roblocks.mdl

来自「Robotics TOOLBOX The Toolbox provides m」· MDL 代码 · 共 1,824 行 · 第 1/3 页

Library {
  Name			  "roblocks"
  Version		  4.00
  LibraryLinkDisplay	  "all"
  CovSaveName		  "covdata"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  BlockNameDataTip	  off
  BlockParametersDataTip  off
  BlockDescriptionStringDataTip	off
  ToolBar		  off
  StatusBar		  off
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Tue Nov  6 20:25:41 2001"
  Creator		  "pic"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "pic"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Mon Apr  8 11:39:30 2002"
  ModelVersionFormat	  "1.%<AutoIncrement:23>"
  ConfigurationManager	  "none"
  SimParamPage		  "Solver"
  AlgebraicLoopMsg	  "warning"
  MinStepSizeMsg	  "warning"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  SingleTaskRateTransMsg  "none"
  MultiTaskRateTransMsg	  "error"
  IntegerOverflowMsg	  "warning"
  CheckForMatrixSingularity "none"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg	  "warning"
  SignalLabelMismatchMsg  "none"
  LinearizationMsg	  "none"
  VectorMatrixConversionMsg "none"
  SfunCompatibilityCheckMsg "none"
  BlockPriorityViolationMsg "warning"
  ArrayBoundsChecking	  "none"
  ConsistencyChecking	  "none"
  Profile		  off
  SimulationMode	  "normal"
  RTWRetainRTWFile	  off
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  TLCProfiler		  off
  TLCDebug		  off
  TLCCoverage		  off
  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "normal"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  on
  ExtModeLogAll		  on
  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "roblocks"
    Location		    [320, 113, 1117, 459]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "lightBlue"
    PaperOrientation	    "portrait"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    AutoZoom		    off
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      SubSystem
      Name		      "Robot"
      Ports		      [1, 3]
      Position		      [35, 79, 150, 151]
      BackgroundColor	      "red"
      DropShadow	      on
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDescription	      "Rigid-body dynamic model of robot."
      MaskHelp		      "Simulates the forward (direct) rigid-body dynam"
"ics of the robot described by the given robot object.\n"
      MaskPromptString	      "Robot object|Initial state"
      MaskStyleString	      "edit,edit"
      MaskTunableValueString  "on,on"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,on"
      MaskToolTipString	      "on,on"
      MaskVariables	      "robot=@1;q0=@2;"
      MaskInitialization      "n = robot.n;\nname = robot.name;\n"
      MaskDisplay	      "port_label('input', 1, 'tau')\nport_label('outp"
"ut', 1, 'q')\nport_label('output', 2, 'qd')\nport_label('output', 3, 'qdd')\n"
"text(0.1, 0.9,  robot.name, 'horizontalAlignment', 'left')\n\n"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      MaskValueString	      "robot|[0 0 0 0 0 0]"
      MaskVariableAliases     ","
      System {
	Name			"Robot"
	Location		[26, 97, 558, 325]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "tau"
	  Position		  [20, 98, 50, 112]
	  Port			  "1"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator"
	  Ports			  [1, 1]
	  Position		  [265, 65, 295, 95]
	  ShowName		  off
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "0"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	  Port {
	    PortNumber		    1
	    Name		    "qd"
	    TestPoint		    off
	    LinearAnalysisOutput    off
	    LinearAnalysisInput	    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator1"
	  Ports			  [1, 1]
	  Position		  [345, 65, 375, 95]
	  ShowName		  off
	  ExternalReset		  "none"
	  InitialConditionSource  "internal"
	  InitialCondition	  "0"
	  LimitOutput		  off
	  UpperSaturationLimit	  "inf"
	  LowerSaturationLimit	  "-inf"
	  ShowSaturationPort	  off
	  ShowStatePort		  off
	  AbsoluteTolerance	  "auto"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [3, 1]
	  Position		  [105, 44, 115, 116]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-Function"
	  Ports			  [1, 1]
	  Position		  [150, 65, 210, 95]
	  FunctionName		  "slaccel"
	  Parameters		  "robot"
	  PortCounts		  "[]"
	  SFunctionModules	  "''"
	  Port {
	    PortNumber		    1
	    Name		    "qdd"
	    TestPoint		    off
	    LinearAnalysisOutput    off
	    LinearAnalysisInput	    off
	    RTWStorageClass	    "Auto"
	  }
	}
	Block {
	  BlockType		  Outport
	  Name			  "q"
	  Position		  [440, 73, 470, 87]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "qd"
	  Position		  [440, 128, 470, 142]
	  Port			  "2"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "qdd"
	  Position		  [440, 173, 470, 187]
	  Port			  "3"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  Name			  "qdd"
	  Labels		  [0, 0]
	  SrcBlock		  "S-Function"
	  SrcPort		  1
	  Points		  [35, 0]
	  Branch {
	    Points		    [0, 100]
	    DstBlock		    "qdd"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Integrator"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "S-Function"
	  DstPort		  1
	}
	Line {
	  Name			  "qd"
	  Labels		  [0, 0]
	  SrcBlock		  "Integrator"
	  SrcPort		  1
	  Points		  [30, 0]
	  Branch {
	    Points		    [0, 55]
	    DstBlock		    "qd"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Integrator1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -50; -285, 0; 0, 50]
	    DstBlock		    "Mux"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "tau"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Integrator1"
	  SrcPort		  1
	  Points		  [25, 0]
	  Branch {
	    DstBlock		    "q"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -60; -325, 0; 0, 35]
	    DstBlock		    "Mux"
	    DstPort		    1
	  }
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "T2eul"
      Ports		      [1, 3]
      Position		      [705, 227, 755, 283]
      BackgroundColor	      "red"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDescription	      "Convert transform to Euler angles."
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      System {
	Name			"T2eul"
	Location		[167, 513, 531, 662]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "T"
	  Position		  [30, 63, 60, 77]
	  Port			  "1"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux"
	  Ports			  [1, 3]
	  Position		  [225, 13, 230, 127]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "3"
	  BusSelectionMode	  off
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Position		  [105, 55, 165, 85]
	  MATLABFcn		  "tr2eul(u)"
	  OutputDimensions	  "3"
	  OutputSignalType	  "auto"
	  Output1D		  on
	}
	Block {
	  BlockType		  Outport
	  Name			  "a"
	  Position		  [265, 23, 295, 37]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "b"
	  Position		  [255, 63, 285, 77]
	  Port			  "2"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "c"
	  Position		  [255, 103, 285, 117]
	  Port			  "3"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  3
	  DstBlock		  "c"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  2
	  DstBlock		  "b"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  1
	  DstBlock		  "a"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "T"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "T2rpy"
      Ports		      [1, 3]
      Position		      [705, 147, 755, 203]
      BackgroundColor	      "red"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDescription	      "Convert transform to roll/pitch/yaw angles."
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      System {
	Name			"T2rpy"
	Location		[167, 513, 531, 662]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "T"
	  Position		  [30, 63, 60, 77]
	  Port			  "1"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux"
	  Ports			  [1, 3]
	  Position		  [225, 13, 230, 127]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "3"
	  BusSelectionMode	  off
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Position		  [105, 55, 165, 85]
	  MATLABFcn		  "tr2rpy(u)"
	  OutputDimensions	  "3"
	  OutputSignalType	  "auto"
	  Output1D		  on
	}
	Block {
	  BlockType		  Outport
	  Name			  "roll"
	  Position		  [265, 23, 295, 37]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "pitch"
	  Position		  [255, 63, 285, 77]
	  Port			  "2"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "yaw"
	  Position		  [255, 103, 285, 117]
	  Port			  "3"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  3
	  DstBlock		  "yaw"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  2
	  DstBlock		  "pitch"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  1
	  DstBlock		  "roll"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "T"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "T2xyz"
      Ports		      [1, 3]
      Position		      [700, 77, 750, 133]
      BackgroundColor	      "red"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDescription	      "Convert transform to xyz scalars"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      System {
	Name			"T2xyz"
	Location		[167, 513, 531, 662]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "T"
	  Position		  [30, 63, 60, 77]
	  Port			  "1"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Demux
	  Name			  "Demux"
	  Ports			  [1, 3]
	  Position		  [225, 13, 230, 127]
	  BackgroundColor	  "black"
	  ShowName		  off
	  Outputs		  "3"
	  BusSelectionMode	  off
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Position		  [105, 55, 165, 85]
	  MATLABFcn		  "transl(u)"
	  OutputDimensions	  "3"
	  OutputSignalType	  "auto"
	  Output1D		  on
	}
	Block {
	  BlockType		  Outport
	  Name			  "x"
	  Position		  [265, 23, 295, 37]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Block {
	  BlockType		  Outport