sl_kine.mdl

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

Model {
  Name			  "sl_kine"
  Version		  5.0
  SaveDefaultBlockParams  on
  SampleTimeColors	  off
  LibraryLinkDisplay	  "none"
  WideLines		  on
  ShowLineDimensions	  on
  ShowPortDataTypes	  off
  ShowLoopsOnError	  on
  IgnoreBidirectionalLines off
  ShowStorageClass	  off
  ExecutionOrder	  off
  RecordCoverage	  off
  CovPath		  "/"
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  CovMetricSettings	  "dw"
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  MinMaxOverflowArchiveMode "Overwrite"
  BlockNameDataTip	  off
  BlockParametersDataTip  on
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Tue Jan  8 12:29:23 2002"
  Creator		  "pic"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "pic"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Wed Aug  2 10:41:14 2006"
  ModelVersionFormat	  "1.%<AutoIncrement:23>"
  ConfigurationManager	  "none"
  SimParamPage		  "Solver"
  LinearizationMsg	  "none"
  Profile		  off
  ParamWorkspaceSource	  "MATLABWorkspace"
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  TryForcingSFcnDF	  off
  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
  ExtModeSkipDownloadWhenConnect off
  ExtModeLogAll		  on
  ExtModeAutoUpdateStatusClock off
  BufferReuse		  on
  RTWExpressionDepthLimit 5
  SimulationMode	  "normal"
  Solver		  "ode45"
  SolverMode		  "Auto"
  StartTime		  "0.0"
  StopTime		  "10.0"
  MaxOrder		  5
  MaxStep		  "auto"
  MinStep		  "auto"
  MaxNumMinSteps	  "-1"
  InitialStep		  "auto"
  FixedStep		  "auto"
  RelTol		  "1e-3"
  AbsTol		  "auto"
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  Refine		  "1"
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  ExternalInput		  "[t, u]"
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  FinalStateName	  "xFinal"
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  MaxDataPoints		  "1000"
  SignalLoggingName	  "sigsOut"
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  AlgebraicLoopMsg	  "warning"
  BlockPriorityViolationMsg "warning"
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  DiscreteInheritContinuousMsg "warning"
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  SingleTaskRateTransMsg  "none"
  CheckForMatrixSingularity "none"
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  Int32ToFloatConvMsg	  "warning"
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  UnderSpecifiedDataTypeMsg "none"
  UnnecessaryDatatypeConvMsg "none"
  VectorMatrixConversionMsg "none"
  InvalidFcnCallConnMsg	  "error"
  SignalLabelMismatchMsg  "none"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  SfunCompatibilityCheckMsg "none"
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  ConditionallyExecuteInputs on
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  OptimizeBlockIOStorage  on
  ZeroCross		  on
  AssertionControl	  "UseLocalSettings"
  ProdHWDeviceType	  "Microprocessor"
  ProdHWWordLengths	  "8,16,32,32"
  RTWSystemTargetFile	  "grt.tlc"
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
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  TLCProfiler		  off
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  BlockDefaults {
    Orientation		    "right"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
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  BlockParameterDefaults {
    Block {
      BlockType		      Clock
      DisplayTime	      off
    }
    Block {
      BlockType		      Demux
      Outputs		      "4"
      DisplayOption	      "none"
      BusSelectionMode	      off
    }
    Block {
      BlockType		      Inport
      Port		      "1"
      PortDimensions	      "-1"
      SampleTime	      "-1"
      ShowAdditionalParam     off
      LatchInput	      off
      DataType		      "auto"
      OutDataType	      "sfix(16)"
      OutScaling	      "2^0"
      SignalType	      "auto"
      SamplingMode	      "auto"
      Interpolate	      on
    }
    Block {
      BlockType		      MATLABFcn
      MATLABFcn		      "sin"
      OutputDimensions	      "-1"
      OutputSignalType	      "auto"
      Output1D		      on
    }
    Block {
      BlockType		      Mux
      Inputs		      "4"
      DisplayOption	      "none"
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    Block {
      BlockType		      Outport
      Port		      "1"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
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      BlockType		      "S-Function"
      FunctionName	      "system"
      PortCounts	      "[]"
      SFunctionModules	      "''"
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      on
      Permissions	      "ReadWrite"
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
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  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
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  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "sl_kine"
    Location		    [302, 126, 766, 336]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "portrait"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Reference
      Name		      "T2xyz"
      Ports		      [1, 3]
      Position		      [275, 112, 325, 168]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/T2xyz"
      SourceType	      ""
    }
    Block {
      BlockType		      Reference
      Name		      "XY Graph"
      Ports		      [2]
      Position		      [390, 108, 430, 152]
      SourceBlock	      "simulink/Sinks/XY Graph"
      SourceType	      "XY scope."
      xmin		      "-1"
      xmax		      "1"
      ymin		      "-1"
      ymax		      "1"
      st		      "-1"
    }
    Block {
      BlockType		      Reference
      Name		      "fkine"
      Ports		      [1, 1]
      Position		      [185, 112, 235, 168]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/fkine"
      SourceType	      ""
      robot		      "p560"
    }
    Block {
      BlockType		      Reference
      Name		      "jtraj"
      Ports		      [0, 3]
      Position		      [55, 36, 105, 104]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/jtraj"
      SourceType	      ""
      q0		      "[0 0 0 0 0 0]"
      qf		      "[pi/4 pi/2 -pi/2 0 0 0]"
      tmax		      "10"
    }
    Block {
      BlockType		      Reference
      Name		      "plot"
      Ports		      [1]
      Position		      [215, 22, 295, 78]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/plot"
      SourceType	      ""
      robot		      "p560"
    }
    Line {
      SrcBlock		      "jtraj"
      SrcPort		      1
      Points		      [60, 0]
      Branch {
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	DstPort			1
      }
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	DstBlock		"fkine"
	DstPort			1
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    }
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      SrcBlock		      "fkine"
      SrcPort		      1
      DstBlock		      "T2xyz"
      DstPort		      1
    }
    Line {
      SrcBlock		      "T2xyz"
      SrcPort		      1
      DstBlock		      "XY Graph"
      DstPort		      1
    }
    Line {
      SrcBlock		      "T2xyz"
      SrcPort		      2
      DstBlock		      "XY Graph"
      DstPort		      2
    }
  }
}