diff --git a/.clang-format b/.clang-format index 8723d00..c453b01 100644 --- a/.clang-format +++ b/.clang-format @@ -64,6 +64,10 @@ IncludeCategories: Priority: 2 - Regex: '^(<|"(gtest|gmock|isl|json)/)' Priority: 3 + - Regex: '^"rtwtypes' + Priority: -1 + - Regex: '^"tmwtypes' + Priority: -1 - Regex: '.*' Priority: 1 IncludeIsMainRegex: '(Test)?$' @@ -89,7 +93,7 @@ PenaltyExcessCharacter: 1000000 PenaltyReturnTypeOnItsOwnLine: 60 PointerAlignment: Left ReflowComments: true -SortIncludes: false +SortIncludes: true SortUsingDeclarations: true SpaceAfterCStyleCast: true SpaceAfterTemplateKeyword: true diff --git a/CMakeLists.txt b/CMakeLists.txt index 6c5fb61..ca82fdf 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -7,14 +7,16 @@ project(whole-body-controllers) option(WBC_EXPORT_AUTOGENERATED "Enable the target to export code generated with Simulink Coder" OFF) option(WBC_INSTALL_ALL_HOME_POS "Installation of all available home positions" ON) -# ====================== -# Install home positions -# ====================== +# ====================================== +# Install home positions and WBC library +# ====================================== find_package(YARP REQUIRED) yarp_configure_external_installation(wbc) add_subdirectory(utilities) +add_subdirectory(library) +add_subdirectory(config) # ====================== # Autogeneration routine @@ -51,8 +53,7 @@ file(WRITE "${CMAKE_BINARY_DIR}/autogenerated/CMakeLists.txt" "# Exported contro # Find clang-format find_program(ClangFormat_EXECUTABLE DOC "Path to the clang-format executable." - NAMES clang-format clang-format-7.0 clang-format-6.0 clang-format-5.0 clang-format-4.0 - ) + NAMES clang-format clang-format-9 clang-format-8 clang-format-7 clang-format-6.0 clang-format-5.0 clang-format-4.0) configure_file(${CMAKE_SOURCE_DIR}/.clang-format ${CMAKE_BINARY_DIR}/.clang-format COPYONLY) # Copy only h and cpp files @@ -62,17 +63,21 @@ foreach(SOURCEDIR ${AUTOGENERATED_FOLDERS}) file(APPEND "${CMAKE_BINARY_DIR}/autogenerated/CMakeLists.txt" "add_subdirectory(${MDLDIRNAME})\n") file(MAKE_DIRECTORY "${MDLDESTDIR}") string(REGEX MATCH "[^_]*" MDL_NAME ${MDLDIRNAME}) # Remove _gtw_rtw + # Create the CMakeLists.txt of the model configure_file( "${CMAKE_SOURCE_DIR}/cmake/CreateAutogeneratedCodeTargets.cmake.in" "${MDLDESTDIR}/CMakeLists.txt" - @ONLY - ) + @ONLY) + # Copy the main file + configure_file( + "${PROJECT_SOURCE_DIR}/src/driver.cpp.in" + "${MDLDESTDIR}/driver.cpp" + @ONLY) # Copy sources to the build directory add_custom_command(TARGET copy-autogenerated-models PRE_BUILD COMMAND ${CMAKE_COMMAND} -E copy "${SOURCEDIR}/*.h" "${SOURCEDIR}/*.cpp" "${SOURCEDIR}/defines.txt" "${MDLDESTDIR}" - COMMENT "Copying ${MDLDIRNAME} to the build folder." - ) + COMMENT "Copying ${MDLDIRNAME} to the build folder.") # Apply clang-format style if(NOT ${ClangFormat_EXECUTABLE} STREQUAL "ClangFormat_EXECUTABLE-NOTFOUND") add_custom_command(TARGET copy-autogenerated-models @@ -86,5 +91,4 @@ endforeach() add_custom_command(TARGET copy-autogenerated-models POST_BUILD COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_BINARY_DIR}/autogenerated" "${AUTOGENERATED_WBC_SOURCE_DIR}/autogenerated" - COMMENT "Copying generated files to ${AUTOGENERATED_WBC_SOURCE_DIR}/autogenerated" - ) + COMMENT "Copying generated files to ${AUTOGENERATED_WBC_SOURCE_DIR}/autogenerated") diff --git a/README.md b/README.md index ef9c4ae..0dd7d1a 100644 --- a/README.md +++ b/README.md @@ -12,7 +12,7 @@ The repository contains `Simulink-based whole-body controllers` developed to con - The controllers stored in this repository are an **overview** of the possibile control frameworks that can be implemented using the `robotology` software infrastructure. Also, the repository contains a [library](library/README.md) of configuration and utility Matlab functions to design simulations with [Gazebo](http://gazebosim.org/) simulator and on the real robot iCub. -- The robot dynamics and kinematics is computed run-time by means of [WBToolbox](https://github.com/robotology/wb-toolbox), a Simulink libary that wraps [iDyntree](https://github.com/robotology/idyntree). For more information on iDyntree library, see also this [README](https://github.com/robotology/idyntree/blob/master/README.md). +- The robot dynamics and kinematics is computed run-time by means of [WBToolbox](https://github.com/robotology/wb-toolbox), a Simulink library that wraps [iDyntree](https://github.com/robotology/idyntree). For more information on iDyntree library, see also this [README](https://github.com/robotology/idyntree/blob/master/README.md). - The Simulink models implement different control strategies both for fixed-base and for floating-base robots. They space from `momentum-based` torque control to `inverse-kinematics-based` position control. Have a look at the [controllers](controllers/README.md) folder for more details. @@ -20,21 +20,29 @@ The repository contains `Simulink-based whole-body controllers` developed to con This repository depends upon the following Software: +- [CMake](https://cmake.org/), at least version **3.5**. - [Matlab/Simulink](https://it.mathworks.com/products/matlab.html), default version **R2017b**. - [WB-Toolbox](https://github.com/robotology/WB-Toolbox) and [blockfactory](https://github.com/robotology/blockfactory). - [Gazebo Simulator](http://gazebosim.org/), default version **9.0**. - [gazebo-yarp-plugins](https://github.com/robotology/gazebo-yarp-plugins). - [icub-gazebo](https://github.com/robotology/icub-gazebo), [icub-gazebo-wholebody](https://github.com/robotology-playground/icub-gazebo-wholebody) and [icub-models](https://github.com/robotology/icub-models) to access iCub models. -- [codyco-modules](https://github.com/robotology/codyco-modules) (**Optional**, for using [wholeBodyDynamics](https://github.com/robotology/codyco-modules/tree/master/src/devices/wholeBodyDynamics) device). +- [whole-body-estimators](https://github.com/robotology/whole-body-estimators) (**Optional**, for using [wholeBodyDynamics](https://github.com/robotology/whole-body-estimators/tree/master/devices/wholeBodyDynamics) device). - [YARP](https://github.com/robotology/yarp) and [icub-main](https://github.com/robotology/icub-main). ## Installation and usage The repository is usually tested and developed on **Ubuntu** and **macOS** operating systems. Some functionalities may not work properly on **Windows**. -**NOTE:** it is suggested to install `whole-body-controllers` and most of its dependencies (namely, `YARP`, `icub-main`, `codyco-modules`,`icub-gazebo`,`icub-gazebo-wholebody`, `icub-models`, `gazebo-yarp-plugins`, `blockfactory` and `WB-Toolbox` and their dependencies) using the [robotology-superbuild](https://github.com/robotology/robotology-superbuild) (enable `ROBOTOLOGY_USES_GAZEBO`, `ROBOTOLOGY_ENABLE_DYNAMICS`, `ROBOTOLOGY_USES_MATLAB` options). +- **NOTE:** it is suggested to install `whole-body-controllers` and most of its dependencies (namely, `YARP`, `icub-main`, `whole-body-estimators`,`icub-gazebo`,`icub-gazebo-wholebody`, `icub-models`, `gazebo-yarp-plugins`, `blockfactory` and `WB-Toolbox` and their dependencies) using the [robotology-superbuild](https://github.com/robotology/robotology-superbuild) (enable `ROBOTOLOGY_USES_GAZEBO`, `ROBOTOLOGY_ENABLE_DYNAMICS`, `ROBOTOLOGY_USES_MATLAB` options). -- Otherwise, after intalling all the dependencies, **clone the repository** on your pc by running on a terminal `git clone https://github.com/robotology/whole-body-controllers`, or download the repository. +- Otherwise, after installing all the dependencies, **clone the repository** on your pc by running on a terminal `git clone https://github.com/robotology/whole-body-controllers`, or download the repository. Then (on Ubuntu), open a terminal from the folder where you downloaded whole-body-controllers and run: + + ``` + mkdir build + cd build + ccmake .. + ``` + in the GUI that it will open, set the `CMAKE_PREFIX_PATH` as your desired installation folder. Then, run `make install`. - Set the environmental variable `YARP_ROBOT_NAME` in your `.bashrc` file (or equivalent) to be the name of the robot you want to control. List of supported robot names: @@ -45,26 +53,21 @@ The repository is usually tested and developed on **Ubuntu** and **macOS** opera | iCubGazeboV2_5|[model.urdf](https://github.com/robotology/icub-models/blob/master/iCub/robots/iCubGazeboV2_5/model.urdf)| | icubGazeboSim |[model.urdf](https://github.com/robotology/yarp-wholebodyinterface/blob/master/app/robots/icubGazeboSim/model.urdf) | -- **IMPORTANT!** to use the WBC Simulink controllers, it is **required** to add the [matlab-wbc](library/matlab-wbc) folder to the Matlab path. There are two possible ways to add the folder to the path: +- **IMPORTANT!** to use the WBC Simulink controllers, it is **required** to add the **installed** [+wbc](library/matlab-wbc/+wbc) folder to the Matlab path. There are two possible ways to add the folder to the Matlab path: - - `manually` and `permanently` add the folder to the Matlab path; - - run **only once** the [startup_WBC.m](config/startup_WBC.m) script. In this case, path is **not** permanently added to Matlab, and it is required to **always** start Matlab from the folder where your `pathdef.m` file is (usually `~/Documents/MATLAB`). To facilitate the reaching of the WBC working folder from the folder containing the `pathdef.m`, a `goToWholeBodyController.m` script will be automatically created in that folder. Run it to jump to the WBC folder. For further information see also the [WBToolbox documentation](https://robotology.github.io/wb-toolbox/mkdocs/install/#matlab). **WARNING**: if the repository is installed through the `robotology-superbuild`, **DO NOT** run the `startup_WBC.m` file but instead run the [startup_robotology_superbuild.m](https://github.com/robotology/robotology-superbuild/blob/master/cmake/template/startup_robotology_superbuild.m.in) file that comes along with robotology-superbuild installation. The result will be the same. - - **Note**: to use any function inside the package [matlab-wbc/+wbc](library/matlab-wbc/+wbc), add the `wbc` prefix to the function name when the function is invoked, i.e. `[outputs] = wbc.myFunction(inputs)`. More information on packages can be found in the [Matlab documentation](https://it.mathworks.com/help/matlab/matlab_oop/scoping-classes-with-packages.html). + **1a.** `manually` and `permanently` add the folder to the Matlab path; -- There are some functionalities of the repo such as the [automatic generation of c++ code from Simulink](https://github.com/robotology/whole-body-controllers#automatic-generation-of-c-code-from-simulink) that require to compile and install the repository using `cmake`. To do so (on Ubuntu), open a terminal from the folder where you installed whole-body-controllers and run: + **1b.** run **only once** the [startup_WBC.m](config/startup_WBC.m.in) script, which is installed in your `${BUILD}` folder. In this case, path is **not** permanently added to Matlab, and it is required to **always** start Matlab from the folder where your `pathdef.m` file is (usually `~/Documents/MATLAB`). To facilitate the reaching of the WBC working folder from the folder containing the `pathdef.m`, a `goToWholeBodyController.m` script can be [automatically created](config/createGoToWBC.m) in that folder. Run it to jump to the WBC folder. For further information on the installation procedure see also the [WBToolbox documentation](https://robotology.github.io/wb-toolbox/mkdocs/install/#matlab). + **WARNING**: if the repository is installed through the `robotology-superbuild`, **DO NOT** run the `startup_WBC.m` file but instead run the [startup_robotology_superbuild](https://github.com/robotology/robotology-superbuild/blob/master/cmake/template/startup_robotology_superbuild.m.in) file that comes along with robotology-superbuild installation. + - **Note**: to use any function inside the package [matlab-wbc/+wbc](library/matlab-wbc/+wbc), add the `wbc` prefix to the function name when the function is invoked, i.e. `[outputs] = wbc.myFunction(inputs)`. More information on packages can be found in the [Matlab documentation](https://it.mathworks.com/help/matlab/matlab_oop/scoping-classes-with-packages.html). - ``` - mkdir build - cd build - ccmake .. - ``` - then in the GUI that it will open, set the `CMAKE_PREFIX_PATH` as your desired installation folder. Then, run `make install`. +- There are some functionalities of the repo such as the [automatic generation of c++ code from Simulink](https://github.com/robotology/whole-body-controllers#automatic-generation-of-c-code-from-simulink) that require to enable not-default cmake options. Check the available options by running `ccmake .` in your `build` directory. ## Troubleshooting Please refer to the [WBToolbox troubleshooting documentation](https://robotology.github.io/wb-toolbox/mkdocs/troubleshooting/). -## Structure of the repo +## Relevant folders of the repo - **config**: a collection of scripts to correctly configure this repo. [[README]](config/README.md) diff --git a/cmake/CreateAutogeneratedCodeTargets.cmake.in b/cmake/CreateAutogeneratedCodeTargets.cmake.in index 85c38a1..dd7913c 100644 --- a/cmake/CreateAutogeneratedCodeTargets.cmake.in +++ b/cmake/CreateAutogeneratedCodeTargets.cmake.in @@ -1,22 +1,29 @@ +# Copyright (C) 2019 Istituto Italiano di Tecnologia (IIT). All rights reserved. +# This software may be modified and distributed under the terms of the +# GNU Lesser General Public License v2.1 or any later version. + +find_package(BlockFactory COMPONENTS SimulinkCoder REQUIRED) + +# =============================================== # Generate a library from the autogenerated class # =============================================== -set(MDL_NAME @MDL_NAME@) -add_generated_code_lib(MODELNAME ${MDL_NAME}) +include(TargetFromGeneratedCode) +set(SIMULINK_MODEL_NAME "@MDL_NAME@") +# This macro creates a target named as the mdl file for the autogenerated class +target_from_generated_code( + MODELNAME ${SIMULINK_MODEL_NAME} + SOURCE_FOLDER ${CMAKE_CURRENT_SOURCE_DIR}) + +# ================================ # Test executable with custom main # ================================ # Set the target name for the custom driver -set(CODER_MAIN "CoderMain_${MDL_NAME}") - -configure_file( - "${PROJECT_SOURCE_DIR}/src/driver.cpp.in" - "${CMAKE_CURRENT_BINARY_DIR}/driver.cpp" - @ONLY) +set(CODER_MAIN "Run${SIMULINK_MODEL_NAME}") add_executable(${CODER_MAIN} - "${CMAKE_CURRENT_BINARY_DIR}/driver.cpp" -) + "${CMAKE_CURRENT_SOURCE_DIR}/driver.cpp") -target_link_libraries(${CODER_MAIN} PUBLIC ${MDL_NAME}_LIB) \ No newline at end of file +target_link_libraries(${CODER_MAIN} PUBLIC ${SIMULINK_MODEL_NAME}) diff --git a/cmake/RegisterMdl.cmake b/cmake/RegisterMdl.cmake index 82ae584..3361109 100644 --- a/cmake/RegisterMdl.cmake +++ b/cmake/RegisterMdl.cmake @@ -4,7 +4,9 @@ function(initialize_mdl_set) # PARSE ARGUMENTS # =============== + set(_options) set(_oneValueArgs NAME) + set(_multiValueArgs) cmake_parse_arguments(PREFIX "${_options}" @@ -31,7 +33,9 @@ function(register_mdl) # PARSE ARGUMENTS # =============== + set(_options) set(_oneValueArgs MODELNAME) + set(_multiValueArgs) cmake_parse_arguments(PREFIX "${_options}" diff --git a/config/CMakeLists.txt b/config/CMakeLists.txt new file mode 100644 index 0000000..05b1e7d --- /dev/null +++ b/config/CMakeLists.txt @@ -0,0 +1 @@ +configure_file(${CMAKE_CURRENT_SOURCE_DIR}/startup_WBC.m.in ${CMAKE_BINARY_DIR}/startup_WBC.m) \ No newline at end of file diff --git a/config/README.md b/config/README.md index 48f9736..a4913e4 100644 --- a/config/README.md +++ b/config/README.md @@ -4,4 +4,6 @@ A collection of scripts used for configuring the repo. - [export_WBC.m](export_WBC.m): run this script. Then, digit the Matlab version in which you want to export the Simulink models. All models in the repo will be exported to that version. By default, Simulnk models in this repo are written using Matlab 2017b. **Remember: you cannot export a model in a Matlab version newer than the one you are using**! -- [startup_WBC.m](startup_WBC.m): run this script. Then, the path to the `matlab-wbc` folder will be **permanently** added to your `pathdef.m` file, which will be saved inside the Matlab `userpath`. **WARNING**! In order to have the `matlab-wbc` folder inside the Matlab path, it is **required** to start Matlab from the folder where the `pathdef.m` file is (i.e., from the folder that the `userpath` is pointing, usually `~/Documents/MATLAB`). +- [startup_WBC.m.in](startup_WBC.m.in): **DO NOT** run this script, but run its installation inside the procjet `${BUILD}` folder. Then, the path to the `+wbc` folder will be **permanently** added to your `pathdef.m` file, which will be saved inside the Matlab `userpath`. **WARNING**! In order to have the `+wbc` folder inside the Matlab path, it is **required** to start Matlab from the folder where the `pathdef.m` file is (i.e., from the folder that the `userpath` is pointing, usually `~/Documents/MATLAB`). + +- [createGoToWBC.m](createGoToWBC.m): run this script. A file named 'goToWholeBodyControllers.m' will be created in the folder pointed by your `userpath`, to facilitate the reaching of WBC source folder when Matlab is started from the `userpath` folder. diff --git a/config/startup_WBC.m b/config/createGoToWBC.m similarity index 66% rename from config/startup_WBC.m rename to config/createGoToWBC.m index 681314e..b4b8525 100644 --- a/config/startup_WBC.m +++ b/config/createGoToWBC.m @@ -1,24 +1,10 @@ -%% startup_WBC.m +%% createGoToWBC.m % -% Run this script once to permanently add the matlab-wbc library to your MATLAB path. +% Run this script once create the goToWholeBodyControllers.m script in your userpath. clc fprintf('\n## whole-body-controllers ##\n'); -fprintf('\nAdding "matlab-wbc" library to your pathdef.m...\n\n'); - -% path to whole-body-controllers -pathToWBC = pwd; -pathToWBC = pathToWBC(1:end-6); - -% path to the matlab-wbc library -pathToLibrary = [pathToWBC, filesep, 'library/matlab-wbc']; - -if exist(pathToLibrary, 'dir') - - addpath(pathToLibrary); -else - error('Path to the "matlab-wbc" library not found or not correct.') -end +fprintf('\nCreating "goToWholeBodyControllers.m" in your userpath...\n\n'); % Path to the Matlab userpath pathToUserpath = userpath; @@ -63,22 +49,6 @@ error('There are still multiple userpath. Please set a single userpath before running this script'); end -if (~isempty(pathSeparatorLocation)) - - pathToUserpath(pathSeparatorLocation) = []; -end - -fprintf('Saving paths to %s\n\n', [pathToUserpath, filesep, 'pathdef.m']); - -if (~savepath([pathToUserpath, filesep, 'pathdef.m'])) - - fprintf(['A file called pathdef.m has been created in your %s folder.\n', ... - 'This should be enough to permanently add matlab-wbc to ', ... - 'your MATLAB installation.\n'], pathToUserpath); -else - disp('There was an error generating the pathdef.m. Please manually add the matlab-wbc folder to your matlabpath'); -end - % save a script named "goToWholeBodyControllers" inside the pathdef folder, % to facilitate the user to reach the WBC working folder @@ -100,8 +70,7 @@ fclose(fid); fprintf('\n') - fprintf(['A file called goToWholeBodyControllers.m has also been created in your %s folder.\n', ... + fprintf(['A file called goToWholeBodyControllers.m has been created in your %s folder.\n', ... 'This will help to quickly reach the WBC-project folder after ', ... 'Matlab is launched.\n'], pathToUserpath); end - diff --git a/config/startup_WBC.m.in b/config/startup_WBC.m.in new file mode 100644 index 0000000..fdd7ae0 --- /dev/null +++ b/config/startup_WBC.m.in @@ -0,0 +1,85 @@ +%% startup_WBC.m +% +% Run this script once to permanently add the +wbc library to your MATLAB path. + +clc +fprintf('\n## whole-body-controllers ##\n'); +fprintf('\nAdding "+wbc" library to your pathdef.m...\n\n'); + +% path to whole-body-controllers +pathToInstallDir = '@CMAKE_INSTALL_PREFIX@'; + +% path to the matlab-wbc library +pathToLibrary = [pathToInstallDir, filesep, 'mex']; + +if exist(pathToLibrary, 'dir') + + addpath(pathToLibrary); +else + error('Path to the "+wbc" library not found or not correct.') +end + +% Path to the Matlab userpath +pathToUserpath = userpath; +pathSeparatorLocation = strfind(pathToUserpath, pathsep); + +if isempty(pathToUserpath) + + answer = input('Empty userpath. Do you want to reset the userpath? Y/N ','s'); + + if strcmpi(answer,'Y') + + userpath('reset'); + disp('Resetting userpath..'); + pathToUserpath = userpath; + pathSeparatorLocation = strfind(pathToUserpath, pathsep); + else + error('Please set the userpath before running this script'); + end + +elseif size(pathSeparatorLocation, 2) > 1 + + answer = input('Multiple userpath. Do you want to reset the userpath? Y/N ','s'); + + if strcmpi(answer,'Y') + + userpath('reset'); + disp('Resetting userpath..'); + pathToUserpath = userpath; + pathSeparatorLocation = strfind(pathToUserpath, pathsep); + else + error('Please set a single userpath before running this script'); + end +end + +% check again the userpath +if isempty(pathToUserpath) + + error('userpath is still empty. Please set the userpath before running this script'); + +elseif size(pathSeparatorLocation, 2) > 1 + + error('There are still multiple userpath. Please set a single userpath before running this script'); +end + +if (~isempty(pathSeparatorLocation)) + + pathToUserpath(pathSeparatorLocation) = []; +end + +fprintf('Saving paths to %s\n\n', [pathToUserpath, filesep, 'pathdef.m']); + +if (~savepath([pathToUserpath, filesep, 'pathdef.m'])) + + fprintf(['A file called pathdef.m has been created in your %s folder.\n', ... + 'This should be enough to permanently add +wbc to ', ... + 'your MATLAB installation.\n'], pathToUserpath); +else + disp('There was an error generating the pathdef.m. Please manually add the +wbc folder to your matlabpath'); +end + +% inform the user that it is possible to generate the goToWholeBodyControllers script +fprintf('\n'); +fprintf(['INFO: you may generate a file called goToWholeBodyControllers.m in your %s folder.\n', ... + 'This will help to quickly reach the WBC-project folder after Matlab is launched.\n', ... + 'To create the file, go to the ''WBC_SOURCE_DIR/config'' and run ''createGoToWBC.m.'' \n'], pathToUserpath); diff --git a/controllers/fixed-base-joints-torque-control/jointsControl.mdl b/controllers/fixed-base-joints-torque-control/jointsControl.mdl index d531a94..5d52090 100644 --- a/controllers/fixed-base-joints-torque-control/jointsControl.mdl +++ b/controllers/fixed-base-joints-torque-control/jointsControl.mdl @@ -6,7 +6,7 @@ Model { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" - ComputedModelVersion "1.367" + ComputedModelVersion "1.368" NumModelReferences 0 NumTestPointedSignals 0 NumProvidedFunctions 0 @@ -187,9 +187,9 @@ Model { ModifiedByFormat "%" LastModifiedBy "gnava" ModifiedDateFormat "%" - LastModifiedDate "Wed Mar 18 18:04:10 2020" - RTWModifiedTimeStamp 506455449 - ModelVersionFormat "1.%" + LastModifiedDate "Mon Mar 23 00:04:21 2020" + RTWModifiedTimeStamp 506822659 + ModelVersionFormat "1.%" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled" @@ -4547,7 +4547,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3789" + SIDHighWatermark "3792" Block { BlockType Inport Name "umin" @@ -4586,24 +4586,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "696::3787" + SID "696::3791" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 137 + ZOrder 141 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "696::3786" + SID "696::3790" Tag "Stateflow S-Function jointsControl 18" Ports [4, 3] Position [180, 102, 230, 203] - ZOrder 136 + ZOrder 140 FunctionName "sf_sfun" PortCounts "[4 3]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -4617,9 +4617,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "696::3788" + SID "696::3792" Position [460, 241, 480, 259] - ZOrder 138 + ZOrder 142 } Block { BlockType Outport @@ -4640,28 +4640,28 @@ Model { IconDisplay "Port number" } Line { - ZOrder 1 + ZOrder 9 SrcBlock "umin" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 2 + ZOrder 10 SrcBlock "umax" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 3 + ZOrder 11 SrcBlock "u" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 4 + ZOrder 12 SrcBlock "tol" SrcPort 1 DstBlock " SFunction " @@ -4669,7 +4669,7 @@ Model { } Line { Name "inRange" - ZOrder 5 + ZOrder 13 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -4678,7 +4678,7 @@ Model { } Line { Name "res_check_range" - ZOrder 6 + ZOrder 14 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -4686,16 +4686,17 @@ Model { DstPort 1 } Line { - ZOrder 7 + ZOrder 15 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 8 + ZOrder 16 SrcBlock " SFunction " SrcPort 1 + Points [20, 0] DstBlock " Demux " DstPort 1 } @@ -4869,7 +4870,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3789" + SIDHighWatermark "3792" Block { BlockType Inport Name "u" @@ -4890,24 +4891,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "704::3787" + SID "704::3791" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 137 + ZOrder 141 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "704::3786" + SID "704::3790" Tag "Stateflow S-Function jointsControl 14" Ports [2, 3] Position [180, 100, 230, 180] - ZOrder 136 + ZOrder 140 FunctionName "sf_sfun" PortCounts "[2 3]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -4921,9 +4922,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "704::3788" + SID "704::3792" Position [460, 241, 480, 259] - ZOrder 138 + ZOrder 142 } Block { BlockType Outport @@ -4944,23 +4945,23 @@ Model { IconDisplay "Port number" } Line { - ZOrder 1 + ZOrder 7 SrcBlock "u" SrcPort 1 + Points [120, 0] DstBlock " SFunction " DstPort 1 } Line { - ZOrder 2 + ZOrder 8 SrcBlock "delta_u_max" SrcPort 1 - Points [120, 0] DstBlock " SFunction " DstPort 2 } Line { Name "noSpikes" - ZOrder 3 + ZOrder 9 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -4969,7 +4970,7 @@ Model { } Line { Name "res_check_spikes" - ZOrder 4 + ZOrder 10 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -4977,14 +4978,14 @@ Model { DstPort 1 } Line { - ZOrder 5 + ZOrder 11 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 6 + ZOrder 12 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " diff --git a/controllers/floating-base-balancing-position-control/positionControlBalancing.mdl b/controllers/floating-base-balancing-position-control/positionControlBalancing.mdl index 1693a57..a890421 100644 --- a/controllers/floating-base-balancing-position-control/positionControlBalancing.mdl +++ b/controllers/floating-base-balancing-position-control/positionControlBalancing.mdl @@ -6,7 +6,7 @@ Model { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" - ComputedModelVersion "1.3512" + ComputedModelVersion "1.3513" NumModelReferences 0 NumTestPointedSignals 0 NumProvidedFunctions 0 @@ -298,9 +298,9 @@ Model { ModifiedByFormat "%" LastModifiedBy "gnava" ModifiedDateFormat "%" - LastModifiedDate "Wed Mar 18 18:04:14 2020" - RTWModifiedTimeStamp 506455454 - ModelVersionFormat "1.%" + LastModifiedDate "Mon Mar 23 00:04:24 2020" + RTWModifiedTimeStamp 506822663 + ModelVersionFormat "1.%" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled" @@ -3624,7 +3624,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "1566" + SIDHighWatermark "1569" Block { BlockType Inport Name "pos_l_sole_error" @@ -3798,25 +3798,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4935::1565" + SID "4935::1568" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 138 + ZOrder 141 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4935::1564" + SID "4935::1567" Tag "Stateflow S-Function positionControlBalancing 29" Ports [19, 2] Position [180, 75, 230, 475] - ZOrder 137 + ZOrder 140 FunctionName "sf_sfun" Parameters "Config" PortCounts "[19 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -3826,9 +3826,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4935::1566" + SID "4935::1569" Position [460, 241, 480, 259] - ZOrder 139 + ZOrder 142 } Block { BlockType Outport @@ -3840,133 +3840,133 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 410 + ZOrder 432 SrcBlock "pos_l_sole_error" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 411 + ZOrder 433 SrcBlock "pos_r_sole_error" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 412 + ZOrder 434 SrcBlock "rot_r_sole_error" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 413 + ZOrder 435 SrcBlock "rot_l_sole_error" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 414 + ZOrder 436 SrcBlock "posCoM" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 415 + ZOrder 437 SrcBlock "jointPos" SrcPort 1 DstBlock " SFunction " DstPort 6 } Line { - ZOrder 416 + ZOrder 438 SrcBlock "desired_pos_vel_acc_CoM" SrcPort 1 DstBlock " SFunction " DstPort 7 } Line { - ZOrder 417 + ZOrder 439 SrcBlock "desired_pos_vel_acc_joints" SrcPort 1 DstBlock " SFunction " DstPort 8 } Line { - ZOrder 418 + ZOrder 440 SrcBlock "vel_l_sole" SrcPort 1 DstBlock " SFunction " DstPort 9 } Line { - ZOrder 419 + ZOrder 441 SrcBlock "vel_r_sole" SrcPort 1 DstBlock " SFunction " DstPort 10 } Line { - ZOrder 420 + ZOrder 442 SrcBlock "velCoM" SrcPort 1 DstBlock " SFunction " DstPort 11 } Line { - ZOrder 421 + ZOrder 443 SrcBlock "jointVel" SrcPort 1 DstBlock " SFunction " DstPort 12 } Line { - ZOrder 422 + ZOrder 444 SrcBlock "J_l_sole" SrcPort 1 DstBlock " SFunction " DstPort 13 } Line { - ZOrder 423 + ZOrder 445 SrcBlock "J_r_sole" SrcPort 1 DstBlock " SFunction " DstPort 14 } Line { - ZOrder 424 + ZOrder 446 SrcBlock "J_CoM" SrcPort 1 DstBlock " SFunction " DstPort 15 } Line { - ZOrder 425 + ZOrder 447 SrcBlock "JDot_l_sole_nu" SrcPort 1 DstBlock " SFunction " DstPort 16 } Line { - ZOrder 426 + ZOrder 448 SrcBlock "JDot_r_sole_nu" SrcPort 1 DstBlock " SFunction " DstPort 17 } Line { - ZOrder 427 + ZOrder 449 SrcBlock "JDot_CoM_nu" SrcPort 1 DstBlock " SFunction " DstPort 18 } Line { - ZOrder 428 + ZOrder 450 SrcBlock "feetcontactStatus" SrcPort 1 DstBlock " SFunction " @@ -3974,7 +3974,7 @@ Model { } Line { Name "nuDot_ikin" - ZOrder 429 + ZOrder 451 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -3982,14 +3982,14 @@ Model { DstPort 1 } Line { - ZOrder 430 + ZOrder 452 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 431 + ZOrder 453 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -4446,7 +4446,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "60" + SIDHighWatermark "63" Block { BlockType Inport Name "w_H_l_sole" @@ -4494,24 +4494,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4946::59" + SID "4946::62" Ports [1, 1] Position [270, 315, 320, 355] - ZOrder 45 + ZOrder 48 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4946::58" + SID "4946::61" Tag "Stateflow S-Function positionControlBalancing 1" Ports [5, 6] Position [180, 102, 230, 243] - ZOrder 44 + ZOrder 47 FunctionName "sf_sfun" PortCounts "[5 6]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -4537,9 +4537,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4946::60" + SID "4946::63" Position [460, 326, 480, 344] - ZOrder 46 + ZOrder 49 } Block { BlockType Outport @@ -4591,35 +4591,35 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 85 + ZOrder 97 SrcBlock "w_H_l_sole" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 86 + ZOrder 98 SrcBlock "w_H_r_sole" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 87 + ZOrder 99 SrcBlock "w_H_CoM" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 88 + ZOrder 100 SrcBlock "w_H_r_sole_0" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 89 + ZOrder 101 SrcBlock "w_H_l_sole_0" SrcPort 1 DstBlock " SFunction " @@ -4627,7 +4627,7 @@ Model { } Line { Name "pos_l_sole_error" - ZOrder 90 + ZOrder 102 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -4636,7 +4636,7 @@ Model { } Line { Name "rot_l_sole_error" - ZOrder 91 + ZOrder 103 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -4645,7 +4645,7 @@ Model { } Line { Name "pos_r_sole_error" - ZOrder 92 + ZOrder 104 Labels [0, 0] SrcBlock " SFunction " SrcPort 4 @@ -4654,7 +4654,7 @@ Model { } Line { Name "rot_r_sole_error" - ZOrder 93 + ZOrder 105 Labels [0, 0] SrcBlock " SFunction " SrcPort 5 @@ -4663,7 +4663,7 @@ Model { } Line { Name "posCoM" - ZOrder 94 + ZOrder 106 Labels [0, 0] SrcBlock " SFunction " SrcPort 6 @@ -4671,14 +4671,14 @@ Model { DstPort 1 } Line { - ZOrder 95 + ZOrder 107 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 96 + ZOrder 108 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -5829,7 +5829,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "57" + SIDHighWatermark "60" Block { BlockType Inport Name "nu_base_ikin" @@ -5850,24 +5850,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4999::56" + SID "4999::59" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 42 + ZOrder 45 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4999::55" + SID "4999::58" Tag "Stateflow S-Function positionControlBalancing 24" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 41 + ZOrder 44 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -5877,9 +5877,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4999::57" + SID "4999::60" Position [460, 241, 480, 259] - ZOrder 43 + ZOrder 46 } Block { BlockType Outport @@ -5891,7 +5891,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 36 + ZOrder 41 SrcBlock "nu_base_ikin" SrcPort 1 Points [120, 0] @@ -5899,7 +5899,7 @@ Model { DstPort 1 } Line { - ZOrder 37 + ZOrder 42 SrcBlock "pose_base" SrcPort 1 DstBlock " SFunction " @@ -5907,7 +5907,7 @@ Model { } Line { Name "pose_base_dot" - ZOrder 38 + ZOrder 43 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -5915,14 +5915,14 @@ Model { DstPort 1 } Line { - ZOrder 39 + ZOrder 44 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 40 + ZOrder 45 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -5992,7 +5992,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "55" + SIDHighWatermark "58" Block { BlockType Inport Name "q_ikin_quat" @@ -6004,24 +6004,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "5003::54" + SID "5003::57" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 40 + ZOrder 43 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "5003::53" + SID "5003::56" Tag "Stateflow S-Function positionControlBalancing 31" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 39 + ZOrder 42 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -6031,9 +6031,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "5003::55" + SID "5003::58" Position [460, 241, 480, 259] - ZOrder 41 + ZOrder 44 } Block { BlockType Outport @@ -6045,7 +6045,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 29 + ZOrder 33 SrcBlock "q_ikin_quat" SrcPort 1 DstBlock " SFunction " @@ -6053,7 +6053,7 @@ Model { } Line { Name "q_ikin" - ZOrder 30 + ZOrder 34 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -6061,14 +6061,14 @@ Model { DstPort 1 } Line { - ZOrder 31 + ZOrder 35 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 32 + ZOrder 36 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -6105,7 +6105,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "55" + SIDHighWatermark "58" Block { BlockType Inport Name "q_0" @@ -6117,24 +6117,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "5004::54" + SID "5004::57" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 40 + ZOrder 43 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "5004::53" + SID "5004::56" Tag "Stateflow S-Function positionControlBalancing 30" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 39 + ZOrder 42 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -6144,9 +6144,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "5004::55" + SID "5004::58" Position [460, 241, 480, 259] - ZOrder 41 + ZOrder 44 } Block { BlockType Outport @@ -6158,7 +6158,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 29 + ZOrder 33 SrcBlock "q_0" SrcPort 1 DstBlock " SFunction " @@ -6166,7 +6166,7 @@ Model { } Line { Name "q_0_quat" - ZOrder 30 + ZOrder 34 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -6174,14 +6174,14 @@ Model { DstPort 1 } Line { - ZOrder 31 + ZOrder 35 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 32 + ZOrder 36 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -6658,7 +6658,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3752" + SIDHighWatermark "3755" Block { BlockType Inport Name "posCoM_0" @@ -6679,25 +6679,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4872::3751" + SID "4872::3754" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 154 + ZOrder 157 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4872::3750" + SID "4872::3753" Tag "Stateflow S-Function positionControlBalancing 10" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 153 + ZOrder 156 FunctionName "sf_sfun" Parameters "Config" PortCounts "[2 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -6707,9 +6707,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4872::3752" + SID "4872::3755" Position [460, 241, 480, 259] - ZOrder 155 + ZOrder 158 } Block { BlockType Outport @@ -6721,7 +6721,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 36 + ZOrder 41 SrcBlock "posCoM_0" SrcPort 1 Points [120, 0] @@ -6729,7 +6729,7 @@ Model { DstPort 1 } Line { - ZOrder 37 + ZOrder 42 SrcBlock "t" SrcPort 1 DstBlock " SFunction " @@ -6737,7 +6737,7 @@ Model { } Line { Name "references_CoM" - ZOrder 38 + ZOrder 43 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -6745,14 +6745,14 @@ Model { DstPort 1 } Line { - ZOrder 39 + ZOrder 44 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 40 + ZOrder 45 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -6929,7 +6929,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3777" + SIDHighWatermark "3780" Block { BlockType Inport Name "J_l_sole" @@ -6977,24 +6977,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4879::3776" + SID "4879::3779" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 145 + ZOrder 148 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4879::3775" + SID "4879::3778" Tag "Stateflow S-Function positionControlBalancing 5" Ports [5, 2] Position [180, 100, 230, 220] - ZOrder 144 + ZOrder 147 FunctionName "sf_sfun" PortCounts "[5 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -7004,9 +7004,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4879::3777" + SID "4879::3780" Position [460, 241, 480, 259] - ZOrder 146 + ZOrder 149 } Block { BlockType Outport @@ -7018,35 +7018,35 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 64 + ZOrder 72 SrcBlock "J_l_sole" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 65 + ZOrder 73 SrcBlock "J_r_sole" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 66 + ZOrder 74 SrcBlock "feetContactStatus" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 67 + ZOrder 75 SrcBlock "jointVel" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 68 + ZOrder 76 SrcBlock "pinvDampTolerance" SrcPort 1 DstBlock " SFunction " @@ -7054,7 +7054,7 @@ Model { } Line { Name "nu_b" - ZOrder 69 + ZOrder 77 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -7062,14 +7062,14 @@ Model { DstPort 1 } Line { - ZOrder 70 + ZOrder 78 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 71 + ZOrder 79 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -7489,7 +7489,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "43" + SIDHighWatermark "46" Block { BlockType Inport Name "w_H_b" @@ -7510,24 +7510,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "5020::42" + SID "5020::45" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 33 + ZOrder 36 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "5020::41" + SID "5020::44" Tag "Stateflow S-Function positionControlBalancing 25" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 32 + ZOrder 35 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -7537,9 +7537,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "5020::43" + SID "5020::46" Position [460, 241, 480, 259] - ZOrder 34 + ZOrder 37 } Block { BlockType Outport @@ -7551,7 +7551,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 36 + ZOrder 41 SrcBlock "w_H_b" SrcPort 1 Points [120, 0] @@ -7559,7 +7559,7 @@ Model { DstPort 1 } Line { - ZOrder 37 + ZOrder 42 SrcBlock "jointPos" SrcPort 1 DstBlock " SFunction " @@ -7567,7 +7567,7 @@ Model { } Line { Name "q" - ZOrder 38 + ZOrder 43 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -7575,14 +7575,14 @@ Model { DstPort 1 } Line { - ZOrder 39 + ZOrder 44 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 40 + ZOrder 45 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -8472,7 +8472,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3789" + SIDHighWatermark "3792" Block { BlockType Inport Name "umin" @@ -8511,24 +8511,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "5197::3787" + SID "5197::3791" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 137 + ZOrder 141 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "5197::3786" + SID "5197::3790" Tag "Stateflow S-Function positionControlBalancing 18" Ports [4, 3] Position [180, 102, 230, 203] - ZOrder 136 + ZOrder 140 FunctionName "sf_sfun" PortCounts "[4 3]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -8542,9 +8542,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "5197::3788" + SID "5197::3792" Position [460, 241, 480, 259] - ZOrder 138 + ZOrder 142 } Block { BlockType Outport @@ -8565,28 +8565,28 @@ Model { IconDisplay "Port number" } Line { - ZOrder 1 + ZOrder 9 SrcBlock "umin" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 2 + ZOrder 10 SrcBlock "umax" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 3 + ZOrder 11 SrcBlock "u" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 4 + ZOrder 12 SrcBlock "tol" SrcPort 1 DstBlock " SFunction " @@ -8594,7 +8594,7 @@ Model { } Line { Name "inRange" - ZOrder 5 + ZOrder 13 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -8603,7 +8603,7 @@ Model { } Line { Name "res_check_range" - ZOrder 6 + ZOrder 14 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -8611,16 +8611,17 @@ Model { DstPort 1 } Line { - ZOrder 7 + ZOrder 15 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 8 + ZOrder 16 SrcBlock " SFunction " SrcPort 1 + Points [20, 0] DstBlock " Demux " DstPort 1 } @@ -8794,7 +8795,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3789" + SIDHighWatermark "3792" Block { BlockType Inport Name "u" @@ -8815,24 +8816,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "5205::3787" + SID "5205::3791" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 137 + ZOrder 141 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "5205::3786" + SID "5205::3790" Tag "Stateflow S-Function positionControlBalancing 14" Ports [2, 3] Position [180, 100, 230, 180] - ZOrder 136 + ZOrder 140 FunctionName "sf_sfun" PortCounts "[2 3]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -8846,9 +8847,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "5205::3788" + SID "5205::3792" Position [460, 241, 480, 259] - ZOrder 138 + ZOrder 142 } Block { BlockType Outport @@ -8869,23 +8870,23 @@ Model { IconDisplay "Port number" } Line { - ZOrder 1 + ZOrder 7 SrcBlock "u" SrcPort 1 + Points [120, 0] DstBlock " SFunction " DstPort 1 } Line { - ZOrder 2 + ZOrder 8 SrcBlock "delta_u_max" SrcPort 1 - Points [120, 0] DstBlock " SFunction " DstPort 2 } Line { Name "noSpikes" - ZOrder 3 + ZOrder 9 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -8894,7 +8895,7 @@ Model { } Line { Name "res_check_spikes" - ZOrder 4 + ZOrder 10 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -8902,14 +8903,14 @@ Model { DstPort 1 } Line { - ZOrder 5 + ZOrder 11 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 6 + ZOrder 12 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " diff --git a/controllers/floating-base-balancing-torque-control/torqueControlBalancing.mdl b/controllers/floating-base-balancing-torque-control/torqueControlBalancing.mdl index 83d23fe..6e9b3ff 100644 --- a/controllers/floating-base-balancing-torque-control/torqueControlBalancing.mdl +++ b/controllers/floating-base-balancing-torque-control/torqueControlBalancing.mdl @@ -6,7 +6,7 @@ Model { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" - ComputedModelVersion "1.3504" + ComputedModelVersion "1.3510" NumModelReferences 0 NumTestPointedSignals 0 NumProvidedFunctions 0 @@ -144,14 +144,14 @@ Model { ExternalFileReference { Reference "WBToolboxLibrary/Model/Jacobians/DotJNu" Path "torqueControlBalancing/MOMENTUM BASED TORQUE CONTROL/Dynamics and Kinematics/Kinematics/DotJNu l_so" - "le " + "le" SID "2375" Type "LIBRARY_BLOCK" } ExternalFileReference { Reference "WBToolboxLibrary/Model/Jacobians/DotJNu" Path "torqueControlBalancing/MOMENTUM BASED TORQUE CONTROL/Dynamics and Kinematics/Kinematics/DotJNu r_so" - "le " + "le" SID "2376" Type "LIBRARY_BLOCK" } @@ -443,24 +443,24 @@ Model { } Array { Type "Simulink.EditorInfo" - Dimension 10 + Dimension 12 Object { $ObjectID 5 IsActive [1] - ViewObjType "SimulinkSubsys" - LoadSaveID "4836" + ViewObjType "SimulinkTopLevel" + LoadSaveID "0" Extents [1815.0, 821.0] - ZoomFactor [1.2332814930015552] - Offset [-60.865177726986076, -5.3518284993695033] + ZoomFactor [3.61010101010101] + Offset [776.12199216564068, 371.79127028539449] } Object { $ObjectID 6 IsActive [0] - ViewObjType "SimulinkTopLevel" - LoadSaveID "0" + ViewObjType "SimulinkSubsys" + LoadSaveID "4917" Extents [1815.0, 821.0] - ZoomFactor [3.61010101010101] - Offset [776.12199216564068, 371.79127028539449] + ZoomFactor [4.3275706438106187] + Offset [10.41989407940855, -23.235071395084702] } Object { $ObjectID 7 @@ -475,31 +475,49 @@ Model { $ObjectID 8 IsActive [0] ViewObjType "SimulinkSubsys" - LoadSaveID "4917" + LoadSaveID "4925" Extents [1815.0, 821.0] - ZoomFactor [4.3275706438106187] - Offset [10.41989407940855, -23.235071395084702] + ZoomFactor [3.8000000393627378] + Offset [-68.684210488152473, -33.394738158739756] } Object { $ObjectID 9 IsActive [0] ViewObjType "SimulinkSubsys" - LoadSaveID "4925" + LoadSaveID "4836" Extents [1815.0, 821.0] - ZoomFactor [3.8000000393627378] - Offset [-68.684210488152473, -33.394738158739756] + ZoomFactor [1.2332814930015552] + Offset [-60.865177726986076, -5.3518284993695033] } Object { $ObjectID 10 IsActive [0] ViewObjType "SimulinkSubsys" + LoadSaveID "2341" + Extents [1815.0, 821.0] + ZoomFactor [1.3863636363636365] + Offset [-1148.4886014344261, -206.09836065573768] + } + Object { + $ObjectID 11 + IsActive [0] + ViewObjType "SimulinkSubsys" + LoadSaveID "4321" + Extents [1815.0, 821.0] + ZoomFactor [3.0] + Offset [-211.69612560424537, 280.84982585720286] + } + Object { + $ObjectID 12 + IsActive [0] + ViewObjType "SimulinkSubsys" LoadSaveID "4886" Extents [1815.0, 821.0] ZoomFactor [4.0050505050505052] Offset [94.661097099621685, 186.50441361916774] } Object { - $ObjectID 11 + $ObjectID 13 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "4890" @@ -508,7 +526,7 @@ Model { Offset [5.415825977301381, -23.235182849936947] } Object { - $ObjectID 12 + $ObjectID 14 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "4664" @@ -517,7 +535,7 @@ Model { Offset [-221.43409915356727, -143.9621523579201] } Object { - $ObjectID 13 + $ObjectID 15 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "2416" @@ -526,7 +544,7 @@ Model { Offset [-41.475000000000023, 125.00000000000006] } Object { - $ObjectID 14 + $ObjectID 16 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "4661" @@ -538,7 +556,7 @@ Model { } Object { $PropName "DockComponentsInfo" - $ObjectID 15 + $ObjectID 17 $ClassName "Simulink.DockComponentInfo" Type "GLUE2:PropertyInspector" ID "Property Inspector" @@ -564,9 +582,9 @@ Model { ModifiedByFormat "%" LastModifiedBy "gnava" ModifiedDateFormat "%" - LastModifiedDate "Wed Mar 18 18:04:23 2020" - RTWModifiedTimeStamp 506455461 - ModelVersionFormat "1.%" + LastModifiedDate "Mon Mar 23 00:04:27 2020" + RTWModifiedTimeStamp 506822667 + ModelVersionFormat "1.%" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled" @@ -615,7 +633,7 @@ Model { TryForcingSFcnDF off Object { $PropName "DataLoggingOverride" - $ObjectID 16 + $ObjectID 18 $ClassName "Simulink.SimulationData.ModelLoggingInfo" model_ "torqueControlBalancing" signals_ [] @@ -661,7 +679,7 @@ Model { Type "Handle" Dimension 1 Simulink.ConfigSet { - $ObjectID 17 + $ObjectID 19 Version "1.17.1" DisabledProps [] Description "" @@ -669,7 +687,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 18 + $ObjectID 20 Version "1.17.1" DisabledProps [] Description "" @@ -709,7 +727,7 @@ Model { DecoupledContinuousIntegration off } Simulink.DataIOCC { - $ObjectID 19 + $ObjectID 21 Version "1.17.1" DisabledProps [] Description "" @@ -751,7 +769,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 20 + $ObjectID 22 Version "1.17.1" Array { Type "Cell" @@ -815,7 +833,7 @@ Model { DifferentSizesBufferReuse off } Simulink.DebuggingCC { - $ObjectID 21 + $ObjectID 23 Version "1.17.1" Array { Type "Cell" @@ -931,7 +949,7 @@ Model { UnitDatabase "" } Simulink.HardwareCC { - $ObjectID 22 + $ObjectID 24 Version "1.17.1" DisabledProps [] Description "" @@ -980,7 +998,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 23 + $ObjectID 25 Version "1.17.1" DisabledProps [] Description "" @@ -1000,7 +1018,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 24 + $ObjectID 26 Version "1.17.1" DisabledProps [] Description "" @@ -1031,7 +1049,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 25 + $ObjectID 27 Version "1.17.1" Array { Type "Cell" @@ -1117,7 +1135,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 26 + $ObjectID 28 Version "1.17.1" Array { Type "Cell" @@ -1205,7 +1223,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 27 + $ObjectID 29 Version "1.17.1" Array { Type "Cell" @@ -1235,7 +1253,7 @@ Model { Type "Handle" Dimension 1 Simulink.CPPComponent { - $ObjectID 28 + $ObjectID 30 Version "19.1.1" Array { Type "Cell" @@ -1339,7 +1357,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 29 + $ObjectID 31 Version "1.17.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -1382,19 +1400,19 @@ Model { PropName "Components" } Name "Configuration" - CurrentDlgPage "Solver" - ConfigPrmDlgPosition [ 730, 390, 2252, 1260 ] + CurrentDlgPage "Code Generation" + ConfigPrmDlgPosition [ 328, 140, 1850, 1010 ] ExtraOptions "-aBlockCommentType=\"BlockPathComment\" -aIgnoreTestpoints=0 " } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" - $ObjectID 17 + $ObjectID 19 } Object { $PropName "DataTransfer" - $ObjectID 30 + $ObjectID 32 $ClassName "Simulink.GlobalDataTransfer" DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)" DefaultTransitionBetweenAsyncTasks "Ensure data integrity only" @@ -1756,7 +1774,7 @@ Model { Name "Configuration" SID "4537" Ports [] - Position [1180, 545, 1245, 565] + Position [1180, 535, 1245, 555] ZOrder 553 HideAutomaticName off LibraryVersion "1.675" @@ -1791,7 +1809,7 @@ Model { RequestExecContextInheritance off Object { $PropName "MaskObject" - $ObjectID 31 + $ObjectID 33 $ClassName "Simulink.Mask" Display "disp('VISUALIZER')" } @@ -6673,7 +6691,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "81" + SIDHighWatermark "87" Block { BlockType Inport Name "feetContactStatus" @@ -6685,24 +6703,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4590::80" + SID "4590::86" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 71 + ZOrder 77 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4590::79" + SID "4590::85" Tag "Stateflow S-Function torqueControlBalancing 15" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 70 + ZOrder 76 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -6712,9 +6730,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4590::81" + SID "4590::87" Position [460, 241, 480, 259] - ZOrder 72 + ZOrder 78 } Block { BlockType Outport @@ -6726,7 +6744,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 73 + ZOrder 81 SrcBlock "feetContactStatus" SrcPort 1 DstBlock " SFunction " @@ -6734,7 +6752,7 @@ Model { } Line { Name "onOneFoot" - ZOrder 74 + ZOrder 82 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -6742,14 +6760,14 @@ Model { DstPort 1 } Line { - ZOrder 75 + ZOrder 83 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 76 + ZOrder 84 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -6865,7 +6883,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "82" + SIDHighWatermark "88" Block { BlockType Inport Name "H" @@ -6886,24 +6904,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4690::81" + SID "4690::87" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 72 + ZOrder 78 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4690::80" + SID "4690::86" Tag "Stateflow S-Function torqueControlBalancing 26" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 71 + ZOrder 77 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -6913,9 +6931,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4690::82" + SID "4690::88" Position [460, 241, 480, 259] - ZOrder 73 + ZOrder 79 } Block { BlockType Outport @@ -6927,7 +6945,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 41 + ZOrder 51 SrcBlock "H" SrcPort 1 Points [120, 0] @@ -6935,7 +6953,7 @@ Model { DstPort 1 } Line { - ZOrder 42 + ZOrder 52 SrcBlock "g" SrcPort 1 DstBlock " SFunction " @@ -6943,7 +6961,7 @@ Model { } Line { Name "analyticalSolution" - ZOrder 43 + ZOrder 53 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -6951,14 +6969,14 @@ Model { DstPort 1 } Line { - ZOrder 44 + ZOrder 54 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 45 + ZOrder 55 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -7014,7 +7032,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "90" + SIDHighWatermark "96" Block { BlockType Inport Name "analyticalSolution" @@ -7053,25 +7071,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4692::89" + SID "4692::95" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 74 + ZOrder 80 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4692::88" + SID "4692::94" Tag "Stateflow S-Function torqueControlBalancing 27" Ports [4, 2] Position [180, 102, 230, 203] - ZOrder 73 + ZOrder 79 FunctionName "sf_sfun" Parameters "Config" PortCounts "[4 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -7081,9 +7099,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4692::90" + SID "4692::96" Position [460, 241, 480, 259] - ZOrder 75 + ZOrder 81 } Block { BlockType Outport @@ -7095,28 +7113,28 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 63 + ZOrder 77 SrcBlock "analyticalSolution" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 64 + ZOrder 78 SrcBlock "primalSolution" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 65 + ZOrder 79 SrcBlock "QPStatus" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 66 + ZOrder 80 SrcBlock "feetContactStatus" SrcPort 1 DstBlock " SFunction " @@ -7124,7 +7142,7 @@ Model { } Line { Name "f_star" - ZOrder 67 + ZOrder 81 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -7132,14 +7150,14 @@ Model { DstPort 1 } Line { - ZOrder 68 + ZOrder 82 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 69 + ZOrder 83 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -7393,7 +7411,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "82" + SIDHighWatermark "88" Block { BlockType Inport Name "H" @@ -7414,24 +7432,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4678::81" + SID "4678::87" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 72 + ZOrder 78 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4678::80" + SID "4678::86" Tag "Stateflow S-Function torqueControlBalancing 24" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 71 + ZOrder 77 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -7441,9 +7459,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4678::82" + SID "4678::88" Position [460, 241, 480, 259] - ZOrder 73 + ZOrder 79 } Block { BlockType Outport @@ -7455,7 +7473,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 41 + ZOrder 51 SrcBlock "H" SrcPort 1 Points [120, 0] @@ -7463,7 +7481,7 @@ Model { DstPort 1 } Line { - ZOrder 42 + ZOrder 52 SrcBlock "g" SrcPort 1 DstBlock " SFunction " @@ -7471,7 +7489,7 @@ Model { } Line { Name "analyticalSolution" - ZOrder 43 + ZOrder 53 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -7479,14 +7497,14 @@ Model { DstPort 1 } Line { - ZOrder 44 + ZOrder 54 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 45 + ZOrder 55 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -7542,7 +7560,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "90" + SIDHighWatermark "96" Block { BlockType Inport Name "analyticalSolution" @@ -7572,25 +7590,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4680::89" + SID "4680::95" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 73 + ZOrder 79 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4680::88" + SID "4680::94" Tag "Stateflow S-Function torqueControlBalancing 25" Ports [3, 2] Position [180, 100, 230, 180] - ZOrder 72 + ZOrder 78 FunctionName "sf_sfun" Parameters "Config" PortCounts "[3 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -7600,9 +7618,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4680::90" + SID "4680::96" Position [460, 241, 480, 259] - ZOrder 74 + ZOrder 80 } Block { BlockType Outport @@ -7614,21 +7632,21 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 68 + ZOrder 80 SrcBlock "analyticalSolution" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 69 + ZOrder 81 SrcBlock "primalSolution" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 70 + ZOrder 82 SrcBlock "QPStatus" SrcPort 1 DstBlock " SFunction " @@ -7636,7 +7654,7 @@ Model { } Line { Name "f_star" - ZOrder 71 + ZOrder 83 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -7644,14 +7662,14 @@ Model { DstPort 1 } Line { - ZOrder 72 + ZOrder 84 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 73 + ZOrder 85 SrcBlock " SFunction " SrcPort 1 Points [20, 0] @@ -8497,7 +8515,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3798" + SIDHighWatermark "3804" Block { BlockType Inport Name "J_l_sole" @@ -8536,25 +8554,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "3721::3797" + SID "3721::3803" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 122 + ZOrder 128 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "3721::3796" + SID "3721::3802" Tag "Stateflow S-Function torqueControlBalancing 20" Ports [4, 2] Position [180, 102, 230, 203] - ZOrder 121 + ZOrder 127 FunctionName "sf_sfun" Parameters "Reg" PortCounts "[4 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -8564,9 +8582,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "3721::3798" + SID "3721::3804" Position [460, 241, 480, 259] - ZOrder 123 + ZOrder 129 } Block { BlockType Outport @@ -8578,28 +8596,28 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 204 + ZOrder 218 SrcBlock "J_l_sole" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 205 + ZOrder 219 SrcBlock "J_r_sole" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 206 + ZOrder 220 SrcBlock "feetContactStatus" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 207 + ZOrder 221 SrcBlock "jointPos_err" SrcPort 1 DstBlock " SFunction " @@ -8607,7 +8625,7 @@ Model { } Line { Name "baseVel_equivalent" - ZOrder 208 + ZOrder 222 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -8615,14 +8633,14 @@ Model { DstPort 1 } Line { - ZOrder 209 + ZOrder 223 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 210 + ZOrder 224 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -8700,7 +8718,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "111" + SIDHighWatermark "117" Block { BlockType Inport Name "state" @@ -8712,24 +8730,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4027::110" + SID "4027::116" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 101 + ZOrder 107 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4027::109" + SID "4027::115" Tag "Stateflow S-Function torqueControlBalancing 19" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 100 + ZOrder 106 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -8739,9 +8757,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4027::111" + SID "4027::117" Position [460, 241, 480, 259] - ZOrder 102 + ZOrder 108 } Block { BlockType Outport @@ -8753,7 +8771,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 117 + ZOrder 125 SrcBlock "state" SrcPort 1 DstBlock " SFunction " @@ -8761,7 +8779,7 @@ Model { } Line { Name "booleanState" - ZOrder 118 + ZOrder 126 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -8769,14 +8787,14 @@ Model { DstPort 1 } Line { - ZOrder 119 + ZOrder 127 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 120 + ZOrder 128 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -9082,36 +9100,36 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "122" + SIDHighWatermark "130" Block { BlockType Demux Name " Demux " - SID "4551::120" + SID "4551::128" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 111 + ZOrder 119 Outputs "1" } Block { BlockType Ground Name " Ground " - SID "4551::122" + SID "4551::130" Position [20, 121, 40, 139] - ZOrder 113 + ZOrder 121 } Block { BlockType S-Function Name " SFunction " - SID "4551::119" + SID "4551::127" Tag "Stateflow S-Function torqueControlBalancing 9" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 110 + ZOrder 118 FunctionName "sf_sfun" Parameters "Config" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -9121,9 +9139,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4551::121" + SID "4551::129" Position [460, 241, 480, 259] - ZOrder 112 + ZOrder 120 } Block { BlockType Outport @@ -9136,7 +9154,7 @@ Model { } Line { Name "reflectedInertia" - ZOrder 101 + ZOrder 109 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -9144,21 +9162,21 @@ Model { DstPort 1 } Line { - ZOrder 102 + ZOrder 110 SrcBlock " Ground " SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 103 + ZOrder 111 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 104 + ZOrder 112 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -9403,7 +9421,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3797" + SIDHighWatermark "3803" Block { BlockType Inport Name "feetContactStatus" @@ -9604,25 +9622,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "2407::3796" + SID "2407::3802" Ports [1, 1] Position [270, 570, 320, 610] - ZOrder 199 + ZOrder 205 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "2407::3795" + SID "2407::3801" Tag "Stateflow S-Function torqueControlBalancing 17" Ports [22, 13] Position [180, 70, 230, 530] - ZOrder 198 + ZOrder 204 FunctionName "sf_sfun" Parameters "Config,Gain,Reg" PortCounts "[22 13]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -9676,9 +9694,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "2407::3797" + SID "2407::3803" Position [460, 581, 480, 599] - ZOrder 200 + ZOrder 206 } Block { BlockType Outport @@ -9800,154 +9818,154 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 2258 + ZOrder 2330 SrcBlock "feetContactStatus" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 2259 + ZOrder 2331 SrcBlock "ConstraintsMatrix" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 2260 + ZOrder 2332 SrcBlock "bVectorConstraints" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 2261 + ZOrder 2333 SrcBlock "jointPos" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 2262 + ZOrder 2334 SrcBlock "jointPos_des" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 2263 + ZOrder 2335 SrcBlock "nu" SrcPort 1 DstBlock " SFunction " DstPort 6 } Line { - ZOrder 2264 + ZOrder 2336 SrcBlock "M" SrcPort 1 DstBlock " SFunction " DstPort 7 } Line { - ZOrder 2265 + ZOrder 2337 SrcBlock "h" SrcPort 1 DstBlock " SFunction " DstPort 8 } Line { - ZOrder 2266 + ZOrder 2338 SrcBlock "L" SrcPort 1 DstBlock " SFunction " DstPort 9 } Line { - ZOrder 2267 + ZOrder 2339 SrcBlock "intL_angMomError" SrcPort 1 DstBlock " SFunction " DstPort 10 } Line { - ZOrder 2268 + ZOrder 2340 SrcBlock "w_H_l_sole" SrcPort 1 DstBlock " SFunction " DstPort 11 } Line { - ZOrder 2269 + ZOrder 2341 SrcBlock "w_H_r_sole" SrcPort 1 DstBlock " SFunction " DstPort 12 } Line { - ZOrder 2270 + ZOrder 2342 SrcBlock "J_l_sole" SrcPort 1 DstBlock " SFunction " DstPort 13 } Line { - ZOrder 2271 + ZOrder 2343 SrcBlock "J_r_sole" SrcPort 1 DstBlock " SFunction " DstPort 14 } Line { - ZOrder 2272 + ZOrder 2344 SrcBlock "JDot_l_sole_nu" SrcPort 1 DstBlock " SFunction " DstPort 15 } Line { - ZOrder 2273 + ZOrder 2345 SrcBlock "JDot_r_sole_nu" SrcPort 1 DstBlock " SFunction " DstPort 16 } Line { - ZOrder 2274 + ZOrder 2346 SrcBlock "pos_CoM" SrcPort 1 DstBlock " SFunction " DstPort 17 } Line { - ZOrder 2275 + ZOrder 2347 SrcBlock "J_CoM" SrcPort 1 DstBlock " SFunction " DstPort 18 } Line { - ZOrder 2276 + ZOrder 2348 SrcBlock "desired_pos_vel_acc_CoM" SrcPort 1 DstBlock " SFunction " DstPort 19 } Line { - ZOrder 2277 + ZOrder 2349 SrcBlock "KP_CoM" SrcPort 1 DstBlock " SFunction " DstPort 20 } Line { - ZOrder 2278 + ZOrder 2350 SrcBlock "KD_CoM" SrcPort 1 DstBlock " SFunction " DstPort 21 } Line { - ZOrder 2279 + ZOrder 2351 SrcBlock "KP_postural" SrcPort 1 DstBlock " SFunction " @@ -9955,7 +9973,7 @@ Model { } Line { Name "HessianMatrixOneFoot" - ZOrder 2280 + ZOrder 2352 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -9964,7 +9982,7 @@ Model { } Line { Name "gradientOneFoot" - ZOrder 2281 + ZOrder 2353 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -9973,7 +9991,7 @@ Model { } Line { Name "ConstraintsMatrixOneFoot" - ZOrder 2282 + ZOrder 2354 Labels [0, 0] SrcBlock " SFunction " SrcPort 4 @@ -9982,7 +10000,7 @@ Model { } Line { Name "bVectorConstraintsOneFoot" - ZOrder 2283 + ZOrder 2355 Labels [0, 0] SrcBlock " SFunction " SrcPort 5 @@ -9991,7 +10009,7 @@ Model { } Line { Name "HessianMatrixTwoFeet" - ZOrder 2284 + ZOrder 2356 Labels [0, 0] SrcBlock " SFunction " SrcPort 6 @@ -10000,7 +10018,7 @@ Model { } Line { Name "gradientTwoFeet" - ZOrder 2285 + ZOrder 2357 Labels [0, 0] SrcBlock " SFunction " SrcPort 7 @@ -10009,7 +10027,7 @@ Model { } Line { Name "ConstraintsMatrixTwoFeet" - ZOrder 2286 + ZOrder 2358 Labels [0, 0] SrcBlock " SFunction " SrcPort 8 @@ -10018,7 +10036,7 @@ Model { } Line { Name "bVectorConstraintsTwoFeet" - ZOrder 2287 + ZOrder 2359 Labels [0, 0] SrcBlock " SFunction " SrcPort 9 @@ -10027,7 +10045,7 @@ Model { } Line { Name "tauModel" - ZOrder 2288 + ZOrder 2360 Labels [0, 0] SrcBlock " SFunction " SrcPort 10 @@ -10036,7 +10054,7 @@ Model { } Line { Name "Sigma" - ZOrder 2289 + ZOrder 2361 Labels [0, 0] SrcBlock " SFunction " SrcPort 11 @@ -10045,7 +10063,7 @@ Model { } Line { Name "Na" - ZOrder 2290 + ZOrder 2362 Labels [0, 0] SrcBlock " SFunction " SrcPort 12 @@ -10054,7 +10072,7 @@ Model { } Line { Name "f_LDot" - ZOrder 2291 + ZOrder 2363 Labels [0, 0] SrcBlock " SFunction " SrcPort 13 @@ -10062,14 +10080,14 @@ Model { DstPort 1 } Line { - ZOrder 2292 + ZOrder 2364 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 2293 + ZOrder 2365 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -10416,7 +10434,7 @@ Model { RequestExecContextInheritance off System { Name "Dynamics and Kinematics" - Location [134, 55, 3840, 2160] + Location [67, 27, 1920, 1080] Open off PortBlocksUseCompactNotation off ModelBrowserVisibility off @@ -10429,7 +10447,7 @@ Model { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "312" + ZoomFactor "139" Block { BlockType Inport Name "w_H_b" @@ -10566,7 +10584,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "97" + SIDHighWatermark "103" Block { BlockType Inport Name "M" @@ -10578,25 +10596,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4518::96" + SID "4518::102" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 86 + ZOrder 92 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4518::95" + SID "4518::101" Tag "Stateflow S-Function torqueControlBalancing 6" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 85 + ZOrder 91 FunctionName "sf_sfun" Parameters "Config" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -10606,9 +10624,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4518::97" + SID "4518::103" Position [460, 241, 480, 259] - ZOrder 87 + ZOrder 93 } Block { BlockType Outport @@ -10620,7 +10638,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 114 + ZOrder 122 SrcBlock "M" SrcPort 1 DstBlock " SFunction " @@ -10628,7 +10646,7 @@ Model { } Line { Name "M_with_inertia" - ZOrder 115 + ZOrder 123 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -10636,14 +10654,14 @@ Model { DstPort 1 } Line { - ZOrder 116 + ZOrder 124 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 117 + ZOrder 125 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -10975,7 +10993,7 @@ Model { RequestExecContextInheritance off System { Name "Kinematics" - Location [134, 55, 3840, 2160] + Location [67, 27, 1920, 1080] Open off PortBlocksUseCompactNotation off ModelBrowserVisibility off @@ -10988,7 +11006,7 @@ Model { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "365" + ZoomFactor "300" Block { BlockType Inport Name "nu" @@ -11078,12 +11096,13 @@ Model { } Block { BlockType Reference - Name "DotJNu l_sole\n" + Name "DotJNu l_sole" SID "2375" Ports [4, 1] Position [60, 382, 235, 443] ZOrder 829 ShowName off + HideAutomaticName off LibraryVersion "1.675" SourceBlock "WBToolboxLibrary/Model/Jacobians/DotJNu" SourceType "DotJNu" @@ -11098,7 +11117,7 @@ Model { } Block { BlockType Reference - Name "DotJNu r_sole\n " + Name "DotJNu r_sole" SID "2376" Ports [4, 1] Position [65, 464, 235, 521] @@ -11313,13 +11332,13 @@ Model { Points [57, 0] Branch { ZOrder 203 - DstBlock "DotJNu r_sole\n " + DstBlock "DotJNu r_sole" DstPort 4 } Branch { ZOrder 193 Points [0, -80] - DstBlock "DotJNu l_sole\n" + DstBlock "DotJNu l_sole" DstPort 4 } } @@ -11330,13 +11349,13 @@ Model { Points [80, 0] Branch { ZOrder 206 - DstBlock "DotJNu r_sole\n " + DstBlock "DotJNu r_sole" DstPort 3 } Branch { ZOrder 204 Points [0, -80] - DstBlock "DotJNu l_sole\n" + DstBlock "DotJNu l_sole" DstPort 3 } } @@ -11401,14 +11420,14 @@ Model { } Line { ZOrder 217 - SrcBlock "DotJNu l_sole\n" + SrcBlock "DotJNu l_sole" SrcPort 1 DstBlock "JDot_l_sole_nu" DstPort 1 } Line { ZOrder 218 - SrcBlock "DotJNu r_sole\n " + SrcBlock "DotJNu r_sole" SrcPort 1 DstBlock "JDot_r_sole_nu" DstPort 1 @@ -11444,12 +11463,12 @@ Model { Branch { ZOrder 274 Points [0, 80] - DstBlock "DotJNu r_sole\n " + DstBlock "DotJNu r_sole" DstPort 2 } Branch { ZOrder 214 - DstBlock "DotJNu l_sole\n" + DstBlock "DotJNu l_sole" DstPort 2 } } @@ -11509,12 +11528,12 @@ Model { Branch { ZOrder 273 Points [0, 80] - DstBlock "DotJNu r_sole\n " + DstBlock "DotJNu r_sole" DstPort 1 } Branch { ZOrder 220 - DstBlock "DotJNu l_sole\n" + DstBlock "DotJNu l_sole" DstPort 1 } } @@ -11912,7 +11931,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "92" + SIDHighWatermark "98" Block { BlockType Inport Name "u" @@ -11951,24 +11970,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4556::91" + SID "4556::97" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 80 + ZOrder 86 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4556::90" + SID "4556::96" Tag "Stateflow S-Function torqueControlBalancing 11" Ports [4, 2] Position [180, 102, 230, 203] - ZOrder 79 + ZOrder 85 FunctionName "sf_sfun" PortCounts "[4 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -11978,9 +11997,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4556::92" + SID "4556::98" Position [460, 241, 480, 259] - ZOrder 81 + ZOrder 87 } Block { BlockType Outport @@ -11992,28 +12011,28 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 168 + ZOrder 182 SrcBlock "u" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 169 + ZOrder 183 SrcBlock "u_0" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 170 + ZOrder 184 SrcBlock "tStep" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 171 + ZOrder 185 SrcBlock "uDotMax" SrcPort 1 DstBlock " SFunction " @@ -12021,7 +12040,7 @@ Model { } Line { Name "uSat" - ZOrder 172 + ZOrder 186 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -12029,14 +12048,14 @@ Model { DstPort 1 } Line { - ZOrder 173 + ZOrder 187 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 174 + ZOrder 188 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -12344,7 +12363,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3821" + SIDHighWatermark "3827" Block { BlockType Inport Name "J_l_sole" @@ -12383,25 +12402,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4215::3820" + SID "4215::3826" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 189 + ZOrder 195 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4215::3819" + SID "4215::3825" Tag "Stateflow S-Function torqueControlBalancing 7" Ports [4, 2] Position [180, 102, 230, 203] - ZOrder 188 + ZOrder 194 FunctionName "sf_sfun" Parameters "Reg" PortCounts "[4 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -12411,9 +12430,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4215::3821" + SID "4215::3827" Position [460, 241, 480, 259] - ZOrder 190 + ZOrder 196 } Block { BlockType Outport @@ -12425,28 +12444,28 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 57 + ZOrder 71 SrcBlock "J_l_sole" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 58 + ZOrder 72 SrcBlock "J_r_sole" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 59 + ZOrder 73 SrcBlock "feetContactStatus" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 60 + ZOrder 74 SrcBlock "jointVel" SrcPort 1 DstBlock " SFunction " @@ -12454,7 +12473,7 @@ Model { } Line { Name "nu_b" - ZOrder 61 + ZOrder 75 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -12462,14 +12481,14 @@ Model { DstPort 1 } Line { - ZOrder 62 + ZOrder 76 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 63 + ZOrder 77 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -12900,7 +12919,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3812" + SIDHighWatermark "3818" SIDPrevWatermark "9" Block { BlockType Inport @@ -12958,25 +12977,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4257::3811" + SID "4257::3817" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 211 + ZOrder 217 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4257::3810" + SID "4257::3816" Tag "Stateflow S-Function torqueControlBalancing 8" Ports [6, 2] Position [180, 102, 230, 243] - ZOrder 210 + ZOrder 216 FunctionName "sf_sfun" Parameters "Config" PortCounts "[6 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -12986,9 +13005,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4257::3812" + SID "4257::3818" Position [460, 241, 480, 259] - ZOrder 212 + ZOrder 218 } Block { BlockType Outport @@ -13000,42 +13019,42 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 73 + ZOrder 91 SrcBlock "imu_H_fixedLink" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 74 + ZOrder 92 SrcBlock "imu_H_fixedLink_0" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 75 + ZOrder 93 SrcBlock "fixedLink_H_base" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 76 + ZOrder 94 SrcBlock "rpyFromIMU_0" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 77 + ZOrder 95 SrcBlock "rpyFromIMU" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 78 + ZOrder 96 SrcBlock "neck_pos" SrcPort 1 DstBlock " SFunction " @@ -13043,7 +13062,7 @@ Model { } Line { Name "w_H_b" - ZOrder 79 + ZOrder 97 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -13051,14 +13070,14 @@ Model { DstPort 1 } Line { - ZOrder 80 + ZOrder 98 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 81 + ZOrder 99 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -13681,7 +13700,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3812" + SIDHighWatermark "3818" SIDPrevWatermark "9" Block { BlockType Inport @@ -13739,25 +13758,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4857::3811" + SID "4857::3817" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 211 + ZOrder 217 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4857::3810" + SID "4857::3816" Tag "Stateflow S-Function torqueControlBalancing 3" Ports [6, 2] Position [180, 102, 230, 243] - ZOrder 210 + ZOrder 216 FunctionName "sf_sfun" Parameters "Config" PortCounts "[6 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -13767,9 +13786,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4857::3812" + SID "4857::3818" Position [460, 241, 480, 259] - ZOrder 212 + ZOrder 218 } Block { BlockType Outport @@ -13781,42 +13800,42 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 73 + ZOrder 91 SrcBlock "imu_H_fixedLink" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 74 + ZOrder 92 SrcBlock "imu_H_fixedLink_0" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 75 + ZOrder 93 SrcBlock "fixedLink_H_base" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 76 + ZOrder 94 SrcBlock "rpyFromIMU_0" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 77 + ZOrder 95 SrcBlock "rpyFromIMU" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 78 + ZOrder 96 SrcBlock "neck_pos" SrcPort 1 DstBlock " SFunction " @@ -13824,7 +13843,7 @@ Model { } Line { Name "w_H_b" - ZOrder 79 + ZOrder 97 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -13832,14 +13851,14 @@ Model { DstPort 1 } Line { - ZOrder 80 + ZOrder 98 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 81 + ZOrder 99 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -14738,7 +14757,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3800" + SIDHighWatermark "3806" SIDPrevWatermark "9" Block { BlockType Inport @@ -14832,25 +14851,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "2220::3799" + SID "2220::3805" Ports [1, 1] Position [270, 495, 320, 535] - ZOrder 197 + ZOrder 203 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "2220::3798" + SID "2220::3804" Tag "Stateflow S-Function torqueControlBalancing 13" Ports [10, 11] Position [180, 100, 230, 340] - ZOrder 196 + ZOrder 202 FunctionName "sf_sfun" Parameters "Config,Gain,StateMachine" PortCounts "[10 11]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -14896,9 +14915,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "2220::3800" + SID "2220::3806" Position [460, 506, 480, 524] - ZOrder 198 + ZOrder 204 } Block { BlockType Outport @@ -15000,70 +15019,70 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 970 + ZOrder 1014 SrcBlock "pos_CoM_0" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 971 + ZOrder 1015 SrcBlock "jointPos_0" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 972 + ZOrder 1016 SrcBlock "pos_CoM_fixed_l_sole" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 973 + ZOrder 1017 SrcBlock "pos_CoM_fixed_r_sole" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 974 + ZOrder 1018 SrcBlock "jointPos" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 975 + ZOrder 1019 SrcBlock "time" SrcPort 1 DstBlock " SFunction " DstPort 6 } Line { - ZOrder 976 + ZOrder 1020 SrcBlock "wrench_rightFoot" SrcPort 1 DstBlock " SFunction " DstPort 7 } Line { - ZOrder 977 + ZOrder 1021 SrcBlock "wrench_leftFoot" SrcPort 1 DstBlock " SFunction " DstPort 8 } Line { - ZOrder 978 + ZOrder 1022 SrcBlock "l_sole_H_b" SrcPort 1 DstBlock " SFunction " DstPort 9 } Line { - ZOrder 979 + ZOrder 1023 SrcBlock "r_sole_H_b" SrcPort 1 DstBlock " SFunction " @@ -15071,7 +15090,7 @@ Model { } Line { Name "w_H_b" - ZOrder 980 + ZOrder 1024 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -15080,7 +15099,7 @@ Model { } Line { Name "pos_CoM_des" - ZOrder 981 + ZOrder 1025 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -15089,7 +15108,7 @@ Model { } Line { Name "jointPos_des" - ZOrder 982 + ZOrder 1026 Labels [0, 0] SrcBlock " SFunction " SrcPort 4 @@ -15098,7 +15117,7 @@ Model { } Line { Name "feetContactStatus" - ZOrder 983 + ZOrder 1027 Labels [0, 0] SrcBlock " SFunction " SrcPort 5 @@ -15107,7 +15126,7 @@ Model { } Line { Name "KP_postural_diag" - ZOrder 984 + ZOrder 1028 Labels [0, 0] SrcBlock " SFunction " SrcPort 6 @@ -15116,7 +15135,7 @@ Model { } Line { Name "KP_CoM_diag" - ZOrder 985 + ZOrder 1029 Labels [0, 0] SrcBlock " SFunction " SrcPort 7 @@ -15125,7 +15144,7 @@ Model { } Line { Name "KD_CoM_diag" - ZOrder 986 + ZOrder 1030 Labels [0, 0] SrcBlock " SFunction " SrcPort 8 @@ -15134,7 +15153,7 @@ Model { } Line { Name "state" - ZOrder 987 + ZOrder 1031 Labels [0, 0] SrcBlock " SFunction " SrcPort 9 @@ -15143,7 +15162,7 @@ Model { } Line { Name "smoothingTimeJoints" - ZOrder 988 + ZOrder 1032 Labels [0, 0] SrcBlock " SFunction " SrcPort 10 @@ -15152,7 +15171,7 @@ Model { } Line { Name "smoothingTimeCoM" - ZOrder 989 + ZOrder 1033 Labels [0, 0] SrcBlock " SFunction " SrcPort 11 @@ -15160,14 +15179,14 @@ Model { DstPort 1 } Line { - ZOrder 990 + ZOrder 1034 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 991 + ZOrder 1035 SrcBlock " SFunction " SrcPort 1 Points [20, 0] @@ -16019,7 +16038,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "45" + SIDHighWatermark "51" Block { BlockType Inport Name "d" @@ -16031,24 +16050,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4782::44" + SID "4782::50" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 35 + ZOrder 41 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4782::43" + SID "4782::49" Tag "Stateflow S-Function torqueControlBalancing 2" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 34 + ZOrder 40 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -16058,9 +16077,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4782::45" + SID "4782::51" Position [460, 241, 480, 259] - ZOrder 36 + ZOrder 42 } Block { BlockType Outport @@ -16072,7 +16091,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 37 + ZOrder 45 SrcBlock "d" SrcPort 1 DstBlock " SFunction " @@ -16080,7 +16099,7 @@ Model { } Line { Name "D" - ZOrder 38 + ZOrder 46 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -16088,14 +16107,14 @@ Model { DstPort 1 } Line { - ZOrder 39 + ZOrder 47 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 40 + ZOrder 48 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -16134,7 +16153,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "45" + SIDHighWatermark "51" Block { BlockType Inport Name "d" @@ -16146,24 +16165,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4783::44" + SID "4783::50" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 35 + ZOrder 41 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4783::43" + SID "4783::49" Tag "Stateflow S-Function torqueControlBalancing 1" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 34 + ZOrder 40 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -16173,9 +16192,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4783::45" + SID "4783::51" Position [460, 241, 480, 259] - ZOrder 36 + ZOrder 42 } Block { BlockType Outport @@ -16187,7 +16206,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 33 + ZOrder 41 SrcBlock "d" SrcPort 1 DstBlock " SFunction " @@ -16195,7 +16214,7 @@ Model { } Line { Name "D" - ZOrder 34 + ZOrder 42 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -16203,14 +16222,14 @@ Model { DstPort 1 } Line { - ZOrder 35 + ZOrder 43 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 36 + ZOrder 44 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -16249,7 +16268,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "45" + SIDHighWatermark "51" Block { BlockType Inport Name "d" @@ -16261,24 +16280,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4784::44" + SID "4784::50" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 35 + ZOrder 41 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4784::43" + SID "4784::49" Tag "Stateflow S-Function torqueControlBalancing 4" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 34 + ZOrder 40 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -16288,9 +16307,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4784::45" + SID "4784::51" Position [460, 241, 480, 259] - ZOrder 36 + ZOrder 42 } Block { BlockType Outport @@ -16302,7 +16321,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 33 + ZOrder 41 SrcBlock "d" SrcPort 1 DstBlock " SFunction " @@ -16310,7 +16329,7 @@ Model { } Line { Name "D" - ZOrder 34 + ZOrder 42 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -16318,14 +16337,14 @@ Model { DstPort 1 } Line { - ZOrder 35 + ZOrder 43 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 36 + ZOrder 44 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -17290,14 +17309,14 @@ Model { Name "emergency stop: joint limits" SID "4913" Ports [1] - Position [305, 236, 430, 264] + Position [305, 241, 430, 269] ZOrder 966 BackgroundColor "red" ShowName off RequestExecContextInheritance off Object { $PropName "MaskObject" - $ObjectID 32 + $ObjectID 34 $ClassName "Simulink.Mask" Display "disp('EMERGENCY STOP')" RunInitForIconRedraw "off" @@ -17452,7 +17471,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3789" + SIDHighWatermark "3795" Block { BlockType Inport Name "umin" @@ -17491,24 +17510,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4922::3787" + SID "4922::3794" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 137 + ZOrder 144 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4922::3786" + SID "4922::3793" Tag "Stateflow S-Function torqueControlBalancing 18" Ports [4, 3] Position [180, 102, 230, 203] - ZOrder 136 + ZOrder 143 FunctionName "sf_sfun" PortCounts "[4 3]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -17522,9 +17541,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4922::3788" + SID "4922::3795" Position [460, 241, 480, 259] - ZOrder 138 + ZOrder 145 } Block { BlockType Outport @@ -17545,28 +17564,28 @@ Model { IconDisplay "Port number" } Line { - ZOrder 1 + ZOrder 17 SrcBlock "umin" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 2 + ZOrder 18 SrcBlock "umax" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 3 + ZOrder 19 SrcBlock "u" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 4 + ZOrder 20 SrcBlock "tol" SrcPort 1 DstBlock " SFunction " @@ -17574,7 +17593,7 @@ Model { } Line { Name "inRange" - ZOrder 5 + ZOrder 21 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -17583,7 +17602,7 @@ Model { } Line { Name "res_check_range" - ZOrder 6 + ZOrder 22 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -17591,16 +17610,17 @@ Model { DstPort 1 } Line { - ZOrder 7 + ZOrder 23 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 8 + ZOrder 24 SrcBlock " SFunction " SrcPort 1 + Points [20, 0] DstBlock " Demux " DstPort 1 } @@ -17774,7 +17794,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3789" + SIDHighWatermark "3795" Block { BlockType Inport Name "u" @@ -17795,24 +17815,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4929::3787" + SID "4929::3794" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 137 + ZOrder 144 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4929::3786" + SID "4929::3793" Tag "Stateflow S-Function torqueControlBalancing 14" Ports [2, 3] Position [180, 100, 230, 180] - ZOrder 136 + ZOrder 143 FunctionName "sf_sfun" PortCounts "[2 3]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -17826,9 +17846,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4929::3788" + SID "4929::3795" Position [460, 241, 480, 259] - ZOrder 138 + ZOrder 145 } Block { BlockType Outport @@ -17849,23 +17869,23 @@ Model { IconDisplay "Port number" } Line { - ZOrder 1 + ZOrder 13 SrcBlock "u" SrcPort 1 + Points [120, 0] DstBlock " SFunction " DstPort 1 } Line { - ZOrder 2 + ZOrder 14 SrcBlock "delta_u_max" SrcPort 1 - Points [120, 0] DstBlock " SFunction " DstPort 2 } Line { Name "noSpikes" - ZOrder 3 + ZOrder 15 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -17874,7 +17894,7 @@ Model { } Line { Name "res_check_spikes" - ZOrder 4 + ZOrder 16 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -17882,14 +17902,14 @@ Model { DstPort 1 } Line { - ZOrder 5 + ZOrder 17 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 6 + ZOrder 18 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -18199,7 +18219,7 @@ Model { Points [36, 0] Branch { ZOrder 322 - Points [0, -45] + Points [0, -40] DstBlock "emergency stop: joint limits" DstPort 1 } @@ -18277,7 +18297,7 @@ Model { RequestExecContextInheritance off Object { $PropName "MaskObject" - $ObjectID 33 + $ObjectID 35 $ClassName "Simulink.Mask" Display "disp('SYNCHRONIZER')" } diff --git a/controllers/simulink-balancing-simulator/torqueControlBalancingSim.mdl b/controllers/simulink-balancing-simulator/torqueControlBalancingSim.mdl index 1506929..0ace9bb 100644 --- a/controllers/simulink-balancing-simulator/torqueControlBalancingSim.mdl +++ b/controllers/simulink-balancing-simulator/torqueControlBalancingSim.mdl @@ -6,7 +6,7 @@ Model { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" - ComputedModelVersion "1.3535" + ComputedModelVersion "1.3540" NumModelReferences 0 NumTestPointedSignals 0 NumProvidedFunctions 0 @@ -135,14 +135,14 @@ Model { ExternalFileReference { Reference "WBToolboxLibrary/Model/Jacobians/DotJNu" Path "torqueControlBalancingSim/MBC control + forward dynamics/Dynamics and Kinematics/Kinematics/DotJNu " - "l_sole " + "l_sole" SID "2375" Type "LIBRARY_BLOCK" } ExternalFileReference { Reference "WBToolboxLibrary/Model/Jacobians/DotJNu" Path "torqueControlBalancingSim/MBC control + forward dynamics/Dynamics and Kinematics/Kinematics/DotJNu " - "r_sole " + "r_sole" SID "2376" Type "LIBRARY_BLOCK" } @@ -380,7 +380,7 @@ Model { $ObjectID 2 $ClassName "Simulink.WindowInfo" IsActive [1] - Location [230.0, 162.0, 1389.0, 789.0] + Location [67.0, 27.0, 1853.0, 1053.0] Object { $PropName "ModelBrowserInfo" $ObjectID 3 @@ -399,69 +399,87 @@ Model { } Array { Type "Simulink.EditorInfo" - Dimension 7 + Dimension 9 Object { $ObjectID 5 IsActive [1] - ViewObjType "SimulinkSubsys" - LoadSaveID "4836" - Extents [1351.0, 555.0] - ZoomFactor [0.73402501421262079] - Offset [-41.655084160680417, -55.559009512766579] + ViewObjType "SimulinkTopLevel" + LoadSaveID "0" + Extents [1815.0, 821.0] + ZoomFactor [2.44] + Offset [546.23392674180332, 421.26229508196718] } Object { $ObjectID 6 IsActive [0] ViewObjType "SimulinkSubsys" - LoadSaveID "4661" + LoadSaveID "2341" Extents [1815.0, 821.0] - ZoomFactor [4.0027992625236077] - Offset [-19.21634036123433, -38.49755235818985] + ZoomFactor [1.49] + Offset [-1102.6232697147652, -185.16778523489933] } Object { $ObjectID 7 IsActive [0] ViewObjType "SimulinkSubsys" - LoadSaveID "2416" + LoadSaveID "4321" Extents [1815.0, 821.0] - ZoomFactor [4.0] - Offset [94.284029784954612, 186.406368221942] + ZoomFactor [1.5368217054263564] + Offset [-501.90285111916774, 25.890290037830994] } Object { $ObjectID 8 IsActive [0] - ViewObjType "SimulinkTopLevel" - LoadSaveID "0" + ViewObjType "SimulinkSubsys" + LoadSaveID "4836" Extents [1815.0, 821.0] - ZoomFactor [2.44] - Offset [551.23392674180332, 421.26229508196718] + ZoomFactor [0.73402501421262079] + Offset [-41.655084160680417, -55.559009512766579] } Object { $ObjectID 9 IsActive [0] ViewObjType "SimulinkSubsys" - LoadSaveID "4664" + LoadSaveID "4504" Extents [1815.0, 821.0] - ZoomFactor [3.9253157605711149] - Offset [-43.566592053721308, -29.952574146614438] + ZoomFactor [0.82091097308488614] + Offset [-430.49872418820928, -525.05422446406055] } Object { $ObjectID 10 IsActive [0] ViewObjType "SimulinkSubsys" - LoadSaveID "4504" + LoadSaveID "2275" Extents [1815.0, 821.0] - ZoomFactor [0.82091097308488614] - Offset [-430.49872418820928, -525.05422446406055] + ZoomFactor [1.844186046511628] + Offset [-92.087011349306408, -33.591424968474143] } Object { $ObjectID 11 IsActive [0] ViewObjType "SimulinkSubsys" - LoadSaveID "2275" + LoadSaveID "4661" Extents [1815.0, 821.0] - ZoomFactor [1.844186046511628] - Offset [-92.087011349306408, -33.591424968474143] + ZoomFactor [4.0027992625236077] + Offset [-19.21634036123433, -38.49755235818985] + } + Object { + $ObjectID 12 + IsActive [0] + ViewObjType "SimulinkSubsys" + LoadSaveID "2416" + Extents [1815.0, 821.0] + ZoomFactor [4.0] + Offset [94.284029784954612, 186.406368221942] + } + Object { + $ObjectID 13 + IsActive [0] + ViewObjType "SimulinkSubsys" + LoadSaveID "4664" + Extents [1815.0, 821.0] + ZoomFactor [3.9253157605711149] + Offset [-43.566592053721308, -29.952574146614438] } PropName "EditorsInfo" } @@ -469,26 +487,26 @@ Model { Type "Simulink.DockComponentInfo" Dimension 2 Object { - $ObjectID 12 - Type "GLUE2:SpreadSheet" - ID "ModelData" + $ObjectID 14 + Type "GLUE2:PropertyInspector" + ID "Property Inspector" Visible [0] - CreateCallback "DataView.createSpreadSheetComponent" + CreateCallback "" UserData "" Floating [0] - DockPosition "Bottom" + DockPosition "Right" Width [640] Height [480] } Object { - $ObjectID 13 - Type "GLUE2:PropertyInspector" - ID "Property Inspector" + $ObjectID 15 + Type "GLUE2:SpreadSheet" + ID "ModelData" Visible [0] - CreateCallback "" + CreateCallback "DataView.createSpreadSheetComponent" UserData "" Floating [0] - DockPosition "Right" + DockPosition "Bottom" Width [640] Height [480] } @@ -499,7 +517,7 @@ Model { "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAAAP////8AAABiAP///wAAAAEAAAAAAAAAAPwCA" "AAAAfsAAABUAEcATABVAEUAMgA6AFAAcgBvAHAAZQByAHQAeQBJAG4AcwBwAGUAYwB0AG8AcgAvAFAAcgBvAHAAZQByAHQAeQAgAEkAbgBzAHAAZ" "QBjAHQAbwByAAAAAAD/////AAAAOQD///8AAAADAAAHPQAAAPb8AQAAAAH7AAAANgBHAEwAVQBFADIAOgBTAHAAcgBlAGEAZABTAGgAZQBlAHQAL" - "wBNAG8AZABlAGwARABhAHQAYQAAAAAAAAAHPQAAARYA////AAAFbQAAAmgAAAABAAAAAgAAAAEAAAAC/AAAAAEAAAACAAAAAA==" + "wBNAG8AZABlAGwARABhAHQAYQAAAAAAAAAHPQAAARYA////AAAHPQAAA3IAAAABAAAAAgAAAAEAAAAC/AAAAAEAAAACAAAAAA==" } } HideAutomaticNames on @@ -509,9 +527,9 @@ Model { ModifiedByFormat "%" LastModifiedBy "gnava" ModifiedDateFormat "%" - LastModifiedDate "Wed Mar 18 18:04:31 2020" - RTWModifiedTimeStamp 506455471 - ModelVersionFormat "1.%" + LastModifiedDate "Mon Mar 23 00:04:31 2020" + RTWModifiedTimeStamp 506822671 + ModelVersionFormat "1.%" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled" @@ -560,7 +578,7 @@ Model { TryForcingSFcnDF off Object { $PropName "DataLoggingOverride" - $ObjectID 14 + $ObjectID 16 $ClassName "Simulink.SimulationData.ModelLoggingInfo" model_ "torqueControlBalancingSim" signals_ [] @@ -606,7 +624,7 @@ Model { Type "Handle" Dimension 1 Simulink.ConfigSet { - $ObjectID 15 + $ObjectID 17 Version "1.17.1" DisabledProps [] Description "" @@ -614,7 +632,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 16 + $ObjectID 18 Version "1.17.1" DisabledProps [] Description "" @@ -654,7 +672,7 @@ Model { DecoupledContinuousIntegration off } Simulink.DataIOCC { - $ObjectID 17 + $ObjectID 19 Version "1.17.1" DisabledProps [] Description "" @@ -696,7 +714,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 18 + $ObjectID 20 Version "1.17.1" Array { Type "Cell" @@ -760,7 +778,7 @@ Model { DifferentSizesBufferReuse off } Simulink.DebuggingCC { - $ObjectID 19 + $ObjectID 21 Version "1.17.1" Array { Type "Cell" @@ -876,7 +894,7 @@ Model { UnitDatabase "" } Simulink.HardwareCC { - $ObjectID 20 + $ObjectID 22 Version "1.17.1" DisabledProps [] Description "" @@ -925,7 +943,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 21 + $ObjectID 23 Version "1.17.1" DisabledProps [] Description "" @@ -945,7 +963,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 22 + $ObjectID 24 Version "1.17.1" DisabledProps [] Description "" @@ -976,7 +994,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 23 + $ObjectID 25 Version "1.17.1" Array { Type "Cell" @@ -1062,7 +1080,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 24 + $ObjectID 26 Version "1.17.1" Array { Type "Cell" @@ -1150,7 +1168,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 25 + $ObjectID 27 Version "1.17.1" Array { Type "Cell" @@ -1180,7 +1198,7 @@ Model { Type "Handle" Dimension 1 Simulink.CPPComponent { - $ObjectID 26 + $ObjectID 28 Version "19.1.1" Array { Type "Cell" @@ -1284,7 +1302,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 27 + $ObjectID 29 Version "1.17.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -1335,11 +1353,11 @@ Model { } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" - $ObjectID 15 + $ObjectID 17 } Object { $PropName "DataTransfer" - $ObjectID 28 + $ObjectID 30 $ClassName "Simulink.GlobalDataTransfer" DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)" DefaultTransitionBetweenAsyncTasks "Ensure data integrity only" @@ -1779,7 +1797,7 @@ Model { RequestExecContextInheritance off Object { $PropName "MaskObject" - $ObjectID 29 + $ObjectID 31 $ClassName "Simulink.Mask" Display "disp('VISUALIZER')" } @@ -6063,7 +6081,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "37" + SIDHighWatermark "43" Block { BlockType Inport Name "w_H_b" @@ -6084,24 +6102,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4970::36" + SID "4970::42" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 27 + ZOrder 33 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4970::35" + SID "4970::41" Tag "Stateflow S-Function torqueControlBalancingSim 16" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 26 + ZOrder 32 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -6111,9 +6129,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4970::37" + SID "4970::43" Position [460, 241, 480, 259] - ZOrder 28 + ZOrder 34 } Block { BlockType Outport @@ -6125,7 +6143,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 6 + ZOrder 16 SrcBlock "w_H_b" SrcPort 1 Points [120, 0] @@ -6133,7 +6151,7 @@ Model { DstPort 1 } Line { - ZOrder 7 + ZOrder 17 SrcBlock "jointPos" SrcPort 1 DstBlock " SFunction " @@ -6141,7 +6159,7 @@ Model { } Line { Name "q" - ZOrder 8 + ZOrder 18 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -6149,14 +6167,14 @@ Model { DstPort 1 } Line { - ZOrder 9 + ZOrder 19 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 10 + ZOrder 20 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -6522,7 +6540,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "51" + SIDHighWatermark "57" Block { BlockType Inport Name "nu_base" @@ -6543,24 +6561,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4890::50" + SID "4890::56" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 36 + ZOrder 42 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4890::49" + SID "4890::55" Tag "Stateflow S-Function torqueControlBalancingSim 5" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 35 + ZOrder 41 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -6570,9 +6588,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4890::51" + SID "4890::57" Position [460, 241, 480, 259] - ZOrder 37 + ZOrder 43 } Block { BlockType Outport @@ -6584,7 +6602,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 6 + ZOrder 16 SrcBlock "nu_base" SrcPort 1 Points [120, 0] @@ -6592,7 +6610,7 @@ Model { DstPort 1 } Line { - ZOrder 7 + ZOrder 17 SrcBlock "pose_base" SrcPort 1 DstBlock " SFunction " @@ -6600,7 +6618,7 @@ Model { } Line { Name "pose_base_dot" - ZOrder 8 + ZOrder 18 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -6608,14 +6626,14 @@ Model { DstPort 1 } Line { - ZOrder 9 + ZOrder 19 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 10 + ZOrder 20 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -6685,7 +6703,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "49" + SIDHighWatermark "55" Block { BlockType Inport Name "q_quat" @@ -6697,24 +6715,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4894::48" + SID "4894::54" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 34 + ZOrder 40 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4894::47" + SID "4894::53" Tag "Stateflow S-Function torqueControlBalancingSim 31" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 33 + ZOrder 39 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -6724,9 +6742,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4894::49" + SID "4894::55" Position [460, 241, 480, 259] - ZOrder 35 + ZOrder 41 } Block { BlockType Outport @@ -6738,7 +6756,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 5 + ZOrder 13 SrcBlock "q_quat" SrcPort 1 DstBlock " SFunction " @@ -6746,7 +6764,7 @@ Model { } Line { Name "q" - ZOrder 6 + ZOrder 14 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -6754,14 +6772,14 @@ Model { DstPort 1 } Line { - ZOrder 7 + ZOrder 15 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 8 + ZOrder 16 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -6798,7 +6816,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "49" + SIDHighWatermark "55" Block { BlockType Inport Name "q_0" @@ -6810,24 +6828,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4895::48" + SID "4895::54" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 34 + ZOrder 40 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4895::47" + SID "4895::53" Tag "Stateflow S-Function torqueControlBalancingSim 30" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 33 + ZOrder 39 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -6837,9 +6855,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4895::49" + SID "4895::55" Position [460, 241, 480, 259] - ZOrder 35 + ZOrder 41 } Block { BlockType Outport @@ -6851,7 +6869,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 5 + ZOrder 13 SrcBlock "q_0" SrcPort 1 DstBlock " SFunction " @@ -6859,7 +6877,7 @@ Model { } Line { Name "q_0_quat" - ZOrder 6 + ZOrder 14 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -6867,14 +6885,14 @@ Model { DstPort 1 } Line { - ZOrder 7 + ZOrder 15 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 8 + ZOrder 16 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -7058,7 +7076,7 @@ Model { RequestExecContextInheritance off System { Name "MBC control + forward dynamics" - Location [230, 162, 1619, 951] + Location [67, 27, 1920, 1080] Open off PortBlocksUseCompactNotation off ModelBrowserVisibility off @@ -7670,7 +7688,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "72" + SIDHighWatermark "78" Block { BlockType Inport Name "feetContactStatus" @@ -7682,24 +7700,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4590::71" + SID "4590::77" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 62 + ZOrder 68 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4590::70" + SID "4590::76" Tag "Stateflow S-Function torqueControlBalancingSim 15" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 61 + ZOrder 67 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -7709,9 +7727,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4590::72" + SID "4590::78" Position [460, 241, 480, 259] - ZOrder 63 + ZOrder 69 } Block { BlockType Outport @@ -7723,7 +7741,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 61 + ZOrder 69 SrcBlock "feetContactStatus" SrcPort 1 DstBlock " SFunction " @@ -7731,7 +7749,7 @@ Model { } Line { Name "onOneFoot" - ZOrder 62 + ZOrder 70 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -7739,14 +7757,14 @@ Model { DstPort 1 } Line { - ZOrder 63 + ZOrder 71 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 64 + ZOrder 72 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -7862,7 +7880,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "73" + SIDHighWatermark "79" Block { BlockType Inport Name "H" @@ -7883,24 +7901,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4690::72" + SID "4690::78" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 63 + ZOrder 69 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4690::71" + SID "4690::77" Tag "Stateflow S-Function torqueControlBalancingSim 26" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 62 + ZOrder 68 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -7910,9 +7928,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4690::73" + SID "4690::79" Position [460, 241, 480, 259] - ZOrder 64 + ZOrder 70 } Block { BlockType Outport @@ -7924,7 +7942,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 26 + ZOrder 36 SrcBlock "H" SrcPort 1 Points [120, 0] @@ -7932,7 +7950,7 @@ Model { DstPort 1 } Line { - ZOrder 27 + ZOrder 37 SrcBlock "g" SrcPort 1 DstBlock " SFunction " @@ -7940,7 +7958,7 @@ Model { } Line { Name "analyticalSolution" - ZOrder 28 + ZOrder 38 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -7948,14 +7966,14 @@ Model { DstPort 1 } Line { - ZOrder 29 + ZOrder 39 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 30 + ZOrder 40 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -8011,7 +8029,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "81" + SIDHighWatermark "87" Block { BlockType Inport Name "analyticalSolution" @@ -8050,25 +8068,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4692::80" + SID "4692::86" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 65 + ZOrder 71 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4692::79" + SID "4692::85" Tag "Stateflow S-Function torqueControlBalancingSim 27" Ports [4, 2] Position [180, 102, 230, 203] - ZOrder 64 + ZOrder 70 FunctionName "sf_sfun" Parameters "Config" PortCounts "[4 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -8078,9 +8096,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4692::81" + SID "4692::87" Position [460, 241, 480, 259] - ZOrder 66 + ZOrder 72 } Block { BlockType Outport @@ -8092,28 +8110,28 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 42 + ZOrder 56 SrcBlock "analyticalSolution" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 43 + ZOrder 57 SrcBlock "primalSolution" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 44 + ZOrder 58 SrcBlock "QPStatus" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 45 + ZOrder 59 SrcBlock "feetContactStatus" SrcPort 1 DstBlock " SFunction " @@ -8121,7 +8139,7 @@ Model { } Line { Name "f_star" - ZOrder 46 + ZOrder 60 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -8129,14 +8147,14 @@ Model { DstPort 1 } Line { - ZOrder 47 + ZOrder 61 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 48 + ZOrder 62 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -8390,7 +8408,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "73" + SIDHighWatermark "79" Block { BlockType Inport Name "H" @@ -8411,24 +8429,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4678::72" + SID "4678::78" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 63 + ZOrder 69 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4678::71" + SID "4678::77" Tag "Stateflow S-Function torqueControlBalancingSim 24" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 62 + ZOrder 68 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -8438,9 +8456,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4678::73" + SID "4678::79" Position [460, 241, 480, 259] - ZOrder 64 + ZOrder 70 } Block { BlockType Outport @@ -8452,7 +8470,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 26 + ZOrder 36 SrcBlock "H" SrcPort 1 Points [120, 0] @@ -8460,7 +8478,7 @@ Model { DstPort 1 } Line { - ZOrder 27 + ZOrder 37 SrcBlock "g" SrcPort 1 DstBlock " SFunction " @@ -8468,7 +8486,7 @@ Model { } Line { Name "analyticalSolution" - ZOrder 28 + ZOrder 38 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -8476,14 +8494,14 @@ Model { DstPort 1 } Line { - ZOrder 29 + ZOrder 39 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 30 + ZOrder 40 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -8539,7 +8557,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "81" + SIDHighWatermark "87" Block { BlockType Inport Name "analyticalSolution" @@ -8569,25 +8587,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4680::80" + SID "4680::86" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 64 + ZOrder 70 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4680::79" + SID "4680::85" Tag "Stateflow S-Function torqueControlBalancingSim 25" Ports [3, 2] Position [180, 100, 230, 180] - ZOrder 63 + ZOrder 69 FunctionName "sf_sfun" Parameters "Config" PortCounts "[3 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -8597,9 +8615,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4680::81" + SID "4680::87" Position [460, 241, 480, 259] - ZOrder 65 + ZOrder 71 } Block { BlockType Outport @@ -8611,21 +8629,21 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 50 + ZOrder 62 SrcBlock "analyticalSolution" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 51 + ZOrder 63 SrcBlock "primalSolution" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 52 + ZOrder 64 SrcBlock "QPStatus" SrcPort 1 DstBlock " SFunction " @@ -8633,7 +8651,7 @@ Model { } Line { Name "f_star" - ZOrder 53 + ZOrder 65 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -8641,14 +8659,14 @@ Model { DstPort 1 } Line { - ZOrder 54 + ZOrder 66 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 55 + ZOrder 67 SrcBlock " SFunction " SrcPort 1 Points [20, 0] @@ -9494,7 +9512,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3789" + SIDHighWatermark "3795" Block { BlockType Inport Name "J_l_sole" @@ -9533,25 +9551,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "3721::3788" + SID "3721::3794" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 113 + ZOrder 119 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "3721::3787" + SID "3721::3793" Tag "Stateflow S-Function torqueControlBalancingSim 20" Ports [4, 2] Position [180, 102, 230, 203] - ZOrder 112 + ZOrder 118 FunctionName "sf_sfun" Parameters "Reg" PortCounts "[4 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -9561,9 +9579,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "3721::3789" + SID "3721::3795" Position [460, 241, 480, 259] - ZOrder 114 + ZOrder 120 } Block { BlockType Outport @@ -9575,28 +9593,28 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 183 + ZOrder 197 SrcBlock "J_l_sole" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 184 + ZOrder 198 SrcBlock "J_r_sole" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 185 + ZOrder 199 SrcBlock "feetContactStatus" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 186 + ZOrder 200 SrcBlock "jointPos_err" SrcPort 1 DstBlock " SFunction " @@ -9604,7 +9622,7 @@ Model { } Line { Name "baseVel_equivalent" - ZOrder 187 + ZOrder 201 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -9612,14 +9630,14 @@ Model { DstPort 1 } Line { - ZOrder 188 + ZOrder 202 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 189 + ZOrder 203 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -9697,7 +9715,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "102" + SIDHighWatermark "108" Block { BlockType Inport Name "state" @@ -9709,24 +9727,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4027::101" + SID "4027::107" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 92 + ZOrder 98 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4027::100" + SID "4027::106" Tag "Stateflow S-Function torqueControlBalancingSim 19" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 91 + ZOrder 97 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -9736,9 +9754,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4027::102" + SID "4027::108" Position [460, 241, 480, 259] - ZOrder 93 + ZOrder 99 } Block { BlockType Outport @@ -9750,7 +9768,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 105 + ZOrder 113 SrcBlock "state" SrcPort 1 DstBlock " SFunction " @@ -9758,7 +9776,7 @@ Model { } Line { Name "booleanState" - ZOrder 106 + ZOrder 114 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -9766,14 +9784,14 @@ Model { DstPort 1 } Line { - ZOrder 107 + ZOrder 115 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 108 + ZOrder 116 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -10079,36 +10097,36 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "110" + SIDHighWatermark "118" Block { BlockType Demux Name " Demux " - SID "4551::108" + SID "4551::116" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 99 + ZOrder 107 Outputs "1" } Block { BlockType Ground Name " Ground " - SID "4551::110" + SID "4551::118" Position [20, 121, 40, 139] - ZOrder 101 + ZOrder 109 } Block { BlockType S-Function Name " SFunction " - SID "4551::107" + SID "4551::115" Tag "Stateflow S-Function torqueControlBalancingSim 9" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 98 + ZOrder 106 FunctionName "sf_sfun" Parameters "Config" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -10118,9 +10136,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4551::109" + SID "4551::117" Position [460, 241, 480, 259] - ZOrder 100 + ZOrder 108 } Block { BlockType Outport @@ -10133,7 +10151,7 @@ Model { } Line { Name "reflectedInertia" - ZOrder 89 + ZOrder 97 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -10141,21 +10159,21 @@ Model { DstPort 1 } Line { - ZOrder 90 + ZOrder 98 SrcBlock " Ground " SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 91 + ZOrder 99 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 92 + ZOrder 100 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -10397,7 +10415,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3788" + SIDHighWatermark "3794" Block { BlockType Inport Name "feetContactStatus" @@ -10598,25 +10616,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "2407::3787" + SID "2407::3793" Ports [1, 1] Position [270, 570, 320, 610] - ZOrder 190 + ZOrder 196 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "2407::3786" + SID "2407::3792" Tag "Stateflow S-Function torqueControlBalancingSim 17" Ports [22, 13] Position [180, 70, 230, 530] - ZOrder 189 + ZOrder 195 FunctionName "sf_sfun" Parameters "Config,Gain,Reg" PortCounts "[22 13]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -10670,9 +10688,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "2407::3788" + SID "2407::3794" Position [460, 581, 480, 599] - ZOrder 191 + ZOrder 197 } Block { BlockType Outport @@ -10794,154 +10812,154 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 2150 + ZOrder 2222 SrcBlock "feetContactStatus" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 2151 + ZOrder 2223 SrcBlock "ConstraintsMatrix" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 2152 + ZOrder 2224 SrcBlock "bVectorConstraints" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 2153 + ZOrder 2225 SrcBlock "jointPos" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 2154 + ZOrder 2226 SrcBlock "jointPos_des" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 2155 + ZOrder 2227 SrcBlock "nu" SrcPort 1 DstBlock " SFunction " DstPort 6 } Line { - ZOrder 2156 + ZOrder 2228 SrcBlock "M" SrcPort 1 DstBlock " SFunction " DstPort 7 } Line { - ZOrder 2157 + ZOrder 2229 SrcBlock "h" SrcPort 1 DstBlock " SFunction " DstPort 8 } Line { - ZOrder 2158 + ZOrder 2230 SrcBlock "L" SrcPort 1 DstBlock " SFunction " DstPort 9 } Line { - ZOrder 2159 + ZOrder 2231 SrcBlock "intL_angMomError" SrcPort 1 DstBlock " SFunction " DstPort 10 } Line { - ZOrder 2160 + ZOrder 2232 SrcBlock "w_H_l_sole" SrcPort 1 DstBlock " SFunction " DstPort 11 } Line { - ZOrder 2161 + ZOrder 2233 SrcBlock "w_H_r_sole" SrcPort 1 DstBlock " SFunction " DstPort 12 } Line { - ZOrder 2162 + ZOrder 2234 SrcBlock "J_l_sole" SrcPort 1 DstBlock " SFunction " DstPort 13 } Line { - ZOrder 2163 + ZOrder 2235 SrcBlock "J_r_sole" SrcPort 1 DstBlock " SFunction " DstPort 14 } Line { - ZOrder 2164 + ZOrder 2236 SrcBlock "JDot_l_sole_nu" SrcPort 1 DstBlock " SFunction " DstPort 15 } Line { - ZOrder 2165 + ZOrder 2237 SrcBlock "JDot_r_sole_nu" SrcPort 1 DstBlock " SFunction " DstPort 16 } Line { - ZOrder 2166 + ZOrder 2238 SrcBlock "pos_CoM" SrcPort 1 DstBlock " SFunction " DstPort 17 } Line { - ZOrder 2167 + ZOrder 2239 SrcBlock "J_CoM" SrcPort 1 DstBlock " SFunction " DstPort 18 } Line { - ZOrder 2168 + ZOrder 2240 SrcBlock "desired_pos_vel_acc_CoM" SrcPort 1 DstBlock " SFunction " DstPort 19 } Line { - ZOrder 2169 + ZOrder 2241 SrcBlock "KP_CoM" SrcPort 1 DstBlock " SFunction " DstPort 20 } Line { - ZOrder 2170 + ZOrder 2242 SrcBlock "KD_CoM" SrcPort 1 DstBlock " SFunction " DstPort 21 } Line { - ZOrder 2171 + ZOrder 2243 SrcBlock "KP_postural" SrcPort 1 DstBlock " SFunction " @@ -10949,7 +10967,7 @@ Model { } Line { Name "HessianMatrixOneFoot" - ZOrder 2172 + ZOrder 2244 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -10958,7 +10976,7 @@ Model { } Line { Name "gradientOneFoot" - ZOrder 2173 + ZOrder 2245 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -10967,7 +10985,7 @@ Model { } Line { Name "ConstraintsMatrixOneFoot" - ZOrder 2174 + ZOrder 2246 Labels [0, 0] SrcBlock " SFunction " SrcPort 4 @@ -10976,7 +10994,7 @@ Model { } Line { Name "bVectorConstraintsOneFoot" - ZOrder 2175 + ZOrder 2247 Labels [0, 0] SrcBlock " SFunction " SrcPort 5 @@ -10985,7 +11003,7 @@ Model { } Line { Name "HessianMatrixTwoFeet" - ZOrder 2176 + ZOrder 2248 Labels [0, 0] SrcBlock " SFunction " SrcPort 6 @@ -10994,7 +11012,7 @@ Model { } Line { Name "gradientTwoFeet" - ZOrder 2177 + ZOrder 2249 Labels [0, 0] SrcBlock " SFunction " SrcPort 7 @@ -11003,7 +11021,7 @@ Model { } Line { Name "ConstraintsMatrixTwoFeet" - ZOrder 2178 + ZOrder 2250 Labels [0, 0] SrcBlock " SFunction " SrcPort 8 @@ -11012,7 +11030,7 @@ Model { } Line { Name "bVectorConstraintsTwoFeet" - ZOrder 2179 + ZOrder 2251 Labels [0, 0] SrcBlock " SFunction " SrcPort 9 @@ -11021,7 +11039,7 @@ Model { } Line { Name "tauModel" - ZOrder 2180 + ZOrder 2252 Labels [0, 0] SrcBlock " SFunction " SrcPort 10 @@ -11030,7 +11048,7 @@ Model { } Line { Name "Sigma" - ZOrder 2181 + ZOrder 2253 Labels [0, 0] SrcBlock " SFunction " SrcPort 11 @@ -11039,7 +11057,7 @@ Model { } Line { Name "Na" - ZOrder 2182 + ZOrder 2254 Labels [0, 0] SrcBlock " SFunction " SrcPort 12 @@ -11048,7 +11066,7 @@ Model { } Line { Name "f_LDot" - ZOrder 2183 + ZOrder 2255 Labels [0, 0] SrcBlock " SFunction " SrcPort 13 @@ -11056,14 +11074,14 @@ Model { DstPort 1 } Line { - ZOrder 2184 + ZOrder 2256 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 2185 + ZOrder 2257 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -11560,7 +11578,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "88" + SIDHighWatermark "94" Block { BlockType Inport Name "M" @@ -11572,25 +11590,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4518::87" + SID "4518::93" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 77 + ZOrder 83 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4518::86" + SID "4518::92" Tag "Stateflow S-Function torqueControlBalancingSim 6" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 76 + ZOrder 82 FunctionName "sf_sfun" Parameters "Config" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -11600,9 +11618,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4518::88" + SID "4518::94" Position [460, 241, 480, 259] - ZOrder 78 + ZOrder 84 } Block { BlockType Outport @@ -11614,7 +11632,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 102 + ZOrder 110 SrcBlock "M" SrcPort 1 DstBlock " SFunction " @@ -11622,7 +11640,7 @@ Model { } Line { Name "M_with_inertia" - ZOrder 103 + ZOrder 111 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -11630,14 +11648,14 @@ Model { DstPort 1 } Line { - ZOrder 104 + ZOrder 112 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 105 + ZOrder 113 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -11982,7 +12000,7 @@ Model { TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off - ZoomFactor "172" + ZoomFactor "154" Block { BlockType Inport Name "nu" @@ -12072,12 +12090,12 @@ Model { } Block { BlockType Reference - Name "DotJNu l_sole\n" + Name "DotJNu l_sole" SID "2375" Ports [4, 1] Position [60, 382, 235, 443] ZOrder 829 - ShowName off + HideAutomaticName off LibraryVersion "1.675" SourceBlock "WBToolboxLibrary/Model/Jacobians/DotJNu" SourceType "DotJNu" @@ -12092,12 +12110,11 @@ Model { } Block { BlockType Reference - Name "DotJNu r_sole\n " + Name "DotJNu r_sole" SID "2376" Ports [4, 1] Position [65, 464, 235, 521] ZOrder 831 - ShowName off HideAutomaticName off LibraryVersion "1.675" SourceBlock "WBToolboxLibrary/Model/Jacobians/DotJNu" @@ -12307,13 +12324,13 @@ Model { Points [57, 0] Branch { ZOrder 203 - DstBlock "DotJNu r_sole\n " + DstBlock "DotJNu r_sole" DstPort 4 } Branch { ZOrder 193 Points [0, -80] - DstBlock "DotJNu l_sole\n" + DstBlock "DotJNu l_sole" DstPort 4 } } @@ -12324,13 +12341,13 @@ Model { Points [80, 0] Branch { ZOrder 206 - DstBlock "DotJNu r_sole\n " + DstBlock "DotJNu r_sole" DstPort 3 } Branch { ZOrder 204 Points [0, -80] - DstBlock "DotJNu l_sole\n" + DstBlock "DotJNu l_sole" DstPort 3 } } @@ -12395,14 +12412,14 @@ Model { } Line { ZOrder 217 - SrcBlock "DotJNu l_sole\n" + SrcBlock "DotJNu l_sole" SrcPort 1 DstBlock "JDot_l_sole_nu" DstPort 1 } Line { ZOrder 218 - SrcBlock "DotJNu r_sole\n " + SrcBlock "DotJNu r_sole" SrcPort 1 DstBlock "JDot_r_sole_nu" DstPort 1 @@ -12438,12 +12455,12 @@ Model { Branch { ZOrder 274 Points [0, 80] - DstBlock "DotJNu r_sole\n " + DstBlock "DotJNu r_sole" DstPort 2 } Branch { ZOrder 214 - DstBlock "DotJNu l_sole\n" + DstBlock "DotJNu l_sole" DstPort 2 } } @@ -12503,12 +12520,12 @@ Model { Branch { ZOrder 273 Points [0, 80] - DstBlock "DotJNu r_sole\n " + DstBlock "DotJNu r_sole" DstPort 1 } Branch { ZOrder 220 - DstBlock "DotJNu l_sole\n" + DstBlock "DotJNu l_sole" DstPort 1 } } @@ -12929,7 +12946,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "41" + SIDHighWatermark "47" Block { BlockType Inport Name "tau" @@ -13004,24 +13021,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4913::40" + SID "4913::46" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 29 + ZOrder 35 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4913::39" + SID "4913::45" Tag "Stateflow S-Function torqueControlBalancingSim 34" Ports [8, 2] Position [180, 100, 230, 280] - ZOrder 28 + ZOrder 34 FunctionName "sf_sfun" PortCounts "[8 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -13031,9 +13048,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4913::41" + SID "4913::47" Position [460, 241, 480, 259] - ZOrder 30 + ZOrder 36 } Block { BlockType Outport @@ -13045,56 +13062,56 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 12 + ZOrder 34 SrcBlock "tau" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 13 + ZOrder 35 SrcBlock "JL" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 14 + ZOrder 36 SrcBlock "JR" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 15 + ZOrder 37 SrcBlock "JDotL_nu" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 16 + ZOrder 38 SrcBlock "JDotR_nu" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 17 + ZOrder 39 SrcBlock "M" SrcPort 1 DstBlock " SFunction " DstPort 6 } Line { - ZOrder 18 + ZOrder 40 SrcBlock "h" SrcPort 1 DstBlock " SFunction " DstPort 7 } Line { - ZOrder 19 + ZOrder 41 SrcBlock "LEFT_RIGHT_FOOT_IN_CONTACT" SrcPort 1 DstBlock " SFunction " @@ -13102,7 +13119,7 @@ Model { } Line { Name "f_dynamics" - ZOrder 20 + ZOrder 42 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -13110,14 +13127,14 @@ Model { DstPort 1 } Line { - ZOrder 21 + ZOrder 43 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 22 + ZOrder 44 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -13154,7 +13171,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "41" + SIDHighWatermark "47" Block { BlockType Inport Name "tau" @@ -13220,24 +13237,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4945::40" + SID "4945::46" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 29 + ZOrder 35 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4945::39" + SID "4945::45" Tag "Stateflow S-Function torqueControlBalancingSim 10" Ports [7, 2] Position [180, 100, 230, 260] - ZOrder 28 + ZOrder 34 FunctionName "sf_sfun" PortCounts "[7 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -13247,9 +13264,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4945::41" + SID "4945::47" Position [460, 241, 480, 259] - ZOrder 30 + ZOrder 36 } Block { BlockType Outport @@ -13261,49 +13278,49 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 11 + ZOrder 31 SrcBlock "tau" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 12 + ZOrder 32 SrcBlock "JL" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 13 + ZOrder 33 SrcBlock "JR" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 14 + ZOrder 34 SrcBlock "M" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 15 + ZOrder 35 SrcBlock "h" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 16 + ZOrder 36 SrcBlock "f" SrcPort 1 DstBlock " SFunction " DstPort 6 } Line { - ZOrder 17 + ZOrder 37 SrcBlock "LEFT_RIGHT_FOOT_IN_CONTACT" SrcPort 1 DstBlock " SFunction " @@ -13311,7 +13328,7 @@ Model { } Line { Name "nuDot" - ZOrder 18 + ZOrder 38 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -13319,14 +13336,14 @@ Model { DstPort 1 } Line { - ZOrder 19 + ZOrder 39 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 20 + ZOrder 40 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -13597,7 +13614,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "83" + SIDHighWatermark "89" Block { BlockType Inport Name "u" @@ -13636,24 +13653,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4556::82" + SID "4556::88" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 71 + ZOrder 77 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4556::81" + SID "4556::87" Tag "Stateflow S-Function torqueControlBalancingSim 11" Ports [4, 2] Position [180, 102, 230, 203] - ZOrder 70 + ZOrder 76 FunctionName "sf_sfun" PortCounts "[4 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -13663,9 +13680,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4556::83" + SID "4556::89" Position [460, 241, 480, 259] - ZOrder 72 + ZOrder 78 } Block { BlockType Outport @@ -13677,28 +13694,28 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 147 + ZOrder 161 SrcBlock "u" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 148 + ZOrder 162 SrcBlock "u_0" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 149 + ZOrder 163 SrcBlock "tStep" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 150 + ZOrder 164 SrcBlock "uDotMax" SrcPort 1 DstBlock " SFunction " @@ -13706,7 +13723,7 @@ Model { } Line { Name "uSat" - ZOrder 151 + ZOrder 165 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -13714,14 +13731,14 @@ Model { DstPort 1 } Line { - ZOrder 152 + ZOrder 166 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 153 + ZOrder 167 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -14029,7 +14046,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3812" + SIDHighWatermark "3818" Block { BlockType Inport Name "J_l_sole" @@ -14068,25 +14085,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4215::3811" + SID "4215::3817" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 180 + ZOrder 186 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4215::3810" + SID "4215::3816" Tag "Stateflow S-Function torqueControlBalancingSim 7" Ports [4, 2] Position [180, 102, 230, 203] - ZOrder 179 + ZOrder 185 FunctionName "sf_sfun" Parameters "Reg" PortCounts "[4 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -14096,9 +14113,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4215::3812" + SID "4215::3818" Position [460, 241, 480, 259] - ZOrder 181 + ZOrder 187 } Block { BlockType Outport @@ -14110,28 +14127,28 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 36 + ZOrder 50 SrcBlock "J_l_sole" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 37 + ZOrder 51 SrcBlock "J_r_sole" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 38 + ZOrder 52 SrcBlock "feetContactStatus" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 39 + ZOrder 53 SrcBlock "jointVel" SrcPort 1 DstBlock " SFunction " @@ -14139,7 +14156,7 @@ Model { } Line { Name "nu_b" - ZOrder 40 + ZOrder 54 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -14147,14 +14164,14 @@ Model { DstPort 1 } Line { - ZOrder 41 + ZOrder 55 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 42 + ZOrder 56 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -14585,7 +14602,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3803" + SIDHighWatermark "3809" SIDPrevWatermark "9" Block { BlockType Inport @@ -14643,25 +14660,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4257::3802" + SID "4257::3808" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 202 + ZOrder 208 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4257::3801" + SID "4257::3807" Tag "Stateflow S-Function torqueControlBalancingSim 8" Ports [6, 2] Position [180, 102, 230, 243] - ZOrder 201 + ZOrder 207 FunctionName "sf_sfun" Parameters "Config" PortCounts "[6 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -14671,9 +14688,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4257::3803" + SID "4257::3809" Position [460, 241, 480, 259] - ZOrder 203 + ZOrder 209 } Block { BlockType Outport @@ -14685,42 +14702,42 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 46 + ZOrder 64 SrcBlock "imu_H_fixedLink" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 47 + ZOrder 65 SrcBlock "imu_H_fixedLink_0" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 48 + ZOrder 66 SrcBlock "fixedLink_H_base" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 49 + ZOrder 67 SrcBlock "rpyFromIMU_0" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 50 + ZOrder 68 SrcBlock "rpyFromIMU" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 51 + ZOrder 69 SrcBlock "neck_pos" SrcPort 1 DstBlock " SFunction " @@ -14728,7 +14745,7 @@ Model { } Line { Name "w_H_b" - ZOrder 52 + ZOrder 70 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -14736,14 +14753,14 @@ Model { DstPort 1 } Line { - ZOrder 53 + ZOrder 71 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 54 + ZOrder 72 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -15366,7 +15383,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3803" + SIDHighWatermark "3809" SIDPrevWatermark "9" Block { BlockType Inport @@ -15424,25 +15441,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "4857::3802" + SID "4857::3808" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 202 + ZOrder 208 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4857::3801" + SID "4857::3807" Tag "Stateflow S-Function torqueControlBalancingSim 3" Ports [6, 2] Position [180, 102, 230, 243] - ZOrder 201 + ZOrder 207 FunctionName "sf_sfun" Parameters "Config" PortCounts "[6 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -15452,9 +15469,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4857::3803" + SID "4857::3809" Position [460, 241, 480, 259] - ZOrder 203 + ZOrder 209 } Block { BlockType Outport @@ -15466,42 +15483,42 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 46 + ZOrder 64 SrcBlock "imu_H_fixedLink" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 47 + ZOrder 65 SrcBlock "imu_H_fixedLink_0" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 48 + ZOrder 66 SrcBlock "fixedLink_H_base" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 49 + ZOrder 67 SrcBlock "rpyFromIMU_0" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 50 + ZOrder 68 SrcBlock "rpyFromIMU" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 51 + ZOrder 69 SrcBlock "neck_pos" SrcPort 1 DstBlock " SFunction " @@ -15509,7 +15526,7 @@ Model { } Line { Name "w_H_b" - ZOrder 52 + ZOrder 70 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -15517,14 +15534,14 @@ Model { DstPort 1 } Line { - ZOrder 53 + ZOrder 71 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 54 + ZOrder 72 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -16423,7 +16440,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3791" + SIDHighWatermark "3797" SIDPrevWatermark "9" Block { BlockType Inport @@ -16517,25 +16534,25 @@ Model { Block { BlockType Demux Name " Demux " - SID "2220::3790" + SID "2220::3796" Ports [1, 1] Position [270, 495, 320, 535] - ZOrder 188 + ZOrder 194 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "2220::3789" + SID "2220::3795" Tag "Stateflow S-Function torqueControlBalancingSim 13" Ports [10, 11] Position [180, 100, 230, 340] - ZOrder 187 + ZOrder 193 FunctionName "sf_sfun" Parameters "Config,Gain,StateMachine" PortCounts "[10 11]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -16581,9 +16598,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "2220::3791" + SID "2220::3797" Position [460, 506, 480, 524] - ZOrder 189 + ZOrder 195 } Block { BlockType Outport @@ -16685,70 +16702,70 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 904 + ZOrder 948 SrcBlock "pos_CoM_0" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 905 + ZOrder 949 SrcBlock "jointPos_0" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 906 + ZOrder 950 SrcBlock "pos_CoM_fixed_l_sole" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 907 + ZOrder 951 SrcBlock "pos_CoM_fixed_r_sole" SrcPort 1 DstBlock " SFunction " DstPort 4 } Line { - ZOrder 908 + ZOrder 952 SrcBlock "jointPos" SrcPort 1 DstBlock " SFunction " DstPort 5 } Line { - ZOrder 909 + ZOrder 953 SrcBlock "time" SrcPort 1 DstBlock " SFunction " DstPort 6 } Line { - ZOrder 910 + ZOrder 954 SrcBlock "wrench_rightFoot" SrcPort 1 DstBlock " SFunction " DstPort 7 } Line { - ZOrder 911 + ZOrder 955 SrcBlock "wrench_leftFoot" SrcPort 1 DstBlock " SFunction " DstPort 8 } Line { - ZOrder 912 + ZOrder 956 SrcBlock "l_sole_H_b" SrcPort 1 DstBlock " SFunction " DstPort 9 } Line { - ZOrder 913 + ZOrder 957 SrcBlock "r_sole_H_b" SrcPort 1 DstBlock " SFunction " @@ -16756,7 +16773,7 @@ Model { } Line { Name "w_H_b" - ZOrder 914 + ZOrder 958 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -16765,7 +16782,7 @@ Model { } Line { Name "pos_CoM_des" - ZOrder 915 + ZOrder 959 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -16774,7 +16791,7 @@ Model { } Line { Name "jointPos_des" - ZOrder 916 + ZOrder 960 Labels [0, 0] SrcBlock " SFunction " SrcPort 4 @@ -16783,7 +16800,7 @@ Model { } Line { Name "feetContactStatus" - ZOrder 917 + ZOrder 961 Labels [0, 0] SrcBlock " SFunction " SrcPort 5 @@ -16792,7 +16809,7 @@ Model { } Line { Name "KP_postural_diag" - ZOrder 918 + ZOrder 962 Labels [0, 0] SrcBlock " SFunction " SrcPort 6 @@ -16801,7 +16818,7 @@ Model { } Line { Name "KP_CoM_diag" - ZOrder 919 + ZOrder 963 Labels [0, 0] SrcBlock " SFunction " SrcPort 7 @@ -16810,7 +16827,7 @@ Model { } Line { Name "KD_CoM_diag" - ZOrder 920 + ZOrder 964 Labels [0, 0] SrcBlock " SFunction " SrcPort 8 @@ -16819,7 +16836,7 @@ Model { } Line { Name "state" - ZOrder 921 + ZOrder 965 Labels [0, 0] SrcBlock " SFunction " SrcPort 9 @@ -16828,7 +16845,7 @@ Model { } Line { Name "smoothingTimeJoints" - ZOrder 922 + ZOrder 966 Labels [0, 0] SrcBlock " SFunction " SrcPort 10 @@ -16837,7 +16854,7 @@ Model { } Line { Name "smoothingTimeCoM" - ZOrder 923 + ZOrder 967 Labels [0, 0] SrcBlock " SFunction " SrcPort 11 @@ -16845,14 +16862,14 @@ Model { DstPort 1 } Line { - ZOrder 924 + ZOrder 968 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 925 + ZOrder 969 SrcBlock " SFunction " SrcPort 1 Points [20, 0] @@ -17704,7 +17721,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "36" + SIDHighWatermark "42" Block { BlockType Inport Name "d" @@ -17716,24 +17733,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4782::35" + SID "4782::41" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 26 + ZOrder 32 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4782::34" + SID "4782::40" Tag "Stateflow S-Function torqueControlBalancingSim 2" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 25 + ZOrder 31 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -17743,9 +17760,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4782::36" + SID "4782::42" Position [460, 241, 480, 259] - ZOrder 27 + ZOrder 33 } Block { BlockType Outport @@ -17757,7 +17774,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 25 + ZOrder 33 SrcBlock "d" SrcPort 1 DstBlock " SFunction " @@ -17765,7 +17782,7 @@ Model { } Line { Name "D" - ZOrder 26 + ZOrder 34 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -17773,14 +17790,14 @@ Model { DstPort 1 } Line { - ZOrder 27 + ZOrder 35 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 28 + ZOrder 36 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -17819,7 +17836,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "36" + SIDHighWatermark "42" Block { BlockType Inport Name "d" @@ -17831,24 +17848,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4783::35" + SID "4783::41" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 26 + ZOrder 32 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4783::34" + SID "4783::40" Tag "Stateflow S-Function torqueControlBalancingSim 1" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 25 + ZOrder 31 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -17858,9 +17875,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4783::36" + SID "4783::42" Position [460, 241, 480, 259] - ZOrder 27 + ZOrder 33 } Block { BlockType Outport @@ -17872,7 +17889,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 21 + ZOrder 29 SrcBlock "d" SrcPort 1 DstBlock " SFunction " @@ -17880,7 +17897,7 @@ Model { } Line { Name "D" - ZOrder 22 + ZOrder 30 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -17888,14 +17905,14 @@ Model { DstPort 1 } Line { - ZOrder 23 + ZOrder 31 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 24 + ZOrder 32 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -17934,7 +17951,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "36" + SIDHighWatermark "42" Block { BlockType Inport Name "d" @@ -17946,24 +17963,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "4784::35" + SID "4784::41" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 26 + ZOrder 32 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "4784::34" + SID "4784::40" Tag "Stateflow S-Function torqueControlBalancingSim 4" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 25 + ZOrder 31 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -17973,9 +17990,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "4784::36" + SID "4784::42" Position [460, 241, 480, 259] - ZOrder 27 + ZOrder 33 } Block { BlockType Outport @@ -17987,7 +18004,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 21 + ZOrder 29 SrcBlock "d" SrcPort 1 DstBlock " SFunction " @@ -17995,7 +18012,7 @@ Model { } Line { Name "D" - ZOrder 22 + ZOrder 30 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -18003,14 +18020,14 @@ Model { DstPort 1 } Line { - ZOrder 23 + ZOrder 31 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 24 + ZOrder 32 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -18982,7 +18999,7 @@ Model { RequestExecContextInheritance off Object { $PropName "MaskObject" - $ObjectID 30 + $ObjectID 32 $ClassName "Simulink.Mask" Display "disp('EMERGENCY STOP')" RunInitForIconRedraw "off" @@ -19137,7 +19154,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3789" + SIDHighWatermark "3795" Block { BlockType Inport Name "umin" @@ -19176,24 +19193,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "5029::3787" + SID "5029::3794" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 137 + ZOrder 144 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "5029::3786" + SID "5029::3793" Tag "Stateflow S-Function torqueControlBalancingSim 18" Ports [4, 3] Position [180, 102, 230, 203] - ZOrder 136 + ZOrder 143 FunctionName "sf_sfun" PortCounts "[4 3]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -19207,9 +19224,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "5029::3788" + SID "5029::3795" Position [460, 241, 480, 259] - ZOrder 138 + ZOrder 145 } Block { BlockType Outport @@ -19230,28 +19247,28 @@ Model { IconDisplay "Port number" } Line { - ZOrder 1 + ZOrder 17 SrcBlock "umin" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { - ZOrder 2 + ZOrder 18 SrcBlock "umax" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 3 + ZOrder 19 SrcBlock "u" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { - ZOrder 4 + ZOrder 20 SrcBlock "tol" SrcPort 1 DstBlock " SFunction " @@ -19259,7 +19276,7 @@ Model { } Line { Name "inRange" - ZOrder 5 + ZOrder 21 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -19268,7 +19285,7 @@ Model { } Line { Name "res_check_range" - ZOrder 6 + ZOrder 22 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -19276,16 +19293,17 @@ Model { DstPort 1 } Line { - ZOrder 7 + ZOrder 23 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 8 + ZOrder 24 SrcBlock " SFunction " SrcPort 1 + Points [20, 0] DstBlock " Demux " DstPort 1 } @@ -19459,7 +19477,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "3789" + SIDHighWatermark "3795" Block { BlockType Inport Name "u" @@ -19480,24 +19498,24 @@ Model { Block { BlockType Demux Name " Demux " - SID "5037::3787" + SID "5037::3794" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 137 + ZOrder 144 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "5037::3786" + SID "5037::3793" Tag "Stateflow S-Function torqueControlBalancingSim 14" Ports [2, 3] Position [180, 100, 230, 180] - ZOrder 136 + ZOrder 143 FunctionName "sf_sfun" PortCounts "[2 3]" SFunctionDeploymentMode off - EnableBusSupport on + EnableBusSupport off SFcnIsStateOwnerBlock off Port { PortNumber 2 @@ -19511,9 +19529,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "5037::3788" + SID "5037::3795" Position [460, 241, 480, 259] - ZOrder 138 + ZOrder 145 } Block { BlockType Outport @@ -19534,23 +19552,23 @@ Model { IconDisplay "Port number" } Line { - ZOrder 1 + ZOrder 13 SrcBlock "u" SrcPort 1 + Points [120, 0] DstBlock " SFunction " DstPort 1 } Line { - ZOrder 2 + ZOrder 14 SrcBlock "delta_u_max" SrcPort 1 - Points [120, 0] DstBlock " SFunction " DstPort 2 } Line { Name "noSpikes" - ZOrder 3 + ZOrder 15 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -19559,7 +19577,7 @@ Model { } Line { Name "res_check_spikes" - ZOrder 4 + ZOrder 16 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -19567,14 +19585,14 @@ Model { DstPort 1 } Line { - ZOrder 5 + ZOrder 17 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 6 + ZOrder 18 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -20051,7 +20069,7 @@ Model { Name "Set Position for Gazebo" SID "5016" Ports [1] - Position [675, 694, 715, 716] + Position [655, 694, 695, 716] ZOrder 1252 BlockMirror on Commented "on" diff --git a/library/CMakeLists.txt b/library/CMakeLists.txt new file mode 100644 index 0000000..0a8b86c --- /dev/null +++ b/library/CMakeLists.txt @@ -0,0 +1 @@ +install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/matlab-wbc/ DESTINATION ${CMAKE_INSTALL_PREFIX}/mex) diff --git a/library/README.md b/library/README.md index de06928..3b898e9 100644 --- a/library/README.md +++ b/library/README.md @@ -6,7 +6,7 @@ A package of utility Matlab functions used by all the controllers. ### How to install the folder -Add the `matlab-wbc` folder to the Matlab path, or run the `startup_WBC.m` script in the `config` folder. If you chose to run the `startup_WBC.m` script, remember to **always** start matlab from the folder where the `pathdef.m` file is (usually `~/Documents/MATLAB`). +The `+wbc` folder is installed in your `${INSTALL/mex}` directory. The **installed** folder must be added to the Matlab path. This can be done by setting the path manually or by running the `startup_WBC.m` script which is also installed in your `${BUILD}` folder. If you chose to run the `startup_WBC.m` script, remember to **always** start matlab from the folder where the `pathdef.m` file is (usually `~/Documents/MATLAB`). ### How to use the +wbc library @@ -14,7 +14,7 @@ To use any function inside the package [matlab-wbc/+wbc](matlab-wbc/+wbc), add t ## matlab-gui -Utilties for designing a `static GUI` for starting/closing the Simulink models without the need of opening the Simulink default GUI. +Utilties for designing a `static GUI` for starting/closing the Simulink models without the need of opening the Simulink interface. ## simulink-library diff --git a/library/simulink-library/CMM_iCub_23_25_DoFs.mdl b/library/simulink-library/CMM_iCub_23_25_DoFs.mdl index ca8451d..0354334 100644 --- a/library/simulink-library/CMM_iCub_23_25_DoFs.mdl +++ b/library/simulink-library/CMM_iCub_23_25_DoFs.mdl @@ -6,7 +6,7 @@ Model { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" - ComputedModelVersion "1.25" + ComputedModelVersion "1.26" NumModelReferences 0 NumTestPointedSignals 0 NumProvidedFunctions 0 @@ -312,9 +312,9 @@ Model { ModifiedByFormat "%" LastModifiedBy "gnava" ModifiedDateFormat "%" - LastModifiedDate "Wed Mar 18 18:04:37 2020" - RTWModifiedTimeStamp 506455477 - ModelVersionFormat "1.%" + LastModifiedDate "Mon Mar 23 00:04:34 2020" + RTWModifiedTimeStamp 506822674 + ModelVersionFormat "1.%" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled" @@ -2061,7 +2061,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "52" + SIDHighWatermark "55" Block { BlockType Inport Name "SelMatrix" @@ -2091,20 +2091,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "526::51" + SID "526::54" Ports [1, 1] Position [270, 315, 320, 355] - ZOrder 42 + ZOrder 45 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "526::50" + SID "526::53" Tag "Stateflow S-Function CMM_iCub_23_25_DoFs 9" Ports [3, 6] Position [180, 102, 230, 243] - ZOrder 41 + ZOrder 44 FunctionName "sf_sfun" PortCounts "[3 6]" SFunctionDeploymentMode off @@ -2134,9 +2134,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "526::52" + SID "526::55" Position [460, 326, 480, 344] - ZOrder 43 + ZOrder 46 } Block { BlockType Outport @@ -2188,7 +2188,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 41 + ZOrder 51 SrcBlock "SelMatrix" SrcPort 1 Points [120, 0] @@ -2196,14 +2196,14 @@ Model { DstPort 1 } Line { - ZOrder 42 + ZOrder 52 SrcBlock "groupNumber" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 43 + ZOrder 53 SrcBlock "jointPos" SrcPort 1 DstBlock " SFunction " @@ -2211,7 +2211,7 @@ Model { } Line { Name "v1" - ZOrder 44 + ZOrder 54 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -2220,7 +2220,7 @@ Model { } Line { Name "v2" - ZOrder 45 + ZOrder 55 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -2229,7 +2229,7 @@ Model { } Line { Name "v3" - ZOrder 46 + ZOrder 56 Labels [0, 0] SrcBlock " SFunction " SrcPort 4 @@ -2238,7 +2238,7 @@ Model { } Line { Name "v4" - ZOrder 47 + ZOrder 57 Labels [0, 0] SrcBlock " SFunction " SrcPort 5 @@ -2247,7 +2247,7 @@ Model { } Line { Name "v5" - ZOrder 48 + ZOrder 58 Labels [0, 0] SrcBlock " SFunction " SrcPort 6 @@ -2255,14 +2255,14 @@ Model { DstPort 1 } Line { - ZOrder 49 + ZOrder 59 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 50 + ZOrder 60 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -2704,7 +2704,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "52" + SIDHighWatermark "55" Block { BlockType Inport Name "SelMatrix" @@ -2734,20 +2734,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "540::51" + SID "540::54" Ports [1, 1] Position [270, 315, 320, 355] - ZOrder 42 + ZOrder 45 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "540::50" + SID "540::53" Tag "Stateflow S-Function CMM_iCub_23_25_DoFs 22" Ports [3, 6] Position [180, 102, 230, 243] - ZOrder 41 + ZOrder 44 FunctionName "sf_sfun" PortCounts "[3 6]" SFunctionDeploymentMode off @@ -2777,9 +2777,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "540::52" + SID "540::55" Position [460, 326, 480, 344] - ZOrder 43 + ZOrder 46 } Block { BlockType Outport @@ -2831,7 +2831,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 41 + ZOrder 51 SrcBlock "SelMatrix" SrcPort 1 Points [120, 0] @@ -2839,14 +2839,14 @@ Model { DstPort 1 } Line { - ZOrder 42 + ZOrder 52 SrcBlock "groupNumber" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 43 + ZOrder 53 SrcBlock "jointPos" SrcPort 1 DstBlock " SFunction " @@ -2854,7 +2854,7 @@ Model { } Line { Name "v1" - ZOrder 44 + ZOrder 54 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -2863,7 +2863,7 @@ Model { } Line { Name "v2" - ZOrder 45 + ZOrder 55 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -2872,7 +2872,7 @@ Model { } Line { Name "v3" - ZOrder 46 + ZOrder 56 Labels [0, 0] SrcBlock " SFunction " SrcPort 4 @@ -2881,7 +2881,7 @@ Model { } Line { Name "v4" - ZOrder 47 + ZOrder 57 Labels [0, 0] SrcBlock " SFunction " SrcPort 5 @@ -2890,7 +2890,7 @@ Model { } Line { Name "v5" - ZOrder 48 + ZOrder 58 Labels [0, 0] SrcBlock " SFunction " SrcPort 6 @@ -2898,14 +2898,14 @@ Model { DstPort 1 } Line { - ZOrder 49 + ZOrder 59 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 50 + ZOrder 60 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -3347,7 +3347,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "52" + SIDHighWatermark "55" Block { BlockType Inport Name "SelMatrix" @@ -3377,20 +3377,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "554::51" + SID "554::54" Ports [1, 1] Position [270, 315, 320, 355] - ZOrder 42 + ZOrder 45 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "554::50" + SID "554::53" Tag "Stateflow S-Function CMM_iCub_23_25_DoFs 27" Ports [3, 6] Position [180, 102, 230, 243] - ZOrder 41 + ZOrder 44 FunctionName "sf_sfun" PortCounts "[3 6]" SFunctionDeploymentMode off @@ -3420,9 +3420,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "554::52" + SID "554::55" Position [460, 326, 480, 344] - ZOrder 43 + ZOrder 46 } Block { BlockType Outport @@ -3474,7 +3474,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 41 + ZOrder 51 SrcBlock "SelMatrix" SrcPort 1 Points [120, 0] @@ -3482,14 +3482,14 @@ Model { DstPort 1 } Line { - ZOrder 42 + ZOrder 52 SrcBlock "groupNumber" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 43 + ZOrder 53 SrcBlock "jointPos" SrcPort 1 DstBlock " SFunction " @@ -3497,7 +3497,7 @@ Model { } Line { Name "v1" - ZOrder 44 + ZOrder 54 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -3506,7 +3506,7 @@ Model { } Line { Name "v2" - ZOrder 45 + ZOrder 55 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -3515,7 +3515,7 @@ Model { } Line { Name "v3" - ZOrder 46 + ZOrder 56 Labels [0, 0] SrcBlock " SFunction " SrcPort 4 @@ -3524,7 +3524,7 @@ Model { } Line { Name "v4" - ZOrder 47 + ZOrder 57 Labels [0, 0] SrcBlock " SFunction " SrcPort 5 @@ -3533,7 +3533,7 @@ Model { } Line { Name "v5" - ZOrder 48 + ZOrder 58 Labels [0, 0] SrcBlock " SFunction " SrcPort 6 @@ -3541,14 +3541,14 @@ Model { DstPort 1 } Line { - ZOrder 49 + ZOrder 59 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 50 + ZOrder 60 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -3990,7 +3990,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "52" + SIDHighWatermark "55" Block { BlockType Inport Name "SelMatrix" @@ -4020,20 +4020,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "568::51" + SID "568::54" Ports [1, 1] Position [270, 315, 320, 355] - ZOrder 42 + ZOrder 45 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "568::50" + SID "568::53" Tag "Stateflow S-Function CMM_iCub_23_25_DoFs 28" Ports [3, 6] Position [180, 102, 230, 243] - ZOrder 41 + ZOrder 44 FunctionName "sf_sfun" PortCounts "[3 6]" SFunctionDeploymentMode off @@ -4063,9 +4063,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "568::52" + SID "568::55" Position [460, 326, 480, 344] - ZOrder 43 + ZOrder 46 } Block { BlockType Outport @@ -4117,7 +4117,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 41 + ZOrder 51 SrcBlock "SelMatrix" SrcPort 1 Points [120, 0] @@ -4125,14 +4125,14 @@ Model { DstPort 1 } Line { - ZOrder 42 + ZOrder 52 SrcBlock "groupNumber" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 43 + ZOrder 53 SrcBlock "jointPos" SrcPort 1 DstBlock " SFunction " @@ -4140,7 +4140,7 @@ Model { } Line { Name "v1" - ZOrder 44 + ZOrder 54 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -4149,7 +4149,7 @@ Model { } Line { Name "v2" - ZOrder 45 + ZOrder 55 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -4158,7 +4158,7 @@ Model { } Line { Name "v3" - ZOrder 46 + ZOrder 56 Labels [0, 0] SrcBlock " SFunction " SrcPort 4 @@ -4167,7 +4167,7 @@ Model { } Line { Name "v4" - ZOrder 47 + ZOrder 57 Labels [0, 0] SrcBlock " SFunction " SrcPort 5 @@ -4176,7 +4176,7 @@ Model { } Line { Name "v5" - ZOrder 48 + ZOrder 58 Labels [0, 0] SrcBlock " SFunction " SrcPort 6 @@ -4184,14 +4184,14 @@ Model { DstPort 1 } Line { - ZOrder 49 + ZOrder 59 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 50 + ZOrder 60 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -4633,7 +4633,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "52" + SIDHighWatermark "55" Block { BlockType Inport Name "SelMatrix" @@ -4663,20 +4663,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "582::51" + SID "582::54" Ports [1, 1] Position [270, 315, 320, 355] - ZOrder 42 + ZOrder 45 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "582::50" + SID "582::53" Tag "Stateflow S-Function CMM_iCub_23_25_DoFs 29" Ports [3, 6] Position [180, 102, 230, 243] - ZOrder 41 + ZOrder 44 FunctionName "sf_sfun" PortCounts "[3 6]" SFunctionDeploymentMode off @@ -4706,9 +4706,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "582::52" + SID "582::55" Position [460, 326, 480, 344] - ZOrder 43 + ZOrder 46 } Block { BlockType Outport @@ -4760,7 +4760,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 41 + ZOrder 51 SrcBlock "SelMatrix" SrcPort 1 Points [120, 0] @@ -4768,14 +4768,14 @@ Model { DstPort 1 } Line { - ZOrder 42 + ZOrder 52 SrcBlock "groupNumber" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { - ZOrder 43 + ZOrder 53 SrcBlock "jointPos" SrcPort 1 DstBlock " SFunction " @@ -4783,7 +4783,7 @@ Model { } Line { Name "v1" - ZOrder 44 + ZOrder 54 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -4792,7 +4792,7 @@ Model { } Line { Name "v2" - ZOrder 45 + ZOrder 55 Labels [0, 0] SrcBlock " SFunction " SrcPort 3 @@ -4801,7 +4801,7 @@ Model { } Line { Name "v3" - ZOrder 46 + ZOrder 56 Labels [0, 0] SrcBlock " SFunction " SrcPort 4 @@ -4810,7 +4810,7 @@ Model { } Line { Name "v4" - ZOrder 47 + ZOrder 57 Labels [0, 0] SrcBlock " SFunction " SrcPort 5 @@ -4819,7 +4819,7 @@ Model { } Line { Name "v5" - ZOrder 48 + ZOrder 58 Labels [0, 0] SrcBlock " SFunction " SrcPort 6 @@ -4827,14 +4827,14 @@ Model { DstPort 1 } Line { - ZOrder 49 + ZOrder 59 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 50 + ZOrder 60 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -5586,7 +5586,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "46" + SIDHighWatermark "49" Block { BlockType Inport Name "ROBOT_DOF" @@ -5607,20 +5607,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "604::45" + SID "604::48" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 36 + ZOrder 39 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "604::44" + SID "604::47" Tag "Stateflow S-Function CMM_iCub_23_25_DoFs 30" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 35 + ZOrder 38 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off @@ -5634,9 +5634,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "604::46" + SID "604::49" Position [460, 241, 480, 259] - ZOrder 37 + ZOrder 40 } Block { BlockType Outport @@ -5648,7 +5648,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 21 + ZOrder 26 SrcBlock "ROBOT_DOF" SrcPort 1 Points [120, 0] @@ -5656,7 +5656,7 @@ Model { DstPort 1 } Line { - ZOrder 22 + ZOrder 27 SrcBlock "SelMatrix_0" SrcPort 1 DstBlock " SFunction " @@ -5664,7 +5664,7 @@ Model { } Line { Name "SelMatrix" - ZOrder 23 + ZOrder 28 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -5672,14 +5672,14 @@ Model { DstPort 1 } Line { - ZOrder 24 + ZOrder 29 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 25 + ZOrder 30 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " diff --git a/src/driver.cpp.in b/src/driver.cpp.in new file mode 100644 index 0000000..752aa65 --- /dev/null +++ b/src/driver.cpp.in @@ -0,0 +1,57 @@ +#ifdef WIN32 +#error "Windows is not yet supported" +#endif + +#include +#include "@MDL_NAME@.h" + +#include +#include +#include + +// Unix dependent +#include + +volatile static bool stop = false; + +void termination_handler(int /*sig_number*/) +{ + std::cerr << "CTRL-C pressed. Shutting down gracefully." << std::endl; + stop = true; +} + +int main() +{ + struct sigaction new_action, old_action; + new_action.sa_handler = termination_handler; + sigemptyset(&new_action.sa_mask); + sigaddset(&new_action.sa_mask, SIGTERM); + new_action.sa_flags = 0; + sigaction(SIGINT, nullptr, &old_action); + if (old_action.sa_handler != SIG_IGN) { + sigaction(SIGINT, &new_action, nullptr); + } + + blockfactory::coder::GeneratedCodeWrapper<@MDL_NAME@ModelClass> model; + + if (!model.initialize()) { + std::cerr << model.getErrors(); + return EXIT_FAILURE; + } + + while (true) { + bool ok = model.step(); + + if (!ok || stop) { + std::cerr << model.getErrors(); + break; + } + } + + if (!model.terminate()) { + std::cerr << model.getErrors(); + return EXIT_FAILURE; + } + + return EXIT_SUCCESS; +} diff --git a/utilities/debug_BoschIMU.mdl b/utilities/debug_BoschIMU.mdl index 4517e50..d1fb8a4 100644 --- a/utilities/debug_BoschIMU.mdl +++ b/utilities/debug_BoschIMU.mdl @@ -6,7 +6,7 @@ Model { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" - ComputedModelVersion "1.43" + ComputedModelVersion "1.44" NumModelReferences 0 NumTestPointedSignals 0 NumProvidedFunctions 0 @@ -114,9 +114,9 @@ Model { ModifiedByFormat "%" LastModifiedBy "gnava" ModifiedDateFormat "%" - LastModifiedDate "Wed Mar 18 18:04:39 2020" - RTWModifiedTimeStamp 506455479 - ModelVersionFormat "1.%" + LastModifiedDate "Mon Mar 23 00:04:35 2020" + RTWModifiedTimeStamp 506822675 + ModelVersionFormat "1.%" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled" diff --git a/utilities/debug_FTExternalForces.mdl b/utilities/debug_FTExternalForces.mdl index aaa3a86..f53a8f9 100644 --- a/utilities/debug_FTExternalForces.mdl +++ b/utilities/debug_FTExternalForces.mdl @@ -6,7 +6,7 @@ Model { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" - ComputedModelVersion "1.53" + ComputedModelVersion "1.54" NumModelReferences 0 NumTestPointedSignals 0 NumProvidedFunctions 0 @@ -144,9 +144,9 @@ Model { ModifiedByFormat "%" LastModifiedBy "gnava" ModifiedDateFormat "%" - LastModifiedDate "Wed Mar 18 18:04:41 2020" - RTWModifiedTimeStamp 506455481 - ModelVersionFormat "1.%" + LastModifiedDate "Mon Mar 23 00:04:36 2020" + RTWModifiedTimeStamp 506822676 + ModelVersionFormat "1.%" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled" @@ -1268,7 +1268,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "69" + SIDHighWatermark "72" Block { BlockType Inport Name "u" @@ -1280,20 +1280,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "43::68" + SID "43::71" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 59 + ZOrder 62 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "43::67" + SID "43::70" Tag "Stateflow S-Function debug_FTExternalForces 2" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 58 + ZOrder 61 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off @@ -1307,9 +1307,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "43::69" + SID "43::72" Position [460, 241, 480, 259] - ZOrder 60 + ZOrder 63 } Block { BlockType Outport @@ -1321,7 +1321,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 69 + ZOrder 73 SrcBlock "u" SrcPort 1 DstBlock " SFunction " @@ -1329,7 +1329,7 @@ Model { } Line { Name "y" - ZOrder 70 + ZOrder 74 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -1337,14 +1337,14 @@ Model { DstPort 1 } Line { - ZOrder 71 + ZOrder 75 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 72 + ZOrder 76 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -1380,7 +1380,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "69" + SIDHighWatermark "72" Block { BlockType Inport Name "u" @@ -1392,20 +1392,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "59::68" + SID "59::71" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 59 + ZOrder 62 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "59::67" + SID "59::70" Tag "Stateflow S-Function debug_FTExternalForces 1" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 58 + ZOrder 61 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off @@ -1419,9 +1419,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "59::69" + SID "59::72" Position [460, 241, 480, 259] - ZOrder 60 + ZOrder 63 } Block { BlockType Outport @@ -1433,7 +1433,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 29 + ZOrder 33 SrcBlock "u" SrcPort 1 DstBlock " SFunction " @@ -1441,7 +1441,7 @@ Model { } Line { Name "y" - ZOrder 30 + ZOrder 34 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -1449,14 +1449,14 @@ Model { DstPort 1 } Line { - ZOrder 31 + ZOrder 35 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 32 + ZOrder 36 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -1492,7 +1492,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "69" + SIDHighWatermark "72" Block { BlockType Inport Name "u" @@ -1504,20 +1504,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "60::68" + SID "60::71" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 59 + ZOrder 62 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "60::67" + SID "60::70" Tag "Stateflow S-Function debug_FTExternalForces 3" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 58 + ZOrder 61 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off @@ -1531,9 +1531,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "60::69" + SID "60::72" Position [460, 241, 480, 259] - ZOrder 60 + ZOrder 63 } Block { BlockType Outport @@ -1545,7 +1545,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 29 + ZOrder 33 SrcBlock "u" SrcPort 1 DstBlock " SFunction " @@ -1553,7 +1553,7 @@ Model { } Line { Name "y" - ZOrder 30 + ZOrder 34 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -1561,14 +1561,14 @@ Model { DstPort 1 } Line { - ZOrder 31 + ZOrder 35 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 32 + ZOrder 36 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -1604,7 +1604,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "69" + SIDHighWatermark "72" Block { BlockType Inport Name "u" @@ -1616,20 +1616,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "61::68" + SID "61::71" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 59 + ZOrder 62 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "61::67" + SID "61::70" Tag "Stateflow S-Function debug_FTExternalForces 4" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 58 + ZOrder 61 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off @@ -1643,9 +1643,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "61::69" + SID "61::72" Position [460, 241, 480, 259] - ZOrder 60 + ZOrder 63 } Block { BlockType Outport @@ -1657,7 +1657,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 29 + ZOrder 33 SrcBlock "u" SrcPort 1 DstBlock " SFunction " @@ -1665,7 +1665,7 @@ Model { } Line { Name "y" - ZOrder 30 + ZOrder 34 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -1673,14 +1673,14 @@ Model { DstPort 1 } Line { - ZOrder 31 + ZOrder 35 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 32 + ZOrder 36 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -1716,7 +1716,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "69" + SIDHighWatermark "72" Block { BlockType Inport Name "u" @@ -1728,20 +1728,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "62::68" + SID "62::71" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 59 + ZOrder 62 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "62::67" + SID "62::70" Tag "Stateflow S-Function debug_FTExternalForces 5" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 58 + ZOrder 61 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off @@ -1755,9 +1755,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "62::69" + SID "62::72" Position [460, 241, 480, 259] - ZOrder 60 + ZOrder 63 } Block { BlockType Outport @@ -1769,7 +1769,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 29 + ZOrder 33 SrcBlock "u" SrcPort 1 DstBlock " SFunction " @@ -1777,7 +1777,7 @@ Model { } Line { Name "y" - ZOrder 30 + ZOrder 34 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -1785,14 +1785,14 @@ Model { DstPort 1 } Line { - ZOrder 31 + ZOrder 35 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 32 + ZOrder 36 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -1828,7 +1828,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "69" + SIDHighWatermark "72" Block { BlockType Inport Name "u" @@ -1840,20 +1840,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "63::68" + SID "63::71" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 59 + ZOrder 62 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "63::67" + SID "63::70" Tag "Stateflow S-Function debug_FTExternalForces 6" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 58 + ZOrder 61 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off @@ -1867,9 +1867,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "63::69" + SID "63::72" Position [460, 241, 480, 259] - ZOrder 60 + ZOrder 63 } Block { BlockType Outport @@ -1881,7 +1881,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 29 + ZOrder 33 SrcBlock "u" SrcPort 1 DstBlock " SFunction " @@ -1889,7 +1889,7 @@ Model { } Line { Name "y" - ZOrder 30 + ZOrder 34 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -1897,14 +1897,14 @@ Model { DstPort 1 } Line { - ZOrder 31 + ZOrder 35 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 32 + ZOrder 36 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " diff --git a/utilities/debug_FTMeas.mdl b/utilities/debug_FTMeas.mdl index ff15c88..c160cde 100644 --- a/utilities/debug_FTMeas.mdl +++ b/utilities/debug_FTMeas.mdl @@ -6,7 +6,7 @@ Model { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" - ComputedModelVersion "1.47" + ComputedModelVersion "1.48" NumModelReferences 0 NumTestPointedSignals 0 NumProvidedFunctions 0 @@ -180,9 +180,9 @@ Model { ModifiedByFormat "%" LastModifiedBy "gnava" ModifiedDateFormat "%" - LastModifiedDate "Wed Mar 18 18:04:43 2020" - RTWModifiedTimeStamp 506455483 - ModelVersionFormat "1.%" + LastModifiedDate "Mon Mar 23 00:04:37 2020" + RTWModifiedTimeStamp 506822677 + ModelVersionFormat "1.%" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled" diff --git a/utilities/debug_FTMeas_shoes.mdl b/utilities/debug_FTMeas_shoes.mdl index 22550bf..46ab98e 100644 --- a/utilities/debug_FTMeas_shoes.mdl +++ b/utilities/debug_FTMeas_shoes.mdl @@ -6,7 +6,7 @@ Model { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" - ComputedModelVersion "1.49" + ComputedModelVersion "1.50" NumModelReferences 0 NumTestPointedSignals 0 NumProvidedFunctions 0 @@ -156,9 +156,9 @@ Model { ModifiedByFormat "%" LastModifiedBy "gnava" ModifiedDateFormat "%" - LastModifiedDate "Wed Mar 18 18:04:45 2020" - RTWModifiedTimeStamp 506455485 - ModelVersionFormat "1.%" + LastModifiedDate "Mon Mar 23 00:04:38 2020" + RTWModifiedTimeStamp 506822678 + ModelVersionFormat "1.%" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled" diff --git a/utilities/debug_seesawIMU.mdl b/utilities/debug_seesawIMU.mdl index 81f5181..82f313b 100644 --- a/utilities/debug_seesawIMU.mdl +++ b/utilities/debug_seesawIMU.mdl @@ -6,7 +6,7 @@ Model { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" - ComputedModelVersion "1.55" + ComputedModelVersion "1.56" NumModelReferences 0 NumTestPointedSignals 0 NumProvidedFunctions 0 @@ -113,9 +113,9 @@ Model { ModifiedByFormat "%" LastModifiedBy "gnava" ModifiedDateFormat "%" - LastModifiedDate "Wed Mar 18 18:04:48 2020" - RTWModifiedTimeStamp 506455487 - ModelVersionFormat "1.%" + LastModifiedDate "Mon Mar 23 00:04:39 2020" + RTWModifiedTimeStamp 506822679 + ModelVersionFormat "1.%" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled" @@ -1156,7 +1156,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "81" + SIDHighWatermark "84" Block { BlockType Inport Name "u" @@ -1168,20 +1168,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "26::80" + SID "26::83" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 71 + ZOrder 74 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "26::79" + SID "26::82" Tag "Stateflow S-Function debug_seesawIMU 1" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 70 + ZOrder 73 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off @@ -1195,9 +1195,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "26::81" + SID "26::84" Position [460, 241, 480, 259] - ZOrder 72 + ZOrder 75 } Block { BlockType Outport @@ -1209,7 +1209,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 29 + ZOrder 33 SrcBlock "u" SrcPort 1 DstBlock " SFunction " @@ -1217,7 +1217,7 @@ Model { } Line { Name "y" - ZOrder 30 + ZOrder 34 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -1225,14 +1225,14 @@ Model { DstPort 1 } Line { - ZOrder 31 + ZOrder 35 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 32 + ZOrder 36 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -1268,7 +1268,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "81" + SIDHighWatermark "84" Block { BlockType Inport Name "u" @@ -1280,20 +1280,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "10::80" + SID "10::83" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 71 + ZOrder 74 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "10::79" + SID "10::82" Tag "Stateflow S-Function debug_seesawIMU 3" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 70 + ZOrder 73 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off @@ -1307,9 +1307,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "10::81" + SID "10::84" Position [460, 241, 480, 259] - ZOrder 72 + ZOrder 75 } Block { BlockType Outport @@ -1321,7 +1321,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 81 + ZOrder 85 SrcBlock "u" SrcPort 1 DstBlock " SFunction " @@ -1329,7 +1329,7 @@ Model { } Line { Name "y" - ZOrder 82 + ZOrder 86 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -1337,14 +1337,14 @@ Model { DstPort 1 } Line { - ZOrder 83 + ZOrder 87 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 84 + ZOrder 88 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -1380,7 +1380,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "81" + SIDHighWatermark "84" Block { BlockType Inport Name "acc" @@ -1392,20 +1392,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "12::80" + SID "12::83" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 71 + ZOrder 74 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "12::79" + SID "12::82" Tag "Stateflow S-Function debug_seesawIMU 4" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 70 + ZOrder 73 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off @@ -1419,9 +1419,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "12::81" + SID "12::84" Position [460, 241, 480, 259] - ZOrder 72 + ZOrder 75 } Block { BlockType Outport @@ -1433,7 +1433,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 81 + ZOrder 85 SrcBlock "acc" SrcPort 1 DstBlock " SFunction " @@ -1441,7 +1441,7 @@ Model { } Line { Name "theta" - ZOrder 82 + ZOrder 86 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -1449,14 +1449,14 @@ Model { DstPort 1 } Line { - ZOrder 83 + ZOrder 87 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 84 + ZOrder 88 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -1492,7 +1492,7 @@ Model { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "81" + SIDHighWatermark "84" Block { BlockType Inport Name "u" @@ -1504,20 +1504,20 @@ Model { Block { BlockType Demux Name " Demux " - SID "27::80" + SID "27::83" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 71 + ZOrder 74 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "27::79" + SID "27::82" Tag "Stateflow S-Function debug_seesawIMU 2" Ports [1, 2] Position [180, 100, 230, 160] - ZOrder 70 + ZOrder 73 FunctionName "sf_sfun" PortCounts "[1 2]" SFunctionDeploymentMode off @@ -1531,9 +1531,9 @@ Model { Block { BlockType Terminator Name " Terminator " - SID "27::81" + SID "27::84" Position [460, 241, 480, 259] - ZOrder 72 + ZOrder 75 } Block { BlockType Outport @@ -1545,7 +1545,7 @@ Model { VectorParamsAs1DForOutWhenUnconnected off } Line { - ZOrder 29 + ZOrder 33 SrcBlock "u" SrcPort 1 DstBlock " SFunction " @@ -1553,7 +1553,7 @@ Model { } Line { Name "y" - ZOrder 30 + ZOrder 34 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -1561,14 +1561,14 @@ Model { DstPort 1 } Line { - ZOrder 31 + ZOrder 35 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 32 + ZOrder 36 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " diff --git a/utilities/debug_xSensIMU.mdl b/utilities/debug_xSensIMU.mdl index 5c9cee4..8c5958d 100644 --- a/utilities/debug_xSensIMU.mdl +++ b/utilities/debug_xSensIMU.mdl @@ -6,7 +6,7 @@ Model { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" - ComputedModelVersion "1.52" + ComputedModelVersion "1.53" NumModelReferences 0 NumTestPointedSignals 0 NumProvidedFunctions 0 @@ -144,9 +144,9 @@ Model { ModifiedByFormat "%" LastModifiedBy "gnava" ModifiedDateFormat "%" - LastModifiedDate "Wed Mar 18 18:04:50 2020" - RTWModifiedTimeStamp 506455490 - ModelVersionFormat "1.%" + LastModifiedDate "Mon Mar 23 00:04:40 2020" + RTWModifiedTimeStamp 506822680 + ModelVersionFormat "1.%" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "disabled"