demo6.mdl

Robot tool box - provides many functions that are useful in robotics including such things as kinem

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    $PropName		    "ActiveConfigurationSet"
    $ObjectID		    1
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    FontSize		    10
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  BlockParameterDefaults {
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      Floating		      off
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      ParamMax		      "[]"
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      ParameterDataType	      "fixdt(1,16,0)"
      ParameterScalingMode    "Best Precision: Matrix-wise"
      ParameterScaling	      "[]"
      ParamDataTypeStr	      "Inherit: Same as input"
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Same as input"
      OutDataType	      "fixdt(1,16,0)"
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      RndMeth		      "Floor"
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    Block {
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      OutMax		      "[]"
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      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: auto"
      SignalType	      "auto"
      SamplingMode	      "auto"
      LatchByDelayingOutsideSignal off
      LatchByCopyingInsideSignal off
      Interpolate	      on
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    Block {
      BlockType		      Integrator
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      InitialCondition	      "0"
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      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
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      AbsoluteTolerance	      "auto"
      IgnoreLimit	      off
      ZeroCross		      on
      ContinuousStateAttributes	"''"
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    Block {
      BlockType		      MATLABFcn
      MATLABFcn		      "sin"
      OutputDimensions	      "-1"
      OutputSignalType	      "auto"
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      SampleTime	      "-1"
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      OutScaling	      "[]"
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      SamplingMode	      "auto"
      OutputWhenDisabled      "held"
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    Block {
      BlockType		      Scope
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      TickLabels	      "OneTimeTick"
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      YMax		      "5"
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      SaveName		      "ScopeData"
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      MaxDataPoints	      "5000"
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    Block {
      BlockType		      "S-Function"
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      PortCounts	      "[]"
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    Block {
      BlockType		      SubSystem
      ShowPortLabels	      "FromPortIcon"
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
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      CheckFcnCallInpInsideContextMsg off
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
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    Block {
      BlockType		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      CollapseMode	      "All dimensions"
      CollapseDim	      "1"
      InputSameDT	      on
      AccumDataTypeStr	      "Inherit: Inherit via internal rule"
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: Same as first input"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
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    Block {
      BlockType		      Constant
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      VectorParams1D	      on
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      OutMin		      "[]"
      OutMax		      "[]"
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      OutDataType	      "fixdt(1,16,0)"
      ConRadixGroup	      "Use specified scaling"
      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: Inherit from 'Constant value'"
      SampleTime	      "inf"
      FramePeriod	      "inf"
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  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
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    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    UseDisplayTextAsClickCallback off
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  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
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  System {
    Name		    "demo6"
    Location		    [437, 190, 1498, 788]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
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    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
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    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
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      BlockType		      Display
      Name		      "Cartesian velocity dmd"
      Ports		      [1]
      Position		      [375, 344, 465, 466]
      Orientation	      "left"
      Format		      "bank"
      Decimation	      "1"
      Lockdown		      off
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    Block {
      BlockType		      Gain
      Name		      "Gain1"
      Position		      [295, 520, 350, 560]
      Orientation	      "left"
      ShowName		      off
      Gain		      "-0.10"
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    Block {
      BlockType		      MATLABFcn
      Name		      "MATLAB Fcn"
      Ports		      [1, 1]
      Position		      [720, 300, 780, 330]
      BackgroundColor	      "lightBlue"
      ShowName		      off
      MATLABFcn		      "reshape(u',prod(size(u)),1)"
      Port {
	PortNumber		1
	Name			"feature vel"
	RTWStorageClass		"Auto"
	DataLoggingNameMode	"SignalName"
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    }
    Block {
      BlockType		      MATLABFcn
      Name		      "MATLAB Fcn1"
      Ports		      [1, 1]
      Position		      [860, 350, 920, 380]
      ShowName		      off
      MATLABFcn		      "norm(u)"
    }
    Block {
      BlockType		      MATLABFcn
      Name		      "MATLAB Fcn2"
      Ports		      [1, 1]
      Position		      [840, 80, 900, 110]
      ShowName		      off
      MATLABFcn		      "cond(u)"
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    Block {
      BlockType		      Reference
      Name		      "Model Info"
      Ports		      []
      Position		      [14, 480, 225, 529]
      ShowName		      off
      FontName		      "Arial"
      SourceBlock	      "simulink/Model-Wide\nUtilities/Model Info"
      SourceType	      "CMBlock"
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      InitialBlockCM	      "none"
      BlockCM		      "none"
      Frame		      "on"
      DisplayStringWithTags   "Image-based visual servo control\n%<Creator>\n%<LastModificationDate>"
      MaskDisplayString	      "Image-based visual servo control\\npic\\n23-Apr-2008 23:02:56"
      HorizontalTextAlignment "Left"
      LeftAlignmentValue      "0.02"
      SourceBlockDiagram      "demo6"
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    Block {
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      Position		      [260, 185, 295, 245]
      ShowName		      off
      Multiplication	      "Matrix(*)"
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    Block {
      BlockType		      Product
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      Position		      [965, 200, 1000, 260]
      BackgroundColor	      "lightBlue"
      ShowName		      off
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    Block {
      BlockType		      Integrator
      Name		      "Rate\ncontrolled\nrobot\naxes"
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      Position		      [325, 192, 360, 238]
      DropShadow	      on
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	Name			"q"
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      BlockType		      Sum
      Name		      "Sum"
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      Position		      [660, 305, 680, 325]
      BackgroundColor	      "lightBlue"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "-+|"
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    Block {
      BlockType		      SubSystem
      Name		      "camera"
      Ports		      [1, 1]
      Position		      [545, 176, 625, 254]
      BackgroundColor	      "lightBlue"
      DropShadow	      on
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      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"
      MaskVarAliasString      ",,,"
      MaskVariables	      "cam_name=&1;camdata=@2;dims=@3;points=@4;"
      MaskInitialization      "h=gcamera(cam_name,camcalp_c(camdata),dims);"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "IBVS camera|[8e-3 80e3 80e3 256 256]|[0 511 0 511]|rotz(0.02)*[2 0.2 0.2;2 0.2 -0.2; 2 -0.2 -0.2 ;2 -0.2 0.2]"
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	  BlockType		  MATLABFcn
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	  Position		  [110, 25, 170, 55]
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	  OutputDimensions	  "[4,2]"
	  OutputSignalType	  "real"
	  Output1D		  off
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	  BlockType		  Outport
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