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    "1.262"
  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_mcl', 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 12:19:22 2008"
  52   ModelVersionFormat      "1.%<AutoIncrement:262>"
  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               Reference
 613     }
 614     Block {
 615       BlockType               Saturate
 616       UpperLimit              "0.5"
 617       LowerLimit              "-0.5"
 618       LinearizeAsGain         on
 619       ZeroCross               on
 620       SampleTime              "-1"
 621     }
 622     Block {
 623       BlockType               Scope
 624       ModelBased              off
 625       TickLabels              "OneTimeTick"
 626       ZoomMode                "on"
 627       Grid                    "on"
 628       TimeRange               "auto"
 629       YMin                    "-5"
 630       YMax                    "5"
 631       SaveToWorkspace         off
 632       SaveName                "ScopeData"
 633       LimitDataPoints         on
 634       MaxDataPoints           "5000"
 635       Decimation              "1"
 636       SampleInput             off
 637       SampleTime              "-1"
 638     }
 639     Block {
 640       BlockType               Selector
 641       NumberOfDimensions      "1"
 642       IndexMode               "One-based"
 643       InputPortWidth          "-1"
 644       SampleTime              "-1"
 645     }
 646     Block {
 647       BlockType               "S-Function"
 648       FunctionName            "system"
 649       SFunctionModules        "''"
 650       PortCounts              "[]"
 651     }
 652     Block {
 653       BlockType               SubSystem
 654       ShowPortLabels          "FromPortIcon"
 655       Permissions             "ReadWrite"
 656       PermitHierarchicalResolution "All"
 657       TreatAsAtomicUnit       off
 658       SystemSampleTime        "-1"
 659       RTWFcnNameOpts          "Auto"
 660       RTWFileNameOpts         "Auto"
 661       RTWMemSecFuncInitTerm   "Inherit from model"
 662       RTWMemSecFuncExecute    "Inherit from model"
 663       RTWMemSecDataConstants  "Inherit from model"
 664       RTWMemSecDataInternal   "Inherit from model"
 665       RTWMemSecDataParameters "Inherit from model"
 666       SimViewingDevice        off
 667       DataTypeOverride        "UseLocalSettings"
 668       MinMaxOverflowLogging   "UseLocalSettings"
 669     }
 670     Block {
 671       BlockType               Sum
 672       IconShape               "rectangular"
 673       Inputs                  "++"
 674       CollapseMode            "All dimensions"
 675       CollapseDim             "1"
 676       InputSameDT             on
 677       OutDataTypeMode         "Same as first input"
 678       OutDataType             "sfix(16)"
 679       OutScaling              "2^0"
 680       LockScale               off
 681       RndMeth                 "Floor"
 682       SaturateOnIntegerOverflow on
 683       SampleTime              "-1"
 684     }
 685     Block {
 686       BlockType               Switch
 687       Criteria                "u2 >= Threshold"
 688       Threshold               "0"
 689       InputSameDT             on
 690       OutDataTypeMode         "Inherit via internal rule"
 691       RndMeth                 "Floor"
 692       SaturateOnIntegerOverflow on
 693       ZeroCross               on
 694       SampleTime              "-1"
 695     }
 696     Block {
 697       BlockType               ToWorkspace
 698       VariableName            "simulink_output"
 699       MaxDataPoints           "1000"
 700       Decimation              "1"
 701       SampleTime              "0"
 702       FixptAsFi               off
 703     }
 704     Block {
 705       BlockType               UnitDelay
 706       X0                      "0"
 707       SampleTime              "1"
 708       StateMustResolveToSignalObject off
 709       RTWStateStorageClass    "Auto"
 710     }
 711   }
 712   AnnotationDefaults {
 713     HorizontalAlignment     "center"
 714     VerticalAlignment       "middle"
 715     ForegroundColor         "black"
 716     BackgroundColor         "white"
 717     DropShadow              off
 718     FontName                "Arial"
 719     FontSize                10
 720     FontWeight              "normal"
 721     FontAngle               "normal"
 722     UseDisplayTextAsClickCallback off
 723   }
 724   LineDefaults {
 725     FontName                "Arial"
 726     FontSize                9
 727     FontWeight              "normal"
 728     FontAngle               "normal"
 729   }
 730   System {
 731     Name                    "reg_mcl"
 732     Location                [1684, 55, 2539, 624]
 733     Open                    on
 734     ModelBrowserVisibility  off
 735     ModelBrowserWidth       200
 736     ScreenColor             "white"
 737     PaperOrientation        "landscape"
 738     PaperPositionMode       "auto"
 739     PaperType               "A4"
 740     PaperUnits              "centimeters"
 741     TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
 742     TiledPageScale          1
 743     ShowPageBoundaries      off
 744     ZoomFactor              "100"
 745     ReportName              "simulink-default.rpt"
 746     Block {
 747       BlockType               SubSystem
 748       Name                    " "
 749       Ports                   []
 750       Position                [25, 14, 95, 48]
 751       OpenFcn                 "path=diag([area.w area.h])*rand(2,8)\nsim('reg_"
 752 "test',0)                   "
 753       MinAlgLoopOccurrences   off
 754       RTWSystemCode           "Auto"
 755       FunctionWithSeparateData off
 756       MaskHideContents        off
 757       MaskDisplay             "disp('Random path')"
 758       MaskIconFrame           on
 759       MaskIconOpaque          on
 760       MaskIconRotate          "none"
 761       MaskIconUnits           "autoscale"
 762       System {
 763         Name                    " "
 764         Location                [433, 403, 931, 703]
 765         Open                    off
 766         ModelBrowserVisibility  off
 767         ModelBrowserWidth       200
 768         ScreenColor             "white"
 769         PaperOrientation        "landscape"
 770         PaperPositionMode       "auto"
 771         PaperType               "A4"
 772         PaperUnits              "centimeters"
 773         TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
 774         TiledPageScale          1
 775         ShowPageBoundaries      off
 776         ZoomFactor              "100"
 777       }
 778     }
 779     Block {
 780       BlockType               Clock
 781       Name                    "Clock"
 782       Position                [465, 70, 485, 90]
 783       Decimation              "10"
 784     }
 785     Block {
 786       BlockType               "S-Function"
 787       Name                    "Controller"
 788       Ports                   [2, 1]
 789       Position                [175, 88, 235, 177]
 790       BackgroundColor         "green"
 791       FunctionName            "sf_posreg"
 792       Parameters              "[2 2 10],1/20"
 793       MaskDisplay             "port_label('input', 1, 'ref')\nport_label('inpu"
 794 "t', 2, 'pos')\nport_label('output', 1, '(w1,w2)')"
 795       MaskIconFrame           on
 796       MaskIconOpaque          on
 797       MaskIconRotate          "none"
 798       MaskIconUnits           "autoscale"
 799     }
 800     Block {
 801       BlockType               Display
 802       Name                    "Display"
 803       Ports                   [1]
 804       Position                [515, 66, 600, 94]
 805       Lockdown                off
 806     }
 807     Block {
 808       BlockType               Gain
 809       Name                    "Gain"
 810       Position                [260, 120, 290, 150]
 811       Gain                    "[1 1]/desc.robot.wheelr"
 812       ParameterDataTypeMode   "Inherit via internal rule"
 813       OutDataTypeMode         "Inherit via internal rule"
 814       SaturateOnIntegerOverflow off
 815     }
 816     Block {
 817       BlockType               SubSystem
 818       Name                    "Graphs"
 819       Ports                   [2]
 820       Position                [720, 210, 820, 270]
 821       MinAlgLoopOccurrences   off
 822       RTWSystemCode           "Auto"
 823       FunctionWithSeparateData off
 824       MaskHideContents        off
 825       System {
 826         Name                    "Graphs"
 827         Location                [478, 120, 998, 439]
 828         Open                    off
 829         ModelBrowserVisibility  off
 830         ModelBrowserWidth       200
 831         ScreenColor             "white"
 832         PaperOrientation        "landscape"
 833         PaperPositionMode       "auto"
 834         PaperType               "A4"
 835         PaperUnits              "centimeters"
 836         TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
 837         TiledPageScale          1
 838         ShowPageBoundaries      off
 839         ZoomFactor              "100"
 840         Block {
 841           BlockType               Inport
 842           Name                    "Pos"
 843           Position                [25, 108, 55, 122]
 844           IconDisplay             "Port number"
 845         }
 846         Block {
 847           BlockType               Inport
 848           Name                    "Est pos"
 849           Position                [25, 223, 55, 237]
 850           Port                    "2"
 851           IconDisplay             "Port number"
 852         }
 853         Block {
 854           BlockType               Scope
 855           Name                    "Angle"
 856           Ports                   [1]
 857           Position                [410, 109, 440, 141]
 858           Floating                off
 859           Location                [437, 662, 1088, 1030]
 860           Open                    on
 861           NumInputPorts           "1"
 862           List {
 863             ListType                AxesTitles
 864             axes1                   "%<SignalLabel>"
 865           }
 866           TimeRange               "100"
 867           YMin                    "-1000"
 868           YMax                    "8000"
 869           SaveName                "ScopeData1"
 870           DataFormat              "StructureWithTime"
 871           SampleTime              "0"
 872         }
 873         Block {
 874           BlockType               Gain
 875           Name                    "Gain"
 876           Position                [295, 109, 330, 141]
 877           Gain                    "180/pi"
 878           ParameterDataTypeMode   "Inherit via internal rule"
 879           OutDataTypeMode         "Inherit via internal rule"
 880           SaturateOnIntegerOverflow off
 881           Port {
 882             PortNumber              1
 883             Name                    "Angle [deg]"
 884             RTWStorageClass         "Auto"
 885             DataLoggingNameMode     "SignalName"
 886           }
 887         }
 888         Block {
 889           BlockType               Mux
 890           Name                    "Mux"
 891           Ports                   [2, 1]
 892           Position                [250, 46, 255, 84]
 893           ShowName                off
 894           Inputs                  "2"
 895           DisplayOption           "bar"
 896           Port {
 897             PortNumber              1
 898             Name                    "Position [m]"
 899             RTWStorageClass         "Auto"
 900             DataLoggingNameMode     "SignalName"
 901           }
 902         }
 903         Block {
 904           BlockType               Mux
 905           Name                    "Mux1"
 906           Ports                   [2, 1]
 907           Position                [250, 106, 255, 144]
 908           ShowName                off
 909           Inputs                  "2"
 910           DisplayOption           "bar"
 911         }
 912         Block {
 913           BlockType               Selector
 914           Name                    "Selector"
 915           Ports                   [1, 1]
 916           Position                [110, 36, 150, 74]
 917           IndexOptions            "Index vector (dialog)"
 918           Indices                 "[1 2]"
 919           OutputSizes             "1"
 920           InputPortWidth          "3"
 921         }
 922         Block {
 923           BlockType               Selector
 924           Name                    "Selector1"
 925           Ports                   [1, 1]
 926           Position                [110, 96, 150, 134]
 927           IndexOptions            "Index vector (dialog)"
 928           Indices                 "3"
 929           OutputSizes             "1"
 930           InputPortWidth          "3"
 931         }
 932         Block {
 933           BlockType               Selector
 934           Name                    "Selector2"
 935           Ports                   [1, 1]
 936           Position                [110, 236, 150, 274]
 937           IndexOptions            "Index vector (dialog)"
 938           Indices                 "3"
 939           OutputSizes             "1"
 940           InputPortWidth          "3"
 941         }
 942         Block {
 943           BlockType               Selector
 944           Name                    "Selector3"
 945           Ports                   [1, 1]
 946           Position                [110, 171, 150, 209]
 947           IndexOptions            "Index vector (dialog)"
 948           Indices                 "[1 2]"
 949           OutputSizes             "1"
 950           InputPortWidth          "3"
 951         }
 952         Block {
 953           BlockType               Scope
 954           Name                    "XY"
 955           Ports                   [1]
 956           Position                [410, 49, 440, 81]
 957           Floating                off
 958           Location                [431, 91, 1074, 488]
 959           Open                    on
 960           NumInputPorts           "1"
 961           ZoomMode                "xonly"
 962           List {
 963             ListType                AxesTitles
 964             axes1                   "%<SignalLabel>"
 965           }
 966           TimeRange               "100"
 967           YMin                    "-0.5"
 968           YMax                    "4"
 969           DataFormat              "StructureWithTime"
 970           SampleTime              "0"
 971         }
 972         Line {
 973           Name                    "Angle [deg]"
 974           Labels                  [0, 0]
 975           SrcBlock                "Gain"
 976           SrcPort                 1
 977           DstBlock                "Angle"
 978           DstPort                 1
 979         }
 980         Line {
 981           SrcBlock                "Selector2"
 982           SrcPort                 1
 983           Points                  [80, 0]
 984           DstBlock                "Mux1"
 985           DstPort                 2
 986         }
 987         Line {
 988           SrcBlock                "Selector1"
 989           SrcPort                 1
 990           DstBlock                "Mux1"
 991           DstPort                 1
 992         }
 993         Line {
 994           SrcBlock                "Mux1"
 995           SrcPort                 1
 996           DstBlock                "Gain"
 997           DstPort                 1
 998         }
 999         Line {
1000           SrcBlock                "Selector3"
1001           SrcPort                 1
1002           Points                  [40, 0; 0, -115]
1003           DstBlock                "Mux"
1004           DstPort                 2
1005         }
1006         Line {
1007           Name                    "Position [m]"
1008           Labels                  [0, 0]
1009           SrcBlock                "Mux"
1010           SrcPort                 1
1011           DstBlock                "XY"
1012           DstPort                 1
1013         }
1014         Line {
1015           SrcBlock                "Selector"
1016           SrcPort                 1
1017           DstBlock                "Mux"
1018           DstPort                 1
1019         }
1020         Line {
1021           SrcBlock                "Est pos"
1022           SrcPort                 1
1023           Points                  [0, -15; 15, 0]
1024           Branch {
1025             Points                  [0, 40]
1026             DstBlock                "Selector2"
1027             DstPort                 1
1028           }
1029           Branch {
1030             Points                  [0, -25]
1031             DstBlock                "Selector3"
1032             DstPort                 1
1033           }
1034         }
1035         Line {
1036           SrcBlock                "Pos"
1037           SrcPort                 1
1038           Points                  [15, 0]
1039           Branch {
1040             DstBlock                "Selector1"
1041             DstPort                 1
1042           }
1043           Branch {
1044             Points                  [0, -60]
1045             DstBlock                "Selector"
1046             DstPort                 1
1047           }
1048         }
1049       }
1050     }
1051     Block {
1052       BlockType               "M-S-Function"
1053       Name                    "Level-2 M-file\nS-Function"
1054       Ports                   [2]
1055       Position                [725, 124, 785, 171]
1056       BackgroundColor         "cyan"
1057       FunctionName            "sfdrawrobot"
1058       Parameters              "desc,0"
1059       MaskDisplay             "disp('Drawer')\nport_label('input', 1, 'x')\npo"
1060 "rt_label('input', 2, 'y')\n"
1061       MaskIconFrame           on
1062       MaskIconOpaque          on
1063       MaskIconRotate          "none"
1064       MaskIconUnits           "autoscale"
1065     }
1066     Block {
1067       BlockType               "M-S-Function"
1068       Name                    "Level-2 M-file\nS-Function1"
1069       Ports                   [2]
1070       Position                [725, 293, 790, 337]
1071       ForegroundColor         "blue"
1072       FunctionName            "sfdrawrobot"
1073       Parameters              "desc,'--b'"
1074       MaskDisplay             "disp('Drawer')\nport_label('input', 1, 'x')\npo"
1075 "rt_label('input', 2, 'y')\n"
1076       MaskIconFrame           on
1077       MaskIconOpaque          on
1078       MaskIconRotate          "none"
1079       MaskIconUnits           "autoscale"
1080     }
1081     Block {
1082       BlockType               "M-S-Function"
1083       Name                    "Level-2 M-file\nS-Function2"
1084       Ports                   [2]
1085       Position                [715, 28, 780, 72]
1086       ForegroundColor         "magenta"
1087       FunctionName            "sfdrawrobot"
1088       Parameters              "desc,'--m'"
1089       MaskDisplay             "disp('Drawer')\nport_label('input', 1, 'x')\npo"
1090 "rt_label('input', 2, 'y')\n"
1091       MaskIconFrame           on
1092       MaskIconOpaque          on
1093       MaskIconRotate          "none"
1094       MaskIconUnits           "autoscale"
1095     }
1096     Block {
1097       BlockType               "S-Function"
1098       Name                    "MCL"
1099       Ports                   [2, 2]
1100       Position                [430, 288, 610, 357]
1101       BackgroundColor         "green"
1102       ShowName                off
1103       FunctionName            "sf_mcl"
1104       Parameters              "count, noise_xy, noise_angle, aeval_sigma"
1105       MaskPromptString        "Number of samples|Move noise X,Y [m]|Move noise"
1106 " angle [rad]|Measure dispersion [rad]"
1107       MaskStyleString         "edit,edit,edit,edit"
1108       MaskTunableValueString  "off,on,on,on"
1109       MaskCallbackString      "|||"
1110       MaskEnableString        "on,on,on,on"
1111       MaskVisibilityString    "on,on,on,on"
1112       MaskToolTipString       "on,on,on,on"
1113       MaskVarAliasString      ",,,"
1114       MaskVariables           "count=@1;noise_xy=@2;noise_angle=@3;aeval_sigma"
1115 "=@4;"
1116       MaskDisplay             "port_label('input', 1, '(dx,dy,da)')\nport_labe"
1117 "l('input', 2, '(th1,th2,th3)')\nport_label('output', 1, 'est_pos=(x,y,a)')\np"
1118 "ort_label('output', 2, 'particle bitmap')\ndisp('MCL')"
1119       MaskIconFrame           on
1120       MaskIconOpaque          on
1121       MaskIconRotate          "none"
1122       MaskIconUnits           "autoscale"
1123       MaskValueString         "3000|0.01|10/180*pi|5/180*pi"
1124       MaskTabNameString       ",,,"
1125     }
1126     Block {
1127       BlockType               Reference
1128       Name                    "Manual Switch"
1129       Ports                   [2, 1]
1130       Position                [125, 137, 155, 173]
1131       SourceBlock             "simulink/Signal\nRouting/Manual Switch"
1132       SourceType              "Manual Switch"
1133       ShowPortLabels          "FromPortIcon"
1134       SystemSampleTime        "-1"
1135       FunctionWithSeparateData off
1136       RTWMemSecFuncInitTerm   "Inherit from model"
1137       RTWMemSecFuncExecute    "Inherit from model"
1138       RTWMemSecDataConstants  "Inherit from model"
1139       RTWMemSecDataInternal   "Inherit from model"
1140       RTWMemSecDataParameters "Inherit from model"
1141       sw                      "1"
1142       action                  "0"
1143       varsize                 off
1144     }
1145     Block {
1146       BlockType               SubSystem
1147       Name                    "Measurement"
1148       Ports                   [1, 1]
1149       Position                [205, 397, 280, 433]
1150       MinAlgLoopOccurrences   off
1151       RTWSystemCode           "Auto"
1152       FunctionWithSeparateData off
1153       MaskHideContents        off
1154       System {
1155         Name                    "Measurement"
1156         Location                [458, 185, 768, 279]
1157         Open                    off
1158         ModelBrowserVisibility  off
1159         ModelBrowserWidth       200
1160         ScreenColor             "white"
1161         PaperOrientation        "landscape"
1162         PaperPositionMode       "auto"
1163         PaperType               "A4"
1164         PaperUnits              "centimeters"
1165         TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
1166         TiledPageScale          1
1167         ShowPageBoundaries      off
1168         ZoomFactor              "100"
1169         Block {
1170           BlockType               Inport
1171           Name                    "Pos"
1172           Position                [25, 43, 55, 57]
1173           IconDisplay             "Port number"
1174         }
1175         Block {
1176           BlockType               MATLABFcn
1177           Name                    "Beacon Angles"
1178           Ports                   [1, 1]
1179           Position                [125, 35, 185, 65]
1180           MATLABFcn               "mod(beacon_angles(u), 2*pi)"
1181         }
1182         Block {
1183           BlockType               Outport
1184           Name                    "Angles"
1185           Position                [255, 43, 285, 57]
1186           IconDisplay             "Port number"
1187           BusOutputAsStruct       off
1188         }
1189         Line {
1190           SrcBlock                "Pos"
1191           SrcPort                 1
1192           DstBlock                "Beacon Angles"
1193           DstPort                 1
1194         }
1195         Line {
1196           SrcBlock                "Beacon Angles"
1197           SrcPort                 1
1198           DstBlock                "Angles"
1199           DstPort                 1
1200         }
1201       }
1202     }
1203     Block {
1204       BlockType               Reference
1205       Name                    "Measurement noise\nstd. deviation [deg]"
1206       Ports                   [1, 1]
1207       Position                [289, 460, 341, 480]
1208       Orientation             "up"
1209       NamePlacement           "alternate"
1210       SourceBlock             "simulink/Math\nOperations/Slider\nGain"
1211       SourceType              "Slider Gain"
1212       ShowPortLabels          "FromPortIcon"
1213       SystemSampleTime        "-1"
1214       FunctionWithSeparateData off
1215       RTWMemSecFuncInitTerm   "Inherit from model"
1216       RTWMemSecFuncExecute    "Inherit from model"
1217       RTWMemSecDataConstants  "Inherit from model"
1218       RTWMemSecDataInternal   "Inherit from model"
1219       RTWMemSecDataParameters "Inherit from model"
1220       low                     "0"
1221       gain                    "1"
1222       high                    "5"
1223     }
1224     Block {
1225       BlockType               Constant
1226       Name                    "No laser"
1227       Position                [220, 369, 280, 391]
1228       NamePlacement           "alternate"
1229       Value                   "[0 0 0]"
1230       SampleTime              "-1"
1231     }
1232     Block {
1233       BlockType               Constant
1234       Name                    "No odometry"
1235       Position                [245, 269, 305, 291]
1236       NamePlacement           "alternate"
1237       Value                   "[0 0 0]"
1238       SampleTime              "-1"
1239     }
1240     Block {
1241       BlockType               SubSystem
1242       Name                    "Pos to deltas"
1243       Ports                   [1, 1]
1244       Position                [210, 296, 305, 334]
1245       MinAlgLoopOccurrences   off
1246       RTWSystemCode           "Auto"
1247       FunctionWithSeparateData off
1248       MaskHideContents        off
1249       System {
1250         Name                    "Pos to deltas"
1251         Location                [50, 111, 624, 360]
1252         Open                    off
1253         ModelBrowserVisibility  off
1254         ModelBrowserWidth       200
1255         ScreenColor             "white"
1256         PaperOrientation        "landscape"
1257         PaperPositionMode       "auto"
1258         PaperType               "A4"
1259         PaperUnits              "centimeters"
1260         TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
1261         TiledPageScale          1
1262         ShowPageBoundaries      off
1263         ZoomFactor              "100"
1264         Block {
1265           BlockType               Inport
1266           Name                    "Pos"
1267           Position                [30, 103, 60, 117]
1268           IconDisplay             "Port number"
1269         }
1270         Block {
1271           BlockType               Selector
1272           Name                    "Angle"
1273           Ports                   [1, 1]
1274           Position                [190, 21, 230, 59]
1275           IndexOptions            "Index vector (dialog)"
1276           Indices                 "3"
1277           OutputSizes             "1"
1278           InputPortWidth          "3"
1279         }
1280         Block {
1281           BlockType               Reference
1282           Name                    "Difference"
1283           Ports                   [1, 1]
1284           Position                [100, 92, 145, 128]
1285           NamePlacement           "alternate"
1286           SourceBlock             "simulink/Discrete/Difference"
1287           SourceType              "Difference"
1288           ShowPortLabels          "FromPortIcon"
1289           SystemSampleTime        "-1"
1290           FunctionWithSeparateData "off"
1291           RTWMemSecFuncInitTerm   "Inherit from model"
1292           RTWMemSecFuncExecute    "Inherit from model"
1293           RTWMemSecDataConstants  "Inherit from model"
1294           RTWMemSecDataInternal   "Inherit from model"
1295           RTWMemSecDataParameters "Inherit from model"
1296           ICPrevInput             "0.0"
1297           OutputDataTypeScalingMode "Inherit via internal rule"
1298           OutDataType             "sfix(16)"
1299           OutScaling              "2^-10"
1300           LockScale               "off"
1301           RndMeth                 "Floor"
1302           DoSatur                 "off"
1303         }
1304         Block {
1305           BlockType               Gain
1306           Name                    "Gain"
1307           Position                [250, 24, 285, 56]
1308           Gain                    "-1"
1309           ParameterDataTypeMode   "Inherit via internal rule"
1310           OutDataTypeMode         "Inherit via internal rule"
1311           SaturateOnIntegerOverflow off
1312         }
1313         Block {
1314           BlockType               Mux
1315           Name                    "Mux1"
1316           Ports                   [2, 1]
1317           Position                [315, 81, 320, 119]
1318           ShowName                off
1319           Inputs                  "2"
1320           DisplayOption           "bar"
1321         }
1322         Block {
1323           BlockType               Mux
1324           Name                    "Mux2"
1325           Ports                   [2, 1]
1326           Position                [460, 91, 465, 129]
1327           ShowName                off
1328           Inputs                  "2"
1329           DisplayOption           "bar"
1330         }
1331         Block {
1332           BlockType               MATLABFcn
1333           Name                    "Rotate XY"
1334           Ports                   [1, 1]
1335           Position                [350, 83, 435, 117]
1336           MATLABFcn               "[cos(u(1)) -sin(u(1)); sin(u(1)) cos(u(1))]"
1337 "*[u(2); u(3)]"
1338         }
1339         Block {
1340           BlockType               Selector
1341           Name                    "Speed XY"
1342           Ports                   [1, 1]
1343           Position                [190, 91, 230, 129]
1344           IndexOptions            "Index vector (dialog)"
1345           Indices                 "[1 2]"
1346           OutputSizes             "1"
1347           InputPortWidth          "3"
1348           Port {
1349             PortNumber              1
1350             Name                    "dx, dy"
1351             RTWStorageClass         "Auto"
1352             DataLoggingNameMode     "SignalName"
1353           }
1354         }
1355         Block {
1356           BlockType               Selector
1357           Name                    "Speed angle"
1358           Ports                   [1, 1]
1359           Position                [190, 151, 230, 189]
1360           IndexOptions            "Index vector (dialog)"
1361           Indices                 "3"
1362           OutputSizes             "1"
1363           InputPortWidth          "3"
1364           Port {
1365             PortNumber              1
1366             Name                    "dangle"
1367             RTWStorageClass         "Auto"
1368             DataLoggingNameMode     "SignalName"
1369           }
1370         }
1371         Block {
1372           BlockType               UnitDelay
1373           Name                    "Unit Delay"
1374           Position                [110, 23, 145, 57]
1375           SampleTime              "-1"
1376         }
1377         Block {
1378           BlockType               Outport
1379           Name                    "Odometry"
1380           Position                [500, 103, 530, 117]
1381           IconDisplay             "Port number"
1382           BusOutputAsStruct       off
1383         }
1384         Line {
1385           SrcBlock                "Gain"
1386           SrcPort                 1
1387           Points                  [0, 50]
1388           DstBlock                "Mux1"
1389           DstPort                 1
1390         }
1391         Line {
1392           SrcBlock                "Angle"
1393           SrcPort                 1
1394           DstBlock                "Gain"
1395           DstPort                 1
1396         }
1397         Line {
1398           SrcBlock                "Unit Delay"
1399           SrcPort                 1
1400           DstBlock                "Angle"
1401           DstPort                 1
1402         }
1403         Line {
1404           SrcBlock                "Difference"
1405           SrcPort                 1
1406           Points                  [5, 0]
1407           Branch {
1408             Points                  [0, 60]
1409             DstBlock                "Speed angle"
1410             DstPort                 1
1411           }
1412           Branch {
1413             DstBlock                "Speed XY"
1414             DstPort                 1
1415           }
1416         }
1417         Line {
1418           Name                    "dx, dy"
1419           Labels                  [0, 0]
1420           SrcBlock                "Speed XY"
1421           SrcPort                 1
1422           DstBlock                "Mux1"
1423           DstPort                 2
1424         }
1425         Line {
1426           Name                    "dangle"
1427           Labels                  [0, 0]
1428           SrcBlock                "Speed angle"
1429           SrcPort                 1
1430           Points                  [210, 0]
1431           DstBlock                "Mux2"
1432           DstPort                 2
1433         }
1434         Line {
1435           SrcBlock                "Mux2"
1436           SrcPort                 1
1437           DstBlock                "Odometry"
1438           DstPort                 1
1439         }
1440         Line {
1441           SrcBlock                "Rotate XY"
1442           SrcPort                 1
1443           DstBlock                "Mux2"
1444           DstPort                 1
1445         }
1446         Line {
1447           SrcBlock                "Mux1"
1448           SrcPort                 1
1449           DstBlock                "Rotate XY"
1450           DstPort                 1
1451         }
1452         Line {
1453           SrcBlock                "Pos"
1454           SrcPort                 1
1455           Points                  [10, 0]
1456           Branch {
1457             Points                  [0, -70]
1458             DstBlock                "Unit Delay"
1459             DstPort                 1
1460           }
1461           Branch {
1462             DstBlock                "Difference"
1463             DstPort                 1
1464           }
1465         }
1466       }
1467     }
1468     Block {
1469       BlockType               RandomNumber
1470       Name                    "Random\nNumber"
1471       Position                [350, 455, 380, 485]
1472       Orientation             "down"
1473       Variance                "(1/180*pi)^2"
1474       Seed                    "abs(rand(3,1)*10000)"
1475     }
1476     Block {
1477       BlockType               RateTransition
1478       Name                    "Rate Transition"
1479       Position                [135, 394, 175, 436]
1480       OutPortSampleTime       "1/3"
1481     }
1482     Block {
1483       BlockType               RateTransition
1484       Name                    "Rate Transition1"
1485       Position                [135, 494, 175, 536]
1486       Orientation             "left"
1487       X0                      "desc.initpos"
1488     }
1489     Block {
1490       BlockType               "S-Function"
1491       Name                    "S-Function2"
1492       Ports                   [0, 1]
1493       Position                [55, 94, 115, 126]
1494       BackgroundColor         "green"
1495       FunctionName            "sf_trgen"
1496       Parameters              "path, desc.initpos, desc.wayconstraints"
1497       MaskDisplay             "disp('Trajectory\\ngenerator')"
1498       MaskIconFrame           on
1499       MaskIconOpaque          on
1500       MaskIconRotate          "none"
1501       MaskIconUnits           "autoscale"
1502     }
1503     Block {
1504       BlockType               SubSystem
1505       Name                    "Subsystem"
1506       Ports                   [1, 1]
1507       Position                [310, 111, 435, 159]
1508       BackgroundColor         "yellow"
1509       MinAlgLoopOccurrences   off
1510       RTWSystemCode           "Auto"
1511       FunctionWithSeparateData off
1512       MaskHideContents        off
1513       MaskDisplay             "disp('Robot\\n\\n')\nport_label('input', 1, 'u="
1514 "(w1,w2)')\nport_label('output', 1, 'x=(X,Y,th)')"
1515       MaskIconFrame           on
1516       MaskIconOpaque          on
1517       MaskIconRotate          "none"
1518       MaskIconUnits           "autoscale"
1519       Port {
1520         PortNumber              1
1521         Name                    "Real robot position"
1522         PropagatedSignals       "x,y,phi [m,m,rad]"
1523         RTWStorageClass         "Auto"
1524         DataLoggingNameMode     "SignalName"
1525       }
1526       System {
1527         Name                    "Subsystem"
1528         Location                [121, 481, 955, 665]
1529         Open                    off
1530         ModelBrowserVisibility  off
1531         ModelBrowserWidth       200
1532         ScreenColor             "white"
1533         PaperOrientation        "landscape"
1534         PaperPositionMode       "auto"
1535         PaperType               "A4"
1536         PaperUnits              "centimeters"
1537         TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
1538         TiledPageScale          1
1539         ShowPageBoundaries      off
1540         ZoomFactor              "100"
1541         Block {
1542           BlockType               Inport
1543           Name                    "In1"
1544           Position                [15, 38, 45, 52]
1545           IconDisplay             "Port number"
1546           Port {
1547             PortNumber              1
1548             Name                    "rad/s"
1549             RTWStorageClass         "Auto"
1550             DataLoggingNameMode     "SignalName"
1551           }
1552         }
1553         Block {
1554           BlockType               Integrator
1555           Name                    "Integrator"
1556           Ports                   [1, 1]
1557           Position                [530, 40, 560, 70]
1558           InitialCondition        "desc.initpos"
1559           UpperSaturationLimit    "[area.w area.h Inf]"
1560           LowerSaturationLimit    "[0 0 -Inf]"
1561           IgnoreLimit             off
1562           Port {
1563             PortNumber              1
1564             Name                    "x,y,phi [m,m,rad]"
1565             RTWStorageClass         "Auto"
1566             DataLoggingNameMode     "SignalName"
1567           }
1568         }
1569         Block {
1570           BlockType               Reference
1571           Name                    "Manual Switch"
1572           Ports                   [2, 1]
1573           Position                [250, 27, 280, 63]
1574           SourceBlock             "simulink/Signal\nRouting/Manual Switch"
1575           SourceType              "Manual Switch"
1576           ShowPortLabels          "FromPortIcon"
1577           SystemSampleTime        "-1"
1578           FunctionWithSeparateData "off"
1579           RTWMemSecFuncInitTerm   "Inherit from model"
1580           RTWMemSecFuncExecute    "Inherit from model"
1581           RTWMemSecDataConstants  "Inherit from model"
1582           RTWMemSecDataInternal   "Inherit from model"
1583           RTWMemSecDataParameters "Inherit from model"
1584           sw                      "1"
1585           action                  "0"
1586           varsize                 "off"
1587         }
1588         Block {
1589           BlockType               Mux
1590           Name                    "Mux1"
1591           Ports                   [2, 1]
1592           Position                [380, 36, 385, 74]
1593           ShowName                off
1594           Inputs                  "2"
1595           DisplayOption           "bar"
1596         }
1597         Block {
1598           BlockType               Selector
1599           Name                    "Selector"
1600           Ports                   [1, 1]
1601           Position                [420, 121, 460, 159]
1602           Orientation             "left"
1603           IndexOptions            "Index vector (dialog)"
1604           Indices                 "[3]"
1605           OutputSizes             "1"
1606           InputPortWidth          "3"
1607           Port {
1608             PortNumber              1
1609             Name                    "angle"
1610             RTWStorageClass         "Auto"
1611             DataLoggingNameMode     "SignalName"
1612           }
1613         }
1614         Block {
1615           BlockType               Gain
1616           Name                    "Wheel\nradius"
1617           Position                [90, 27, 135, 63]
1618           Gain                    "robot.wheelr"
1619           ParameterDataTypeMode   "Inherit via internal rule"
1620           OutDataTypeMode         "Inherit via internal rule"
1621           SaturateOnIntegerOverflow off
1622           Port {
1623             PortNumber              1
1624             Name                    "m/s"
1625             RTWStorageClass         "Auto"
1626             DataLoggingNameMode     "SignalName"
1627           }
1628         }
1629         Block {
1630           BlockType               MATLABFcn
1631           Name                    "kinematics"
1632           Ports                   [1, 1]
1633           Position                [430, 40, 490, 70]
1634           MATLABFcn               "kinematics"
1635         }
1636         Block {
1637           BlockType               RateLimiter
1638           Name                    "max acc"
1639           Position                [190, 20, 220, 50]
1640           RisingSlewLimit         "3"
1641           FallingSlewLimit        "-3"
1642           SampleTimeMode          "inherited"
1643         }
1644         Block {
1645           BlockType               Saturate
1646           Name                    "max m/s"
1647           Position                [320, 30, 350, 60]
1648           UpperLimit              "2"
1649           LowerLimit              "-2"
1650         }
1651         Block {
1652           BlockType               Outport
1653           Name                    "Out1"
1654           Position                [725, 48, 755, 62]
1655           IconDisplay             "Port number"
1656           BusOutputAsStruct       off
1657         }
1658         Line {
1659           SrcBlock                "kinematics"
1660           SrcPort                 1
1661           DstBlock                "Integrator"
1662           DstPort                 1
1663         }
1664         Line {
1665           Name                    "x,y,phi [m,m,rad]"
1666           SrcBlock                "Integrator"
1667           SrcPort                 1
1668           Points                  [20, 0]
1669           Branch {
1670             Points                  [0, 85]
1671             DstBlock                "Selector"
1672             DstPort                 1
1673           }
1674           Branch {
1675             Labels                  [1, 0; 1, 1]
1676             DstBlock                "Out1"
1677             DstPort                 1
1678           }
1679         }
1680         Line {
1681           SrcBlock                "Mux1"
1682           SrcPort                 1
1683           DstBlock                "kinematics"
1684           DstPort                 1
1685         }
1686         Line {
1687           Name                    "angle"
1688           Labels                  [0, 0]
1689           SrcBlock                "Selector"
1690           SrcPort                 1
1691           Points                  [-60, 0; 0, -75]
1692           DstBlock                "Mux1"
1693           DstPort                 2
1694         }
1695         Line {
1696           Name                    "rad/s"
1697           Labels                  [0, 0]
1698           SrcBlock                "In1"
1699           SrcPort                 1
1700           DstBlock                "Wheel\nradius"
1701           DstPort                 1
1702         }
1703         Line {
1704           SrcBlock                "max m/s"
1705           SrcPort                 1
1706           DstBlock                "Mux1"
1707           DstPort                 1
1708         }
1709         Line {
1710           SrcBlock                "Manual Switch"
1711           SrcPort                 1
1712           DstBlock                "max m/s"
1713           DstPort                 1
1714         }
1715         Line {
1716           SrcBlock                "max acc"
1717           SrcPort                 1
1718           DstBlock                "Manual Switch"
1719           DstPort                 1
1720         }
1721         Line {
1722           Name                    "m/s"
1723           Labels                  [0, 0]
1724           SrcBlock                "Wheel\nradius"
1725           SrcPort                 1
1726           Points                  [20, 0]
1727           Branch {
1728             Points                  [0, -10]
1729             DstBlock                "max acc"
1730             DstPort                 1
1731           }
1732           Branch {
1733             Points                  [0, 25; 75, 0]
1734             DstBlock                "Manual Switch"
1735             DstPort                 2
1736           }
1737         }
1738       }
1739     }
1740     Block {
1741       BlockType               Sum
1742       Name                    "Sum"
1743       Ports                   [2, 1]
1744       Position                [305, 405, 325, 425]
1745       ShowName                off
1746       IconShape               "round"
1747       Inputs                  "|++"
1748       CollapseMode            "All dimensions"
1749       InputSameDT             off
1750       OutDataTypeMode         "Inherit via internal rule"
1751       SaturateOnIntegerOverflow off
1752     }
1753     Block {
1754       BlockType               Reference
1755       Name                    "Switch"
1756       Ports                   [2, 1]
1757       Position                [365, 387, 395, 423]
1758       SourceBlock             "simulink/Signal\nRouting/Manual Switch"
1759       SourceType              "Manual Switch"
1760       ShowPortLabels          "FromPortIcon"
1761       SystemSampleTime        "-1"
1762       FunctionWithSeparateData off
1763       RTWMemSecFuncInitTerm   "Inherit from model"
1764       RTWMemSecFuncExecute    "Inherit from model"
1765       RTWMemSecDataConstants  "Inherit from model"
1766       RTWMemSecDataInternal   "Inherit from model"
1767       RTWMemSecDataParameters "Inherit from model"
1768       sw                      "0"
1769       action                  "0"
1770       varsize                 off
1771     }
1772     Block {
1773       BlockType               Reference
1774       Name                    "Switch1"
1775       Ports                   [2, 1]
1776       Position                [345, 287, 375, 323]
1777       SourceBlock             "simulink/Signal\nRouting/Manual Switch"
1778       SourceType              "Manual Switch"
1779       ShowPortLabels          "FromPortIcon"
1780       SystemSampleTime        "-1"
1781       FunctionWithSeparateData off
1782       RTWMemSecFuncInitTerm   "Inherit from model"
1783       RTWMemSecFuncExecute    "Inherit from model"
1784       RTWMemSecDataConstants  "Inherit from model"
1785       RTWMemSecDataInternal   "Inherit from model"
1786       RTWMemSecDataParameters "Inherit from model"
1787       sw                      "0"
1788       action                  "0"
1789       varsize                 off
1790     }
1791     Block {
1792       BlockType               ToWorkspace
1793       Name                    "To Workspace"
1794       Position                [310, 45, 370, 75]
1795       VariableName            "trajectory"
1796       MaxDataPoints           "inf"
1797       SampleTime              "-1"
1798       SaveFormat              "Structure With Time"
1799     }
1800     Block {
1801       BlockType               "M-S-Function"
1802       Name                    "draw probability bitmap"
1803       Ports                   [1]
1804       Position                [725, 393, 815, 427]
1805       ForegroundColor         "gray"
1806       BackgroundColor         "black"
1807       NamePlacement           "alternate"
1808       FunctionName            "sfdrawbitmap"
1809     }
1810     Line {
1811       SrcBlock                "Controller"
1812       SrcPort                 1
1813       DstBlock                "Gain"
1814       DstPort                 1
1815     }
1816     Line {
1817       Name                    "Real robot position"
1818       SrcBlock                "Subsystem"
1819       SrcPort                 1
1820       Points                  [20, 0]
1821       Branch {
1822         Points                  [210, 0]
1823         Branch {
1824           Labels                  [-1, 1]
1825           DstBlock                "Level-2 M-file\nS-Function"
1826           DstPort                 1
1827         }
1828         Branch {
1829           Points                  [0, 90]
1830           DstBlock                "Graphs"
1831           DstPort                 1
1832         }
1833       }
1834       Branch {
1835         Labels                  [2, 0]
1836         Points                  [0, 70; -360, 0]
1837         Branch {
1838           Points                  [0, -40]
1839           DstBlock                "Manual Switch"
1840           DstPort                 2
1841         }
1842         Branch {
1843           Points                  [0, 110]
1844           Branch {
1845             Points                  [0, 100]
1846             DstBlock                "Rate Transition"
1847             DstPort                 1
1848           }
1849           Branch {
1850             DstBlock                "Pos to deltas"
1851             DstPort                 1
1852           }
1853         }
1854       }
1855     }
1856     Line {
1857       SrcBlock                "Clock"
1858       SrcPort                 1
1859       DstBlock                "Display"
1860       DstPort                 1
1861     }
1862     Line {
1863       SrcBlock                "Manual Switch"
1864       SrcPort                 1
1865       DstBlock                "Controller"
1866       DstPort                 2
1867     }
1868     Line {
1869       SrcBlock                "Rate Transition1"
1870       SrcPort                 1
1871       Points                  [-50, 0; 0, -370]
1872       DstBlock                "Manual Switch"
1873       DstPort                 1
1874     }
1875     Line {
1876       SrcBlock                "Gain"
1877       SrcPort                 1
1878       DstBlock                "Subsystem"
1879       DstPort                 1
1880     }
1881     Line {
1882       SrcBlock                "MCL"
1883       SrcPort                 1
1884       Points                  [50, 0]
1885       Branch {
1886         Points                  [0, -50]
1887         DstBlock                "Graphs"
1888         DstPort                 2
1889       }
1890       Branch {
1891         Points                  [0, 0]
1892         Branch {
1893           DstBlock                "Level-2 M-file\nS-Function1"
1894           DstPort                 1
1895         }
1896         Branch {
1897           Points                  [0, 210]
1898           DstBlock                "Rate Transition1"
1899           DstPort                 1
1900         }
1901       }
1902     }
1903     Line {
1904       SrcBlock                "Measurement"
1905       SrcPort                 1
1906       DstBlock                "Sum"
1907       DstPort                 1
1908     }
1909     Line {
1910       SrcBlock                "Sum"
1911       SrcPort                 1
1912       DstBlock                "Switch"
1913       DstPort                 2
1914     }
1915     Line {
1916       SrcBlock                "Random\nNumber"
1917       SrcPort                 1
1918       Points                  [0, 5]
1919       DstBlock                "Measurement noise\nstd. deviation [deg]"
1920       DstPort                 1
1921     }
1922     Line {
1923       SrcBlock                "Measurement noise\nstd. deviation [deg]"
1924       SrcPort                 1
1925       DstBlock                "Sum"
1926       DstPort                 2
1927     }
1928     Line {
1929       SrcBlock                "No laser"
1930       SrcPort                 1
1931       Points                  [65, 0]
1932       DstBlock                "Switch"
1933       DstPort                 1
1934     }
1935     Line {
1936       Labels                  [0, 0]
1937       SrcBlock                "Rate Transition"
1938       SrcPort                 1
1939       DstBlock                "Measurement"
1940       DstPort                 1
1941     }
1942     Line {
1943       SrcBlock                "MCL"
1944       SrcPort                 2
1945       Points                  [15, 0; 0, 70]
1946       DstBlock                "draw probability bitmap"
1947       DstPort                 1
1948     }
1949     Line {
1950       SrcBlock                "Switch"
1951       SrcPort                 1
1952       Points                  [5, 0; 0, -65]
1953       Branch {
1954         DstBlock                "MCL"
1955         DstPort                 2
1956       }
1957       Branch {
1958         Points                  [0, -100; 205, 0; 0, -80]
1959         DstBlock                "Level-2 M-file\nS-Function"
1960         DstPort                 2
1961       }
1962     }
1963     Line {
1964       SrcBlock                "S-Function2"
1965       SrcPort                 1
1966       Points                  [25, 0]
1967       Branch {
1968         DstBlock                "Controller"
1969         DstPort                 1
1970       }
1971       Branch {
1972         Points                  [0, -70; 130, 0]
1973         Branch {
1974           DstBlock                "Level-2 M-file\nS-Function2"
1975           DstPort                 1
1976         }
1977         Branch {
1978           Points                  [0, 20]
1979           DstBlock                "To Workspace"
1980           DstPort                 1
1981         }
1982       }
1983     }
1984     Line {
1985       SrcBlock                "Switch1"
1986       SrcPort                 1
1987       DstBlock                "MCL"
1988       DstPort                 1
1989     }
1990     Line {
1991       SrcBlock                "Pos to deltas"
1992       SrcPort                 1
1993       DstBlock                "Switch1"
1994       DstPort                 2
1995     }
1996     Line {
1997       SrcBlock                "No odometry"
1998       SrcPort                 1
1999       Points                  [15, 0; 0, 15]
2000       DstBlock                "Switch1"
2001       DstPort                 1
2002     }
2003   }
2004 }
2005
2006 # Finite State Machines
2007 #
2008 #    Stateflow Version 6.6 (R2007a) dated Jan 30 2007, 01:07:16
2009 #
2010 #
2011
2012 Stateflow {
2013
2014         machine {
2015                 id                              1
2016                 name                            "reg_mcl"
2017                 created                         "29-Mar-2007 23:42:20"
2018                 isLibrary                       0
2019                 firstTarget                     2
2020                 sfVersion                       66014000
2021         }
2022
2023         target {
2024                 id                                      2
2025                 name                                    "sfun"
2026                 description                             "Default Simulink S-Function Target."
2027                 machine                                 1
2028                 linkNode                                [1 0 0]
2029         }
2030 }