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📄 qlib.mdl

📁 四元数表示的
💻 MDL
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字号:
	  SourceType		  "Quaternion Normalize"	}	Block {	  BlockType		  Trigonometry	  Name			  "Trigonometric\nFunction"	  Ports			  [1, 1, 0, 0, 0]	  Position		  [200, 85, 230, 115]	  ShowName		  off	  Operator		  "acos"	  OutputSignalType	  "auto"	}	Block {	  BlockType		  Trigonometry	  Name			  "Trigonometric\nFunction1"	  Ports			  [1, 1, 0, 0, 0]	  Position		  [280, 85, 310, 115]	  ShowName		  off	  Operator		  "sin"	  OutputSignalType	  "auto"	}	Block {	  BlockType		  Outport	  Name			  "Vector"	  Position		  [545, 48, 575, 62]	  BackgroundColor	  "yellow"	  NamePlacement		  "alternate"	  Port			  "1"	  OutputWhenDisabled	  "held"	  InitialOutput		  "0"	}	Block {	  BlockType		  Outport	  Name			  "Phi"	  Position		  [545, 153, 575, 167]	  BackgroundColor	  "yellow"	  NamePlacement		  "alternate"	  Port			  "2"	  OutputWhenDisabled	  "held"	  InitialOutput		  "0"	}	Line {	  SrcBlock		  "Quaternion\nNormalize"	  SrcPort		  1	  DstBlock		  "Demux"	  DstPort		  1	}	Line {	  Name			  "[ q(1)  q(2)  q(3) ]"	  Labels		  [0, 0]	  SrcBlock		  "Demux"	  SrcPort		  1	  DstBlock		  "Product"	  DstPort		  1	}	Line {	  Name			  "q(4)"	  Labels		  [0, 0]	  SrcBlock		  "Demux"	  SrcPort		  2	  DstBlock		  "Trigonometric\nFunction"	  DstPort		  1	}	Line {	  SrcBlock		  "Trigonometric\nFunction1"	  SrcPort		  1	  DstBlock		  "Fcn"	  DstPort		  1	}	Line {	  SrcBlock		  "Trigonometric\nFunction"	  SrcPort		  1	  Points		  [15, 0]	  Branch {	    DstBlock		    "Trigonometric\nFunction1"	    DstPort		    1	  }	  Branch {	    Points		    [0, 60]	    DstBlock		    "Gain"	    DstPort		    1	  }	}	Line {	  SrcBlock		  "Gain"	  SrcPort		  1	  DstBlock		  "Phi"	  DstPort		  1	}	Line {	  SrcBlock		  "q"	  SrcPort		  1	  DstBlock		  "Quaternion\nNormalize"	  DstPort		  1	}	Line {	  SrcBlock		  "Product"	  SrcPort		  1	  DstBlock		  "Vector"	  DstPort		  1	}	Line {	  SrcBlock		  "Fcn"	  SrcPort		  1	  Points		  [15, 0; 0, -40]	  DstBlock		  "Product"	  DstPort		  2	}	Annotation {	  Position		  [269, 154]	  Text			  "phi/2"	}      }    }    Block {      BlockType		      SubSystem      Name		      "Quaternion\nMultiply"      Ports		      [2, 1, 0, 0, 0]      Position		      [220, 87, 260, 123]      ShowPortLabels	      on      MaskType		      "Quaternion Multiply"      MaskDescription	      "Multiplies input quaternions: qout = (q1)(q2)"      MaskIconFrame	      on      MaskIconOpaque	      on      MaskIconRotate	      "none"      MaskIconUnits	      "pixels"      System {	Name			"Quaternion\nMultiply"	Location		[675, 339, 1111, 697]	Open			off	ModelBrowserVisibility	off	ModelBrowserWidth	200	ScreenColor		"white"	PaperOrientation	"landscape"	PaperPositionMode	"auto"	PaperType		"usletter"	PaperUnits		"inches"	ZoomFactor		"100"	AutoZoom		on	Block {	  BlockType		  Inport	  Name			  "q1"	  Position		  [20, 13, 50, 27]	  BackgroundColor	  "cyan"	  Port			  "1"	  PortWidth		  "4"	  SampleTime		  "-1"	  DataType		  "auto"	  SignalType		  "auto"	  Interpolate		  on	}	Block {	  BlockType		  Inport	  Name			  "q2"	  Position		  [15, 178, 45, 192]	  BackgroundColor	  "cyan"	  Port			  "2"	  PortWidth		  "4"	  SampleTime		  "-1"	  DataType		  "auto"	  SignalType		  "auto"	  Interpolate		  on	}	Block {	  BlockType		  BusSelector	  Name			  "Bus\nSelector"	  Ports			  [1, 4, 0, 0, 0]	  Position		  [170, 39, 175, 106]	  ShowName		  off	  OutputSignals		  "q2(4),q2(3),q2(2),q2(1)"	  MuxedOutput		  off	  Port {	    PortNumber		    1	    Name		    "q2(4)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	  Port {	    PortNumber		    2	    Name		    "q2(3)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	  Port {	    PortNumber		    3	    Name		    "q2(2)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	  Port {	    PortNumber		    4	    Name		    "q2(1)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	}	Block {	  BlockType		  BusSelector	  Name			  "Bus\nSelector1"	  Ports			  [1, 4, 0, 0, 0]	  Position		  [170, 114, 175, 181]	  ShowName		  off	  OutputSignals		  "q2(3),q2(4),q2(1),q2(2)"	  MuxedOutput		  off	  Port {	    PortNumber		    1	    Name		    "q2(3)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	  Port {	    PortNumber		    2	    Name		    "q2(4)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	  Port {	    PortNumber		    3	    Name		    "q2(1)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	  Port {	    PortNumber		    4	    Name		    "q2(2)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	}	Block {	  BlockType		  BusSelector	  Name			  "Bus\nSelector2"	  Ports			  [1, 4, 0, 0, 0]	  Position		  [170, 189, 175, 256]	  ShowName		  off	  OutputSignals		  "q2(2),q2(1),q2(4),q2(3)"	  MuxedOutput		  off	  Port {	    PortNumber		    1	    Name		    "q2(2)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	  Port {	    PortNumber		    2	    Name		    "q2(1)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	  Port {	    PortNumber		    3	    Name		    "q2(4)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	  Port {	    PortNumber		    4	    Name		    "q2(3)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	}	Block {	  BlockType		  Demux	  Name			  "Demux"	  Ports			  [1, 4, 0, 0, 0]	  Position		  [65, 147, 70, 218]	  BackgroundColor	  "black"	  ShowName		  off	  Outputs		  "4"	  Port {	    PortNumber		    1	    Name		    "q2(1)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	  Port {	    PortNumber		    2	    Name		    "q2(2)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	  Port {	    PortNumber		    3	    Name		    "q2(3)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	  Port {	    PortNumber		    4	    Name		    "q2(4)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	}	Block {	  BlockType		  Demux	  Name			  "Demux1"	  Ports			  [1, 2, 0, 0, 0]	  Position		  [155, 281, 160, 319]	  BackgroundColor	  "black"	  ShowName		  off	  Outputs		  "[3 1]"	  Port {	    PortNumber		    1	    Name		    "[ q(1)  q(2)  q(3) ]"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	  Port {	    PortNumber		    2	    Name		    "q(4)"	    TestPoint		    off	    RTWStorageClass	    "Auto"	  }	}	Block {	  BlockType		  Reference	  Name			  "Dot Product 1"	  Ports			  [2, 1, 0, 0, 0]	  Position		  [320, 54, 345, 81]	  ShowName		  off	  SourceBlock		  "simulink3/Math/Dot Product"	  SourceType		  "Dot Product"	}	Block {	  BlockType		  Reference	  Name			  "Dot Product 2"	  Ports			  [2, 1, 0, 0, 0]	  Position		  [320, 129, 345, 156]	  ShowName		  off	  SourceBlock		  "simulink3/Math/Dot Product"	  SourceType		  "Dot Product"	}	Block {	  BlockType		  Reference	  Name			  "Dot Product 3"	  Ports			  [2, 1, 0, 0, 0]	  Position		  [320, 204, 345, 231]	  ShowName		  off	  SourceBlock		  "simulink3/Math/Dot Product"	  SourceType		  "Dot Product"	}	Block {	  BlockType		  Reference	  Name			  "Dot Product 4"	  Ports			  [2, 1, 0, 0, 0]	  Position		  [320, 279, 345, 306]	  ShowName		  off	  SourceBlock		  "simulink3/Math/Dot Product"	  SourceType		  "Dot Product"	}	Block {	  BlockType		  Gain	  Name			  "Gain 2"	  Position		  [225, 71, 250, 89]	  ShowName		  off	  FontName		  "helvetica"	  FontSize		  8	  Gain			  "-1"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Gain	  Name			  "Gain 3"	  Position		  [225, 116, 250, 134]	  ShowName		  off	  FontName		  "helvetica"	  FontSize		  8	  Gain			  "-1"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Gain	  Name			  "Gain 5"	  Position		  [225, 206, 250, 224]	  ShowName		  off	  FontName		  "helvetica"	  FontSize		  8	  Gain			  "-1"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Gain	  Name			  "Gain 6"	  Position		  [245, 281, 270, 299]	  ShowName		  off	  FontName		  "helvetica"	  FontSize		  8	  Gain			  "-1"	  SaturateOnIntegerOverflow on	}	Block {	  BlockType		  Mux	  Name			  "Mux"	  Ports			  [4, 1, 0, 0, 0]	  Position		  [115, 149, 120, 216]	  ShowName		  off	  Inputs		  "4"	  DisplayOption		  "bar"	}	Block {	  BlockType		  Mux	  Name			  "Mux1"	  Ports			  [4, 1, 0, 0, 0]	  Position		  [275, 39, 280, 106]	  ForegroundColor	  "blue"	  ShowName		  off	  Inputs		  "4"	  DisplayOption		  "bar"	}	Block {	  BlockType		  Mux	  Name			  "Mux2"	  Ports			  [4, 1, 0, 0, 0]	  Position		  [275, 114, 280, 181]	  ForegroundColor	  "blue"	  ShowName		  off	  Inputs		  "4"	  DisplayOption		  "bar"	}	Block {	  BlockType		  Mux	  Name			  "Mux3"	  Ports			  [4, 1, 0, 0, 0]	  Position		  [275, 189, 280, 256]	  ForegroundColor	  "blue"	  ShowName		  off	  Inputs		  "4"	  DisplayOption		  "bar"	}	Block {	  BlockType		  Mux	  Name			  "Mux4"	  Ports			  [2, 1, 0, 0, 0]	  Position		  [285, 281, 290, 319]	  ShowName		  off	  Inputs		  "2"	  DisplayOption		  "bar"	}	Block {	  BlockType		  Mux	  Name			  "Mux5"	  Ports			  [4, 1, 0, 0, 0]	  Position		  [370, 29, 375, 336]	  ShowName		  off	  Inputs		  "4"	  DisplayOption		  "bar"	}	Block {	  BlockType		  Outport	  Name			  "q1q2"	  Position		  [395, 178, 425, 192]	  BackgroundColor	  "yellow"	  Port			  "1"	  OutputWhenDisabled	  "held"	  InitialOutput		  "0"	}	Line {	  Name			  "q(4)"	  Labels		  [0, 1]	  SrcBlock		  "Demux1"	  SrcPort		  2	  DstBlock		  "Mux4"	  DstPort		  2	}	Line {	  SrcBlock		  "Gain 6"	  SrcPort		  1	  DstBlock		  "Mux4"	  DstPort		  1	}	Line {	  Name			  "[ q(1)  q(2)  q(3) ]"	  Labels		  [-1, 1]	  SrcBlock		  "Demux1"	  SrcPort		  1	  DstBlock		  "Gain 6"	  DstPort		  1	}	Line {	  SrcBlock		  "Mux4"	  SrcPort		  1	  DstBlock		  "Dot Product 4"	  DstPort		  2	}	Line {	  Name			  "q2(3)"	  Labels		  [0, 0]	  SrcBlock		  "Bus\nSelector2"	  SrcPort		  4	  DstBlock		  "Mux3"	  DstPort		  4	}	Line {	  Name			  "q2(2)"	  Labels		  [0, 0]	  SrcBlock		  "Bus\nSelector2"	  SrcPort		  1	  DstBlock		  "Mux3"	  DstPort		  1	}	Line {	  Labels		  [0, 0]	  SrcBlock		  "Gain 5"	  SrcPort		  1	  DstBlock		  "Mux3"	  DstPort		  2	}	Line {	  Name			  "q2(1)"	  Labels		  [0, 0]	  SrcBlock		  "Bus\nSelector2"	  SrcPort		  2	  DstBlock		  "Gain 5"	  DstPort		  1	}	Line {	  Name			  "q2(2)"	  Labels		  [0, 0]	  SrcBlock		  "Bus\nSelector1"	  SrcPort		  4	  DstBlock		  "Mux2"	  DstPort		  4	}	Line {	  Name			  "q2(1)"	  Labels		  [0, 0]	  SrcBlock		  "Bus\nSelector1"	  SrcPort		  3	  DstBlock		  "Mux2"	  DstPort		  3	}	Line {	  Labels		  [0, 0]	  SrcBlock		  "Gain 3"	  SrcPort		  1	  DstBlock		  "Mux2"	  DstPort		  1	}	Line {	  Name			  "q2(3)"	  Labels		  [0, 0]	  SrcBlock		  "Bus\nSelector1"	  SrcPort		  1	  DstBlock		  "Gain 3"	  DstPort		  1	}	Line {	  Name			  "q2(1)"	  Labels		  [0, 0]	  SrcBlock		  "Bus\nSelector"	  SrcPort		  4	  DstBlock		  "Mux1"	  DstPort		  4	}	Line {	  Labels		  [0, 0]	  SrcBlock		  "Gain 2"	  SrcPort		  1	  DstBlock		  "Mux1"	  DstPort		  3	}	Line {	  Name			  "q2(2)"	  Labels		  [0, 0]	  SrcBlock		  "Bus\nSelector"	  SrcPort		  3	  DstBlock		  "Gain 2"	  DstPort		  1	}	Line {	  Name			  "q2(3)"	  Labels		  [0, 0]	  SrcBlock		  "Bus\nSelector"	  SrcPort		  2	  DstBlock		  "Mux1"	  DstPort		  2	}	Line {	  Name			  "q2(4)"	  Labels		  [0, 0]	  SrcBlock		  "Bus\nSelector"	  SrcPort		  1	  DstBlock		  "Mux1"	  DstPort		  1	}	Line {	  Name			  "q2(4)"	  Labels		  [0, 0]	  SrcBlock		  "Bus\nSelector1"	  SrcPort		  2	  DstBlock		  "Mux2"	  DstPort		  2	}	Line {	  Name			  "q2(4)"	  Labels		  [0, 0]	  SrcBlock		  "Bus\nSelector2"	  SrcPort		  3	  DstBlock		  "Mux3"	  DstPort		  3	}	Line {	  SrcBlock		  "Mux1"	  SrcPort		  1	  DstBlock		  "Dot Product 1"	  DstPort		  2	}	Line {	  SrcBlock		  "Mux2"	  SrcPort		  1	  DstBlock		  "Dot Product 2"	  DstPort		  2	}	Line {	  SrcBlock		  "Mux3"	  SrcPort		  1	  DstBlock		  "Dot Product 3"	  DstPort		  2	}	Line {	  SrcBlock		  "q1"	  SrcPort		  1	  Points		  [240, 0; 0, 40]	  Branch {	    DstBlock		    "Dot Product 1"	    DstPort		    1	  }	  Branch {	    Points		    [0, 75]

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