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Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Inport
Name "u"
Position [15, 108, 45, 122]
FontName "Arial"
FontSize 11
Port "2"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Constant
Name "Constant"
Position [220, 55, 270, 75]
ShowName off
FontName "Arial"
FontSize 11
Value "[1 0 0]'"
}
Block {
BlockType Reference
Name "Dot 1"
Ports [2, 1, 0, 0, 0]
Position [320, 44, 345, 71]
ShowName off
FontName "Arial"
FontSize 11
SourceBlock "simulink3/Math/Dot Product"
SourceType "Dot Product"
}
Block {
BlockType Reference
Name "Dot 2"
Ports [2, 1, 0, 0, 0]
Position [320, 79, 345, 106]
ShowName off
FontName "Arial"
FontSize 11
SourceBlock "simulink3/Math/Dot Product"
SourceType "Dot Product"
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Block {
BlockType Reference
Name "Dot 3"
Ports [2, 1, 0, 0, 0]
Position [320, 114, 345, 141]
ShowName off
FontName "Arial"
FontSize 11
SourceBlock "simulink3/Math/Dot Product"
SourceType "Dot Product"
}
Block {
BlockType Mux
Name "Mux"
Ports [3, 1, 0, 0, 0]
Position [380, 40, 385, 150]
ShowName off
FontName "Arial"
FontSize 11
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType SubSystem
Name "[0 -S C]"
Ports [2, 1, 0, 0, 0]
Position [170, 119, 270, 146]
ShowName off
FontName "Arial"
FontSize 11
ShowPortLabels on
MaskType "[0 -sin(u) cos(u)]"
MaskDisplay "disp('[0 -sin(u) cos(u)]''');"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "[0 -S C]"
Location [39, 76, 275, 225]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "cos(u)"
Position [20, 108, 50, 122]
FontName "Arial"
FontSize 11
Port "1"
PortWidth "1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
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Block {
BlockType Inport
Name "sin(u)"
Position [20, 73, 50, 87]
FontName "Arial"
FontSize 11
Port "2"
PortWidth "1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
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Block {
BlockType Constant
Name "0"
Position [20, 37, 50, 53]
ShowName off
FontName "Arial"
FontSize 11
Value "0"
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Block {
BlockType Gain
Name "Gain"
Position [70, 65, 100, 95]
ShowName off
FontName "Arial"
Gain "-1"
SaturateOnIntegerOverflow on
}
Block {
BlockType Mux
Name "Mux"
Ports [3, 1, 0, 0, 0]
Position [120, 28, 125, 132]
ShowName off
FontName "Arial"
FontSize 11
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Outport
Name "[0 -sin(u) cos(u)]' "
Position [170, 73, 200, 87]
FontName "Arial"
FontSize 11
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "sin(u)"
SrcPort 1
DstBlock "Gain"
DstPort 1
}
Line {
SrcBlock "Gain"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "[0 -sin(u) cos(u)]' "
DstPort 1
}
Line {
SrcBlock "0"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "cos(u)"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
}
}
Block {
BlockType SubSystem
Name "[0 C S]"
Ports [2, 1, 0, 0, 0]
Position [170, 84, 270, 111]
ShowName off
FontName "Arial"
FontSize 11
ShowPortLabels on
MaskType "[0 cos(u) sin(u)]"
MaskDisplay "disp('[0 cos(u) sin(u)]''');"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
System {
Name "[0 C S]"
Location [44, 84, 247, 242]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "cos(u)"
Position [25, 73, 55, 87]
FontName "Arial"
FontSize 11
Port "1"
PortWidth "1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Inport
Name "sin(u)"
Position [25, 108, 55, 122]
FontName "Arial"
FontSize 11
Port "2"
PortWidth "1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Constant
Name "0"
Position [25, 36, 55, 54]
ShowName off
FontName "Arial"
FontSize 11
Value "0"
}
Block {
BlockType Mux
Name "Mux"
Ports [3, 1, 0, 0, 0]
Position [90, 28, 95, 132]
ShowName off
FontName "Arial"
FontSize 11
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Outport
Name "[0 cos(u) sin(u)]'"
Position [135, 73, 165, 87]
FontName "Arial"
FontSize 11
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "sin(u)"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "cos(u)"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "[0 cos(u) sin(u)]'"
DstPort 1
}
Line {
SrcBlock "0"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
}
}
Block {
BlockType Trigonometry
Name "cos"
Ports [1, 1, 0, 0, 0]
Position [80, 80, 120, 100]
ShowName off
FontName "Arial"
FontSize 11
Operator "cos"
OutputSignalType "auto"
}
Block {
BlockType Trigonometry
Name "sin"
Ports [1, 1, 0, 0, 0]
Position [80, 130, 120, 150]
ShowName off
FontName "Arial"
FontSize 11
Operator "sin"
OutputSignalType "auto"
}
Block {
BlockType Outport
Name "[x* y* z*]'"
Position [410, 88, 440, 102]
FontName "Arial"
FontSize 11
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "cos"
SrcPort 1
Points [20, 0]
Branch {
DstBlock "[0 C S]"
DstPort 1
}
Branch {
Points [0, 35]
DstBlock "[0 -S C]"
DstPort 1
}
}
Line {
SrcBlock "sin"
SrcPort 1
Points [10, 0; 0, 0]
Branch {
DstBlock "[0 -S C]"
DstPort 2
}
Branch {
Points [0, -35]
DstBlock "[0 C S]"
DstPort 2
}
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Dot 1"
DstPort 2
}
Line {
SrcBlock "[0 C S]"
SrcPort 1
DstBlock "Dot 2"
DstPort 2
}
Line {
SrcBlock "[0 -S C]"
SrcPort 1
DstBlock "Dot 3"
DstPort 2
}
Line {
SrcBlock "[x y z]'"
SrcPort 1
Points [0, 15]
Branch {
Points [0, 35]
Branch {
Points [0, 35]
DstBlock "Dot 3"
DstPort 1
}
Branch {
DstBlock "Dot 2"
DstPort 1
}
}
Branch {
DstBlock "Dot 1"
DstPort 1
}
}
Line {
SrcBlock "Dot 1"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "Dot 2"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Dot 3"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "[x* y* z*]'"
DstPort 1
}
Line {
SrcBlock "u"
SrcPort 1
Points [10, 0]
Branch {
Points [0, -25]
DstBlock "cos"
DstPort 1
}
Branch {
Points [0, 25]
DstBlock "sin"
DstPort 1
}
}
Annotation {
Position [82, 25]
ForegroundColor "blue"
Text "Rotation around X-axis"
FontName "Arial"
FontSize 12
FontWeight "bold"
}
}
}
Block {
BlockType SubSystem
Name "rot y"
Ports [2, 1, 0, 0, 0]
Position [420, 76, 465, 109]
ShowName off
FontName "Arial"
FontSize 11
ShowPortLabels on
MaskType "Rotation around Y-axis"
MaskDescription "Direction cosines for rotation around positive "
"Y-axis. The first input signal is a (3x1) vector which will be converted to t"
"he new reference frame. The second input is a scalar value, which represents "
"the rotation angle."
MaskHelp "Direction cosines for rotation around positive "
"Y-axis.<br><br>\n The first input signal is a (3x1) vector which will be conv"
"erted to the new reference frame. The second input is a scalar value, which r"
"epresents the rotation angle."
MaskDisplay "disp('rot y')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "pixels"
System {
Name "rot y"
Location [26, 55, 487, 218]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "[x y z]'"
Position [280, 15, 310, 30]
Orientation "down"
NamePlacement "alternate"
FontName "Arial"
FontSize 11
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
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