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Position [20, 71, 50, 89]
ShowName off
FontName "Arial"
FontSize 11
Value "0"
}
Block {
BlockType Mux
Name "Mux"
Ports [3, 1, 0, 0, 0]
Position [95, 28, 100, 132]
ShowName off
FontName "Arial"
FontSize 11
Inputs "3"
DisplayOption "bar"
}
Block {
BlockType Outport
Name "[sin(u) 0 cos(u)]' "
Position [145, 73, 175, 87]
FontName "Arial"
FontSize 11
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "sin(u)"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "cos(u)"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "[sin(u) 0 cos(u)]' "
DstPort 1
}
Line {
SrcBlock "0"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
}
}
Block {
BlockType Trigonometry
Name "cos"
Ports [1, 1, 0, 0, 0]
Position [80, 45, 120, 65]
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 "u"
SrcPort 1
Points [10, 0]
Branch {
Points [0, 45]
DstBlock "sin"
DstPort 1
}
Branch {
Points [0, -40]
DstBlock "cos"
DstPort 1
}
}
Line {
SrcBlock "Mux"
SrcPort 1
DstBlock "[x* y* z*]'"
DstPort 1
}
Line {
SrcBlock "Dot 3"
SrcPort 1
DstBlock "Mux"
DstPort 3
}
Line {
SrcBlock "Dot 2"
SrcPort 1
DstBlock "Mux"
DstPort 2
}
Line {
SrcBlock "Dot 1"
SrcPort 1
DstBlock "Mux"
DstPort 1
}
Line {
SrcBlock "[x y z]'"
SrcPort 1
Points [0, 15]
Branch {
DstBlock "Dot 1"
DstPort 1
}
Branch {
Points [0, 35]
Branch {
DstBlock "Dot 2"
DstPort 1
}
Branch {
Points [0, 35]
DstBlock "Dot 3"
DstPort 1
}
}
}
Line {
SrcBlock "[S 0 C]"
SrcPort 1
DstBlock "Dot 3"
DstPort 2
}
Line {
SrcBlock "sin"
SrcPort 1
Points [10, 0; 0, 0]
Branch {
Points [0, -70]
DstBlock "[C 0 -S]"
DstPort 2
}
Branch {
DstBlock "[S 0 C]"
DstPort 2
}
}
Line {
SrcBlock "cos"
SrcPort 1
Points [20, 0]
Branch {
Points [0, 70]
DstBlock "[S 0 C]"
DstPort 1
}
Branch {
DstBlock "[C 0 -S]"
DstPort 1
}
}
Line {
SrcBlock "Constant"
SrcPort 1
DstBlock "Dot 2"
DstPort 2
}
Line {
SrcBlock "[C 0 -S]"
SrcPort 1
DstBlock "Dot 1"
DstPort 2
}
Annotation {
Position [77, 20]
ForegroundColor "blue"
Text "Rotation around Y-axis"
FontName "Arial"
FontSize 12
FontWeight "bold"
}
}
}
Block {
BlockType SubSystem
Name "rot z"
Ports [2, 1, 0, 0, 0]
Position [420, 120, 465, 155]
ShowName off
FontName "Arial"
FontSize 11
ShowPortLabels on
MaskType "Rotation around Z-axis"
MaskDescription "Direction cosines for rotation around positive "
"Z-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 "
"Z-axis.<br><br>\nThe first input signal is a (3x1) vector which will be conve"
"rted to the new reference frame. The second input is a scalar value, which re"
"presents the rotation angle."
MaskDisplay "disp('rot z')"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "pixels"
System {
Name "rot z"
Location [26, 55, 496, 230]
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"
Interpolate on
}
Block {
BlockType Inport
Name "u"
Position [15, 73, 45, 87]
FontName "Arial"
FontSize 11
Port "2"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Constant
Name "Constant"
Position [220, 125, 270, 145]
ShowName off
FontName "Arial"
FontSize 11
Value "[0 0 1]'"
}
Block {
BlockType SubSystem
Name "Dot 1"
Ports [2, 1, 0, 0, 0]
Position [320, 44, 345, 71]
ShowName off
FontName "Arial"
FontSize 11
ShowPortLabels on
MaskType "Dot Product"
MaskDescription "Inner (dot) product.\ny=sum(u1.*u2) "
MaskHelp "Computes the inner (dot) product of the inp"
"uts: sum(u1.*u2). The inputs are vectors of the same length. Output is a sca"
"lar."
MaskInitialization "t=(0:.1:2*pi)';\nx=cos(t);\ny=sin(t);\nr=0."
"05;"
MaskDisplay "patch([x*r+0.5],[y*r+0.5])"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "normalized"
System {
Name "Dot 1"
Location [50, 125, 283, 259]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In1"
Position [15, 32, 45, 48]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Inport
Name "In2"
Position [15, 77, 45, 93]
Port "2"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType "S-Function"
Name "S-Function"
Ports [2, 1, 0, 0, 0]
Position [85, 46, 165, 79]
ShowName off
FunctionName "sdotproduct"
PortCounts "[]"
SFunctionModules "''"
}
Block {
BlockType Outport
Name "Out1"
Position [190, 56, 220, 74]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "S-Function"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
Points [0, 15]
DstBlock "S-Function"
DstPort 1
}
Line {
SrcBlock "In2"
SrcPort 1
Points [0, -15]
DstBlock "S-Function"
DstPort 2
}
}
}
Block {
BlockType SubSystem
Name "Dot 2"
Ports [2, 1, 0, 0, 0]
Position [320, 79, 345, 106]
ShowName off
FontName "Arial"
FontSize 11
ShowPortLabels on
MaskType "Dot Product"
MaskDescription "Inner (dot) product.\ny=sum(u1.*u2) "
MaskHelp "Computes the inner (dot) product of the inp"
"uts: sum(u1.*u2). The inputs are vectors of the same length. Output is a sca"
"lar."
MaskInitialization "t=(0:.1:2*pi)';\nx=cos(t);\ny=sin(t);\nr=0."
"05;"
MaskDisplay "patch([x*r+0.5],[y*r+0.5])"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "normalized"
System {
Name "Dot 2"
Location [50, 125, 283, 259]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
Block {
BlockType Inport
Name "In1"
Position [15, 32, 45, 48]
Port "1"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType Inport
Name "In2"
Position [15, 77, 45, 93]
Port "2"
PortWidth "-1"
SampleTime "-1"
DataType "auto"
SignalType "auto"
Interpolate on
}
Block {
BlockType "S-Function"
Name "S-Function"
Ports [2, 1, 0, 0, 0]
Position [85, 46, 165, 79]
ShowName off
FunctionName "sdotproduct"
PortCounts "[]"
SFunctionModules "''"
}
Block {
BlockType Outport
Name "Out1"
Position [190, 56, 220, 74]
Port "1"
OutputWhenDisabled "held"
InitialOutput "[]"
}
Line {
SrcBlock "S-Function"
SrcPort 1
DstBlock "Out1"
DstPort 1
}
Line {
SrcBlock "In1"
SrcPort 1
Points [0, 15]
DstBlock "S-Function"
DstPort 1
}
Line {
SrcBlock "In2"
SrcPort 1
Points [0, -15]
DstBlock "S-Function"
DstPort 2
}
}
}
Block {
BlockType SubSystem
Name "Dot 3"
Ports [2, 1, 0, 0, 0]
Position [320, 114, 345, 141]
ShowName off
FontName "Arial"
FontSize 11
ShowPortLabels on
MaskType "Dot Product"
MaskDescription "Inner (dot) product.\ny=sum(u1.*u2) "
MaskHelp "Computes the inner (dot) product of the inp"
"uts: sum(u1.*u2). The inputs are vectors of the same length. Output is a sca"
"lar."
MaskInitialization "t=(0:.1:2*pi)';\nx=cos(t);\ny=sin(t);\nr=0."
"05;"
MaskDisplay "patch([x*r+0.5],[y*r+0.5])"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "normalized"
System {
Name "Dot 3"
Location [50, 125, 283, 259]
Open off
ModelBrowserVisibility off
ModelBrowserWidth 200
ScreenColor "white"
PaperOrientation "landscape"
PaperPositionMode "auto"
PaperType "usletter"
PaperUnits "inches"
ZoomFactor "100"
AutoZoom on
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