--- /dev/null
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+ Inputs "2"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Selector
+ Name "Selector"
+ Ports [1, 1]
+ Position [110, 36, 150, 74]
+ IndexOptions "Index vector (dialog)"
+ Indices "[1 2]"
+ OutputSizes "1"
+ InputPortWidth "3"
+ }
+ Block {
+ BlockType Selector
+ Name "Selector1"
+ Ports [1, 1]
+ Position [110, 96, 150, 134]
+ IndexOptions "Index vector (dialog)"
+ Indices "3"
+ OutputSizes "1"
+ InputPortWidth "3"
+ }
+ Block {
+ BlockType Selector
+ Name "Selector2"
+ Ports [1, 1]
+ Position [110, 236, 150, 274]
+ IndexOptions "Index vector (dialog)"
+ Indices "3"
+ OutputSizes "1"
+ InputPortWidth "3"
+ }
+ Block {
+ BlockType Selector
+ Name "Selector3"
+ Ports [1, 1]
+ Position [110, 171, 150, 209]
+ IndexOptions "Index vector (dialog)"
+ Indices "[1 2]"
+ OutputSizes "1"
+ InputPortWidth "3"
+ }
+ Block {
+ BlockType Scope
+ Name "XY"
+ Ports [1]
+ Position [410, 49, 440, 81]
+ Floating off
+ Location [441, 56, 1084, 453]
+ Open on
+ NumInputPorts "1"
+ ZoomMode "xonly"
+ List {
+ ListType AxesTitles
+ axes1 "%<SignalLabel>"
+ }
+ TimeRange "100"
+ YMin "-0.5"
+ YMax "4"
+ DataFormat "StructureWithTime"
+ SampleTime "0"
+ }
+ Line {
+ Name "Angle [deg]"
+ Labels [0, 0]
+ SrcBlock "Gain"
+ SrcPort 1
+ DstBlock "Angle"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Selector2"
+ SrcPort 1
+ Points [80, 0]
+ DstBlock "Mux1"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "Selector1"
+ SrcPort 1
+ DstBlock "Mux1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Mux1"
+ SrcPort 1
+ DstBlock "Gain"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Selector3"
+ SrcPort 1
+ Points [40, 0; 0, -115]
+ DstBlock "Mux"
+ DstPort 2
+ }
+ Line {
+ Name "Position [m]"
+ Labels [0, 0]
+ SrcBlock "Mux"
+ SrcPort 1
+ DstBlock "XY"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Selector"
+ SrcPort 1
+ DstBlock "Mux"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Est pos"
+ SrcPort 1
+ Points [0, -15; 15, 0]
+ Branch {
+ Points [0, 40]
+ DstBlock "Selector2"
+ DstPort 1
+ }
+ Branch {
+ Points [0, -25]
+ DstBlock "Selector3"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Pos"
+ SrcPort 1
+ Points [15, 0]
+ Branch {
+ DstBlock "Selector1"
+ DstPort 1
+ }
+ Branch {
+ Points [0, -60]
+ DstBlock "Selector"
+ DstPort 1
+ }
+ }
+ }
+ }
+ Block {
+ BlockType "M-S-Function"
+ Name "Level-2 M-file\nS-Function"
+ Ports [2]
+ Position [725, 124, 785, 171]
+ BackgroundColor "cyan"
+ FunctionName "sfdrawrobot"
+ Parameters "desc,0"
+ MaskDisplay "disp('Drawer')\nport_label('input', 1, 'x')\npo"
+"rt_label('input', 2, 'y')\n"
+ MaskIconFrame on
+ MaskIconOpaque on
+ MaskIconRotate "none"
+ MaskIconUnits "autoscale"
+ }
+ Block {
+ BlockType "M-S-Function"
+ Name "Level-2 M-file\nS-Function1"
+ Ports [2]
+ Position [725, 293, 790, 337]
+ ForegroundColor "blue"
+ FunctionName "sfdrawrobot"
+ Parameters "desc,'--b'"
+ MaskDisplay "disp('Drawer')\nport_label('input', 1, 'x')\npo"
+"rt_label('input', 2, 'y')\n"
+ MaskIconFrame on
+ MaskIconOpaque on
+ MaskIconRotate "none"
+ MaskIconUnits "autoscale"
+ }
+ Block {
+ BlockType "M-S-Function"
+ Name "Level-2 M-file\nS-Function2"
+ Ports [2]
+ Position [715, 28, 780, 72]
+ ForegroundColor "magenta"
+ FunctionName "sfdrawrobot"
+ Parameters "desc,'--m'"
+ MaskDisplay "disp('Drawer')\nport_label('input', 1, 'x')\npo"
+"rt_label('input', 2, 'y')\n"
+ MaskIconFrame on
+ MaskIconOpaque on
+ MaskIconRotate "none"
+ MaskIconUnits "autoscale"
+ }
+ Block {
+ BlockType "S-Function"
+ Name "MCL"
+ Ports [2, 2]
+ Position [430, 288, 610, 357]
+ BackgroundColor "green"
+ ShowName off
+ FunctionName "sf_mcl"
+ Parameters "count, noise_xy, noise_angle, aeval_sigma"
+ MaskPromptString "Number of samples|Move noise X,Y [m]|Move noise"
+" angle [rad]|Measure dispersion [rad]"
+ MaskStyleString "edit,edit,edit,edit"
+ MaskTunableValueString "off,on,on,on"
+ MaskCallbackString "|||"
+ MaskEnableString "on,on,on,on"
+ MaskVisibilityString "on,on,on,on"
+ MaskToolTipString "on,on,on,on"
+ MaskVarAliasString ",,,"
+ MaskVariables "count=@1;noise_xy=@2;noise_angle=@3;aeval_sigma"
+"=@4;"
+ MaskDisplay "port_label('input', 1, '(dx,dy,da)')\nport_labe"
+"l('input', 2, '(th1,th2,th3)')\nport_label('output', 1, 'est_pos=(x,y,a)')\np"
+"ort_label('output', 2, 'particle bitmap')\ndisp('MCL')"
+ MaskIconFrame on
+ MaskIconOpaque on
+ MaskIconRotate "none"
+ MaskIconUnits "autoscale"
+ MaskValueString "3000|0.01|2/180*pi|5/180*pi"
+ MaskTabNameString ",,,"
+ }
+ Block {
+ BlockType Reference
+ Name "Manual Switch"
+ Ports [2, 1]
+ Position [125, 137, 155, 173]
+ SourceBlock "simulink/Signal\nRouting/Manual Switch"
+ SourceType "Manual Switch"
+ 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"
+ sw "1"
+ action "0"
+ varsize off
+ }
+ Block {
+ BlockType SubSystem
+ Name "Measurement"
+ Ports [1, 1]
+ Position [205, 397, 280, 433]
+ MinAlgLoopOccurrences off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ MaskHideContents off
+ System {
+ Name "Measurement"
+ Location [458, 185, 768, 279]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "A4"
+ PaperUnits "centimeters"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ Block {
+ BlockType Inport
+ Name "Pos"
+ Position [25, 43, 55, 57]
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType MATLABFcn
+ Name "Beacon Angles"
+ Ports [1, 1]
+ Position [125, 35, 185, 65]
+ MATLABFcn "mod(beacon_angles(u), 2*pi)"
+ }
+ Block {
+ BlockType Outport
+ Name "Angles"
+ Position [255, 43, 285, 57]
+ IconDisplay "Port number"
+ BusOutputAsStruct off
+ }
+ Line {
+ SrcBlock "Pos"
+ SrcPort 1
+ DstBlock "Beacon Angles"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Beacon Angles"
+ SrcPort 1
+ DstBlock "Angles"
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType Reference
+ Name "Measurement noise\nstd. deviation [deg]"
+ Ports [1, 1]
+ Position [289, 460, 341, 480]
+ Orientation "up"
+ NamePlacement "alternate"
+ SourceBlock "simulink/Math\nOperations/Slider\nGain"
+ SourceType "Slider Gain"
+ 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"
+ low "0"
+ gain "1"
+ high "5"
+ }
+ Block {
+ BlockType Constant
+ Name "No laser"
+ Position [220, 369, 280, 391]
+ NamePlacement "alternate"
+ Value "[0 0 0]"
+ SampleTime "-1"
+ }
+ Block {
+ BlockType Constant
+ Name "No odometry"
+ Position [245, 269, 305, 291]
+ NamePlacement "alternate"
+ Value "[0 0 0]"
+ SampleTime "-1"
+ }
+ Block {
+ BlockType SubSystem
+ Name "Pos to deltas"
+ Ports [1, 1]
+ Position [210, 296, 305, 334]
+ MinAlgLoopOccurrences off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ MaskHideContents off
+ System {
+ Name "Pos to deltas"
+ Location [50, 111, 624, 360]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "A4"
+ PaperUnits "centimeters"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ Block {
+ BlockType Inport
+ Name "Pos"
+ Position [30, 103, 60, 117]
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Selector
+ Name "Angle"
+ Ports [1, 1]
+ Position [190, 21, 230, 59]
+ IndexOptions "Index vector (dialog)"
+ Indices "3"
+ OutputSizes "1"
+ InputPortWidth "3"
+ }
+ Block {
+ BlockType Reference
+ Name "Difference"
+ Ports [1, 1]
+ Position [100, 92, 145, 128]
+ NamePlacement "alternate"
+ SourceBlock "simulink/Discrete/Difference"
+ SourceType "Difference"
+ 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"
+ ICPrevInput "0.0"
+ OutputDataTypeScalingMode "Inherit via internal rule"
+ OutDataType "sfix(16)"
+ OutScaling "2^-10"
+ LockScale off
+ RndMeth "Floor"
+ DoSatur off
+ }
+ Block {
+ BlockType Gain
+ Name "Gain"
+ Position [250, 24, 285, 56]
+ Gain "-1"
+ ParameterDataTypeMode "Inherit via internal rule"
+ OutDataTypeMode "Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Mux
+ Name "Mux1"
+ Ports [2, 1]
+ Position [315, 81, 320, 119]
+ ShowName off
+ Inputs "2"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Mux
+ Name "Mux2"
+ Ports [2, 1]
+ Position [460, 91, 465, 129]
+ ShowName off
+ Inputs "2"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType MATLABFcn
+ Name "Rotate XY"
+ Ports [1, 1]
+ Position [350, 83, 435, 117]
+ MATLABFcn "[cos(u(1)) -sin(u(1)); sin(u(1)) cos(u(1))]"
+"*[u(2); u(3)]"
+ }
+ Block {
+ BlockType Selector
+ Name "Speed XY"
+ Ports [1, 1]
+ Position [190, 91, 230, 129]
+ IndexOptions "Index vector (dialog)"
+ Indices "[1 2]"
+ OutputSizes "1"
+ InputPortWidth "3"
+ Port {
+ PortNumber 1
+ Name "dx, dy"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Selector
+ Name "Speed angle"
+ Ports [1, 1]
+ Position [190, 151, 230, 189]
+ IndexOptions "Index vector (dialog)"
+ Indices "3"
+ OutputSizes "1"
+ InputPortWidth "3"
+ Port {
+ PortNumber 1
+ Name "dangle"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType UnitDelay
+ Name "Unit Delay"
+ Position [110, 23, 145, 57]
+ SampleTime "-1"
+ }
+ Block {
+ BlockType Outport
+ Name "Odometry"
+ Position [500, 103, 530, 117]
+ IconDisplay "Port number"
+ BusOutputAsStruct off
+ }
+ Line {
+ SrcBlock "Gain"
+ SrcPort 1
+ Points [0, 50]
+ DstBlock "Mux1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Angle"
+ SrcPort 1
+ DstBlock "Gain"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Unit Delay"
+ SrcPort 1
+ DstBlock "Angle"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Difference"
+ SrcPort 1
+ Points [5, 0]
+ Branch {
+ Points [0, 60]
+ DstBlock "Speed angle"
+ DstPort 1
+ }
+ Branch {
+ DstBlock "Speed XY"
+ DstPort 1
+ }
+ }
+ Line {
+ Name "dx, dy"
+ Labels [0, 0]
+ SrcBlock "Speed XY"
+ SrcPort 1
+ DstBlock "Mux1"
+ DstPort 2
+ }
+ Line {
+ Name "dangle"
+ Labels [0, 0]
+ SrcBlock "Speed angle"
+ SrcPort 1
+ Points [210, 0]
+ DstBlock "Mux2"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "Mux2"
+ SrcPort 1
+ DstBlock "Odometry"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Rotate XY"
+ SrcPort 1
+ DstBlock "Mux2"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Mux1"
+ SrcPort 1
+ DstBlock "Rotate XY"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Pos"
+ SrcPort 1
+ Points [10, 0]
+ Branch {
+ Points [0, -70]
+ DstBlock "Unit Delay"
+ DstPort 1
+ }
+ Branch {
+ DstBlock "Difference"
+ DstPort 1
+ }
+ }
+ }
+ }
+ Block {
+ BlockType RandomNumber
+ Name "Random\nNumber"
+ Position [350, 455, 380, 485]
+ Orientation "down"
+ Variance "(1/180*pi)^2"
+ Seed "abs(rand(3,1)*10000)"
+ }
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition"
+ Position [135, 394, 175, 436]
+ OutPortSampleTime "1/3"
+ }
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition1"
+ Position [135, 494, 175, 536]
+ Orientation "left"
+ X0 "desc.initpos"
+ }
+ Block {
+ BlockType "S-Function"
+ Name "S-Function2"
+ Ports [0, 1]
+ Position [55, 94, 115, 126]
+ BackgroundColor "green"
+ FunctionName "sf_trgen"
+ Parameters "path, desc.initpos, desc.wayconstraints"
+ MaskDisplay "disp('Trajectory\\ngenerator')"
+ MaskIconFrame on
+ MaskIconOpaque on
+ MaskIconRotate "none"
+ MaskIconUnits "autoscale"
+ }
+ Block {
+ BlockType SubSystem
+ Name "Subsystem"
+ Ports [1, 1]
+ Position [310, 111, 435, 159]
+ BackgroundColor "yellow"
+ MinAlgLoopOccurrences off
+ RTWSystemCode "Auto"
+ FunctionWithSeparateData off
+ MaskHideContents off
+ MaskDisplay "disp('Robot\\n\\n')\nport_label('input', 1, 'u="
+"(w1,w2)')\nport_label('output', 1, 'x=(X,Y,th)')"
+ MaskIconFrame on
+ MaskIconOpaque on
+ MaskIconRotate "none"
+ MaskIconUnits "autoscale"
+ Port {
+ PortNumber 1
+ Name "Real robot position"
+ PropagatedSignals "x,y,phi [m,m,rad]"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ System {
+ Name "Subsystem"
+ Location [121, 481, 955, 665]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "A4"
+ PaperUnits "centimeters"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ Block {
+ BlockType Inport
+ Name "In1"
+ Position [15, 38, 45, 52]
+ IconDisplay "Port number"
+ Port {
+ PortNumber 1
+ Name "rad/s"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Integrator
+ Name "Integrator"
+ Ports [1, 1]
+ Position [530, 40, 560, 70]
+ InitialCondition "desc.initpos"
+ UpperSaturationLimit "[area.w area.h Inf]"
+ LowerSaturationLimit "[0 0 -Inf]"
+ IgnoreLimit off
+ Port {
+ PortNumber 1
+ Name "x,y,phi [m,m,rad]"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Reference
+ Name "Manual Switch"
+ Ports [2, 1]
+ Position [250, 27, 280, 63]
+ SourceBlock "simulink/Signal\nRouting/Manual Switch"
+ SourceType "Manual Switch"
+ 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"
+ sw "1"
+ action "0"
+ varsize off
+ }
+ Block {
+ BlockType Mux
+ Name "Mux1"
+ Ports [2, 1]
+ Position [380, 36, 385, 74]
+ ShowName off
+ Inputs "2"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Selector
+ Name "Selector"
+ Ports [1, 1]
+ Position [420, 121, 460, 159]
+ Orientation "left"
+ IndexOptions "Index vector (dialog)"
+ Indices "[3]"
+ OutputSizes "1"
+ InputPortWidth "3"
+ Port {
+ PortNumber 1
+ Name "angle"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Gain
+ Name "Wheel\nradius"
+ Position [90, 27, 135, 63]
+ Gain "robot.wheelr"
+ ParameterDataTypeMode "Inherit via internal rule"
+ OutDataTypeMode "Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ Port {
+ PortNumber 1
+ Name "m/s"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType MATLABFcn
+ Name "kinematics"
+ Ports [1, 1]
+ Position [430, 40, 490, 70]
+ MATLABFcn "kinematics"
+ }
+ Block {
+ BlockType RateLimiter
+ Name "max acc"
+ Position [190, 20, 220, 50]
+ RisingSlewLimit "3"
+ FallingSlewLimit "-3"
+ SampleTimeMode "inherited"
+ }
+ Block {
+ BlockType Saturate
+ Name "max m/s"
+ Position [320, 30, 350, 60]
+ UpperLimit "2"
+ LowerLimit "-2"
+ }
+ Block {
+ BlockType Outport
+ Name "Out1"
+ Position [725, 48, 755, 62]
+ IconDisplay "Port number"
+ BusOutputAsStruct off
+ }
+ Line {
+ SrcBlock "kinematics"
+ SrcPort 1
+ DstBlock "Integrator"
+ DstPort 1
+ }
+ Line {
+ Name "x,y,phi [m,m,rad]"
+ SrcBlock "Integrator"
+ SrcPort 1
+ Points [20, 0]
+ Branch {
+ Points [0, 85]
+ DstBlock "Selector"
+ DstPort 1
+ }
+ Branch {
+ Labels [1, 0; 1, 1]
+ DstBlock "Out1"
+ DstPort 1
+ }
+ }
+ Line {
+ SrcBlock "Mux1"
+ SrcPort 1
+ DstBlock "kinematics"
+ DstPort 1
+ }
+ Line {
+ Name "angle"
+ Labels [0, 0]
+ SrcBlock "Selector"
+ SrcPort 1
+ Points [-60, 0; 0, -75]
+ DstBlock "Mux1"
+ DstPort 2
+ }
+ Line {
+ Name "rad/s"
+ Labels [0, 0]
+ SrcBlock "In1"
+ SrcPort 1
+ DstBlock "Wheel\nradius"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "max m/s"
+ SrcPort 1
+ DstBlock "Mux1"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Manual Switch"
+ SrcPort 1
+ DstBlock "max m/s"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "max acc"
+ SrcPort 1
+ DstBlock "Manual Switch"
+ DstPort 1
+ }
+ Line {
+ Name "m/s"
+ Labels [0, 0]
+ SrcBlock "Wheel\nradius"
+ SrcPort 1
+ Points [20, 0]
+ Branch {
+ Points [0, -10]
+ DstBlock "max acc"
+ DstPort 1
+ }
+ Branch {
+ Points [0, 25; 75, 0]
+ DstBlock "Manual Switch"
+ DstPort 2
+ }
+ }
+ }
+ }
+ Block {
+ BlockType Sum
+ Name "Sum"
+ Ports [2, 1]
+ Position [305, 405, 325, 425]
+ ShowName off
+ IconShape "round"
+ Inputs "|++"
+ CollapseMode "All dimensions"
+ InputSameDT off
+ OutDataTypeMode "Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Reference
+ Name "Switch"
+ Ports [2, 1]
+ Position [365, 387, 395, 423]
+ SourceBlock "simulink/Signal\nRouting/Manual Switch"
+ SourceType "Manual Switch"
+ 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"
+ sw "0"
+ action "0"
+ varsize off
+ }
+ Block {
+ BlockType Reference
+ Name "Switch1"
+ Ports [2, 1]
+ Position [345, 287, 375, 323]
+ SourceBlock "simulink/Signal\nRouting/Manual Switch"
+ SourceType "Manual Switch"
+ 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"
+ sw "0"
+ action "0"
+ varsize off
+ }
+ Block {
+ BlockType ToWorkspace
+ Name "To Workspace"
+ Position [310, 45, 370, 75]
+ VariableName "trajectory"
+ MaxDataPoints "inf"
+ SampleTime "-1"
+ SaveFormat "Structure With Time"
+ }
+ Block {
+ BlockType "M-S-Function"
+ Name "draw probability bitmap"
+ Ports [1]
+ Position [725, 393, 815, 427]
+ ForegroundColor "gray"
+ BackgroundColor "black"
+ NamePlacement "alternate"
+ FunctionName "sfdrawbitmap"
+ }
+ Line {
+ SrcBlock "Controller"
+ SrcPort 1
+ DstBlock "Gain"
+ DstPort 1
+ }
+ Line {
+ Name "Real robot position"
+ SrcBlock "Subsystem"
+ SrcPort 1
+ Points [20, 0]
+ Branch {
+ Points [210, 0]
+ Branch {
+ Labels [-1, 1]
+ DstBlock "Level-2 M-file\nS-Function"
+ DstPort 1
+ }
+ Branch {
+ Points [0, 90]
+ DstBlock "Graphs"
+ DstPort 1
+ }
+ }
+ Branch {
+ Labels [2, 0]
+ Points [0, 70; -360, 0]
+ Branch {
+ Points [0, -40]
+ DstBlock "Manual Switch"
+ DstPort 2
+ }
+ Branch {
+ Points [0, 100]
+ Branch {
+ Points [0, 110]
+ DstBlock "Rate Transition"
+ DstPort 1
+ }
+ Branch {
+ Points [95, 0]
+ DstBlock "Pos to deltas"
+ DstPort 1
+ }
+ }
+ }
+ }
+ Line {
+ SrcBlock "Clock"
+ SrcPort 1
+ DstBlock "Display"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Manual Switch"
+ SrcPort 1
+ DstBlock "Controller"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "Rate Transition1"
+ SrcPort 1
+ Points [-50, 0; 0, -370]
+ DstBlock "Manual Switch"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Gain"
+ SrcPort 1
+ DstBlock "Subsystem"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "MCL"
+ SrcPort 1
+ Points [50, 0]
+ Branch {
+ Points [0, -50]
+ DstBlock "Graphs"
+ DstPort 2
+ }
+ Branch {
+ Points [0, 0]
+ Branch {
+ DstBlock "Level-2 M-file\nS-Function1"
+ DstPort 1
+ }
+ Branch {
+ Points [0, 210]
+ DstBlock "Rate Transition1"
+ DstPort 1
+ }
+ }
+ }
+ Line {
+ SrcBlock "Measurement"
+ SrcPort 1
+ DstBlock "Sum"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Sum"
+ SrcPort 1
+ DstBlock "Switch"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "Random\nNumber"
+ SrcPort 1
+ Points [0, 5]
+ DstBlock "Measurement noise\nstd. deviation [deg]"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Measurement noise\nstd. deviation [deg]"
+ SrcPort 1
+ DstBlock "Sum"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "No laser"
+ SrcPort 1
+ Points [65, 0]
+ DstBlock "Switch"
+ DstPort 1
+ }
+ Line {
+ Labels [0, 0]
+ SrcBlock "Rate Transition"
+ SrcPort 1
+ DstBlock "Measurement"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "MCL"
+ SrcPort 2
+ Points [15, 0; 0, 70]
+ DstBlock "draw probability bitmap"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Switch"
+ SrcPort 1
+ Points [5, 0; 0, -65]
+ Branch {
+ DstBlock "MCL"
+ DstPort 2
+ }
+ Branch {
+ Points [0, -100; 205, 0; 0, -80]
+ DstBlock "Level-2 M-file\nS-Function"
+ DstPort 2
+ }
+ }
+ Line {
+ SrcBlock "S-Function2"
+ SrcPort 1
+ Points [25, 0]
+ Branch {
+ DstBlock "Controller"
+ DstPort 1
+ }
+ Branch {
+ Points [0, -70; 130, 0]
+ Branch {
+ DstBlock "Level-2 M-file\nS-Function2"
+ DstPort 1
+ }
+ Branch {
+ Points [0, 20]
+ DstBlock "To Workspace"
+ DstPort 1
+ }
+ }
+ }
+ Line {
+ SrcBlock "Switch1"
+ SrcPort 1
+ DstBlock "MCL"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Pos to deltas"
+ SrcPort 1
+ DstBlock "Switch1"
+ DstPort 2
+ }
+ Line {
+ SrcBlock "No odometry"
+ SrcPort 1
+ Points [15, 0; 0, 15]
+ DstBlock "Switch1"
+ DstPort 1
+ }
+ }
+}
+
+# Finite State Machines
+#
+# Stateflow Version 6.6 (R2007a) dated Jan 30 2007, 01:07:16
+#
+#
+
+Stateflow {
+
+ machine {
+ id 1
+ name "reg_mcl"
+ created "29-Mar-2007 23:42:20"
+ isLibrary 0
+ firstTarget 2
+ sfVersion 66014000
+ }
+
+ target {
+ id 2
+ name "sfun"
+ description "Default Simulink S-Function Target."
+ machine 1
+ linkNode [1 0 0]
+ }
+}
projects / eurobot / public.git / commitdiff