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    "1.329"
  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        "Wed Apr 30 07:42:20 2008"
  52   ModelVersionFormat      "1.%<AutoIncrement:329>"
  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               Demux
 498       Outputs                 "4"
 499       DisplayOption           "none"
 500       BusSelectionMode        off
 501     }
 502     Block {
 503       BlockType               Display
 504       Format                  "short"
 505       Decimation              "10"
 506       Floating                off
 507       SampleTime              "-1"
 508     }
 509     Block {
 510       BlockType               EnablePort
 511       StatesWhenEnabling      "held"
 512       ShowOutputPort          off
 513       ZeroCross               on
 514     }
 515     Block {
 516       BlockType               Gain
 517       Gain                    "1"
 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)"
 525       OutScaling              "2^0"
 526       LockScale               off
 527       RndMeth                 "Floor"
 528       SaturateOnIntegerOverflow on
 529       SampleTime              "-1"
 530     }
 531     Block {
 532       BlockType               Ground
 533     }
 534     Block {
 535       BlockType               HitCross
 536       HitCrossingOffset       "0"
 537       HitCrossingDirection    "either"
 538       ShowOutputPort          on
 539       ZeroCross               on
 540       SampleTime              "-1"
 541     }
 542     Block {
 543       BlockType               Inport
 544       Port                    "1"
 545       UseBusObject            off
 546       BusObject               "BusObject"
 547       BusOutputAsStruct       off
 548       PortDimensions          "-1"
 549       SampleTime              "-1"
 550       DataType                "auto"
 551       OutDataType             "sfix(16)"
 552       OutScaling              "2^0"
 553       SignalType              "auto"
 554       SamplingMode            "auto"
 555       LatchByDelayingOutsideSignal off
 556       LatchByCopyingInsideSignal off
 557       Interpolate             on
 558     }
 559     Block {
 560       BlockType               Integrator
 561       ExternalReset           "none"
 562       InitialConditionSource  "internal"
 563       InitialCondition        "0"
 564       LimitOutput             off
 565       UpperSaturationLimit    "inf"
 566       LowerSaturationLimit    "-inf"
 567       ShowSaturationPort      off
 568       ShowStatePort           off
 569       AbsoluteTolerance       "auto"
 570       IgnoreLimit             off
 571       ZeroCross               on
 572       ContinuousStateAttributes "''"
 573     }
 574     Block {
 575       BlockType               MATLABFcn
 576       MATLABFcn               "sin"
 577       OutputDimensions        "-1"
 578       OutputSignalType        "auto"
 579       Output1D                on
 580       SampleTime              "-1"
 581     }
 582     Block {
 583       BlockType               "M-S-Function"
 584       FunctionName            "mlfile"
 585       DisplayMFileStacktrace  on
 586     }
 587     Block {
 588       BlockType               SignalViewerScope
 589       Floating                off
 590       ModelBased              off
 591       TickLabels              "OneTimeTick"
 592       ZoomMode                "on"
 593       Grid                    "on"
 594       TimeRange               "auto"
 595       YMin                    "-5"
 596       YMax                    "5"
 597       SaveToWorkspace         off
 598       SaveName                "ScopeData"
 599       LimitDataPoints         on
 600       MaxDataPoints           "5000"
 601       Decimation              "1"
 602       SampleInput             off
 603       SampleTime              "0"
 604       Disabled                off
 605       ScrollMode              on
 606     }
 607     Block {
 608       BlockType               Mux
 609       Inputs                  "4"
 610       DisplayOption           "none"
 611       UseBusObject            off
 612       BusObject               "BusObject"
 613       NonVirtualBus           off
 614     }
 615     Block {
 616       BlockType               Outport
 617       Port                    "1"
 618       UseBusObject            off
 619       BusObject               "BusObject"
 620       BusOutputAsStruct       off
 621       PortDimensions          "-1"
 622       SampleTime              "-1"
 623       DataType                "auto"
 624       OutDataType             "sfix(16)"
 625       OutScaling              "2^0"
 626       SignalType              "auto"
 627       SamplingMode            "auto"
 628       OutputWhenDisabled      "held"
 629       InitialOutput           "[]"
 630     }
 631     Block {
 632       BlockType               RandomNumber
 633       Mean                    "0"
 634       Variance                "1"
 635       Seed                    "0"
 636       SampleTime              "-1"
 637       VectorParams1D          on
 638     }
 639     Block {
 640       BlockType               RateTransition
 641       Integrity               on
 642       Deterministic           on
 643       X0                      "0"
 644       OutPortSampleTime       "-1"
 645     }
 646     Block {
 647       BlockType               RateLimiter
 648       RisingSlewLimit         "1"
 649       FallingSlewLimit        "-1"
 650       SampleTimeMode          "continuous"
 651       InitialCondition        "0"
 652       LinearizeAsGain         on
 653     }
 654     Block {
 655       BlockType               RelationalOperator
 656       Operator                ">="
 657       InputSameDT             on
 658       LogicOutDataTypeMode    "Logical (see Configuration Parameters: Optimiza"
 659 "tion)"
 660       LogicDataType           "uint(8)"
 661       ZeroCross               on
 662       SampleTime              "-1"
 663     }
 664     Block {
 665       BlockType               Saturate
 666       UpperLimit              "0.5"
 667       LowerLimit              "-0.5"
 668       LinearizeAsGain         on
 669       ZeroCross               on
 670       SampleTime              "-1"
 671     }
 672     Block {
 673       BlockType               Scope
 674       ModelBased              off
 675       TickLabels              "OneTimeTick"
 676       ZoomMode                "on"
 677       Grid                    "on"
 678       TimeRange               "auto"
 679       YMin                    "-5"
 680       YMax                    "5"
 681       SaveToWorkspace         off
 682       SaveName                "ScopeData"
 683       LimitDataPoints         on
 684       MaxDataPoints           "5000"
 685       Decimation              "1"
 686       SampleInput             off
 687       SampleTime              "-1"
 688     }
 689     Block {
 690       BlockType               Selector
 691       NumberOfDimensions      "1"
 692       IndexMode               "One-based"
 693       InputPortWidth          "-1"
 694       SampleTime              "-1"
 695     }
 696     Block {
 697       BlockType               "S-Function"
 698       FunctionName            "system"
 699       SFunctionModules        "''"
 700       PortCounts              "[]"
 701     }
 702     Block {
 703       BlockType               SignalSpecification
 704       Dimensions              "-1"
 705       SampleTime              "-1"
 706       DataType                "auto"
 707       OutDataType             "sfix(16)"
 708       OutScaling              "2^0"
 709       SignalType              "auto"
 710       SamplingMode            "auto"
 711     }
 712     Block {
 713       BlockType               SubSystem
 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"
 726       SimViewingDevice        off
 727       DataTypeOverride        "UseLocalSettings"
 728       MinMaxOverflowLogging   "UseLocalSettings"
 729     }
 730     Block {
 731       BlockType               Sum
 732       IconShape               "rectangular"
 733       Inputs                  "++"
 734       CollapseMode            "All dimensions"
 735       CollapseDim             "1"
 736       InputSameDT             on
 737       OutDataTypeMode         "Same as first input"
 738       OutDataType             "sfix(16)"
 739       OutScaling              "2^0"
 740       LockScale               off
 741       RndMeth                 "Floor"
 742       SaturateOnIntegerOverflow on
 743       SampleTime              "-1"
 744     }
 745     Block {
 746       BlockType               Switch
 747       Criteria                "u2 >= Threshold"
 748       Threshold               "0"
 749       InputSameDT             on
 750       OutDataTypeMode         "Inherit via internal rule"
 751       RndMeth                 "Floor"
 752       SaturateOnIntegerOverflow on
 753       ZeroCross               on
 754       SampleTime              "-1"
 755     }
 756     Block {
 757       BlockType               TriggerPort
 758       TriggerType             "rising"
 759       StatesWhenEnabling      "inherit"
 760       ShowOutputPort          off
 761       OutputDataType          "auto"
 762       SampleTimeType          "triggered"
 763       SampleTime              "1"
 764       ZeroCross               on
 765     }
 766     Block {
 767       BlockType               UnitDelay
 768       X0                      "0"
 769       SampleTime              "1"
 770       StateMustResolveToSignalObject off
 771       RTWStateStorageClass    "Auto"
 772     }
 773   }
 774   AnnotationDefaults {
 775     HorizontalAlignment     "center"
 776     VerticalAlignment       "middle"
 777     ForegroundColor         "black"
 778     BackgroundColor         "white"
 779     DropShadow              off
 780     FontName                "Arial"
 781     FontSize                10
 782     FontWeight              "normal"
 783     FontAngle               "normal"
 784     UseDisplayTextAsClickCallback off
 785   }
 786   LineDefaults {
 787     FontName                "Arial"
 788     FontSize                9
 789     FontWeight              "normal"
 790     FontAngle               "normal"
 791   }
 792   System {
 793     Name                    "reg_mcl"
 794     Location                [118, 523, 973, 1000]
 795     Open                    on
 796     ModelBrowserVisibility  off
 797     ModelBrowserWidth       200
 798     ScreenColor             "white"
 799     PaperOrientation        "landscape"
 800     PaperPositionMode       "auto"
 801     PaperType               "A4"
 802     PaperUnits              "centimeters"
 803     TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
 804     TiledPageScale          1
 805     ShowPageBoundaries      off
 806     ZoomFactor              "100"
 807     ReportName              "simulink-default.rpt"
 808     Block {
 809       BlockType               SubSystem
 810       Name                    " "
 811       Ports                   []
 812       Position                [30, 14, 100, 48]
 813       OpenFcn                 "path=diag([area.w area.h])*rand(2,8)\nsim('reg_"
 814 "mcl',0)                    "
 815       MinAlgLoopOccurrences   off
 816       RTWSystemCode           "Auto"
 817       FunctionWithSeparateData off
 818       MaskHideContents        off
 819       MaskDisplay             "disp('Random path')"
 820       MaskIconFrame           on
 821       MaskIconOpaque          on
 822       MaskIconRotate          "none"
 823       MaskIconUnits           "autoscale"
 824       System {
 825         Name                    " "
 826         Location                [433, 403, 931, 703]
 827         Open                    off
 828         ModelBrowserVisibility  off
 829         ModelBrowserWidth       200
 830         ScreenColor             "white"
 831         PaperOrientation        "landscape"
 832         PaperPositionMode       "auto"
 833         PaperType               "A4"
 834         PaperUnits              "centimeters"
 835         TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
 836         TiledPageScale          1
 837         ShowPageBoundaries      off
 838         ZoomFactor              "100"
 839       }
 840     }
 841     Block {
 842       BlockType               SubSystem
 843       Name                    " 2"
 844       Ports                   []
 845       Position                [15, 54, 121, 89]
 846       Priority                "0"
 847       MinAlgLoopOccurrences   off
 848       RTWSystemCode           "Auto"
 849       FunctionWithSeparateData off
 850       MaskHideContents        off
 851       MaskDisplay             "disp(sprintf('Sample time: %g', move_sample_tim"
 852 "e))"
 853       MaskIconFrame           on
 854       MaskIconOpaque          on
 855       MaskIconRotate          "none"
 856       MaskIconUnits           "autoscale"
 857       System {
 858         Name                    " 2"
 859         Location                [433, 403, 931, 703]
 860         Open                    off
 861         ModelBrowserVisibility  off
 862         ModelBrowserWidth       200
 863         ScreenColor             "white"
 864         PaperOrientation        "landscape"
 865         PaperPositionMode       "auto"
 866         PaperType               "A4"
 867         PaperUnits              "centimeters"
 868         TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
 869         TiledPageScale          1
 870         ShowPageBoundaries      off
 871         ZoomFactor              "100"
 872       }
 873     }
 874     Block {
 875       BlockType               Clock
 876       Name                    "Clock"
 877       Position                [245, 55, 265, 75]
 878       Decimation              "10"
 879     }
 880     Block {
 881       BlockType               "S-Function"
 882       Name                    "Controller"
 883       Ports                   [2, 1]
 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)')"
 890       MaskIconFrame           on
 891       MaskIconOpaque          on
 892       MaskIconRotate          "none"
 893       MaskIconUnits           "autoscale"
 894     }
 895     Block {
 896       BlockType               Display
 897       Name                    "Display"
 898       Ports                   [1]
 899       Position                [295, 51, 380, 79]
 900       Lockdown                off
 901     }
 902     Block {
 903       BlockType               "M-S-Function"
 904       Name                    "Estimated\nposition"
 905       Ports                   [2]
 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"
 912       MaskIconFrame           on
 913       MaskIconOpaque          on
 914       MaskIconRotate          "none"
 915       MaskIconUnits           "autoscale"
 916     }
 917     Block {
 918       BlockType               SubSystem
 919       Name                    "Graphs"
 920       Ports                   [2]
 921       Position                [725, 180, 825, 240]
 922       MinAlgLoopOccurrences   off
 923       RTWSystemCode           "Auto"
 924       FunctionWithSeparateData off
 925       MaskHideContents        off
 926       System {
 927         Name                    "Graphs"
 928         Location                [478, 120, 998, 439]
 929         Open                    off
 930         ModelBrowserVisibility  off
 931         ModelBrowserWidth       200
 932         ScreenColor             "white"
 933         PaperOrientation        "landscape"
 934         PaperPositionMode       "auto"
 935         PaperType               "A4"
 936         PaperUnits              "centimeters"
 937         TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
 938         TiledPageScale          1
 939         ShowPageBoundaries      off
 940         ZoomFactor              "100"
 941         Block {
 942           BlockType               Inport
 943           Name                    "Pos"
 944           Position                [25, 108, 55, 122]
 945           IconDisplay             "Port number"
 946         }
 947         Block {
 948           BlockType               Inport
 949           Name                    "Est pos"
 950           Position                [25, 223, 55, 237]
 951           Port                    "2"
 952           IconDisplay             "Port number"
 953         }
 954         Block {
 955           BlockType               Scope
 956           Name                    "Angle"
 957           Ports                   [1]
 958           Position                [410, 109, 440, 141]
 959           Floating                off
 960           Location                [437, 630, 1088, 998]
 961           Open                    off
 962           NumInputPorts           "1"
 963           List {
 964             ListType                AxesTitles
 965             axes1                   "%<SignalLabel>"
 966           }
 967           TimeRange               "100"
 968           YMin                    "-1000"
 969           YMax                    "8000"
 970           SaveName                "ScopeData1"
 971           DataFormat              "StructureWithTime"
 972           SampleTime              "0"
 973         }
 974         Block {
 975           BlockType               Gain
 976           Name                    "Gain"
 977           Position                [295, 109, 330, 141]
 978           Gain                    "180/pi"
 979           ParameterDataTypeMode   "Inherit via internal rule"
 980           OutDataTypeMode         "Inherit via internal rule"
 981           SaturateOnIntegerOverflow off
 982           Port {
 983             PortNumber              1
 984             Name                    "Angle [deg]"
 985             RTWStorageClass         "Auto"
 986             DataLoggingNameMode     "SignalName"
 987           }
 988         }
 989         Block {
 990           BlockType               Mux
 991           Name                    "Mux"
 992           Ports                   [2, 1]
 993           Position                [250, 46, 255, 84]
 994           ShowName                off
 995           Inputs                  "2"
 996           DisplayOption           "bar"
 997           Port {
 998             PortNumber              1
 999             Name                    "Position [m]"
1000             RTWStorageClass         "Auto"
1001             DataLoggingNameMode     "SignalName"
1002           }
1003         }
1004         Block {
1005           BlockType               Mux
1006           Name                    "Mux1"
1007           Ports                   [2, 1]
1008           Position                [250, 106, 255, 144]
1009           ShowName                off
1010           Inputs                  "2"
1011           DisplayOption           "bar"
1012         }
1013         Block {
1014           BlockType               Selector
1015           Name                    "Selector"
1016           Ports                   [1, 1]
1017           Position                [110, 36, 150, 74]
1018           IndexOptions            "Index vector (dialog)"
1019           Indices                 "[1 2]"
1020           OutputSizes             "1"
1021           InputPortWidth          "3"
1022         }
1023         Block {
1024           BlockType               Selector
1025           Name                    "Selector1"
1026           Ports                   [1, 1]
1027           Position                [110, 96, 150, 134]
1028           IndexOptions            "Index vector (dialog)"
1029           Indices                 "3"
1030           OutputSizes             "1"
1031           InputPortWidth          "3"
1032         }
1033         Block {
1034           BlockType               Selector
1035           Name                    "Selector2"
1036           Ports                   [1, 1]
1037           Position                [110, 236, 150, 274]
1038           IndexOptions            "Index vector (dialog)"
1039           Indices                 "3"
1040           OutputSizes             "1"
1041           InputPortWidth          "3"
1042         }
1043         Block {
1044           BlockType               Selector
1045           Name                    "Selector3"
1046           Ports                   [1, 1]
1047           Position                [110, 171, 150, 209]
1048           IndexOptions            "Index vector (dialog)"
1049           Indices                 "[1 2]"
1050           OutputSizes             "1"
1051           InputPortWidth          "3"
1052         }
1053         Block {
1054           BlockType               Scope
1055           Name                    "XY"
1056           Ports                   [1]
1057           Position                [410, 49, 440, 81]
1058           Floating                off
1059           Location                [431, 91, 1074, 488]
1060           Open                    off
1061           NumInputPorts           "1"
1062           ZoomMode                "xonly"
1063           List {
1064             ListType                AxesTitles
1065             axes1                   "%<SignalLabel>"
1066           }
1067           TimeRange               "100"
1068           YMin                    "-0.5"
1069           YMax                    "4"
1070           DataFormat              "StructureWithTime"
1071           SampleTime              "0"
1072         }
1073         Line {
1074           Name                    "Angle [deg]"
1075           Labels                  [0, 0]
1076           SrcBlock                "Gain"
1077           SrcPort                 1
1078           DstBlock                "Angle"
1079           DstPort                 1
1080         }
1081         Line {
1082           SrcBlock                "Selector2"
1083           SrcPort                 1
1084           Points                  [80, 0]
1085           DstBlock                "Mux1"
1086           DstPort                 2
1087         }
1088         Line {
1089           SrcBlock                "Selector1"
1090           SrcPort                 1
1091           DstBlock                "Mux1"
1092           DstPort                 1
1093         }
1094         Line {
1095           SrcBlock                "Mux1"
1096           SrcPort                 1
1097           DstBlock                "Gain"
1098           DstPort                 1
1099         }
1100         Line {
1101           SrcBlock                "Selector3"
1102           SrcPort                 1
1103           Points                  [40, 0; 0, -115]
1104           DstBlock                "Mux"
1105           DstPort                 2
1106         }
1107         Line {
1108           Name                    "Position [m]"
1109           Labels                  [0, 0]
1110           SrcBlock                "Mux"
1111           SrcPort                 1
1112           DstBlock                "XY"
1113           DstPort                 1
1114         }
1115         Line {
1116           SrcBlock                "Selector"
1117           SrcPort                 1
1118           DstBlock                "Mux"
1119           DstPort                 1
1120         }
1121         Line {
1122           SrcBlock                "Est pos"
1123           SrcPort                 1
1124           Points                  [0, -15; 15, 0]
1125           Branch {
1126             Points                  [0, 40]
1127             DstBlock                "Selector2"
1128             DstPort                 1
1129           }
1130           Branch {
1131             Points                  [0, -25]
1132             DstBlock                "Selector3"
1133             DstPort                 1
1134           }
1135         }
1136         Line {
1137           SrcBlock                "Pos"
1138           SrcPort                 1
1139           Points                  [15, 0]
1140           Branch {
1141             DstBlock                "Selector1"
1142             DstPort                 1
1143           }
1144           Branch {
1145             Points                  [0, -60]
1146             DstBlock                "Selector"
1147             DstPort                 1
1148           }
1149         }
1150       }
1151     }
1152     Block {
1153       BlockType               "S-Function"
1154       Name                    "MCL"
1155       Ports                   [2, 2]
1156       Position                [215, 313, 395, 382]
1157       Orientation             "left"
1158       BackgroundColor         "green"
1159       ShowName                off
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"
1172 "=@4;"
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')"
1176       MaskIconFrame           on
1177       MaskIconOpaque          on
1178       MaskIconRotate          "none"
1179       MaskIconUnits           "autoscale"
1180       MaskValueString         "3000|0.01|5/180*pi|10/180*pi"
1181       MaskTabNameString       ",,,"
1182       Port {
1183         PortNumber              1
1184         Name                    "Estimated position"
1185         RTWStorageClass         "Auto"
1186         DataLoggingNameMode     "SignalName"
1187       }
1188     }
1189     Block {
1190       BlockType               Reference
1191       Name                    "Manual Switch"
1192       Ports                   [2, 1]
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"
1204       sw                      "1"
1205       action                  "0"
1206       varsize                 off
1207     }
1208     Block {
1209       BlockType               Ground
1210       Name                    "No laser"
1211       Position                [530, 220, 550, 240]
1212     }
1213     Block {
1214       BlockType               Ground
1215       Name                    "No odometry"
1216       Position                [470, 220, 490, 240]
1217       Orientation             "left"
1218     }
1219     Block {
1220       BlockType               RateTransition
1221       Name                    "Rate Transition1"
1222       Position                [55, 309, 95, 351]
1223       Orientation             "left"
1224       X0                      "desc.initpos"
1225     }
1226     Block {
1227       BlockType               RateTransition
1228       Name                    "Rate Transition2"
1229       Position                [49, 230, 91, 270]
1230       Orientation             "up"
1231       X0                      "desc.initpos"
1232     }
1233     Block {
1234       BlockType               "M-S-Function"
1235       Name                    "Real\nposition"
1236       Ports                   [2]
1237       Position                [725, 94, 785, 141]
1238       BackgroundColor         "cyan"
1239       FunctionName            "sfdrawrobot"
1240       Parameters              "desc,0"
1241       MaskDisplay             "disp('Drawer')\nport_label('input', 1, 'x')\npo"
1242 "rt_label('input', 2, 'y')\n"
1243       MaskIconFrame           on
1244       MaskIconOpaque          on
1245       MaskIconRotate          "none"
1246       MaskIconUnits           "autoscale"
1247     }
1248     Block {
1249       BlockType               "M-S-Function"
1250       Name                    "Reference\nposition"
1251       Ports                   [2]
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"
1258       MaskIconFrame           on
1259       MaskIconOpaque          on
1260       MaskIconRotate          "none"
1261       MaskIconUnits           "autoscale"
1262     }
1263     Block {
1264       BlockType               SubSystem
1265       Name                    "Robot kinematics"
1266       Ports                   [1, 2]
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"
1275 "o=(dx,dy,da)')"
1276       MaskIconFrame           on
1277       MaskIconOpaque          on
1278       MaskIconRotate          "none"
1279       MaskIconUnits           "autoscale"
1280       Port {
1281         PortNumber              1
1282         Name                    "Real robot position"
1283         PropagatedSignals       "x,y,phi [m,m,rad]"
1284         RTWStorageClass         "Auto"
1285         DataLoggingNameMode     "SignalName"
1286       }
1287       System {
1288         Name                    "Robot kinematics"
1289         Location                [4, 55, 1176, 412]
1290         Open                    off
1291         ModelBrowserVisibility  off
1292         ModelBrowserWidth       200
1293         ScreenColor             "white"
1294         PaperOrientation        "landscape"
1295         PaperPositionMode       "auto"
1296         PaperType               "A4"
1297         PaperUnits              "centimeters"
1298         TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
1299         TiledPageScale          1
1300         ShowPageBoundaries      off
1301         ZoomFactor              "100"
1302         Block {
1303           BlockType               Inport
1304           Name                    "In1"
1305           Position                [20, 38, 50, 52]
1306           IconDisplay             "Port number"
1307           Port {
1308             PortNumber              1
1309             Name                    "(v,w)"
1310             RTWStorageClass         "Auto"
1311             DataLoggingNameMode     "SignalName"
1312           }
1313         }
1314         Block {
1315           BlockType               Selector
1316           Name                    "Angle"
1317           Ports                   [1, 1]
1318           Position                [675, 151, 715, 189]
1319           IndexOptions            "Index vector (dialog)"
1320           Indices                 "[3]"
1321           OutputSizes             "1"
1322           InputPortWidth          "3"
1323         }
1324         Block {
1325           BlockType               Reference
1326           Name                    "Difference"
1327           Ports                   [1, 1]
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)"
1343           OutScaling              "2^-10"
1344           LockScale               off
1345           RndMeth                 "Floor"
1346           DoSatur                 off
1347         }
1348         Block {
1349           BlockType               Gain
1350           Name                    "Gain"
1351           Position                [815, 154, 850, 186]
1352           Gain                    "-1"
1353           ParameterDataTypeMode   "Inherit via internal rule"
1354           OutDataTypeMode         "Inherit via internal rule"
1355           SaturateOnIntegerOverflow off
1356         }
1357         Block {
1358           BlockType               Integrator
1359           Name                    "Integrator"
1360           Ports                   [1, 1]
1361           Position                [510, 40, 540, 70]
1362           InitialCondition        "desc.initpos"
1363           LimitOutput             on
1364           UpperSaturationLimit    "[area.w area.h Inf]"
1365           LowerSaturationLimit    "[0 0 -Inf]"
1366           IgnoreLimit             off
1367           Port {
1368             PortNumber              1
1369             Name                    "x,y,phi [m,m,rad]"
1370             RTWStorageClass         "Auto"
1371             DataLoggingNameMode     "SignalName"
1372           }
1373         }
1374         Block {
1375           BlockType               SubSystem
1376           Name                    "Motors"
1377           Ports                   [1, 1]
1378           Position                [210, 13, 310, 77]
1379           MinAlgLoopOccurrences   off
1380           RTWSystemCode           "Auto"
1381           FunctionWithSeparateData off
1382           MaskHideContents        off
1383           Port {
1384             PortNumber              1
1385             Name                    "(vl,vr)"
1386             RTWStorageClass         "Auto"
1387             DataLoggingNameMode     "SignalName"
1388           }
1389           System {
1390             Name                    "Motors"
1391             Location                [194, 223, 649, 361]
1392             Open                    off
1393             ModelBrowserVisibility  off
1394             ModelBrowserWidth       200
1395             ScreenColor             "white"
1396             PaperOrientation        "landscape"
1397             PaperPositionMode       "auto"
1398             PaperType               "A4"
1399             PaperUnits              "centimeters"
1400             TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
1401             TiledPageScale          1
1402             ShowPageBoundaries      off
1403             ZoomFactor              "100"
1404             Block {
1405               BlockType               Inport
1406               Name                    "ref omega"
1407               Position                [25, 43, 55, 57]
1408               IconDisplay             "Port number"
1409               Port {
1410                 PortNumber              1
1411                 Name                    "m/s"
1412                 PropagatedSignals       "(vl,vr)"
1413                 RTWStorageClass         "Auto"
1414                 DataLoggingNameMode     "SignalName"
1415               }
1416             }
1417             Block {
1418               BlockType               Reference
1419               Name                    "Manual Switch"
1420               Ports                   [2, 1]
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"
1432               sw                      "1"
1433               action                  "0"
1434               varsize                 off
1435             }
1436             Block {
1437               BlockType               RateLimiter
1438               Name                    "acc limit"
1439               Position                [260, 25, 290, 55]
1440               AttributesFormatString  "<%<FallingSlewLimit>,%<RisingSlewLimit>"
1441 "> m/s^2"
1442               RisingSlewLimit         "3"
1443               FallingSlewLimit        "-3"
1444               SampleTimeMode          "inherited"
1445             }
1446             Block {
1447               BlockType               Saturate
1448               Name                    "speed limit"
1449               Position                [175, 35, 205, 65]
1450               AttributesFormatString  "<%<LowerLimit>,%<UpperLimit>> m/s"
1451               UpperLimit              "2"
1452               LowerLimit              "-2"
1453             }
1454             Block {
1455               BlockType               Outport
1456               Name                    "(vl,vr)"
1457               Position                [400, 43, 430, 57]
1458               IconDisplay             "Port number"
1459               BusOutputAsStruct       off
1460             }
1461             Line {
1462               SrcBlock                "acc limit"
1463               SrcPort                 1
1464               DstBlock                "Manual Switch"
1465               DstPort                 1
1466             }
1467             Line {
1468               SrcBlock                "speed limit"
1469               SrcPort                 1
1470               Points                  [20, 0]
1471               Branch {
1472                 Points                  [0, -10]
1473                 DstBlock                "acc limit"
1474                 DstPort                 1
1475               }
1476               Branch {
1477                 Points                  [0, 60; 100, 0]
1478                 DstBlock                "Manual Switch"
1479                 DstPort                 2
1480               }
1481             }
1482             Line {
1483               SrcBlock                "Manual Switch"
1484               SrcPort                 1
1485               DstBlock                "(vl,vr)"
1486               DstPort                 1
1487             }
1488             Line {
1489               Name                    "m/s"
1490               Labels                  [1, 0]
1491               SrcBlock                "ref omega"
1492               SrcPort                 1
1493               DstBlock                "speed limit"
1494               DstPort                 1
1495             }
1496           }
1497         }
1498         Block {
1499           BlockType               Mux
1500           Name                    "Mux1"
1501           Ports                   [2, 1]
1502           Position                [360, 36, 365, 74]
1503           ShowName                off
1504           Inputs                  "2"
1505           DisplayOption           "bar"
1506         }
1507         Block {
1508           BlockType               Mux
1509           Name                    "Mux2"
1510           Ports                   [2, 1]
1511           Position                [885, 211, 890, 249]
1512           ShowName                off
1513           Inputs                  "2"
1514           DisplayOption           "bar"
1515         }
1516         Block {
1517           BlockType               Mux
1518           Name                    "Mux3"
1519           Ports                   [2, 1]
1520           Position                [1030, 221, 1035, 259]
1521           ShowName                off
1522           Inputs                  "2"
1523           DisplayOption           "bar"
1524         }
1525         Block {
1526           BlockType               RateTransition
1527           Name                    "Rate Transition2"
1528           Position                [589, 85, 631, 125]
1529           Orientation             "down"
1530           X0                      "desc.initpos"
1531           OutPortSampleTime       "move_sample_time"
1532         }
1533         Block {
1534           BlockType               MATLABFcn
1535           Name                    "Rotate XY"
1536           Ports                   [1, 1]
1537           Position                [920, 213, 1005, 247]
1538           MATLABFcn               "[cos(u(1)) -sin(u(1)); sin(u(1)) cos(u(1))]"
1539 "*[u(2); u(3)]"
1540         }
1541         Block {
1542           BlockType               Selector
1543           Name                    "Selector"
1544           Ports                   [1, 1]
1545           Position                [546, 85, 584, 125]
1546           Orientation             "down"
1547           NamePlacement           "alternate"
1548           IndexOptions            "Index vector (dialog)"
1549           Indices                 "[3]"
1550           OutputSizes             "1"
1551           InputPortWidth          "3"
1552           Port {
1553             PortNumber              1
1554             Name                    "angle"
1555             RTWStorageClass         "Auto"
1556             DataLoggingNameMode     "SignalName"
1557           }
1558         }
1559         Block {
1560           BlockType               Selector
1561           Name                    "Speed XY"
1562           Ports                   [1, 1]
1563           Position                [760, 221, 800, 259]
1564           IndexOptions            "Index vector (dialog)"
1565           Indices                 "[1 2]"
1566           OutputSizes             "1"
1567           InputPortWidth          "3"
1568           Port {
1569             PortNumber              1
1570             Name                    "dx, dy"
1571             RTWStorageClass         "Auto"
1572             DataLoggingNameMode     "SignalName"
1573           }
1574         }
1575         Block {
1576           BlockType               Selector
1577           Name                    "Speed angle"
1578           Ports                   [1, 1]
1579           Position                [760, 281, 800, 319]
1580           IndexOptions            "Index vector (dialog)"
1581           Indices                 "3"
1582           OutputSizes             "1"
1583           InputPortWidth          "3"
1584           Port {
1585             PortNumber              1
1586             Name                    "dangle"
1587             RTWStorageClass         "Auto"
1588             DataLoggingNameMode     "SignalName"
1589           }
1590         }
1591         Block {
1592           BlockType               MATLABFcn
1593           Name                    "kinematics"
1594           Ports                   [1, 1]
1595           Position                [410, 40, 470, 70]
1596           MATLABFcn               "kinematics"
1597         }
1598         Block {
1599           BlockType               MATLABFcn
1600           Name                    "speed2wheel"
1601           Ports                   [1, 1]
1602           Position                [105, 30, 165, 60]
1603           MATLABFcn               "[u(1)-robot.w/2*u(2); u(1)+robot.w/2*u(2)]"
1604           Port {
1605             PortNumber              1
1606             Name                    "(vl,vr)"
1607             RTWStorageClass         "Auto"
1608             DataLoggingNameMode     "SignalName"
1609           }
1610         }
1611         Block {
1612           BlockType               Outport
1613           Name                    "Pos"
1614           Position                [780, 48, 810, 62]
1615           IconDisplay             "Port number"
1616           BusOutputAsStruct       off
1617         }
1618         Block {
1619           BlockType               Outport
1620           Name                    "Odometry"
1621           Position                [1090, 233, 1120, 247]
1622           Port                    "2"
1623           IconDisplay             "Port number"
1624           BusOutputAsStruct       off
1625         }
1626         Line {
1627           SrcBlock                "kinematics"
1628           SrcPort                 1
1629           DstBlock                "Integrator"
1630           DstPort                 1
1631         }
1632         Line {
1633           Name                    "x,y,phi [m,m,rad]"
1634           SrcBlock                "Integrator"
1635           SrcPort                 1
1636           Points                  [20, 0]
1637           Branch {
1638             DstBlock                "Selector"
1639             DstPort                 1
1640           }
1641           Branch {
1642             Points                  [45, 0]
1643             Branch {
1644               Labels                  [1, 1; 1, 0]
1645               DstBlock                "Pos"
1646               DstPort                 1
1647             }
1648             Branch {
1649               DstBlock                "Rate Transition2"
1650               DstPort                 1
1651             }
1652           }
1653         }
1654         Line {
1655           SrcBlock                "Mux1"
1656           SrcPort                 1
1657           DstBlock                "kinematics"
1658           DstPort                 1
1659         }
1660         Line {
1661           Name                    "angle"
1662           Labels                  [0, 0]
1663           SrcBlock                "Selector"
1664           SrcPort                 1
1665           Points                  [0, 15; -230, 0; 0, -80]
1666           DstBlock                "Mux1"
1667           DstPort                 2
1668         }
1669         Line {
1670           Name                    "(vl,vr)"
1671           Labels                  [0, 0]
1672           SrcBlock                "Motors"
1673           SrcPort                 1
1674           DstBlock                "Mux1"
1675           DstPort                 1
1676         }
1677         Line {
1678           Name                    "(vl,vr)"
1679           Labels                  [0, 0]
1680           SrcBlock                "speed2wheel"
1681           SrcPort                 1
1682           DstBlock                "Motors"
1683           DstPort                 1
1684         }
1685         Line {
1686           Name                    "(v,w)"
1687           Labels                  [0, 0]
1688           SrcBlock                "In1"
1689           SrcPort                 1
1690           DstBlock                "speed2wheel"
1691           DstPort                 1
1692         }
1693         Line {
1694           SrcBlock                "Gain"
1695           SrcPort                 1
1696           Points                  [0, 50]
1697           DstBlock                "Mux2"
1698           DstPort                 1
1699         }
1700         Line {
1701           SrcBlock                "Difference"
1702           SrcPort                 1
1703           Points                  [5, 0]
1704           Branch {
1705             DstBlock                "Speed XY"
1706             DstPort                 1
1707           }
1708           Branch {
1709             Points                  [0, 60]
1710             DstBlock                "Speed angle"
1711             DstPort                 1
1712           }
1713         }
1714         Line {
1715           Name                    "dx, dy"
1716           Labels                  [0, 0]
1717           SrcBlock                "Speed XY"
1718           SrcPort                 1
1719           DstBlock                "Mux2"
1720           DstPort                 2
1721         }
1722         Line {
1723           Name                    "dangle"
1724           Labels                  [0, 0]
1725           SrcBlock                "Speed angle"
1726           SrcPort                 1
1727           Points                  [210, 0]
1728           DstBlock                "Mux3"
1729           DstPort                 2
1730         }
1731         Line {
1732           SrcBlock                "Mux3"
1733           SrcPort                 1
1734           DstBlock                "Odometry"
1735           DstPort                 1
1736         }
1737         Line {
1738           SrcBlock                "Rotate XY"
1739           SrcPort                 1
1740           DstBlock                "Mux3"
1741           DstPort                 1
1742         }
1743         Line {
1744           SrcBlock                "Mux2"
1745           SrcPort                 1
1746           DstBlock                "Rotate XY"
1747           DstPort                 1
1748         }
1749         Line {
1750           SrcBlock                "Angle"
1751           SrcPort                 1
1752           DstBlock                "Gain"
1753           DstPort                 1
1754         }
1755         Line {
1756           SrcBlock                "Rate Transition2"
1757           SrcPort                 1
1758           Points                  [0, 40]
1759           Branch {
1760             Points                  [0, 70]
1761             DstBlock                "Difference"
1762             DstPort                 1
1763           }
1764           Branch {
1765             DstBlock                "Angle"
1766             DstPort                 1
1767           }
1768         }
1769       }
1770     }
1771     Block {
1772       BlockType               SubSystem
1773       Name                    "Rotating laser"
1774       Ports                   [1, 3]
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')"
1794 "\n"
1795       MaskIconFrame           on
1796       MaskIconOpaque          on
1797       MaskIconRotate          "none"
1798       MaskIconUnits           "normalized"
1799       MaskValueString         "3|0.01|on"
1800       MaskTabNameString       ",,"
1801       System {
1802         Name                    "Rotating laser"
1803         Location                [651, 66, 1675, 656]
1804         Open                    off
1805         ModelBrowserVisibility  off
1806         ModelBrowserWidth       200
1807         ScreenColor             "white"
1808         PaperOrientation        "landscape"
1809         PaperPositionMode       "auto"
1810         PaperType               "A4"
1811         PaperUnits              "centimeters"
1812         TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
1813         TiledPageScale          1
1814         ShowPageBoundaries      off
1815         ZoomFactor              "100"
1816         Block {
1817           BlockType               Inport
1818           Name                    "Pos"
1819           Position                [25, 33, 55, 47]
1820           IconDisplay             "Port number"
1821         }
1822         Block {
1823           BlockType               MATLABFcn
1824           Name                    "Beacon Angles"
1825           Ports                   [1, 1]
1826           Position                [150, 25, 210, 55]
1827           MATLABFcn               "mod(beacon_angles(u), 2*pi)"
1828         }
1829         Block {
1830           BlockType               SubSystem
1831           Name                    "Beacon memory"
1832           Ports                   [1, 1, 0, 1]
1833           Position                [510, 299, 565, 331]
1834           TreatAsAtomicUnit       on
1835           MinAlgLoopOccurrences   off
1836           RTWSystemCode           "Auto"
1837           FunctionWithSeparateData off
1838           MaskHideContents        off
1839           System {
1840             Name                    "Beacon memory"
1841             Location                [401, 346, 899, 646]
1842             Open                    off
1843             ModelBrowserVisibility  off
1844             ModelBrowserWidth       200
1845             ScreenColor             "white"
1846             PaperOrientation        "landscape"
1847             PaperPositionMode       "auto"
1848             PaperType               "A4"
1849             PaperUnits              "centimeters"
1850             TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
1851             TiledPageScale          1
1852             ShowPageBoundaries      off
1853             ZoomFactor              "100"
1854             Block {
1855               BlockType               Inport
1856               Name                    "In1"
1857               Position                [110, 103, 140, 117]
1858               IconDisplay             "Port number"
1859             }
1860             Block {
1861               BlockType               TriggerPort
1862               Name                    "Trigger"
1863               Ports                   []
1864               Position                [225, 20, 245, 40]
1865               StatesWhenEnabling      "held"
1866             }
1867             Block {
1868               BlockType               Outport
1869               Name                    "Out1"
1870               Position                [360, 103, 390, 117]
1871               IconDisplay             "Port number"
1872               BusOutputAsStruct       off
1873             }
1874             Line {
1875               SrcBlock                "In1"
1876               SrcPort                 1
1877               DstBlock                "Out1"
1878               DstPort                 1
1879             }
1880           }
1881         }
1882         Block {
1883           BlockType               SubSystem
1884           Name                    "Beacon memory1"
1885           Ports                   [1, 1, 0, 1]
1886           Position                [510, 369, 565, 401]
1887           TreatAsAtomicUnit       on
1888           MinAlgLoopOccurrences   off
1889           RTWSystemCode           "Auto"
1890           FunctionWithSeparateData off
1891           MaskHideContents        off
1892           System {
1893             Name                    "Beacon memory1"
1894             Location                [401, 346, 899, 646]
1895             Open                    off
1896             ModelBrowserVisibility  off
1897             ModelBrowserWidth       200
1898             ScreenColor             "white"
1899             PaperOrientation        "landscape"
1900             PaperPositionMode       "auto"
1901             PaperType               "A4"
1902             PaperUnits              "centimeters"
1903             TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
1904             TiledPageScale          1
1905             ShowPageBoundaries      off
1906             ZoomFactor              "100"
1907             Block {
1908               BlockType               Inport
1909               Name                    "In1"
1910               Position                [110, 103, 140, 117]
1911               IconDisplay             "Port number"
1912             }
1913             Block {
1914               BlockType               TriggerPort
1915               Name                    "Trigger"
1916               Ports                   []
1917               Position                [225, 20, 245, 40]
1918               StatesWhenEnabling      "held"
1919             }
1920             Block {
1921               BlockType               Outport
1922               Name                    "Out1"
1923               Position                [360, 103, 390, 117]
1924               IconDisplay             "Port number"
1925               BusOutputAsStruct       off
1926             }
1927             Line {
1928               SrcBlock                "In1"
1929               SrcPort                 1
1930               DstBlock                "Out1"
1931               DstPort                 1
1932             }
1933           }
1934         }
1935         Block {
1936           BlockType               SubSystem
1937           Name                    "Beacon memory2"
1938           Ports                   [1, 1, 0, 1]
1939           Position                [510, 439, 565, 471]
1940           TreatAsAtomicUnit       on
1941           MinAlgLoopOccurrences   off
1942           RTWSystemCode           "Auto"
1943           FunctionWithSeparateData off
1944           MaskHideContents        off
1945           System {
1946             Name                    "Beacon memory2"
1947             Location                [401, 346, 899, 646]
1948             Open                    off
1949             ModelBrowserVisibility  off
1950             ModelBrowserWidth       200
1951             ScreenColor             "white"
1952             PaperOrientation        "landscape"
1953             PaperPositionMode       "auto"
1954             PaperType               "A4"
1955             PaperUnits              "centimeters"
1956             TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
1957             TiledPageScale          1
1958             ShowPageBoundaries      off
1959             ZoomFactor              "100"
1960             Block {
1961               BlockType               Inport
1962               Name                    "In1"
1963               Position                [110, 103, 140, 117]
1964               IconDisplay             "Port number"
1965             }
1966             Block {
1967               BlockType               TriggerPort
1968               Name                    "Trigger"
1969               Ports                   []
1970               Position                [225, 20, 245, 40]
1971               StatesWhenEnabling      "held"
1972             }
1973             Block {
1974               BlockType               Outport
1975               Name                    "Out1"
1976               Position                [360, 103, 390, 117]
1977               IconDisplay             "Port number"
1978               BusOutputAsStruct       off
1979             }
1980             Line {
1981               SrcBlock                "In1"
1982               SrcPort                 1
1983               DstBlock                "Out1"
1984               DstPort                 1
1985             }
1986           }
1987         }
1988         Block {
1989           BlockType               SubSystem
1990           Name                    "Beacon memory3"
1991           Ports                   [1, 1, 0, 1]
1992           Position                [510, 509, 565, 541]
1993           TreatAsAtomicUnit       on
1994           MinAlgLoopOccurrences   off
1995           RTWSystemCode           "Auto"
1996           FunctionWithSeparateData off
1997           MaskHideContents        off
1998           System {
1999             Name                    "Beacon memory3"
2000             Location                [401, 346, 899, 646]
2001             Open                    off
2002             ModelBrowserVisibility  off
2003             ModelBrowserWidth       200
2004             ScreenColor             "white"
2005             PaperOrientation        "landscape"
2006             PaperPositionMode       "auto"
2007             PaperType               "A4"
2008             PaperUnits              "centimeters"
2009             TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
2010             TiledPageScale          1
2011             ShowPageBoundaries      off
2012             ZoomFactor              "100"
2013             Block {
2014               BlockType               Inport
2015               Name                    "In1"
2016               Position                [110, 103, 140, 117]
2017               IconDisplay             "Port number"
2018             }
2019             Block {
2020               BlockType               TriggerPort
2021               Name                    "Trigger"
2022               Ports                   []
2023               Position                [225, 20, 245, 40]
2024               StatesWhenEnabling      "held"
2025             }
2026             Block {
2027               BlockType               Outport
2028               Name                    "Out1"
2029               Position                [360, 103, 390, 117]
2030               IconDisplay             "Port number"
2031               BusOutputAsStruct       off
2032             }
2033             Line {
2034               SrcBlock                "In1"
2035               SrcPort                 1
2036               DstBlock                "Out1"
2037               DstPort                 1
2038             }
2039           }
2040         }
2041         Block {
2042           BlockType               Clock
2043           Name                    "Clock"
2044           Position                [740, 320, 760, 340]
2045           Decimation              "10"
2046         }
2047         Block {
2048           BlockType               Reference
2049           Name                    "Compare\nTo Constant"
2050           Ports                   [1, 1]
2051           Position                [35, 164, 100, 196]
2052           Orientation             "left"
2053           SourceBlock             "simulink/Logic and Bit\nOperations/Compare"
2054 "\nTo Constant"
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"
2064           relop                   ">="
2065           const                   "2*pi"
2066           LogicOutDataTypeMode    "boolean"
2067           ZeroCross               off
2068         }
2069         Block {
2070           BlockType               Reference
2071           Name                    "Compare\nTo Zero"
2072           Ports                   [1, 1]
2073           Position                [800, 315, 830, 345]
2074           SourceBlock             "simulink/Logic and Bit\nOperations/Compare"
2075 "\nTo Zero"
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"
2085           relop                   ">"
2086           LogicOutDataTypeMode    "uint8"
2087           ZeroCross               off
2088         }
2089         Block {
2090           BlockType               Constant
2091           Name                    "Constant1"
2092           Position                [35, 239, 100, 271]
2093           NamePlacement           "alternate"
2094           Value                   "rps*2*pi"
2095         }
2096         Block {
2097           BlockType               Demux
2098           Name                    "Demux"
2099           Ports                   [1, 4]
2100           Position                [346, 190, 399, 200]
2101           Orientation             "down"
2102           BackgroundColor         "black"
2103           NamePlacement           "alternate"
2104           ShowName                off
2105           DisplayOption           "bar"
2106         }
2107         Block {
2108           BlockType               Demux
2109           Name                    "Demux1"
2110           Ports                   [1, 4]
2111           Position                [421, 190, 474, 200]
2112           Orientation             "down"
2113           BackgroundColor         "black"
2114           NamePlacement           "alternate"
2115           ShowName                off
2116           DisplayOption           "bar"
2117         }
2118         Block {
2119           BlockType               SubSystem
2120           Name                    "Do not produce\ndata at start. We\nhave to "
2121 "wait one turn."
2122           Ports                   [1, 1, 1]
2123           Position                [825, 374, 925, 416]
2124           TreatAsAtomicUnit       on
2125           MinAlgLoopOccurrences   off
2126           RTWSystemCode           "Auto"
2127           FunctionWithSeparateData off
2128           MaskHideContents        off
2129           System {
2130             Name                    "Do not produce\ndata at start. We\nhave t"
2131 "o wait one turn."
2132             Location                [421, 301, 919, 601]
2133             Open                    off
2134             ModelBrowserVisibility  off
2135             ModelBrowserWidth       200
2136             ScreenColor             "white"
2137             PaperOrientation        "landscape"
2138             PaperPositionMode       "auto"
2139             PaperType               "A4"
2140             PaperUnits              "centimeters"
2141             TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
2142             TiledPageScale          1
2143             ShowPageBoundaries      off
2144             ZoomFactor              "100"
2145             Block {
2146               BlockType               Inport
2147               Name                    "In1"
2148               Position                [110, 103, 140, 117]
2149               IconDisplay             "Port number"
2150             }
2151             Block {
2152               BlockType               EnablePort
2153               Name                    "Enable"
2154               Ports                   []
2155               Position                [235, 20, 255, 40]
2156             }
2157             Block {
2158               BlockType               Outport
2159               Name                    "Out1"
2160               Position                [360, 103, 390, 117]
2161               IconDisplay             "Port number"
2162               BusOutputAsStruct       off
2163             }
2164             Line {
2165               SrcBlock                "In1"
2166               SrcPort                 1
2167               DstBlock                "Out1"
2168               DstPort                 1
2169             }
2170           }
2171         }
2172         Block {
2173           BlockType               HitCross
2174           Name                    "Hit \nCrossing"
2175           Ports                   [1, 1]
2176           Position                [320, 95, 350, 125]
2177           AttributesFormatString  "ZC:%<ZeroCross>"
2178           HitCrossingDirection    "rising"
2179         }
2180         Block {
2181           BlockType               SubSystem
2182           Name                    "Individual output"
2183           Ports                   [1, 1, 0, 1]
2184           Position                [745, 226, 800, 274]
2185           TreatAsAtomicUnit       on
2186           MinAlgLoopOccurrences   off
2187           RTWSystemCode           "Auto"
2188           FunctionWithSeparateData off
2189           MaskHideContents        off
2190           System {
2191             Name                    "Individual output"
2192             Location                [401, 346, 899, 646]
2193             Open                    off
2194             ModelBrowserVisibility  off
2195             ModelBrowserWidth       200
2196             ScreenColor             "white"
2197             PaperOrientation        "landscape"
2198             PaperPositionMode       "auto"
2199             PaperType               "A4"
2200             PaperUnits              "centimeters"
2201             TiledPaperMargins       [0.500000, 0.500000, 0.500000, 0.500000]
2202             TiledPageScale          1
2203             ShowPageBoundaries      off
2204             ZoomFactor              "100"
2205             Block {
2206               BlockType               Inport
2207               Name                    "In1"
2208               Position                [110, 103, 140, 117]
2209               IconDisplay             "Port number"
2210             }
2211             Block {
2212               BlockType               TriggerPort
2213               Name                    "Trigger"
2214               Ports                   []
2215               Position                [225, 20, 245, 40]
2216               StatesWhenEnabling      "held"
2217             }
2218             Block {
2219               BlockType               Outport
2220               Name                    "Out1"
2221               Position                [360, 103, 390, 117]
2222               IconDisplay             "Port number"
2223               BusOutputAsStruct       off
2224             }
2225             Line {
2226               SrcBlock                "In1"
2227               SrcPort                 1
2228               DstBlock                "Out1"
2229               DstPort                 1
2230             }
2231           }
2232         }
2233         Block {
2234           BlockType               Integrator
2235           Name                    "Integrator"
2236           Ports                   [2, 1, 0, 0, 1]
2237           Position                [130, 238, 180, 307]
2238           ExternalReset           "rising"
2239           ShowStatePort           on
2240           IgnoreLimit             off
2241         }
2242         Block {
2243           BlockType               RandomNumber
2244           Name                    "Measurement noise"
2245           Position                [475, 145, 505, 175]
2246           Orientation             "left"
2247           NamePlacement           "alternate"
2248           Variance                "(noise_stdev/180*pi)^2"
2249           Seed                    "abs(floor(rand(4,1)*10000))"
2250         }
2251         Block {
2252           BlockType               Mux
2253           Name                    "Mux"
2254           Ports                   [4, 1]
2255           Position                [700, 354, 705, 436]
2256           ShowName                off
2257           DisplayOption           "bar"
2258         }
2259         Block {
2260           BlockType               RateTransition
2261           Name                    "Rate Transition"
2262           Position                [750, 374, 790, 416]
2263           OutPortSampleTime       "1/rps"
2264         }
2265         Block {
2266           BlockType               RateTransition
2267           Name                    "Rate Transition1"
2268           Position                [735, 19, 775, 61]
2269           OutPortSampleTime       "1/rps"
2270         }
2271         Block {
2272           BlockType               Selector
2273           Name                    "Selector"
2274           Ports                   [1, 1]
2275           Position                [585, 91, 625, 129]
2276           IndexOptions            "Index vector (dialog)"
2277           Indices                 "[1 2 3 4]"
2278           OutputSizes             "1"
2279           InputPortWidth          "4"
2280         }
2281         Block {
2282           BlockType               Sum
2283           Name                    "Subtract"
2284           Ports                   [2, 1]
2285           Position                [270, 95, 300, 125]
2286           IconShape               "round"
2287           Inputs                  "-+|"
2288           CollapseMode            "All dimensions"
2289           InputSameDT             off
2290           OutDataTypeMode         "Inherit via internal rule"
2291           OutScaling              "2^-10"
2292           SaturateOnIntegerOverflow off
2293         }
2294         Block {
2295           BlockType               Sum
2296           Name                    "Sum"
2297           Ports                   [2, 1]
2298           Position                [480, 240, 500, 260]
2299           ShowName                off
2300           IconShape               "round"
2301           Inputs                  "++|"
2302           CollapseMode            "All dimensions"
2303           InputSameDT             off
2304           OutDataTypeMode         "Inherit via internal rule"
2305           SaturateOnIntegerOverflow off
2306         }
2307         Block {
2308           BlockType               Sum
2309           Name                    "Sum1"
2310           Ports                   [2, 1]
2311           Position                [460, 305, 480, 325]
2312           ShowName                off
2313           IconShape               "round"
2314           Inputs                  "++|"
2315           CollapseMode            "All dimensions"
2316           InputSameDT             off
2317           OutDataTypeMode         "Inherit via internal rule"
2318           SaturateOnIntegerOverflow off
2319         }
2320         Block {
2321           BlockType               Sum
2322           Name                    "Sum2"
2323           Ports                   [2, 1]
2324           Position                [445, 375, 465, 395]
2325           ShowName                off
2326           IconShape               "round"
2327           Inputs                  "++|"
2328           CollapseMode            "All dimensions"
2329           InputSameDT             off
2330           OutDataTypeMode         "Inherit via internal rule"
2331           SaturateOnIntegerOverflow off
2332         }
2333         Block {
2334           BlockType               Sum
2335           Name                    "Sum3"
2336           Ports                   [2, 1]
2337           Position                [430, 445, 450, 465]
2338           ShowName                off
2339           IconShape               "round"
2340           Inputs                  "++|"
2341           CollapseMode            "All dimensions"
2342           InputSameDT             off
2343           OutDataTypeMode         "Inherit via internal rule"
2344           SaturateOnIntegerOverflow off
2345         }
2346         Block {
2347           BlockType               Sum
2348           Name                    "Sum4"
2349           Ports                   [2, 1]
2350           Position                [415, 515, 435, 535]
2351           ShowName                off
2352           IconShape               "round"
2353           Inputs                  "++|"
2354           CollapseMode            "All dimensions"
2355           InputSameDT             off
2356           OutDataTypeMode         "Inherit via internal rule"
2357           SaturateOnIntegerOverflow off
2358         }
2359         Block {
2360           BlockType               Sum
2361           Name                    "Sum5"
2362           Ports                   [2, 1]
2363           Position                [400, 30, 420, 50]
2364           ShowName                off
2365           IconShape               "round"
2366           Inputs                  "|++"
2367           CollapseMode            "All dimensions"
2368           InputSameDT             off
2369           OutDataTypeMode         "Inherit via internal rule"
2370           SaturateOnIntegerOverflow off
2371         }
2372         Block {
2373           BlockType               Outport
2374           Name                    "Ideal"
2375           Position                [855, 33, 885, 47]
2376           IconDisplay             "Port number"
2377           BusOutputAsStruct       off
2378         }
2379         Block {
2380           BlockType               Outport
2381           Name                    "Individual"
2382           Position                [875, 243, 905, 257]
2383           Port                    "2"
2384           IconDisplay             "Port number"
2385           BusOutputAsStruct       off
2386         }
2387         Block {
2388           BlockType               Outport
2389           Name                    "Simultaneous"
2390           Position                [965, 388, 995, 402]
2391           Port                    "3"
2392           IconDisplay             "Port number"
2393           BusOutputAsStruct       off
2394         }
2395         Line {
2396           SrcBlock                "Demux1"
2397           SrcPort                 1
2398           DstBlock                "Sum4"
2399           DstPort                 1
2400         }
2401         Line {
2402           SrcBlock                "Demux1"
2403           SrcPort                 2
2404           DstBlock                "Sum3"
2405           DstPort                 1
2406         }
2407         Line {
2408           SrcBlock                "Demux1"
2409           SrcPort                 3
2410           DstBlock                "Sum2"
2411           DstPort                 1
2412         }
2413         Line {
2414           SrcBlock                "Demux"
2415           SrcPort                 1
2416           Points                  [0, 289]
2417           DstBlock                "Beacon memory3"
2418           DstPort                 trigger
2419         }
2420         Line {
2421           SrcBlock                "Demux"
2422           SrcPort                 2
2423           Points                  [0, 219]
2424           DstBlock                "Beacon memory2"
2425           DstPort                 trigger
2426         }
2427         Line {
2428           SrcBlock                "Demux"
2429           SrcPort                 3
2430           Points                  [0, 149]
2431           DstBlock                "Beacon memory1"
2432           DstPort                 trigger
2433         }
2434         Line {
2435           SrcBlock                "Demux"
2436           SrcPort                 4
2437           Points                  [0, 79]
2438           DstBlock                "Beacon memory"
2439           DstPort                 trigger
2440         }
2441         Line {
2442           SrcBlock                "Beacon memory3"
2443           SrcPort                 1
2444           Points                  [55, 0; 0, -100]
2445           DstBlock                "Mux"
2446           DstPort                 4
2447         }
2448         Line {
2449           SrcBlock                "Demux1"
2450           SrcPort                 4
2451           Points                  [0, 10]
2452           Branch {
2453             DstBlock                "Sum1"
2454             DstPort                 1
2455           }
2456           Branch {
2457             Points                  [20, 0]
2458             DstBlock                "Sum"
2459             DstPort                 1
2460           }
2461         }
2462         Line {
2463           SrcBlock                "Sum4"
2464           SrcPort                 1
2465           DstBlock                "Beacon memory3"
2466           DstPort                 1
2467         }
2468         Line {
2469           SrcBlock                "Selector"
2470           SrcPort                 1
2471           Points                  [140, 0]
2472           DstBlock                "Individual output"
2473           DstPort                 trigger
2474         }
2475         Line {
2476           SrcBlock                "Beacon memory1"
2477           SrcPort                 1
2478           DstBlock                "Mux"
2479           DstPort                 2
2480         }
2481         Line {
2482           SrcBlock                "Integrator"
2483           SrcPort                 state
2484           Points                  [0, -53]
2485           DstBlock                "Compare\nTo Constant"
2486           DstPort                 1
2487         }
2488         Line {
2489           SrcBlock                "Constant1"
2490           SrcPort                 1
2491           DstBlock                "Integrator"
2492           DstPort                 1
2493         }
2494         Line {
2495           SrcBlock                "Compare\nTo Constant"
2496           SrcPort                 1
2497           Points                  [-15, 0; 0, 110]
2498           DstBlock                "Integrator"
2499           DstPort                 2
2500         }
2501         Line {
2502           SrcBlock                "Integrator"
2503           SrcPort                 1
2504           Points                  [20, 0]
2505           Branch {
2506             Labels                  [-1, 1]
2507             Points                  [0, -165]
2508             DstBlock                "Subtract"
2509             DstPort                 2
2510           }
2511           Branch {
2512             Labels                  [1, 0]
2513             Points                  [0, -25]
2514             Branch {
2515               Points                  [0, 65]
2516               Branch {
2517                 Points                  [0, 70]
2518                 Branch {
2519                   Points                  [0, 70]
2520                   Branch {
2521                     Points                  [0, 70]
2522                     DstBlock                "Sum4"
2523                     DstPort                 2
2524                   }
2525                   Branch {
2526                     DstBlock                "Sum3"
2527                     DstPort                 2
2528                   }
2529                 }
2530                 Branch {
2531                   DstBlock                "Sum2"
2532                   DstPort                 2
2533                 }
2534               }
2535               Branch {
2536                 DstBlock                "Sum1"
2537                 DstPort                 2
2538               }
2539             }
2540             Branch {
2541               DstBlock                "Sum"
2542               DstPort                 2
2543             }
2544           }
2545         }
2546         Line {
2547           SrcBlock                "Subtract"
2548           SrcPort                 1
2549           DstBlock                "Hit \nCrossing"
2550           DstPort                 1
2551         }
2552         Line {
2553           SrcBlock                "Hit \nCrossing"
2554           SrcPort                 1
2555           Points                  [15, 0]
2556           Branch {
2557             DstBlock                "Selector"
2558             DstPort                 1
2559           }
2560           Branch {
2561             Points                  [0, 65]
2562             DstBlock                "Demux"
2563             DstPort                 1
2564           }
2565         }
2566         Line {
2567           SrcBlock                "Individual output"
2568           SrcPort                 1
2569           DstBlock                "Individual"
2570           DstPort                 1
2571         }
2572         Line {
2573           SrcBlock                "Beacon Angles"
2574           SrcPort                 1
2575           Points                  [70, 0]
2576           Branch {
2577             DstBlock                "Subtract"
2578             DstPort                 1
2579           }
2580           Branch {
2581             DstBlock                "Sum5"
2582             DstPort                 1
2583           }
2584         }
2585         Line {
2586           SrcBlock                "Beacon memory"
2587           SrcPort                 1
2588           Points                  [40, 0; 0, 50]
2589           DstBlock                "Mux"
2590           DstPort                 1
2591         }
2592         Line {
2593           SrcBlock                "Beacon memory2"
2594           SrcPort                 1
2595           Points                  [40, 0; 0, -50]
2596           DstBlock                "Mux"
2597           DstPort                 3
2598         }
2599         Line {
2600           SrcBlock                "Pos"
2601           SrcPort                 1
2602           DstBlock                "Beacon Angles"
2603           DstPort                 1
2604         }
2605         Line {
2606           SrcBlock                "Mux"
2607           SrcPort                 1
2608           DstBlock                "Rate Transition"
2609           DstPort                 1
2610         }
2611         Line {
2612           Labels                  [0, 0]
2613           SrcBlock                "Rate Transition1"
2614           SrcPort                 1
2615           DstBlock                "Ideal"
2616           DstPort                 1
2617         }
2618         Line {
2619           SrcBlock                "Clock"
2620           SrcPort                 1
2621           DstBlock                "Compare\nTo Zero"
2622           DstPort                 1
2623         }
2624         Line {
2625           SrcBlock                "Rate Transition"
2626           SrcPort                 1
2627           DstBlock                "Do not produce\ndata at start. We\nhave to "
2628 "wait one turn."
2629           DstPort                 1
2630         }
2631         Line {
2632           SrcBlock                "Do not produce\ndata at start. We\nhave to "
2633 "wait one turn."
2634           SrcPort                 1
2635           DstBlock                "Simultaneous"
2636           DstPort                 1
2637         }
2638         Line {
2639           SrcBlock                "Compare\nTo Zero"
2640           SrcPort                 1
2641           Points                  [40, 0]
2642           DstBlock                "Do not produce\ndata at start. We\nhave to "
2643 "wait one turn."
2644           DstPort                 enable
2645         }
2646         Line {
2647           SrcBlock                "Sum"
2648           SrcPort                 1
2649           DstBlock                "Individual output"
2650           DstPort                 1
2651         }
2652         Line {
2653           SrcBlock                "Measurement noise"
2654           SrcPort                 1
2655           Points                  [-30, 0]
2656           Branch {
2657             Points                  [0, 15]
2658             DstBlock                "Demux1"
2659             DstPort                 1
2660           }
2661           Branch {
2662             Points                  [-30, 0]
2663             DstBlock                "Sum5"
2664             DstPort                 2
2665           }
2666         }
2667         Line {
2668           SrcBlock                "Sum3"
2669           SrcPort                 1
2670           DstBlock                "Beacon memory2"
2671           DstPort                 1
2672         }
2673         Line {
2674           SrcBlock                "Sum2"
2675           SrcPort                 1
2676           DstBlock                "Beacon memory1"
2677           DstPort                 1
2678         }
2679         Line {
2680           SrcBlock                "Sum1"
2681           SrcPort                 1
2682           DstBlock                "Beacon memory"
2683           DstPort                 1
2684         }
2685         Line {
2686           SrcBlock                "Sum5"
2687           SrcPort                 1
2688           DstBlock                "Rate Transition1"
2689           DstPort                 1
2690         }
2691       }
2692     }
2693     Block {
2694       BlockType               "S-Function"
2695       Name                    "S-Function2"
2696       Ports                   [0, 1]
2697       Position                [35, 124, 95, 156]
2698       BackgroundColor         "green"
2699       NamePlacement           "alternate"
2700       FunctionName            "sf_trgen"
2701       Parameters              "traj, initpos, constr, start"
2702       MaskPromptString        "Trajectory|Initial position|Trajectory constrai"
2703 "nts|Start time"
2704       MaskStyleString         "edit,edit,edit,edit"
2705       MaskTunableValueString  "off,off,off,off"
2706       MaskCallbackString      "|||"
2707       MaskEnableString        "on,on,on,on"
2708       MaskVisibilityString    "on,on,on,on"
2709       MaskToolTipString       "on,on,on,on"
2710       MaskVarAliasString      ",,,"
2711       MaskVariables           "traj=@1;initpos=@2;constr=@3;start=@4;"
2712       MaskDisplay             "disp('Trajectory\\ngenerator')"
2713       MaskIconFrame           on
2714       MaskIconOpaque          on
2715       MaskIconRotate          "none"
2716       MaskIconUnits           "autoscale"
2717       MaskValueString         "path|desc.initpos|desc.wayconstraints|3"
2718       MaskTabNameString       ",,,"
2719     }
2720     Block {
2721       BlockType               Reference
2722       Name                    "Switch"
2723       Ports                   [2, 1]
2724       Position                [567, 270, 603, 300]
2725       Orientation             "down"
2726       NamePlacement           "alternate"
2727       SourceBlock             "simulink/Signal\nRouting/Manual Switch"
2728       SourceType              "Manual Switch"
2729       ShowPortLabels          "FromPortIcon"
2730       SystemSampleTime        "-1"
2731       FunctionWithSeparateData off
2732       RTWMemSecFuncInitTerm   "Inherit from model"
2733       RTWMemSecFuncExecute    "Inherit from model"
2734       RTWMemSecDataConstants  "Inherit from model"
2735       RTWMemSecDataInternal   "Inherit from model"
2736       RTWMemSecDataParameters "Inherit from model"
2737       sw                      "0"
2738       action                  "0"
2739       varsize                 off
2740     }
2741     Block {
2742       BlockType               Reference
2743       Name                    "Switch1"
2744       Ports                   [2, 1]
2745       Position                [412, 270, 448, 300]
2746       Orientation             "down"
2747       SourceBlock             "simulink/Signal\nRouting/Manual Switch"
2748       SourceType              "Manual Switch"
2749       ShowPortLabels          "FromPortIcon"
2750       SystemSampleTime        "-1"
2751       FunctionWithSeparateData off
2752       RTWMemSecFuncInitTerm   "Inherit from model"
2753       RTWMemSecFuncExecute    "Inherit from model"
2754       RTWMemSecDataConstants  "Inherit from model"
2755       RTWMemSecDataInternal   "Inherit from model"
2756       RTWMemSecDataParameters "Inherit from model"
2757       sw                      "1"
2758       action                  "0"
2759       varsize                 off
2760     }
2761     Block {
2762       BlockType               "M-S-Function"
2763       Name                    "draw probability bitmap"
2764       Ports                   [1]
2765       Position                [725, 413, 815, 447]
2766       ForegroundColor         "gray"
2767       BackgroundColor         "black"
2768       NamePlacement           "alternate"
2769       FunctionName            "sfdrawbitmap"
2770     }
2771     Block {
2772       BlockType               SignalViewerScope
2773       Name                    "Scope"
2774       Ports                   []
2775       Position                [20, 15, 60, 55]
2776       IOType                  "viewer"
2777       List {
2778         ListType                IOSignalStrings
2779         set0ParseKeys           "9"
2780         set0Sigs                "Switch:o1"
2781       }
2782       Location                [6, 641, 330, 998]
2783       Open                    off
2784       NumInputPorts           "1"
2785       List {
2786         ListType                AxesTitles
2787         axes1                   "%<SignalLabel>"
2788       }
2789       ShowDataMarkers         off
2790       ShowLegends             off
2791       TimeRange               "1.5"
2792       YMin                    "0"
2793       YMax                    "7"
2794       DataFormat              "Array"
2795       MaxDataPoints           "7500"
2796       RefreshTime             0.035000
2797       Disabled                off
2798     }
2799     Block {
2800       BlockType               SignalViewerScope
2801       Name                    "Scope1"
2802       Ports                   []
2803       Position                [20, 15, 60, 55]
2804       IOType                  "viewer"
2805       Location                [6, 760, 772, 999]
2806       Open                    off
2807       NumInputPorts           "1"
2808       ZoomMode                "yonly"
2809       List {
2810         ListType                AxesTitles
2811         axes1                   "%<SignalLabel>"
2812       }
2813       ShowDataMarkers         off
2814       ShowLegends             off
2815       TimeRange               "1.8"
2816       YMin                    "-4"
2817       YMax                    "4"
2818       SaveName                "ScopeData1"
2819       DataFormat              "Array"
2820       MaxDataPoints           "7500"
2821       RefreshTime             0.035000
2822       Disabled                off
2823     }
2824     Block {
2825       BlockType               SignalViewerScope
2826       Name                    "Scope2"
2827       Ports                   []
2828       Position                [20, 15, 60, 55]
2829       IOType                  "viewer"
2830       List {
2831         ListType                IOSignalStrings
2832         set0ParseKeys           "13"
2833         set0Sigs                "Controller:o1"
2834       }
2835       Location                [501, 172, 825, 411]
2836       Open                    off
2837       NumInputPorts           "1"
2838       ZoomMode                "xonly"
2839       List {
2840         ListType                AxesTitles
2841         axes1                   "%<SignalLabel>"
2842       }
2843       ShowDataMarkers         off
2844       ShowLegends             on
2845       LegendLocations         "186.25       162.125         118.5        45.62"
2846 "5"
2847       TimeRange               "10"
2848       YMax                    "10"
2849       SaveName                "ScopeData2"
2850       DataFormat              "Array"
2851       MaxDataPoints           "7500"
2852       RefreshTime             0.035000
2853       Disabled                off
2854     }
2855     Block {
2856       BlockType               SignalViewerScope
2857       Name                    "Scope3"
2858       Ports                   []
2859       Position                [20, 15, 60, 55]
2860       IOType                  "viewer"
2861       List {
2862         ListType                IOSignalStrings
2863         set0ParseKeys           "31"
2864         set0Sigs                "Robot kinematics/speed2wheel:o1"
2865       }
2866       Location                [345, 294, 669, 533]
2867       Open                    off
2868       NumInputPorts           "1"
2869       ZoomMode                "xonly"
2870       List {
2871         ListType                AxesTitles
2872         axes1                   "%<SignalLabel>"
2873       }
2874       ShowDataMarkers         off
2875       ShowLegends             off
2876       TimeRange               "10"
2877       YMin                    "-1"
2878       YMax                    "4"
2879       SaveName                "ScopeData3"
2880       DataFormat              "Array"
2881       MaxDataPoints           "7500"
2882       RefreshTime             0.035000
2883       Disabled                off
2884     }
2885     Line {
2886       SrcBlock                "Controller"
2887       SrcPort                 1
2888       DstBlock                "Robot kinematics"
2889       DstPort                 1
2890     }
2891     Line {
2892       Name                    "Real robot position"
2893       SrcBlock                "Robot kinematics"
2894       SrcPort                 1
2895       Points                  [10, 0]
2896       Branch {
2897         Labels                  [2, 0]
2898         Points                  [0, 135]
2899         DstBlock                "Rate Transition2"
2900         DstPort                 1
2901       }
2902       Branch {
2903         Labels                  [2, 0]
2904         Points                  [0, -45; 300, 0]
2905         Branch {
2906           Points                  [0, 90]
2907           DstBlock                "Graphs"
2908           DstPort                 1
2909         }
2910         Branch {
2911           DstBlock                "Real\nposition"
2912           DstPort                 1
2913         }
2914       }
2915       Branch {
2916         DstBlock                "Rotating laser"
2917         DstPort                 1
2918       }
2919     }
2920     Line {
2921       SrcBlock                "Clock"
2922       SrcPort                 1
2923       DstBlock                "Display"
2924       DstPort                 1
2925     }
2926     Line {
2927       SrcBlock                "Manual Switch"
2928       SrcPort                 1
2929       DstBlock                "Controller"
2930       DstPort                 2
2931     }
2932     Line {
2933       SrcBlock                "Rate Transition1"
2934       SrcPort                 1
2935       Points                  [-20, 0; 0, -155]
2936       DstBlock                "Manual Switch"
2937       DstPort                 1
2938     }
2939     Line {
2940       SrcBlock                "MCL"
2941       SrcPort                 2
2942       Points                  [-75, 0; 0, 65]
2943       DstBlock                "draw probability bitmap"
2944       DstPort                 1
2945     }
2946     Line {
2947       SrcBlock                "S-Function2"
2948       SrcPort                 1
2949       Points                  [45, 0]
2950       Branch {
2951         DstBlock                "Controller"
2952         DstPort                 1
2953       }
2954       Branch {
2955         Points                  [0, -115]
2956         DstBlock                "Reference\nposition"
2957         DstPort                 1
2958       }
2959     }
2960     Line {
2961       SrcBlock                "Switch1"
2962       SrcPort                 1
2963       Points                  [0, 25]
2964       DstBlock                "MCL"
2965       DstPort                 1
2966     }
2967     Line {
2968       SrcBlock                "No odometry"
2969       SrcPort                 1
2970       Points                  [-25, 0]
2971       DstBlock                "Switch1"
2972       DstPort                 2
2973     }
2974     Line {
2975       SrcBlock                "Rate Transition2"
2976       SrcPort                 1
2977       Points                  [0, -30]
2978       DstBlock                "Manual Switch"
2979       DstPort                 2
2980     }
2981     Line {
2982       SrcBlock                "Robot kinematics"
2983       SrcPort                 2
2984       Points                  [30, 0]
2985       DstBlock                "Switch1"
2986       DstPort                 1
2987     }
2988     Line {
2989       Name                    "Estimated position"
2990       Labels                  [0, 0]
2991       SrcBlock                "MCL"
2992       SrcPort                 1
2993       Points                  [-90, 0]
2994       Branch {
2995         DstBlock                "Rate Transition1"
2996         DstPort                 1
2997       }
2998       Branch {
2999         Labels                  [3, 0]
3000         Points                  [0, 70; 580, 0; 0, -80]
3001         Branch {
3002           Points                  [0, -95]
3003           DstBlock                "Graphs"
3004           DstPort                 2
3005         }
3006         Branch {
3007           DstBlock                "Estimated\nposition"
3008           DstPort                 1
3009         }
3010       }
3011     }
3012     Line {
3013       SrcBlock                "No laser"
3014       SrcPort                 1
3015       Points                  [20, 0]
3016       DstBlock                "Switch"
3017       DstPort                 1
3018     }
3019     Line {
3020       SrcBlock                "Switch"
3021       SrcPort                 1
3022       Points                  [0, 15]
3023       Branch {
3024         Points                  [0, 45]
3025         DstBlock                "MCL"
3026         DstPort                 2
3027       }
3028       Branch {
3029         Points                  [65, 0; 0, -190]
3030         DstBlock                "Real\nposition"
3031         DstPort                 2
3032       }
3033     }
3034     Line {
3035       SrcBlock                "Rotating laser"
3036       SrcPort                 2
3037       Points                  [20, 0]
3038       DstBlock                "Switch"
3039       DstPort                 2
3040     }
3041   }
3042 }
3043
3044 # Finite State Machines
3045 #
3046 #    Stateflow Version 6.6 (R2007a) dated Jan 30 2007, 01:07:16
3047 #
3048 #
3049
3050 Stateflow {
3051
3052         machine {
3053                 id                              1
3054                 name                            "reg_mcl"
3055                 created                         "29-Mar-2007 23:42:20"
3056                 isLibrary                       0
3057                 firstTarget                     2
3058                 sfVersion                       66014000
3059         }
3060
3061         target {
3062                 id                                      2
3063                 name                                    "sfun"
3064                 description                             "Default Simulink S-Function Target."
3065                 machine                                 1
3066                 linkNode                                [1 0 0]
3067         }
3068 }