Functions
function	sfdrawrobot (block)%MSFUNTMPL A template for an M-file S-function%The M-file S-function is written as a MATLAB function with the%same name as the S-function.Replace 'msfuntmpl'with the name%of your S-function.%%It should be noted that the M-file S-function is very similar%to Level-2 C-Mex S-functions.You should be able to get more%information for each of the block methods by referring to the%documentation for C-Mex S-functions.%%Copyright 2003-2006 The MathWorks
function Inc etc Do not add any other calls to the main body of the function	setup (block)
block	SetSimViewingDevice (1)
Override input port properties block	InputPort (1).DatatypeID=0 = 'Real'
Inhrited block	InputPort (2).DatatypeID=0 = 'Real'
Inhrited Override output port properties block	OutputPort (1).DatatypeID=0 = 'Real'
block	SetAccelRunOnTLC (false)
block	RegBlockMethod ('PostPropagationSetup',@DoPostPropSetup)
block	RegBlockMethod ('ProcessParameters',@ProcessPrms)
block	RegBlockMethod ('SetInputPortSampleTime',@SetInputPortSampleTime)
block	RegBlockMethod ('SetInputPortDimensions',@SetInpPortDims)
block	RegBlockMethod ('Start',@Start)
block	RegBlockMethod ('Update',@Update)
idx	di ()
endfunction function	CheckPrms (block)%a
if	~strcmp (class(a), 'double')%error('Invalid parameter')
end endfunction function	DoPostPropSetup (block) block.NumDworks
block	Dwork (1).Name
block	Dwork (2).Name
block	Dwork (3).Name = 1
block	Dwork (4).Name = 5
block	Dwork (5).Name = 1
endfunction function	SetInputPortSampleTime (block, port, time) block.InputPort(port).SampleTime
endfunction function	Start (block) area
	set (hFig, 'Name', 'Robot')
	set (hFig, 'DoubleBuffer', 'on', 'Tag', 'robotScreen')
	set (fig, 'Renderer', 'painters')
	set (fig, 'Color', 'black')
	hold ('on')
if	axis ('equal')
	set (gca, 'XLim',[0, area.w])
	set (gca, 'YLim',[0, area.h])
	cla (fig_axes)
endfunction function	Update (block) x
if	length (y)
	mod (counter, 4)+1
if	oldPlot (counter)
if	delete (oldPlot(counter))
oldPlot(oldPlot~=0	delete ()
end if	any (y~=0)
	oldPlot (counter+i-1)
	if (block.CurrentTime< last_draw+1/20)
	set (0,'CurrentFigure', 1) desc
if	any (toDelete)
if	delete (oldPlot(toDelete))
if	oldPlot (1)
	oldPlot (2)
Variables
function Inc	$Revision
function Inc	parameters
endfunction	Function
block	NumOutputPorts = 0
Setup port properties to be inherited or dynamic block	SetPreCompInpPortInfoToDynamic
Register parameters block	NumDialogPrms = 2
block	DialogPrmsTunable = {'Tunable','Nontunable','SimOnlyTunable'}
	hFig = figure(1)
	fig_axes = get(hFig, 'CurrentAxes')
	drawStyle = block.DialogPrm(2).Data
hold on end endfunction function	hc
	y = block.InputPort(2).Data
We need to detect changes in y to properly find the time of a new measurement	last_y = block.Dwork(4).Data(1:length(y))
	robot = desc.robot
Transformations	trans
	oldPlot = block.Dwork(2).Data
	counter = block.Dwork(3).Data
	end
end if for	i = [1:length(y)]
end if for	beam
	line = beam*trans
end Do not draw everything too often	last_draw = block.Dwork(5).Data
	return
	outline = homog(desc.shape.outline)
	arrow = homog(desc.shape.arrow)
Transformations	mid
	toDelete = oldPlot ~= 0

Function Documentation

end if any ( y~ = 0 )

if any ( toDelete )

if axis ( 'equal' )

endfunction function CheckPrms ( block )

cla ( fig_axes )

if delete ( oldPlot(counter) )

oldPlot(oldPlot ~= 0 delete ( ) [virtual]

if delete ( oldPlot(toDelete) )

idx di ( ) [virtual]

end endfunction function DoPostPropSetup ( block )

block Dwork ( 1 )

block Dwork ( 2 )

block Dwork ( 3 ) = 1

Clear space for storing last input values block Dwork ( 4 ) = 5

end block Dwork ( 5 ) = 1

hold ( 'on' )

if ( )

block InputPort ( 2 ) = 'Real' [pure virtual]

block InputPort ( 1 ) = 'Real' [pure virtual]

if length ( y )

Here is the caller graph for this function:

mod	(	counter	,
		4
	)

if oldPlot ( counter )

oldPlot ( counter+i- 1 )

oldPlot ( 2 )

if oldPlot ( 1 )

double block OutputPort ( 1 ) = 'Real' [pure virtual]

block RegBlockMethod	(	'PostPropagationSetup'	,
		@	DoPostPropSetup
	)

block RegBlockMethod	(	'SetInputPortSampleTime'	,
		@	SetInputPortSampleTime
	)

block RegBlockMethod	(	'SetInputPortDimensions'	,
		@	SetInpPortDims
	)

block RegBlockMethod	(	'ProcessParameters'	,
		@	ProcessPrms
	)

block RegBlockMethod	(	'Start'	,
		@	Start
	)

block RegBlockMethod	(	'Update'	,
		@	Update
	)

set	(	gca	,
		'XLim'
	)

set	(	gca	,
		'YLim'
	)

set	(	0	,
		'CurrentFigure'	,
		1
	)

set	(	hFig	,
		'DoubleBuffer'	,
		'on'	,
		'Tag'	,
		'robotScreen'
	)

set	(	hFig	,
		'Name'	,
		'Robot'
	)

set	(	fig	,
		'Renderer'	,
		'painters'
	)

set	(	fig	,
		'Color'	,
		'black'
	)

block SetAccelRunOnTLC ( false )

endfunction function SetInputPortSampleTime	(	block	,
		port	,
		time
	)

block SetSimViewingDevice ( 1 )

function Inc etc Do not add any other calls to the main body of the function setup ( block )

function sfdrawrobot ( block )

endfunction function Start ( block )

endfunction function Update ( block )

if ~strcmp	(	class(a)	,
		'double'
	)

Variable Documentation

function Inc $Revision

arrow = homog(desc.shape.arrow)

end if for beam

Initial value:

 homog([robot.laserx             robot.lasery; ...
                              robot.laserx+4*cos(y(i)) robot.lasery+4*sin(y(i))])

if Delete only the line which is going to be redrawn counter = block.Dwork(3).Data

block DialogPrmsTunable = {'Tunable','Nontunable','SimOnlyTunable'}

if drawStyle = block.DialogPrm(2).Data

end

fig_axes = get(hFig, 'CurrentAxes')

endfunction Function

hold on end endfunction function hc

Initial value:

 homog(coords)
    hc=[coords ones(size(coords, 1), 1)]

hFig = figure(1)

end if for i = [1:length(y)]

end Do not draw everything too often last_draw = block.Dwork(5).Data

We need to detect changes in y to properly find the time of a new measurement last_y = block.Dwork(4).Data(1:length(y))

line = beam*trans

Transformations mid

Initial value:

 [
        1 0 -robot.cx
        0 1 -robot.cy
        0 0 1]'

Register parameters block NumDialogPrms = 2

block NumOutputPorts = 0

oldPlot = block.Dwork(2).Data

outline = homog(desc.shape.outline)

function Inc parameters

return

robot = desc.robot

Setup port properties to be inherited or dynamic block SetPreCompInpPortInfoToDynamic

toDelete = oldPlot ~= 0

trans

Initial value:

 [
                cos(x(3)) -sin(x(3)) x(1)
                sin(x(3))  cos(x(3)) x(2)
                0 0 1]'

y = block.InputPort(2).Data

sfdrawrobot.m File Reference

Functions

Variables

Function Documentation

Variable Documentation