roblocks.mdl

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

Library {
  Name			  "roblocks"
  Version		  7.1
  MdlSubVersion		  0
  SavedCharacterEncoding  "ISO-8859-1"
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  ToolBar		  off
  StatusBar		  off
  BrowserShowLibraryLinks off
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  Created		  "Tue Nov  6 20:25:41 2001"
  Creator		  "pic"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "pic"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Thu Apr 24 07:54:59 2008"
  RTWModifiedTimeStamp	  0
  ModelVersionFormat	  "1.%<AutoIncrement:26>"
  ConfigurationManager	  "none"
  SimulationMode	  "normal"
  LinearizationMsg	  "none"
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  ParamWorkspaceSource	  "MATLABWorkspace"
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  ExtModeTrigType	  "manual"
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  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigDurationFloating "auto"
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  ExtModeTrigDirection	  "rising"
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    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
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  BlockParameterDefaults {
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      BusObject		      "BusObject"
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      OutMin		      "[]"
      OutMax		      "[]"
      DataType		      "auto"
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      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: auto"
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      BlockType		      Outport
      Port		      "1"
      UseBusObject	      off
      BusObject		      "BusObject"
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      OutMin		      "[]"
      OutMax		      "[]"
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      OutDataType	      "fixdt(1,16,0)"
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      OutDataTypeStr	      "Inherit: auto"
      SignalType	      "auto"
      SamplingMode	      "auto"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
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      BlockType		      Reference
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    Block {
      BlockType		      "S-Function"
      FunctionName	      "system"
      SFunctionModules	      "''"
      PortCounts	      "[]"
      SFunctionDeploymentMode off
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      "FromPortIcon"
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      TreatAsAtomicUnit	      off
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      SystemSampleTime	      "-1"
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      RTWFileNameOpts	      "Auto"
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    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
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    DropShadow		    off
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    FontSize		    10
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  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
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  System {
    Name		    "roblocks"
    Location		    [48, 62, 845, 408]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "gray"
    PaperOrientation	    "portrait"
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    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
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      BlockType		      SubSystem
      Name		      "Robot"
      Ports		      [1, 3]
      Position		      [35, 79, 150, 151]
      BackgroundColor	      "red"
      DropShadow	      on
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskDescription	      "Rigid-body dynamic model of robot."
      MaskHelp		      "Simulates the forward (direct) rigid-body dynamics of the robot described by the given robot object.\n"
      MaskPromptString	      "Robot object|Initial state"
      MaskStyleString	      "edit,edit"
      MaskTunableValueString  "on,on"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,on"
      MaskToolTipString	      "on,on"
      MaskVarAliasString      ","
      MaskVariables	      "robot=@1;q0=@2;"
      MaskInitialization      "n = robot.n;\nname = robot.name;\n"
      MaskDisplay	      "port_label('input', 1, 'tau')\nport_label('output', 1, 'q')\nport_label('output', 2, 'qd')\nport_label('output', 3, 'qdd')\ntext(0.1, 0.9,  name, 'horizontalAlignment', 'left')\n"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      MaskValueString	      "robot|[0 0 0 0 0 0]"
      MaskTabNameString	      ","
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	Name			"Robot"
	Location		[26, 97, 558, 325]
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	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "tau"
	  Position		  [20, 98, 50, 112]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
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	  BlockType		  Integrator
	  Name			  "Integrator"
	  Ports			  [1, 1]
	  Position		  [265, 65, 295, 95]
	  ShowName		  off
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	    PortNumber		    1
	    Name		    "qd"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Integrator
	  Name			  "Integrator1"
	  Ports			  [1, 1]
	  Position		  [345, 65, 375, 95]
	  ShowName		  off
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [3, 1]
	  Position		  [105, 44, 115, 116]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-Function"
	  Ports			  [1, 1]
	  Position		  [150, 65, 210, 95]
	  FunctionName		  "slaccel"
	  Parameters		  "robot"
	  EnableBusSupport	  off
	  Port {
	    PortNumber		    1
	    Name		    "qdd"
	    RTWStorageClass	    "Auto"
	    DataLoggingNameMode	    "SignalName"
	  }
	}
	Block {
	  BlockType		  Outport
	  Name			  "q"
	  Position		  [440, 73, 470, 87]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Outport
	  Name			  "qd"
	  Position		  [440, 128, 470, 142]
	  Port			  "2"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Outport
	  Name			  "qdd"
	  Position		  [440, 173, 470, 187]
	  Port			  "3"
	  IconDisplay		  "Port number"
	}
	Line {
	  Name			  "qdd"
	  Labels		  [0, 0]
	  SrcBlock		  "S-Function"
	  SrcPort		  1
	  Points		  [35, 0]
	  Branch {
	    Points		    [0, 100]
	    DstBlock		    "qdd"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Integrator"
	    DstPort		    1
	  }
	}
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	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "S-Function"
	  DstPort		  1
	}
	Line {
	  Name			  "qd"
	  Labels		  [0, 0]
	  SrcBlock		  "Integrator"
	  SrcPort		  1
	  Points		  [30, 0]
	  Branch {
	    Points		    [0, 55]
	    DstBlock		    "qd"
	    DstPort		    1
	  }
	  Branch {
	    DstBlock		    "Integrator1"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -50; -285, 0; 0, 50]
	    DstBlock		    "Mux"
	    DstPort		    2
	  }
	}
	Line {
	  SrcBlock		  "tau"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "Integrator1"
	  SrcPort		  1
	  Points		  [25, 0]
	  Branch {
	    DstBlock		    "q"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -60; -325, 0; 0, 35]
	    DstBlock		    "Mux"
	    DstPort		    1
	  }
	}
      }
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      BlockType		      SubSystem
      Name		      "T2eul"
      Ports		      [1, 3]
      Position		      [705, 227, 755, 283]
      BackgroundColor	      "red"
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      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
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      MaskDescription	      "Convert transform to Euler angles."
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      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
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	  BlockType		  Inport
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	  Position		  [30, 63, 60, 77]
	  IconDisplay		  "Port number"
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