8 ParameterArgumentNames ""
9 ComputedModelVersion "1.334"
11 NumTestPointedSignals 0
13 SavedCharacterEncoding "iso-8859-2"
15 PostLoadFcn "figure(2); hold off\nfigure(1);\nsim('reg_mcl', 0);"
17 SaveDefaultBlockParams on
19 LibraryLinkDisplay "none"
24 IgnoreBidirectionalLines off
29 ExecutionContextIcon off
30 ShowLinearizationAnnotations on
31 ScopeRefreshTime 0.035000
32 OverrideScopeRefreshTime on
34 DataTypeOverride "UseLocalSettings"
35 MinMaxOverflowLogging "UseLocalSettings"
36 MinMaxOverflowArchiveMode "Overwrite"
38 BlockParametersDataTip off
39 BlockDescriptionStringDataTip off
42 BrowserShowLibraryLinks off
43 BrowserLookUnderMasks off
44 InitFcn "figure(2); hold off\nfigure(1);"
45 Created "Thu Mar 29 23:35:11 2007"
47 UpdateHistory "UpdateHistoryNever"
48 ModifiedByFormat "%<Auto>"
50 ModifiedDateFormat "%<Auto>"
51 LastModifiedDate "Wed Apr 30 08:19:28 2008"
52 ModelVersionFormat "1.%<AutoIncrement:334>"
53 ConfigurationManager "None"
54 SimulationMode "normal"
55 LinearizationMsg "none"
57 ParamWorkspaceSource "MATLABWorkspace"
58 AccelSystemTargetFile "accel.tlc"
59 AccelTemplateMakefile "accel_default_tmf"
60 AccelMakeCommand "make_rtw"
66 CovMetricSettings "dw"
67 CovNameIncrementing off
69 covSaveCumulativeToWorkspaceVar on
70 CovSaveSingleToWorkspaceVar on
71 CovCumulativeVarName "covCumulativeData"
72 CovCumulativeReport off
75 ExtModeEnableFloating on
76 ExtModeTrigType "manual"
77 ExtModeTrigMode "normal"
79 ExtModeTrigElement "any"
80 ExtModeTrigDuration 1000
81 ExtModeTrigDurationFloating "auto"
84 ExtModeTrigDirection "rising"
86 ExtModeArchiveMode "off"
87 ExtModeAutoIncOneShot off
88 ExtModeIncDirWhenArm off
89 ExtModeAddSuffixToVar off
90 ExtModeWriteAllDataToWs off
91 ExtModeArmWhenConnect on
92 ExtModeSkipDownloadWhenConnect off
94 ExtModeAutoUpdateStatusClock off
96 ProdHWDeviceType "32-bit Generic"
97 ShowModelReferenceBlockVersion off
98 ShowModelReferenceBlockIO off
118 ConsecutiveZCsStepRelTol "10*128*eps"
119 MaxConsecutiveZCs "1000"
121 NumberNewtonIterations 1
124 MaxConsecutiveMinStep "1"
129 ZeroCrossControl "UseLocalSettings"
130 AlgebraicLoopSolver "TrustRegion"
131 SolverResetMethod "Fast"
132 PositivePriorityOrder off
133 AutoInsertRateTranBlk off
134 SampleTimeConstraint "Unconstrained"
135 RateTranMode "Deterministic"
141 ExternalInput "[t, u]"
142 FinalStateName "xFinal"
143 InitialState "xInitial"
146 LoadExternalInput off
153 InspectSignalLogs off
157 OutputSaveName "yout"
158 SignalLoggingName "logsout"
159 OutputOption "RefineOutputTimes"
163 Simulink.OptimizationCC {
168 Cell "ZeroExternalMemoryAtStartup"
169 Cell "ZeroInternalMemoryAtStartup"
170 Cell "InitFltsAndDblsToZero"
171 Cell "OptimizeModelRefInitCode"
172 Cell "NoFixptDivByZeroProtection"
173 PropName "DisabledProps"
178 ConditionallyExecuteInputs on
180 InlineInvariantSignals off
181 OptimizeBlockIOStorage on
183 EnforceIntegerDowncast on
185 ExpressionDepthLimit 2147483647
189 SystemCodeInlineAuto off
193 ZeroExternalMemoryAtStartup on
194 ZeroInternalMemoryAtStartup on
195 InitFltsAndDblsToZero on
196 NoFixptDivByZeroProtection off
197 EfficientFloat2IntCast off
198 OptimizeModelRefInitCode off
200 BufferReusableBoundary on
202 Simulink.DebuggingCC {
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"
266 Simulink.HardwareCC {
273 ProdIntDivRoundTo "Undefined"
274 ProdEndianess "Unspecified"
276 ProdShiftRightIntArith on
277 ProdHWDeviceType "32-bit Generic"
282 TargetShiftRightIntArith on
283 TargetIntDivRoundTo "Undefined"
284 TargetEndianess "Unspecified"
286 TargetTypeEmulationWarnSuppressLevel 0
287 TargetPreprocMaxBitsSint 32
288 TargetPreprocMaxBitsUint 32
289 TargetHWDeviceType "Specified"
293 Simulink.ModelReferenceCC {
296 UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
297 CheckModelReferenceTargetMessage "error"
298 ModelReferenceNumInstancesAllowed "Multi"
299 ModelReferencePassRootInputsByReference on
300 ModelReferenceMinAlgLoopOccurrences off
303 $BackupClass "Simulink.RTWCC"
308 Cell "IncludeHyperlinkInReport"
309 PropName "DisabledProps"
312 SystemTargetFile "grt.tlc"
314 MakeCommand "make_rtw"
316 TemplateMakefile "grt_default_tmf"
325 ProcessScriptMode "Default"
326 ConfigurationMode "Optimized"
328 IncludeHyperlinkInReport off
331 IncludeBusHierarchyInRTWFileBlockHierarchyMap off
332 IncludeERTFirstTime off
341 Cell "IgnoreCustomStorageClasses"
342 Cell "InsertBlockDesc"
344 Cell "SimulinkDataObjDesc"
345 Cell "DefineNamingRule"
346 Cell "SignalNamingRule"
347 Cell "ParamNamingRule"
348 Cell "InlinedPrmAccess"
349 Cell "CustomSymbolStr"
350 Cell "CustomSymbolStrGlobalVar"
351 Cell "CustomSymbolStrType"
352 Cell "CustomSymbolStrField"
353 Cell "CustomSymbolStrFcn"
354 Cell "CustomSymbolStrBlkIO"
355 Cell "CustomSymbolStrTmpVar"
356 Cell "CustomSymbolStrMacro"
357 PropName "DisabledProps"
360 ForceParamTrailComments off
362 IgnoreCustomStorageClasses on
363 IncHierarchyInIds off
366 PreserveNameWithParent off
367 ShowEliminatedStatement off
368 IncAutoGenComments off
369 SimulinkDataObjDesc off
372 PrefixModelToSubsysFcnNames on
374 CustomSymbolStrGlobalVar "$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"
385 SimulinkBlockComments on
386 EnableCustomComments off
387 InlinedPrmAccess "Literals"
390 Simulink.GRTTargetCC {
391 $BackupClass "Simulink.TargetCC"
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"
412 TargetFcnLib "ansi_tfl_tmw.mat"
414 TargetPreCompLibLocation ""
415 GenFloatMathFcnCalls "ANSI_C"
416 UtilityFuncGeneration "Auto"
417 GenerateFullHeader on
418 GenerateSampleERTMain off
419 GenerateTestInterfaces 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_"
430 MultiInstanceERTCode off
433 PurelyIntegerCode off
434 SupportContinuousTime on
435 SupportNonInlinedSFcns on
436 EnableShiftOperators on
437 ParenthesesLevel "Nominal"
438 PortableWordSizes off
439 ModelStepFunctionPrototypeControlCompliant off
441 ExtModeStaticAlloc off
443 ExtModeStaticAllocSize 1000000
445 ExtModeMexFile "ext_comm"
446 ExtModeIntrfLevel "Level1"
452 PropName "Components"
455 PropName "Components"
458 CurrentDlgPage "Solver"
460 PropName "ConfigurationSets"
463 $PropName "ActiveConfigurationSet"
466 WSDataSource "M-Code"
469 ForegroundColor "black"
470 BackgroundColor "white"
472 NamePlacement "normal"
479 BlockParameterDefaults {
488 SamplingMode "Sample based"
489 OutDataTypeMode "Inherit from 'Constant value'"
490 OutDataType "sfix(16)"
491 ConRadixGroup "Use specified scaling"
511 StatesWhenEnabling "held"
518 Multiplication "Element-wise(K.*u)"
519 ParameterDataTypeMode "Same as input"
520 ParameterDataType "sfix(16)"
521 ParameterScalingMode "Best Precision: Matrix-wise"
522 ParameterScaling "2^0"
523 OutDataTypeMode "Same as input"
524 OutDataType "sfix(16)"
528 SaturateOnIntegerOverflow on
536 HitCrossingOffset "0"
537 HitCrossingDirection "either"
546 BusObject "BusObject"
547 BusOutputAsStruct off
551 OutDataType "sfix(16)"
555 LatchByDelayingOutsideSignal off
556 LatchByCopyingInsideSignal off
562 InitialConditionSource "internal"
565 UpperSaturationLimit "inf"
566 LowerSaturationLimit "-inf"
567 ShowSaturationPort off
569 AbsoluteTolerance "auto"
572 ContinuousStateAttributes "''"
577 OutputDimensions "-1"
578 OutputSignalType "auto"
583 BlockType "M-S-Function"
584 FunctionName "mlfile"
585 DisplayMFileStacktrace on
588 BlockType SignalViewerScope
591 TickLabels "OneTimeTick"
612 BusObject "BusObject"
619 BusObject "BusObject"
620 BusOutputAsStruct off
624 OutDataType "sfix(16)"
628 OutputWhenDisabled "held"
632 BlockType RandomNumber
640 BlockType RateTransition
644 OutPortSampleTime "-1"
647 BlockType RateLimiter
649 FallingSlewLimit "-1"
650 SampleTimeMode "continuous"
655 BlockType RelationalOperator
658 LogicOutDataTypeMode "Logical (see Configuration Parameters: Optimiza"
660 LogicDataType "uint(8)"
675 TickLabels "OneTimeTick"
691 NumberOfDimensions "1"
692 IndexMode "One-based"
697 BlockType "S-Function"
698 FunctionName "system"
699 SFunctionModules "''"
703 BlockType SignalSpecification
707 OutDataType "sfix(16)"
714 ShowPortLabels "FromPortIcon"
715 Permissions "ReadWrite"
716 PermitHierarchicalResolution "All"
717 TreatAsAtomicUnit off
718 SystemSampleTime "-1"
719 RTWFcnNameOpts "Auto"
720 RTWFileNameOpts "Auto"
721 RTWMemSecFuncInitTerm "Inherit from model"
722 RTWMemSecFuncExecute "Inherit from model"
723 RTWMemSecDataConstants "Inherit from model"
724 RTWMemSecDataInternal "Inherit from model"
725 RTWMemSecDataParameters "Inherit from model"
727 DataTypeOverride "UseLocalSettings"
728 MinMaxOverflowLogging "UseLocalSettings"
732 IconShape "rectangular"
734 CollapseMode "All dimensions"
737 OutDataTypeMode "Same as first input"
738 OutDataType "sfix(16)"
742 SaturateOnIntegerOverflow on
747 Criteria "u2 >= Threshold"
750 OutDataTypeMode "Inherit via internal rule"
752 SaturateOnIntegerOverflow on
757 BlockType TriggerPort
759 StatesWhenEnabling "inherit"
761 OutputDataType "auto"
762 SampleTimeType "triggered"
770 StateMustResolveToSignalObject off
771 RTWStateStorageClass "Auto"
775 HorizontalAlignment "center"
776 VerticalAlignment "middle"
777 ForegroundColor "black"
778 BackgroundColor "white"
784 UseDisplayTextAsClickCallback off
794 Location [118, 523, 973, 1000]
796 ModelBrowserVisibility off
797 ModelBrowserWidth 200
799 PaperOrientation "landscape"
800 PaperPositionMode "auto"
802 PaperUnits "centimeters"
803 TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
805 ShowPageBoundaries off
807 ReportName "simulink-default.rpt"
812 Position [30, 14, 100, 48]
813 OpenFcn "path=diag([area.w area.h])*rand(2,8)\nsim('reg_"
815 MinAlgLoopOccurrences off
817 FunctionWithSeparateData off
819 MaskDisplay "disp('Random path')"
822 MaskIconRotate "none"
823 MaskIconUnits "autoscale"
826 Location [433, 403, 931, 703]
828 ModelBrowserVisibility off
829 ModelBrowserWidth 200
831 PaperOrientation "landscape"
832 PaperPositionMode "auto"
834 PaperUnits "centimeters"
835 TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
837 ShowPageBoundaries off
845 Position [15, 54, 121, 89]
847 MinAlgLoopOccurrences off
849 FunctionWithSeparateData off
851 MaskDisplay "disp(sprintf('Sample time: %g', move_sample_tim"
855 MaskIconRotate "none"
856 MaskIconUnits "autoscale"
859 Location [433, 403, 931, 703]
861 ModelBrowserVisibility off
862 ModelBrowserWidth 200
864 PaperOrientation "landscape"
865 PaperPositionMode "auto"
867 PaperUnits "centimeters"
868 TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
870 ShowPageBoundaries off
877 Position [245, 55, 265, 75]
881 BlockType "S-Function"
884 Position [175, 118, 235, 207]
885 BackgroundColor "green"
886 FunctionName "sf_posreg"
887 Parameters "[2 2 10],move_sample_time"
888 MaskDisplay "port_label('input', 1, 'ref pos')\nport_label('"
889 "input', 2, 'measured pos')\nport_label('output', 1, '(v,w)')"
892 MaskIconRotate "none"
893 MaskIconUnits "autoscale"
899 Position [295, 51, 380, 79]
903 BlockType "M-S-Function"
904 Name "Estimated\nposition"
906 Position [725, 308, 790, 352]
907 ForegroundColor "blue"
908 FunctionName "sfdrawrobot"
909 Parameters "desc,'--b'"
910 MaskDisplay "disp('Drawer')\nport_label('input', 1, 'x')\npo"
911 "rt_label('input', 2, 'y')\n"
914 MaskIconRotate "none"
915 MaskIconUnits "autoscale"
921 Position [725, 180, 825, 240]
922 MinAlgLoopOccurrences off
924 FunctionWithSeparateData off
928 Location [478, 120, 998, 439]
930 ModelBrowserVisibility off
931 ModelBrowserWidth 200
933 PaperOrientation "landscape"
934 PaperPositionMode "auto"
936 PaperUnits "centimeters"
937 TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
939 ShowPageBoundaries off
944 Position [25, 108, 55, 122]
945 IconDisplay "Port number"
950 Position [25, 223, 55, 237]
952 IconDisplay "Port number"
958 Position [410, 109, 440, 141]
960 Location [437, 630, 1088, 998]
965 axes1 "%<SignalLabel>"
970 SaveName "ScopeData1"
971 DataFormat "StructureWithTime"
977 Position [295, 109, 330, 141]
979 ParameterDataTypeMode "Inherit via internal rule"
980 OutDataTypeMode "Inherit via internal rule"
981 SaturateOnIntegerOverflow off
985 RTWStorageClass "Auto"
986 DataLoggingNameMode "SignalName"
993 Position [250, 46, 255, 84]
1000 RTWStorageClass "Auto"
1001 DataLoggingNameMode "SignalName"
1008 Position [250, 106, 255, 144]
1017 Position [110, 36, 150, 74]
1018 IndexOptions "Index vector (dialog)"
1027 Position [110, 96, 150, 134]
1028 IndexOptions "Index vector (dialog)"
1037 Position [110, 236, 150, 274]
1038 IndexOptions "Index vector (dialog)"
1047 Position [110, 171, 150, 209]
1048 IndexOptions "Index vector (dialog)"
1057 Position [410, 49, 440, 81]
1059 Location [431, 91, 1074, 488]
1065 axes1 "%<SignalLabel>"
1070 DataFormat "StructureWithTime"
1082 SrcBlock "Selector2"
1089 SrcBlock "Selector1"
1101 SrcBlock "Selector3"
1103 Points [40, 0; 0, -115]
1124 Points [0, -15; 15, 0]
1127 DstBlock "Selector2"
1132 DstBlock "Selector3"
1141 DstBlock "Selector1"
1153 BlockType "S-Function"
1156 Position [215, 313, 395, 382]
1158 BackgroundColor "green"
1160 FunctionName "sf_mcl"
1161 Parameters "count, noise_xy, noise_angle, aeval_sigma"
1162 MaskPromptString "Number of samples|Move noise X,Y [m]|Move noise"
1163 " angle [rad]|Measure dispersion [rad]"
1164 MaskStyleString "edit,edit,edit,edit"
1165 MaskTunableValueString "off,on,on,on"
1166 MaskCallbackString "|||"
1167 MaskEnableString "on,on,on,on"
1168 MaskVisibilityString "on,on,on,on"
1169 MaskToolTipString "on,on,on,on"
1170 MaskVarAliasString ",,,"
1171 MaskVariables "count=@1;noise_xy=@2;noise_angle=@3;aeval_sigma"
1173 MaskDisplay "port_label('input', 1, '(dx,dy,da)')\nport_labe"
1174 "l('input', 2, 'measurement')\nport_label('output', 1, 'est_pos=(x,y,a)')\npor"
1175 "t_label('output', 2, 'particle bitmap')\ndisp('MCL')"
1178 MaskIconRotate "none"
1179 MaskIconUnits "autoscale"
1180 MaskValueString "1000|0.01|5/180*pi|5/180*pi"
1181 MaskTabNameString ",,,"
1184 Name "Estimated position"
1185 RTWStorageClass "Auto"
1186 DataLoggingNameMode "SignalName"
1191 Name "Manual Switch"
1193 Position [125, 167, 155, 203]
1194 SourceBlock "simulink/Signal\nRouting/Manual Switch"
1195 SourceType "Manual Switch"
1196 ShowPortLabels "FromPortIcon"
1197 SystemSampleTime "-1"
1198 FunctionWithSeparateData off
1199 RTWMemSecFuncInitTerm "Inherit from model"
1200 RTWMemSecFuncExecute "Inherit from model"
1201 RTWMemSecDataConstants "Inherit from model"
1202 RTWMemSecDataInternal "Inherit from model"
1203 RTWMemSecDataParameters "Inherit from model"
1211 Position [530, 220, 550, 240]
1216 Position [470, 220, 490, 240]
1220 BlockType RateTransition
1221 Name "Rate Transition1"
1222 Position [55, 309, 95, 351]
1227 BlockType RateTransition
1228 Name "Rate Transition2"
1229 Position [49, 230, 91, 270]
1234 BlockType "M-S-Function"
1235 Name "Real\nposition"
1237 Position [725, 94, 785, 141]
1238 BackgroundColor "cyan"
1239 FunctionName "sfdrawrobot"
1241 MaskDisplay "disp('Drawer')\nport_label('input', 1, 'x')\npo"
1242 "rt_label('input', 2, 'y')\n"
1245 MaskIconRotate "none"
1246 MaskIconUnits "autoscale"
1249 BlockType "M-S-Function"
1250 Name "Reference\nposition"
1252 Position [725, 13, 790, 57]
1253 ForegroundColor "magenta"
1254 FunctionName "sfdrawrobot"
1255 Parameters "desc,'--m'"
1256 MaskDisplay "disp('Drawer')\nport_label('input', 1, 'x')\npo"
1257 "rt_label('input', 2, 'y')\n"
1260 MaskIconRotate "none"
1261 MaskIconUnits "autoscale"
1265 Name "Robot kinematics"
1267 Position [260, 137, 385, 188]
1268 BackgroundColor "[0.912000, 0.763112, 0.484696]"
1269 MinAlgLoopOccurrences off
1270 RTWSystemCode "Auto"
1271 FunctionWithSeparateData off
1272 MaskHideContents off
1273 MaskDisplay "disp('Robot\\n\\n')\nport_label('input', 1, 'u="
1274 "(w1,w2)')\nport_label('output', 1, 'x=(X,Y,th)')\nport_label('output', 2, 'od"
1278 MaskIconRotate "none"
1279 MaskIconUnits "autoscale"
1282 Name "Real robot position"
1283 PropagatedSignals "x,y,phi [m,m,rad]"
1284 RTWStorageClass "Auto"
1285 DataLoggingNameMode "SignalName"
1288 Name "Robot kinematics"
1289 Location [4, 55, 1176, 412]
1291 ModelBrowserVisibility off
1292 ModelBrowserWidth 200
1294 PaperOrientation "landscape"
1295 PaperPositionMode "auto"
1297 PaperUnits "centimeters"
1298 TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
1300 ShowPageBoundaries off
1305 Position [20, 38, 50, 52]
1306 IconDisplay "Port number"
1310 RTWStorageClass "Auto"
1311 DataLoggingNameMode "SignalName"
1318 Position [675, 151, 715, 189]
1319 IndexOptions "Index vector (dialog)"
1328 Position [670, 222, 715, 258]
1329 NamePlacement "alternate"
1330 SourceBlock "simulink/Discrete/Difference"
1331 SourceType "Difference"
1332 ShowPortLabels "FromPortIcon"
1333 SystemSampleTime "-1"
1334 FunctionWithSeparateData off
1335 RTWMemSecFuncInitTerm "Inherit from model"
1336 RTWMemSecFuncExecute "Inherit from model"
1337 RTWMemSecDataConstants "Inherit from model"
1338 RTWMemSecDataInternal "Inherit from model"
1339 RTWMemSecDataParameters "Inherit from model"
1340 ICPrevInput "desc.initpos"
1341 OutputDataTypeScalingMode "Inherit via internal rule"
1342 OutDataType "sfix(16)"
1351 Position [815, 154, 850, 186]
1353 ParameterDataTypeMode "Inherit via internal rule"
1354 OutDataTypeMode "Inherit via internal rule"
1355 SaturateOnIntegerOverflow off
1358 BlockType Integrator
1361 Position [510, 40, 540, 70]
1362 InitialCondition "desc.initpos"
1364 UpperSaturationLimit "[area.w area.h Inf]"
1365 LowerSaturationLimit "[0 0 -Inf]"
1369 Name "x,y,phi [m,m,rad]"
1370 RTWStorageClass "Auto"
1371 DataLoggingNameMode "SignalName"
1378 Position [210, 13, 310, 77]
1379 MinAlgLoopOccurrences off
1380 RTWSystemCode "Auto"
1381 FunctionWithSeparateData off
1382 MaskHideContents off
1386 RTWStorageClass "Auto"
1387 DataLoggingNameMode "SignalName"
1391 Location [194, 223, 649, 361]
1393 ModelBrowserVisibility off
1394 ModelBrowserWidth 200
1396 PaperOrientation "landscape"
1397 PaperPositionMode "auto"
1399 PaperUnits "centimeters"
1400 TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
1402 ShowPageBoundaries off
1407 Position [25, 43, 55, 57]
1408 IconDisplay "Port number"
1412 PropagatedSignals "(vl,vr)"
1413 RTWStorageClass "Auto"
1414 DataLoggingNameMode "SignalName"
1419 Name "Manual Switch"
1421 Position [345, 32, 375, 68]
1422 SourceBlock "simulink/Signal\nRouting/Manual Switch"
1423 SourceType "Manual Switch"
1424 ShowPortLabels "FromPortIcon"
1425 SystemSampleTime "-1"
1426 FunctionWithSeparateData off
1427 RTWMemSecFuncInitTerm "Inherit from model"
1428 RTWMemSecFuncExecute "Inherit from model"
1429 RTWMemSecDataConstants "Inherit from model"
1430 RTWMemSecDataInternal "Inherit from model"
1431 RTWMemSecDataParameters "Inherit from model"
1437 BlockType RateLimiter
1439 Position [260, 25, 290, 55]
1440 AttributesFormatString "<%<FallingSlewLimit>,%<RisingSlewLimit>"
1443 FallingSlewLimit "-3"
1444 SampleTimeMode "inherited"
1449 Position [175, 35, 205, 65]
1450 AttributesFormatString "<%<LowerLimit>,%<UpperLimit>> m/s"
1457 Position [400, 43, 430, 57]
1458 IconDisplay "Port number"
1459 BusOutputAsStruct off
1462 SrcBlock "acc limit"
1464 DstBlock "Manual Switch"
1468 SrcBlock "speed limit"
1473 DstBlock "acc limit"
1477 Points [0, 60; 100, 0]
1478 DstBlock "Manual Switch"
1483 SrcBlock "Manual Switch"
1491 SrcBlock "ref omega"
1493 DstBlock "speed limit"
1502 Position [360, 36, 365, 74]
1511 Position [885, 211, 890, 249]
1520 Position [1030, 221, 1035, 259]
1526 BlockType RateTransition
1527 Name "Rate Transition2"
1528 Position [589, 85, 631, 125]
1531 OutPortSampleTime "move_sample_time"
1537 Position [920, 213, 1005, 247]
1538 MATLABFcn "[cos(u(1)) -sin(u(1)); sin(u(1)) cos(u(1))]"
1545 Position [546, 85, 584, 125]
1547 NamePlacement "alternate"
1548 IndexOptions "Index vector (dialog)"
1555 RTWStorageClass "Auto"
1556 DataLoggingNameMode "SignalName"
1563 Position [760, 221, 800, 259]
1564 IndexOptions "Index vector (dialog)"
1571 RTWStorageClass "Auto"
1572 DataLoggingNameMode "SignalName"
1579 Position [760, 281, 800, 319]
1580 IndexOptions "Index vector (dialog)"
1587 RTWStorageClass "Auto"
1588 DataLoggingNameMode "SignalName"
1595 Position [410, 40, 470, 70]
1596 MATLABFcn "kinematics"
1602 Position [105, 30, 165, 60]
1603 MATLABFcn "[u(1)-robot.w/2*u(2); u(1)+robot.w/2*u(2)]"
1607 RTWStorageClass "Auto"
1608 DataLoggingNameMode "SignalName"
1614 Position [780, 48, 810, 62]
1615 IconDisplay "Port number"
1616 BusOutputAsStruct off
1621 Position [1090, 233, 1120, 247]
1623 IconDisplay "Port number"
1624 BusOutputAsStruct off
1627 SrcBlock "kinematics"
1629 DstBlock "Integrator"
1633 Name "x,y,phi [m,m,rad]"
1634 SrcBlock "Integrator"
1649 DstBlock "Rate Transition2"
1657 DstBlock "kinematics"
1665 Points [0, 15; -230, 0; 0, -80]
1680 SrcBlock "speed2wheel"
1690 DstBlock "speed2wheel"
1701 SrcBlock "Difference"
1710 DstBlock "Speed angle"
1725 SrcBlock "Speed angle"
1738 SrcBlock "Rotate XY"
1746 DstBlock "Rotate XY"
1756 SrcBlock "Rate Transition2"
1761 DstBlock "Difference"
1773 Name "Rotating laser"
1775 Position [425, 119, 570, 181]
1776 BackgroundColor "[0.912000, 0.763112, 0.484696]"
1777 MinAlgLoopOccurrences off
1778 RTWSystemCode "Auto"
1779 FunctionWithSeparateData off
1780 MaskHideContents off
1781 MaskPromptString "Rotations per second|Noise standard deviation ["
1782 "deg]|Zero-cross detection"
1783 MaskStyleString "edit,edit,checkbox"
1784 MaskTunableValueString "on,on,on"
1785 MaskCallbackString "||"
1786 MaskEnableString "on,on,on"
1787 MaskVisibilityString "on,on,on"
1788 MaskToolTipString "on,on,on"
1789 MaskVarAliasString ",,"
1790 MaskVariables "rps=@1;noise_stdev=@2;zerocross=@3;"
1791 MaskDisplay "text(0.3,0.5, sprintf('RPS=%g\\nNoise=%g', rps,"
1792 " noise_stdev))\nport_label('input', 1, 'Pos')\nport_label('output', 1, 'Ideal"
1793 "')\nport_label('output', 2, 'Immediate')\nport_label('output', 3, 'Buffered')"
1797 MaskIconRotate "none"
1798 MaskIconUnits "normalized"
1799 MaskValueString "3|0.01|on"
1800 MaskTabNameString ",,"
1802 Name "Rotating laser"
1803 Location [651, 66, 1675, 656]
1805 ModelBrowserVisibility off
1806 ModelBrowserWidth 200
1808 PaperOrientation "landscape"
1809 PaperPositionMode "auto"
1811 PaperUnits "centimeters"
1812 TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
1814 ShowPageBoundaries off
1819 Position [25, 33, 55, 47]
1820 IconDisplay "Port number"
1824 Name "Beacon Angles"
1826 Position [150, 25, 210, 55]
1827 MATLABFcn "mod(beacon_angles(u), 2*pi)"
1831 Name "Beacon memory"
1833 Position [510, 299, 565, 331]
1834 TreatAsAtomicUnit on
1835 MinAlgLoopOccurrences off
1836 RTWSystemCode "Auto"
1837 FunctionWithSeparateData off
1838 MaskHideContents off
1840 Name "Beacon memory"
1841 Location [401, 346, 899, 646]
1843 ModelBrowserVisibility off
1844 ModelBrowserWidth 200
1846 PaperOrientation "landscape"
1847 PaperPositionMode "auto"
1849 PaperUnits "centimeters"
1850 TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
1852 ShowPageBoundaries off
1857 Position [110, 103, 140, 117]
1858 IconDisplay "Port number"
1861 BlockType TriggerPort
1864 Position [225, 20, 245, 40]
1865 StatesWhenEnabling "held"
1870 Position [360, 103, 390, 117]
1871 IconDisplay "Port number"
1872 BusOutputAsStruct off
1884 Name "Beacon memory1"
1886 Position [510, 369, 565, 401]
1887 TreatAsAtomicUnit on
1888 MinAlgLoopOccurrences off
1889 RTWSystemCode "Auto"
1890 FunctionWithSeparateData off
1891 MaskHideContents off
1893 Name "Beacon memory1"
1894 Location [401, 346, 899, 646]
1896 ModelBrowserVisibility off
1897 ModelBrowserWidth 200
1899 PaperOrientation "landscape"
1900 PaperPositionMode "auto"
1902 PaperUnits "centimeters"
1903 TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
1905 ShowPageBoundaries off
1910 Position [110, 103, 140, 117]
1911 IconDisplay "Port number"
1914 BlockType TriggerPort
1917 Position [225, 20, 245, 40]
1918 StatesWhenEnabling "held"
1923 Position [360, 103, 390, 117]
1924 IconDisplay "Port number"
1925 BusOutputAsStruct off
1937 Name "Beacon memory2"
1939 Position [510, 439, 565, 471]
1940 TreatAsAtomicUnit on
1941 MinAlgLoopOccurrences off
1942 RTWSystemCode "Auto"
1943 FunctionWithSeparateData off
1944 MaskHideContents off
1946 Name "Beacon memory2"
1947 Location [401, 346, 899, 646]
1949 ModelBrowserVisibility off
1950 ModelBrowserWidth 200
1952 PaperOrientation "landscape"
1953 PaperPositionMode "auto"
1955 PaperUnits "centimeters"
1956 TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
1958 ShowPageBoundaries off
1963 Position [110, 103, 140, 117]
1964 IconDisplay "Port number"
1967 BlockType TriggerPort
1970 Position [225, 20, 245, 40]
1971 StatesWhenEnabling "held"
1976 Position [360, 103, 390, 117]
1977 IconDisplay "Port number"
1978 BusOutputAsStruct off
1990 Name "Beacon memory3"
1992 Position [510, 509, 565, 541]
1993 TreatAsAtomicUnit on
1994 MinAlgLoopOccurrences off
1995 RTWSystemCode "Auto"
1996 FunctionWithSeparateData off
1997 MaskHideContents off
1999 Name "Beacon memory3"
2000 Location [401, 346, 899, 646]
2002 ModelBrowserVisibility off
2003 ModelBrowserWidth 200
2005 PaperOrientation "landscape"
2006 PaperPositionMode "auto"
2008 PaperUnits "centimeters"
2009 TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
2011 ShowPageBoundaries off
2016 Position [110, 103, 140, 117]
2017 IconDisplay "Port number"
2020 BlockType TriggerPort
2023 Position [225, 20, 245, 40]
2024 StatesWhenEnabling "held"
2029 Position [360, 103, 390, 117]
2030 IconDisplay "Port number"
2031 BusOutputAsStruct off
2044 Position [740, 320, 760, 340]
2049 Name "Compare\nTo Constant"
2051 Position [35, 164, 100, 196]
2053 SourceBlock "simulink/Logic and Bit\nOperations/Compare"
2055 SourceType "Compare To Constant"
2056 ShowPortLabels "FromPortIcon"
2057 SystemSampleTime "-1"
2058 FunctionWithSeparateData off
2059 RTWMemSecFuncInitTerm "Inherit from model"
2060 RTWMemSecFuncExecute "Inherit from model"
2061 RTWMemSecDataConstants "Inherit from model"
2062 RTWMemSecDataInternal "Inherit from model"
2063 RTWMemSecDataParameters "Inherit from model"
2066 LogicOutDataTypeMode "boolean"
2071 Name "Compare\nTo Zero"
2073 Position [800, 315, 830, 345]
2074 SourceBlock "simulink/Logic and Bit\nOperations/Compare"
2076 SourceType "Compare To Zero"
2077 ShowPortLabels "FromPortIcon"
2078 SystemSampleTime "-1"
2079 FunctionWithSeparateData off
2080 RTWMemSecFuncInitTerm "Inherit from model"
2081 RTWMemSecFuncExecute "Inherit from model"
2082 RTWMemSecDataConstants "Inherit from model"
2083 RTWMemSecDataInternal "Inherit from model"
2084 RTWMemSecDataParameters "Inherit from model"
2086 LogicOutDataTypeMode "uint8"
2092 Position [35, 239, 100, 271]
2093 NamePlacement "alternate"
2100 Position [346, 190, 399, 200]
2102 BackgroundColor "black"
2103 NamePlacement "alternate"
2111 Position [421, 190, 474, 200]
2113 BackgroundColor "black"
2114 NamePlacement "alternate"
2120 Name "Do not produce\ndata at start. We\nhave to "
2123 Position [825, 374, 925, 416]
2124 TreatAsAtomicUnit on
2125 MinAlgLoopOccurrences off
2126 RTWSystemCode "Auto"
2127 FunctionWithSeparateData off
2128 MaskHideContents off
2130 Name "Do not produce\ndata at start. We\nhave t"
2132 Location [421, 301, 919, 601]
2134 ModelBrowserVisibility off
2135 ModelBrowserWidth 200
2137 PaperOrientation "landscape"
2138 PaperPositionMode "auto"
2140 PaperUnits "centimeters"
2141 TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
2143 ShowPageBoundaries off
2148 Position [110, 103, 140, 117]
2149 IconDisplay "Port number"
2152 BlockType EnablePort
2155 Position [235, 20, 255, 40]
2160 Position [360, 103, 390, 117]
2161 IconDisplay "Port number"
2162 BusOutputAsStruct off
2174 Name "Hit \nCrossing"
2176 Position [320, 95, 350, 125]
2177 AttributesFormatString "ZC:%<ZeroCross>"
2178 HitCrossingDirection "rising"
2182 Name "Individual output"
2184 Position [745, 226, 800, 274]
2185 TreatAsAtomicUnit on
2186 MinAlgLoopOccurrences off
2187 RTWSystemCode "Auto"
2188 FunctionWithSeparateData off
2189 MaskHideContents off
2191 Name "Individual output"
2192 Location [401, 346, 899, 646]
2194 ModelBrowserVisibility off
2195 ModelBrowserWidth 200
2197 PaperOrientation "landscape"
2198 PaperPositionMode "auto"
2200 PaperUnits "centimeters"
2201 TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
2203 ShowPageBoundaries off
2208 Position [110, 103, 140, 117]
2209 IconDisplay "Port number"
2212 BlockType TriggerPort
2215 Position [225, 20, 245, 40]
2216 StatesWhenEnabling "held"
2221 Position [360, 103, 390, 117]
2222 IconDisplay "Port number"
2223 BusOutputAsStruct off
2234 BlockType Integrator
2236 Ports [2, 1, 0, 0, 1]
2237 Position [130, 238, 180, 307]
2238 ExternalReset "rising"
2243 BlockType RandomNumber
2244 Name "Measurement noise"
2245 Position [475, 145, 505, 175]
2247 NamePlacement "alternate"
2248 Variance "(noise_stdev/180*pi)^2"
2249 Seed "abs(floor(rand(4,1)*10000))"
2255 Position [700, 354, 705, 436]
2260 BlockType RateTransition
2261 Name "Rate Transition"
2262 Position [750, 374, 790, 416]
2263 OutPortSampleTime "1/rps"
2266 BlockType RateTransition
2267 Name "Rate Transition1"
2268 Position [735, 19, 775, 61]
2269 OutPortSampleTime "1/rps"
2275 Position [585, 91, 625, 129]
2276 IndexOptions "Index vector (dialog)"
2285 Position [270, 95, 300, 125]
2288 CollapseMode "All dimensions"
2290 OutDataTypeMode "Inherit via internal rule"
2292 SaturateOnIntegerOverflow off
2298 Position [480, 240, 500, 260]
2302 CollapseMode "All dimensions"
2304 OutDataTypeMode "Inherit via internal rule"
2305 SaturateOnIntegerOverflow off
2311 Position [460, 305, 480, 325]
2315 CollapseMode "All dimensions"
2317 OutDataTypeMode "Inherit via internal rule"
2318 SaturateOnIntegerOverflow off
2324 Position [445, 375, 465, 395]
2328 CollapseMode "All dimensions"
2330 OutDataTypeMode "Inherit via internal rule"
2331 SaturateOnIntegerOverflow off
2337 Position [430, 445, 450, 465]
2341 CollapseMode "All dimensions"
2343 OutDataTypeMode "Inherit via internal rule"
2344 SaturateOnIntegerOverflow off
2350 Position [415, 515, 435, 535]
2354 CollapseMode "All dimensions"
2356 OutDataTypeMode "Inherit via internal rule"
2357 SaturateOnIntegerOverflow off
2363 Position [400, 30, 420, 50]
2367 CollapseMode "All dimensions"
2369 OutDataTypeMode "Inherit via internal rule"
2370 SaturateOnIntegerOverflow off
2375 Position [855, 33, 885, 47]
2376 IconDisplay "Port number"
2377 BusOutputAsStruct off
2382 Position [875, 243, 905, 257]
2384 IconDisplay "Port number"
2385 BusOutputAsStruct off
2390 Position [965, 388, 995, 402]
2392 IconDisplay "Port number"
2393 BusOutputAsStruct off
2417 DstBlock "Beacon memory3"
2424 DstBlock "Beacon memory2"
2431 DstBlock "Beacon memory1"
2438 DstBlock "Beacon memory"
2442 SrcBlock "Beacon memory3"
2444 Points [55, 0; 0, -100]
2465 DstBlock "Beacon memory3"
2472 DstBlock "Individual output"
2476 SrcBlock "Beacon memory1"
2482 SrcBlock "Integrator"
2485 DstBlock "Compare\nTo Constant"
2489 SrcBlock "Constant1"
2491 DstBlock "Integrator"
2495 SrcBlock "Compare\nTo Constant"
2497 Points [-15, 0; 0, 110]
2498 DstBlock "Integrator"
2502 SrcBlock "Integrator"
2549 DstBlock "Hit \nCrossing"
2553 SrcBlock "Hit \nCrossing"
2566 SrcBlock "Individual output"
2568 DstBlock "Individual"
2572 SrcBlock "Beacon Angles"
2585 SrcBlock "Beacon memory"
2587 Points [40, 0; 0, 50]
2592 SrcBlock "Beacon memory2"
2594 Points [40, 0; 0, -50]
2601 DstBlock "Beacon Angles"
2607 DstBlock "Rate Transition"
2612 SrcBlock "Rate Transition1"
2620 DstBlock "Compare\nTo Zero"
2624 SrcBlock "Rate Transition"
2626 DstBlock "Do not produce\ndata at start. We\nhave to "
2631 SrcBlock "Do not produce\ndata at start. We\nhave to "
2634 DstBlock "Simultaneous"
2638 SrcBlock "Compare\nTo Zero"
2641 DstBlock "Do not produce\ndata at start. We\nhave to "
2648 DstBlock "Individual output"
2652 SrcBlock "Measurement noise"
2668 DstBlock "Beacon memory2"
2674 DstBlock "Beacon memory1"
2680 DstBlock "Beacon memory"
2686 DstBlock "Rate Transition1"
2692 BlockType "S-Function"
2695 Position [35, 124, 95, 156]
2696 BackgroundColor "green"
2697 NamePlacement "alternate"
2698 FunctionName "sf_trgen"
2699 Parameters "traj, initpos, constr, start"
2700 MaskPromptString "Trajectory|Initial position|Trajectory constrai"
2702 MaskStyleString "edit,edit,edit,edit"
2703 MaskTunableValueString "off,off,off,off"
2704 MaskCallbackString "|||"
2705 MaskEnableString "on,on,on,on"
2706 MaskVisibilityString "on,on,on,on"
2707 MaskToolTipString "on,on,on,on"
2708 MaskVarAliasString ",,,"
2709 MaskVariables "traj=@1;initpos=@2;constr=@3;start=@4;"
2710 MaskDisplay "disp('Trajectory\\ngenerator')"
2713 MaskIconRotate "none"
2714 MaskIconUnits "autoscale"
2715 MaskValueString "path|desc.initpos|desc.wayconstraints|3"
2716 MaskTabNameString ",,,"
2722 Position [567, 270, 603, 300]
2724 NamePlacement "alternate"
2725 SourceBlock "simulink/Signal\nRouting/Manual Switch"
2726 SourceType "Manual Switch"
2727 ShowPortLabels "FromPortIcon"
2728 SystemSampleTime "-1"
2729 FunctionWithSeparateData off
2730 RTWMemSecFuncInitTerm "Inherit from model"
2731 RTWMemSecFuncExecute "Inherit from model"
2732 RTWMemSecDataConstants "Inherit from model"
2733 RTWMemSecDataInternal "Inherit from model"
2734 RTWMemSecDataParameters "Inherit from model"
2743 Position [412, 270, 448, 300]
2745 SourceBlock "simulink/Signal\nRouting/Manual Switch"
2746 SourceType "Manual Switch"
2747 ShowPortLabels "FromPortIcon"
2748 SystemSampleTime "-1"
2749 FunctionWithSeparateData off
2750 RTWMemSecFuncInitTerm "Inherit from model"
2751 RTWMemSecFuncExecute "Inherit from model"
2752 RTWMemSecDataConstants "Inherit from model"
2753 RTWMemSecDataInternal "Inherit from model"
2754 RTWMemSecDataParameters "Inherit from model"
2760 BlockType "M-S-Function"
2761 Name "draw probability bitmap"
2763 Position [725, 413, 815, 447]
2764 ForegroundColor "gray"
2765 BackgroundColor "black"
2766 NamePlacement "alternate"
2767 FunctionName "sfdrawbitmap"
2770 BlockType SignalViewerScope
2773 Position [20, 15, 60, 55]
2776 ListType IOSignalStrings
2778 set0Sigs "Switch:o1"
2780 Location [6, 641, 330, 998]
2785 axes1 "%<SignalLabel>"
2793 MaxDataPoints "7500"
2794 RefreshTime 0.035000
2798 BlockType SignalViewerScope
2801 Position [20, 15, 60, 55]
2803 Location [6, 760, 772, 999]
2809 axes1 "%<SignalLabel>"
2816 SaveName "ScopeData1"
2818 MaxDataPoints "7500"
2819 RefreshTime 0.035000
2823 BlockType SignalViewerScope
2826 Position [20, 15, 60, 55]
2829 ListType IOSignalStrings
2831 set0Sigs "Controller:o1"
2833 Location [501, 172, 825, 411]
2839 axes1 "%<SignalLabel>"
2843 LegendLocations "186.25 162.125 118.5 45.62"
2847 SaveName "ScopeData2"
2849 MaxDataPoints "7500"
2850 RefreshTime 0.035000
2854 BlockType SignalViewerScope
2857 Position [20, 15, 60, 55]
2860 ListType IOSignalStrings
2862 set0Sigs "Robot kinematics/speed2wheel:o1"
2864 Location [345, 294, 669, 533]
2870 axes1 "%<SignalLabel>"
2877 SaveName "ScopeData3"
2879 MaxDataPoints "7500"
2880 RefreshTime 0.035000
2884 SrcBlock "Controller"
2886 DstBlock "Robot kinematics"
2890 Name "Real robot position"
2891 SrcBlock "Robot kinematics"
2897 DstBlock "Rate Transition2"
2902 Points [0, -45; 300, 0]
2909 DstBlock "Real\nposition"
2914 DstBlock "Rotating laser"
2925 SrcBlock "Manual Switch"
2927 DstBlock "Controller"
2931 SrcBlock "Rate Transition1"
2933 Points [-20, 0; 0, -155]
2934 DstBlock "Manual Switch"
2940 Points [-75, 0; 0, 65]
2941 DstBlock "draw probability bitmap"
2945 SrcBlock "S-Function2"
2949 DstBlock "Controller"
2954 DstBlock "Reference\nposition"
2966 SrcBlock "No odometry"
2973 SrcBlock "Rate Transition2"
2976 DstBlock "Manual Switch"
2980 SrcBlock "Robot kinematics"
2987 Name "Estimated position"
2993 DstBlock "Rate Transition1"
2998 Points [0, 70; 580, 0; 0, -80]
3005 DstBlock "Estimated\nposition"
3027 Points [65, 0; 0, -190]
3028 DstBlock "Real\nposition"
3033 SrcBlock "Rotating laser"
3042 # Finite State Machines
3044 # Stateflow Version 6.6 (R2007a) dated Jan 30 2007, 01:07:16
3053 created "29-Mar-2007 23:42:20"
3062 description "Default Simulink S-Function Target."