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ArchivosMiniProyectov2
Materiales Generales
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ArchivosMiniProyectov2/STDR/EntornoPracticaFinal.yaml
image: EntornoConObstaculos.png
resolution: 0.02
origin: [0.0, 0.0, 0.0]
occupied_thresh: 0.6
free_thresh: 0.3
negate: 0
__MACOSX/ArchivosMiniProyectov2/STDR/._EntornoPracticaFinal.yaml
ArchivosMiniProyectov2/STDR/EntornoConObstaculos2.png
__MACOSX/ArchivosMiniProyectov2/STDR/._EntornoConObstaculos2.png
ArchivosMiniProyectov2/STDR/amigobot.xml
0
0
0
0.15
3.14159
-3.14159
8
0.15
400
10
laser_1
0
0
0
0
1
0.261799
5
0.1
10
sonar_0
0.076
0.1
1.5708
2
2
0.261799
5
0.1
10
sonar_1
0.125
0.075
0.715585
0
2
0.261799
5
0.1
10
sonar_2
0.15
0.03
0.261799
0
2
0.261799
5
0.1
10
sonar_3
0.15
-0.03
-0.261799
0
2
0.261799
5
0.1
10
sonar_4
0.125
-0.075
-0.715585
0
2
0.261799
5
0.1
10
sonar_5
0.076
-0.1
-1.5708
0
2
0.261799
5
0.1
10
sonar_6
-0.14
-0.058
-2.53073
0
2
0.261799
5
0.1
10
sonar_7
-0.14
0.058
2.53073
0
2
ArchivosMiniProyectov2/STDR/EntornoConObstaculos.png
__MACOSX/ArchivosMiniProyectov2/STDR/._EntornoConObstaculos.png
ArchivosMiniProyectov2/STDR/EntornoSinObstaculos.png
__MACOSX/ArchivosMiniProyectov2/STDR/._EntornoSinObstaculos.png
ArchivosMiniProyectov2/STDR/PracticaFinal.launch
<launch>
<include file="$(find stdr_robot)/launch/robot_manager.launch" />
<node type="stdr_server_node" pkg="stdr_server" name="stdr_server" output="screen" args="$(find stdr_resources)/maps/EntornoPracticaFinal.yaml"/>
<node pkg="tf" type="static_transform_publisher" name="world2map" args="0 0 0 0 0 0 world map 100" />
<include file="$(find stdr_gui)/launch/stdr_gui.launch"/>
<node pkg="stdr_robot" type="robot_handler" name="$(anon robot_spawn)" args="add $(find stdr_resources)/resources/robots/amigobot.xml 16 4 0" />
</launch>
__MACOSX/ArchivosMiniProyectov2/STDR/._PracticaFinal.launch
ArchivosMiniProyectov2/Matlab/test_controler_generic.slx
metadata/coreProperties.xml
model 2019-05-15T10:15:18Z pizarro pizarro 2019-11-21T08:58:51Z 1.10 R2019a
metadata/mwcoreProperties.xml
application/vnd.mathworks.simulink.model Simulink Model R2019a
metadata/mwcorePropertiesExtension.xml
9.6.0.1092380
simulink/ScheduleCore.xml
HighNumberLast
1
false
Default
-2147483648
true
false
2
D1
40
D1
-436207361
true
0.10000000000000001
0
simulink/ScheduleEditor.xml
40
#e60000
true
0.1
D1
D1
base
D1
Default
0,0
0,0,0,0
D1
base
0,0
D1
graph.Graph
Default
graph.Graph
simulink/bddefaults.xml
landscape
auto
usletter
inches
[0.500000, 0.500000, 0.500000, 0.500000]
1
off
on
200
white
100
off
off
black
white
off
normal
Helvetica
10
normal
normal
on
on
0
off
left
top
black
white
off
Helvetica
10
normal
normal
model
off
note_annotation
off
off
off
Helvetica
9
normal
normal
4
none
off
1
off
[]
[]
Inherit: auto
off
off
inherit
-1
Inherit
-1
auto
auto
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off
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none
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BusObject
off
1
[]
[]
Inherit: auto
off
off
inherit
-1
Inherit
-1
auto
auto
off
Dialog
held
[]
off
off
0
off
system
''
[]
auto
FromPortIcon
ReadWrite
All
off
off
off
Sample time
-1
Auto
Auto
Auto
void_void
off
Inherit from model
Inherit from model
Inherit from model
Inherit from model
Inherit from model
off
UseLocalSettings
AllNumericTypes
UseLocalSettings
off
off
NONE
Expression
off
off
off
off
on
off
off
off
0
off
off
simulink/blockdiagram.xml
UTF-8
HDLSubsystem
$bdroot
on
Normal
0.035000
on
off
UseLocalSettings
AllNumericTypes
UseLocalSettings
Overwrite
Run 1
120
glnxa64
1
[98.0, 283.0, 1014.0, 672.0]
1
Left
50
50
9
On
1
0
SimulinkSubsys
1
[914.0, 492.0]
0.6
[-353.0333333333358, -36.199999999998965]
1
SimulinkTopLevel
0
[914.0, 492.0]
1.25
[44.861131453514, 77.206455922126736]
GLUE2:PropertyInspector
Property Inspector
1
0
Right
640
480
On
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on
UpdateHistoryNever
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%<Auto>
496224344
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off
disabled
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AliasTypeOnly
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on
off
off
off
on
off
off
on
on
on
off
off
off
off
on
on
on
off
off
off
off
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on
off
off
off
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normal
5
1
10
10
0
on
1
none
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MATLABWorkspace
accel.tlc
accel_default_tmf
make_rtw
off
$bdroot
0U
$bdroot
[]
off
on
manual
normal
1
any
1000
auto
0
0
rising
0
off
off
off
off
off
on
off
on
on
off
off
on
Ensure deterministic transfer (maximum delay)
Ensure data integrity only
Ensure deterministic transfer (minimum delay)
None
off
[98, 283, 1112, 955]
on
off
Deduce
125
simulink-default.rpt
47
Simulink
[1, 1]
[560, 185, 695, 285]
653
off
on
[98, 283, 1649, 955]
off
Deduce
125
Simulink
[20, 43, 50, 57]
642
Port number
[1, 1]
[170, 22, 240, 78]
641
1.542
fuzblock/Fuzzy Logic
Controller
Fuzzy Inference System
Fuzzy Logic Toolbox
FL
on
'controlador_3.fis'
101
double
off
off
off
off
Interpreted execution
warning
warning
warning
[350, 43, 380, 57]
643
Port number
1
45#out:1
46#in:1
2
44#out:1
45#in:1
[1, 8]
[405, 153, 410, 317]
642
off
8
bar
[1, 2]
[125, 216, 130, 254]
654
off
2
bar
[4, 1]
[495, 181, 500, 284]
643
off
bar
[2, 4]
[215, 159, 335, 311]
238
off
on
[98, 283, 1112, 955]
on
off
Deduce
60
Simulink
[20, 248, 50, 262]
234
Port number
[20, 288, 50, 302]
235
2
Port number
[0, 1]
[300, 177, 430, 243]
218
1.316
robotlib/Blank Message
ROS Blank Message
Robotics System Toolbox
RO
on
Message
geometry_msgs/Twist
geometry_msgs/Twist
-1
[3, 1]
[535, 201, 580, 239]
245
Linear.X,Angular.Z
[1, 6]
[535, 23, 540, 137]
224
Pose.Pose.Position.X,Pose.Pose.Position.Y,Pose.Pose.Orientation.W,Pose.Pose.Orientation.X,Pose.Pose.Orientation.Y,Pose.Pose.Orientation.Z
off
1
<X>
2
<Y>
3
<W>
4
<X>
5
<Y>
6
<Z>
[1, 1]
[520, 378, 525, 422]
244
Range_
off
1
<Range_>
[1, 1]
[520, 453, 525, 497]
247
Range_
off
1
<Range_>
[1, 1]
[520, 528, 525, 572]
249
Range_
off
1
<Range_>
[1, 1]
[520, 603, 525, 647]
251
Range_
off
1
<Range_>
[1, 1]
[520, 678, 525, 722]
253
Range_
off
1
<Range_>
[1, 1]
[520, 753, 525, 797]
255
Range_
off
1
<Range_>
[1, 1]
[520, 828, 525, 872]
257
Range_
off
1
<Range_>
[1, 1]
[520, 903, 525, 947]
264
Range_
off
1
<Range_>
[1, 1]
[870, 100, 1010, 160]
265
1.61
robotcorelib/Coordinate Transformation Conversion
robotics.slcore.internal.block.CoordinateTransformationConversion
Robotics System Toolbox
RO
Quaternion
ZYX
on
Euler Angles
ZYX
on
Interpreted execution
[1, 1]
[795, 577, 865, 623]
268
Stateflow.Translate.translate
ExplicitOnly
on
off
MATLAB Function
on
[223, 338, 826, 833]
off
Deduce
21
Simulink
[20, 101, 40, 119]
-1
Port number
[1, 1]
[270, 230, 320, 270]
11
1
Stateflow S-Function test_controler_generic 2
[1, 2]
[180, 100, 230, 160]
10
sf_sfun
[1 2]
off
on
off
2
y
[460, 241, 480, 259]
12
[460, 101, 480, 119]
-5
Port number
5
41::1#out:1
41::19#in:1
y
6
[0, 0]
41::19#out:2
41::5#in:1
7
41::20#out:1
41::21#in:1
8
41::19#out:1
41::20#in:1
[8, 1]
[735, 495, 740, 690]
259
off
8
bar
[4, 1]
[740, 111, 745, 149]
266
off
bar
[1]
[705, 187, 835, 253]
217
1.316
robotlib/Publish
ROS Publish
Robotics System Toolbox
RO
on
Select from ROS network
/robot0/cmd_vel
geometry_msgs/Twist
1
[0, 2]
[300, 29, 430, 96]
164
1.316
robotlib/Subscribe
ROS Subscribe
Robotics System Toolbox
RO
on
Select from ROS network
/robot0/odom
nav_msgs/Odometry
-1
1
[0, 2]
[300, 349, 430, 416]
231
1.316
robotlib/Subscribe
ROS Subscribe
Robotics System Toolbox
RO
on
Select from ROS network
/robot0/sonar_0
sensor_msgs/Range
-1
1
[0, 2]
[300, 424, 430, 491]
246
1.316
robotlib/Subscribe
ROS Subscribe
Robotics System Toolbox
RO
on
Select from ROS network
/robot0/sonar_1
sensor_msgs/Range
-1
1
[0, 2]
[300, 499, 430, 566]
248
1.316
robotlib/Subscribe
ROS Subscribe
Robotics System Toolbox
RO
on
Select from ROS network
/robot0/sonar_2
sensor_msgs/Range
-1
1
[0, 2]
[300, 574, 430, 641]
250
1.316
robotlib/Subscribe
ROS Subscribe
Robotics System Toolbox
RO
on
Select from ROS network
/robot0/sonar_3
sensor_msgs/Range
-1
1
[0, 2]
[300, 649, 430, 716]
252
1.316
robotlib/Subscribe
ROS Subscribe
Robotics System Toolbox
RO
on
Select from ROS network
/robot0/sonar_4
sensor_msgs/Range
-1
1
[0, 2]
[300, 724, 430, 791]
254
1.316
robotlib/Subscribe
ROS Subscribe
Robotics System Toolbox
RO
on
Select from ROS network
/robot0/sonar_5
sensor_msgs/Range
-1
1
[0, 2]
[300, 799, 430, 866]
256
1.316
robotlib/Subscribe
ROS Subscribe
Robotics System Toolbox
RO
on
Select from ROS network
/robot0/sonar_6
sensor_msgs/Range
-1
1
[0, 2]
[300, 874, 430, 941]
263
1.316
robotlib/Subscribe
ROS Subscribe
Robotics System Toolbox
RO
on
Select from ROS network
/robot0/sonar_7
sensor_msgs/Range
-1
1
[870, 33, 900, 47]
237
Port number
[870, 73, 900, 87]
239
2
Port number
[1070, 123, 1100, 137]
240
3
Port number
[1070, 308, 1100, 322]
243
4
Port number
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2
[0, 0]
6#out:1
[207, 0; 0, 10]
26#in:1
3
4#out:1
5#in:1
4
17#out:2
6#in:1
5
5#out:1
16#in:1
<Y>
6
[0, 0]
6#out:2
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27#in:1
7
18#out:2
7#in:1
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2#out:1
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5#in:2
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3#out:1
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19#out:2
8#in:1
11
20#out:2
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22#out:2
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21#out:2
10#in:1
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23#out:2
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24#out:2
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7#out:1
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15#in:1
<Range_>
17
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15#in:2
<Range_>
18
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<Range_>
19
[0, 0]
10#out:1
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<Range_>
20
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11#out:1
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15#in:5
<Range_>
21
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12#out:1
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15#in:6
<Range_>
22
[0, 0]
13#out:1
[179, 0; 0, -195]
15#in:7
24
25#out:2
14#in:1
<Range_>
25
[0, 0]
14#out:1
[166, 0; 0, -245]
15#in:8
<W>
27
[0, 0]
6#out:3
[49, 0; 0, 45]
36#in:1
<X>
28
[0, 0]
6#out:4
[22, 0; 0, 35]
36#in:2
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29
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6#out:5
[9, 0; 0, 25]
36#in:3
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30
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33
36#out:1
35#in:1
34
35#out:1
28#in:1
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15#out:1
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41#in:1
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41#out:1
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29#in:1
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1#out:4
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32#in:1
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33#out:1
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32#out:1
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33#in:1
50
32#out:3
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32#out:6
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simulink/configSet0.xml
[]
[]
[]
0.0
200
auto
on
0.1
auto
5
auto
10*128*eps
1000
4
1
auto
auto
1
1e-3
off
off
FixedStepDiscrete
FixedStepDiscrete
auto
DisableAll
UseLocalSettings
Nonadaptive
TrustRegion
on
off
Fast
off
off
Unconstrained
Whenever possible
[]
off
off
3
[]
[]
1
[t, u]
xFinal
xInitial
off
1000
off
off
off
off
Dataset
Dataset
on
off
on
on
off
on
off
streamout
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on
xout
tout
yout
logsout
dsmout
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[]
out
1
off
timeseries
out.mat
[-inf, inf]
BooleansAsBitfields
PassReuseOutputArgsAs
PassReuseOutputArgsThreshold
ZeroExternalMemoryAtStartup
ZeroInternalMemoryAtStartup
OptimizeModelRefInitCode
NoFixptDivByZeroProtection
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[]
on
on
on
Tunable
off
off
off
double
off
off
on
on
off
off
on
off
on
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uint_T
on
64
Structure reference
12
128
on
5
off
off
Native Integer
on
on
off
off
off
on
auto
Inherit from target
on
off
off
off
on
on
off
level2
Balanced
on
off
off
off
GradualUnderflow
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[]
error
none
none
none
error
none
UseLocalSettings
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warning
warning
warning
warning
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Simplified
error
off
off
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warning
warning
none
error
warning
warning
none
warning
error
error
error
none
warning
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warning
none
warning
warning
error
error
none
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warning
none
none
none
none
none
none
error
error
none
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warning
warning
error
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error
none
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none
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warning
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error
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error
none
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none
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WarnAndRepair
none
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warning
error
error
none
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error
warning
error
warning
warning
warning
warning
error
warning
warning
warning
warning
warning
all
warning
on
warning
warning
off
none
off
error
[]
[]
8
16
32
32
64
32
64
64
64
64
Char
Float
Zero
LittleEndian
64
on
off
Intel->x86-64 (Windows64)
8
16
32
32
64
32
64
32
32
32
Char
None
on
off
Undefined
Unspecified
32
32
32
Specified
off
on
on
on
EmbeddedCoderHSP
[]
[]
IfOutOfDateOrStructuralChange
on
error
off
on
None
Multi
Infer from blocks in model
on
off
on
off
[]
[]
[]
on
on
on
on
on
off
sf_incremental_build
off
on
50
on
on
65536
[]
NotSpecified
IncludeHyperlinkInReport
GenerateTraceInfo
GenerateTraceReport
GenerateTraceReportSl
GenerateTraceReportSf
GenerateTraceReportEml
PortableWordSizes
GenerateWebview
GenerateCodeMetricsReport
GenerateCodeReplacementReport
GenerateMissedCodeReplacementReport
GenerateErtSFunction
CreateSILPILBlock
CodeExecutionProfiling
CodeProfilingSaveOptions
CodeProfilingInstrumentation
grt.tlc
None
off
off
off
make_rtw
on
off
grt_default_tmf
off
on
off
[]
off
off
off
off
on
off
Automatically locate an installed toolchain
Faster Builds
[]
off
off
off
None
off
executionProfile
SummaryOnly
off
off
C
off
off
off
off
off
off
off
off
off
off
off
[]
Off
1024
IgnoreCustomStorageClasses
IgnoreTestpoints
BlockCommentType
InsertBlockDesc
InsertPolySpaceComments
SFDataObjDesc
MATLABFcnDesc
SimulinkDataObjDesc
DefineNamingRule
SignalNamingRule
ParamNamingRule
InternalIdentifier
InlinedPrmAccess
CustomSymbolStr
CustomSymbolStrGlobalVar
CustomSymbolStrType
CustomSymbolStrField
CustomSymbolStrFcn
CustomSymbolStrModelFcn
CustomSymbolStrFcnArg
CustomSymbolStrBlkIO
CustomSymbolStrTmpVar
CustomSymbolStrMacro
CustomSymbolStrUtil
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CustomSymbolStrEmxFcn
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ansi_tfl_table_tmw.mat
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__MACOSX/ArchivosMiniProyectov2/Matlab/._test_controler_generic.slx
ArchivosMiniProyectov2/Matlab/.DS_Store
__MACOSX/ArchivosMiniProyectov2/Matlab/._.DS_Store
ArchivosMiniProyectov2/Matlab/ControlManualRobot.m
clear all;
close all;
rosshutdown
global vel_angular;
global vel_lineal;
global incAngular;
global incLineal;
global vel_angular_max;
global vel_lineal_max;
global stop
ROS_MASTER_IP = '172.20.3.28'
ROS_IP = '172.20.1.173'
rosinit(['http://',ROS_MASTER_IP,':11311'],'NodeHost',ROS_IP)
%DECLARACION DE PUBLISHERS
%Velocidad
pub_vel=rospublisher('/robot0/cmd_vel','geometry_msgs/Twist');
%%DECLARACIÓN DE SUBSCRIBERS
odom = rossubscriber('/robot0/odom'); % Subscripcion a la odometria
% Subscripcion a los sensores
sonar_0 = rossubscriber('/robot0/sonar_0', rostype.sensor_msgs_Range);
sonar_1 = rossubscriber('/robot0/sonar_1', rostype.sensor_msgs_Range);
sonar_2 = rossubscriber('/robot0/sonar_2', rostype.sensor_msgs_Range);
sonar_3 = rossubscriber('/robot0/sonar_3', rostype.sensor_msgs_Range);
sonar_4 = rossubscriber('/robot0/sonar_4', rostype.sensor_msgs_Range);
sonar_5 = rossubscriber('/robot0/sonar_5', rostype.sensor_msgs_Range);
sonar_6 = rossubscriber('/robot0/sonar_6', rostype.sensor_msgs_Range);
sonar_7 = rossubscriber('/robot0/sonar_7', rostype.sensor_msgs_Range);
%GENERACION DE MENSAJES
msg_vel=rosmessage(pub_vel);
vel_angular=0;
vel_lineal = 0;
incAngular = 0.1;
incLineal = 0.1;
vel_angular_max = 1;
vel_lineal_max = 1;
fig = figure('KeyPressFcn',@Key_Down);
t = text(0.1,0.9,'Manten el foco en esta ventana','HorizontalAlignment','left');
t.FontSize = 16;
t = text(0.1,0.8,'- Pulsa Flechas ARRIBA/ABAJO para modificar V en 0.1 m/s','HorizontalAlignment','left');
t.FontSize = 13;
t = text(0.1,0.7,'- Pulsa Flechas IZQUIERDA/DERECHA para modificar W en 0.1 rad/s','HorizontalAlignment','left');
t.FontSize = 13;
t = text(0.1,0.6,'- Pulsa ESPACIO para finalizar','HorizontalAlignment','left');
t.FontSize = 13;
t = text(0.1,0.4,sprintf('Vel lineal actual %g m/s | Vel angular actual %g rad/s', vel_lineal, vel_angular),'HorizontalAlignment','left');
t.FontSize = 14;
training=[];
stop = 0;
while (stop==0)
pos=odom.LatestMessage.Pose.Pose.Position;
x=pos.X;
y=pos.Y;
ori=odom.LatestMessage.Pose.Pose.Orientation;
theta=quat2eul([ori.W ori.X ori.Y ori.Z]);
theta=theta(1);
s0= sonar_0.LatestMessage.Range_;
s1= sonar_1.LatestMessage.Range_;
s2= sonar_2.LatestMessage.Range_;
s3= sonar_3.LatestMessage.Range_;
s4= sonar_4.LatestMessage.Range_;
s5= sonar_5.LatestMessage.Range_;
s6= sonar_6.LatestMessage.Range_;
s7= sonar_7.LatestMessage.Range_;
training=[training;[s0,s1,s2,s3,s4,s5,s6,s7,x,y,theta,vel_angular,vel_lineal]];
msg_vel.Linear.X = vel_lineal;
msg_vel.Angular.Z = vel_angular;
send(pub_vel,msg_vel);
pause(0.1);
end
vel_lineal =0;
vel_angular =0;
msg_vel.Linear.X = vel_lineal;
msg_vel.Angular.Z = vel_angular;
send(pub_vel,msg_vel);
save datos_entrenamiento training
__MACOSX/ArchivosMiniProyectov2/Matlab/._ControlManualRobot.m
ArchivosMiniProyectov2/Matlab/EjemploANFIS.m
load fuzex1trnData.dat
load fuzex1chkData.dat
genOpt = genfisOptions('GridPartition');
genOpt.NumMembershipFunctions =[4];
genOpt.InputMembershipFunctionType = 'gbellmf';
inFIS = genfis(fuzex1trnData(:,1:end-1),fuzex1trnData(:,end),genOpt);
opt = anfisOptions('InitialFIS',inFIS,'EpochNumber',30);
opt.DisplayANFISInformation = 0;
opt.DisplayErrorValues = 0;
opt.DisplayStepSize = 0;
opt.DisplayFinalResults = 0;
opt.ValidationData = fuzex1chkData;
[fis,trainError,stepSize,chkFIS,chkError] = anfis(fuzex1trnData,opt);
x = [1:30];
plot(x,trainError,'.b',x,chkError,'*r')
writeFIS(chkFIS,'ejemplo.fis')
__MACOSX/ArchivosMiniProyectov2/Matlab/._EjemploANFIS.m
ArchivosMiniProyectov2/Matlab/Key_Down.m
function Key_Down(src,event)
global vel_angular;
global vel_lineal;
global incAngular;
global incLineal;
global vel_angular_max;
global vel_lineal_max;
global stop
if(strcmp(event.Key,'rightarrow'))
vel_angular= max(vel_angular - incAngular, -vel_angular_max);
end
if(strcmp(event.Key,'leftarrow'))
vel_angular= min(vel_angular + incAngular, vel_angular_max);
end
if(strcmp(event.Key,'downarrow'))
vel_lineal= max(vel_lineal - incLineal, -vel_lineal_max);
end
if(strcmp(event.Key,'uparrow'))
vel_lineal= min(vel_lineal + incLineal, vel_lineal_max);
end
if(strcmp(event.Key,'space'))
stop = 1;
end
if (abs(vel_angular)<1e-12)
vel_angular = 0.0;
end
if (abs(vel_lineal)<1e-12)
vel_lineal = 0.0;
end
disp(sprintf('Vel lineal %g m/s | Vel angular %g rad/s', vel_lineal, vel_angular))
clf
t = text(0.1,0.9,'Manten el foco en esta ventana','HorizontalAlignment','left');
t.FontSize = 16;
t = text(0.1,0.8,'- Pulsa Flechas ARRIBA/ABAJO para modificar V en 0.1 m/s','HorizontalAlignment','left');
t.FontSize = 13;
t = text(0.1,0.7,'- Pulsa Flechas IZQUIERDA/DERECHA para modificar W en 0.1 rad/s','HorizontalAlignment','left');
t.FontSize = 13;
t = text(0.1,0.6,'- Pulsa ESPACIO para finalizar','HorizontalAlignment','left');
t.FontSize = 13;
t = text(0.1,0.4,sprintf('Vel lineal actual %g m/s | Vel angular actual %g rad/s', vel_lineal, vel_angular),'HorizontalAlignment','left');
t.FontSize = 14;
end
__MACOSX/ArchivosMiniProyectov2/Matlab/._Key_Down.m
ArchivosMiniProyectov2/Matlab/RobotROS.slx
[Content_Types].xml
_rels/.rels
metadata/coreProperties.xml
model 2019-11-21T06:35:21Z pizarro pizarro 2019-11-21T06:37:02Z 1.1 R2019a
metadata/mwcoreProperties.xml
application/vnd.mathworks.simulink.model Simulink Model R2019a
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accel.tlc
accel_default_tmf
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robotics.slcore.internal.block.CoordinateTransformationConversion
Robotics System Toolbox
RO
Quaternion
ZYX
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ZYX
on
Interpreted execution
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268
Stateflow.Translate.translate
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off
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robotlib/Publish
ROS Publish
Robotics System Toolbox
RO
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geometry_msgs/Twist
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164
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robotlib/Subscribe
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Robotics System Toolbox
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Robotics System Toolbox
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4
5#out:1
19#in:1
<Y>
5
[0, 0]
6#out:2
[103, 0; 0, 30]
30#in:1
6
21#out:2
7#in:1
7
2#out:1
[428, 0; 0, -35]
5#in:2
8
3#out:1
[454, 0; 0, -65]
5#in:3
9
22#out:2
8#in:1
10
23#out:2
9#in:1
11
25#out:2
11#in:1
12
24#out:2
10#in:1
13
26#out:2
12#in:1
14
27#out:2
13#in:1
<Range_>
15
[0, 0]
7#out:1
[100, 0; 0, 105]
17#in:1
<Range_>
16
[0, 0]
8#out:1
[48, 0; 0, 55]
17#in:2
<Range_>
17
[0, 0]
9#out:1
[100, 0; 0, 5]
17#in:3
<Range_>
18
[0, 0]
10#out:1
[100, 0; 0, -45]
17#in:4
<Range_>
19
[0, 0]
11#out:1
[153, 0; 0, -95]
17#in:5
<Range_>
20
[0, 0]
12#out:1
[74, 0; 0, -145]
17#in:6
<Range_>
21
[0, 0]
13#out:1
[179, 0; 0, -195]
17#in:7
22
28#out:2
14#in:1
<Range_>
23
[0, 0]
14#out:1
[166, 0; 0, -245]
17#in:8
<W>
24
[0, 0]
6#out:3
[49, 0; 0, 45]
18#in:1
<X>
25
[0, 0]
6#out:4
[22, 0; 0, 35]
18#in:2
<Y>
26
[0, 0]
6#out:5
[9, 0; 0, 25]
18#in:3
<Z>
27
[0, 0]
6#out:6
[2, 0; 0, 15]
18#in:4
28
18#out:1
15#in:1
29
15#out:1
31#in:1
30
17#out:1
16#in:1
31
16#out:1
[98, 0; 0, -280]
32#in:1
simulink/configSet0.xml
[]
[]
[]
0.0
10.0
auto
on
auto
auto
5
auto
10*128*eps
1000
4
1
auto
auto
1
1e-3
off
off
VariableStepAuto
VariableStepAuto
auto
DisableAll
UseLocalSettings
Nonadaptive
TrustRegion
off
off
Fast
off
off
Unconstrained
Whenever possible
[]
off
off
3
[]
[]
1
[t, u]
xFinal
xInitial
off
1000
off
off
off
off
Dataset
Dataset
on
off
on
on
off
on
off
streamout
on
on
xout
tout
yout
logsout
dsmout
RefineOutputTimes
[]
out
1
off
timeseries
out.mat
[-inf, inf]
BooleansAsBitfields
PassReuseOutputArgsAs
PassReuseOutputArgsThreshold
ZeroExternalMemoryAtStartup
ZeroInternalMemoryAtStartup
OptimizeModelRefInitCode
NoFixptDivByZeroProtection
UseSpecifiedMinMax
[]
on
on
on
Tunable
off
off
off
double
off
off
on
on
off
off
on
off
on
off
uint_T
on
64
Structure reference
12
128
on
5
off
off
Native Integer
on
on
off
off
off
on
auto
Inherit from target
on
off
off
off
on
on
off
level2
Balanced
on
off
off
off
GradualUnderflow
UseOnlyExistingSharedCode
[]
error
none
none
none
error
none
UseLocalSettings
UseLocalSettings
UseLocalSettings
warning
warning
warning
warning
on
Simplified
error
off
off
UseLocalSettings
warning
warning
none
error
warning
warning
none
warning
error
error
error
none
warning
none
warning
none
warning
warning
error
error
none
warning
warning
none
none
none
none
none
none
error
error
none
warning
warning
warning
error
none
error
none
warning
warning
UseLocalSettings
on
off
none
error
none
none
warning
warning
warning
error
none
warning
error
none
warning
none
warning
ErrorLevel1
WarnAndRepair
none
warning
warning
error
error
none
warning
error
warning
error
warning
warning
warning
warning
error
warning
warning
warning
warning
warning
all
warning
on
warning
warning
off
none
off
error
[]
[]
8
16
32
32
64
32
64
64
64
64
Char
Float
Zero
LittleEndian
64
on
off
Intel->x86-64 (Windows64)
8
16
32
32
64
32
64
32
32
32
Char
None
on
off
Undefined
Unspecified
32
32
32
Specified
off
on
on
on
EmbeddedCoderHSP
[]
[]
IfOutOfDateOrStructuralChange
on
error
off
on
None
Multi
Infer from blocks in model
on
off
on
off
[]
[]
[]
on
on
on
on
on
off
sf_incremental_build
off
on
50
on
on
65536
[]
NotSpecified
IncludeHyperlinkInReport
GenerateTraceInfo
GenerateTraceReport
GenerateTraceReportSl
GenerateTraceReportSf
GenerateTraceReportEml
PortableWordSizes
GenerateWebview
GenerateCodeMetricsReport
GenerateCodeReplacementReport
GenerateMissedCodeReplacementReport
GenerateErtSFunction
CreateSILPILBlock
CodeExecutionProfiling
CodeProfilingSaveOptions
CodeProfilingInstrumentation
grt.tlc
None
off
off
off
make_rtw
on
off
grt_default_tmf
off
on
off
[]
off
off
off
off
on
off
Automatically locate an installed toolchain
Faster Builds
[]
off
off
off
None
off
executionProfile
SummaryOnly
off
off
C
off
off
off
off
off
off
off
off
off
off
off
[]
Off
1024
IgnoreCustomStorageClasses
IgnoreTestpoints
BlockCommentType
InsertBlockDesc
InsertPolySpaceComments
SFDataObjDesc
MATLABFcnDesc
SimulinkDataObjDesc
DefineNamingRule
SignalNamingRule
ParamNamingRule
InternalIdentifier
InlinedPrmAccess
CustomSymbolStr
CustomSymbolStrGlobalVar
CustomSymbolStrType
CustomSymbolStrField
CustomSymbolStrFcn
CustomSymbolStrModelFcn
CustomSymbolStrFcnArg
CustomSymbolStrBlkIO
CustomSymbolStrTmpVar
CustomSymbolStrMacro
CustomSymbolStrUtil
CustomSymbolStrEmxType
CustomSymbolStrEmxFcn
CustomUserTokenString
ReqsInCode
[]
off
on
Auto
on
off
31
off
off
off
off
off
off
off
1
8
$R$N$M
$N$R$M_T
$N$M
$R$N$M$F
$R$N
rt$I$N$M
rtb_$N$M
$N$M
$R$N$M
$N$C
emxArray_$M$N
emx$M$N
None
None
None
off
off
on
BlockPathComment
off
off
off
Shortened
Literals
off
off
[]
IncludeMdlTerminateFcn
SuppressErrorStatus
ERTCustomFileBanners
GenerateSampleERTMain
ExistingSharedCode
GenerateTestInterfaces
ModelStepFunctionPrototypeControlCompliant
GenerateAllocFcn
PurelyIntegerCode
SupportComplex
SupportAbsoluteTime
SupportContinuousTime
SupportNonInlinedSFcns
RemoveDisableFunc
RemoveResetFunc
PreserveStateflowLocalDataDimensions
[]
ansi_tfl_table_tmw.mat
NOT IN USE
C99 (ISO)
None
Auto
System defined
2048
256
on
off
off
off
on
on
on
on
on
Use local settings
on
off
off
off
Auto
off
on
rt_
on
off
Nonreusable function
off
on
on
on
on
off
off
off
Nominal
Nominal
off
Simulink.SoftwareTarget.GRTCustomization
off
on
off
off
off
off
on
on
[]
[]
1,2,3,4,...
Size,Breakpoints,Table
Size,Breakpoints,Table
Column-major
error
$R$E
$R$E
$R_data
off
off
off
off
1000000
0
ext_comm
Level1
off
off
off
off
off
Error
[]
Simulink Coverage Configuration Component
[]
Simulink Coverage
off
EntireSystem
on
off
/
covdata
dwe
off
off
on
on
off
off
covCumulativeData
off
on
slcov_output/$ModelName$
$ModelName$_cvdata
on
on
off
on
on
1e-05
0.01
off
0
0
Masking
[]
HDL Coder custom configuration component
[]
HDL Coder
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