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author
Gabriele
committed
cleanup of documentation, cmake and models
1 parent a27a8c9 commit 144332b

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15 files changed

+751
-725
lines changed

15 files changed

+751
-725
lines changed

‎CMakeLists.txt

+19-2
Original file line numberDiff line numberDiff line change
@@ -5,10 +5,27 @@ cmake_minimum_required(VERSION 3.5)
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project(whole-body-controllers)
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option(WBC_EXPORT_AUTOGENERATED "Enable the target to export code generated with Simulink Coder" OFF)
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option(WBC_INSTALL_ALL_HOME_POS "Installation of all available home positions" ON)
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# ======================
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# Install home positions
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# ======================
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find_package(YARP REQUIRED)
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set(CMAKE_MODULE_PATH ${YARP_MODULE_PATH} ${CMAKE_MODULE_PATH})
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include(YarpInstallationHelpers)
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yarp_configure_external_installation(wbc)
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add_subdirectory(utilities)
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# ======================
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# Autogeneration routine
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# ======================
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if(NOT WBC_EXPORT_AUTOGENERATED)
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# Fake installation.
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install(CODE "MESSAGE(\"This repository simply acts as a container\")")
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install(CODE "MESSAGE(\"Disabled exporting of autogenerated c++ code from Simulink.\")")
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return()
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endif()
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@@ -73,4 +90,4 @@ add_custom_command(TARGET copy-autogenerated-models
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POST_BUILD
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COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_BINARY_DIR}/autogenerated" "${AUTOGENERATED_WBC_SOURCE_DIR}/autogenerated"
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COMMENT "Copying generated files to ${AUTOGENERATED_WBC_SOURCE_DIR}/autogenerated"
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)
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)

‎README.md

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@@ -25,7 +25,7 @@ This repository depends upon the following Software:
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- [Gazebo Simulator](http://gazebosim.org/), default version **9.0**.
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- [gazebo-yarp-plugins](https://github.com/robotology/gazebo-yarp-plugins).
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- [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.
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- [codyco-modules](https://github.com/robotology/codyco-modules) (**Optional**, for using [home positions](https://github.com/robotology/codyco-modules/tree/master/src/modules/torqueBalancing/app/robots) and [wholeBodyDynamics](https://github.com/robotology/codyco-modules/tree/master/src/devices/wholeBodyDynamics) device).
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- [codyco-modules](https://github.com/robotology/codyco-modules) (**Optional**, for using [wholeBodyDynamics](https://github.com/robotology/codyco-modules/tree/master/src/devices/wholeBodyDynamics) device).
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- [YARP](https://github.com/robotology/yarp) and [icub-main](https://github.com/robotology/icub-main).
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## Installation and usage
@@ -77,6 +77,7 @@ Please refer to the [WBToolbox troubleshooting documentation](https://robotology
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- [fixed-base-joints-torque-control](controllers/fixed-base-joints-torque-control/README.md)
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- [floating-base-balancing-position-control](controllers/floating-base-balancing-position-control/README.md)
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- [floating-base-balancing-torque-control](controllers/floating-base-balancing-torque-control/README.md)
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- [simulink-balancing-simulator](controllers/simulink-balancing-simulator/README.md)
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### Matlab functions library
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@@ -92,6 +93,10 @@ There is the possibility to generate c++ code from the Simulink models using [Si
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When used for controlling real platforms, heavy Simulink models may violate the user-defined simulation time step, see also [this issue](https://github.com/robotology/wb-toolbox/issues/160). It seems a source of delay is the run-time update of the Simulink interface. For this reason, a [static GUI for running the models](library/matlab-gui) has been developed. If you want to run Simulink with the static GUI, run the [startModelWithStaticGui](controllers/floating-base-balancing-torque-control/startModelWithStaticGui.m) script.
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### Home positions for yarpmotorgui
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The repo contains a set of predefined [home positions](utilities/homePositions) to be used with the [yarpmotorgui](https://www.yarp.it/yarpmotorgui.html). By default, if the repo is installed through `robotology-superbuild`, the home positions are installed in the `robotology-superbuild/build/install` directory. Otherwise add the path to the [homePositions](utilities/homePositions) folder to the `YARP_DATA_DIRS` environmental variable in your `.bashrc` file . The command to use the home positions with the yarpmotorgui is `yarpmotorgui --from myHomePosFileName.ini`.
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## Where do I find legacy materials?
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Official legacy repositories are: [mex-wholebodymodel](https://github.com/robotology/mex-wholebodymodel) and [WBI-Toolbox-controllers](https://github.com/robotology-legacy/WBI-Toolbox-controllers). **Note**: these legacy repos contain undocumented/outdated code, and duplicated or not tested matlab functions. They also contain original code that has been tested on the robot in the past and then never used again, or code that will be ported in the main repository in the future.

‎controllers/README.md

+1
Original file line numberDiff line numberDiff line change
@@ -7,6 +7,7 @@ Simulink controllers for humanoid robots.
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- **fixed-base-joints-torque-control** [[README]](fixed-base-joints-torque-control/README.md)
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- **floating-base-balancing-position-control** [[README]](floating-base-balancing-position-control/README.md)
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- **floating-base-balancing-torque-control** [[README]](floating-base-balancing-torque-control/README.md)
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- **simulink-balancing-simulator** [[README]](simulink-balancing-simulator/README.md)
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## Plotting Utilities
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‎controllers/fixed-base-joints-torque-control/jointsControl.mdl

+30-30
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@ Model {
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NumRootInports 0
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NumRootOutports 0
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ParameterArgumentNames ""
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ComputedModelVersion "1.360"
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ComputedModelVersion "1.361"
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NumModelReferences 0
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NumTestPointedSignals 0
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NumProvidedFunctions 0
@@ -193,9 +193,9 @@ Model {
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ModifiedByFormat "%<Auto>"
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LastModifiedBy "gnava"
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ModifiedDateFormat "%<Auto>"
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LastModifiedDate "Tue Oct 15 12:23:31 2019"
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RTWModifiedTimeStamp 493043011
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ModelVersionFormat "1.%<AutoIncrement:360>"
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LastModifiedDate "Wed Feb 19 15:30:22 2020"
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RTWModifiedTimeStamp 504027021
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ModelVersionFormat "1.%<AutoIncrement:361>"
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SampleTimeColors off
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SampleTimeAnnotations off
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LibraryLinkDisplay "disabled"
@@ -4480,7 +4480,7 @@ Model {
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TiledPageScale 1
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ShowPageBoundaries off
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ZoomFactor "100"
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SIDHighWatermark "3788"
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SIDHighWatermark "3791"
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Block {
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BlockType Inport
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Name "umin"
@@ -4519,20 +4519,20 @@ Model {
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Block {
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BlockType Demux
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Name " Demux "
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SID "479::3787"
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SID "479::3790"
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Ports [1, 1]
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Position [270, 230, 320, 270]
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ZOrder 137
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ZOrder 140
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Outputs "1"
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}
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Block {
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BlockType S-Function
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Name " SFunction "
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SID "479::3786"
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SID "479::3789"
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Tag "Stateflow S-Function jointsControl 18"
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Ports [4, 2]
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Position [180, 102, 230, 203]
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ZOrder 136
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ZOrder 139
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FunctionName "sf_sfun"
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PortCounts "[4 2]"
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SFunctionDeploymentMode off
@@ -4546,9 +4546,9 @@ Model {
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Block {
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BlockType Terminator
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Name " Terminator "
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SID "479::3788"
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SID "479::3791"
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Position [460, 241, 480, 259]
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ZOrder 138
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ZOrder 141
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}
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Block {
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BlockType Outport
@@ -4559,51 +4559,51 @@ Model {
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IconDisplay "Port number"
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}
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Line {
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ZOrder 43
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ZOrder 50
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SrcBlock "umin"
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SrcPort 1
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DstBlock " SFunction "
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DstPort 1
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}
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Line {
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ZOrder 44
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ZOrder 51
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SrcBlock "umax"
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SrcPort 1
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DstBlock " SFunction "
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DstPort 2
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}
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Line {
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ZOrder 45
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ZOrder 52
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SrcBlock "u"
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SrcPort 1
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DstBlock " SFunction "
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DstPort 3
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}
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Line {
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ZOrder 46
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ZOrder 53
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SrcBlock "tol"
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SrcPort 1
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DstBlock " SFunction "
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DstPort 4
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}
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Line {
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Name "inRange"
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ZOrder 47
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ZOrder 54
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Labels [0, 0]
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SrcBlock " SFunction "
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SrcPort 2
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DstBlock "inRange"
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DstPort 1
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}
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Line {
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ZOrder 48
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ZOrder 55
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SrcBlock " Demux "
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SrcPort 1
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DstBlock " Terminator "
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DstPort 1
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}
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Line {
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ZOrder 49
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ZOrder 56
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SrcBlock " SFunction "
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SrcPort 1
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DstBlock " Demux "
@@ -4735,7 +4735,7 @@ Model {
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TiledPageScale 1
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ShowPageBoundaries off
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ZoomFactor "100"
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SIDHighWatermark "3788"
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SIDHighWatermark "3791"
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Block {
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BlockType Inport
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Name "u"
@@ -4756,20 +4756,20 @@ Model {
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Block {
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BlockType Demux
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Name " Demux "
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SID "485::3787"
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SID "485::3790"
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Ports [1, 1]
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Position [270, 230, 320, 270]
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ZOrder 137
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ZOrder 140
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Outputs "1"
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}
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Block {
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BlockType S-Function
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Name " SFunction "
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SID "485::3786"
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SID "485::3789"
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Tag "Stateflow S-Function jointsControl 14"
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Ports [2, 2]
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Position [180, 100, 230, 160]
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ZOrder 136
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ZOrder 139
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FunctionName "sf_sfun"
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PortCounts "[2 2]"
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SFunctionDeploymentMode off
@@ -4783,9 +4783,9 @@ Model {
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Block {
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BlockType Terminator
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Name " Terminator "
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SID "485::3788"
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SID "485::3791"
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Position [460, 241, 480, 259]
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ZOrder 138
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ZOrder 141
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}
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Block {
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BlockType Outport
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IconDisplay "Port number"
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}
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Line {
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ZOrder 31
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ZOrder 36
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SrcBlock "u"
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SrcPort 1
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Points [120, 0]
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DstBlock " SFunction "
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DstPort 1
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}
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Line {
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ZOrder 32
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ZOrder 37
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SrcBlock "delta_u_max"
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SrcPort 1
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DstBlock " SFunction "
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DstPort 2
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}
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Line {
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Name "noSpikes"
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ZOrder 33
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ZOrder 38
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Labels [0, 0]
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SrcBlock " SFunction "
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SrcPort 2
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DstBlock "noSpikes"
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DstPort 1
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}
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Line {
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ZOrder 34
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ZOrder 39
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SrcBlock " Demux "
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SrcPort 1
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DstBlock " Terminator "
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DstPort 1
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}
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Line {
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ZOrder 35
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ZOrder 40
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SrcBlock " SFunction "
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SrcPort 1
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DstBlock " Demux "

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