From e82ef8c42784158b734931f94f70132e61506a06 Mon Sep 17 00:00:00 2001
From: Rich <m87rich@iastate.edu>
Date: Thu, 1 Dec 2016 15:19:29 -0600
Subject: [PATCH] Added a dummy 3d animation block
---
controls/model/3D_Animation/eigenaxis_ucart.m | 52 +
controls/model/3D_Animation/license.txt | 27 +
.../3D_Animation/quadrotor_world_ucart.wrl | 1030 +++++++++++++
controls/model/3D_Animation/sfun_time.c | 101 ++
controls/model/3D_Animation/sfun_time.mexw32 | Bin 0 -> 12800 bytes
controls/model/3D_Animation/sfun_time.mexw64 | Bin 0 -> 13824 bytes
.../ucart_graphical_animation.mdl | 1372 +++++++++++++++++
7 files changed, 2582 insertions(+)
create mode 100644 controls/model/3D_Animation/eigenaxis_ucart.m
create mode 100644 controls/model/3D_Animation/license.txt
create mode 100644 controls/model/3D_Animation/quadrotor_world_ucart.wrl
create mode 100644 controls/model/3D_Animation/sfun_time.c
create mode 100644 controls/model/3D_Animation/sfun_time.mexw32
create mode 100644 controls/model/3D_Animation/sfun_time.mexw64
create mode 100644 controls/model/3D_Animation/ucart_graphical_animation.mdl
diff --git a/controls/model/3D_Animation/eigenaxis_ucart.m b/controls/model/3D_Animation/eigenaxis_ucart.m
new file mode 100644
index 000000000..4e951b323
--- /dev/null
+++ b/controls/model/3D_Animation/eigenaxis_ucart.m
@@ -0,0 +1,52 @@
+%**************************************************************************
+% Project : Autonomous Helicopter
+% Group : 05gr835
+% Created : 2005-04-28
+% Edited : 2005-05-25
+% -------------------------------------------------------------------------
+% The non-linear model contains the following files:
+%
+% thrusten.m : Main rotor thrust equations
+% rigid.m : Rigid body equations
+% parameters.m : Helicopter parameters
+% mrflap.m : Main rotor flapping equations
+% force_torque.m : Force and torque equations
+% eigenaxis.m : Eigen axis rotation for use in VR toolbox
+
+%**************************************************************************
+
+% eigenaxis.m : This file contains the eigen axis rotation
+%algorithm. This file is created by group 05gr830.
+
+function y = eigenaxis(u)
+
+
+if abs(u(1))< 0.0001
+ u(1) = 0.0001;
+end
+
+if abs(u(2))< 0.0001
+ u(2) = 0.0001;
+end
+
+if abs(u(3))< 0.0001
+ u(3) = 0.0001;
+end
+
+u = [ -u(1); -u(2); u(3) ];% [Pitch, Yaw, Roll]
+
+C11 = cos(u(2))*cos(u(3));
+C12 = cos(u(2))*sin(u(3));
+C13 = -sin(u(2));
+C21 = sin(u(1))*sin(u(2))*cos(u(3))-cos(u(1))*sin(u(3));
+C22 = sin(u(1))*sin(u(2))*sin(u(3))+cos(u(1))*cos(u(3));
+C23 = sin(u(1))*cos(u(2));
+C31 = cos(u(1))*sin(u(2))*cos(u(3))+sin(u(1))*sin(u(3));
+C32 = cos(u(1))*sin(u(2))*sin(u(3))-sin(u(1))*cos(u(3));
+C33 = cos(u(1))*cos(u(2));
+
+theta = acos(0.5*(C11+C22+C33-1));
+
+e = [C23-C32; C31-C13; C12-C21]/(2*sin(theta));
+
+y = [e; theta];
diff --git a/controls/model/3D_Animation/license.txt b/controls/model/3D_Animation/license.txt
new file mode 100644
index 000000000..fb7c123be
--- /dev/null
+++ b/controls/model/3D_Animation/license.txt
@@ -0,0 +1,27 @@
+Copyright (c) 2009, The MathWorks, Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are
+met:
+
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in
+ the documentation and/or other materials provided with the distribution
+ * Neither the name of the The MathWorks, Inc. nor the names
+ of its contributors may be used to endorse or promote products derived
+ from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
diff --git a/controls/model/3D_Animation/quadrotor_world_ucart.wrl b/controls/model/3D_Animation/quadrotor_world_ucart.wrl
new file mode 100644
index 000000000..eb0ece0c8
--- /dev/null
+++ b/controls/model/3D_Animation/quadrotor_world_ucart.wrl
@@ -0,0 +1,1030 @@
+#VRML V2.0 utf8
+
+#Created with V-Realm Builder v2.0
+#Integrated Data Systems Inc.
+#www.ids-net.com
+
+
+PointLight {
+ location -0.8 1 1
+}
+PointLight {
+ location 1.1 1.1 0
+}
+DEF Viewport_heli Viewpoint {
+ fieldOfView 0.785398
+ orientation 1 0 0 0.188496
+ position 0.024 -0.191 11.9975
+}
+DEF Helicopter Transform {
+ translation 0 0 0
+ scale 0.108 0.108 0.108
+ children [
+ DEF Rotor_1 Transform {
+ translation 10 0 10
+ scale 1.00001 1.00001 1.00001
+ children Shape {
+ appearance Appearance {
+ material Material {
+ ambientIntensity 0.9551
+ diffuseColor 0.6163 0.6163 0.6163
+ shininess 0.3
+ specularColor 0.3 0.3 0.3
+ }
+
+ }
+
+ geometry IndexedFaceSet {
+ color NULL
+ coord DEF _v2%0 Coordinate {
+ point [ 1.87355 -2.12 -0.139033,
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+ -2.79173 -0.122 5.20272,
+ -2.79173 -0.183 5.20272 ]
+ }
+
+ creaseAngle 1
+ coordIndex [ 78, 171, 172, 63, -1, 74, 163, 164,
+ 67, -1, 62, 175, 63, 172, 64, 170,
+ 193, 65, 168, 66, 166, 67, 164, 68,
+ 162, 69, 70, 173, -1, 165, 74, 67,
+ 166, -1, 173, 70, 71, 174, -1, 175,
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+ -1 ]
+ colorIndex [ ]
+ }
+
+ }
+ }
+
+ DEF Rotor_2 Transform {
+ translation 10 0 -10
+ scale 0.999617 0.999617 0.999617
+ children Shape {
+ appearance Appearance {
+ material Material {
+ ambientIntensity 0.9551
+ diffuseColor 0.6163 0.6163 0.6163
+ shininess 0.3
+ specularColor 0.3 0.3 0.3
+ }
+
+ }
+
+ geometry IndexedFaceSet {
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+ 1.17064 -1.59392 -2.71303,
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+ -5.54956 0.044 1.92358,
+ -0.744768 -0.173 5.94583,
+ -0.744768 -0.234 5.94583,
+ 3.47927 -0.122 5.20305,
+ 3.47927 -0.183 5.20305,
+ 6.23667 0.341 -2.3568,
+ 6.23667 0.402 -2.3568,
+ 6.23644 0.044 1.9242,
+ 6.23644 0.105 1.9242,
+ 0.530062 -0.771 -9.83811,
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+ 0.530039 -1.542 -9.3921,
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+ 0.614995 0.757 -8.5551,
+ 0.529995 0.757 -8.5551,
+ -2.79173 -0.122 5.20272,
+ -2.79173 -0.183 5.20272 ]
+ }
+
+ creaseAngle 1
+ coordIndex [ 78, 171, 172, 63, -1, 74, 163, 164,
+ 67, -1, 62, 175, 63, 172, 64, 170,
+ 193, 65, 168, 66, 166, 67, 164, 68,
+ 162, 69, 70, 173, -1, 165, 74, 67,
+ 166, -1, 173, 70, 71, 174, -1, 175,
+ 62, 79, 176, -1, 167, 75, 66, 168,
+ -1, 175, 176, 78, 63, -1, 73, 161,
+ 162, 68, -1, 77, 169, 170, 64, -1,
+ 62, 173, 174, 79, -1, 75, 165, 166,
+ 66, -1, 174, 71, 72, 161, 73, 163,
+ 74, 165, 75, 167, 76, 192, 169, 77,
+ 171, 78, 176, 79, -1, 163, 73, 68,
+ 164, -1, 171, 77, 64, 172, -1, 192,
+ 76, 65, 193, -1, 169, 192, 193, 170,
+ -1, 161, 72, 69, 162, -1, 72, 71,
+ 70, 69, -1, 76, 167, 168, 65, -1,
+ -1 ]
+ }
+
+ }
+ }
+ ]
+}
+Background {
+ groundAngle [ 0.9, 1.5, 1.57 ]
+ groundColor [ 0 0.8 0,
+ 0.174249 0.82 0.187362,
+ 0.467223 0.82 0.445801,
+ 0.621997 0.67 0.600279 ]
+ skyAngle [ 0.1, 1.2, 1.57 ]
+ skyColor [ 0.76238 0.8 0.1427,
+ 0.277798 0.219779 0.7,
+ 0.222549 0.390234 0.7,
+ 0.60094 0.662637 0.69 ]
+}
+DEF sqare_platform Transform {
+ translation 0 -0.432 0
+ scale 2 0.04 2
+ children [
+ Shape {
+ appearance Appearance {
+ material Material {
+ ambientIntensity 0.2
+ diffuseColor 0.8 0.407144 0.297047
+ }
+
+ }
+
+ geometry Box {
+ }
+
+ }
+
+ Transform {
+ translation 0 0.031 0
+ scale 0.5 1 0.5
+ children Shape {
+ appearance Appearance {
+ material Material {
+ diffuseColor 0.8 0.613697 0.365273
+ }
+
+ }
+
+ geometry Cylinder {
+ }
+
+ }
+ }
+ ]
+}
diff --git a/controls/model/3D_Animation/sfun_time.c b/controls/model/3D_Animation/sfun_time.c
new file mode 100644
index 000000000..09f87e566
--- /dev/null
+++ b/controls/model/3D_Animation/sfun_time.c
@@ -0,0 +1,101 @@
+#define S_FUNCTION_LEVEL 2
+#define S_FUNCTION_NAME sfun_time
+
+#define TIME_SCALE_FACTOR(S) ssGetSFcnParam(S,0)
+
+/*
+ * Need to include simstruc.h for the definition of the SimStruct and
+ * its associated macro definitions.
+ */
+#include "simstruc.h"
+
+/*
+ * Include the standard ANSI C header for handling time functions:
+ * ---------------------------------------------------------------
+ */
+#include <time.h>
+
+static void mdlInitializeSizes(SimStruct *S)
+{
+
+ ssSetNumSFcnParams(S, 1); /* Number of expected parameters */
+
+ if (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) return;
+
+ ssSetNumContStates(S, 0);
+ ssSetNumDiscStates(S, 0);
+
+ if (!ssSetNumInputPorts(S, 0)) return;
+
+ if (!ssSetNumOutputPorts(S, 0)) return;
+
+ ssSetNumSampleTimes(S, 1);
+ ssSetNumRWork(S, 1);
+ ssSetNumIWork(S, 0);
+ ssSetNumPWork(S, 0);
+ ssSetNumModes(S, 0);
+ ssSetNumNonsampledZCs(S, 0);
+ ssSetOptions(S, 0);
+}
+
+#define MDL_INITIALIZE_SAMPLE_TIMES
+static void mdlInitializeSampleTimes(SimStruct *S)
+{
+ ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);
+ ssSetOffsetTime(S, 0, 0.0);
+}
+
+#define MDL_START
+static void mdlStart(SimStruct *S)
+{
+ ssSetRWorkValue(S,0,ssGetTStart(S));
+}
+
+static void mdlOutputs(SimStruct *S, int_T tid)
+{
+ real_T t_previousSimTime = ssGetRWorkValue(S,0);
+ const real_T *scaleFactor = mxGetPr(TIME_SCALE_FACTOR(S));
+ time_T t_SimTime = ssGetT(S);
+ real_T t_diff = 0.0;
+ real_T dt;
+ real_T t_current;
+ real_T t_0;
+ real_T t_previous;
+ real_T t_elapsed;
+
+ /* Desired Delta time */
+ dt = (t_SimTime - t_previousSimTime) * (scaleFactor[0]);
+ /* Get clock time at the beginning of this step*/
+ t_previous = (real_T)clock()/CLOCKS_PER_SEC;
+ t_0 = (real_T)clock()/CLOCKS_PER_SEC;
+
+ /* Wait to reach the desired time */
+ while (t_diff<dt){
+ t_current = (real_T) clock()/CLOCKS_PER_SEC;
+ /* Look for wrapup */
+ if (t_current<t_previous){
+ t_elapsed = t_previous - t_0;
+ t_0 = (real_T) clock()/CLOCKS_PER_SEC - t_elapsed;
+ }
+ t_diff = t_current - t_0;
+ t_previous = t_current;
+ }
+
+ /* Store current time to be used in next time step*/
+ ssSetRWorkValue(S, 0, t_SimTime);
+}
+
+static void mdlTerminate(SimStruct *S)
+{
+ UNUSED_ARG(S); /* unused input argument */
+}
+
+/*
+ * Required S-function trailer:
+ * ----------------------------
+ */
+#ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */
+#include "simulink.c" /* MEX-file interface mechanism */
+#else
+#include "cg_sfun.h" /* Code generation registration function */
+#endif
diff --git a/controls/model/3D_Animation/sfun_time.mexw32 b/controls/model/3D_Animation/sfun_time.mexw32
new file mode 100644
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diff --git a/controls/model/3D_Animation/ucart_graphical_animation.mdl b/controls/model/3D_Animation/ucart_graphical_animation.mdl
new file mode 100644
index 000000000..e8caed96b
--- /dev/null
+++ b/controls/model/3D_Animation/ucart_graphical_animation.mdl
@@ -0,0 +1,1372 @@
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+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: Same as input"
+ LockScale off
+ RndMeth "Floor"
+ SaturateOnIntegerOverflow on
+ SampleTime "-1"
+ }
+ Block {
+ BlockType Inport
+ Port "1"
+ OutputFunctionCall off
+ OutMin "[]"
+ OutMax "[]"
+ OutDataTypeStr "Inherit: auto"
+ LockScale off
+ BusOutputAsStruct off
+ PortDimensions "-1"
+ VarSizeSig "Inherit"
+ SampleTime "-1"
+ SignalType "auto"
+ SamplingMode "auto"
+ LatchByDelayingOutsideSignal off
+ LatchInputForFeedbackSignals off
+ Interpolate on
+ }
+ Block {
+ BlockType MATLABFcn
+ MATLABFcn "sin"
+ OutputDimensions "-1"
+ OutputSignalType "auto"
+ Output1D on
+ SampleTime "-1"
+ }
+ Block {
+ BlockType RateTransition
+ Integrity on
+ Deterministic on
+ X0 "0"
+ OutPortSampleTimeOpt "Specify"
+ OutPortSampleTimeMultiple "1"
+ OutPortSampleTime "-1"
+ }
+ Block {
+ BlockType S-Function
+ FunctionName "system"
+ SFunctionModules "''"
+ PortCounts "[]"
+ SFunctionDeploymentMode off
+ EnableBusSupport off
+ }
+ Block {
+ BlockType SubSystem
+ ShowPortLabels "FromPortIcon"
+ Permissions "ReadWrite"
+ PermitHierarchicalResolution "All"
+ TreatAsAtomicUnit off
+ MinAlgLoopOccurrences off
+ PropExecContextOutsideSubsystem off
+ CheckFcnCallInpInsideContextMsg off
+ SystemSampleTime "-1"
+ RTWSystemCode "Auto"
+ RTWFcnNameOpts "Auto"
+ RTWFileNameOpts "Auto"
+ FunctionInterfaceSpec "void_void"
+ FunctionWithSeparateData off
+ RTWMemSecFuncInitTerm "Inherit from model"
+ RTWMemSecFuncExecute "Inherit from model"
+ RTWMemSecDataConstants "Inherit from model"
+ RTWMemSecDataInternal "Inherit from model"
+ RTWMemSecDataParameters "Inherit from model"
+ SimViewingDevice off
+ DataTypeOverride "UseLocalSettings"
+ DataTypeOverrideAppliesTo "AllNumericTypes"
+ MinMaxOverflowLogging "UseLocalSettings"
+ Opaque off
+ MaskHideContents off
+ SFBlockType "NONE"
+ Variant off
+ GeneratePreprocessorConditionals off
+ ContentPreviewEnabled off
+ IsWebBlock off
+ }
+ }
+ System {
+ Name "ucart_graphical_animation"
+ Location [371, 86, 1542, 633]
+ Open on
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ ReportName "simulink-default.rpt"
+ SIDHighWatermark "19"
+ Block {
+ BlockType SubSystem
+ Name "3D Graphical Simulation"
+ SID "1"
+ Ports [2]
+ Position [435, 80, 585, 140]
+ ZOrder 1
+ RequestExecContextInheritance off
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 19
+ $ClassName "Simulink.Mask"
+ Display "port_label('input',1,'r_{o}','texmode','on')\nport_label('input',2,'\\Theta','texmode','on')"
+ }
+ System {
+ Name "3D Graphical Simulation"
+ Location [371, 86, 1542, 633]
+ Open off
+ ModelBrowserVisibility off
+ ModelBrowserWidth 200
+ ScreenColor "white"
+ PaperOrientation "landscape"
+ PaperPositionMode "auto"
+ PaperType "usletter"
+ PaperUnits "inches"
+ TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000]
+ TiledPageScale 1
+ ShowPageBoundaries off
+ ZoomFactor "100"
+ Block {
+ BlockType Inport
+ Name "Displacement"
+ SID "2"
+ Position [110, 218, 140, 232]
+ ZOrder -1
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType Inport
+ Name "Euler Angles"
+ SID "3"
+ Position [125, 108, 155, 122]
+ ZOrder -2
+ Port "2"
+ IconDisplay "Port number"
+ }
+ Block {
+ BlockType BusCreator
+ Name "Bus\nCreator"
+ SID "4"
+ Ports [3, 1]
+ Position [600, 76, 610, 154]
+ ZOrder -3
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType BusCreator
+ Name "Bus\nCreator1"
+ SID "5"
+ Ports [3, 1]
+ Position [630, 191, 640, 269]
+ ZOrder -4
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType BusCreator
+ Name "Bus\nCreator2"
+ SID "6"
+ Ports [3, 1]
+ Position [385, 75, 390, 155]
+ ZOrder -5
+ ShowName off
+ Inputs "3"
+ DisplayOption "bar"
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+ Block {
+ BlockType BusSelector
+ Name "Bus\nSelector"
+ SID "7"
+ Ports [1, 3]
+ Position [500, 77, 505, 153]
+ ZOrder -6
+ ShowName off
+ OutputSignals "phi,theta,psi"
+ Port {
+ PortNumber 1
+ Name "<phi>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "<theta>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "<psi>"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType Demux
+ Name "Demux"
+ SID "8"
+ Ports [1, 3]
+ Position [440, 183, 450, 267]
+ ZOrder -7
+ BackgroundColor "black"
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ }
+ Block {
+ BlockType Demux
+ Name "Demux1"
+ SID "9"
+ Ports [1, 3]
+ Position [290, 75, 295, 155]
+ ZOrder -8
+ ShowName off
+ Outputs "3"
+ DisplayOption "bar"
+ Port {
+ PortNumber 1
+ Name "phi"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 2
+ Name "theta"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ Port {
+ PortNumber 3
+ Name "psi"
+ RTWStorageClass "Auto"
+ DataLoggingNameMode "SignalName"
+ }
+ }
+ Block {
+ BlockType MATLABFcn
+ Name "Eigenaxis Rotation"
+ SID "10"
+ Ports [1, 1]
+ Position [645, 100, 705, 130]
+ ZOrder -9
+ MATLABFcn "eigenaxis_ucart"
+ Output1D off
+ }
+ Block {
+ BlockType Gain
+ Name "Gain"
+ SID "11"
+ Position [550, 240, 580, 270]
+ ZOrder -10
+ Gain "-1"
+ ParamDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Gain
+ Name "Gain1"
+ SID "12"
+ Position [670, 208, 710, 252]
+ ZOrder -11
+ Gain "eye(3)*1"
+ Multiplication "Matrix(K*u)"
+ ParamDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType Gain
+ Name "Gain2"
+ SID "13"
+ Position [550, 190, 580, 220]
+ ZOrder -12
+ Gain "-1"
+ ParamDataTypeStr "Inherit: Inherit via internal rule"
+ OutDataTypeStr "Inherit: Inherit via internal rule"
+ SaturateOnIntegerOverflow off
+ }
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition"
+ SID "14"
+ Position [735, 94, 775, 136]
+ ZOrder -13
+ NamePlacement "alternate"
+ OutPortSampleTime "0.06"
+ }
+ Block {
+ BlockType RateTransition
+ Name "Rate Transition1"
+ SID "15"
+ Position [735, 210, 770, 250]
+ ZOrder -14
+ OutPortSampleTime "0.06"
+ }
+ Block {
+ BlockType Reference
+ Name "VR Sink"
+ SID "16"
+ Ports [2]
+ Position [865, 76, 1055, 234]
+ ZOrder -15
+ LibraryVersion "1.34"
+ SourceBlock "vrlib/VR Sink"
+ SourceType "Virtual Reality Sink"
+ InstantiateOnLoad on
+ SampleTime "-1"
+ ViewEnable on
+ RemoteChange off
+ RemoteView off
+ FieldsWritten "Helicopter.rotation.4.1.1.double#Helicopter.translation.3.1.1.double"
+ WorldFileName "quadrotor_world_ucart.wrl"
+ AutoView on
+ VideoDimensions "[]"
+ AllowVariableSize off
+ }
+ Line {
+ ZOrder 1
+ SrcBlock "Euler Angles"
+ SrcPort 1
+ DstBlock "Demux1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 2
+ SrcBlock "Displacement"
+ SrcPort 1
+ DstBlock "Demux"
+ DstPort 1
+ }
+ Line {
+ ZOrder 3
+ SrcBlock "Bus\nCreator2"
+ SrcPort 1
+ DstBlock "Bus\nSelector"
+ DstPort 1
+ }
+ Line {
+ ZOrder 4
+ SrcBlock "Demux"
+ SrcPort 1
+ Points [40, 0; 0, 40; 120, 0]
+ DstBlock "Bus\nCreator1"
+ DstPort 3
+ }
+ Line {
+ ZOrder 5
+ SrcBlock "Gain"
+ SrcPort 1
+ Points [5, 0; 0, -25]
+ DstBlock "Bus\nCreator1"
+ DstPort 2
+ }
+ Line {
+ ZOrder 6
+ SrcBlock "Gain2"
+ SrcPort 1
+ DstBlock "Bus\nCreator1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 7
+ SrcBlock "Rate Transition1"
+ SrcPort 1
+ Points [35, 0; 0, -35]
+ DstBlock "VR Sink"
+ DstPort 2
+ }
+ Line {
+ ZOrder 8
+ SrcBlock "Rate Transition"
+ SrcPort 1
+ DstBlock "VR Sink"
+ DstPort 1
+ }
+ Line {
+ ZOrder 9
+ SrcBlock "Demux"
+ SrcPort 3
+ DstBlock "Gain"
+ DstPort 1
+ }
+ Line {
+ ZOrder 10
+ SrcBlock "Demux"
+ SrcPort 2
+ Points [80, 0]
+ DstBlock "Gain2"
+ DstPort 1
+ }
+ Line {
+ ZOrder 11
+ SrcBlock "Bus\nCreator1"
+ SrcPort 1
+ DstBlock "Gain1"
+ DstPort 1
+ }
+ Line {
+ Name "<phi>"
+ ZOrder 12
+ Labels [0, 0]
+ SrcBlock "Bus\nSelector"
+ SrcPort 1
+ Points [0, -10; 45, 0; 0, 60]
+ DstBlock "Bus\nCreator"
+ DstPort 3
+ }
+ Line {
+ Name "<psi>"
+ ZOrder 13
+ Labels [0, 0]
+ SrcBlock "Bus\nSelector"
+ SrcPort 3
+ Points [0, -10; 75, 0]
+ DstBlock "Bus\nCreator"
+ DstPort 2
+ }
+ Line {
+ Name "<theta>"
+ ZOrder 14
+ Labels [0, 0]
+ SrcBlock "Bus\nSelector"
+ SrcPort 2
+ Points [30, 0; 0, -25]
+ DstBlock "Bus\nCreator"
+ DstPort 1
+ }
+ Line {
+ ZOrder 15
+ SrcBlock "Bus\nCreator"
+ SrcPort 1
+ DstBlock "Eigenaxis Rotation"
+ DstPort 1
+ }
+ Line {
+ ZOrder 16
+ SrcBlock "Gain1"
+ SrcPort 1
+ DstBlock "Rate Transition1"
+ DstPort 1
+ }
+ Line {
+ ZOrder 17
+ SrcBlock "Eigenaxis Rotation"
+ SrcPort 1
+ DstBlock "Rate Transition"
+ DstPort 1
+ }
+ Line {
+ Name "psi"
+ ZOrder 18
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 3
+ DstBlock "Bus\nCreator2"
+ DstPort 3
+ }
+ Line {
+ Name "theta"
+ ZOrder 19
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 2
+ DstBlock "Bus\nCreator2"
+ DstPort 2
+ }
+ Line {
+ Name "phi"
+ ZOrder 20
+ Labels [0, 0]
+ SrcBlock "Demux1"
+ SrcPort 1
+ DstBlock "Bus\nCreator2"
+ DstPort 1
+ }
+ }
+ }
+ Block {
+ BlockType Constant
+ Name "Constant"
+ SID "18"
+ Position [145, 145, 175, 175]
+ ZOrder 3
+ Value "[0;0;0]"
+ }
+ Block {
+ BlockType Reference
+ Name "Ramp"
+ SID "17"
+ Ports [0, 1]
+ Position [145, 80, 175, 110]
+ ZOrder 2
+ LibraryVersion "1.356"
+ SourceBlock "simulink/Sources/Ramp"
+ SourceType "Ramp"
+ ContentPreviewEnabled off
+ slope "[ 1 ; 0 ; 0 ]"
+ start "0"
+ X0 "0"
+ VectorParams1D on
+ }
+ Block {
+ BlockType S-Function
+ Name "Soft Real Time"
+ SID "19"
+ Ports []
+ Position [438, 15, 525, 46]
+ ZOrder 4
+ ShowName off
+ FunctionName "sfun_time"
+ Parameters "x"
+ Object {
+ $PropName "MaskObject"
+ $ObjectID 20
+ $ClassName "Simulink.Mask"
+ Display "color('red')\ndisp('Soft Real Time')\n"
+ Object {
+ $PropName "Parameters"
+ $ObjectID 21
+ $ClassName "Simulink.MaskParameter"
+ Type "edit"
+ Name "x"
+ Prompt "Time Scaling Factor"
+ Value "1"
+ }
+ }
+ }
+ Line {
+ ZOrder 3
+ SrcBlock "Constant"
+ SrcPort 1
+ Points [125, 0; 0, -65]
+ DstBlock "3D Graphical Simulation"
+ DstPort 1
+ }
+ Line {
+ ZOrder 4
+ SrcBlock "Ramp"
+ SrcPort 1
+ Points [60, 0; 0, 30]
+ DstBlock "3D Graphical Simulation"
+ DstPort 2
+ }
+ }
+}
--
GitLab