qmult_test1.mdl

四元数表示的

	Block {
	  BlockType		  Gain
	  Name			  "Gain 5"
	  Position		  [225, 196, 250, 214]
	  ShowName		  off
	  FontName		  "helvetica"
	  FontSize		  8
	  Gain			  "-1"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Gain
	  Name			  "Gain 6"
	  Position		  [245, 271, 270, 289]
	  ShowName		  off
	  FontName		  "helvetica"
	  FontSize		  8
	  Gain			  "-1"
	  SaturateOnIntegerOverflow on
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [4, 1, 0, 0, 0]
	  Position		  [115, 139, 120, 206]
	  ShowName		  off
	  Inputs		  "4"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux1"
	  Ports			  [4, 1, 0, 0, 0]
	  Position		  [275, 29, 280, 96]
	  ForegroundColor	  "blue"
	  ShowName		  off
	  Inputs		  "4"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux2"
	  Ports			  [4, 1, 0, 0, 0]
	  Position		  [275, 104, 280, 171]
	  ForegroundColor	  "blue"
	  ShowName		  off
	  Inputs		  "4"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux3"
	  Ports			  [4, 1, 0, 0, 0]
	  Position		  [275, 179, 280, 246]
	  ForegroundColor	  "blue"
	  ShowName		  off
	  Inputs		  "4"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux4"
	  Ports			  [2, 1, 0, 0, 0]
	  Position		  [285, 271, 290, 309]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux5"
	  Ports			  [4, 1, 0, 0, 0]
	  Position		  [370, 19, 375, 326]
	  ShowName		  off
	  Inputs		  "4"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Outport
	  Name			  "q1q2"
	  Position		  [395, 168, 425, 182]
	  BackgroundColor	  "yellow"
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Line {
	  Name			  "q2(4)"
	  Labels		  [0, 0]
	  SrcBlock		  "Demux"
	  SrcPort		  4
	  DstBlock		  "Mux"
	  DstPort		  4
	}
	Line {
	  Name			  "q2(3)"
	  Labels		  [0, 0]
	  SrcBlock		  "Demux"
	  SrcPort		  3
	  DstBlock		  "Mux"
	  DstPort		  3
	}
	Line {
	  Name			  "q2(2)"
	  Labels		  [0, 0]
	  SrcBlock		  "Demux"
	  SrcPort		  2
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  Name			  "q2(1)"
	  Labels		  [0, 0]
	  SrcBlock		  "Demux"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  Labels		  [1, 0]
	  SrcBlock		  "q2"
	  SrcPort		  1
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  Points		  [10, 0]
	  Branch {
	    Points		    [0, -35]
	    Branch {
	      DstBlock		      "Bus\nSelector1"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, -75]
	      DstBlock		      "Bus\nSelector"
	      DstPort		      1
	    }
	  }
	  Branch {
	    Points		    [0, 40]
	    Branch {
	      DstBlock		      "Bus\nSelector2"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, 75]
	      DstBlock		      "Demux1"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "Dot Product 2"
	  SrcPort		  1
	  DstBlock		  "Mux5"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Mux5"
	  SrcPort		  1
	  DstBlock		  "q1q2"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Dot Product 4"
	  SrcPort		  1
	  DstBlock		  "Mux5"
	  DstPort		  4
	}
	Line {
	  SrcBlock		  "Dot Product 3"
	  SrcPort		  1
	  DstBlock		  "Mux5"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Dot Product 1"
	  SrcPort		  1
	  DstBlock		  "Mux5"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "q1"
	  SrcPort		  1
	  Points		  [245, 0; 0, 30]
	  Branch {
	    Points		    [0, 75]
	    Branch {
	      Points		      [0, 75]
	      Branch {
		Points			[0, 75]
		DstBlock		"Dot Product 4"
		DstPort			1
	      }
	      Branch {
		DstBlock		"Dot Product 3"
		DstPort			1
	      }
	    }
	    Branch {
	      DstBlock		      "Dot Product 2"
	      DstPort		      1
	    }
	  }
	  Branch {
	    DstBlock		    "Dot Product 1"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Mux3"
	  SrcPort		  1
	  DstBlock		  "Dot Product 3"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Mux2"
	  SrcPort		  1
	  DstBlock		  "Dot Product 2"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "Mux1"
	  SrcPort		  1
	  DstBlock		  "Dot Product 1"
	  DstPort		  2
	}
	Line {
	  Name			  "q2(4)"
	  Labels		  [0, 0]
	  SrcBlock		  "Bus\nSelector2"
	  SrcPort		  3
	  DstBlock		  "Mux3"
	  DstPort		  3
	}
	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\nSelector"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  1
	}
	Line {
	  Name			  "q2(3)"
	  Labels		  [0, 0]
	  SrcBlock		  "Bus\nSelector"
	  SrcPort		  2
	  DstBlock		  "Mux1"
	  DstPort		  2
	}
	Line {
	  Name			  "q2(2)"
	  Labels		  [0, 0]
	  SrcBlock		  "Bus\nSelector"
	  SrcPort		  3
	  DstBlock		  "Gain 2"
	  DstPort		  1
	}
	Line {
	  Labels		  [0, 0]
	  SrcBlock		  "Gain 2"
	  SrcPort		  1
	  DstBlock		  "Mux1"
	  DstPort		  3
	}
	Line {
	  Name			  "q2(1)"
	  Labels		  [0, 0]
	  SrcBlock		  "Bus\nSelector"
	  SrcPort		  4
	  DstBlock		  "Mux1"
	  DstPort		  4
	}
	Line {
	  Name			  "q2(3)"
	  Labels		  [0, 0]
	  SrcBlock		  "Bus\nSelector1"
	  SrcPort		  1
	  DstBlock		  "Gain 3"
	  DstPort		  1
	}
	Line {
	  Labels		  [0, 0]
	  SrcBlock		  "Gain 3"
	  SrcPort		  1
	  DstBlock		  "Mux2"
	  DstPort		  1
	}
	Line {
	  Name			  "q2(1)"
	  Labels		  [0, 0]
	  SrcBlock		  "Bus\nSelector1"
	  SrcPort		  3
	  DstBlock		  "Mux2"
	  DstPort		  3
	}
	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\nSelector2"
	  SrcPort		  2
	  DstBlock		  "Gain 5"
	  DstPort		  1
	}
	Line {
	  Labels		  [0, 0]
	  SrcBlock		  "Gain 5"
	  SrcPort		  1
	  DstBlock		  "Mux3"
	  DstPort		  2
	}
	Line {
	  Name			  "q2(2)"
	  Labels		  [0, 0]
	  SrcBlock		  "Bus\nSelector2"
	  SrcPort		  1
	  DstBlock		  "Mux3"
	  DstPort		  1
	}
	Line {
	  Name			  "q2(3)"
	  Labels		  [0, 0]
	  SrcBlock		  "Bus\nSelector2"
	  SrcPort		  4
	  DstBlock		  "Mux3"
	  DstPort		  4
	}
	Line {
	  SrcBlock		  "Mux4"
	  SrcPort		  1
	  DstBlock		  "Dot Product 4"
	  DstPort		  2
	}
	Line {
	  Name			  "[ q(1)  q(2)  q(3) ]"
	  Labels		  [-1, 1]
	  SrcBlock		  "Demux1"
	  SrcPort		  1
	  DstBlock		  "Gain 6"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Gain 6"
	  SrcPort		  1
	  DstBlock		  "Mux4"
	  DstPort		  1
	}
	Line {
	  Name			  "q(4)"
	  Labels		  [0, 1]
	  SrcBlock		  "Demux1"
	  SrcPort		  2
	  DstBlock		  "Mux4"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [215, 41, 275, 59]
      VariableName	      "simout"
      Buffer		      "1"
      Decimation	      "1"
      SampleTime	      "-1"
      SaveFormat	      "Matrix"
    }
    Line {
      SrcBlock		      "Constant 1"
      SrcPort		      1
      Points		      [5, 0; 0, 5]
      DstBlock		      "Quaternion\nMultiply"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Quaternion\nMultiply"
      SrcPort		      1
      DstBlock		      "To Workspace"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Constant 2"
      SrcPort		      1
      Points		      [5, 0; 0, -5]
      DstBlock		      "Quaternion\nMultiply"
      DstPort		      2
    }
  }
}