "auto" - InitialStep "auto" - MaxOrder 5 - ZcThreshold "auto" - ConsecutiveZCsStepRelTol "10*128*eps" - MaxConsecutiveZCs "1000" - ExtrapolationOrder 4 - NumberNewtonIterations 1 - MaxStep "auto" - MinStep "auto" - MaxConsecutiveMinStep "1" - RelTol "1e-3" - EnableMultiTasking on - ConcurrentTasks off - Solver "ode45" - SolverName "ode45" - SolverJacobianMethodControl "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 - SolverOrder 3 - } - Simulink.DataIOCC { - $ObjectID 17 - Version "19.1.1" - DisabledProps [] - Description "" - Components [] - Decimation "1" - ExternalInput "[t, u]" - FinalStateName "xFinal" - InitialState "xInitial" - LimitDataPoints on - MaxDataPoints "1000" - LoadExternalInput off - LoadInitialState off - SaveFinalState off - SaveOperatingPoint off - SaveFormat "Array" - SignalLoggingSaveFormat "ModelDataLogs" - SaveOutput on - SaveState off - SignalLogging on - DSMLogging on - InspectSignalLogs off - VisualizeSimOutput on - StreamToWorkspace off - StreamVariableName "streamout" - SaveTime on - ReturnWorkspaceOutputs off - StateSaveName "xout" - TimeSaveName "tout" - OutputSaveName "yout" - SignalLoggingName "logsout" - DSMLoggingName "dsmout" - OutputOption "RefineOutputTimes" - OutputTimes "[]" - ReturnWorkspaceOutputsName "out" - Refine "1" - LoggingToFile off - DatasetSignalFormat "timeseries" - LoggingFileName "out.mat" - LoggingIntervals "[-inf, inf]" - } - Simulink.OptimizationCC { - $ObjectID 18 - Version "19.1.1" - Array { - Type "Cell" - Dimension 9 - Cell "BooleansAsBitfields" - Cell "PassReuseOutputArgsAs" - Cell "PassReuseOutputArgsThreshold" - Cell "ZeroExternalMemoryAtStartup" - Cell "ZeroInternalMemoryAtStartup" - Cell "OptimizeModelRefInitCode" - Cell "NoFixptDivByZeroProtection" - Cell "UseSpecifiedMinMax" - Cell "EfficientTunableParamExpr" - PropName "DisabledProps" - } - Description "" - Components [] - BlockReduction on - BooleanDataType on - ConditionallyExecuteInputs on - DefaultParameterBehavior "Tunable" - UseDivisionForNetSlopeComputation "off" - GainParamInheritBuiltInType off - UseFloatMulNetSlope off - DefaultUnderspecifiedDataType "double" - UseSpecifiedMinMax off - InlineInvariantSignals off - OptimizeBlockIOStorage on - BufferReuse on - EnhancedBackFolding off - CachingGlobalReferences off - GlobalBufferReuse on - StrengthReduction off - AdvancedOptControl "" - ExpressionFolding on - BooleansAsBitfields off - BitfieldContainerType "uint_T" - EnableMemcpy on - MemcpyThreshold 64 - PassReuseOutputArgsAs "Structure reference" - PassReuseOutputArgsThreshold 12 - ExpressionDepthLimit 2147483647 - LocalBlockOutputs on - RollThreshold 5 - StateBitsets off - DataBitsets off - ActiveStateOutputEnumStorageType "Native Integer" - ZeroExternalMemoryAtStartup on - ZeroInternalMemoryAtStartup on - InitFltsAndDblsToZero off - NoFixptDivByZeroProtection off - EfficientFloat2IntCast off - EfficientMapNaN2IntZero on - LifeSpan "inf" - MaxStackSize "Inherit from target" - BufferReusableBoundary on - 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 19 - Version "19.1.1" - 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" - WriteAfterReadMsg "UseLocalSettings" - AlgebraicLoopMsg "warning" - ArtificialAlgebraicLoopMsg "warning" - SaveWithDisabledLinksMsg "warning" - SaveWithParameterizedLinksMsg "warning" - CheckSSInitialOutputMsg on - UnderspecifiedInitializationDetection "Classic" - MergeDetectMultiDrivingBlocksExec "none" - CheckExecutionContextPreStartOutputMsg off - CheckExecutionContextRuntimeOutputMsg off - SignalResolutionControl "UseLocalSettings" - BlockPriorityViolationMsg "warning" - MinStepSizeMsg "warning" - TimeAdjustmentMsg "none" - MaxConsecutiveZCsMsg "error" - MaskedZcDiagnostic "warning" - IgnoredZcDiagnostic "warning" - SolverPrmCheckMsg "warning" - InheritedTsInSrcMsg "warning" - MultiTaskDSMMsg "error" - MultiTaskCondExecSysMsg "error" - MultiTaskRateTransMsg "error" - SingleTaskRateTransMsg "none" - TasksWithSamePriorityMsg "warning" - ExportedTasksRateTransMsg "none" - SigSpecEnsureSampleTimeMsg "warning" - CheckMatrixSingularityMsg "none" - IntegerOverflowMsg "warning" - Int32ToFloatConvMsg "warning" - ParameterDowncastMsg "error" - ParameterOverflowMsg "error" - ParameterUnderflowMsg "none" - ParameterPrecisionLossMsg "warning" - ParameterTunabilityLossMsg "warning" - FixptConstUnderflowMsg "none" - FixptConstOverflowMsg "none" - FixptConstPrecisionLossMsg "none" - UnderSpecifiedDataTypeMsg "none" - UnnecessaryDatatypeConvMsg "none" - VectorMatrixConversionMsg "none" - InvalidFcnCallConnMsg "error" - 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" - ModelReferenceSymbolNameMessage "warning" - ModelReferenceExtraNoncontSigs "error" - StateNameClashWarn "warning" - 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" - SFUnreachableExecutionPathDiag "warning" - SFUndirectedBroadcastEventsDiag "warning" - SFTransitionActionBeforeConditionDiag "warning" - SFOutputUsedAsStateInMooreChartDiag "error" - SFTemporalDelaySmallerThanSampleTimeDiag "warning" - SFSelfTransitionDiag "warning" - SFExecutionAtInitializationDiag "none" - SFMachineParentedDataDiag "warning" - IntegerSaturationMsg "warning" - AllowedUnitSystems "all" - UnitsInconsistencyMsg "warning" - AllowAutomaticUnitConversions on - RCSCRenamedMsg "warning" - RCSCObservableMsg "warning" - ForceCombineOutputUpdateInSim off - UnitDatabase "" - UnderSpecifiedDimensionMsg "none" - DebugExecutionForFMUViaOutOfProcess off - ArithmeticOperatorsInVariantConditions "warning" - } - Simulink.HardwareCC { - $ObjectID 20 - Version "19.1.1" - DisabledProps [] - Description "" - Components [] - ProdBitPerChar 8 - ProdBitPerShort 16 - ProdBitPerInt 32 - ProdBitPerLong 32 - ProdBitPerLongLong 64 - ProdBitPerFloat 32 - ProdBitPerDouble 64 - ProdBitPerPointer 32 - ProdBitPerSizeT 32 - ProdBitPerPtrDiffT 32 - ProdLargestAtomicInteger "Char" - ProdLargestAtomicFloat "None" - ProdIntDivRoundTo "Undefined" - ProdEndianess "Unspecified" - ProdWordSize 32 - ProdShiftRightIntArith on - ProdLongLongMode off - ProdHWDeviceType "32-bit Generic" - TargetBitPerChar 8 - TargetBitPerShort 16 - TargetBitPerInt 32 - TargetBitPerLong 32 - TargetBitPerLongLong 64 - TargetBitPerFloat 32 - TargetBitPerDouble 64 - TargetBitPerPointer 32 - TargetBitPerSizeT 32 - TargetBitPerPtrDiffT 32 - TargetLargestAtomicInteger "Char" - TargetLargestAtomicFloat "None" - TargetShiftRightIntArith on - TargetLongLongMode off - TargetIntDivRoundTo "Undefined" - TargetEndianess "Unspecified" - TargetWordSize 32 - TargetPreprocMaxBitsSint 32 - TargetPreprocMaxBitsUint 32 - TargetHWDeviceType "Specified" - TargetUnknown off - ProdEqTarget on - UseEmbeddedCoderFeatures on - UseSimulinkCoderFeatures on - HardwareBoardFeatureSet "EmbeddedCoderHSP" - } - Simulink.ModelReferenceCC { - $ObjectID 21 - Version "19.1.1" - 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 - SupportModelReferenceSimTargetCustomCode off - } - Simulink.SFSimCC { - $ObjectID 22 - Version "19.1.1" - DisabledProps [] - Description "" - Components [] - SimCustomSourceCode "" - SimCustomHeaderCode "" - SimCustomInitializer "" - SimCustomTerminator "" - SimReservedNameArray [] - SimUserSources "" - SimUserIncludeDirs "" - SimUserLibraries "" - SimUserDefines "" - SimCustomCompilerFlags "" - SimCustomLinkerFlags "" - SFSimEcho on - SimCtrlC on - SimIntegrity on - SimUseLocalCustomCode off - SimParseCustomCode on - SimAnalyzeCustomCode off - SimBuildMode "sf_incremental_build" - SimGenImportedTypeDefs off - ModelFunctionsGlobalVisibility "on" - CompileTimeRecursionLimit 50 - EnableRuntimeRecursion on - MATLABDynamicMemAlloc on - MATLABDynamicMemAllocThreshold 65536 - CustomCodeFunctionArrayLayout [] - DefaultCustomCodeFunctionArrayLayout "NotSpecified" - CustomCodeUndefinedFunction "UseInterfaceOnly" - } - Simulink.RTWCC { - $BackupClass "Simulink.RTWCC" - $ObjectID 23 - Version "19.1.1" - Array { - Type "Cell" - Dimension 16 - Cell "IncludeHyperlinkInReport" - Cell "GenerateTraceInfo" - Cell "GenerateTraceReport" - Cell "GenerateTraceReportSl" - Cell "GenerateTraceReportSf" - Cell "GenerateTraceReportEml" - Cell "GenerateWebview" - Cell "GenerateCodeMetricsReport" - Cell "GenerateCodeReplacementReport" - Cell "PortableWordSizes" - Cell "GenerateMissedCodeReplacementReport" - Cell "GenerateErtSFunction" - Cell "CreateSILPILBlock" - Cell "CodeExecutionProfiling" - Cell "CodeProfilingSaveOptions" - 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 - CreateSILPILBlock "None" - CodeExecutionProfiling off - CodeExecutionProfileVariable "executionProfile" - CodeProfilingSaveOptions "SummaryOnly" - CodeProfilingInstrumentation "off" - SILDebugging off - TargetLang "C" - IncludeBusHierarchyInRTWFileBlockHierarchyMap off - GenerateTraceInfo off - GenerateTraceReport off - GenerateTraceReportSl off - GenerateTraceReportSf off - GenerateTraceReportEml off - GenerateWebview off - GenerateCodeMetricsReport off - GenerateCodeReplacementReport off - GenerateMissedCodeReplacementReport off - RTWCompilerOptimization "off" - ObjectivePriorities [] - RTWCustomCompilerOptimizations "" - CheckMdlBeforeBuild "Off" - SharedConstantsCachingThreshold 1024 - Array { - Type "Handle" - Dimension 2 - Simulink.CodeAppCC { - $ObjectID 24 - Version "19.1.1" - Array { - Type "Cell" - Dimension 28 - Cell "IgnoreCustomStorageClasses" - Cell "IgnoreTestpoints" - Cell "InsertBlockDesc" - Cell "InsertPolySpaceComments" - Cell "SFDataObjDesc" - Cell "MATLABFcnDesc" - Cell "SimulinkDataObjDesc" - Cell "DefineNamingRule" - Cell "SignalNamingRule" - Cell "ParamNamingRule" - Cell "InlinedPrmAccess" - Cell "CustomSymbolStr" - Cell "CustomSymbolStrGlobalVar" - Cell "CustomSymbolStrType" - Cell "CustomSymbolStrField" - Cell "CustomSymbolStrFcn" - Cell "CustomSymbolStrFcnArg" - Cell "CustomSymbolStrBlkIO" - Cell "CustomSymbolStrTmpVar" - Cell "CustomSymbolStrMacro" - Cell "ReqsInCode" - Cell "InternalIdentifier" - Cell "CustomSymbolStrModelFcn" - Cell "CustomSymbolStrUtil" - Cell "CustomUserTokenString" - Cell "CustomSymbolStrEmxType" - Cell "CustomSymbolStrEmxFcn" - Cell "BlockCommentType" - PropName "DisabledProps" - } - Description "" - Components [] - Comment "" - ForceParamTrailComments off - GenerateComments on - CommentStyle "Auto" - IgnoreCustomStorageClasses on - IgnoreTestpoints off - MaxIdLength 31 - PreserveName off - PreserveNameWithParent off - ShowEliminatedStatement off - OperatorAnnotations off - SimulinkDataObjDesc off - SFDataObjDesc off - MATLABFcnDesc off - MangleLength 1 - SharedChecksumLength 8 - CustomSymbolStrGlobalVar "$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 25 - Version "19.1.1" - Array { - Type "Cell" - Dimension 19 - Cell "GeneratePreprocessorConditionals" - Cell "IncludeMdlTerminateFcn" - Cell "SupportNonInlinedSFcns" - Cell "SuppressErrorStatus" - Cell "ERTCustomFileBanners" - Cell "GenerateSampleERTMain" - Cell "GenerateTestInterfaces" - Cell "ModelStepFunctionPrototypeControlCompliant" - Cell "CPPClassGenCompliant" - Cell "PortableWordSizes" - Cell "PurelyIntegerCode" - Cell "SupportComplex" - Cell "SupportAbsoluteTime" - Cell "SupportContinuousTime" - Cell "GenerateAllocFcn" - Cell "RemoveResetFunc" - Cell "ExistingSharedCode" - Cell "RemoveDisableFunc" - Cell "PreserveStateflowLocalDataDimensions" - PropName "DisabledProps" - } - Description "" - Components [] - TargetFcnLib "ansi_tfl_table_tmw.mat" - TargetLibSuffix "" - TargetPreCompLibLocation "" - GenFloatMathFcnCalls "NOT IN USE" - TargetLangStandard "C89/C90 (ANSI)" - CodeReplacementLibrary "None" - UtilityFuncGeneration "Auto" - MultiwordTypeDef "System defined" - MultiwordLength 2048 - DynamicStringBufferSize 256 - GenerateFullHeader on - InferredTypesCompatibility off - ExistingSharedCode "" - GenerateSampleERTMain off - GenerateTestInterfaces off - ModelReferenceCompliant on - ParMdlRefBuildCompliant on - CompOptLevelCompliant on - ConcurrentExecutionCompliant on - IncludeMdlTerminateFcn on - GeneratePreprocessorConditionals "Disable all" - CombineOutputUpdateFcns off - CombineSignalStateStructs off - GroupInternalDataByFunction off - SuppressErrorStatus off - IncludeFileDelimiter "Auto" - ERTCustomFileBanners off - SupportAbsoluteTime on - LogVarNameModifier "rt_" - MatFileLogging on - MultiInstanceERTCode off - CodeInterfacePackaging "Nonreusable function" - PurelyIntegerCode off - SupportNonFinite on - SupportComplex on - SupportContinuousTime on - SupportNonInlinedSFcns on - RemoveDisableFunc off - RemoveResetFunc off - SupportVariableSizeSignals off - ParenthesesLevel "Nominal" - CastingMode "Nominal" - PreserveStateflowLocalDataDimensions off - MATLABClassNameForMDSCustomization "Simulink.SoftwareTarget.GRTCustomization" - 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 - ExtModeTesting off - ExtModeStaticAllocSize 1000000 - ExtModeTransport 0 - ExtModeMexFile "ext_comm" - ExtModeMexArgs "" - ExtModeIntrfLevel "Level1" - RTWCAPISignals off - RTWCAPIParams off - RTWCAPIStates off - RTWCAPIRootIO off - GenerateASAP2 off - MultiInstanceErrorCode "Error" - } - PropName "Components" - } - } - SlCovCC.ConfigComp { - $ObjectID 26 - Version "19.1.1" - DisabledProps [] - Description "Simulink Coverage Configuration Component" - Components [] - Name "Simulink Coverage" - CovEnable off - CovScope "EntireSystem" - CovIncludeTopModel on - RecordCoverage off - CovPath "/" - CovSaveName "covdata" - CovCompData "" - CovMetricSettings "dw" - CovFilter "" - CovHTMLOptions "" - CovNameIncrementing off - CovHtmlReporting on - CovForceBlockReductionOff on - CovEnableCumulative on - CovSaveCumulativeToWorkspaceVar on - CovSaveSingleToWorkspaceVar on - CovCumulativeVarName "covCumulativeData" - CovCumulativeReport off - CovSaveOutputData on - CovOutputDir "slcov_output/$ModelName$" - CovDataFileName "$ModelName$_cvdata" - CovShowResultsExplorer on - 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 27 - Version "19.1.1" - DisabledProps [] - Description "HDL Coder custom configuration component" - Components [] - Name "HDL Coder" - Array { - Type "Cell" - Dimension 1 - Cell " " - PropName "HDLConfigFile" - } - HDLCActiveTab "0" - } - PropName "Components" - } - Name "Configuration" - CurrentDlgPage "Solver" - ConfigPrmDlgPosition [ 963, 135, 1843, 765 ] - ExtraOptions "" - } - PropName "ConfigurationSets" - } - ExplicitPartitioning off - BlockDefaults { - ForegroundColor "black" - BackgroundColor "white" - DropShadow off - NamePlacement "normal" - FontName "Helvetica" - FontSize 10 - FontWeight "normal" - FontAngle "normal" - ShowName on - HideAutomaticName on - BlockRotation 0 - BlockMirror off - } - AnnotationDefaults { - HorizontalAlignment "center" - VerticalAlignment "middle" - ForegroundColor "black" - BackgroundColor "white" - DropShadow off - FontName "Helvetica" - FontSize 10 - FontWeight "normal" - FontAngle "normal" - MarkupType "model" - UseDisplayTextAsClickCallback off - AnnotationType "note_annotation" - FixedHeight off - FixedWidth off - Interpreter "off" - } - LineDefaults { - FontName "Helvetica" - FontSize 9 - FontWeight "normal" - FontAngle "normal" - } - MaskDefaults { - SelfModifiable "off" - IconFrame "on" - IconOpaque "opaque" - RunInitForIconRedraw "analyze" - IconRotate "none" - PortRotate "default" - IconUnits "autoscale" - } - MaskParameterDefaults { - Evaluate "on" - Tunable "on" - NeverSave "off" - Internal "off" - ReadOnly "off" - Enabled "on" - Visible "on" - ToolTip "on" - } - BlockParameterDefaults { - Block { - BlockType Clock - DisplayTime off - Decimation "10" - } - Block { - BlockType Constant - Value "1" - VectorParams1D on - SamplingMode "Sample based" - OutMin "[]" - OutMax "[]" - OutDataTypeStr "Inherit: Inherit from 'Constant value'" - LockScale off - SampleTime "inf" - FramePeriod "inf" - PreserveConstantTs off - } - Block { - BlockType Demux - Outputs "4" - DisplayOption "none" - BusSelectionMode off - } - Block { - BlockType DotProduct - InputSameDT on - OutMin "[]" - OutMax "[]" - OutDataTypeStr "Inherit: Same as first input" - LockScale off - RndMeth "Floor" - SaturateOnIntegerOverflow off - SampleTime "-1" - } - Block { - BlockType Gain - Gain "1" - Multiplication "Element-wise(K.*u)" - ParamMin "[]" - ParamMax "[]" - ParamDataTypeStr "Inherit: Same as input" - OutMin "[]" - OutMax "[]" - OutDataTypeStr "Inherit: Same as input" - LockScale off - RndMeth "Floor" - SaturateOnIntegerOverflow on - SampleTime "-1" - } - Block { - BlockType Inport - Port "1" - OutputFunctionCall off - OutMin "[]" - OutMax "[]" - OutDataTypeStr "Inherit: auto" - LockScale off - BusOutputAsStruct off - Unit "inherit" - PortDimensions "-1" - VarSizeSig "Inherit" - SampleTime "-1" - SignalType "auto" - SamplingMode "auto" - LatchByDelayingOutsideSignal off - LatchInputForFeedbackSignals off - Interpolate on - } - Block { - BlockType Outport - Port "1" - 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 - Inputs "2" - Multiplication "Element-wise(.*)" - CollapseMode "All dimensions" - CollapseDim "1" - InputSameDT on - OutMin "[]" - OutMax "[]" - OutDataTypeStr "Inherit: Same as first input" - LockScale off - RndMeth "Zero" - SaturateOnIntegerOverflow on - SampleTime "-1" - } - Block { - BlockType S-Function - FunctionName "system" - SFunctionModules "''" - PortCounts "[]" - MultiThreadCoSim "auto" - } - Block { - BlockType SubSystem - ShowPortLabels "FromPortIcon" - Permissions "ReadWrite" - PermitHierarchicalResolution "All" - TreatAsAtomicUnit off - MinAlgLoopOccurrences off - PropExecContextOutsideSubsystem off - ScheduleAs "Sample time" - SystemSampleTime "-1" - RTWSystemCode "Auto" - RTWFcnNameOpts "Auto" - RTWFileNameOpts "Auto" - FunctionInterfaceSpec "void_void" - FunctionWithSeparateData off - RTWMemSecFuncInitTerm "Inherit from model" - RTWMemSecFuncExecute "Inherit from model" - RTWMemSecDataConstants "Inherit from model" - RTWMemSecDataInternal "Inherit from model" - RTWMemSecDataParameters "Inherit from model" - SimViewingDevice off - DataTypeOverride "UseLocalSettings" - DataTypeOverrideAppliesTo "AllNumericTypes" - MinMaxOverflowLogging "UseLocalSettings" - Opaque off - MaskHideContents off - SFBlockType "NONE" - VariantControlMode "Expression" - Variant off - GeneratePreprocessorConditionals off - AllowZeroVariantControls off - PropagateVariantConditions off - TreatAsGroupedWhenPropagatingVariantConditions on - ContentPreviewEnabled off - IsWebBlock off - IsObserver off - Latency "0" - AutoFrameSizeCalculation off - IsWebBlockPanel off - } - Block { - BlockType Sum - IconShape "rectangular" - Inputs "++" - CollapseMode "All dimensions" - CollapseDim "1" - InputSameDT on - AccumDataTypeStr "Inherit: Inherit via internal rule" - OutMin "[]" - OutMax "[]" - OutDataTypeStr "Inherit: Same as first input" - LockScale off - RndMeth "Floor" - SaturateOnIntegerOverflow on - SampleTime "-1" - } - Block { - BlockType Terminator - } - } - System { - Name "WBToolboxLibrary_repository" - Location [67, 148, 2627, 1588] - Open on - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "black" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "400" - ReportName "simulink-default.rpt" - SIDHighWatermark "1852" - SimulinkSubDomain "Simulink" - Block { - BlockType SubSystem - Name "Actuators" - SID "224" - Ports [] - Position [250, 16, 348, 113] - ZOrder -17 - ForegroundColor "white" - DropShadow on - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 28 - $ClassName "Simulink.Mask" - Display "image(imread('wholeBodyActuators.png'),'center')" - } - System { - Name "Actuators" - Location [0, 27, 1920, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "562" - SimulinkSubDomain "Simulink" - Block { - BlockType S-Function - Name "SetMotorParameters" - SID "1847" - Ports [1, 1] - Position [645, 290, 755, 340] - ZOrder 106 - BackgroundColor "[0.513700, 0.851000, 0.670600]" - FunctionName "BlockFactory" - Parameters "'SetMotorParameters','WBToolbox',WBTConfigParameters,configBlockAbsName,readP,readI,readD,pidType,se" - "tKTau,kTau,setBemf,bemf" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - Object { - $PropName "MaskObject" - $ObjectID 29 - $ClassName "Simulink.Mask" - Type "SetMotorParameters" - Description "This block allows to set motor PIDs and constants such as the motor constant and the back EMF.\n" - "\nThe motor constant and the back EMF are set in the block's mask, and their values are applied during the first " - "simulation loop. The PIDs values are instead set from the input ports.\n\nAll these vectors should have a size eq" - "ual to the number of controlled joints specified in the referred Configuration block.\n\nAt the end of the simula" - "tion, the default values are restored." - Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig" - "] = WBToolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n " - " clear WBTConfig;\ncatch\nend\n\n% The booleans of the checkboxes always create problems\nreadP = uint8(readP);" - "\nreadI = uint8(readI);\nreadD = uint8(readD);" - Display "fprintf('Motor Parameters\\n(%s)',pidType);\n\nnumPorts = 0;\n\nif readP\n numPorts = numPorts +" - " 1;\n port_label('input',numPorts,'P')\nend\n\nif readI\n numPorts = numPorts + 1;\n port_label('input'," - "numPorts,'I')\nend\n\nif readD\n numPorts = numPorts + 1;\n port_label('input',numPorts,'D')\nend\n" - RunInitForIconRedraw "on" - Array { - Type "Simulink.MaskParameter" - Dimension 8 - Object { - $ObjectID 30 - Type "popup" - Array { - Type "Cell" - Dimension 2 - Cell "Position" - Cell "Torque" - PropName "TypeOptions" - } - Name "pidType" - Prompt "PID Type" - Value "Position" - Evaluate "off" - Callback "% Get the mask parameter values. This is a cell\n% array of strings.\nmaskStr = get_param(gcb,'pidType'" - ");\n\nswitch maskStr\n case 'Position'\n set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]')" - ";\n case 'Position Direct'\n set_param(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, 1.0]');\n case " - "'Velocity'\n set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\n case 'Torque'\n s" - "et_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\n otherwise\n error('PID Type not recogn" - "ized');\nend\n\nclear maskStr" - } - Object { - $ObjectID 31 - Type "checkbox" - Name "readP" - Prompt "Enable P gains input signal" - Value "on" - } - Object { - $ObjectID 32 - Type "checkbox" - Name "readI" - Prompt "Enable I gains input signal" - Value "off" - } - Object { - $ObjectID 33 - Type "checkbox" - Name "readD" - Prompt "Enable D gains input signal" - Value "off" - } - Object { - $ObjectID 34 - Type "checkbox" - Name "setKTau" - Prompt "Set motor constant KTau" - Value "off" - Callback "h = Simulink.Mask.get(gcb);\nsetKTauValue = get_param(gcb,'setKTau');\n\nif ~strcmp(setKTauValue,'on')\n " - " h.Parameters(6).Enabled = 'off';\nelse\n h.Parameters(6).Enabled = 'on';\nend\n\nclear h setKTauValue" - } - Object { - $ObjectID 35 - Type "edit" - Name "kTau" - Prompt "kTau" - Value "[0]" - Enabled "off" - } - Object { - $ObjectID 36 - Type "checkbox" - Name "setBemf" - Prompt "Set motor back EMF constant" - Value "off" - Callback "h = Simulink.Mask.get(gcb);\nsetBemfValue = get_param(gcb,'setBemf');\n\nif ~strcmp(setBemfValue,'on')\n " - " h.Parameters(8).Enabled = 'off';\nelse\n h.Parameters(8).Enabled = 'on';\nend\n\nclear h setBemfValue" - } - Object { - $ObjectID 37 - Type "edit" - Name "bemf" - Prompt "bemf" - Value "[0]" - Enabled "off" - } - PropName "Parameters" - } - Array { - Type "Simulink.dialog.Group" - Dimension 2 - Object { - $ObjectID 38 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 39 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 40 - Prompt "Simulink:studio:ToolBarParametersMenu" - Array { - Type "Simulink.dialog.Group" - Dimension 3 - Object { - $ObjectID 41 - Prompt "Gains" - Array { - Type "Simulink.dialog.parameter.Control" - Dimension 4 - Object { - $ObjectID 42 - $ClassName "Simulink.dialog.parameter.Popup" - Name "pidType" - } - Object { - $ObjectID 43 - $ClassName "Simulink.dialog.parameter.CheckBox" - Name "readP" - } - Object { - $ObjectID 44 - $ClassName "Simulink.dialog.parameter.CheckBox" - Name "readI" - } - Object { - $ObjectID 45 - $ClassName "Simulink.dialog.parameter.CheckBox" - Name "readD" - } - PropName "DialogControls" - } - Name "Container3" - } - Object { - $ObjectID 46 - Prompt "Motor Torque Parameters" - Array { - Type "Simulink.dialog.parameter.Control" - Dimension 4 - Object { - $ObjectID 47 - $ClassName "Simulink.dialog.parameter.CheckBox" - Name "setKTau" - } - Object { - $ObjectID 48 - $ClassName "Simulink.dialog.parameter.Edit" - PromptLocation "left" - Name "kTau" - } - Object { - $ObjectID 49 - $ClassName "Simulink.dialog.parameter.CheckBox" - Name "setBemf" - } - Object { - $ObjectID 50 - $ClassName "Simulink.dialog.parameter.Edit" - PromptLocation "left" - Name "bemf" - } - PropName "DialogControls" - } - Name "Container4" - } - Object { - $ObjectID 51 - Object { - $PropName "DialogControls" - $ObjectID 52 - $ClassName "Simulink.dialog.Button" - Prompt "Toggle Config Block Highlighting" - Callback "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n if (strcmp(get_param(conf" - "igBlock,'HiliteAncestors'),'none'))\n hilite_system(configBlock,'find');\n else\n hilite_system" - "(configBlock,'none');\n end\ncatch\n error('[%s:ShowConfigBlock:Callback] Failed to process config block n" - "ame: %s',gcb,configBlock);\nend\n\nclear configBlock" - Name "Control2" - } - Name "ToggleButtonContainer" - } - PropName "DialogControls" - } - Name "ParameterGroupVar" - } - PropName "DialogControls" - } - } - } - Block { - BlockType SubSystem - Name "SetMotorReferences" - SID "1791" - Ports [1] - Position [710, 210, 785, 260] - ZOrder 44 - BackgroundColor "[0.960000, 0.770000, 0.460000]" - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 53 - $ClassName "Simulink.Mask" - Type "SetMotorReferences" - Description "This block sets motor references. The type of control mode is specified as a parameter in the b" - "lock.\n\nAssuming N as the number of motors (usually equal to internal DoFs):\n\nInput:\n - References: Vector o" - "f size N, representing the references to be sent to the robot controlled motors.\n\nParameters:\n - Control Mode" - ": The control mode. Choose one of the supplied mode.\n\nUnit of measurement:\n - PWM [-100, 100]% Duty cycle\n " - " - Current [A]\n - Back EMF\n - Torque Constant" - Initialization "refSpeed = 0;\n\n% WBBlock Initialization\n% ======================\n\ntry\n [configBlockA" - "bsName, WBTConfig] = WBToolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimul" - "inkParameters;\n clear WBTConfig;\ncatch\nend" - Display "disp(get_param(gcb,'controlType'))\n%port_label('input',1,'References')" - RunInitForIconRedraw "off" - Object { - $PropName "Parameters" - $ObjectID 54 - $ClassName "Simulink.MaskParameter" - Type "popup" - Array { - Type "Cell" - Dimension 4 - Cell "PWM" - Cell "Current" - Cell "Back EMF" - Cell "Torque Constant" - PropName "TypeOptions" - } - Name "controlType" - Prompt "Control Mode" - Value "Current" - Evaluate "off" - Callback "% Get the mask parameter values. This is a cell\n% array of strings.\n\nmaskStr = get_param(" - "gcb,'controlType');\n\nswitch maskStr\n case 'PWM'\n set_param(gcb,'BackgroundColor', '[1, 1, 1, 1.0]" - "');\n case 'Current'\n set_param(gcb,'BackgroundColor', '[0.96, 0.77, 0.46, 1.0]');\n case 'Back E" - "MF'\n set_param(gcb,'BackgroundColor', '[0.8, 0.4, 1.0, 1.0]');\n case 'Torque Constant'\n set" - "_param(gcb,'BackgroundColor', '[0.8, 1.0, 0.4, 1.0]');\n otherwise\n error('Control Type not recogniz" - "ed.')\nend\n\nclear maskStr" - } - Array { - Type "Simulink.dialog.Group" - Dimension 3 - Object { - $ObjectID 55 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 56 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 57 - Prompt "Simulink:studio:ToolBarParametersMenu" - Object { - $PropName "DialogControls" - $ObjectID 58 - $ClassName "Simulink.dialog.parameter.Popup" - Name "controlType" - } - Name "ParameterGroupVar" - } - Object { - $ObjectID 59 - Object { - $PropName "DialogControls" - $ObjectID 60 - $ClassName "Simulink.dialog.Button" - Prompt "Toggle Config Block Highlighting" - Callback "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n if (strcmp(get_param(configBl" - "ock,'HiliteAncestors'),'none'))\n hilite_system(configBlock,'find');\n else\n hilite_system(confi" - "gBlock,'none');\n end\ncatch\n error('[%s:ShowConfigBlock:Callback] Failed to process config block name: %s'" - ",gcb,configBlock);\nend\n\nclear configBlock" - Name "toggleHighlighting" - } - Name "ToggleButtonContainer" - } - PropName "DialogControls" - } - } - System { - Name "SetMotorReferences" - Location [0, 27, 1920, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "1000" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "References" - SID "1794" - Position [55, 48, 85, 62] - ZOrder 24 - IconDisplay "Port number" - } - Block { - BlockType S-Function - Name "S-Function" - SID "1795" - Ports [1] - Position [125, 39, 185, 71] - ZOrder 19 - FunctionName "BlockFactory" - Parameters "'SetReferences','WBToolbox',WBTConfigParameters,configBlockAbsName,controlType,refSpeed" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - } - Line { - ZOrder 1 - SrcBlock "References" - SrcPort 1 - DstBlock "S-Function" - DstPort 1 - } - } - } - Block { - BlockType SubSystem - Name "SetReferences" - SID "1767" - Ports [1] - Position [605, 210, 680, 260] - ZOrder 43 - BackgroundColor "[0.513700, 0.851000, 0.670600]" - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 61 - $ClassName "Simulink.Mask" - Type "SetReferences" - Description "This block sets the references for the robot actuators.\nThe type of control mode is specified " - "as a parameter in the block.\n\nAssuming DoFs is the number of internal degrees of freedom configured in the asso" - "ciated Config block:\n\nInput:\n - References: Vector of size DoFs, representing the references to be sent to th" - "e robot controlled joints.\n - Reference Speed (Position): Set the reference speed in rad/s used by the trajecto" - "ry generator of the IPositionControl interface\n - Reference Acceleration (Velocity): Set the reference speed in" - " rad/s/s used by the trajectory generator of the IVelocityControl interface\n\nParameters:\n - Control Mode: The" - " control mode. Choose one of the supplied mode.\n\nUnit of measurement:\n- Position [rad]\n- Velocity [rad/s]\n- " - "Acceleration [rad/s/s]\n- Torque [Nm]" - Initialization "if (strcmp(controlType,'Position'))\n refTrajectory = refSpeed;\nelseif (strcmp(controlTyp" - "e,'Velocity'))\n refTrajectory = refAcceleration;\nelse\n refTrajectory = 0;\nend\n\n% WBBlock Initializati" - "on\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig] = WBToolbox.BlockInitialization(gcb, gcs" - ");\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n clear WBTConfig;\ncatch\nend" - Display "disp(get_param(gcb,'controlType'))\n%port_label('input',1,'References')" - RunInitForIconRedraw "off" - Array { - Type "Simulink.MaskParameter" - Dimension 3 - Object { - $ObjectID 62 - Type "popup" - Array { - Type "Cell" - Dimension 4 - Cell "Position" - Cell "Position Direct" - Cell "Velocity" - Cell "Torque" - PropName "TypeOptions" - } - Name "controlType" - Prompt "Control Mode" - Value "Position" - Evaluate "off" - Callback "% Get the mask parameter values. This is a cell\n% array of strings.\n\nmaskStr = get_param(gcb,'contro" - "lType');\n\nswitch maskStr\n case 'Position'\n set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, " - "1.0]');\n set_param(gcb,'MaskVisibilities', {'on';'on';'off'});\n case 'Position Direct'\n set_para" - "m(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, 1.0]');\n set_param(gcb,'MaskVisibilities', {'on';'off';'o" - "ff'});\n case 'Velocity'\n set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\n set" - "_param(gcb,'MaskVisibilities', {'on';'off';'on'});\n case 'Torque'\n set_param(gcb,'BackgroundColor', '[0." - "8275, 0.5765, 0.6039, 1.0]');\n set_param(gcb,'MaskVisibilities', {'on';'off';'off'});\n otherwise\n " - " error('Control Type not recognized.')\nend\n\nclear maskStr" - } - Object { - $ObjectID 63 - Type "edit" - Name "refSpeed" - Prompt "Reference Speed" - Value "10*(pi/180)" - } - Object { - $ObjectID 64 - Type "edit" - Name "refAcceleration" - Prompt "Reference Velocity" - Value "1000000*(pi/180)" - Visible "off" - } - PropName "Parameters" - } - Array { - Type "Simulink.dialog.Group" - Dimension 3 - Object { - $ObjectID 65 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 66 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 67 - Prompt "Simulink:studio:ToolBarParametersMenu" - Array { - Type "Simulink.dialog.parameter.Control" - Dimension 3 - Object { - $ObjectID 68 - $ClassName "Simulink.dialog.parameter.Popup" - Name "controlType" - } - Object { - $ObjectID 69 - $ClassName "Simulink.dialog.parameter.Edit" - PromptLocation "left" - Name "refSpeed" - } - Object { - $ObjectID 70 - $ClassName "Simulink.dialog.parameter.Edit" - PromptLocation "left" - Name "refAcceleration" - } - PropName "DialogControls" - } - Name "ParameterGroupVar" - } - Object { - $ObjectID 71 - Object { - $PropName "DialogControls" - $ObjectID 72 - $ClassName "Simulink.dialog.Button" - Prompt "Toggle Config Block Highlighting" - Callback "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n if (strcmp(get_param(configBl" - "ock,'HiliteAncestors'),'none'))\n hilite_system(configBlock,'find');\n else\n hilite_system(confi" - "gBlock,'none');\n end\ncatch\n error('[%s:ShowConfigBlock:Callback] Failed to process config block name: %s'" - ",gcb,configBlock);\nend\n\nclear configBlock" - Name "toggleHighlighting" - } - Name "ToggleButtonContainer" - } - PropName "DialogControls" - } - } - System { - Name "SetReferences" - Location [0, 27, 1920, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "1000" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "References" - SID "1768" - Position [55, 48, 85, 62] - ZOrder 24 - IconDisplay "Port number" - } - Block { - BlockType S-Function - Name "S-Function" - SID "1769" - Ports [1] - Position [125, 39, 185, 71] - ZOrder 19 - FunctionName "BlockFactory" - Parameters "'SetReferences','WBToolbox',WBTConfigParameters,configBlockAbsName,controlType,refTrajectory" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - } - Line { - ZOrder 1 - SrcBlock "References" - SrcPort 1 - DstBlock "S-Function" - DstPort 1 - } - } - } - } - } - Block { - BlockType SubSystem - Name "Model" - SID "209" - Ports [] - Position [133, 16, 231, 113] - ZOrder -3 - ForegroundColor "white" - DropShadow on - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 73 - $ClassName "Simulink.Mask" - Display "image(imread('wholeBodyModel.png'),'center')" - } - System { - Name "Model" - Location [67, 148, 2627, 1588] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "250" - SimulinkSubDomain "Simulink" - Block { - BlockType SubSystem - Name "Dynamics" - SID "369" - Ports [] - Position [364, 21, 471, 128] - ZOrder -1 - DropShadow on - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 74 - $ClassName "Simulink.Mask" - Display "image(imread('Dynamics.png'))" - } - System { - Name "Dynamics" - Location [0, 0, 2048, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "239" - SimulinkSubDomain "Simulink" - Block { - BlockType SubSystem - Name "CentroidalMomentum" - SID "1694" - Ports [4, 1] - Position [475, 101, 660, 164] - ZOrder 72 - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 75 - $ClassName "Simulink.Mask" - Type "CentroidalMomentum" - Description "This block computed the 6 element centroidal momentum, as defined in:\n\n\"Centroidal dynamics of a hu" - "manoid robot\" - DE Orin, A Goswami, SH Lee\nAutonomous Robots 35 (2-3), 161-176\n\nAssuming DoFs is the number of i" - "nternal degrees of freedom of the robot:\n\nInput:\n - Base pose: 4x4 matrix representing the homogenous transforma" - "tion between the base frame and the world frame.\n - Joint configuration: Vector of size DoFs, representing the con" - "figuration of the joints.\n - Base velocity: Vector of size 6 representing the linear and angular velocity of the b" - "ase frame.\n - Joints velocity: Vector of size DoFs, representing the velocity of the joints.\n\nOutput:\n - Centr" - "oidal Momentum: 6-element vector containg the centroidal momentum (3 value for linear momentum and 3 for angular mom" - "entum)." - Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig] = WB" - "Toolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n clear " - "WBTConfig;\ncatch\nend" - RunInitForIconRedraw "off" - Object { - $PropName "DialogControls" - $ObjectID 76 - $ClassName "Simulink.dialog.Group" - Prompt "%" - Array { - Type "Simulink.dialog.Control" - Dimension 2 - Object { - $ObjectID 77 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Object { - $ObjectID 78 - $ClassName "Simulink.dialog.Group" - Object { - $PropName "DialogControls" - $ObjectID 79 - $ClassName "Simulink.dialog.Button" - Prompt "Toggle Config Block Highlighting" - Callback "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n if (strcmp(get_param(conf" - "igBlock,'HiliteAncestors'),'none'))\n hilite_system(configBlock,'find');\n else\n hilite_system" - "(configBlock,'none');\n end\ncatch\n error('[%s:ShowConfigBlock:Callback] Failed to process config block n" - "ame: %s',gcb,configBlock);\nend\n\nclear configBlock" - Name "toggleHighlighting" - } - Name "ToggleButtonContainer" - } - PropName "DialogControls" - } - Name "DescGroupVar" - } - } - System { - Name "CentroidalMomentum" - Location [0, 27, 1920, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "480" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "Base Pose" - SID "1695" - Position [20, 18, 50, 32] - ZOrder 22 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Joint configuration" - SID "1696" - Position [20, 53, 50, 67] - ZOrder 24 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Base velocity" - SID "1697" - Position [20, 88, 50, 102] - ZOrder 26 - Port "3" - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Joints velocity" - SID "1698" - Position [20, 123, 50, 137] - ZOrder 27 - Port "4" - IconDisplay "Port number" - } - Block { - BlockType S-Function - Name "S-Function" - SID "1699" - Ports [4, 1] - Position [180, 11, 255, 144] - ZOrder 19 - FunctionName "BlockFactory" - Parameters "'CentroidalMomentum','WBToolbox',WBTConfigParameters,configBlockAbsName" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - } - Block { - BlockType Outport - Name "CentroidalMomentum" - SID "1700" - Position [315, 73, 345, 87] - ZOrder 25 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "S-Function" - SrcPort 1 - DstBlock "CentroidalMomentum" - DstPort 1 - } - Line { - ZOrder 2 - SrcBlock "Base Pose" - SrcPort 1 - DstBlock "S-Function" - DstPort 1 - } - Line { - ZOrder 3 - SrcBlock "Joint configuration" - SrcPort 1 - DstBlock "S-Function" - DstPort 2 - } - Line { - ZOrder 4 - SrcBlock "Base velocity" - SrcPort 1 - DstBlock "S-Function" - DstPort 3 - } - Line { - ZOrder 5 - SrcBlock "Joints velocity" - SrcPort 1 - DstBlock "S-Function" - DstPort 4 - } - } - } - Block { - BlockType SubSystem - Name "GetBiasForces" - SID "1724" - Ports [4, 1] - Position [400, 212, 540, 313] - ZOrder 73 - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 80 - $ClassName "Simulink.Mask" - Type "Get Generalized Bias Forces" - Description "This block retrieves the generalied bias forces of the robot.\n\nAssuming DoFs is the number of intern" - "al degrees of freedom of the robot:\n\nInput:\n - Base pose: 4x4 matrix representing the homogenous transformation " - "between the base frame and the world frame.\n - Joint configuration: Vector of size DoFs, representing the configur" - "ation of the joints.\n - Base velocity: Vector of size 6 representing the linear and angular velocity of the base f" - "rame.\n - Joints velocity: Vector of size DoFs, representing the velocity of the joints.\n\nOutput:\n - Bias Force" - "s: a Dofs + 6 vector representing the generalized bias forces of the robot." - Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig] = WB" - "Toolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n clear " - "WBTConfig;\ncatch\nend" - RunInitForIconRedraw "off" - Object { - $PropName "DialogControls" - $ObjectID 81 - $ClassName "Simulink.dialog.Group" - Prompt "%" - Array { - Type "Simulink.dialog.Control" - Dimension 2 - Object { - $ObjectID 82 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Object { - $ObjectID 83 - $ClassName "Simulink.dialog.Group" - Object { - $PropName "DialogControls" - $ObjectID 84 - $ClassName "Simulink.dialog.Button" - Prompt "Toggle Config Block Highlighting" - Callback "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n if (strcmp(get_param(conf" - "igBlock,'HiliteAncestors'),'none'))\n hilite_system(configBlock,'find');\n else\n hilite_system" - "(configBlock,'none');\n end\ncatch\n error('[%s:ShowConfigBlock:Callback] Failed to process config block n" - "ame: %s',gcb,configBlock);\nend\n\nclear configBlock" - Name "toggleHighlighting" - } - Name "ToggleButtonContainer" - } - PropName "DialogControls" - } - Name "DescGroupVar" - } - } - System { - Name "GetBiasForces" - Location [0, 27, 1920, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "395" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "Base Pose" - SID "1776" - Position [10, 38, 40, 52] - ZOrder 22 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Joint configuration" - SID "1777" - Position [10, 68, 40, 82] - ZOrder 24 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Base velocity" - SID "1778" - Position [10, 98, 40, 112] - ZOrder 26 - Port "3" - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Joints velocity" - SID "1779" - Position [10, 128, 40, 142] - ZOrder 27 - Port "4" - IconDisplay "Port number" - } - Block { - BlockType Constant - Name "Constant" - SID "1780" - Position [-5, 157, 50, 173] - ZOrder 30 - ShowName off - Value "zeros(6,1)" - } - Block { - BlockType Gain - Name "Gain" - SID "1781" - Position [110, 180, 140, 210] - ZOrder 31 - ShowName off - Gain "0" - ParamDataTypeStr "Inherit: Inherit via internal rule" - OutDataTypeStr "Inherit: Inherit via internal rule" - SaturateOnIntegerOverflow off - } - Block { - BlockType S-Function - Name "S-Function" - SID "1782" - Ports [6, 1] - Position [180, 24, 240, 216] - ZOrder 19 - FunctionName "BlockFactory" - Parameters "'InverseDynamics','WBToolbox',WBTConfigParameters,configBlockAbsName" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - } - Block { - BlockType Outport - Name "Bias Forces" - SID "1783" - Position [300, 113, 330, 127] - ZOrder 25 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "S-Function" - SrcPort 1 - DstBlock "Bias Forces" - DstPort 1 - } - Line { - ZOrder 2 - SrcBlock "Base Pose" - SrcPort 1 - DstBlock "S-Function" - DstPort 1 - } - Line { - ZOrder 3 - SrcBlock "Joint configuration" - SrcPort 1 - DstBlock "S-Function" - DstPort 2 - } - Line { - ZOrder 4 - SrcBlock "Base velocity" - SrcPort 1 - DstBlock "S-Function" - DstPort 3 - } - Line { - ZOrder 5 - SrcBlock "Joints velocity" - SrcPort 1 - Points [44, 0] - Branch { - ZOrder 11 - Points [0, 60] - DstBlock "Gain" - DstPort 1 - } - Branch { - ZOrder 10 - DstBlock "S-Function" - DstPort 4 - } - } - Line { - ZOrder 8 - SrcBlock "Constant" - SrcPort 1 - DstBlock "S-Function" - DstPort 5 - } - Line { - ZOrder 9 - SrcBlock "Gain" - SrcPort 1 - DstBlock "S-Function" - DstPort 6 - } - } - } - Block { - BlockType SubSystem - Name "GetGravityForces" - SID "1733" - Ports [2, 1] - Position [600, 210, 740, 310] - ZOrder 74 - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 85 - $ClassName "Simulink.Mask" - Type "Gravity bias" - Description "This block compute the generalized bias forces due to the gravity\n\nAssuming DoFs is the number of in" - "ternal degrees of freedom of the robot:\n\nInput:\n - Base pose: 4x4 matrix representing the homogenous transformat" - "ion between the base frame and the world frame.\n - Joint configuration: Vector of size DoFs, representing the conf" - "iguration of the joints.\n\nOutput:\n - Gravity: a DoFs + 6 vector representing the torques due to the gravity." - Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig] = WB" - "Toolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n clear " - "WBTConfig;\ncatch\nend" - RunInitForIconRedraw "off" - Object { - $PropName "DialogControls" - $ObjectID 86 - $ClassName "Simulink.dialog.Group" - Prompt "%" - Array { - Type "Simulink.dialog.Control" - Dimension 2 - Object { - $ObjectID 87 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Object { - $ObjectID 88 - $ClassName "Simulink.dialog.Group" - Object { - $PropName "DialogControls" - $ObjectID 89 - $ClassName "Simulink.dialog.Button" - Prompt "Toggle Config Block Highlighting" - Callback "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n if (strcmp(get_param(conf" - "igBlock,'HiliteAncestors'),'none'))\n hilite_system(configBlock,'find');\n else\n hilite_system" - "(configBlock,'none');\n end\ncatch\n error('[%s:ShowConfigBlock:Callback] Failed to process config block n" - "ame: %s',gcb,configBlock);\nend\n\nclear configBlock" - Name "toggleHighlighting" - } - Name "ToggleButtonContainer" - } - PropName "DialogControls" - } - Name "DescGroupVar" - } - } - System { - Name "GetGravityForces" - Location [0, 27, 1920, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "395" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "Base Pose" - SID "1784" - Position [10, 38, 40, 52] - ZOrder 22 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Joint configuration" - SID "1785" - Position [10, 68, 40, 82] - ZOrder 24 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType Constant - Name "Constant" - SID "1786" - Position [0, 97, 55, 113] - ZOrder 32 - ShowName off - Value "zeros(6,1)" - } - Block { - BlockType Gain - Name "Gain" - SID "1787" - Position [100, 120, 130, 150] - ZOrder 33 - ShowName off - Gain "0" - ParamDataTypeStr "Inherit: Inherit via internal rule" - OutDataTypeStr "Inherit: Inherit via internal rule" - SaturateOnIntegerOverflow off - } - Block { - BlockType S-Function - Name "S-Function" - SID "1788" - Ports [6, 1] - Position [180, 24, 240, 216] - ZOrder 19 - FunctionName "BlockFactory" - Parameters "'InverseDynamics','WBToolbox',WBTConfigParameters,configBlockAbsName" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - } - Block { - BlockType Outport - Name "Gravity Torques" - SID "1789" - Position [300, 113, 330, 127] - ZOrder 25 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "S-Function" - SrcPort 1 - DstBlock "Gravity Torques" - DstPort 1 - } - Line { - ZOrder 2 - SrcBlock "Base Pose" - SrcPort 1 - DstBlock "S-Function" - DstPort 1 - } - Line { - ZOrder 3 - SrcBlock "Joint configuration" - SrcPort 1 - Points [41, 0] - Branch { - ZOrder 12 - Points [0, 60] - DstBlock "Gain" - DstPort 1 - } - Branch { - ZOrder 11 - DstBlock "S-Function" - DstPort 2 - } - } - Line { - ZOrder 8 - SrcBlock "Constant" - SrcPort 1 - Points [4, 0] - Branch { - ZOrder 10 - Points [0, 60] - DstBlock "S-Function" - DstPort 5 - } - Branch { - ZOrder 9 - DstBlock "S-Function" - DstPort 3 - } - } - Line { - ZOrder 13 - SrcBlock "Gain" - SrcPort 1 - Points [13, 0] - Branch { - ZOrder 15 - Points [0, 60] - DstBlock "S-Function" - DstPort 6 - } - Branch { - ZOrder 14 - DstBlock "S-Function" - DstPort 4 - } - } - } - } - Block { - BlockType S-Function - Name "InverseDynamics" - SID "1748" - Ports [6, 1] - Position [190, 199, 355, 331] - ZOrder 75 - FunctionName "BlockFactory" - Parameters "'InverseDynamics','WBToolbox',WBTConfigParameters,configBlockAbsName" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - Object { - $PropName "MaskObject" - $ObjectID 90 - $ClassName "Simulink.Mask" - Type "InverseDynamics" - Description "This block compute the inverse dynamics of the robot.\n\nAssuming DoFs is the number of internal degre" - "es of freedom of the robot:\n\nInput:\n - Base pose: 4x4 matrix representing the homogenous transformation between " - "the base frame and the world frame.\n - Joint configuration: Vector of size DoFs, representing the configuration of" - " the joints.\n - Base velocity: Vector of size 6 representing the linear and angular velocity of the base frame.\n " - " - Joints velocity: Vector of size DoFs, representing the velocity of the joints.\n - Base acceleration: Vector of " - "size 6 representing the linear and angular acceleration of the base frame.\n - Joints acceleration: Vector of size " - "DoFs, representing the acceleration of the joints.\n\nOutput:\n - Torques: a Dofs + 6 vector representing the corre" - "sponding torques required to achive the desired accelerations given the robot state." - Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig] = WB" - "Toolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n clear " - "WBTConfig;\ncatch\nend" - Display "port_label('output', 1, 'Torques')\n\nport_label('input', 1, 'Base pose')\nport_label('input', 2, 'Joints" - " configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, 'Joints velocity')\nport_label('in" - "put', 5, 'Base acceleration')\nport_label('input', 6, 'Joints acceleration')\n" - RunInitForIconRedraw "off" - Object { - $PropName "DialogControls" - $ObjectID 91 - $ClassName "Simulink.dialog.Group" - Prompt "%" - Array { - Type "Simulink.dialog.Control" - Dimension 2 - Object { - $ObjectID 92 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Object { - $ObjectID 93 - $ClassName "Simulink.dialog.Group" - Object { - $PropName "DialogControls" - $ObjectID 94 - $ClassName "Simulink.dialog.Button" - Prompt "Toggle Config Block Highlighting" - Callback "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n if (strcmp(get_param(conf" - "igBlock,'HiliteAncestors'),'none'))\n hilite_system(configBlock,'find');\n else\n hilite_system" - "(configBlock,'none');\n end\ncatch\n error('[%s:ShowConfigBlock:Callback] Failed to process config block n" - "ame: %s',gcb,configBlock);\nend\n\nclear configBlock" - Name "toggleHighlighting" - } - Name "ToggleButtonContainer" - } - PropName "DialogControls" - } - Name "DescGroupVar" - } - } - } - Block { - BlockType SubSystem - Name "MassMatrix" - SID "1633" - Ports [2, 1] - Position [250, 104, 390, 171] - ZOrder 32 - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 95 - $ClassName "Simulink.Mask" - Type "MassMatrix" - Description "This block retrieves the robot mass matrix.\n\nAssuming DoFs is the number of internal degrees of free" - "dom of the robot,\n\nInput:\n - Base pose: 4x4 matrix representing the homogenous transformation between the base f" - "rame and the world frame.\n - Joint configuration: Vector of size DoFs, representing the configuration of the joint" - "s.\n\nOutput:\n - MassMatrix: a (DoFs + 6) x (DoFs + 6) matrix representing the mass matrix of the robot." - Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig] = WB" - "Toolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n clear " - "WBTConfig;\ncatch\nend" - RunInitForIconRedraw "off" - Object { - $PropName "DialogControls" - $ObjectID 96 - $ClassName "Simulink.dialog.Group" - Prompt "%" - Array { - Type "Simulink.dialog.Control" - Dimension 2 - Object { - $ObjectID 97 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Object { - $ObjectID 98 - $ClassName "Simulink.dialog.Group" - Object { - $PropName "DialogControls" - $ObjectID 99 - $ClassName "Simulink.dialog.Button" - Prompt "Toggle Config Block Highlighting" - Callback "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n if (strcmp(get_param(conf" - "igBlock,'HiliteAncestors'),'none'))\n hilite_system(configBlock,'find');\n else\n hilite_system" - "(configBlock,'none');\n end\ncatch\n error('[%s:ShowConfigBlock:Callback] Failed to process config block n" - "ame: %s',gcb,configBlock);\nend\n\nclear configBlock" - Name "toggleHighlighting" - } - Name "ToggleButtonContainer" - } - PropName "DialogControls" - } - Name "DescGroupVar" - } - } - System { - Name "MassMatrix" - Location [0, 0, 2048, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "630" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "Base Pose" - SID "1634" - Position [20, 23, 50, 37] - ZOrder 22 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Joint configuration" - SID "1635" - Position [20, 63, 50, 77] - ZOrder 24 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType S-Function - Name "S-Function" - SID "1636" - Ports [2, 1] - Position [125, 37, 185, 68] - ZOrder 19 - FunctionName "BlockFactory" - Parameters "'MassMatrix','WBToolbox',WBTConfigParameters,configBlockAbsName" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - } - Block { - BlockType Outport - Name "MassMatrix" - SID "1637" - Position [245, 48, 275, 62] - ZOrder 25 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "S-Function" - SrcPort 1 - DstBlock "MassMatrix" - DstPort 1 - } - Line { - ZOrder 2 - SrcBlock "Base Pose" - SrcPort 1 - Points [36, 0; 0, 15] - DstBlock "S-Function" - DstPort 1 - } - Line { - ZOrder 3 - SrcBlock "Joint configuration" - SrcPort 1 - Points [33, 0; 0, -10] - DstBlock "S-Function" - DstPort 2 - } - } - } - } - } - Block { - BlockType SubSystem - Name "Jacobians" - SID "202" - Ports [] - Position [217, 20, 324, 127] - ZOrder -3 - DropShadow on - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 100 - $ClassName "Simulink.Mask" - Display "image(imread('jacobian.png'))" - } - System { - Name "Jacobians" - Location [67, 148, 2627, 1588] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "246" - SimulinkSubDomain "Simulink" - Block { - BlockType S-Function - Name "CentroidalTotalMomentumMatrix" - SID "1852" - Ports [2, 1] - Position [805, 171, 1075, 264] - ZOrder 70 - FunctionName "BlockFactory" - Parameters "'CentroidalTotalMomentumMatrix', 'WBToolbox', WBTConfigParameters, configBlockAbsName" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - Object { - $PropName "MaskObject" - $ObjectID 101 - $ClassName "Simulink.Mask" - Type "CentroidalTotalMomentumMatrix" - Description "This block retrieves the Centroidal Total Momentum Matrix.\n\nAssuming DoFs is the number of internal " - "degrees of freedom of the robot:\n\nInput:\n - Base pose: 4x4 matrix representing the homogenous transformation bet" - "ween the the base frame and the world frame.\n - Joint configuration: Vector of size DoFs, representing the configu" - "ration of the joints.\n\nOutput:\n - CMM: a 6x6+dofs matrix representing the Centroidal Momentum Matrix written in " - "the world frame." - Initialization "try\n [configBlockAbsName, WBTConfig] = WBToolbox.BlockInitialization(gcb, gcs);\n \n WBTC" - "onfigParameters = WBTConfig.getSimulinkParameters;\n clear WBTConfig;\ncatch\nend" - Display "\nport_label('output', 1, 'CentroidalTotalMomentumMatrix', 'texmode','on')\nport_label('input', 1, '{}^{w" - "orld} H_{base}', 'texmode','on')\nport_label('input', 2, 'Joint configuration')\n\n" - RunInitForIconRedraw "on" - Object { - $PropName "DialogControls" - $ObjectID 102 - $ClassName "Simulink.dialog.Group" - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 103 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - } - } - Block { - BlockType SubSystem - Name "DotJNu" - SID "1683" - Ports [4, 1] - Position [590, 170, 755, 265] - ZOrder 67 - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 104 - $ClassName "Simulink.Mask" - Type "DotJNu" - Description "This block computes the product between the time derivative of the Jacobian of the specified frame and" - " the state (base and joints) velocity vector.\n\nAssuming DoFs is the number of internal degrees of freedom of the r" - "obot:\n\nInput:\n - Base pose: 4x4 matrix representing the homogenous transformation between the the base frame and" - " the world frame.\n - Joint configuration: Vector of size DoFs, representing the configuration of the joints.\n - " - "Base velocity: Vector of size 6 representing the linear and angular velocity of the base frame.\n - Joints velocity" - ": Vector of size DoFs, representing the velocity of the joints.\n\nOutput:\n - dotJ nu: a 6D vector representing th" - "e product between the time derivative of the Jacobian of the specified frame and the state velocity vector\n\nParame" - "ters:\n - Frame name: the name of the frame. It should be specified in the URDF model." - Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig] = WB" - "Toolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n clear " - "WBTConfig;\ncatch\nend" - Display "escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('dot J_{',escapedFrameN" - "ame,'} \\nu'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\nport_label('input'," - " 2, 'Joint configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, 'Joint velocity')\n\ncle" - "ar escapedFrameName;" - RunInitForIconRedraw "on" - Object { - $PropName "Parameters" - $ObjectID 105 - $ClassName "Simulink.MaskParameter" - Type "edit" - Name "frameName" - Prompt "Frame name" - Value "'frame'" - } - Array { - Type "Simulink.dialog.Group" - Dimension 2 - Object { - $ObjectID 106 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 107 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 108 - Prompt "Simulink:studio:ToolBarParametersMenu" - Array { - Type "Simulink.dialog.Control" - Dimension 2 - Object { - $ObjectID 109 - $ClassName "Simulink.dialog.parameter.Edit" - Name "frameName" - } - Object { - $ObjectID 110 - $ClassName "Simulink.dialog.Group" - Object { - $PropName "DialogControls" - $ObjectID 111 - $ClassName "Simulink.dialog.Button" - Prompt "Toggle Config Block Highlighting" - Callback "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n if (strcmp(get_param(conf" - "igBlock,'HiliteAncestors'),'none'))\n hilite_system(configBlock,'find');\n else\n hilite_system" - "(configBlock,'none');\n end\ncatch\n error('[%s:ShowConfigBlock:Callback] Failed to process config block n" - "ame: %s',gcb,configBlock);\nend\n\nclear configBlock" - Name "toggleHighlighting" - } - Name "ToggleButtonContainer" - } - PropName "DialogControls" - } - Name "ParameterGroupVar" - } - PropName "DialogControls" - } - } - System { - Name "DotJNu" - Location [0, 27, 1920, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "595" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "Base Pose" - SID "1684" - Position [20, 13, 50, 27] - ZOrder 22 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Joint configuration" - SID "1685" - Position [20, 43, 50, 57] - ZOrder 24 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Base velocity" - SID "1686" - Position [20, 73, 50, 87] - ZOrder 26 - Port "3" - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Joints velocity" - SID "1687" - Position [20, 103, 50, 117] - ZOrder 27 - Port "4" - IconDisplay "Port number" - } - Block { - BlockType S-Function - Name "S-Function" - SID "1688" - Ports [4, 1] - Position [125, 4, 190, 126] - ZOrder 19 - FunctionName "BlockFactory" - Parameters "'DotJNu','WBToolbox',WBTConfigParameters,configBlockAbsName,frameName" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - } - Block { - BlockType Outport - Name "dotJ dotnu" - SID "1689" - Position [245, 58, 275, 72] - ZOrder 25 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "Joint configuration" - SrcPort 1 - DstBlock "S-Function" - DstPort 2 - } - Line { - ZOrder 2 - SrcBlock "Base Pose" - SrcPort 1 - DstBlock "S-Function" - DstPort 1 - } - Line { - ZOrder 3 - SrcBlock "S-Function" - SrcPort 1 - DstBlock "dotJ dotnu" - DstPort 1 - } - Line { - ZOrder 4 - SrcBlock "Base velocity" - SrcPort 1 - DstBlock "S-Function" - DstPort 3 - } - Line { - ZOrder 5 - SrcBlock "Joints velocity" - SrcPort 1 - DstBlock "S-Function" - DstPort 4 - } - } - } - Block { - BlockType SubSystem - Name "Jacobian" - SID "1663" - Ports [2, 1] - Position [380, 190, 540, 245] - ZOrder 39 - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 112 - $ClassName "Simulink.Mask" - Type "Jacobian" - Description "This block retrieves the Jacobian of the specified frame.\n\nAssuming DoFs is the number of internal d" - "egrees of freedom of the robot:\n\nInput:\n - Base pose: 4x4 matrix representing the homogenous transformation betw" - "een the the base frame and the world frame.\n - Joint configuration: Vector of size DoFs, representing the configur" - "ation of the joints.\n\nOutput:\n - Jacobian: a 6x6+dofs matrix representing the Jacobian of the specified frame wr" - "itten in the world frame.\n\nParameters:\n - Frame name: the name of the frame. It should be specified in the URDF " - "model." - Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig] = WB" - "Toolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n clear " - "WBTConfig;\ncatch\nend" - Display "escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('{}^{world} J_{',escape" - "dFrameName,'}'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\nport_label('input" - "', 2, 'Joint configuration')\n\nclear escapedFrameName;" - RunInitForIconRedraw "on" - Object { - $PropName "Parameters" - $ObjectID 113 - $ClassName "Simulink.MaskParameter" - Type "edit" - Name "frameName" - Prompt "Frame name" - Value "'frame'" - } - Array { - Type "Simulink.dialog.Group" - Dimension 2 - Object { - $ObjectID 114 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 115 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 116 - Prompt "Simulink:studio:ToolBarParametersMenu" - Array { - Type "Simulink.dialog.Control" - Dimension 2 - Object { - $ObjectID 117 - $ClassName "Simulink.dialog.parameter.Edit" - Name "frameName" - } - Object { - $ObjectID 118 - $ClassName "Simulink.dialog.Group" - Object { - $PropName "DialogControls" - $ObjectID 119 - $ClassName "Simulink.dialog.Button" - Prompt "Toggle Config Block Highlighting" - Callback "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n if (strcmp(get_param(conf" - "igBlock,'HiliteAncestors'),'none'))\n hilite_system(configBlock,'find');\n else\n hilite_system" - "(configBlock,'none');\n end\ncatch\n error('[%s:ShowConfigBlock:Callback] Failed to process config block n" - "ame: %s',gcb,configBlock);\nend\n\nclear configBlock" - Name "toggleHighlighting" - } - Name "ToggleButtonContainer" - } - PropName "DialogControls" - } - Name "ParameterGroupVar" - } - PropName "DialogControls" - } - } - System { - Name "Jacobian" - Location [0, 0, 2048, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "595" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "Base Pose" - SID "1664" - Position [20, 23, 50, 37] - ZOrder 22 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Joint configuration" - SID "1665" - Position [20, 63, 50, 77] - ZOrder 24 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType S-Function - Name "S-Function" - SID "1666" - Ports [2, 1] - Position [125, 37, 185, 68] - ZOrder 19 - FunctionName "BlockFactory" - Parameters "'Jacobian','WBToolbox',WBTConfigParameters,configBlockAbsName,frameName" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - } - Block { - BlockType Outport - Name "ForwardKinematics" - SID "1667" - Position [245, 48, 275, 62] - ZOrder 25 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "S-Function" - SrcPort 1 - DstBlock "ForwardKinematics" - DstPort 1 - } - Line { - ZOrder 2 - SrcBlock "Base Pose" - SrcPort 1 - Points [36, 0; 0, 15] - DstBlock "S-Function" - DstPort 1 - } - Line { - ZOrder 3 - SrcBlock "Joint configuration" - SrcPort 1 - Points [33, 0; 0, -10] - DstBlock "S-Function" - DstPort 2 - } - } - } - } - } - Block { - BlockType SubSystem - Name "Kinematics" - SID "176" - Ports [] - Position [70, 20, 177, 127] - ZOrder -17 - DropShadow on - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 120 - $ClassName "Simulink.Mask" - Display "image(imread('forwardKinematics.png'))" - } - System { - Name "Kinematics" - Location [67, 148, 2627, 1588] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "400" - SimulinkSubDomain "Simulink" - Block { - BlockType SubSystem - Name "ForwardKinematics" - SID "1647" - Ports [2, 1] - Position [360, 103, 510, 167] - ZOrder 34 - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 121 - $ClassName "Simulink.Mask" - Type "ForwardKinematics" - Description "This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of " - "internal degrees of freedom of the robot:\n\nInput:\n - Base pose: 4x4 matrix representing the homogenous transform" - "ation between the the base frame and the world frame.\n - Joint configuration: Vector of size DoFs, representing th" - "e configuration of the joints.\n\nOutput:\n - ForwardKinematics: a 4x4 matrix representing the homogenous transform" - "ation between the specified frame and the world frame.\n\nParameters:\n - Frame name: the name of the frame. It sho" - "uld be specified in the URDF model." - Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig] = WB" - "Toolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n clear " - "WBTConfig;\ncatch\nend" - Display "escapedFrameName = strrep(frameName, '_', '\\_');\n% port_label('output', 1, strcat('{}^{world} H_{',esca" - "pedFrameName,'}'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\nport_label('inp" - "ut', 2, 'Joint configuration')\n\nclear escapedFrameName;" - RunInitForIconRedraw "on" - Object { - $PropName "Parameters" - $ObjectID 122 - $ClassName "Simulink.MaskParameter" - Type "edit" - Name "frameName" - Prompt "Frame name" - Value "'frame'" - } - Array { - Type "Simulink.dialog.Group" - Dimension 2 - Object { - $ObjectID 123 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 124 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 125 - Prompt "Simulink:studio:ToolBarParametersMenu" - Array { - Type "Simulink.dialog.Control" - Dimension 2 - Object { - $ObjectID 126 - $ClassName "Simulink.dialog.parameter.Edit" - Name "frameName" - } - Object { - $ObjectID 127 - $ClassName "Simulink.dialog.Group" - Object { - $PropName "DialogControls" - $ObjectID 128 - $ClassName "Simulink.dialog.Button" - Prompt "Toggle Config Block Highlighting" - Callback "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n if (strcmp(get_param(conf" - "igBlock,'HiliteAncestors'),'none'))\n hilite_system(configBlock,'find');\n else\n hilite_system" - "(configBlock,'none');\n end\ncatch\n error('[%s:ShowConfigBlock:Callback] Failed to process config block n" - "ame: %s',gcb,configBlock);\nend\n\nclear configBlock" - Name "toggleHighlighting" - } - Name "ToggleButtonContainer" - } - PropName "DialogControls" - } - Name "ParameterGroupVar" - } - PropName "DialogControls" - } - } - System { - Name "ForwardKinematics" - Location [0, 27, 1920, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "595" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "Base Pose" - SID "1648" - Position [20, 23, 50, 37] - ZOrder 22 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Joint configuration" - SID "1649" - Position [20, 63, 50, 77] - ZOrder 24 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType S-Function - Name "S-Function" - SID "1650" - Ports [2, 1] - Position [125, 37, 185, 68] - ZOrder 19 - FunctionName "BlockFactory" - Parameters "'ForwardKinematics','WBToolbox',WBTConfigParameters,configBlockAbsName,frameName" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - } - Block { - BlockType Outport - Name "ForwardKinematics" - SID "1651" - Position [245, 48, 275, 62] - ZOrder 25 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "S-Function" - SrcPort 1 - DstBlock "ForwardKinematics" - DstPort 1 - } - Line { - ZOrder 2 - SrcBlock "Base Pose" - SrcPort 1 - Points [36, 0; 0, 15] - DstBlock "S-Function" - DstPort 1 - } - Line { - ZOrder 3 - SrcBlock "Joint configuration" - SrcPort 1 - Points [33, 0; 0, -10] - DstBlock "S-Function" - DstPort 2 - } - } - } - Block { - BlockType SubSystem - Name "InverseKinematics" - SID "1754" - Ports [3, 2] - Position [350, 198, 525, 262] - ZOrder 35 - Commented "on" - InitFcn "if ~exist('WBT_robotName','var')\n WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'" - ")\n WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n WBT_wbiFilename = 'yarpWho" - "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne" - "nd" - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 129 - $ClassName "Simulink.Mask" - Type "ForwardKinematics" - Description "This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of " - "internal degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformatio" - "n between\n the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, represe" - "nting the configuration \n of the joints.\n\nOutput:\n- ForwardKinematics: a 4x4 matrix repres" - "enting the homogenous transformation between\n the specified frame and the world frame.\n\nParameters:\n" - "- Frame name: the name of the frame. It should be specified in the URDF model.\n\n- Robot Port Name: Name of the por" - "ts opened by the robot. (e.g. icub).\n Set an empty string ('') to use the name specified in the \n" - " Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the un" - "derlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Inte" - "rface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n" - Display "escapedBaseFrameName = strrep(baseFrame, '_', '\\_');\nescapedEndEffFrameName = strrep(endEffFrame, '_', " - "'\\_');\n\n%port_label('output', 1, strcat('{}^{world} H_{',escapedFrameName,'}'), 'texmode','on')\n\n%port_label('i" - "nput', 1, '{}^{world} H_{base}', 'texmode','on')\n%port_label('input', 2, 'Joint configuration')\n\n%clear escapedFr" - "ameName;\n\n\n% if strcmp(robotPart, 'left')\n% prefix = 'l';\n% else\n% prefix = 'r';\n% end\n% \nport_labe" - "l('input', 1, strcat('{}^{',escapedBaseFrameName,'} H_{',escapedEndEffFrameName,'}^d'), 'texmode','on');\n\nport_lab" - "el('input', 2, '{}^{world} H_{base}', 'texmode','on')\nport_label('input', 3, 'q_j', 'texmode','on');\n% \n% \nport_" - "label('output', 1, '{}^{world} H_{base}^d', 'texmode','on')\nport_label('output', 2, 'q_j^d', 'texmode','on');\n\n" - RunInitForIconRedraw "on" - Array { - Type "Simulink.MaskParameter" - Dimension 7 - Object { - $ObjectID 130 - Type "edit" - Name "baseFrame" - Prompt "Base Frame" - Value "'root_link'" - } - Object { - $ObjectID 131 - Type "edit" - Name "endEffFrame" - Prompt "End Effector frame" - Value "'l_sole'" - } - Object { - $ObjectID 132 - Type "popup" - Array { - Type "Cell" - Dimension 2 - Cell "Full Constraint (Position and Orientation)" - Cell "Position only constraint" - PropName "TypeOptions" - } - Name "optOption" - Prompt "Optimization Option" - Value "Full Constraint (Position and Orientation)" - } - Object { - $ObjectID 133 - Type "edit" - Name "robotName" - Prompt "Robot Port Name" - Value "WBT_robotName" - Tunable "off" - } - Object { - $ObjectID 134 - Type "edit" - Name "localName" - Prompt "Model Name" - Value "WBT_modelName" - Tunable "off" - } - Object { - $ObjectID 135 - Type "edit" - Name "wbiFile" - Prompt "WBI filename" - Value "WBT_wbiFilename" - Tunable "off" - } - Object { - $ObjectID 136 - Type "edit" - Name "wbiList" - Prompt "WBI list name" - Value "WBT_wbiList" - Tunable "off" - } - PropName "Parameters" - } - Array { - Type "Simulink.dialog.Group" - Dimension 2 - Object { - $ObjectID 137 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 138 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 139 - Prompt "Simulink:studio:ToolBarParametersMenu" - Object { - $PropName "DialogControls" - $ObjectID 140 - $ClassName "Simulink.dialog.TabContainer" - Array { - Type "Simulink.dialog.Tab" - Dimension 2 - Object { - $ObjectID 141 - Prompt "Block parameters" - Array { - Type "Simulink.dialog.parameter.Control" - Dimension 3 - Object { - $ObjectID 142 - $ClassName "Simulink.dialog.parameter.Edit" - PromptLocation "left" - Name "baseFrame" - } - Object { - $ObjectID 143 - $ClassName "Simulink.dialog.parameter.Edit" - Name "endEffFrame" - } - Object { - $ObjectID 144 - $ClassName "Simulink.dialog.parameter.Popup" - Name "optOption" - } - PropName "DialogControls" - } - Name "Container8" - } - Object { - $ObjectID 145 - Prompt "WBI parameters" - Array { - Type "Simulink.dialog.parameter.Edit" - Dimension 4 - Object { - $ObjectID 146 - Name "robotName" - } - Object { - $ObjectID 147 - Name "localName" - } - Object { - $ObjectID 148 - Name "wbiFile" - } - Object { - $ObjectID 149 - Name "wbiList" - } - PropName "DialogControls" - } - Name "Container5" - } - PropName "DialogControls" - } - Name "Container4" - } - Name "ParameterGroupVar" - } - PropName "DialogControls" - } - } - System { - Name "InverseKinematics" - Location [0, 23, 1280, 744] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "312" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "Desired frame pose" - SID "1759" - Position [10, 13, 40, 27] - ZOrder 26 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Current Base Pose" - SID "1755" - Position [10, 43, 40, 57] - ZOrder 22 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Current Joint configuration" - SID "1756" - Position [10, 73, 40, 87] - ZOrder 24 - Port "3" - IconDisplay "Port number" - } - Block { - BlockType S-Function - Name "S-Function" - SID "1757" - Ports [3, 2] - Position [145, 4, 225, 96] - ZOrder 19 - FunctionName "WBToolbox" - Parameters "'InverseKinematics',robotName,localName,wbiFile,wbiList,baseFrame, endEffFrame,optOption" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - } - Block { - BlockType Outport - Name "Desired Base Pose" - SID "1758" - Position [280, 23, 310, 37] - ZOrder 25 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Block { - BlockType Outport - Name "Desired Joint Configuration" - SID "1760" - Position [280, 68, 310, 82] - ZOrder 27 - Port "2" - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "S-Function" - SrcPort 1 - DstBlock "Desired Base Pose" - DstPort 1 - } - Line { - ZOrder 5 - SrcBlock "Current Base Pose" - SrcPort 1 - DstBlock "S-Function" - DstPort 2 - } - Line { - ZOrder 4 - SrcBlock "Current Joint configuration" - SrcPort 1 - DstBlock "S-Function" - DstPort 3 - } - Line { - ZOrder 7 - SrcBlock "Desired frame pose" - SrcPort 1 - DstBlock "S-Function" - DstPort 1 - } - Line { - ZOrder 8 - SrcBlock "S-Function" - SrcPort 2 - DstBlock "Desired Joint Configuration" - DstPort 1 - } - } - } - Block { - BlockType SubSystem - Name "RelativeTransform" - SID "1799" - Ports [1, 1] - Position [565, 198, 715, 262] - ZOrder 67 - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 150 - $ClassName "Simulink.Mask" - Type "RelativeTransform" - Description "This block calculates the relative transform between two frames.\n\nAssuming DoFs is the number of int" - "ernal degrees of freedom of the robot:\n\nInput:\n - Joint configuration: Vector of size DoFs, representing the con" - "figuration of the joints.\n\nOutput:\n - Transform: a 4x4 matrix representing the homogenous transformation between" - " frame1 and frame2.\n\nParameters:\n - Frame1 name: the name of the first frame. It should be part of the URDF mode" - "l.\n - Frame2 name: the name of the second frame. It should be part of the URDF model." - Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig] = WB" - "Toolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n clear " - "WBTConfig;\ncatch\nend" - Display "port_label('input', 1, 'Joint configuration')\nport_label('output', 1, strcat('{}^{', frame1, '}', 'H_{'," - " frame2, '}'), 'texmode','on')" - RunInitForIconRedraw "on" - Array { - Type "Simulink.MaskParameter" - Dimension 2 - Object { - $ObjectID 151 - Type "edit" - Name "frame1" - Prompt "Frame1 name" - Value "'frame1'" - } - Object { - $ObjectID 152 - Type "edit" - Name "frame2" - Prompt "Frame2 name" - Value "'frame2'" - } - PropName "Parameters" - } - Array { - Type "Simulink.dialog.Group" - Dimension 2 - Object { - $ObjectID 153 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 154 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 155 - Prompt "Simulink:studio:ToolBarParametersMenu" - Array { - Type "Simulink.dialog.Control" - Dimension 3 - Object { - $ObjectID 156 - $ClassName "Simulink.dialog.parameter.Edit" - Name "frame1" - } - Object { - $ObjectID 157 - $ClassName "Simulink.dialog.parameter.Edit" - Name "frame2" - } - Object { - $ObjectID 158 - $ClassName "Simulink.dialog.Group" - Object { - $PropName "DialogControls" - $ObjectID 159 - $ClassName "Simulink.dialog.Button" - Prompt "Toggle Config Block Highlighting" - Callback "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n if (strcmp(get_param(conf" - "igBlock,'HiliteAncestors'),'none'))\n hilite_system(configBlock,'find');\n else\n hilite_system" - "(configBlock,'none');\n end\ncatch\n error('[%s:ShowConfigBlock:Callback] Failed to process config block n" - "ame: %s',gcb,configBlock);\nend\n\nclear configBlock" - Name "toggleHighlighting" - } - Name "ToggleButtonContainer" - } - PropName "DialogControls" - } - Name "ParameterGroupVar" - } - PropName "DialogControls" - } - } - System { - Name "RelativeTransform" - Location [0, 27, 1920, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "834" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "Joint configuration" - SID "1800" - Position [45, 48, 75, 62] - ZOrder 22 - IconDisplay "Port number" - } - Block { - BlockType S-Function - Name "S-Function" - SID "1806" - Ports [1, 1] - Position [120, 40, 180, 70] - ZOrder 27 - FunctionName "BlockFactory" - Parameters "'RelativeTransform','WBToolbox',WBTConfigParameters,configBlockAbsName,frame1, frame2" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - } - Block { - BlockType Outport - Name "RelativeTransform" - SID "1803" - Position [225, 48, 255, 62] - ZOrder 25 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 4 - SrcBlock "S-Function" - SrcPort 1 - DstBlock "RelativeTransform" - DstPort 1 - } - Line { - ZOrder 3 - SrcBlock "Joint configuration" - SrcPort 1 - DstBlock "S-Function" - DstPort 1 - } - } - } - Block { - BlockType SubSystem - Name "RemoteInverseKinematics" - SID "1761" - Ports [2, 1] - Position [560, 105, 720, 165] - ZOrder 66 - Commented "on" - InitFcn "if ~exist('WBT_robotName','var')\n WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'" - ")\n WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n WBT_wbiFilename = 'yarpWho" - "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne" - "nd" - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 160 - $ClassName "Simulink.Mask" - Type "ForwardKinematics" - Description "This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of " - "internal degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformatio" - "n between\n the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, represe" - "nting the configuration \n of the joints.\n\nOutput:\n- ForwardKinematics: a 4x4 matrix repres" - "enting the homogenous transformation between\n the specified frame and the world frame.\n\nParameters:\n" - "- Frame name: the name of the frame. It should be specified in the URDF model.\n\n- Robot Port Name: Name of the por" - "ts opened by the robot. (e.g. icub).\n Set an empty string ('') to use the name specified in the \n" - " Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the un" - "derlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Inte" - "rface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n" - Display "disp(solverName)\n\n\n\n% escapedBaseFrameName = strrep(baseFrame, '_', '\\_');\n% escapedEndEffFrameName" - " = strrep(endEffFrame, '_', '\\_');\n% \n% %port_label('output', 1, strcat('{}^{world} H_{',escapedFrameName,'}'), '" - "texmode','on')\n% \n% %port_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\n% %port_label('input', 2, 'Joi" - "nt configuration')\n% \n% %clear escapedFrameName;\n% \n% \n% % if strcmp(robotPart, 'left')\n% % prefix = 'l';\n" - "% % else\n% % prefix = 'r';\n% % end\n% % \n\nport_label('input', 1, 'H^d', 'texmode','on');\n% port_label('inpu" - "t', 1, strcat('{}^{',escapedBaseFrameName,'} H_{',escapedEndEffFrameName,'}^d'), 'texmode','on');\n% \n% port_label(" - "'input', 2, '{}^{world} H_{base}', 'texmode','on')\nport_label('input', 2, 'q_j(0)', 'texmode','on');\n% % \n% % \n%" - " port_label('output', 1, '{}^{world} H_{base}^d', 'texmode','on')\nport_label('output', 1, 'q_j^d', 'texmode','on');" - "\n\n" - RunInitForIconRedraw "on" - Array { - Type "Simulink.MaskParameter" - Dimension 3 - Object { - $ObjectID 161 - Type "edit" - Name "solverName" - Prompt "Solver Name" - Value "'/cartesianSolver'" - } - Object { - $ObjectID 162 - Type "edit" - Name "dofs" - Prompt "#Dofs" - Value "12" - Tunable "off" - } - Object { - $ObjectID 163 - Type "popup" - Array { - Type "Cell" - Dimension 2 - Cell "Full Constraint (Position and Orientation)" - Cell "Position only constraint" - PropName "TypeOptions" - } - Name "optOption" - Prompt "Optimization Option" - Value "Full Constraint (Position and Orientation)" - } - PropName "Parameters" - } - Array { - Type "Simulink.dialog.Group" - Dimension 2 - Object { - $ObjectID 164 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 165 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 166 - Prompt "Simulink:studio:ToolBarParametersMenu" - Object { - $PropName "DialogControls" - $ObjectID 167 - $ClassName "Simulink.dialog.TabContainer" - Object { - $PropName "DialogControls" - $ObjectID 168 - $ClassName "Simulink.dialog.Tab" - Prompt "Block parameters" - Array { - Type "Simulink.dialog.parameter.Control" - Dimension 3 - Object { - $ObjectID 169 - $ClassName "Simulink.dialog.parameter.Edit" - PromptLocation "left" - Name "solverName" - } - Object { - $ObjectID 170 - $ClassName "Simulink.dialog.parameter.Edit" - Name "dofs" - } - Object { - $ObjectID 171 - $ClassName "Simulink.dialog.parameter.Popup" - Name "optOption" - } - PropName "DialogControls" - } - Name "Container8" - } - Name "Container4" - } - Name "ParameterGroupVar" - } - PropName "DialogControls" - } - } - System { - Name "RemoteInverseKinematics" - Location [0, 27, 1920, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "469" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "Desired frame pose" - SID "1762" - Position [10, 23, 40, 37] - ZOrder 26 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Current Joint configuration" - SID "1763" - Position [10, 68, 40, 82] - ZOrder 24 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType S-Function - Name "S-Function" - SID "1764" - Ports [2, 1] - Position [145, 6, 225, 99] - ZOrder 19 - FunctionName "WBToolbox" - Parameters "'RemoteInverseKinematics',solverName, dofs, optOption" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - } - Block { - BlockType Outport - Name "Desired Joint Configuration" - SID "1765" - Position [285, 48, 315, 62] - ZOrder 27 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "S-Function" - SrcPort 1 - DstBlock "Desired Joint Configuration" - DstPort 1 - } - Line { - ZOrder 2 - SrcBlock "Desired frame pose" - SrcPort 1 - DstBlock "S-Function" - DstPort 1 - } - Line { - ZOrder 3 - SrcBlock "Current Joint configuration" - SrcPort 1 - DstBlock "S-Function" - DstPort 2 - } - } - } - } - } - } - } - Block { - BlockType SubSystem - Name "States" - SID "206" - Ports [] - Position [16, 17, 114, 114] - ZOrder -4 - ForegroundColor "white" - DropShadow on - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 172 - $ClassName "Simulink.Mask" - Display "image(imread('wholeBodyStates.png'),'center');" - } - System { - Name "States" - Location [2568, 323, 4549, 1448] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "600" - SimulinkSubDomain "Simulink" - Block { - BlockType SubSystem - Name "GetLimits" - SID "1690" - Ports [0, 2] - Position [345, 225, 460, 260] - ZOrder 68 - BackgroundColor "[0.513700, 0.851000, 0.670600]" - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 173 - $ClassName "Simulink.Mask" - Type "GetLimits" - Description "This block provides the joint limits gathering data from either the Robot's Control Board or UR" - "DF model.\n\nOutput:\n - Max: 1xDoFs vector containing the maximum limit\n - Min: 1xDoFs vector containing the" - " maximum limit\n\nUnit of measurement:\n - Position: rad\n - Velocity: rad/sec" - Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig" - "] = WBToolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n " - " clear WBTConfig;\ncatch\nend\n\n% GetLimits Initialization\n% =========================\n\nsourceLimit = get_p" - "aram(gcb,'limitsSource');\ntypeLimit = get_param(gcb,'limitsType');\nnotifyError = false;\n\nswitch sourceLimit\n" - " case 'ControlBoard'\n switch typeLimit\n case 'Position'\n limitsType = 'Con" - "trolBoardPosition';\n case 'Velocity'\n limitsType = 'ControlBoardVelocity';\n " - " otherwise\n notifyError = true;\n end\n case 'URDF'\n switch typeLimit\n " - " case 'Position'\n limitsType = 'ModelPosition';\n otherwise\n noti" - "fyError = true;\n end\nend\n\nif notifyError\n error('Limit Type not recognized');\nend\n\nclear source" - "Limit typeLimit notifyError" - SelfModifiable "on" - Display "fprintf('%s\\n(%s)',get_param(gcb,'limitsType'),get_param(gcb,'limitsSource'))\n\nport_label('outpu" - "t',1,'Min')\nport_label('output',2,'Max')" - RunInitForIconRedraw "off" - Array { - Type "Simulink.MaskParameter" - Dimension 2 - Object { - $ObjectID 174 - Type "popup" - Array { - Type "Cell" - Dimension 2 - Cell "ControlBoard" - Cell "URDF" - PropName "TypeOptions" - } - Name "limitsSource" - Prompt "Limits Source" - Value "ControlBoard" - Evaluate "off" - Callback "sourceLimit = get_param(gcb,'limitsSource');\nblockParameters = Simulink.Mask.get(gcb).Parameters;\nlimit" - "sTypeBlockParam = blockParameters(2);\n\nswitch sourceLimit\n case 'ControlBoard'\n limitsTypeBlockParam.T" - "ypeOptions = {'Position','Velocity'};\n %limitsTypeBlockParam.Value = limitsTypeBlockParam.TypeOptions{1};\n " - " case 'URDF'\n limitsTypeBlockParam.TypeOptions = {'Position'};\n %limitsTypeBlockParam.Value = limi" - "tsTypeBlockParam.TypeOptions{1};\n otherwise\n error('Limit Source not recognized');\nend\n\nclear sourceL" - "imit blockParameters limitsTypeBlockParam" - } - Object { - $ObjectID 175 - Type "popup" - Array { - Type "Cell" - Dimension 2 - Cell "Position" - Cell "Velocity" - PropName "TypeOptions" - } - Name "limitsType" - Prompt "Limits Type" - Value "Position" - Evaluate "off" - Callback "% Get the mask parameter values. This is a cell array of strings.\n% \nmaskStr = get_param(gcb,'limitsT" - "ype');\nif strcmp(maskStr, 'Position')\n set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]');\nelse" - "if strcmp(maskStr, 'Velocity')\n set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\nelseif strcm" - "p(maskStr, 'Acceleration')\n set_param(gcb,'BackgroundColor', '[0.9255, 0.8706, 0.1333, 1.0]');\nelseif strcmp(ma" - "skStr, 'Torque')\n set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nend\nclear maskStr" - } - PropName "Parameters" - } - Array { - Type "Simulink.dialog.Group" - Dimension 3 - Object { - $ObjectID 176 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 177 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 178 - Prompt "Simulink:studio:ToolBarParametersMenu" - Array { - Type "Simulink.dialog.parameter.Popup" - Dimension 2 - Object { - $ObjectID 179 - Name "limitsSource" - } - Object { - $ObjectID 180 - Name "limitsType" - } - PropName "DialogControls" - } - Name "ParameterGroupVar" - } - Object { - $ObjectID 181 - Object { - $PropName "DialogControls" - $ObjectID 182 - $ClassName "Simulink.dialog.Button" - Prompt "Toggle Config Block Highlighting" - Callback "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n if (strcmp(get_param(configBl" - "ock,'HiliteAncestors'),'none'))\n hilite_system(configBlock,'find');\n else\n hilite_system(confi" - "gBlock,'none');\n end\ncatch\n error('[%s:ShowConfigBlock:Callback] Failed to process config block name: %s'" - ",gcb,configBlock);\nend\n\nclear configBlock" - Name "toggleHighlighting" - } - Name "ToggleButtonContainer" - } - PropName "DialogControls" - } - } - System { - Name "GetLimits" - Location [0, 27, 1920, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "966" - SIDHighWatermark "1773" - SimulinkSubDomain "Simulink" - Block { - BlockType S-Function - Name "S-Function" - SID "1690:1691" - Ports [0, 2] - Position [115, 33, 175, 102] - ZOrder 19 - FunctionName "BlockFactory" - Parameters "'GetLimits','WBToolbox',WBTConfigParameters,configBlockAbsName,limitsType" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - } - Block { - BlockType Outport - Name "Min" - SID "1690:1692" - Position [220, 43, 250, 57] - ZOrder 25 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Block { - BlockType Outport - Name "Max" - SID "1690:1693" - Position [220, 78, 250, 92] - ZOrder 26 - Port "2" - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "S-Function" - SrcPort 1 - DstBlock "Min" - DstPort 1 - } - Line { - ZOrder 2 - SrcBlock "S-Function" - SrcPort 2 - DstBlock "Max" - DstPort 1 - } - } - } - Block { - BlockType SubSystem - Name "GetMeasurement" - SID "1671" - Ports [0, 1] - Position [290, 158, 385, 192] - ZOrder 53 - BackgroundColor "[0.513700, 0.851000, 0.670600]" - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 183 - $ClassName "Simulink.Mask" - Type "GetMeasurement" - Description "This block gathers the measurement of the specified type.\n\nAssuming DoFs is the number of deg" - "rees of freedom of the robot,\n\nOutput:\n - References: Vector of size DoFs, representing the requested measure" - "ment.\n\nParameters:\n - Control Mode: The control mode. Choose one of the supplied mode.\n\nUnit of measurement" - ":\n - Position: rad\n - Velocity: rad/sec\n - Acceleration: rad/sec/sec\n - Torque: Nm\n" - Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig" - "] = WBToolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n " - " clear WBTConfig;\ncatch\nend" - Display "port_label('output', 1, get_param(gcb,'measuredType'))" - RunInitForIconRedraw "off" - Object { - $PropName "Parameters" - $ObjectID 184 - $ClassName "Simulink.MaskParameter" - Type "popup" - Array { - Type "Cell" - Dimension 4 - Cell "Joints Position" - Cell "Joints Velocity" - Cell "Joints Acceleration" - Cell "Joints Torque" - PropName "TypeOptions" - } - Name "measuredType" - Prompt "Estimate Type" - Value "Joints Position" - Evaluate "off" - Callback "% Get the mask parameter values. This is a cell\n% array of strings.\n\nmaskStr = get_param(" - "gcb,'measuredType');\nif strcmp(maskStr, 'Joints Position')\n set_param(gcb,'BackgroundColor', '[0.5137, 0.8" - "510, 0.6706, 1.0]');\nelseif strcmp(maskStr, 'Joints Velocity')\n set_param(gcb,'BackgroundColor', '[0.5137," - " 0.6745, 1.0000, 1.0]');\nelseif strcmp(maskStr, 'Joints Acceleration')\n set_param(gcb,'BackgroundColor', '" - "[0.9255, 0.8706, 0.1333, 1.0]');\nelseif strcmp(maskStr, 'Joints Torque')\n set_param(gcb,'BackgroundColor'," - " '[0.8275, 0.5765, 0.6039, 1.0]');\nend\nclear maskStr" - } - Array { - Type "Simulink.dialog.Group" - Dimension 3 - Object { - $ObjectID 185 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 186 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 187 - Prompt "Simulink:studio:ToolBarParametersMenu" - Object { - $PropName "DialogControls" - $ObjectID 188 - $ClassName "Simulink.dialog.parameter.Popup" - Name "measuredType" - } - Name "ParameterGroupVar" - } - Object { - $ObjectID 189 - Object { - $PropName "DialogControls" - $ObjectID 190 - $ClassName "Simulink.dialog.Button" - Prompt "Toggle Config Block Highlighting" - Callback "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n if (strcmp(get_param(configBl" - "ock,'HiliteAncestors'),'none'))\n hilite_system(configBlock,'find');\n else\n hilite_system(confi" - "gBlock,'none');\n end\ncatch\n error('[%s:ShowConfigBlock:Callback] Failed to process config block name: %s'" - ",gcb,configBlock);\nend\n\nclear configBlock" - Name "toggleHighlighting" - } - Name "Container8" - } - PropName "DialogControls" - } - } - System { - Name "GetMeasurement" - Location [0, 27, 1920, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "1000" - SimulinkSubDomain "Simulink" - Block { - BlockType S-Function - Name "S-Function" - SID "1672" - Ports [0, 1] - Position [125, 39, 185, 71] - ZOrder 19 - FunctionName "BlockFactory" - Parameters "'GetMeasurement','WBToolbox',WBTConfigParameters,configBlockAbsName,measuredType" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - } - Block { - BlockType Outport - Name "Estimate" - SID "1673" - Position [210, 48, 240, 62] - ZOrder 25 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "S-Function" - SrcPort 1 - DstBlock "Estimate" - DstPort 1 - } - } - } - Block { - BlockType SubSystem - Name "GetMotorMeasurement" - SID "1796" - Ports [0, 1] - Position [410, 158, 505, 192] - ZOrder 69 - BackgroundColor "[0.960000, 0.770000, 0.460000]" - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 191 - $ClassName "Simulink.Mask" - Type "GetMeasurement" - Description "This block gathers the measurement of the specified type.\n\nAssuming DoFs is the number of deg" - "rees of freedom of the robot,\n\nOutput:\n - References: Vector of size DoFs, representing the requested measure" - "ment.\n\nParameters:\n - Control Mode: The control mode. Choose one of the supplied mode.\n\nUnit of measurement" - ":\n - PWM: duty cycle expressed as percentage [-100, 100]%\n - Current: values in Ampere\n" - Initialization "% WBBlock Initialization\n% ======================\n\ntry\n [configBlockAbsName, WBTConfig" - "] = WBToolbox.BlockInitialization(gcb, gcs);\n \n WBTConfigParameters = WBTConfig.getSimulinkParameters;\n " - " clear WBTConfig;\ncatch\nend" - Display "port_label('output', 1, get_param(gcb,'measuredType'))" - RunInitForIconRedraw "off" - Object { - $PropName "Parameters" - $ObjectID 192 - $ClassName "Simulink.MaskParameter" - Type "popup" - Array { - Type "Cell" - Dimension 7 - Cell "Motor Position" - Cell "Motor Velocity" - Cell "Motor Acceleration" - Cell "Motor PWM" - Cell "Motor Current" - Cell "Motor Back EMF" - Cell "Motor Torque Constant" - PropName "TypeOptions" - } - Name "measuredType" - Prompt "Estimate Type" - Value "Motor Current" - Evaluate "off" - Callback "maskStr = get_param(gcb,'measuredType');\n\nswitch maskStr\n case 'Motor Position'\n " - " set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]');\n case 'Motor Velocity'\n set_par" - "am(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\n case 'Motor Acceleration'\n set_param(g" - "cb,'BackgroundColor', '[0.9255, 0.8706, 0.1333, 1.0]');\n case 'Motor PWM'\n set_param(gcb,'Backgroun" - "dColor', '[1, 1, 1, 1.0]');\n case 'Motor Current'\n set_param(gcb,'BackgroundColor', '[0.96, 0.77, 0" - ".46, 1.0]');\n case 'Motor Back EMF'\n set_param(gcb,'BackgroundColor', '[0.8, 0.4, 1.0, 1.0]');\n " - " case 'Motor Torque Constant'\n set_param(gcb,'BackgroundColor', '[0.8, 1.0, 0.4, 1.0]');\n otherwise" - "\n error('Control Type not recognized.')\nend\n\nclear maskStr" - } - Array { - Type "Simulink.dialog.Group" - Dimension 3 - Object { - $ObjectID 193 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 194 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 195 - Prompt "Simulink:studio:ToolBarParametersMenu" - Object { - $PropName "DialogControls" - $ObjectID 196 - $ClassName "Simulink.dialog.parameter.Popup" - Name "measuredType" - } - Name "ParameterGroupVar" - } - Object { - $ObjectID 197 - Object { - $PropName "DialogControls" - $ObjectID 198 - $ClassName "Simulink.dialog.Button" - Prompt "Toggle Config Block Highlighting" - Callback "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n if (strcmp(get_param(configBl" - "ock,'HiliteAncestors'),'none'))\n hilite_system(configBlock,'find');\n else\n hilite_system(confi" - "gBlock,'none');\n end\ncatch\n error('[%s:ShowConfigBlock:Callback] Failed to process config block name: %s'" - ",gcb,configBlock);\nend\n\nclear configBlock" - Name "toggleHighlighting" - } - Name "Container8" - } - PropName "DialogControls" - } - } - System { - Name "GetMotorMeasurement" - Location [0, 27, 1920, 1080] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "1000" - SimulinkSubDomain "Simulink" - Block { - BlockType S-Function - Name "S-Function" - SID "1797" - Ports [0, 1] - Position [125, 39, 185, 71] - ZOrder 19 - FunctionName "BlockFactory" - Parameters "'GetMeasurement','WBToolbox',WBTConfigParameters,configBlockAbsName,measuredType" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - } - Block { - BlockType Outport - Name "Estimate" - SID "1798" - Position [210, 48, 240, 62] - ZOrder 25 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "S-Function" - SrcPort 1 - DstBlock "Estimate" - DstPort 1 - } - } - } - } - } - Block { - BlockType SubSystem - Name "Utilities" - SID "192" - Ports [] - Position [364, 17, 462, 114] - ZOrder -1 - ForegroundColor "white" - DropShadow on - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 199 - $ClassName "Simulink.Mask" - Display "image(imread('utilities.png'))" - } - System { - Name "Utilities" - Location [2568, 323, 4549, 1448] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "175" - SimulinkSubDomain "Simulink" - Block { - BlockType SubSystem - Name "Configuration" - SID "1774" - Ports [] - Position [295, 310, 370, 340] - ZOrder 95 - InitFcn "source = get_param(gcb,'ConfigSource');\n\nif strcmp(source, 'Workspace')\n object = get_param(gcb,'" - "ConfigObject');\n WBToolbox.ConfigurationToMask(gcb, object);\nend\n\nWBToolbox.MaskToConfiguration(gcb);\n\ncle" - "ar object source" - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 200 - $ClassName "Simulink.Mask" - SelfModifiable "on" - Display "disp('Config')" - RunInitForIconRedraw "off" - Array { - Type "Simulink.MaskParameter" - Dimension 8 - Object { - $ObjectID 201 - Type "popup" - Array { - Type "Cell" - Dimension 2 - Cell "Workspace" - Cell "Mask" - PropName "TypeOptions" - } - Name "ConfigSource" - Prompt "Configuration from" - Value "Mask" - Callback "% Get the Workspace/Mask menu\nh = Simulink.Mask.get(gcb);\ncurrentConfigSource = get_param(gcb,'ConfigSo" - "urce');\n\nif strcmp(currentConfigSource,'Workspace')\n % Switch the visibility of the GUI elements\n set_para" - "m(gcb,'MaskVisibilities',{'on';'on';'on';'on';'on';'on';'on';'on';});\n h.Parameters(3).ReadOnly = 'on';\n h.P" - "arameters(4).ReadOnly = 'on';\n h.Parameters(5).ReadOnly = 'on';\n h.Parameters(6).ReadOnly = 'on';\n h.Par" - "ameters(7).ReadOnly = 'on';\n h.Parameters(8).ReadOnly = 'on';\n \n % Parse the object inserted in the Conf" - "igObject field\n currentConfigObject = get_param(gcb,'ConfigObject');\n WBToolbox.ConfigurationToMask(gcb,curr" - "entConfigObject);\n clear currentConfigObject;\nelseif strcmp(currentConfigSource,'Mask')\n % Switch the visib" - "ility of the GUI elements\n set_param(gcb,'MaskVisibilities',{'on';'off';'on';'on';'on';'on';'on';'on';});\n h" - ".Parameters(3).ReadOnly = 'off';\n h.Parameters(4).ReadOnly = 'off';\n h.Parameters(5).ReadOnly = 'off';\n " - "h.Parameters(6).ReadOnly = 'off';\n h.Parameters(7).ReadOnly = 'off';\n h.Parameters(8).ReadOnly = 'off';\n " - " h.Parameters(3).Enabled = 'on';\n h.Parameters(4).Enabled = 'on';\n h.Parameters(5).Enabled = 'on';\n h.Pa" - "rameters(6).Enabled = 'on';\n h.Parameters(7).Enabled = 'on';\n h.Parameters(8).Enabled = 'on';\nend\n\nclear " - "h currentConfigSource" - } - Object { - $ObjectID 202 - Type "edit" - Name "ConfigObject" - Prompt "Name of the object" - Value "'WBTConfigRobot'" - Tunable "off" - Visible "off" - Callback "% This code get called whatsoever\nif strcmp(char(get_param(gcb,'ConfigSource')),'Mask')\n return\nend" - "\n\n% Parse the object inserted in the ConfigObject field\ncurrentConfigObject = get_param(gcb,'ConfigObject');\nWBT" - "oolbox.ConfigurationToMask(gcb,currentConfigObject);\n\nclear currentConfigObject;" - } - Object { - $ObjectID 203 - Type "edit" - Name "RobotName" - Prompt "Robot Name" - Value "'icubSim'" - } - Object { - $ObjectID 204 - Type "edit" - Name "UrdfFile" - Prompt "Urdf File" - Value "'model.urdf'" - } - Object { - $ObjectID 205 - Type "edit" - Name "ControlledJoints" - Prompt "Controlled Joints" - Value "{'l_elbow','l_shoulder_pitch','torso_roll'}" - } - Object { - $ObjectID 206 - Type "edit" - Name "ControlBoardsNames" - Prompt "Control Boards Names" - Value "{'left_arm','right_arm','torso'}" - } - Object { - $ObjectID 207 - Type "edit" - Name "LocalName" - Prompt "Local Name" - Value "'WBT'" - } - Object { - $ObjectID 208 - Type "edit" - Name "GravityVector" - Prompt "Gravity Vector" - Value "[0,0,-9.81]" - } - PropName "Parameters" - } - Array { - Type "Simulink.dialog.Group" - Dimension 2 - Object { - $ObjectID 209 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 210 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 211 - Prompt "Simulink:studio:ToolBarParametersMenu" - Object { - $PropName "DialogControls" - $ObjectID 212 - $ClassName "Simulink.dialog.TabContainer" - Array { - Type "Simulink.dialog.Tab" - Dimension 2 - Object { - $ObjectID 213 - Prompt "From" - Array { - Type "Simulink.dialog.parameter.Control" - Dimension 2 - Object { - $ObjectID 214 - $ClassName "Simulink.dialog.parameter.Popup" - Name "ConfigSource" - } - Object { - $ObjectID 215 - $ClassName "Simulink.dialog.parameter.Edit" - PromptLocation "left" - Name "ConfigObject" - } - PropName "DialogControls" - } - Name "TabFrom" - } - Object { - $ObjectID 216 - Prompt "Data" - Array { - Type "Simulink.dialog.parameter.Edit" - Dimension 6 - Object { - $ObjectID 217 - PromptLocation "left" - Name "RobotName" - } - Object { - $ObjectID 218 - PromptLocation "left" - Name "UrdfFile" - } - Object { - $ObjectID 219 - PromptLocation "left" - Name "ControlledJoints" - } - Object { - $ObjectID 220 - PromptLocation "left" - Name "ControlBoardsNames" - } - Object { - $ObjectID 221 - PromptLocation "left" - Name "LocalName" - } - Object { - $ObjectID 222 - PromptLocation "left" - Name "GravityVector" - } - PropName "DialogControls" - } - Name "TabData" - } - PropName "DialogControls" - } - Name "TabContainer" - } - Name "ParameterGroupVar" - } - PropName "DialogControls" - } - } - System { - Name "Configuration" - Location [550, 86, 1677, 725] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "600" - SIDHighWatermark "70" - SimulinkSubDomain "Simulink" - Block { - BlockType Constant - Name "ImConfig" - SID "1774:67" - Position [20, 20, 50, 50] - ZOrder 81 - Value "0" - } - Block { - BlockType Terminator - Name "Terminator" - SID "1774:68" - Position [95, 25, 115, 45] - ZOrder 80 - } - Line { - ZOrder 1 - SrcBlock "ImConfig" - SrcPort 1 - DstBlock "Terminator" - DstPort 1 - } - } - } - Block { - BlockType SubSystem - Name "DampPinv" - SID "104" - Ports [2, 1] - Position [495, 198, 565, 242] - ZOrder -1 - BackgroundColor "[0.848000, 0.128048, 0.320035]" - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 223 - $ClassName "Simulink.Mask" - RunInitForIconRedraw "off" - Object { - $PropName "Parameters" - $ObjectID 224 - $ClassName "Simulink.MaskParameter" - Type "edit" - Name "tol" - Prompt "Tolerance" - Value "1e-4" - } - } - System { - Name "DampPinv" - Location [0, 29, 1280, 744] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "100" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "mat" - SID "105" - Position [50, 53, 80, 67] - ZOrder -1 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "sigma" - SID "106" - Position [50, 93, 80, 107] - ZOrder -2 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType SubSystem - Name "Damped Pseudo Inverse" - SID "107" - Ports [2, 1] - Position [105, 39, 200, 121] - ZOrder -4 - LibraryVersion "1.32" - ErrorFcn "Stateflow.Translate.translate" - PermitHierarchicalResolution "ExplicitOnly" - TreatAsAtomicUnit on - RequestExecContextInheritance off - SFBlockType "MATLAB Function" - System { - Name "Damped Pseudo Inverse" - Location [12, 45, 1279, 3773] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "100" - SIDHighWatermark "1631" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "mat" - SID "107::1" - Position [20, 101, 40, 119] - ZOrder -1 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "sigma" - SID "107::25" - Position [20, 136, 40, 154] - ZOrder 11 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType Demux - Name " Demux " - SID "107::1630" - Ports [1, 1] - Position [270, 230, 320, 270] - ZOrder 110 - Outputs "1" - } - Block { - BlockType S-Function - Name " SFunction " - SID "107::1629" - Tag "Stateflow S-Function 6" - Ports [2, 2] - Position [180, 100, 230, 160] - ZOrder 109 - FunctionName "sf_sfun" - PortCounts "[2 2]" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - Port { - PortNumber 2 - Name "DPinv" - } - } - Block { - BlockType Terminator - Name " Terminator " - SID "107::1631" - Position [460, 241, 480, 259] - ZOrder 111 - } - Block { - BlockType Outport - Name "DPinv" - SID "107::5" - Position [460, 101, 480, 119] - ZOrder -6 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 81 - SrcBlock "mat" - SrcPort 1 - Points [120, 0] - DstBlock " SFunction " - DstPort 1 - } - Line { - ZOrder 82 - SrcBlock "sigma" - SrcPort 1 - DstBlock " SFunction " - DstPort 2 - } - Line { - Name "DPinv" - ZOrder 83 - Labels [0, 0] - SrcBlock " SFunction " - SrcPort 2 - DstBlock "DPinv" - DstPort 1 - } - Line { - ZOrder 84 - SrcBlock " Demux " - SrcPort 1 - DstBlock " Terminator " - DstPort 1 - } - Line { - ZOrder 85 - SrcBlock " SFunction " - SrcPort 1 - DstBlock " Demux " - DstPort 1 - } - } - } - Block { - BlockType Outport - Name "DPinv" - SID "108" - Position [225, 73, 255, 87] - ZOrder -5 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "sigma" - SrcPort 1 - DstBlock "Damped Pseudo Inverse" - DstPort 2 - } - Line { - ZOrder 2 - SrcBlock "Damped Pseudo Inverse" - SrcPort 1 - DstBlock "DPinv" - DstPort 1 - } - Line { - ZOrder 3 - SrcBlock "mat" - SrcPort 1 - DstBlock "Damped Pseudo Inverse" - DstPort 1 - } - } - } - Block { - BlockType S-Function - Name "DiscreteFilter" - SID "1790" - Ports [1, 1] - Position [165, 310, 235, 340] - ZOrder 103 - BackgroundColor "yellow" - FunctionName "BlockFactory" - Parameters "'DiscreteFilter','WBToolbox',filterDataStruct" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - Object { - $PropName "MaskObject" - $ObjectID 225 - $ClassName "Simulink.Mask" - Type "DiscreteFilter" - Description "This block wraps the Filter, FirstOrderLowPassFilter, and MedianFilter from iCub::ctrl." - Initialization "filterDataStruct = struct;\nfilterDataStruct.Fc = Fc;\nfilterDataStruct.Ts = Ts;\nfilterDataS" - "truct.MedianOrder = orderMedianFilter;\nfilterDataStruct.FilterType = filterType;\nfilterDataStruct.NumCoeffs = n" - "umCoeffs;\nfilterDataStruct.DenCoeffs = denCoeffs;\nfilterDataStruct.y0 = y0;\nfilterDataStruct.u0 = u0;\nfilterD" - "ataStruct.InitStatus = uint8(initStatus);" - Display "disp('Filter')" - RunInitForIconRedraw "off" - Array { - Type "Simulink.MaskParameter" - Dimension 9 - Object { - $ObjectID 226 - Type "popup" - Array { - Type "Cell" - Dimension 3 - Cell "Generic" - Cell "FirstOrderLowPassFilter" - Cell "MedianFilter" - PropName "TypeOptions" - } - Name "filterType" - Prompt "Type of the filter" - Value "Generic" - Evaluate "off" - Callback "% From: https://it.mathworks.com/help/simulink/slref/simulink.mask-class.html\nfilterType = get_param(gcb" - ", 'filterType');\ninitStatus = get_param(gcb, 'initStatus');\np = Simulink.Mask.get(gcbh);\nhowToCoeffs = p.getDialo" - "gControl('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, 'MaskVisibilities',{'on'" - ",'on','on','off','off','off','on',vis_init,vis_init});\n howToCoeffs.Visible = 'on';\nelseif(strcmp(filterType, '" - "FirstOrderLowPassFilter'))\n set_param(gcb, 'MaskVisibilities',{'on','off','off','on','on','off','on',vis_init,'o" - "ff'});\n howToCoeffs.Visible = 'off';\nelseif(strcmp(filterType, 'MedianFilter'))\n set_param(gcb, 'MaskVisibi" - "lities',{'on','off','off','off','off','on','on',vis_init,'off'});\n howToCoeffs.Visible = 'off';\nend\n\nclear fi" - "lterType initStatus p howToCoeffs vis_init;" - } - Object { - $ObjectID 227 - Type "edit" - Name "numCoeffs" - Prompt "Numerator Coefficients*" - Value "[0]" - } - Object { - $ObjectID 228 - Type "edit" - Name "denCoeffs" - Prompt "Denominator Coefficients*" - Value "[0]" - } - Object { - $ObjectID 229 - Type "edit" - Name "Fc" - Prompt "Cut Frequency (Hz)" - Value "0" - Visible "off" - } - Object { - $ObjectID 230 - Type "edit" - Name "Ts" - Prompt "Sampling time (s)" - Value "0" - Visible "off" - } - Object { - $ObjectID 231 - Type "edit" - Name "orderMedianFilter" - Prompt "Order" - Value "0" - Visible "off" - } - Object { - $ObjectID 232 - Type "checkbox" - Name "initStatus" - Prompt "Define initial conditions" - Value "off" - Callback "initStatus = get_param(gcb, 'initStatus');\nvisibilities = get_param(gcb, 'MaskVisibilities');\nfilterT" - "ype = get_param(gcb, 'filterType');\n\nif (strcmp(initStatus,'off'))\n visibilities{8} = 'off';\n visibiliti" - "es{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 initSt" - "atus visibilities filterType;" - } - Object { - $ObjectID 233 - Type "edit" - Name "y0" - Prompt "Output y0" - Value "[0]" - Visible "off" - } - Object { - $ObjectID 234 - Type "edit" - Name "u0" - Prompt "Input u0" - Value "[0]" - Visible "off" - } - PropName "Parameters" - } - Array { - Type "Simulink.dialog.Group" - Dimension 2 - Object { - $ObjectID 235 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 236 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 237 - Prompt "Simulink:studio:ToolBarParametersMenu" - Array { - Type "Simulink.dialog.Control" - Dimension 8 - Object { - $ObjectID 238 - $ClassName "Simulink.dialog.parameter.Popup" - Name "filterType" - } - Object { - $ObjectID 239 - $ClassName "Simulink.dialog.parameter.Edit" - Name "numCoeffs" - } - Object { - $ObjectID 240 - $ClassName "Simulink.dialog.parameter.Edit" - Name "denCoeffs" - } - Object { - $ObjectID 241 - $ClassName "Simulink.dialog.Text" - Prompt "* The coefficients are ordered in increasing power of z^-1" - Name "howToCoeffs" - } - Object { - $ObjectID 242 - $ClassName "Simulink.dialog.parameter.Edit" - PromptLocation "left" - Name "Fc" - } - Object { - $ObjectID 243 - $ClassName "Simulink.dialog.parameter.Edit" - PromptLocation "left" - Name "Ts" - } - Object { - $ObjectID 244 - $ClassName "Simulink.dialog.parameter.Edit" - PromptLocation "left" - Name "orderMedianFilter" - } - Object { - $ObjectID 245 - $ClassName "Simulink.dialog.Group" - Array { - Type "Simulink.dialog.parameter.Control" - Dimension 3 - Object { - $ObjectID 246 - $ClassName "Simulink.dialog.parameter.CheckBox" - Name "initStatus" - } - Object { - $ObjectID 247 - $ClassName "Simulink.dialog.parameter.Edit" - Name "y0" - } - Object { - $ObjectID 248 - $ClassName "Simulink.dialog.parameter.Edit" - Name "u0" - } - PropName "DialogControls" - } - Name "Container3" - } - PropName "DialogControls" - } - Name "ParameterGroupVar" - } - PropName "DialogControls" - } - } - } - Block { - BlockType SubSystem - Name "MatchSignalSizes" - SID "1818" - Ports [2, 1] - Position [440, 297, 525, 353] - ZOrder 251 - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 249 - $ClassName "Simulink.Mask" - Type "MatchSignalSizes" - Description "It can happen on particular cases that the Simulink engine cannot propagate the right sizes fro" - "m blocks of the toolbox. If you encounter such problems you can try using this blocks which introducing a minimal" - " overhead assigns to input Signal the same size of input Reference and outputs Signal.\n\nCurrently it supports o" - "nly 1D vectors." - Display "port_label('input', 1, 'Reference')\nport_label('input', 2, 'Signal')\nport_label('output', 1, 'Sig" - "nal')" - RunInitForIconRedraw "off" - } - System { - Name "MatchSignalSizes" - Location [548, 183, 3416, 1872] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "1000" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "Reference" - SID "1819" - Position [315, 178, 345, 192] - ZOrder 240 - NamePlacement "alternate" - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "Signal" - SID "1820" - Position [315, 198, 345, 212] - ZOrder 241 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType DotProduct - Name "Dot Product" - SID "1836" - Position [410, 177, 445, 213] - ZOrder 252 - OutDataTypeStr "Inherit: Inherit via internal rule" - } - Block { - BlockType Terminator - Name "Terminator" - SID "1822" - Position [485, 185, 505, 205] - ZOrder 245 - } - Block { - BlockType Outport - Name "Output" - SID "1823" - Position [410, 243, 440, 257] - ZOrder 244 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 27 - SrcBlock "Dot Product" - SrcPort 1 - DstBlock "Terminator" - DstPort 1 - } - Line { - ZOrder 2 - SrcBlock "Signal" - SrcPort 1 - Points [17, 0] - Branch { - ZOrder 28 - Points [0, 45] - DstBlock "Output" - DstPort 1 - } - Branch { - ZOrder 26 - DstBlock "Dot Product" - DstPort 2 - } - } - Line { - ZOrder 24 - SrcBlock "Reference" - SrcPort 1 - DstBlock "Dot Product" - DstPort 1 - } - } - } - Block { - BlockType S-Function - Name "MinimumJerkTrajectoryGenerator" - SID "1747" - Ports [1, 3] - Position [470, 93, 625, 147] - ZOrder 78 - FunctionName "BlockFactory" - Parameters "'MinimumJerkTrajectoryGenerator','WBToolbox',sampleTime,settlingTime,firstDerivatives,secondDerivati" - "ves,explicitInitialValue,externalSettlingTime,resetOnSettlingTime" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - Object { - $PropName "MaskObject" - $ObjectID 250 - $ClassName "Simulink.Mask" - Type "MinimumJerkTrajectoryGenerator" - Description "This block wraps the minJerkTrajGen class from iCub::ctrl::minJerkTrajGen.\n\nThe Minimum Jerk " - "Trajectory Generator is approximated using a 3rd order LTI dynamical system (for more details see [1]).\n\nPositi" - "on, velocity and acceleration trajectories are computed.\n\nThe main advantage with respect to the standard polyn" - "omial form is that if the reference value yd changes there is no need to recompute the filter coefficients.\n\n[1" - "]\nPattacini, U.; Nori, F.; Natale, L.; Metta, G.; Sandini, G.\n\"An experimental evaluation of a novel minimum-j" - "erk cartesian controller for humanoid robots\"\nIntelligent Robots and Systems (IROS), 2010\nIEEE/RSJ Internation" - "al Conference on , vol., no., pp.1668-1674, 18-22 Oct. 2010\ndoi: 10.1109/IROS.2010.5650851\nURL: http://ieeexplo" - "re.ieee.org/stamp/stamp.jsp?tp=&arnumber=5650851&isnumber=5648787" - Display "firstDer = get_param(gcb, 'firstDerivatives');\nsecondDer = get_param(gcb, 'secondDerivatives');\ni" - "nitialValues = get_param(gcb, 'explicitInitialValue');\nexternalSettlingTimeParam = get_param(gcb, 'externalSettl" - "ingTime');\n\n%Inputs\nportIndex = 2;\nport_label('input', 1, 'Reference')\nif(strcmp(initialValues, 'on'))\n " - "port_label('input', portIndex, 'Initial Value')\n portIndex = portIndex + 1;\nend\n\nif(strcmp(externalSettlin" - "gTimeParam, 'on'))\n port_label('input', portIndex, 'Settling Time')\n portIndex = portIndex + 1;\nend\n\n%" - "Outputs\nport_label('output', 1, 'Signal')\nsecondDerPortIndex = 2;\nif(strcmp(firstDer, 'on'))\n port_label('" - "output', 2, 'First Derivative')\n secondDerPortIndex = secondDerPortIndex + 1;\nend\nif(strcmp(secondDer, 'on'" - "))\n port_label('output', secondDerPortIndex, 'Second Derivative')\nend\n\n\n" - RunInitForIconRedraw "on" - Array { - Type "Simulink.MaskParameter" - Dimension 7 - Object { - $ObjectID 251 - Type "checkbox" - Name "externalSettlingTime" - Prompt "External Settling Time" - Value "off" - Callback "externalSettlingTime = get_param(gcb, 'externalSettlingTime');\nvisibility = get_param(gcb, 'MaskVisibili" - "ties');\nif(strcmp(externalSettlingTime, 'on'))\n visibility{2} = 'off';\n visibility{4} = 'on';\nelse\n vi" - "sibility{2} = 'on';\n visibility{4} = 'off';\nend\nset_param(gcb, 'MaskVisibilities',visibility);\nclear external" - "SettlingTime" - } - Object { - $ObjectID 252 - Type "edit" - Name "settlingTime" - Prompt "Settling Time" - Value "3" - } - Object { - $ObjectID 253 - Type "edit" - Name "sampleTime" - Prompt "Sample Time" - Value "0.01" - } - Object { - $ObjectID 254 - Type "checkbox" - Name "resetOnSettlingTime" - Prompt "Reset on Settling Time Changes" - Value "off" - Visible "off" - } - Object { - $ObjectID 255 - Type "checkbox" - Name "firstDerivatives" - Prompt "Output First Derivative" - Value "on" - } - Object { - $ObjectID 256 - Type "checkbox" - Name "secondDerivatives" - Prompt "Output Second Derivative" - Value "on" - } - Object { - $ObjectID 257 - Type "checkbox" - Name "explicitInitialValue" - Prompt "Explicit Initial Value" - Value "off" - Visible "off" - } - PropName "Parameters" - } - Array { - Type "Simulink.dialog.Group" - Dimension 2 - Object { - $ObjectID 258 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 259 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 260 - Prompt "Simulink:studio:ToolBarParametersMenu" - Object { - $PropName "DialogControls" - $ObjectID 261 - $ClassName "Simulink.dialog.TabContainer" - Array { - Type "Simulink.dialog.Tab" - Dimension 2 - Object { - $ObjectID 262 - Prompt "Trajectory Parameters" - Array { - Type "Simulink.dialog.parameter.Control" - Dimension 4 - Object { - $ObjectID 263 - $ClassName "Simulink.dialog.parameter.CheckBox" - Name "externalSettlingTime" - } - Object { - $ObjectID 264 - $ClassName "Simulink.dialog.parameter.Edit" - Name "settlingTime" - } - Object { - $ObjectID 265 - $ClassName "Simulink.dialog.parameter.Edit" - Name "sampleTime" - } - Object { - $ObjectID 266 - $ClassName "Simulink.dialog.parameter.CheckBox" - Name "resetOnSettlingTime" - } - PropName "DialogControls" - } - Name "Tab1" - } - Object { - $ObjectID 267 - Prompt "Input/Output" - Array { - Type "Simulink.dialog.parameter.CheckBox" - Dimension 3 - Object { - $ObjectID 268 - Name "firstDerivatives" - } - Object { - $ObjectID 269 - Name "secondDerivatives" - } - Object { - $ObjectID 270 - Name "explicitInitialValue" - } - PropName "DialogControls" - } - Name "Tab2" - } - PropName "DialogControls" - } - Name "Container3" - } - Name "ParameterGroupVar" - } - PropName "DialogControls" - } - } - } - Block { - BlockType S-Function - Name "QP" - SID "1807" - Ports [4, 2] - Position [405, -6, 595, 66] - ZOrder 104 - FunctionName "BlockFactory" - Parameters "'QpOases','WBToolbox',lbA,ubA,lb,ub,computeObjVal,stopIfFails" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - Object { - $PropName "MaskObject" - $ObjectID 271 - $ClassName "Simulink.Mask" - Type "QP" - Description "This block solves a QP problem using the qpOASES library:\n\nx = argmin 0.5 * x' * H * x + c' *" - " x\n\ns.t.\n\nlbA <= Ax <= ubA\nlb <= x <= ub \n" - Display "disp('QP')\n\nport_label('output', 1, 'PrimalSolution')\nport_label('output', 2, 'Status')\n\nif (c" - "omputeObjVal)\n port_label('output', 3, 'Obj func value')\nend\n\nport_label('input', 1, 'H');\nport_label('in" - "put', 2, 'g');\n\ninputPortNumber = 2;\n\nif (lbA || ubA)\n inputPortNumber = 3;\n port_label('input', 3, '" - "A');\nend\n\nif (lbA)\n inputPortNumber = inputPortNumber + 1;\n port_label('input', inputPortNumber, 'lbA'" - ");\nend\nif (ubA)\n inputPortNumber = inputPortNumber + 1;\n port_label('input', inputPortNumber, 'ubA');\n" - "end\nif (lb)\n inputPortNumber = inputPortNumber + 1;\n port_label('input', inputPortNumber, 'lb');\nend\ni" - "f (ub)\n inputPortNumber = inputPortNumber + 1;\n port_label('input', inputPortNumber, 'ub');\nend" - RunInitForIconRedraw "on" - Array { - Type "Simulink.MaskParameter" - Dimension 6 - Object { - $ObjectID 272 - Type "checkbox" - Name "lbA" - Prompt "Accept constraints lower bound input (lbA)" - Value "off" - } - Object { - $ObjectID 273 - Type "checkbox" - Name "ubA" - Prompt "Accept constraints upper bound input (ubA)" - Value "on" - } - Object { - $ObjectID 274 - Type "checkbox" - Name "lb" - Prompt "Accept lower bound input (lb)" - Value "off" - } - Object { - $ObjectID 275 - Type "checkbox" - Name "ub" - Prompt "Accept upper bound input (ub)" - Value "off" - } - Object { - $ObjectID 276 - Type "checkbox" - Name "computeObjVal" - Prompt "Output the value of the objective function" - Value "off" - } - Object { - $ObjectID 277 - Type "checkbox" - Name "stopIfFails" - Prompt "Stop the simulation if the solver fails" - Value "off" - } - PropName "Parameters" - } - Array { - Type "Simulink.dialog.Group" - Dimension 2 - Object { - $ObjectID 278 - Prompt "%" - Object { - $PropName "DialogControls" - $ObjectID 279 - $ClassName "Simulink.dialog.Text" - Prompt "%" - Name "DescTextVar" - } - Name "DescGroupVar" - } - Object { - $ObjectID 280 - Prompt "Simulink:studio:ToolBarParametersMenu" - Array { - Type "Simulink.dialog.Group" - Dimension 3 - Object { - $ObjectID 281 - Prompt "Constraints bounds" - Array { - Type "Simulink.dialog.parameter.CheckBox" - Dimension 2 - Object { - $ObjectID 282 - Name "lbA" - } - Object { - $ObjectID 283 - Name "ubA" - } - PropName "DialogControls" - } - Name "constraintsBoundsBox" - } - Object { - $ObjectID 284 - Prompt "Simple bounds" - Array { - Type "Simulink.dialog.parameter.CheckBox" - Dimension 2 - Object { - $ObjectID 285 - Name "lb" - } - Object { - $ObjectID 286 - Name "ub" - } - PropName "DialogControls" - } - Name "simpleBoundsBox" - } - Object { - $ObjectID 287 - Prompt "Other" - Array { - Type "Simulink.dialog.parameter.CheckBox" - Dimension 2 - Object { - $ObjectID 288 - Name "computeObjVal" - } - Object { - $ObjectID 289 - Name "stopIfFails" - } - PropName "DialogControls" - } - Name "otherBox" - } - PropName "DialogControls" - } - Name "ParameterGroupVar" - } - PropName "DialogControls" - } - } - } - Block { - BlockType S-Function - Name "Real Time Synchronizer" - SID "1657" - Ports [] - Position [70, 4, 195, 41] - ZOrder 23 - ForegroundColor "[0.917647, 0.917647, 0.917647]" - BackgroundColor "gray" - ShowName off - FunctionName "BlockFactory" - Parameters "'RealTimeSynchronizer','WBToolbox',period" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - Object { - $PropName "MaskObject" - $ObjectID 290 - $ClassName "Simulink.Mask" - Type "Real Time Synchronizer" - Description "This block slows down the simulation trying to match the period specified \nas parameter (in se" - "conds).\nThe bigger the period the more probable \nis that Simulink can remain synched with it.\n" - Display "disp('Real Time Synchronizer')" - RunInitForIconRedraw "off" - Object { - $PropName "Parameters" - $ObjectID 291 - $ClassName "Simulink.MaskParameter" - Type "edit" - Name "period" - Prompt "Controller Period (in seconds)" - Value "0.01" - } - } - } - Block { - BlockType S-Function - Name "Simulator Synchronizer" - SID "1658" - Ports [] - Position [230, 4, 360, 41] - ZOrder 24 - ForegroundColor "[0.490196, 0.000000, 0.000000]" - ShowName off - FunctionName "BlockFactory" - Parameters "'SimulatorSynchronizer','WBToolbox',period, serverPortName, clientPortName" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - Object { - $PropName "MaskObject" - $ObjectID 292 - $ClassName "Simulink.Mask" - Type "Simulator Synchronizer" - Description "This block synchronizes with the external simulation on a simulator \n(only Gazebo is supported" - " at the moment).\n\n" - Display "disp('Simulator Synchronizer')" - RunInitForIconRedraw "off" - Array { - Type "Simulink.MaskParameter" - Dimension 3 - Object { - $ObjectID 293 - Type "edit" - Name "period" - Prompt "Controller Period (in seconds)" - Value "0.01" - } - Object { - $ObjectID 294 - Type "edit" - Name "serverPortName" - Prompt "Server Port Name" - Value "'/clock/rpc'" - } - Object { - $ObjectID 295 - Type "edit" - Name "clientPortName" - Prompt "Client Port Name" - Value "'/WBT_synchronizer/rpc:o'" - } - PropName "Parameters" - } - } - } - Block { - BlockType SubSystem - Name "TruncPinv" - SID "109" - Ports [2, 1] - Position [375, 198, 445, 242] - ZOrder -3 - BackgroundColor "[0.534601, 0.470279, 1.000000]" - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 296 - $ClassName "Simulink.Mask" - RunInitForIconRedraw "off" - Object { - $PropName "Parameters" - $ObjectID 297 - $ClassName "Simulink.MaskParameter" - Type "edit" - Name "tol" - Prompt "Tolerance" - Value "1e-4" - } - } - System { - Name "TruncPinv" - Location [0, 29, 1280, 744] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "100" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "S" - SID "110" - Position [50, 53, 80, 67] - ZOrder -1 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "tol" - SID "111" - Position [50, 93, 80, 107] - ZOrder -2 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType SubSystem - Name "Truncated PseudoInverse" - SID "112" - Ports [2, 1] - Position [105, 39, 200, 121] - ZOrder -4 - LibraryVersion "1.32" - ErrorFcn "Stateflow.Translate.translate" - PermitHierarchicalResolution "ExplicitOnly" - TreatAsAtomicUnit on - RequestExecContextInheritance off - SFBlockType "MATLAB Function" - System { - Name "Truncated PseudoInverse" - Location [12, 45, 1279, 3773] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "100" - SIDHighWatermark "1622" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "mat" - SID "112::1" - Position [20, 101, 40, 119] - ZOrder -1 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "tol" - SID "112::25" - Position [20, 136, 40, 154] - ZOrder 11 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType Demux - Name " Demux " - SID "112::1621" - Ports [1, 1] - Position [270, 230, 320, 270] - ZOrder 110 - Outputs "1" - } - Block { - BlockType S-Function - Name " SFunction " - SID "112::1620" - Tag "Stateflow S-Function 7" - Ports [2, 2] - Position [180, 100, 230, 160] - ZOrder 109 - FunctionName "sf_sfun" - PortCounts "[2 2]" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - Port { - PortNumber 2 - Name "TPinv" - } - } - Block { - BlockType Terminator - Name " Terminator " - SID "112::1622" - Position [460, 241, 480, 259] - ZOrder 111 - } - Block { - BlockType Outport - Name "TPinv" - SID "112::5" - Position [460, 101, 480, 119] - ZOrder -6 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 81 - SrcBlock "mat" - SrcPort 1 - Points [120, 0] - DstBlock " SFunction " - DstPort 1 - } - Line { - ZOrder 82 - SrcBlock "tol" - SrcPort 1 - DstBlock " SFunction " - DstPort 2 - } - Line { - Name "TPinv" - ZOrder 83 - Labels [0, 0] - SrcBlock " SFunction " - SrcPort 2 - DstBlock "TPinv" - DstPort 1 - } - Line { - ZOrder 84 - SrcBlock " Demux " - SrcPort 1 - DstBlock " Terminator " - DstPort 1 - } - Line { - ZOrder 85 - SrcBlock " SFunction " - SrcPort 1 - DstBlock " Demux " - DstPort 1 - } - } - } - Block { - BlockType Outport - Name "Tpinv" - SID "113" - Position [225, 73, 255, 87] - ZOrder -5 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "S" - SrcPort 1 - DstBlock "Truncated PseudoInverse" - DstPort 1 - } - Line { - ZOrder 2 - SrcBlock "Truncated PseudoInverse" - SrcPort 1 - DstBlock "Tpinv" - DstPort 1 - } - Line { - ZOrder 3 - SrcBlock "tol" - SrcPort 1 - DstBlock "Truncated PseudoInverse" - DstPort 2 - } - } - } - Block { - BlockType S-Function - Name "Yarp Clock" - SID "1773" - Ports [0, 1] - Position [335, 96, 405, 144] - ZOrder 85 - ForegroundColor "[0.490196, 0.000000, 0.000000]" - FunctionName "BlockFactory" - Parameters "'YarpClock','WBToolbox'" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - Object { - $PropName "MaskObject" - $ObjectID 298 - $ClassName "Simulink.Mask" - Type "YARP Clock" - Description "This block outputs the current YARP Time.\nIn a nutshell, this block outputs the equivalent of " - "the C++ function call yarp::os::Time::now()" - SelfModifiable "on" - Display "disp('YARP Time')\n" - RunInitForIconRedraw "off" - } - } - Block { - BlockType S-Function - Name "YarpRead" - SID "1632" - Ports [0, 2] - Position [90, 94, 150, 141] - ZOrder 22 - ForegroundColor "[0.490196, 0.000000, 0.000000]" - FunctionName "BlockFactory" - Parameters "'YarpRead','WBToolbox',portName,signalSize,blocking,timestamp,autoconnect,errorOnConnection,timeout" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - Object { - $PropName "MaskObject" - $ObjectID 299 - $ClassName "Simulink.Mask" - Type "YARP Read" - Description "This block behaves as the command 'yarp read'. \n\nBy default it has the option 'Autoconnect' a" - "ctive, which means that the user can only specify the name of the port ('Source Port Name') from which readings a" - "re desired, along with the size of the expected data (e.g. 3 when reading the torso state).\n\nWhen the user unch" - "ecks 'Autoconnect', 'Opened Port Name' field shows up and it corresponds to the name of the port the block will c" - "reate. No autoconnection is performed, and the output will be always zero until the user connects it to some othe" - "r port from command line using 'yarp connect [from] [dest]'.\n\nWhen 'Autoconnect' is off, an additional output c" - "alled 'signal' is added to the block. It outputs 1 if the port has received at least one sample, or 0 otherwise.\n" - Initialization "% Solve error in string parsing. Force the type.\nportName = char(portName);" - SelfModifiable "on" - Display "port_label('output', 1, 'signal');\nportNumber = 1;\nif (timestamp)\n portNumber = portNumber + " - "1;\n port_label('output', portNumber, 'timestamp');\nend\n\nif (~autoconnect)\n portNumber = portNumber + 1" - ";\n port_label('output', portNumber, 'status');\nend\n\n" - RunInitForIconRedraw "on" - Array { - Type "Simulink.MaskParameter" - Dimension 7 - Object { - $ObjectID 300 - Type "edit" - Name "portName" - Prompt "Source Port Name" - Value "'/portname'" - } - Object { - $ObjectID 301 - Type "edit" - Name "signalSize" - Prompt "Port Size" - Value "1" - } - Object { - $ObjectID 302 - Type "edit" - Name "timeout" - Prompt "Timeout" - Value "0.5" - Visible "off" - } - Object { - $ObjectID 303 - Type "checkbox" - Name "blocking" - Prompt "Blocking Read" - Value "off" - Callback "blocking_val = get_param(gcb, 'blocking');\nmask_visibility = get_param(gcb, 'MaskVisibilities');\n\nif(s" - "trcmp(blocking_val, 'on'))\n mask_visibility{3} = 'on';\n set_param(gcb, 'MaskVisibilities', mask_visibility);" - "\nelse\n mask_visibility{3} = 'off';\n set_param(gcb, 'MaskVisibilities', mask_visibility);\nend\n\nclear bloc" - "king_val mask_visibility" - } - Object { - $ObjectID 304 - Type "checkbox" - Name "timestamp" - Prompt "Read Timestamp" - Value "on" - } - Object { - $ObjectID 305 - Type "checkbox" - Name "autoconnect" - Prompt "Autoconnect" - Value "on" - Callback "autoconnect_val = get_param(gcb, 'Autoconnect');\nprompt_string = get_param(gcb, 'MaskPrompts');\nmask_vi" - "sibilities = get_param(gcb, 'MaskVisibilities');\n\nif(strcmp(autoconnect_val, 'on'))\n prompt_string{1} = 'Sourc" - "e Port Name';\n mask_visibilities{7} = 'on';\n set_param(gcb, 'MaskVisibilities',mask_visibilities);\nelse\n " - " prompt_string{1} = 'Opened Port Name';\n mask_visibilities{7} = 'off';\n set_param(gcb, 'MaskVisibilities',m" - "ask_visibilities);\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear autoconnect_val prompt_string mask_vis" - "ibilities" - } - Object { - $ObjectID 306 - Type "checkbox" - Name "errorOnConnection" - Prompt "Error on missing connection" - Value "on" - } - PropName "Parameters" - } - } - } - Block { - BlockType S-Function - Name "YarpWrite" - SID "1659" - Ports [1] - Position [230, 96, 290, 144] - ZOrder 27 - ForegroundColor "[0.490196, 0.000000, 0.000000]" - FunctionName "BlockFactory" - Parameters "'YarpWrite','WBToolbox',portName,autoconnect,errorOnConnection" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - Object { - $PropName "MaskObject" - $ObjectID 307 - $ClassName "Simulink.Mask" - Type "YARP Write" - Description "This block behaves as the command 'yarp write'. \n\nBy default this block opens a port names as" - " the \"Opened Port Name\" parameter\nand stream the input signal to that port.\nIf the option \"Autoconnect\" is " - "specified, the first parameter become the\nname of the target port to which the data will be stramed, \ne.g. like" - " \"yarp write ... /destinationPort\"\n" - SelfModifiable "on" - Display "disp('YarpWrite')" - RunInitForIconRedraw "off" - Array { - Type "Simulink.MaskParameter" - Dimension 3 - Object { - $ObjectID 308 - Type "edit" - Name "portName" - Prompt "Opened Port Name" - Value "'/portname'" - } - Object { - $ObjectID 309 - Type "checkbox" - Name "autoconnect" - Prompt "Autoconnect" - Value "off" - Callback "autoconnect_val = get_param(gcb, 'Autoconnect');\nprompt_string = get_param(gcb, 'MaskPrompts');\nif(strc" - "mp(autoconnect_val, 'on'))\n prompt_string{1} = 'Destination Port Name';\n set_param(gcb, 'MaskVisibilities',{" - "'on';'on';'on'});\nelse\n prompt_string{1} = 'Opened Port Name';\n set_param(gcb, 'MaskVisibilities',{'on';'on" - "';'off'});\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear autoconnect_val prompt_string" - } - Object { - $ObjectID 310 - Type "checkbox" - Name "errorOnConnection" - Prompt "Error on missing connection" - Value "on" - Visible "off" - } - PropName "Parameters" - } - } - } - Block { - BlockType SubSystem - Name "errors" - SID "714" - Ports [2, 2] - Position [245, 198, 305, 242] - ZOrder -9 - BackgroundColor "[0.300000, 0.580000, 1.000000]" - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 311 - $ClassName "Simulink.Mask" - Type "Errors" - Description "Computes two kinds of errors. The first is just the difference between x\nand y while the secon" - "d is the ratio (x-y)/y." - RunInitForIconRedraw "off" - } - System { - Name "errors" - Location [0, 29, 1280, 744] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "100" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "x" - SID "715" - Position [30, 28, 60, 42] - ZOrder -1 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "y" - SID "716" - Position [25, 103, 55, 117] - ZOrder -2 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType Sum - Name "Add" - SID "717" - Ports [2, 1] - Position [95, 27, 125, 58] - ZOrder -3 - Inputs "+-" - InputSameDT off - OutDataTypeStr "Inherit: Inherit via internal rule" - SaturateOnIntegerOverflow off - } - Block { - BlockType Product - Name "Divide" - SID "718" - Ports [2, 1] - Position [165, 37, 195, 68] - ZOrder -4 - Inputs "*/" - InputSameDT off - OutDataTypeStr "Inherit: Inherit via internal rule" - RndMeth "Floor" - SaturateOnIntegerOverflow off - } - Block { - BlockType Outport - Name "x-y" - SID "719" - Position [225, 13, 255, 27] - ZOrder -5 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Block { - BlockType Outport - Name "(x-y)./y" - SID "720" - Position [220, 48, 250, 62] - ZOrder -6 - Port "2" - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "Add" - SrcPort 1 - Points [10, 0] - Branch { - ZOrder 2 - DstBlock "Divide" - DstPort 1 - } - Branch { - ZOrder 3 - Points [0, -25] - DstBlock "x-y" - DstPort 1 - } - } - Line { - ZOrder 4 - SrcBlock "x" - SrcPort 1 - DstBlock "Add" - DstPort 1 - } - Line { - ZOrder 5 - SrcBlock "y" - SrcPort 1 - Points [15, 0] - Branch { - ZOrder 6 - Points [0, -60] - DstBlock "Add" - DstPort 2 - } - Branch { - ZOrder 7 - Points [60, 0; 0, -50] - DstBlock "Divide" - DstPort 2 - } - } - Line { - ZOrder 8 - SrcBlock "Divide" - SrcPort 1 - DstBlock "(x-y)./y" - DstPort 1 - } - } - } - Block { - BlockType SubSystem - Name "holder\n" - SID "1296" - Ports [1, 1] - Position [115, 197, 175, 243] - ZOrder 14 - BackgroundColor "[0.537255, 0.721569, 1.000000]" - RequestExecContextInheritance off - Object { - $PropName "MaskObject" - $ObjectID 312 - $ClassName "Simulink.Mask" - Type "Holder" - Description "This block holds the first input value during the simulation." - RunInitForIconRedraw "off" - } - System { - Name "holder\n" - Location [12, 45, 1340, 980] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "100" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "s" - SID "1297" - Position [145, 43, 175, 57] - ZOrder 13 - IconDisplay "Port number" - } - Block { - BlockType Clock - Name "Clock" - SID "1298" - Position [45, 65, 65, 85] - ZOrder 11 - } - Block { - BlockType Reference - Name "Compare\nTo Constant" - SID "1299" - Ports [1, 1] - Position [90, 60, 120, 90] - ZOrder 10 - LibraryVersion "1.453" - SourceBlock "simulink/Logic and Bit\nOperations/Compare\nTo Constant" - SourceType "Compare To Constant" - SourceProductName "Simulink" - SourceProductBaseCode "SL" - ContentPreviewEnabled off - relop "==" - const "0" - OutDataTypeStr "boolean" - ZeroCross on - } - Block { - BlockType SubSystem - Name "MATLAB Function" - SID "1300" - Ports [2, 1] - Position [235, 37, 305, 88] - ZOrder 15 - LibraryVersion "1.32" - ErrorFcn "Stateflow.Translate.translate" - PermitHierarchicalResolution "ExplicitOnly" - TreatAsAtomicUnit on - RequestExecContextInheritance off - SFBlockType "MATLAB Function" - System { - Name "MATLAB Function" - Location [12, 45, 1135, 3068] - Open off - PortBlocksUseCompactNotation off - SetExecutionDomain off - ExecutionDomainType "Deduce" - ModelBrowserVisibility off - ModelBrowserWidth 200 - ScreenColor "white" - PaperOrientation "landscape" - PaperPositionMode "auto" - PaperType "usletter" - PaperUnits "inches" - TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] - TiledPageScale 1 - ShowPageBoundaries off - ZoomFactor "100" - SIDHighWatermark "1628" - SimulinkSubDomain "Simulink" - Block { - BlockType Inport - Name "s" - SID "1300::24" - Position [20, 101, 40, 119] - ZOrder 10 - IconDisplay "Port number" - } - Block { - BlockType Inport - Name "unused" - SID "1300::26" - Position [20, 136, 40, 154] - ZOrder 12 - Port "2" - IconDisplay "Port number" - } - Block { - BlockType Demux - Name " Demux " - SID "1300::1627" - Ports [1, 1] - Position [270, 230, 320, 270] - ZOrder 98 - Outputs "1" - } - Block { - BlockType S-Function - Name " SFunction " - SID "1300::1626" - Tag "Stateflow S-Function 1" - Ports [2, 2] - Position [180, 100, 230, 160] - ZOrder 97 - FunctionName "sf_sfun" - PortCounts "[2 2]" - SFunctionDeploymentMode off - EnableBusSupport off - SFcnIsStateOwnerBlock off - Port { - PortNumber 2 - Name "s0" - } - } - Block { - BlockType Terminator - Name " Terminator " - SID "1300::1628" - Position [460, 241, 480, 259] - ZOrder 99 - } - Block { - BlockType Outport - Name "s0" - SID "1300::25" - Position [460, 101, 480, 119] - ZOrder 11 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 81 - SrcBlock "s" - SrcPort 1 - Points [120, 0] - DstBlock " SFunction " - DstPort 1 - } - Line { - ZOrder 82 - SrcBlock "unused" - SrcPort 1 - DstBlock " SFunction " - DstPort 2 - } - Line { - Name "s0" - ZOrder 83 - Labels [0, 0] - SrcBlock " SFunction " - SrcPort 2 - DstBlock "s0" - DstPort 1 - } - Line { - ZOrder 84 - SrcBlock " Demux " - SrcPort 1 - DstBlock " Terminator " - DstPort 1 - } - Line { - ZOrder 85 - SrcBlock " SFunction " - SrcPort 1 - DstBlock " Demux " - DstPort 1 - } - } - } - Block { - BlockType Outport - Name "s(0)" - SID "1301" - Position [330, 58, 360, 72] - ZOrder 14 - IconDisplay "Port number" - VectorParamsAs1DForOutWhenUnconnected off - } - Line { - ZOrder 1 - SrcBlock "Clock" - SrcPort 1 - DstBlock "Compare\nTo Constant" - DstPort 1 - } - Line { - ZOrder 2 - SrcBlock "MATLAB Function" - SrcPort 1 - DstBlock "s(0)" - DstPort 1 - } - Line { - ZOrder 3 - SrcBlock "s" - SrcPort 1 - DstBlock "MATLAB Function" - DstPort 1 - } - Line { - ZOrder 4 - SrcBlock "Compare\nTo Constant" - SrcPort 1 - DstBlock "MATLAB Function" - DstPort 2 - } - } - } - } - } - Annotation { - SID "1213" - Name "WHOLE BODY TOOLBOX" - Position [172, 149, 319, 166] - InternalMargins [0, 0, 0, 0] - ForegroundColor "white" - BackgroundColor "black" - ZOrder -1 - FontName "Sans Serif" - FontSize 12 - } - Annotation { - SID "1214" - Name "\n" - "\n" - "

Copyright 2013-2018 Istituto Italiano di Tecnologia

\n


\n

This software is " - "supported by:

\n

FP7 EU Project CoDyCo (No. 600716 ICT 2011.2." - "1) http://www.codyco.eu

\n

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

" - Position [157, 176, 333, 213] - InternalMargins [0, 0, 0, 0] - ForegroundColor "white" - BackgroundColor "black" - Interpreter "rich" - ZOrder -2 - FontSize 5 - } - } -} -#Finite State Machines -# -# Stateflow 80000019 -# -# -Stateflow { - machine { - id 1 - name "WBToolboxLibrary_repository" - sfVersion 80000019 - firstTarget 26 - } - chart { - id 2 - machine 1 - name "Utilities/holder\n/MATLAB Function" - windowPosition [1152 -205 -179 985] - viewLimits [0 156.75 0 153.75] - screen [1 1 3046 1050 1.25] - treeNode [0 3 0 0] - viewObj 2 - toolbarMode LIBRARY_TOOLBAR - ssIdHighWaterMark 9 - decomposition CLUSTER_CHART - type EML_CHART - chartFileNumber 1 - disableImplicitCasting 1 - eml { - name "fcn" - } - firstData 4 - firstTransition 8 - firstJunction 7 - } - state { - id 3 - labelString "eML_blk_kernel()" - position [18 64.5 118 66] - fontSize 12 - chart 2 - treeNode [2 0 0 0] - superState SUBCHART - subviewer 2 - ssIdNumber 1 - type FUNC_STATE - decomposition CLUSTER_STATE - eml { - isEML 1 - script "function s0 = fcn(s, ~)\npersistent state\n%#codegen\n\nif isempty(state)\n state = s;\nend\n\n" - "s0 = state;" - editorLayout "100 M4x1[10 5 700 500]" - } - } - data { - id 4 - ssIdNumber 7 - name "s" - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - unit { - name "inherit" - } - } - dataType "Inherit: Same as Simulink" - linkNode [2 0 5] - } - data { - id 5 - ssIdNumber 8 - name "s0" - scope OUTPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_NO - unit { - name "inherit" - } - } - dataType "Inherit: Same as Simulink" - linkNode [2 4 6] - } - data { - id 6 - ssIdNumber 9 - name "unused" - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - unit { - name "inherit" - } - } - dataType "Inherit: Same as Simulink" - linkNode [2 5 0] - } - junction { - id 7 - position [23.5747 49.5747 7] - chart 2 - subviewer 2 - ssIdNumber 3 - type CONNECTIVE_JUNCTION - linkNode [2 0 0] - } - transition { - id 8 - labelString "{eML_blk_kernel();}" - labelPosition [76.125 85.875 102.544 14.964] - fontSize 12 - src { - intersection [0 0 1 0 23.5747 14.625 0 0] - } - dst { - id 7 - intersection [1 0 -1 0 23.5747 42.5747 0 0] - } - midPoint [23.5747 24.9468] - chart 2 - dataLimits [21.175 25.975 14.625 42.575] - subviewer 2 - drawStyle SMART - slide { - sticky BOTH_STICK - } - executionOrder 1 - ssIdNumber 2 - linkNode [2 0 0] - } - instance { - id 9 - machine 1 - name "Utilities/holder\n/MATLAB Function" - chart 2 - } - chart { - id 10 - machine 1 - name "Utilities/DampPinv/Damped Pseudo Inverse" - windowPosition [699 -205 167 985] - viewLimits [0 156.75 0 153.75] - screen [1 1 3046 1050 1.25] - treeNode [0 11 0 0] - viewObj 10 - toolbarMode LIBRARY_TOOLBAR - ssIdHighWaterMark 8 - decomposition CLUSTER_CHART - type EML_CHART - chartFileNumber 6 - disableImplicitCasting 1 - eml { - name "fcn" - } - firstData 12 - firstTransition 16 - firstJunction 15 - } - state { - id 11 - labelString "eML_blk_kernel()" - position [18 64.5 118 66] - fontSize 12 - chart 10 - treeNode [10 0 0 0] - superState SUBCHART - subviewer 10 - ssIdNumber 1 - type FUNC_STATE - decomposition CLUSTER_STATE - eml { - isEML 1 - script "function DPinv = fcn(mat,sigma)\n% Economody size svd of mat\n[U,S,V] = svd(mat,'econ');\n% Damp" - "ed version of S with sigma\nS(S>sigma)=S(S>sigma)./((S(S>sigma)).^2+sigma^2);\n% Damped pseudoinverse\nDPinv = V" - "*pinv(S)*U';" - editorLayout "100 M4x1[10 5 700 500]" - } - } - data { - id 12 - ssIdNumber 4 - name "mat" - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - } - complexity SF_COMPLEX_INHERITED - unit { - name "inherit" - } - } - dataType "Inherit: Same as Simulink" - linkNode [10 0 13] - } - data { - id 13 - ssIdNumber 5 - name "DPinv" - scope OUTPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_NO - unit { - name "inherit" - } - } - dataType "Inherit: Same as Simulink" - linkNode [10 12 14] - } - data { - id 14 - ssIdNumber 8 - name "sigma" - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - unit { - name "inherit" - } - } - dataType "Inherit: Same as Simulink" - linkNode [10 13 0] - } - junction { - id 15 - position [23.5747 49.5747 7] - chart 10 - subviewer 10 - ssIdNumber 3 - type CONNECTIVE_JUNCTION - linkNode [10 0 0] - } - transition { - id 16 - labelString "{eML_blk_kernel();}" - labelPosition [80.125 91.875 102.544 14.964] - fontSize 12 - src { - intersection [0 0 1 0 23.5747 14.625 0 0] - } - dst { - id 15 - intersection [1 0 -1 0 23.5747 42.5747 0 0] - } - midPoint [23.5747 24.9468] - chart 10 - dataLimits [21.175 25.975 14.625 42.575] - subviewer 10 - drawStyle SMART - slide { - sticky BOTH_STICK - } - executionOrder 1 - ssIdNumber 2 - linkNode [10 0 0] - } - instance { - id 17 - machine 1 - name "Utilities/DampPinv/Damped Pseudo Inverse" - chart 10 - } - chart { - id 18 - machine 1 - name "Utilities/TruncPinv/Truncated PseudoInverse" - windowPosition [649 -205 167 985] - viewLimits [0 156.75 0 153.75] - screen [1 1 3046 1050 1.25] - treeNode [0 19 0 0] - viewObj 18 - toolbarMode LIBRARY_TOOLBAR - ssIdHighWaterMark 8 - decomposition CLUSTER_CHART - type EML_CHART - chartFileNumber 7 - disableImplicitCasting 1 - eml { - name "fcn" - } - firstData 20 - firstTransition 24 - firstJunction 23 - } - state { - id 19 - labelString "eML_blk_kernel()" - position [18 64.5 118 66] - fontSize 12 - chart 18 - treeNode [18 0 0 0] - superState SUBCHART - subviewer 18 - ssIdNumber 1 - type FUNC_STATE - decomposition CLUSTER_STATE - eml { - isEML 1 - script "function TPinv = fcn(mat,tol)\n%#codegen\n[U,S,V] = svd(mat,'econ');\n% Setting to zero value\n%" - " Setting to 1/S(i,i) singular values greater than tol\n S(S>tol)=1./S(S>tol);\n TPinv = V*pinv(S)*U';" - editorLayout "100 M4x1[10 5 700 500]" - } - } - data { - id 20 - ssIdNumber 4 - name "mat" - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - } - complexity SF_COMPLEX_INHERITED - unit { - name "inherit" - } - } - dataType "Inherit: Same as Simulink" - linkNode [18 0 21] - } - data { - id 21 - ssIdNumber 5 - name "TPinv" - scope OUTPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_NO - unit { - name "inherit" - } - } - dataType "Inherit: Same as Simulink" - linkNode [18 20 22] - } - data { - id 22 - ssIdNumber 8 - name "tol" - scope INPUT_DATA - machine 1 - props { - array { - size "-1" - } - type { - method SF_INHERITED_TYPE - primitive SF_DOUBLE_TYPE - isSigned 1 - wordLength "16" - } - complexity SF_COMPLEX_INHERITED - frame SF_FRAME_INHERITED - unit { - name "inherit" - } - } - dataType "Inherit: Same as Simulink" - linkNode [18 21 0] - } - junction { - id 23 - position [23.5747 49.5747 7] - chart 18 - subviewer 18 - ssIdNumber 3 - type CONNECTIVE_JUNCTION - linkNode [18 0 0] - } - transition { - id 24 - labelString "{eML_blk_kernel();}" - labelPosition [80.125 91.875 102.544 14.964] - fontSize 12 - src { - intersection [0 0 1 0 23.5747 14.625 0 0] - } - dst { - id 23 - intersection [1 0 -1 0 23.5747 42.5747 0 0] - } - midPoint [23.5747 24.9468] - chart 18 - dataLimits [21.175 25.975 14.625 42.575] - subviewer 18 - drawStyle SMART - slide { - sticky BOTH_STICK - } - executionOrder 1 - ssIdNumber 2 - linkNode [18 0 0] - } - instance { - id 25 - machine 1 - name "Utilities/TruncPinv/Truncated PseudoInverse" - chart 18 - } - target { - id 26 - machine 1 - name "sfun" - description "Default Simulink S-Function Target." - linkNode [1 0 0] - } -} diff --git a/matlab/library/exported/WBToolboxLibrary.slx b/matlab/library/exported/WBToolboxLibrary.slx index 2a0b5e50..12140146 100644 Binary files a/matlab/library/exported/WBToolboxLibrary.slx and b/matlab/library/exported/WBToolboxLibrary.slx differ