src/mcl/matlab/reg_mcl.mdl

   1 Model {
   2   Name                    "reg_mcl"
   3   Version                 6.6
   4   MdlSubVersion           0
   5   GraphicalInterface {
   6     NumRootInports          0
   7     NumRootOutports         0
   8     ParameterArgumentNames  ""
   9     ComputedModelVersion    "1.261"
  10     NumModelReferences      0
  11     NumTestPointedSignals   0
  12   }
  13   SavedCharacterEncoding  "iso-8859-2"
  14   PreLoadFcn              "init"
  15   PostLoadFcn             "figure(2); hold off\nfigure(1);\nsim('reg_test', 0)"
  16 "; % show figures"
  17   SaveDefaultBlockParams  on
  18   SampleTimeColors        off
  19   LibraryLinkDisplay      "none"
  20   WideLines               off
  21   ShowLineDimensions      on
  22   ShowPortDataTypes       off
  23   ShowLoopsOnError        on
  24   IgnoreBidirectionalLines off
  25   ShowStorageClass        off
  26   ShowTestPointIcons      on
  27   ShowViewerIcons         on
  28   SortedOrder             off
  29   ExecutionContextIcon    off
  30   ShowLinearizationAnnotations on
  31   ScopeRefreshTime        0.035000
  32   OverrideScopeRefreshTime on
  33   DisableAllScopes        off
  34   DataTypeOverride        "UseLocalSettings"
  35   MinMaxOverflowLogging   "UseLocalSettings"
  36   MinMaxOverflowArchiveMode "Overwrite"
  37   BlockNameDataTip        off
  38   BlockParametersDataTip  off
  39   BlockDescriptionStringDataTip off
  40   ToolBar                 on
  41   StatusBar               on
  42   BrowserShowLibraryLinks off
  43   BrowserLookUnderMasks   off
  44   InitFcn                 "figure(2); hold off\nfigure(1);"
  45   Created                 "Thu Mar 29 23:35:11 2007"
  46   Creator                 "wsh"
  47   UpdateHistory           "UpdateHistoryNever"
  48   ModifiedByFormat        "%<Auto>"
  49   LastModifiedBy          "wsh"
  50   ModifiedDateFormat      "%<Auto>"
  51   LastModifiedDate        "Fri Apr 25 10:52:54 2008"
  52   ModelVersionFormat      "1.%<AutoIncrement:261>"
  53   ConfigurationManager    "None"
  54   SimulationMode          "normal"
  55   LinearizationMsg        "none"
  56   Profile                 off
  57   ParamWorkspaceSource    "MATLABWorkspace"
  58   AccelSystemTargetFile   "accel.tlc"
  59   AccelTemplateMakefile   "accel_default_tmf"
  60   AccelMakeCommand        "make_rtw"
  61   AccelVerboseBuild       off
  62   TryForcingSFcnDF        off
  63   RecordCoverage          off
  64   CovPath                 "/"
  65   CovSaveName             "covdata"
  66   CovMetricSettings       "dw"
  67   CovNameIncrementing     off
  68   CovHtmlReporting        on
  69   covSaveCumulativeToWorkspaceVar on
  70   CovSaveSingleToWorkspaceVar on
  71   CovCumulativeVarName    "covCumulativeData"
  72   CovCumulativeReport     off
  73   CovReportOnPause        on
  74   ExtModeBatchMode        off
  75   ExtModeEnableFloating   on
  76   ExtModeTrigType         "manual"
  77   ExtModeTrigMode         "normal"
  78   ExtModeTrigPort         "1"
  79   ExtModeTrigElement      "any"
  80   ExtModeTrigDuration     1000
  81   ExtModeTrigDurationFloating "auto"
  82   ExtModeTrigHoldOff      0
  83   ExtModeTrigDelay        0
  84   ExtModeTrigDirection    "rising"
  85   ExtModeTrigLevel        0
  86   ExtModeArchiveMode      "off"
  87   ExtModeAutoIncOneShot   off
  88   ExtModeIncDirWhenArm    off
  89   ExtModeAddSuffixToVar   off
  90   ExtModeWriteAllDataToWs off
  91   ExtModeArmWhenConnect   on
  92   ExtModeSkipDownloadWhenConnect off
  93   ExtModeLogAll           on
  94   ExtModeAutoUpdateStatusClock off
  95   BufferReuse             on
  96   ProdHWDeviceType        "32-bit Generic"
  97   ShowModelReferenceBlockVersion off
  98   ShowModelReferenceBlockIO off
  99   Array {
 100     Type                    "Handle"
 101     Dimension               1
 102     Simulink.ConfigSet {
 103       $ObjectID               1
 104       Version                 "1.2.0"
 105       Array {
 106         Type                    "Handle"
 107         Dimension               7
 108         Simulink.SolverCC {
 109           $ObjectID               2
 110           Version                 "1.2.0"
 111           StartTime               "0.0"
 112           StopTime                "100"
 113           AbsTol                  "auto"
 114           FixedStep               "0.05"
 115           InitialStep             "auto"
 116           MaxNumMinSteps          "-1"
 117           MaxOrder                5
 118           ConsecutiveZCsStepRelTol "10*128*eps"
 119           MaxConsecutiveZCs       "1000"
 120           ExtrapolationOrder      4
 121           NumberNewtonIterations  1
 122           MaxStep                 "auto"
 123           MinStep                 "auto"
 124           MaxConsecutiveMinStep   "1"
 125           RelTol                  "1e-3"
 126           SolverMode              "Auto"
 127           Solver                  "ode45"
 128           SolverName              "ode45"
 129           ZeroCrossControl        "UseLocalSettings"
 130           AlgebraicLoopSolver     "TrustRegion"
 131           SolverResetMethod       "Fast"
 132           PositivePriorityOrder   off
 133           AutoInsertRateTranBlk   off
 134           SampleTimeConstraint    "Unconstrained"
 135           RateTranMode            "Deterministic"
 136         }
 137         Simulink.DataIOCC {
 138           $ObjectID               3
 139           Version                 "1.2.0"
 140           Decimation              "1"
 141           ExternalInput           "[t, u]"
 142           FinalStateName          "xFinal"
 143           InitialState            "xInitial"
 144           LimitDataPoints         on
 145           MaxDataPoints           "1000"
 146           LoadExternalInput       off
 147           LoadInitialState        off
 148           SaveFinalState          off
 149           SaveFormat              "Array"
 150           SaveOutput              on
 151           SaveState               off
 152           SignalLogging           on
 153           InspectSignalLogs       off
 154           SaveTime                on
 155           StateSaveName           "xout"
 156           TimeSaveName            "tout"
 157           OutputSaveName          "yout"
 158           SignalLoggingName       "logsout"
 159           OutputOption            "RefineOutputTimes"
 160           OutputTimes             "[]"
 161           Refine                  "1"
 162         }
 163         Simulink.OptimizationCC {
 164           $ObjectID               4
 165           Array {
 166             Type                    "Cell"
 167             Dimension               5
 168             Cell                    "ZeroExternalMemoryAtStartup"
 169             Cell                    "ZeroInternalMemoryAtStartup"
 170             Cell                    "InitFltsAndDblsToZero"
 171             Cell                    "OptimizeModelRefInitCode"
 172             Cell                    "NoFixptDivByZeroProtection"
 173             PropName                "DisabledProps"
 174           }
 175           Version                 "1.2.0"
 176           BlockReduction          on
 177           BooleanDataType         on
 178           ConditionallyExecuteInputs on
 179           InlineParams            off
 180           InlineInvariantSignals  off
 181           OptimizeBlockIOStorage  on
 182           BufferReuse             on
 183           EnforceIntegerDowncast  on
 184           ExpressionFolding       on
 185           ExpressionDepthLimit    2147483647
 186           FoldNonRolledExpr       on
 187           LocalBlockOutputs       on
 188           RollThreshold           5
 189           SystemCodeInlineAuto    off
 190           StateBitsets            off
 191           DataBitsets             off
 192           UseTempVars             off
 193           ZeroExternalMemoryAtStartup on
 194           ZeroInternalMemoryAtStartup on
 195           InitFltsAndDblsToZero   on
 196           NoFixptDivByZeroProtection off
 197           EfficientFloat2IntCast  off
 198           OptimizeModelRefInitCode off
 199           LifeSpan                "inf"
 200           BufferReusableBoundary  on
 201         }
 202         Simulink.DebuggingCC {
 203           $ObjectID               5
 204           Version                 "1.2.0"
 205           RTPrefix                "error"
 206           ConsistencyChecking     "none"
 207           ArrayBoundsChecking     "none"
 208           SignalInfNanChecking    "none"
 209           ReadBeforeWriteMsg      "UseLocalSettings"
 210           WriteAfterWriteMsg      "UseLocalSettings"
 211           WriteAfterReadMsg       "UseLocalSettings"
 212           AlgebraicLoopMsg        "warning"
 213           ArtificialAlgebraicLoopMsg "warning"
 214           CheckSSInitialOutputMsg on
 215           CheckExecutionContextPreStartOutputMsg off
 216           CheckExecutionContextRuntimeOutputMsg off
 217           SignalResolutionControl "TryResolveAllWithWarning"
 218           BlockPriorityViolationMsg "warning"
 219           MinStepSizeMsg          "warning"
 220           TimeAdjustmentMsg       "none"
 221           MaxConsecutiveZCsMsg    "error"
 222           SolverPrmCheckMsg       "warning"
 223           InheritedTsInSrcMsg     "warning"
 224           DiscreteInheritContinuousMsg "warning"
 225           MultiTaskDSMMsg         "error"
 226           MultiTaskCondExecSysMsg "error"
 227           MultiTaskRateTransMsg   "error"
 228           SingleTaskRateTransMsg  "none"
 229           TasksWithSamePriorityMsg "warning"
 230           SigSpecEnsureSampleTimeMsg "warning"
 231           CheckMatrixSingularityMsg "none"
 232           IntegerOverflowMsg      "warning"
 233           Int32ToFloatConvMsg     "warning"
 234           ParameterDowncastMsg    "error"
 235           ParameterOverflowMsg    "error"
 236           ParameterUnderflowMsg   "none"
 237           ParameterPrecisionLossMsg "warning"
 238           ParameterTunabilityLossMsg "warning"
 239           UnderSpecifiedDataTypeMsg "none"
 240           UnnecessaryDatatypeConvMsg "none"
 241           VectorMatrixConversionMsg "none"
 242           InvalidFcnCallConnMsg   "error"
 243           FcnCallInpInsideContextMsg "Use local settings"
 244           SignalLabelMismatchMsg  "none"
 245           UnconnectedInputMsg     "warning"
 246           UnconnectedOutputMsg    "warning"
 247           UnconnectedLineMsg      "warning"
 248           SFcnCompatibilityMsg    "none"
 249           UniqueDataStoreMsg      "none"
 250           BusObjectLabelMismatch  "warning"
 251           RootOutportRequireBusObject "warning"
 252           AssertControl           "UseLocalSettings"
 253           EnableOverflowDetection off
 254           ModelReferenceIOMsg     "none"
 255           ModelReferenceVersionMismatchMessage "none"
 256           ModelReferenceIOMismatchMessage "none"
 257           ModelReferenceCSMismatchMessage "none"
 258           ModelReferenceSimTargetVerbose off
 259           UnknownTsInhSupMsg      "warning"
 260           ModelReferenceDataLoggingMessage "warning"
 261           ModelReferenceSymbolNameMessage "warning"
 262           ModelReferenceExtraNoncontSigs "error"
 263           StateNameClashWarn      "warning"
 264           StrictBusMsg            "Warning"
 265         }
 266         Simulink.HardwareCC {
 267           $ObjectID               6
 268           Version                 "1.2.0"
 269           ProdBitPerChar          8
 270           ProdBitPerShort         16
 271           ProdBitPerInt           32
 272           ProdBitPerLong          32
 273           ProdIntDivRoundTo       "Undefined"
 274           ProdEndianess           "Unspecified"
 275           ProdWordSize            32
 276           ProdShiftRightIntArith  on
 277           ProdHWDeviceType        "32-bit Generic"
 278           TargetBitPerChar        8
 279           TargetBitPerShort       16
 280           TargetBitPerInt         32
 281           TargetBitPerLong        32
 282           TargetShiftRightIntArith on
 283           TargetIntDivRoundTo     "Undefined"
 284           TargetEndianess         "Unspecified"
 285           TargetWordSize          32
 286           TargetTypeEmulationWarnSuppressLevel 0
 287           TargetPreprocMaxBitsSint 32
 288           TargetPreprocMaxBitsUint 32
 289           TargetHWDeviceType      "Specified"
 290           TargetUnknown           off
 291           ProdEqTarget            on
 292         }
 293         Simulink.ModelReferenceCC {
 294           $ObjectID               7
 295           Version                 "1.2.0"
 296           UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
 297           CheckModelReferenceTargetMessage "error"
 298           ModelReferenceNumInstancesAllowed "Multi"
 299           ModelReferencePassRootInputsByReference on
 300           ModelReferenceMinAlgLoopOccurrences off
 301         }
 302         Simulink.RTWCC {
 303           $BackupClass            "Simulink.RTWCC"
 304           $ObjectID               8
 305           Array {
 306             Type                    "Cell"
 307             Dimension               1
 308             Cell                    "IncludeHyperlinkInReport"
 309             PropName                "DisabledProps"
 310           }
 311           Version                 "1.2.0"
 312           SystemTargetFile        "grt.tlc"
 313           GenCodeOnly             off
 314           MakeCommand             "make_rtw"
 315           GenerateMakefile        on
 316           TemplateMakefile        "grt_default_tmf"
 317           GenerateReport          off
 318           SaveLog                 off
 319           RTWVerbose              on
 320           RetainRTWFile           off
 321           ProfileTLC              off
 322           TLCDebug                off
 323           TLCCoverage             off
 324           TLCAssert               off
 325           ProcessScriptMode       "Default"
 326           ConfigurationMode       "Optimized"
 327           ConfigAtBuild           off
 328           IncludeHyperlinkInReport off
 329           LaunchReport            off
 330           TargetLang              "C"
 331           IncludeBusHierarchyInRTWFileBlockHierarchyMap off
 332           IncludeERTFirstTime     off
 333           Array {
 334             Type                    "Handle"
 335             Dimension               2
 336             Simulink.CodeAppCC {
 337               $ObjectID               9
 338               Array {
 339                 Type                    "Cell"
 340                 Dimension               16
 341                 Cell                    "IgnoreCustomStorageClasses"
 342                 Cell                    "InsertBlockDesc"
 343                 Cell                    "SFDataObjDesc"
 344                 Cell                    "SimulinkDataObjDesc"
 345                 Cell                    "DefineNamingRule"
 346                 Cell                    "SignalNamingRule"
 347                 Cell                    "ParamNamingRule"
 348                 Cell                    "InlinedPrmAccess"
 349                 Cell                    "CustomSymbolStr"
 350                 Cell                    "CustomSymbolStrGlobalVar"
 351                 Cell                    "CustomSymbolStrType"
 352                 Cell                    "CustomSymbolStrField"
 353                 Cell                    "CustomSymbolStrFcn"
 354                 Cell                    "CustomSymbolStrBlkIO"
 355                 Cell                    "CustomSymbolStrTmpVar"
 356                 Cell                    "CustomSymbolStrMacro"
 357                 PropName                "DisabledProps"
 358               }
 359               Version                 "1.2.0"
 360               ForceParamTrailComments off
 361               GenerateComments        on
 362               IgnoreCustomStorageClasses on
 363               IncHierarchyInIds       off
 364               MaxIdLength             31
 365               PreserveName            off
 366               PreserveNameWithParent  off
 367               ShowEliminatedStatement off
 368               IncAutoGenComments      off
 369               SimulinkDataObjDesc     off
 370               SFDataObjDesc           off
 371               IncDataTypeInIds        off
 372               PrefixModelToSubsysFcnNames on
 373               MangleLength            1
 374               CustomSymbolStrGlobalVar "$R$N$M"
 375               CustomSymbolStrType     "$N$R$M"
 376               CustomSymbolStrField    "$N$M"
 377               CustomSymbolStrFcn      "$R$N$M$F"
 378               CustomSymbolStrBlkIO    "rtb_$N$M"
 379               CustomSymbolStrTmpVar   "$N$M"
 380               CustomSymbolStrMacro    "$R$N$M"
 381               DefineNamingRule        "None"
 382               ParamNamingRule         "None"
 383               SignalNamingRule        "None"
 384               InsertBlockDesc         off
 385               SimulinkBlockComments   on
 386               EnableCustomComments    off
 387               InlinedPrmAccess        "Literals"
 388               ReqsInCode              off
 389             }
 390             Simulink.GRTTargetCC {
 391               $BackupClass            "Simulink.TargetCC"
 392               $ObjectID               10
 393               Array {
 394                 Type                    "Cell"
 395                 Dimension               13
 396                 Cell                    "IncludeMdlTerminateFcn"
 397                 Cell                    "CombineOutputUpdateFcns"
 398                 Cell                    "SuppressErrorStatus"
 399                 Cell                    "ERTCustomFileBanners"
 400                 Cell                    "GenerateSampleERTMain"
 401                 Cell                    "GenerateTestInterfaces"
 402                 Cell                    "MultiInstanceERTCode"
 403                 Cell                    "PurelyIntegerCode"
 404                 Cell                    "SupportNonFinite"
 405                 Cell                    "SupportComplex"
 406                 Cell                    "SupportAbsoluteTime"
 407                 Cell                    "SupportContinuousTime"
 408                 Cell                    "SupportNonInlinedSFcns"
 409                 PropName                "DisabledProps"
 410               }
 411               Version                 "1.2.0"
 412               TargetFcnLib            "ansi_tfl_tmw.mat"
 413               TargetLibSuffix         ""
 414               TargetPreCompLibLocation ""
 415               GenFloatMathFcnCalls    "ANSI_C"
 416               UtilityFuncGeneration   "Auto"
 417               GenerateFullHeader      on
 418               GenerateSampleERTMain   off
 419               GenerateTestInterfaces  off
 420               IsPILTarget             off
 421               ModelReferenceCompliant on
 422               IncludeMdlTerminateFcn  on
 423               CombineOutputUpdateFcns off
 424               SuppressErrorStatus     off
 425               IncludeFileDelimiter    "Auto"
 426               ERTCustomFileBanners    off
 427               SupportAbsoluteTime     on
 428               LogVarNameModifier      "rt_"
 429               MatFileLogging          on
 430               MultiInstanceERTCode    off
 431               SupportNonFinite        on
 432               SupportComplex          on
 433               PurelyIntegerCode       off
 434               SupportContinuousTime   on
 435               SupportNonInlinedSFcns  on
 436               EnableShiftOperators    on
 437               ParenthesesLevel        "Nominal"
 438               PortableWordSizes       off
 439               ModelStepFunctionPrototypeControlCompliant off
 440               ExtMode                 off
 441               ExtModeStaticAlloc      off
 442               ExtModeTesting          off
 443               ExtModeStaticAllocSize  1000000
 444               ExtModeTransport        0
 445               ExtModeMexFile          "ext_comm"
 446               ExtModeIntrfLevel       "Level1"
 447               RTWCAPISignals          off
 448               RTWCAPIParams           off
 449               RTWCAPIStates           off
 450               GenerateASAP2           off
 451             }
 452             PropName                "Components"
 453           }
 454         }
 455         PropName                "Components"
 456       }
 457       Name                    "Configuration"
 458       CurrentDlgPage          "Solver"
 459     }
 460     PropName                "ConfigurationSets"
 461   }
 462   Simulink.ConfigSet {
 463     $PropName               "ActiveConfigurationSet"
 464     $ObjectID               1
 465   }
 466   WSDataSource            "M-Code"
 467   BlockDefaults {
 468     Orientation             "right"
 469     ForegroundColor         "black"
 470     BackgroundColor         "white"
 471     DropShadow              off
 472     NamePlacement           "normal"
 473     FontName                "Arial"
 474     FontSize                10
 475     FontWeight              "normal"
 476     FontAngle               "normal"
 477     ShowName                on
 478   }
 479   BlockParameterDefaults {
 480     Block {
 481       BlockType               Clock
 482       DisplayTime             off
 483     }
 484     Block {
 485       BlockType               Constant
 486       Value                   "1"
 487       VectorParams1D          on
 488       SamplingMode            "Sample based"
 489       OutDataTypeMode         "Inherit from 'Constant value'"
 490       OutDataType             "sfix(16)"
 491       ConRadixGroup           "Use specified scaling"
 492       OutScaling              "2^0"
 493       SampleTime              "inf"
 494       FramePeriod             "inf"
 495     }
 496     Block {
 497       BlockType               Display
 498       Format                  "short"
 499       Decimation              "10"
 500       Floating                off
 501       SampleTime              "-1"
 502     }
 503     Block {
 504       BlockType               Gain
 505       Gain                    "1"
 506       Multiplication          "Element-wise(K.*u)"
 507       ParameterDataTypeMode   "Same as input"
 508       ParameterDataType       "sfix(16)"
 509       ParameterScalingMode    "Best Precision: Matrix-wise"
 510       ParameterScaling        "2^0"
 511       OutDataTypeMode         "Same as input"
 512       OutDataType             "sfix(16)"
 513       OutScaling              "2^0"
 514       LockScale               off
 515       RndMeth                 "Floor"
 516       SaturateOnIntegerOverflow on
 517       SampleTime              "-1"
 518     }
 519     Block {
 520       BlockType               Inport
 521       Port                    "1"
 522       UseBusObject            off
 523       BusObject               "BusObject"
 524       BusOutputAsStruct       off
 525       PortDimensions          "-1"
 526       SampleTime              "-1"
 527       DataType                "auto"
 528       OutDataType             "sfix(16)"
 529       OutScaling              "2^0"
 530       SignalType              "auto"
 531       SamplingMode            "auto"
 532       LatchByDelayingOutsideSignal off
 533       LatchByCopyingInsideSignal off
 534       Interpolate             on
 535     }
 536     Block {
 537       BlockType               Integrator
 538       ExternalReset           "none"
 539       InitialConditionSource  "internal"
 540       InitialCondition        "0"
 541       LimitOutput             off
 542       UpperSaturationLimit    "inf"
 543       LowerSaturationLimit    "-inf"
 544       ShowSaturationPort      off
 545       ShowStatePort           off
 546       AbsoluteTolerance       "auto"
 547       IgnoreLimit             off
 548       ZeroCross               on
 549       ContinuousStateAttributes "''"
 550     }
 551     Block {
 552       BlockType               MATLABFcn
 553       MATLABFcn               "sin"
 554       OutputDimensions        "-1"
 555       OutputSignalType        "auto"
 556       Output1D                on
 557       SampleTime              "-1"
 558     }
 559     Block {
 560       BlockType               "M-S-Function"
 561       FunctionName            "mlfile"
 562       DisplayMFileStacktrace  on
 563     }
 564     Block {
 565       BlockType               Mux
 566       Inputs                  "4"
 567       DisplayOption           "none"
 568       UseBusObject            off
 569       BusObject               "BusObject"
 570       NonVirtualBus           off
 571     }
 572     Block {
 573       BlockType               Outport
 574       Port                    "1"
 575       UseBusObject            off
 576       BusObject               "BusObject"
 577       BusOutputAsStruct       off
 578       PortDimensions          "-1"
 579       SampleTime              "-1"
 580       DataType                "auto"
 581       OutDataType             "sfix(16)"
 582       OutScaling              "2^0"
 583       SignalType              "auto"
 584       SamplingMode            "auto"
 585       OutputWhenDisabled      "held"
 586       InitialOutput           "[]"
 587     }
 588     Block {
 589       BlockType               RandomNumber
 590       Mean                    "0"
 591       Variance                "1"
 592       Seed                    "0"
 593       SampleTime              "-1"
 594       VectorParams1D          on
 595     }
 596     Block {
 597       BlockType               RateTransition
 598       Integrity               on
 599       Deterministic           on
 600       X0                      "0"
 601       OutPortSampleTime       "-1"
 602     }
 603     Block {
 604       BlockType               RateLimiter
 605       RisingSlewLimit         "1"
 606       FallingSlewLimit        "-1"
 607       SampleTimeMode          "continuous"
 608       InitialCondition        "0"
 609       LinearizeAsGain         on
 610     }
 611     Block {
 612       BlockType               Saturate
 613       UpperLimit              "0.5"
 614       LowerLimit              "-0.5"
 615       LinearizeAsGain         on
 616       ZeroCross               on
 617       SampleTime              "-1"
 618     }
 619     Block {
 620       BlockType               Scope
 621       ModelBased              off
 622       TickLabels              "OneTimeTick"
 623       ZoomMode                "on"
 624       Grid                    "on"
 625       TimeRange               "auto"
 626       YMin                    "-5"
 627       YMax                    "5"
 628       SaveToWorkspace         off
 629       SaveName                "ScopeData"
 630       LimitDataPoints         on
 631       MaxDataPoints           "5000"
 632       Decimation              "1"
 633       SampleInput             off
 634       SampleTime              "-1"
 635     }
 636     Block {
 637       BlockType               Selector
 638       NumberOfDimensions      "1"
 639       IndexMode               "One-based"
 640       InputPortWidth          "-1"
 641       SampleTime              "-1"
 642     }
 643     Block {
 644       BlockType               "S-Function"
 645       FunctionName            "system"
 646       SFunctionModules        "''"
 647       PortCounts              "[]"
 648     }
 649     Block {
 650       BlockType               SubSystem
 651       ShowPortLabels          "FromPortIcon"
 652       Permissions             "ReadWrite"
 653       PermitHierarchicalResolution "All"
 654       TreatAsAtomicUnit       off
 655       SystemSampleTime        "-1"
 656       RTWFcnNameOpts          "Auto"
 657       RTWFileNameOpts         "Auto"
 658       RTWMemSecFuncInitTerm   "Inherit from model"
 659       RTWMemSecFuncExecute    "Inherit from model"
 660       RTWMemSecDataConstants  "Inherit from model"
 661       RTWMemSecDataInternal   "Inherit from model"
 662       RTWMemSecDataParameters "Inherit from model"
 663       SimViewingDevice        off
 664       DataTypeOverride        "UseLocalSettings"
 665       MinMaxOverflowLogging   "UseLocalSettings"
 666     }
 667     Block {
 668       BlockType               Sum
 669       IconShape               "rectangular"
 670       Inputs                  "++"
 671       CollapseMode            "All dimensions"
 672       CollapseDim             "1"
 673       InputSameDT             on
 674       OutDataTypeMode         "Same as first input"
 675       OutDataType             "sfix(16)"
 676       OutScaling              "2^0"
 677       LockScale               off
 678       RndMeth                 "Floor"
 679       SaturateOnIntegerOverflow on
 680       SampleTime              "-1"
 681     }
 682     Block {
 683       BlockType               Switch
 684       Criteria                "u2 >= Threshold"
 685       Threshold               "0"
 686       InputSameDT             on
 687       OutDataTypeMode         "Inherit via internal rule"
 688       RndMeth                 "Floor"
 689       SaturateOnIntegerOverflow on
 690       ZeroCross               on
 691       SampleTime              "-1"
 692     }
 693     Block {
 694       BlockType               ToWorkspace
 695       VariableName            "simulink_output"
 696       MaxDataPoints           "1000"
 697       Decimation              "1"
 698       SampleTime              "0"
 699       FixptAsFi               off
 700     }
 701     Block {
 702       BlockType               UnitDelay
 703       X0                      "0"
 704       SampleTime              "1"
 705       StateMustResolveToSignalObject off
 706       RTWStateStorageClass    "Auto"
 707     }
 708   }
 709   AnnotationDefaults {
 710     HorizontalAlignment     "center"
 711     VerticalAlignment       "middle"
 712     ForegroundColor         "black"
 713     BackgroundColor         "white"
 714     DropShadow              off
 715     FontName                "Arial"
 716     FontSize                10
 717     FontWeight              "normal"
 718     FontAngle               "normal"
 719     UseDisplayTextAsClickCallback off
 720   }
 721   LineDefaults {
 722     FontName                "Arial"
 723     FontSize                9
 724     FontWeight              "normal"
 725     FontAngle               "normal"
 726   }
 727   System {
 728     Name                    "reg_mcl"
 729     Location                [1684, 55, 2539, 624]
 730     Open                    on
 731     ModelBrowserVisibility  off
 732     ModelBrowserWidth       200
 733     ScreenColor             "white"
 734     PaperOrientation        "landscape"
 735     PaperPositionMode       "auto"
 736     PaperType               "A4"
 737     PaperUnits              "centimeters"
 738     TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
 739     TiledPageScale          1
 740     ShowPageBoundaries      off
 741     ZoomFactor              "100"
 742     ReportName              "simulink-default.rpt"
 743     Block {
 744       BlockType               SubSystem
 745       Name                    " "
 746       Ports                   []
 747       Position                [25, 14, 95, 48]
 748       OpenFcn                 "path=diag([area.w area.h])*rand(2,8)\nsim('reg_"
 749 "test',0)                   "
 750       MinAlgLoopOccurrences   off
 751       RTWSystemCode           "Auto"
 752       FunctionWithSeparateData off
 753       MaskHideContents        off
 754       MaskDisplay             "disp('Random path')"
 755       MaskIconFrame           on
 756       MaskIconOpaque          on
 757       MaskIconRotate          "none"
 758       MaskIconUnits           "autoscale"
 759       System {
 760         Name                    " "
 761         Location                [433, 403, 931, 703]
 762         Open                    off
 763         ModelBrowserVisibility  off
 764         ModelBrowserWidth       200
 765         ScreenColor             "white"
 766         PaperOrientation        "landscape"
 767         PaperPositionMode       "auto"
 768         PaperType               "A4"
 769         PaperUnits              "centimeters"
 770         TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
 771         TiledPageScale          1
 772         ShowPageBoundaries      off
 773         ZoomFactor              "100"
 774       }
 775     }
 776     Block {
 777       BlockType               Clock
 778       Name                    "Clock"
 779       Position                [465, 70, 485, 90]
 780       Decimation              "10"
 781     }
 782     Block {
 783       BlockType               "S-Function"
 784       Name                    "Controller"
 785       Ports                   [2, 1]
 786       Position                [175, 88, 235, 177]
 787       BackgroundColor         "green"
 788       FunctionName            "sf_posreg"
 789       Parameters              "[2 2 10],1/20"
 790       MaskDisplay             "port_label('input', 1, 'ref')\nport_label('inpu"
 791 "t', 2, 'pos')\nport_label('output', 1, '(w1,w2)')"
 792       MaskIconFrame           on
 793       MaskIconOpaque          on
 794       MaskIconRotate          "none"
 795       MaskIconUnits           "autoscale"
 796     }
 797     Block {
 798       BlockType               Display
 799       Name                    "Display"
 800       Ports                   [1]
 801       Position                [515, 66, 600, 94]
 802       Lockdown                off
 803     }
 804     Block {
 805       BlockType               Gain
 806       Name                    "Gain"
 807       Position                [260, 120, 290, 150]
 808       Gain                    "[1 1]/desc.robot.wheelr"
 809       ParameterDataTypeMode   "Inherit via internal rule"
 810       OutDataTypeMode         "Inherit via internal rule"
 811       SaturateOnIntegerOverflow off
 812     }
 813     Block {
 814       BlockType               SubSystem
 815       Name                    "Graphs"
 816       Ports                   [2]
 817       Position                [720, 210, 820, 270]
 818       MinAlgLoopOccurrences   off
 819       RTWSystemCode           "Auto"
 820       FunctionWithSeparateData off
 821       MaskHideContents        off
 822       System {
 823         Name                    "Graphs"
 824         Location                [478, 120, 998, 439]
 825         Open                    off
 826         ModelBrowserVisibility  off
 827         ModelBrowserWidth       200
 828         ScreenColor             "white"
 829         PaperOrientation        "landscape"
 830         PaperPositionMode       "auto"
 831         PaperType               "A4"
 832         PaperUnits              "centimeters"
 833         TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
 834         TiledPageScale          1
 835         ShowPageBoundaries      off
 836         ZoomFactor              "100"
 837         Block {
 838           BlockType               Inport
 839           Name                    "Pos"
 840           Position                [25, 108, 55, 122]
 841           IconDisplay             "Port number"
 842         }
 843         Block {
 844           BlockType               Inport
 845           Name                    "Est pos"
 846           Position                [25, 223, 55, 237]
 847           Port                    "2"
 848           IconDisplay             "Port number"
 849         }
 850         Block {
 851           BlockType               Scope
 852           Name                    "Angle"
 853           Ports                   [1]
 854           Position                [410, 109, 440, 141]
 855           Floating                off
 856           Location                [437, 662, 1088, 1030]
 857           Open                    on
 858           NumInputPorts           "1"
 859           List {
 860             ListType                AxesTitles
 861             axes1                   "%<SignalLabel>"
 862           }
 863           TimeRange               "100"
 864           YMin                    "-1000"
 865           YMax                    "8000"
 866           SaveName                "ScopeData1"
 867           DataFormat              "StructureWithTime"
 868           SampleTime              "0"
 869         }
 870         Block {
 871           BlockType               Gain
 872           Name                    "Gain"
 873           Position                [295, 109, 330, 141]
 874           Gain                    "180/pi"
 875           ParameterDataTypeMode   "Inherit via internal rule"
 876           OutDataTypeMode         "Inherit via internal rule"
 877           SaturateOnIntegerOverflow off
 878           Port {
 879             PortNumber              1
 880             Name                    "Angle [deg]"
 881             RTWStorageClass         "Auto"
 882             DataLoggingNameMode     "SignalName"
 883           }
 884         }
 885         Block {
 886           BlockType               Mux
 887           Name                    "Mux"
 888           Ports                   [2, 1]
 889           Position                [250, 46, 255, 84]
 890           ShowName                off
 891           Inputs                  "2"
 892           DisplayOption           "bar"
 893           Port {
 894             PortNumber              1
 895             Name                    "Position [m]"
 896             RTWStorageClass         "Auto"
 897             DataLoggingNameMode     "SignalName"
 898           }
 899         }
 900         Block {
 901           BlockType               Mux
 902           Name                    "Mux1"
 903           Ports                   [2, 1]
 904           Position                [250, 106, 255, 144]
 905           ShowName                off
 906           Inputs                  "2"
 907           DisplayOption           "bar"
 908         }
 909         Block {
 910           BlockType               Selector
 911           Name                    "Selector"
 912           Ports                   [1, 1]
 913           Position                [110, 36, 150, 74]
 914           IndexOptions            "Index vector (dialog)"
 915           Indices                 "[1 2]"
 916           OutputSizes             "1"
 917           InputPortWidth          "3"
 918         }
 919         Block {
 920           BlockType               Selector
 921           Name                    "Selector1"
 922           Ports                   [1, 1]
 923           Position                [110, 96, 150, 134]
 924           IndexOptions            "Index vector (dialog)"
 925           Indices                 "3"
 926           OutputSizes             "1"
 927           InputPortWidth          "3"
 928         }
 929         Block {
 930           BlockType               Selector
 931           Name                    "Selector2"
 932           Ports                   [1, 1]
 933           Position                [110, 236, 150, 274]
 934           IndexOptions            "Index vector (dialog)"
 935           Indices                 "3"
 936           OutputSizes             "1"
 937           InputPortWidth          "3"
 938         }
 939         Block {
 940           BlockType               Selector
 941           Name                    "Selector3"
 942           Ports                   [1, 1]
 943           Position                [110, 171, 150, 209]
 944           IndexOptions            "Index vector (dialog)"
 945           Indices                 "[1 2]"
 946           OutputSizes             "1"
 947           InputPortWidth          "3"
 948         }
 949         Block {
 950           BlockType               Scope
 951           Name                    "XY"
 952           Ports                   [1]
 953           Position                [410, 49, 440, 81]
 954           Floating                off
 955           Location                [431, 91, 1074, 488]
 956           Open                    on
 957           NumInputPorts           "1"
 958           ZoomMode                "xonly"
 959           List {
 960             ListType                AxesTitles
 961             axes1                   "%<SignalLabel>"
 962           }
 963           TimeRange               "100"
 964           YMin                    "-0.5"
 965           YMax                    "4"
 966           DataFormat              "StructureWithTime"
 967           SampleTime              "0"
 968         }
 969         Line {
 970           Name                    "Angle [deg]"
 971           Labels                  [0, 0]
 972           SrcBlock                "Gain"
 973           SrcPort                 1
 974           DstBlock                "Angle"
 975           DstPort                 1
 976         }
 977         Line {
 978           SrcBlock                "Selector2"
 979           SrcPort                 1
 980           Points                  [80, 0]
 981           DstBlock                "Mux1"
 982           DstPort                 2
 983         }
 984         Line {
 985           SrcBlock                "Selector1"
 986           SrcPort                 1
 987           DstBlock                "Mux1"
 988           DstPort                 1
 989         }
 990         Line {
 991           SrcBlock                "Mux1"
 992           SrcPort                 1
 993           DstBlock                "Gain"
 994           DstPort                 1
 995         }
 996         Line {
 997           SrcBlock                "Selector3"
 998           SrcPort                 1
 999           Points                  [40, 0; 0, -115]
1000           DstBlock                "Mux"
1001           DstPort                 2
1002         }
1003         Line {
1004           Name                    "Position [m]"
1005           Labels                  [0, 0]
1006           SrcBlock                "Mux"
1007           SrcPort                 1
1008           DstBlock                "XY"
1009           DstPort                 1
1010         }
1011         Line {
1012           SrcBlock                "Selector"
1013           SrcPort                 1
1014           DstBlock                "Mux"
1015           DstPort                 1
1016         }
1017         Line {
1018           SrcBlock                "Est pos"
1019           SrcPort                 1
1020           Points                  [0, -15; 15, 0]
1021           Branch {
1022             Points                  [0, 40]
1023             DstBlock                "Selector2"
1024             DstPort                 1
1025           }
1026           Branch {
1027             Points                  [0, -25]
1028             DstBlock                "Selector3"
1029             DstPort                 1
1030           }
1031         }
1032         Line {
1033           SrcBlock                "Pos"
1034           SrcPort                 1
1035           Points                  [15, 0]
1036           Branch {
1037             DstBlock                "Selector1"
1038             DstPort                 1
1039           }
1040           Branch {
1041             Points                  [0, -60]
1042             DstBlock                "Selector"
1043             DstPort                 1
1044           }
1045         }
1046       }
1047     }
1048     Block {
1049       BlockType               "M-S-Function"
1050       Name                    "Level-2 M-file\nS-Function"
1051       Ports                   [2]
1052       Position                [725, 124, 785, 171]
1053       BackgroundColor         "cyan"
1054       FunctionName            "sfdrawrobot"
1055       Parameters              "desc,0"
1056       MaskDisplay             "disp('Drawer')\nport_label('input', 1, 'x')\npo"
1057 "rt_label('input', 2, 'y')\n"
1058       MaskIconFrame           on
1059       MaskIconOpaque          on
1060       MaskIconRotate          "none"
1061       MaskIconUnits           "autoscale"
1062     }
1063     Block {
1064       BlockType               "M-S-Function"
1065       Name                    "Level-2 M-file\nS-Function1"
1066       Ports                   [2]
1067       Position                [725, 293, 790, 337]
1068       ForegroundColor         "blue"
1069       FunctionName            "sfdrawrobot"
1070       Parameters              "desc,'--b'"
1071       MaskDisplay             "disp('Drawer')\nport_label('input', 1, 'x')\npo"
1072 "rt_label('input', 2, 'y')\n"
1073       MaskIconFrame           on
1074       MaskIconOpaque          on
1075       MaskIconRotate          "none"
1076       MaskIconUnits           "autoscale"
1077     }
1078     Block {
1079       BlockType               "M-S-Function"
1080       Name                    "Level-2 M-file\nS-Function2"
1081       Ports                   [2]
1082       Position                [715, 28, 780, 72]
1083       ForegroundColor         "magenta"
1084       FunctionName            "sfdrawrobot"
1085       Parameters              "desc,'--m'"
1086       MaskDisplay             "disp('Drawer')\nport_label('input', 1, 'x')\npo"
1087 "rt_label('input', 2, 'y')\n"
1088       MaskIconFrame           on
1089       MaskIconOpaque          on
1090       MaskIconRotate          "none"
1091       MaskIconUnits           "autoscale"
1092     }
1093     Block {
1094       BlockType               "S-Function"
1095       Name                    "MCL"
1096       Ports                   [2, 2]
1097       Position                [430, 288, 610, 357]
1098       BackgroundColor         "green"
1099       ShowName                off
1100       FunctionName            "sf_mcl"
1101       Parameters              "count, noise_xy, noise_angle, aeval_sigma"
1102       MaskPromptString        "Number of samples|Move noise X,Y [m]|Move noise"
1103 " angle [rad]|Measure dispersion [rad]"
1104       MaskStyleString         "edit,edit,edit,edit"
1105       MaskTunableValueString  "off,on,on,on"
1106       MaskCallbackString      "|||"
1107       MaskEnableString        "on,on,on,on"
1108       MaskVisibilityString    "on,on,on,on"
1109       MaskToolTipString       "on,on,on,on"
1110       MaskVarAliasString      ",,,"
1111       MaskVariables           "count=@1;noise_xy=@2;noise_angle=@3;aeval_sigma"
1112 "=@4;"
1113       MaskDisplay             "port_label('input', 1, '(dx,dy,da)')\nport_labe"
1114 "l('input', 2, '(th1,th2,th3)')\nport_label('output', 1, 'est_pos=(x,y,a)')\np"
1115 "ort_label('output', 2, 'particle bitmap')\ndisp('MCL')"
1116       MaskIconFrame           on
1117       MaskIconOpaque          on
1118       MaskIconRotate          "none"
1119       MaskIconUnits           "autoscale"
1120       MaskValueString         "3000|0.01|10/180*pi|5/180*pi"
1121       MaskTabNameString       ",,,"
1122     }
1123     Block {
1124       BlockType               Reference
1125       Name                    "Manual Switch"
1126       Ports                   [2, 1]
1127       Position                [125, 137, 155, 173]
1128       SourceBlock             "simulink/Signal\nRouting/Manual Switch"
1129       SourceType              "Manual Switch"
1130       ShowPortLabels          "FromPortIcon"
1131       SystemSampleTime        "-1"
1132       FunctionWithSeparateData off
1133       RTWMemSecFuncInitTerm   "Inherit from model"
1134       RTWMemSecFuncExecute    "Inherit from model"
1135       RTWMemSecDataConstants  "Inherit from model"
1136       RTWMemSecDataInternal   "Inherit from model"
1137       RTWMemSecDataParameters "Inherit from model"
1138       sw                      "1"
1139       action                  "0"
1140       varsize                 off
1141     }
1142     Block {
1143       BlockType               SubSystem
1144       Name                    "Measurement"
1145       Ports                   [1, 1]
1146       Position                [205, 397, 280, 433]
1147       MinAlgLoopOccurrences   off
1148       RTWSystemCode           "Auto"
1149       FunctionWithSeparateData off
1150       MaskHideContents        off
1151       System {
1152         Name                    "Measurement"
1153         Location                [458, 185, 768, 279]
1154         Open                    off
1155         ModelBrowserVisibility  off
1156         ModelBrowserWidth       200
1157         ScreenColor             "white"
1158         PaperOrientation        "landscape"
1159         PaperPositionMode       "auto"
1160         PaperType               "A4"
1161         PaperUnits              "centimeters"
1162         TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
1163         TiledPageScale          1
1164         ShowPageBoundaries      off
1165         ZoomFactor              "100"
1166         Block {
1167           BlockType               Inport
1168           Name                    "Pos"
1169           Position                [25, 43, 55, 57]
1170           IconDisplay             "Port number"
1171         }
1172         Block {
1173           BlockType               MATLABFcn
1174           Name                    "Beacon Angles"
1175           Ports                   [1, 1]
1176           Position                [125, 35, 185, 65]
1177           MATLABFcn               "mod(beacon_angles(u), 2*pi)"
1178         }
1179         Block {
1180           BlockType               Outport
1181           Name                    "Angles"
1182           Position                [255, 43, 285, 57]
1183           IconDisplay             "Port number"
1184           BusOutputAsStruct       off
1185         }
1186         Line {
1187           SrcBlock                "Pos"
1188           SrcPort                 1
1189           DstBlock                "Beacon Angles"
1190           DstPort                 1
1191         }
1192         Line {
1193           SrcBlock                "Beacon Angles"
1194           SrcPort                 1
1195           DstBlock                "Angles"
1196           DstPort                 1
1197         }
1198       }
1199     }
1200     Block {
1201       BlockType               Reference
1202       Name                    "Measurement noise\nstd. deviation [deg]"
1203       Ports                   [1, 1]
1204       Position                [289, 460, 341, 480]
1205       Orientation             "up"
1206       NamePlacement           "alternate"
1207       SourceBlock             "simulink/Math\nOperations/Slider\nGain"
1208       SourceType              "Slider Gain"
1209       ShowPortLabels          "FromPortIcon"
1210       SystemSampleTime        "-1"
1211       FunctionWithSeparateData off
1212       RTWMemSecFuncInitTerm   "Inherit from model"
1213       RTWMemSecFuncExecute    "Inherit from model"
1214       RTWMemSecDataConstants  "Inherit from model"
1215       RTWMemSecDataInternal   "Inherit from model"
1216       RTWMemSecDataParameters "Inherit from model"
1217       low                     "0"
1218       gain                    "1"
1219       high                    "5"
1220     }
1221     Block {
1222       BlockType               Constant
1223       Name                    "No laser"
1224       Position                [220, 369, 280, 391]
1225       NamePlacement           "alternate"
1226       Value                   "[0 0 0]"
1227       SampleTime              "-1"
1228     }
1229     Block {
1230       BlockType               Constant
1231       Name                    "No odometry"
1232       Position                [245, 269, 305, 291]
1233       NamePlacement           "alternate"
1234       Value                   "[0 0 0]"
1235       SampleTime              "-1"
1236     }
1237     Block {
1238       BlockType               SubSystem
1239       Name                    "Pos to deltas"
1240       Ports                   [1, 1]
1241       Position                [210, 296, 305, 334]
1242       MinAlgLoopOccurrences   off
1243       RTWSystemCode           "Auto"
1244       FunctionWithSeparateData off
1245       MaskHideContents        off
1246       System {
1247         Name                    "Pos to deltas"
1248         Location                [50, 111, 624, 360]
1249         Open                    off
1250         ModelBrowserVisibility  off
1251         ModelBrowserWidth       200
1252         ScreenColor             "white"
1253         PaperOrientation        "landscape"
1254         PaperPositionMode       "auto"
1255         PaperType               "A4"
1256         PaperUnits              "centimeters"
1257         TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
1258         TiledPageScale          1
1259         ShowPageBoundaries      off
1260         ZoomFactor              "100"
1261         Block {
1262           BlockType               Inport
1263           Name                    "Pos"
1264           Position                [30, 103, 60, 117]
1265           IconDisplay             "Port number"
1266         }
1267         Block {
1268           BlockType               Selector
1269           Name                    "Angle"
1270           Ports                   [1, 1]
1271           Position                [190, 21, 230, 59]
1272           IndexOptions            "Index vector (dialog)"
1273           Indices                 "3"
1274           OutputSizes             "1"
1275           InputPortWidth          "3"
1276         }
1277         Block {
1278           BlockType               Reference
1279           Name                    "Difference"
1280           Ports                   [1, 1]
1281           Position                [100, 92, 145, 128]
1282           NamePlacement           "alternate"
1283           SourceBlock             "simulink/Discrete/Difference"
1284           SourceType              "Difference"
1285           ShowPortLabels          "FromPortIcon"
1286           SystemSampleTime        "-1"
1287           FunctionWithSeparateData off
1288           RTWMemSecFuncInitTerm   "Inherit from model"
1289           RTWMemSecFuncExecute    "Inherit from model"
1290           RTWMemSecDataConstants  "Inherit from model"
1291           RTWMemSecDataInternal   "Inherit from model"
1292           RTWMemSecDataParameters "Inherit from model"
1293           ICPrevInput             "0.0"
1294           OutputDataTypeScalingMode "Inherit via internal rule"
1295           OutDataType             "sfix(16)"
1296           OutScaling              "2^-10"
1297           LockScale               off
1298           RndMeth                 "Floor"
1299           DoSatur                 off
1300         }
1301         Block {
1302           BlockType               Gain
1303           Name                    "Gain"
1304           Position                [250, 24, 285, 56]
1305           Gain                    "-1"
1306           ParameterDataTypeMode   "Inherit via internal rule"
1307           OutDataTypeMode         "Inherit via internal rule"
1308           SaturateOnIntegerOverflow off
1309         }
1310         Block {
1311           BlockType               Mux
1312           Name                    "Mux1"
1313           Ports                   [2, 1]
1314           Position                [315, 81, 320, 119]
1315           ShowName                off
1316           Inputs                  "2"
1317           DisplayOption           "bar"
1318         }
1319         Block {
1320           BlockType               Mux
1321           Name                    "Mux2"
1322           Ports                   [2, 1]
1323           Position                [460, 91, 465, 129]
1324           ShowName                off
1325           Inputs                  "2"
1326           DisplayOption           "bar"
1327         }
1328         Block {
1329           BlockType               MATLABFcn
1330           Name                    "Rotate XY"
1331           Ports                   [1, 1]
1332           Position                [350, 83, 435, 117]
1333           MATLABFcn               "[cos(u(1)) -sin(u(1)); sin(u(1)) cos(u(1))]"
1334 "*[u(2); u(3)]"
1335         }
1336         Block {
1337           BlockType               Selector
1338           Name                    "Speed XY"
1339           Ports                   [1, 1]
1340           Position                [190, 91, 230, 129]
1341           IndexOptions            "Index vector (dialog)"
1342           Indices                 "[1 2]"
1343           OutputSizes             "1"
1344           InputPortWidth          "3"
1345           Port {
1346             PortNumber              1
1347             Name                    "dx, dy"
1348             RTWStorageClass         "Auto"
1349             DataLoggingNameMode     "SignalName"
1350           }
1351         }
1352         Block {
1353           BlockType               Selector
1354           Name                    "Speed angle"
1355           Ports                   [1, 1]
1356           Position                [190, 151, 230, 189]
1357           IndexOptions            "Index vector (dialog)"
1358           Indices                 "3"
1359           OutputSizes             "1"
1360           InputPortWidth          "3"
1361           Port {
1362             PortNumber              1
1363             Name                    "dangle"
1364             RTWStorageClass         "Auto"
1365             DataLoggingNameMode     "SignalName"
1366           }
1367         }
1368         Block {
1369           BlockType               UnitDelay
1370           Name                    "Unit Delay"
1371           Position                [110, 23, 145, 57]
1372           SampleTime              "-1"
1373         }
1374         Block {
1375           BlockType               Outport
1376           Name                    "Odometry"
1377           Position                [500, 103, 530, 117]
1378           IconDisplay             "Port number"
1379           BusOutputAsStruct       off
1380         }
1381         Line {
1382           SrcBlock                "Gain"
1383           SrcPort                 1
1384           Points                  [0, 50]
1385           DstBlock                "Mux1"
1386           DstPort                 1
1387         }
1388         Line {
1389           SrcBlock                "Angle"
1390           SrcPort                 1
1391           DstBlock                "Gain"
1392           DstPort                 1
1393         }
1394         Line {
1395           SrcBlock                "Unit Delay"
1396           SrcPort                 1
1397           DstBlock                "Angle"
1398           DstPort                 1
1399         }
1400         Line {
1401           SrcBlock                "Difference"
1402           SrcPort                 1
1403           Points                  [5, 0]
1404           Branch {
1405             Points                  [0, 60]
1406             DstBlock                "Speed angle"
1407             DstPort                 1
1408           }
1409           Branch {
1410             DstBlock                "Speed XY"
1411             DstPort                 1
1412           }
1413         }
1414         Line {
1415           Name                    "dx, dy"
1416           Labels                  [0, 0]
1417           SrcBlock                "Speed XY"
1418           SrcPort                 1
1419           DstBlock                "Mux1"
1420           DstPort                 2
1421         }
1422         Line {
1423           Name                    "dangle"
1424           Labels                  [0, 0]
1425           SrcBlock                "Speed angle"
1426           SrcPort                 1
1427           Points                  [210, 0]
1428           DstBlock                "Mux2"
1429           DstPort                 2
1430         }
1431         Line {
1432           SrcBlock                "Mux2"
1433           SrcPort                 1
1434           DstBlock                "Odometry"
1435           DstPort                 1
1436         }
1437         Line {
1438           SrcBlock                "Rotate XY"
1439           SrcPort                 1
1440           DstBlock                "Mux2"
1441           DstPort                 1
1442         }
1443         Line {
1444           SrcBlock                "Mux1"
1445           SrcPort                 1
1446           DstBlock                "Rotate XY"
1447           DstPort                 1
1448         }
1449         Line {
1450           SrcBlock                "Pos"
1451           SrcPort                 1
1452           Points                  [10, 0]
1453           Branch {
1454             Points                  [0, -70]
1455             DstBlock                "Unit Delay"
1456             DstPort                 1
1457           }
1458           Branch {
1459             DstBlock                "Difference"
1460             DstPort                 1
1461           }
1462         }
1463       }
1464     }
1465     Block {
1466       BlockType               RandomNumber
1467       Name                    "Random\nNumber"
1468       Position                [350, 455, 380, 485]
1469       Orientation             "down"
1470       Variance                "(1/180*pi)^2"
1471       Seed                    "abs(rand(3,1)*10000)"
1472     }
1473     Block {
1474       BlockType               RateTransition
1475       Name                    "Rate Transition"
1476       Position                [135, 394, 175, 436]
1477       OutPortSampleTime       "1/3"
1478     }
1479     Block {
1480       BlockType               RateTransition
1481       Name                    "Rate Transition1"
1482       Position                [135, 494, 175, 536]
1483       Orientation             "left"
1484       X0                      "desc.initpos"
1485     }
1486     Block {
1487       BlockType               "S-Function"
1488       Name                    "S-Function2"
1489       Ports                   [0, 1]
1490       Position                [55, 94, 115, 126]
1491       BackgroundColor         "green"
1492       FunctionName            "sf_trgen"
1493       Parameters              "path, desc.initpos, desc.wayconstraints"
1494       MaskDisplay             "disp('Trajectory\\ngenerator')"
1495       MaskIconFrame           on
1496       MaskIconOpaque          on
1497       MaskIconRotate          "none"
1498       MaskIconUnits           "autoscale"
1499     }
1500     Block {
1501       BlockType               SubSystem
1502       Name                    "Subsystem"
1503       Ports                   [1, 1]
1504       Position                [310, 111, 435, 159]
1505       BackgroundColor         "yellow"
1506       MinAlgLoopOccurrences   off
1507       RTWSystemCode           "Auto"
1508       FunctionWithSeparateData off
1509       MaskHideContents        off
1510       MaskDisplay             "disp('Robot\\n\\n')\nport_label('input', 1, 'u="
1511 "(w1,w2)')\nport_label('output', 1, 'x=(X,Y,th)')"
1512       MaskIconFrame           on
1513       MaskIconOpaque          on
1514       MaskIconRotate          "none"
1515       MaskIconUnits           "autoscale"
1516       Port {
1517         PortNumber              1
1518         Name                    "Real robot position"
1519         PropagatedSignals       "x,y,phi [m,m,rad]"
1520         RTWStorageClass         "Auto"
1521         DataLoggingNameMode     "SignalName"
1522       }
1523       System {
1524         Name                    "Subsystem"
1525         Location                [121, 481, 955, 665]
1526         Open                    off
1527         ModelBrowserVisibility  off
1528         ModelBrowserWidth       200
1529         ScreenColor             "white"
1530         PaperOrientation        "landscape"
1531         PaperPositionMode       "auto"
1532         PaperType               "A4"
1533         PaperUnits              "centimeters"
1534         TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
1535         TiledPageScale          1
1536         ShowPageBoundaries      off
1537         ZoomFactor              "100"
1538         Block {
1539           BlockType               Inport
1540           Name                    "In1"
1541           Position                [15, 38, 45, 52]
1542           IconDisplay             "Port number"
1543           Port {
1544             PortNumber              1
1545             Name                    "rad/s"
1546             RTWStorageClass         "Auto"
1547             DataLoggingNameMode     "SignalName"
1548           }
1549         }
1550         Block {
1551           BlockType               Integrator
1552           Name                    "Integrator"
1553           Ports                   [1, 1]
1554           Position                [530, 40, 560, 70]
1555           InitialCondition        "desc.initpos"
1556           UpperSaturationLimit    "[area.w area.h Inf]"
1557           LowerSaturationLimit    "[0 0 -Inf]"
1558           IgnoreLimit             off
1559           Port {
1560             PortNumber              1
1561             Name                    "x,y,phi [m,m,rad]"
1562             RTWStorageClass         "Auto"
1563             DataLoggingNameMode     "SignalName"
1564           }
1565         }
1566         Block {
1567           BlockType               Reference
1568           Name                    "Manual Switch"
1569           Ports                   [2, 1]
1570           Position                [250, 27, 280, 63]
1571           SourceBlock             "simulink/Signal\nRouting/Manual Switch"
1572           SourceType              "Manual Switch"
1573           ShowPortLabels          "FromPortIcon"
1574           SystemSampleTime        "-1"
1575           FunctionWithSeparateData off
1576           RTWMemSecFuncInitTerm   "Inherit from model"
1577           RTWMemSecFuncExecute    "Inherit from model"
1578           RTWMemSecDataConstants  "Inherit from model"
1579           RTWMemSecDataInternal   "Inherit from model"
1580           RTWMemSecDataParameters "Inherit from model"
1581           sw                      "1"
1582           action                  "0"
1583           varsize                 off
1584         }
1585         Block {
1586           BlockType               Mux
1587           Name                    "Mux1"
1588           Ports                   [2, 1]
1589           Position                [380, 36, 385, 74]
1590           ShowName                off
1591           Inputs                  "2"
1592           DisplayOption           "bar"
1593         }
1594         Block {
1595           BlockType               Selector
1596           Name                    "Selector"
1597           Ports                   [1, 1]
1598           Position                [420, 121, 460, 159]
1599           Orientation             "left"
1600           IndexOptions            "Index vector (dialog)"
1601           Indices                 "[3]"
1602           OutputSizes             "1"
1603           InputPortWidth          "3"
1604           Port {
1605             PortNumber              1
1606             Name                    "angle"
1607             RTWStorageClass         "Auto"
1608             DataLoggingNameMode     "SignalName"
1609           }
1610         }
1611         Block {
1612           BlockType               Gain
1613           Name                    "Wheel\nradius"
1614           Position                [90, 27, 135, 63]
1615           Gain                    "robot.wheelr"
1616           ParameterDataTypeMode   "Inherit via internal rule"
1617           OutDataTypeMode         "Inherit via internal rule"
1618           SaturateOnIntegerOverflow off
1619           Port {
1620             PortNumber              1
1621             Name                    "m/s"
1622             RTWStorageClass         "Auto"
1623             DataLoggingNameMode     "SignalName"
1624           }
1625         }
1626         Block {
1627           BlockType               MATLABFcn
1628           Name                    "kinematics"
1629           Ports                   [1, 1]
1630           Position                [430, 40, 490, 70]
1631           MATLABFcn               "kinematics"
1632         }
1633         Block {
1634           BlockType               RateLimiter
1635           Name                    "max acc"
1636           Position                [190, 20, 220, 50]
1637           RisingSlewLimit         "3"
1638           FallingSlewLimit        "-3"
1639           SampleTimeMode          "inherited"
1640         }
1641         Block {
1642           BlockType               Saturate
1643           Name                    "max m/s"
1644           Position                [320, 30, 350, 60]
1645           UpperLimit              "2"
1646           LowerLimit              "-2"
1647         }
1648         Block {
1649           BlockType               Outport
1650           Name                    "Out1"
1651           Position                [725, 48, 755, 62]
1652           IconDisplay             "Port number"
1653           BusOutputAsStruct       off
1654         }
1655         Line {
1656           SrcBlock                "kinematics"
1657           SrcPort                 1
1658           DstBlock                "Integrator"
1659           DstPort                 1
1660         }
1661         Line {
1662           Name                    "x,y,phi [m,m,rad]"
1663           SrcBlock                "Integrator"
1664           SrcPort                 1
1665           Points                  [20, 0]
1666           Branch {
1667             Points                  [0, 85]
1668             DstBlock                "Selector"
1669             DstPort                 1
1670           }
1671           Branch {
1672             Labels                  [1, 0; 1, 1]
1673             DstBlock                "Out1"
1674             DstPort                 1
1675           }
1676         }
1677         Line {
1678           SrcBlock                "Mux1"
1679           SrcPort                 1
1680           DstBlock                "kinematics"
1681           DstPort                 1
1682         }
1683         Line {
1684           Name                    "angle"
1685           Labels                  [0, 0]
1686           SrcBlock                "Selector"
1687           SrcPort                 1
1688           Points                  [-60, 0; 0, -75]
1689           DstBlock                "Mux1"
1690           DstPort                 2
1691         }
1692         Line {
1693           Name                    "rad/s"
1694           Labels                  [0, 0]
1695           SrcBlock                "In1"
1696           SrcPort                 1
1697           DstBlock                "Wheel\nradius"
1698           DstPort                 1
1699         }
1700         Line {
1701           SrcBlock                "max m/s"
1702           SrcPort                 1
1703           DstBlock                "Mux1"
1704           DstPort                 1
1705         }
1706         Line {
1707           SrcBlock                "Manual Switch"
1708           SrcPort                 1
1709           DstBlock                "max m/s"
1710           DstPort                 1
1711         }
1712         Line {
1713           SrcBlock                "max acc"
1714           SrcPort                 1
1715           DstBlock                "Manual Switch"
1716           DstPort                 1
1717         }
1718         Line {
1719           Name                    "m/s"
1720           Labels                  [0, 0]
1721           SrcBlock                "Wheel\nradius"
1722           SrcPort                 1
1723           Points                  [20, 0]
1724           Branch {
1725             Points                  [0, -10]
1726             DstBlock                "max acc"
1727             DstPort                 1
1728           }
1729           Branch {
1730             Points                  [0, 25; 75, 0]
1731             DstBlock                "Manual Switch"
1732             DstPort                 2
1733           }
1734         }
1735       }
1736     }
1737     Block {
1738       BlockType               Sum
1739       Name                    "Sum"
1740       Ports                   [2, 1]
1741       Position                [305, 405, 325, 425]
1742       ShowName                off
1743       IconShape               "round"
1744       Inputs                  "|++"
1745       CollapseMode            "All dimensions"
1746       InputSameDT             off
1747       OutDataTypeMode         "Inherit via internal rule"
1748       SaturateOnIntegerOverflow off
1749     }
1750     Block {
1751       BlockType               Reference
1752       Name                    "Switch"
1753       Ports                   [2, 1]
1754       Position                [365, 387, 395, 423]
1755       SourceBlock             "simulink/Signal\nRouting/Manual Switch"
1756       SourceType              "Manual Switch"
1757       ShowPortLabels          "FromPortIcon"
1758       SystemSampleTime        "-1"
1759       FunctionWithSeparateData off
1760       RTWMemSecFuncInitTerm   "Inherit from model"
1761       RTWMemSecFuncExecute    "Inherit from model"
1762       RTWMemSecDataConstants  "Inherit from model"
1763       RTWMemSecDataInternal   "Inherit from model"
1764       RTWMemSecDataParameters "Inherit from model"
1765       sw                      "0"
1766       action                  "0"
1767       varsize                 off
1768     }
1769     Block {
1770       BlockType               Reference
1771       Name                    "Switch1"
1772       Ports                   [2, 1]
1773       Position                [345, 287, 375, 323]
1774       SourceBlock             "simulink/Signal\nRouting/Manual Switch"
1775       SourceType              "Manual Switch"
1776       ShowPortLabels          "FromPortIcon"
1777       SystemSampleTime        "-1"
1778       FunctionWithSeparateData off
1779       RTWMemSecFuncInitTerm   "Inherit from model"
1780       RTWMemSecFuncExecute    "Inherit from model"
1781       RTWMemSecDataConstants  "Inherit from model"
1782       RTWMemSecDataInternal   "Inherit from model"
1783       RTWMemSecDataParameters "Inherit from model"
1784       sw                      "0"
1785       action                  "0"
1786       varsize                 off
1787     }
1788     Block {
1789       BlockType               ToWorkspace
1790       Name                    "To Workspace"
1791       Position                [310, 45, 370, 75]
1792       VariableName            "trajectory"
1793       MaxDataPoints           "inf"
1794       SampleTime              "-1"
1795       SaveFormat              "Structure With Time"
1796     }
1797     Block {
1798       BlockType               "M-S-Function"
1799       Name                    "draw probability bitmap"
1800       Ports                   [1]
1801       Position                [725, 393, 815, 427]
1802       ForegroundColor         "gray"
1803       BackgroundColor         "black"
1804       NamePlacement           "alternate"
1805       FunctionName            "sfdrawbitmap"
1806     }
1807     Line {
1808       SrcBlock                "Controller"
1809       SrcPort                 1
1810       DstBlock                "Gain"
1811       DstPort                 1
1812     }
1813     Line {
1814       Name                    "Real robot position"
1815       SrcBlock                "Subsystem"
1816       SrcPort                 1
1817       Points                  [20, 0]
1818       Branch {
1819         Points                  [210, 0]
1820         Branch {
1821           Labels                  [-1, 1]
1822           DstBlock                "Level-2 M-file\nS-Function"
1823           DstPort                 1
1824         }
1825         Branch {
1826           Points                  [0, 90]
1827           DstBlock                "Graphs"
1828           DstPort                 1
1829         }
1830       }
1831       Branch {
1832         Labels                  [2, 0]
1833         Points                  [0, 70; -360, 0]
1834         Branch {
1835           Points                  [0, -40]
1836           DstBlock                "Manual Switch"
1837           DstPort                 2
1838         }
1839         Branch {
1840           Points                  [0, 110]
1841           Branch {
1842             Points                  [0, 100]
1843             DstBlock                "Rate Transition"
1844             DstPort                 1
1845           }
1846           Branch {
1847             DstBlock                "Pos to deltas"
1848             DstPort                 1
1849           }
1850         }
1851       }
1852     }
1853     Line {
1854       SrcBlock                "Clock"
1855       SrcPort                 1
1856       DstBlock                "Display"
1857       DstPort                 1
1858     }
1859     Line {
1860       SrcBlock                "Manual Switch"
1861       SrcPort                 1
1862       DstBlock                "Controller"
1863       DstPort                 2
1864     }
1865     Line {
1866       SrcBlock                "Rate Transition1"
1867       SrcPort                 1
1868       Points                  [-50, 0; 0, -370]
1869       DstBlock                "Manual Switch"
1870       DstPort                 1
1871     }
1872     Line {
1873       SrcBlock                "Gain"
1874       SrcPort                 1
1875       DstBlock                "Subsystem"
1876       DstPort                 1
1877     }
1878     Line {
1879       SrcBlock                "MCL"
1880       SrcPort                 1
1881       Points                  [50, 0]
1882       Branch {
1883         Points                  [0, -50]
1884         DstBlock                "Graphs"
1885         DstPort                 2
1886       }
1887       Branch {
1888         Points                  [0, 0]
1889         Branch {
1890           DstBlock                "Level-2 M-file\nS-Function1"
1891           DstPort                 1
1892         }
1893         Branch {
1894           Points                  [0, 210]
1895           DstBlock                "Rate Transition1"
1896           DstPort                 1
1897         }
1898       }
1899     }
1900     Line {
1901       SrcBlock                "Measurement"
1902       SrcPort                 1
1903       DstBlock                "Sum"
1904       DstPort                 1
1905     }
1906     Line {
1907       SrcBlock                "Sum"
1908       SrcPort                 1
1909       DstBlock                "Switch"
1910       DstPort                 2
1911     }
1912     Line {
1913       SrcBlock                "Random\nNumber"
1914       SrcPort                 1
1915       Points                  [0, 5]
1916       DstBlock                "Measurement noise\nstd. deviation [deg]"
1917       DstPort                 1
1918     }
1919     Line {
1920       SrcBlock                "Measurement noise\nstd. deviation [deg]"
1921       SrcPort                 1
1922       DstBlock                "Sum"
1923       DstPort                 2
1924     }
1925     Line {
1926       SrcBlock                "No laser"
1927       SrcPort                 1
1928       Points                  [65, 0]
1929       DstBlock                "Switch"
1930       DstPort                 1
1931     }
1932     Line {
1933       Labels                  [0, 0]
1934       SrcBlock                "Rate Transition"
1935       SrcPort                 1
1936       DstBlock                "Measurement"
1937       DstPort                 1
1938     }
1939     Line {
1940       SrcBlock                "MCL"
1941       SrcPort                 2
1942       Points                  [15, 0; 0, 70]
1943       DstBlock                "draw probability bitmap"
1944       DstPort                 1
1945     }
1946     Line {
1947       SrcBlock                "Switch"
1948       SrcPort                 1
1949       Points                  [5, 0; 0, -65]
1950       Branch {
1951         DstBlock                "MCL"
1952         DstPort                 2
1953       }
1954       Branch {
1955         Points                  [0, -100; 205, 0; 0, -80]
1956         DstBlock                "Level-2 M-file\nS-Function"
1957         DstPort                 2
1958       }
1959     }
1960     Line {
1961       SrcBlock                "S-Function2"
1962       SrcPort                 1
1963       Points                  [25, 0]
1964       Branch {
1965         DstBlock                "Controller"
1966         DstPort                 1
1967       }
1968       Branch {
1969         Points                  [0, -70; 130, 0]
1970         Branch {
1971           DstBlock                "Level-2 M-file\nS-Function2"
1972           DstPort                 1
1973         }
1974         Branch {
1975           Points                  [0, 20]
1976           DstBlock                "To Workspace"
1977           DstPort                 1
1978         }
1979       }
1980     }
1981     Line {
1982       SrcBlock                "Switch1"
1983       SrcPort                 1
1984       DstBlock                "MCL"
1985       DstPort                 1
1986     }
1987     Line {
1988       SrcBlock                "Pos to deltas"
1989       SrcPort                 1
1990       DstBlock                "Switch1"
1991       DstPort                 2
1992     }
1993     Line {
1994       SrcBlock                "No odometry"
1995       SrcPort                 1
1996       Points                  [15, 0; 0, 15]
1997       DstBlock                "Switch1"
1998       DstPort                 1
1999     }
2000   }
2001 }
2002
2003 # Finite State Machines
2004 #
2005 #    Stateflow Version 6.6 (R2007a) dated Jan 30 2007, 01:07:16
2006 #
2007 #
2008
2009 Stateflow {
2010
2011         machine {
2012                 id                              1
2013                 name                            "reg_mcl"
2014                 created                         "29-Mar-2007 23:42:20"
2015                 isLibrary                       0
2016                 firstTarget                     2
2017                 sfVersion                       66014000
2018         }
2019
2020         target {
2021                 id                                      2
2022                 name                                    "sfun"
2023                 description                             "Default Simulink S-Function Target."
2024                 machine                                 1
2025                 linkNode                                [1 0 0]
2026         }
2027 }