Model {
Name "mcl_test_1"
- Version 7.0
+ Version 6.6
MdlSubVersion 0
GraphicalInterface {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
- ComputedModelVersion "1.37"
+ ComputedModelVersion "1.42"
NumModelReferences 0
NumTestPointedSignals 0
}
Creator "andrei"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
- LastModifiedBy "andrei"
+ LastModifiedBy "wsh"
ModifiedDateFormat "%<Auto>"
- LastModifiedDate "Fri Apr 18 21:53:57 2008"
- RTWModifiedTimeStamp 0
- ModelVersionFormat "1.%<AutoIncrement:37>"
+ LastModifiedDate "Fri Apr 18 23:08:45 2008"
+ ModelVersionFormat "1.%<AutoIncrement:42>"
ConfigurationManager "None"
SimulationMode "normal"
LinearizationMsg "none"
AccelSystemTargetFile "accel.tlc"
AccelTemplateMakefile "accel_default_tmf"
AccelMakeCommand "make_rtw"
+ AccelVerboseBuild off
TryForcingSFcnDF off
RecordCoverage off
CovPath "/"
ExtModeLogAll on
ExtModeAutoUpdateStatusClock off
BufferReuse on
+ ProdHWDeviceType "32-bit Generic"
ShowModelReferenceBlockVersion off
ShowModelReferenceBlockIO off
Array {
Dimension 1
Simulink.ConfigSet {
$ObjectID 1
- Version "1.3.0"
+ Version "1.2.0"
Array {
Type "Handle"
Dimension 7
Simulink.SolverCC {
$ObjectID 2
- Version "1.3.0"
+ Version "1.2.0"
StartTime "0.0"
- StopTime "10.0"
+ StopTime "1000"
AbsTol "auto"
FixedStep "auto"
InitialStep "auto"
}
Simulink.DataIOCC {
$ObjectID 3
- Version "1.3.0"
+ Version "1.2.0"
Decimation "1"
ExternalInput "[t, u]"
FinalStateName "xFinal"
Cell "NoFixptDivByZeroProtection"
PropName "DisabledProps"
}
- Version "1.3.0"
+ Version "1.2.0"
BlockReduction on
BooleanDataType on
ConditionallyExecuteInputs on
OptimizeModelRefInitCode off
LifeSpan "inf"
BufferReusableBoundary on
- SimCompilerOptimization "Off"
- AccelVerboseBuild off
}
Simulink.DebuggingCC {
$ObjectID 5
- Version "1.3.0"
+ Version "1.2.0"
RTPrefix "error"
ConsistencyChecking "none"
ArrayBoundsChecking "none"
SignalInfNanChecking "none"
- SignalRangeChecking "none"
ReadBeforeWriteMsg "UseLocalSettings"
WriteAfterWriteMsg "UseLocalSettings"
WriteAfterReadMsg "UseLocalSettings"
AlgebraicLoopMsg "warning"
ArtificialAlgebraicLoopMsg "warning"
- SaveWithDisabledLinksMsg "warning"
- SaveWithParameterizedLinksMsg "warning"
CheckSSInitialOutputMsg on
CheckExecutionContextPreStartOutputMsg off
CheckExecutionContextRuntimeOutputMsg off
ModelReferenceExtraNoncontSigs "error"
StateNameClashWarn "warning"
StrictBusMsg "Warning"
- LoggingUnavailableSignals "error"
}
Simulink.HardwareCC {
$ObjectID 6
- Version "1.3.0"
+ Version "1.2.0"
ProdBitPerChar 8
ProdBitPerShort 16
ProdBitPerInt 32
}
Simulink.ModelReferenceCC {
$ObjectID 7
- Version "1.3.0"
+ Version "1.2.0"
UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
CheckModelReferenceTargetMessage "error"
ModelReferenceNumInstancesAllowed "Multi"
Cell "GenerateTraceInfo"
PropName "DisabledProps"
}
- Version "1.3.0"
+ Version "1.2.0"
SystemTargetFile "grt.tlc"
GenCodeOnly off
MakeCommand "make_rtw"
TargetLang "C"
IncludeBusHierarchyInRTWFileBlockHierarchyMap off
IncludeERTFirstTime off
- GenerateTraceInfo off
- RTWCompilerOptimization "Off"
Array {
Type "Handle"
Dimension 2
Cell "CustomSymbolStrMacro"
PropName "DisabledProps"
}
- Version "1.3.0"
+ Version "1.2.0"
ForceParamTrailComments off
GenerateComments on
IgnoreCustomStorageClasses on
SimulinkDataObjDesc off
SFDataObjDesc off
IncDataTypeInIds off
+ PrefixModelToSubsysFcnNames on
MangleLength 1
CustomSymbolStrGlobalVar "$R$N$M"
CustomSymbolStrType "$N$R$M"
Cell "ERTCustomFileBanners"
Cell "GenerateSampleERTMain"
Cell "GenerateTestInterfaces"
- Cell "ModelStepFunctionPrototypeControlCompliant"
+ Cell "ModelStepFunctionPrototypeControlComp"
+"liant"
Cell "MultiInstanceERTCode"
Cell "PurelyIntegerCode"
Cell "SupportNonFinite"
Cell "PortableWordSizes"
PropName "DisabledProps"
}
- Version "1.3.0"
+ Version "1.2.0"
TargetFcnLib "ansi_tfl_table_tmw.mat"
TargetLibSuffix ""
TargetPreCompLibLocation ""
GenerateTestInterfaces off
IsPILTarget off
ModelReferenceCompliant on
- CompOptLevelCompliant on
IncludeMdlTerminateFcn on
CombineOutputUpdateFcns off
SuppressErrorStatus off
ShowName on
}
BlockParameterDefaults {
+ Block {
+ BlockType Constant
+ Value "1"
+ VectorParams1D on
+ SamplingMode "Sample based"
+ OutDataTypeMode "Inherit from 'Constant value'"
+ OutDataType "sfix(16)"
+ ConRadixGroup "Use specified scaling"
+ OutScaling "2^0"
+ SampleTime "inf"
+ FramePeriod "inf"
+ }
Block {
BlockType Gain
Gain "1"
Multiplication "Element-wise(K.*u)"
- ParamMin "[]"
- ParamMax "[]"
ParameterDataTypeMode "Same as input"
- ParameterDataType "fixdt(1,16,0)"
+ ParameterDataType "sfix(16)"
ParameterScalingMode "Best Precision: Matrix-wise"
- ParameterScaling "[]"
- OutMin "[]"
- OutMax "[]"
+ ParameterScaling "2^0"
OutDataTypeMode "Same as input"
- OutDataType "fixdt(1,16,0)"
- OutScaling "[]"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
- OutMin "[]"
- OutMax "[]"
DataType "auto"
- OutDataType "fixdt(1,16,0)"
- OutScaling "[]"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
LatchByDelayingOutsideSignal off
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
- OutMin "[]"
- OutMax "[]"
DataType "auto"
- OutDataType "fixdt(1,16,0)"
- OutScaling "[]"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
OutputWhenDisabled "held"
DataTypeOverride "UseLocalSettings"
MinMaxOverflowLogging "UseLocalSettings"
}
- Block {
- BlockType Constant
- Value "1"
- VectorParams1D on
- SamplingMode "Sample based"
- OutMin "[]"
- OutMax "[]"
- OutDataTypeMode "Inherit from 'Constant value'"
- OutDataType "fixdt(1,16,0)"
- ConRadixGroup "Use specified scaling"
- OutScaling "[]"
- SampleTime "inf"
- FramePeriod "inf"
- }
}
AnnotationDefaults {
HorizontalAlignment "center"
}
System {
Name "mcl_test_1"
- Location [45, 77, 1230, 648]
+ Location [43, 55, 932, 343]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
BlockType Scope
Name "Angle"
Ports [1]
- Position [980, 179, 1010, 211]
+ Position [800, 79, 830, 111]
Floating off
Location [625, 791, 1275, 973]
Open off
BlockType MATLABFcn
Name "Beacon Angles"
Ports [1, 1]
- Position [345, 215, 405, 245]
+ Position [250, 115, 310, 145]
MATLABFcn "mod(beacon_angles(u), 2*pi)"
+ SampleTime "1"
}
Block {
BlockType "M-S-Function"
Name "Draw robot"
Ports [2]
- Position [945, 311, 1040, 349]
+ Position [765, 211, 860, 249]
FunctionName "sfdrawrobot"
Parameters "desc,0"
}
- Block {
- BlockType Mux
- Name "Mux"
- Ports [3, 1]
- Position [250, 211, 255, 249]
- ShowName off
- Inputs "3"
- DisplayOption "bar"
- }
Block {
BlockType "S-Function"
- Name "S-Function"
+ Name "MCL"
Ports [2, 2]
- Position [590, 179, 790, 246]
+ Position [410, 79, 610, 146]
FunctionName "sf_mcl"
Parameters "100"
- MaskDisplay "port_label('input', 1, '(dx,dy,da)')\nport_label('input', 2, '(th1,th2,th3)')\nport_label('output', 1, 'est_pos=(x,y,a)')\nport_label('output', 2, 'particle bitmap')\n"
+ 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')\n"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
MaskIconUnits "autoscale"
}
+ Block {
+ BlockType Mux
+ Name "Mux"
+ Ports [3, 1]
+ Position [205, 111, 210, 149]
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
+ }
Block {
BlockType Selector
Name "Selector"
Ports [1, 1]
- Position [905, 116, 945, 154]
- InputPortWidth "3"
+ Position [725, 16, 765, 54]
IndexOptions "Index vector (dialog)"
Indices "[1 2]"
OutputSizes "1"
+ InputPortWidth "3"
}
Block {
BlockType Selector
Name "Selector1"
Ports [1, 1]
- Position [905, 176, 945, 214]
- InputPortWidth "3"
+ Position [725, 76, 765, 114]
IndexOptions "Index vector (dialog)"
Indices "3"
OutputSizes "1"
+ InputPortWidth "3"
}
Block {
BlockType Reference
Name "Slider\nGain ANGLE"
Ports [1, 1]
- Position [110, 290, 140, 320]
+ Position [90, 190, 140, 220]
SourceBlock "simulink/Math\nOperations/Slider\nGain"
SourceType "Slider Gain"
ShowPortLabels "FromPortIcon"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
low "0"
- gain "1"
+ gain "3.745"
high "6.28"
}
Block {
BlockType Reference
Name "Slider\nGain X"
Ports [1, 1]
- Position [110, 145, 140, 175]
+ Position [95, 44, 140, 76]
SourceBlock "simulink/Math\nOperations/Slider\nGain"
SourceType "Slider Gain"
ShowPortLabels "FromPortIcon"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
low "0"
- gain "1"
+ gain "1.9266"
high "3"
}
Block {
BlockType Reference
Name "Slider\nGain Y"
Ports [1, 1]
- Position [110, 215, 140, 245]
+ Position [90, 115, 140, 145]
SourceBlock "simulink/Math\nOperations/Slider\nGain"
SourceType "Slider Gain"
ShowPortLabels "FromPortIcon"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
low "0"
- gain "1"
+ gain "1.0885"
high "2.1"
}
Block {
BlockType Constant
Name "Speed"
- Position [320, 87, 425, 113]
+ Position [230, 47, 335, 73]
Value "[0 0 0]"
- OutDataType "sfix(16)"
- OutScaling "2^0"
SampleTime "0.1"
}
Block {
BlockType Scope
Name "XY"
Ports [1]
- Position [980, 119, 1010, 151]
+ Position [800, 19, 830, 51]
Floating off
- Location [621, 562, 1275, 730]
- Open off
+ Location [290, 286, 944, 454]
+ Open on
NumInputPorts "1"
ZoomMode "xonly"
List {
Block {
BlockType Constant
Name "angle"
- Position [35, 290, 65, 320]
- OutDataType "sfix(16)"
- OutScaling "2^0"
+ Position [35, 190, 65, 220]
}
Block {
BlockType "M-S-Function"
Name "draw probability bitmap"
Ports [1]
- Position [945, 253, 1035, 287]
+ Position [765, 153, 855, 187]
FunctionName "sfdrawbitmap"
}
Block {
BlockType Constant
Name "x"
- Position [35, 145, 65, 175]
- OutDataType "sfix(16)"
- OutScaling "2^0"
+ Position [35, 45, 65, 75]
}
Block {
BlockType Constant
Name "y"
- Position [35, 215, 65, 245]
- OutDataType "sfix(16)"
- OutScaling "2^0"
+ Position [35, 115, 65, 145]
}
Line {
SrcBlock "Speed"
SrcPort 1
- Points [95, 0; 0, 95]
- DstBlock "S-Function"
+ Points [5, 0; 0, 35]
+ DstBlock "MCL"
DstPort 1
}
Line {
- SrcBlock "S-Function"
+ SrcBlock "MCL"
SrcPort 1
Points [75, 0]
Branch {
DstPort 1
}
Line {
- SrcBlock "S-Function"
+ SrcBlock "MCL"
SrcPort 2
Points [45, 0; 0, 40]
DstBlock "draw probability bitmap"
Line {
SrcBlock "Beacon Angles"
SrcPort 1
- Points [115, 0]
+ Points [30, 0]
Branch {
- DstBlock "S-Function"
+ DstBlock "MCL"
DstPort 2
}
Branch {
}
}
}
+
# Finite State Machines
#
-# Stateflow Version 6.7 (R2007b) dated Aug 7 2007, 16:20:55
+# Stateflow Version 6.6 (R2007a) dated Jan 30 2007, 01:07:16
#
#
-
Stateflow {
- machine {
- id 1
- name "mcl_test_1"
- created "18-Apr-2008 16:37:38"
- isLibrary 0
- firstTarget 2
- sfVersion 67014000.000001
- }
- target {
- id 2
- name "sfun"
- description "Default Simulink S-Function Target."
- machine 1
- linkNode [1 0 0]
- }
+
+ machine {
+ id 1
+ name "mcl_test_1"
+ created "18-Apr-2008 16:37:38"
+ isLibrary 0
+ firstTarget 2
+ sfVersion 66014000
+ }
+
+ target {
+ id 2
+ name "sfun"
+ description "Default Simulink S-Function Target."
+ machine 1
+ linkNode [1 0 0]
+ }
}
Model {
Name "mcl_test_2"
- Version 7.0
+ Version 6.6
MdlSubVersion 0
GraphicalInterface {
NumRootInports 0
NumRootOutports 0
ParameterArgumentNames ""
- ComputedModelVersion "1.4"
+ ComputedModelVersion "1.11"
NumModelReferences 0
NumTestPointedSignals 0
}
SavedCharacterEncoding "UTF-8"
SaveDefaultBlockParams on
- SampleTimeColors off
+ SampleTimeColors on
LibraryLinkDisplay "none"
WideLines off
ShowLineDimensions off
Creator "andrei"
UpdateHistory "UpdateHistoryNever"
ModifiedByFormat "%<Auto>"
- LastModifiedBy "andrei"
+ LastModifiedBy "wsh"
ModifiedDateFormat "%<Auto>"
- LastModifiedDate "Fri Apr 18 22:08:18 2008"
- RTWModifiedTimeStamp 0
- ModelVersionFormat "1.%<AutoIncrement:4>"
+ LastModifiedDate "Fri Apr 18 23:33:30 2008"
+ ModelVersionFormat "1.%<AutoIncrement:11>"
ConfigurationManager "None"
SimulationMode "normal"
LinearizationMsg "none"
AccelSystemTargetFile "accel.tlc"
AccelTemplateMakefile "accel_default_tmf"
AccelMakeCommand "make_rtw"
+ AccelVerboseBuild off
TryForcingSFcnDF off
RecordCoverage off
CovPath "/"
ExtModeLogAll on
ExtModeAutoUpdateStatusClock off
BufferReuse on
+ ProdHWDeviceType "32-bit Generic"
ShowModelReferenceBlockVersion off
ShowModelReferenceBlockIO off
Array {
Dimension 1
Simulink.ConfigSet {
$ObjectID 1
- Version "1.3.0"
+ Version "1.2.0"
Array {
Type "Handle"
Dimension 7
Simulink.SolverCC {
$ObjectID 2
- Version "1.3.0"
+ Version "1.2.0"
StartTime "0.0"
- StopTime "10.0"
+ StopTime "1000"
AbsTol "auto"
FixedStep "auto"
InitialStep "auto"
MaxConsecutiveMinStep "1"
RelTol "1e-3"
SolverMode "Auto"
- Solver "ode45"
- SolverName "ode45"
+ Solver "ode3"
+ SolverName "ode3"
ZeroCrossControl "UseLocalSettings"
AlgebraicLoopSolver "TrustRegion"
SolverResetMethod "Fast"
}
Simulink.DataIOCC {
$ObjectID 3
- Version "1.3.0"
+ Version "1.2.0"
Decimation "1"
ExternalInput "[t, u]"
FinalStateName "xFinal"
Cell "NoFixptDivByZeroProtection"
PropName "DisabledProps"
}
- Version "1.3.0"
+ Version "1.2.0"
BlockReduction on
BooleanDataType on
ConditionallyExecuteInputs on
OptimizeModelRefInitCode off
LifeSpan "inf"
BufferReusableBoundary on
- SimCompilerOptimization "Off"
- AccelVerboseBuild off
}
Simulink.DebuggingCC {
$ObjectID 5
- Version "1.3.0"
+ Version "1.2.0"
RTPrefix "error"
ConsistencyChecking "none"
ArrayBoundsChecking "none"
SignalInfNanChecking "none"
- SignalRangeChecking "none"
ReadBeforeWriteMsg "UseLocalSettings"
WriteAfterWriteMsg "UseLocalSettings"
WriteAfterReadMsg "UseLocalSettings"
AlgebraicLoopMsg "warning"
ArtificialAlgebraicLoopMsg "warning"
- SaveWithDisabledLinksMsg "warning"
- SaveWithParameterizedLinksMsg "warning"
CheckSSInitialOutputMsg on
CheckExecutionContextPreStartOutputMsg off
CheckExecutionContextRuntimeOutputMsg off
ModelReferenceExtraNoncontSigs "error"
StateNameClashWarn "warning"
StrictBusMsg "Warning"
- LoggingUnavailableSignals "error"
}
Simulink.HardwareCC {
$ObjectID 6
- Version "1.3.0"
+ Version "1.2.0"
ProdBitPerChar 8
ProdBitPerShort 16
ProdBitPerInt 32
}
Simulink.ModelReferenceCC {
$ObjectID 7
- Version "1.3.0"
+ Version "1.2.0"
UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
CheckModelReferenceTargetMessage "error"
ModelReferenceNumInstancesAllowed "Multi"
Cell "GenerateTraceInfo"
PropName "DisabledProps"
}
- Version "1.3.0"
+ Version "1.2.0"
SystemTargetFile "grt.tlc"
GenCodeOnly off
MakeCommand "make_rtw"
TargetLang "C"
IncludeBusHierarchyInRTWFileBlockHierarchyMap off
IncludeERTFirstTime off
- GenerateTraceInfo off
- RTWCompilerOptimization "Off"
Array {
Type "Handle"
Dimension 2
Cell "CustomSymbolStrMacro"
PropName "DisabledProps"
}
- Version "1.3.0"
+ Version "1.2.0"
ForceParamTrailComments off
GenerateComments on
IgnoreCustomStorageClasses on
SimulinkDataObjDesc off
SFDataObjDesc off
IncDataTypeInIds off
+ PrefixModelToSubsysFcnNames on
MangleLength 1
CustomSymbolStrGlobalVar "$R$N$M"
CustomSymbolStrType "$N$R$M"
Cell "ERTCustomFileBanners"
Cell "GenerateSampleERTMain"
Cell "GenerateTestInterfaces"
- Cell "ModelStepFunctionPrototypeControlCompliant"
+ Cell "ModelStepFunctionPrototypeControlComp"
+"liant"
Cell "MultiInstanceERTCode"
Cell "PurelyIntegerCode"
Cell "SupportNonFinite"
Cell "PortableWordSizes"
PropName "DisabledProps"
}
- Version "1.3.0"
+ Version "1.2.0"
TargetFcnLib "ansi_tfl_table_tmw.mat"
TargetLibSuffix ""
TargetPreCompLibLocation ""
GenerateTestInterfaces off
IsPILTarget off
ModelReferenceCompliant on
- CompOptLevelCompliant on
IncludeMdlTerminateFcn on
CombineOutputUpdateFcns off
SuppressErrorStatus off
ShowName on
}
BlockParameterDefaults {
+ Block {
+ BlockType Constant
+ Value "1"
+ VectorParams1D on
+ SamplingMode "Sample based"
+ OutDataTypeMode "Inherit from 'Constant value'"
+ OutDataType "sfix(16)"
+ ConRadixGroup "Use specified scaling"
+ OutScaling "2^0"
+ SampleTime "inf"
+ FramePeriod "inf"
+ }
Block {
BlockType Gain
Gain "1"
Multiplication "Element-wise(K.*u)"
- ParamMin "[]"
- ParamMax "[]"
ParameterDataTypeMode "Same as input"
- ParameterDataType "fixdt(1,16,0)"
+ ParameterDataType "sfix(16)"
ParameterScalingMode "Best Precision: Matrix-wise"
- ParameterScaling "[]"
- OutMin "[]"
- OutMax "[]"
+ ParameterScaling "2^0"
OutDataTypeMode "Same as input"
- OutDataType "fixdt(1,16,0)"
- OutScaling "[]"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
- OutMin "[]"
- OutMax "[]"
DataType "auto"
- OutDataType "fixdt(1,16,0)"
- OutScaling "[]"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
LatchByDelayingOutsideSignal off
BusOutputAsStruct off
PortDimensions "-1"
SampleTime "-1"
- OutMin "[]"
- OutMax "[]"
DataType "auto"
- OutDataType "fixdt(1,16,0)"
- OutScaling "[]"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
SignalType "auto"
SamplingMode "auto"
OutputWhenDisabled "held"
InitialOutput "[]"
}
+ Block {
+ BlockType RateTransition
+ Integrity on
+ Deterministic on
+ X0 "0"
+ OutPortSampleTime "-1"
+ }
Block {
BlockType Scope
ModelBased off
CollapseMode "All dimensions"
CollapseDim "1"
InputSameDT on
- OutMin "[]"
- OutMax "[]"
OutDataTypeMode "Same as first input"
- OutDataType "fixdt(1,16,0)"
- OutScaling "[]"
+ OutDataType "sfix(16)"
+ OutScaling "2^0"
LockScale off
RndMeth "Floor"
SaturateOnIntegerOverflow on
StateMustResolveToSignalObject off
RTWStateStorageClass "Auto"
}
- Block {
- BlockType Constant
- Value "1"
- VectorParams1D on
- SamplingMode "Sample based"
- OutMin "[]"
- OutMax "[]"
- OutDataTypeMode "Inherit from 'Constant value'"
- OutDataType "fixdt(1,16,0)"
- ConRadixGroup "Use specified scaling"
- OutScaling "[]"
- SampleTime "inf"
- FramePeriod "inf"
- }
}
AnnotationDefaults {
HorizontalAlignment "center"
}
System {
Name "mcl_test_2"
- Location [45, 251, 1251, 822]
+ Location [14, 77, 959, 368]
Open on
ModelBrowserVisibility off
ModelBrowserWidth 200
BlockType Scope
Name "Angle"
Ports [1]
- Position [960, 129, 990, 161]
+ Position [855, 79, 885, 111]
Floating off
Location [625, 791, 1275, 973]
Open off
BlockType MATLABFcn
Name "Beacon Angles"
Ports [1, 1]
- Position [325, 165, 385, 195]
+ Position [325, 115, 385, 145]
MATLABFcn "mod(beacon_angles(u), 2*pi)"
+ SampleTime "1"
}
Block {
BlockType Reference
Name "Difference"
Ports [1, 1]
- Position [325, 92, 385, 128]
+ Position [280, 42, 340, 78]
SourceBlock "simulink/Discrete/Difference"
SourceType "Difference"
ShowPortLabels "FromPortIcon"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
ICPrevInput "0.0"
- OutMin "[]"
- OutMax "[]"
- OutDataTypeStr "Inherit: Inherit via internal rule"
OutputDataTypeScalingMode "Inherit via internal rule"
OutDataType "sfix(16)"
OutScaling "2^-10"
BlockType "M-S-Function"
Name "Draw robot"
Ports [2]
- Position [925, 261, 1020, 299]
+ Position [820, 211, 915, 249]
FunctionName "sfdrawrobot"
Parameters "desc,0"
}
BlockType Mux
Name "Mux"
Ports [3, 1]
- Position [230, 161, 235, 199]
+ Position [200, 111, 205, 149]
ShowName off
Inputs "3"
DisplayOption "bar"
}
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition"
+ Position [250, 109, 290, 151]
+ }
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition1"
+ Position [480, 219, 520, 261]
+ }
Block {
BlockType "S-Function"
Name "S-Function"
Ports [2, 2]
- Position [570, 129, 770, 196]
+ Position [465, 79, 665, 146]
FunctionName "sf_mcl"
Parameters "100"
- MaskDisplay "port_label('input', 1, '(dx,dy,da)')\nport_label('input', 2, '(th1,th2,th3)')\nport_label('output', 1, 'est_pos=(x,y,a)')\nport_label('output', 2, 'particle bitmap')\n"
+ 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')\n"
MaskIconFrame on
MaskIconOpaque on
MaskIconRotate "none"
BlockType Selector
Name "Selector"
Ports [1, 1]
- Position [885, 66, 925, 104]
- InputPortWidth "3"
+ Position [780, 16, 820, 54]
IndexOptions "Index vector (dialog)"
Indices "[1 2]"
OutputSizes "1"
+ InputPortWidth "3"
}
Block {
BlockType Selector
Name "Selector1"
Ports [1, 1]
- Position [885, 126, 925, 164]
- InputPortWidth "3"
+ Position [780, 76, 820, 114]
IndexOptions "Index vector (dialog)"
Indices "3"
OutputSizes "1"
+ InputPortWidth "3"
}
Block {
BlockType Reference
Name "Slider\nGain ANGLE"
Ports [1, 1]
- Position [90, 240, 120, 270]
+ Position [85, 190, 140, 220]
SourceBlock "simulink/Math\nOperations/Slider\nGain"
SourceType "Slider Gain"
ShowPortLabels "FromPortIcon"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
low "0"
- gain "2.3622"
+ gain "0"
high "6.28"
}
Block {
BlockType Reference
Name "Slider\nGain X"
Ports [1, 1]
- Position [90, 95, 120, 125]
+ Position [85, 45, 140, 75]
SourceBlock "simulink/Math\nOperations/Slider\nGain"
SourceType "Slider Gain"
ShowPortLabels "FromPortIcon"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
low "0"
- gain "1.1422"
+ gain "0.70183"
high "3"
}
Block {
BlockType Reference
Name "Slider\nGain Y"
Ports [1, 1]
- Position [90, 165, 120, 195]
+ Position [80, 115, 140, 145]
SourceBlock "simulink/Math\nOperations/Slider\nGain"
SourceType "Slider Gain"
ShowPortLabels "FromPortIcon"
RTWMemSecDataInternal "Inherit from model"
RTWMemSecDataParameters "Inherit from model"
low "0"
- gain "1.0693"
+ gain "0.55872"
high "2.1"
}
Block {
BlockType Scope
Name "XY"
Ports [1]
- Position [960, 69, 990, 101]
+ Position [855, 19, 885, 51]
Floating off
Location [621, 562, 1275, 730]
Open off
Block {
BlockType Constant
Name "angle"
- Position [15, 240, 45, 270]
- OutDataType "sfix(16)"
- OutScaling "2^0"
+ Position [35, 190, 65, 220]
}
Block {
BlockType "M-S-Function"
Name "draw probability bitmap"
Ports [1]
- Position [925, 203, 1015, 237]
+ Position [820, 153, 910, 187]
FunctionName "sfdrawbitmap"
}
Block {
BlockType Constant
Name "x"
- Position [15, 95, 45, 125]
- OutDataType "sfix(16)"
- OutScaling "2^0"
+ Position [35, 45, 65, 75]
+ SampleTime "0.05"
}
Block {
BlockType Constant
Name "y"
- Position [15, 165, 45, 195]
- OutDataType "sfix(16)"
- OutScaling "2^0"
+ Position [35, 115, 65, 145]
}
Line {
SrcBlock "S-Function"
DstPort 3
}
Line {
- SrcBlock "Mux"
+ SrcBlock "Beacon Angles"
SrcPort 1
- Points [35, 0]
+ Points [10, 0]
Branch {
- DstBlock "Beacon Angles"
- DstPort 1
+ DstBlock "S-Function"
+ DstPort 2
}
Branch {
- Points [0, -70]
- DstBlock "Difference"
+ Points [0, 110]
+ DstBlock "Rate Transition1"
DstPort 1
}
}
Line {
- SrcBlock "Beacon Angles"
+ SrcBlock "Difference"
SrcPort 1
- Points [115, 0]
+ Points [20, 0; 0, 35]
+ DstBlock "S-Function"
+ DstPort 1
+ }
+ Line {
+ SrcBlock "Mux"
+ SrcPort 1
+ Points [5, 0]
Branch {
- DstBlock "S-Function"
- DstPort 2
+ Points [0, -70]
+ DstBlock "Difference"
+ DstPort 1
}
Branch {
- Points [0, 110]
- DstBlock "Draw robot"
- DstPort 2
+ DstBlock "Rate Transition"
+ DstPort 1
}
}
Line {
- SrcBlock "Difference"
+ SrcBlock "Rate Transition"
SrcPort 1
- Points [80, 0; 0, 35]
- DstBlock "S-Function"
+ DstBlock "Beacon Angles"
DstPort 1
}
+ Line {
+ SrcBlock "Rate Transition1"
+ SrcPort 1
+ DstBlock "Draw robot"
+ DstPort 2
+ }
}
}
projects / eurobot / public.git / commitdiff