📄 demo6.mdl
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Model { Name "demo6" Version 4.00 SampleTimeColors off LibraryLinkDisplay "all" WideLines on ShowLineDimensions on ShowPortDataTypes off RecordCoverage off CovPath "/" CovSaveName "covdata" CovNameIncrementing off CovHtmlReporting on BlockNameDataTip off BlockParametersDataTip on BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Sat Jan 26 02:15:13 2002" Creator "pic" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%<Auto>" LastModifiedBy "pic" ModifiedDateFormat "%<Auto>" LastModifiedDate "Mon Apr 8 11:51:47 2002" ModelVersionFormat "1.%<AutoIncrement:13>" ConfigurationManager "none" SimParamPage "Solver" StartTime "0.0" StopTime "20.0" SolverMode "Auto" Solver "ode45" RelTol "1e-3" AbsTol "auto" Refine "1" MaxStep "auto" MinStep "auto" MaxNumMinSteps "-1" InitialStep "auto" FixedStep "auto" MaxOrder 5 OutputOption "RefineOutputTimes" OutputTimes "[]" LoadExternalInput off ExternalInput "[t, u]" SaveTime on TimeSaveName "tout" SaveState off StateSaveName "xout" SaveOutput on OutputSaveName "yout" LoadInitialState off InitialState "xInitial" SaveFinalState off FinalStateName "xFinal" SaveFormat "Array" LimitDataPoints off MaxDataPoints "1000" Decimation "1" 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" ZeroCross on Profile off SimulationMode "normal" RTWSystemTargetFile "grt.tlc" RTWInlineParameters off RTWRetainRTWFile off RTWTemplateMakefile "grt_default_tmf" RTWMakeCommand "make_rtw" RTWGenerateCodeOnly off TLCProfiler off TLCDebug off TLCCoverage off AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" ExtModeMexFile "ext_comm" ExtModeBatchMode off ExtModeTrigType "manual" ExtModeTrigMode "oneshot" 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 off ExtModeLogAll on OptimizeBlockIOStorage on BufferReuse on ParameterPooling on BlockReductionOpt off BooleanDataType off 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 "demo6" Location [4, 297, 1065, 895] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "portrait" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on ReportName "simulink-default.rpt" Block { BlockType Display Name "Cartesian velocity dmd" Ports [1] Position [375, 344, 465, 466] Orientation "left" Format "bank" Decimation "1" Floating off SampleTime "-1" } Block { BlockType Gain Name "Gain1" Position [295, 520, 350, 560] Orientation "left" ShowName off Gain "-0.10" Multiplication "Element-wise(K.*u)" SaturateOnIntegerOverflow on } Block { BlockType MATLABFcn Name "MATLAB Fcn" Position [720, 300, 780, 330] BackgroundColor "lightBlue" ShowName off MATLABFcn "reshape(u',prod(size(u)),1)" OutputDimensions "-1" OutputSignalType "auto" Output1D on Port { PortNumber 1 Name "feature vel" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" } } Block { BlockType MATLABFcn Name "MATLAB Fcn1" Position [860, 350, 920, 380] ShowName off MATLABFcn "norm(u)" OutputDimensions "-1" OutputSignalType "auto" Output1D on } Block { BlockType MATLABFcn Name "MATLAB Fcn2" Position [840, 80, 900, 110] ShowName off MATLABFcn "cond(u)" OutputDimensions "-1" OutputSignalType "auto" Output1D on } Block { BlockType Reference Name "Model Info" Ports [] Position [14, 480, 225, 529] ShowName off FontName "Arial" SourceBlock "simulink3/Signals\n& Systems/Model Info" SourceType "CMBlock" InitialBlockCM "none" BlockCM "none" Frame "on" DisplayStringWithTags "Image-based visual servo control\n%<Creator>\n%""<LastModificationDate>" MaskDisplayString "Image-based visual servo control\\npic\\n08-Apr""-2002 11:39:37" HorizontalTextAlignment "Left" LeftAlignmentValue "0.02" SourceBlockDiagram "demo6" TagMaxNumber "20" } Block { BlockType Product Name "Product" Ports [2, 1] Position [260, 185, 295, 245] ShowName off Inputs "2" Multiplication "Matrix(*)" SaturateOnIntegerOverflow on } Block { BlockType Product Name "Product1" Ports [2, 1] Position [965, 200, 1000, 260] BackgroundColor "lightBlue" ShowName off Inputs "2" Multiplication "Matrix(*)" SaturateOnIntegerOverflow on } Block { BlockType Integrator Name "Rate\ncontrolled\nrobot\naxes" Ports [1, 1] Position [325, 192, 360, 238] DropShadow on ExternalReset "none" InitialConditionSource "internal" InitialCondition "[0.3048 -0.9869 0.4483 -0.3513 -1.0595"" 0.1774]" LimitOutput off UpperSaturationLimit "inf" LowerSaturationLimit "-inf" ShowSaturationPort off ShowStatePort off AbsoluteTolerance "auto" Port { PortNumber 1 Name "q" TestPoint off LinearAnalysisOutput off LinearAnalysisInput off RTWStorageClass "Auto" } } Block { BlockType Sum Name "Sum" Ports [2, 1] Position [660, 305, 680, 325] BackgroundColor "lightBlue" ShowName off IconShape "round" Inputs "-+|" SaturateOnIntegerOverflow on } Block { BlockType SubSystem Name "camera" Ports [1, 1] Position [545, 176, 625, 254] BackgroundColor "lightBlue" DropShadow on ShowPortLabels on TreatAsAtomicUnit off RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" MaskPromptString "Name|Camera params|Image plane size|Points (nx2"")" MaskStyleString "edit,edit,edit,edit" MaskTunableValueString "on,on,on,on" MaskCallbackString "|||" MaskEnableString "on,on,on,on" MaskVisibilityString "on,on,on,on" MaskToolTipString "on,on,on,on" MaskVariables "name=&1;camdata=@2;dims=@3;points=@4;" MaskInitialization "h=gcamera(name,camcalp_c(camdata),dims);" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "IBVS camera|[8e-3 80e3 80e3 256 256]|[0 511 0 5""11]|rotz(0.02)*[2 0.2 0.2;2 0.2 -0.2; 2 -0.2 -0.2 ;2 -0.2 0.2]" MaskVariableAliases ",,," System { Name "camera" Location [379, 398, 686, 504] 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 [25, 33, 55, 47] Port "1" Interpolate on } Block { BlockType MATLABFcn Name "MATLAB Fcn" Position [110, 25, 170, 55] MATLABFcn "gcamera(h,points, eye(4,4), u)" OutputDimensions "-1" OutputSignalType "auto" Output1D off } Block { BlockType Outport Name "uv" Position [230, 33, 260, 47] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "MATLAB Fcn" SrcPort 1 DstBlock "uv" DstPort 1 } Line { SrcBlock "T" SrcPort 1 DstBlock "MATLAB Fcn" DstPort 1 } } } Block { BlockType MATLABFcn Name "cond()" Position [155, 95, 215, 125] MATLABFcn "cond(u)" OutputDimensions "-1" OutputSignalType "auto" Output1D on
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