⭐ 欢迎来到虫虫下载站! | 📦 资源下载 📁 资源专辑 ℹ️ 关于我们
⭐ 虫虫下载站

📄 demo6.mdl

📁 Robotics TOOLBOX The Toolbox provides many functions that are useful in robotics including such thi
💻 MDL
📖 第 1 页 / 共 2 页
字号:
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

⌨️ 快捷键说明

复制代码 Ctrl + C
搜索代码 Ctrl + F
全屏模式 F11
切换主题 Ctrl + Shift + D
显示快捷键 ?
增大字号 Ctrl + =
减小字号 Ctrl + -