Model { Name "worldmodel" Version 7.0 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.501" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "windows-1252" SaveDefaultBlockParams on SampleTimeColors off LibraryLinkDisplay "none" WideLines off ShowLineDimensions on ShowPortDataTypes on ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off Created "Tue Jul 29 19:16:15 2008" Creator "Dennis" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "root" ModifiedDateFormat "%" LastModifiedDate "Mon May 10 17:30:31 2010" RTWModifiedTimeStamp 0 ModelVersionFormat "1.%" ConfigurationManager "None" SimulationMode "normal" LinearizationMsg "none" Profile off ParamWorkspaceSource "MATLABWorkspace" AccelSystemTargetFile "accel.tlc" AccelTemplateMakefile "accel_default_tmf" AccelMakeCommand "make_rtw" TryForcingSFcnDF off RecordCoverage off CovPath "/" CovSaveName "covdata" CovMetricSettings "dw" CovNameIncrementing off CovHtmlReporting on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on ExtModeBatchMode off ExtModeEnableFloating on ExtModeTrigType "manual" ExtModeTrigMode "normal" ExtModeTrigPort "1" ExtModeTrigElement "any" ExtModeTrigDuration 1000 ExtModeTrigDurationFloating "auto" ExtModeTrigHoldOff 0 ExtModeTrigDelay 0 ExtModeTrigDirection "rising" ExtModeTrigLevel 0 ExtModeArchiveMode "off" ExtModeAutoIncOneShot off ExtModeIncDirWhenArm off ExtModeAddSuffixToVar off ExtModeWriteAllDataToWs off ExtModeArmWhenConnect on ExtModeSkipDownloadWhenConnect off ExtModeLogAll on ExtModeAutoUpdateStatusClock off BufferReuse on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.3.0" Array { Type "Handle" Dimension 7 Simulink.SolverCC { $ObjectID 2 Version "1.3.0" StartTime "0" StopTime "100000" AbsTol "auto" FixedStep "1/get_global_par('WORLDMODEL_SAMPLE_RATE')" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" Solver "FixedStepDiscrete" SolverName "FixedStepDiscrete" ZeroCrossControl "UseLocalSettings" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk off SampleTimeConstraint "Unconstrained" RateTranMode "Deterministic" } Simulink.DataIOCC { $ObjectID 3 Version "1.3.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveFormat "Array" SaveOutput on SaveState off SignalLogging on InspectSignalLogs off SaveTime on StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" OutputOption "RefineOutputTimes" OutputTimes "[]" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Array { Type "Cell" Dimension 5 Cell "ZeroExternalMemoryAtStartup" Cell "ZeroInternalMemoryAtStartup" Cell "InitFltsAndDblsToZero" Cell "OptimizeModelRefInitCode" Cell "NoFixptDivByZeroProtection" PropName "DisabledProps" } Version "1.3.0" BlockReduction on BooleanDataType on ConditionallyExecuteInputs on InlineParams off InlineInvariantSignals off OptimizeBlockIOStorage on BufferReuse on EnforceIntegerDowncast on ExpressionFolding on ExpressionDepthLimit 2147483647 FoldNonRolledExpr on LocalBlockOutputs on RollThreshold 5 SystemCodeInlineAuto off StateBitsets off DataBitsets off UseTempVars off ZeroExternalMemoryAtStartup on ZeroInternalMemoryAtStartup on InitFltsAndDblsToZero on NoFixptDivByZeroProtection off EfficientFloat2IntCast off OptimizeModelRefInitCode off LifeSpan "inf" BufferReusableBoundary on SimCompilerOptimization "Off" AccelVerboseBuild off } Simulink.DebuggingCC { $ObjectID 5 Version "1.3.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "warning" SaveWithParameterizedLinksMsg "none" CheckSSInitialOutputMsg on CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "UseLocalSettings" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" SolverPrmCheckMsg "warning" InheritedTsInSrcMsg "warning" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "error" MultiTaskCondExecSysMsg "none" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterUnderflowMsg "none" ParameterPrecisionLossMsg "warning" ParameterTunabilityLossMsg "warning" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" ModelReferenceSimTargetVerbose off UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" StrictBusMsg "None" LoggingUnavailableSignals "error" } Simulink.HardwareCC { $ObjectID 6 Version "1.3.0" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdIntDivRoundTo "Undefined" ProdEndianess "Unspecified" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "32-bit Generic" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetShiftRightIntArith on TargetIntDivRoundTo "Undefined" TargetEndianess "Unspecified" TargetWordSize 32 TargetTypeEmulationWarnSuppressLevel 0 TargetPreprocMaxBitsSint 32 TargetPreprocMaxBitsUint 32 TargetHWDeviceType "Specified" TargetUnknown off ProdEqTarget on } Simulink.ModelReferenceCC { $ObjectID 7 Version "1.3.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" ModelReferenceNumInstancesAllowed "Multi" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 8 Array { Type "Cell" Dimension 2 Cell "IncludeHyperlinkInReport" Cell "GenerateTraceInfo" PropName "DisabledProps" } Version "1.3.0" SystemTargetFile "wmtarget.tlc" GenCodeOnly off MakeCommand "make_rtw OPT_OPTS=\"-g -O2\" CC=\"ccache gcc\" OPTS=\"-DTIMER_ID=2 -D_GNU_SOURCE\"" GenerateMakefile on TemplateMakefile "wm_unix.tmf" Description "Robocup Real-Time Motion Target" GenerateReport off SaveLog off RTWVerbose on RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ProcessScript "wmtarget_make_rtw_hook" ConfigAtBuild off CustomInclude "./include ./src ../Libs/multicast ../Libs/ipcomm2 ../Targets/wintarget ../Global_par ../Vision/src" CustomLibrary "/usr/lib/librtdb.so /usr/lib/libpthread.so /usr/lib/libipcomm2_client.so /usr/lib/libipcomm2_server.so" IncludeHyperlinkInReport off LaunchReport off TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime on GenerateTraceInfo off RTWCompilerOptimization "Off" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 9 Array { Type "Cell" Dimension 16 Cell "IgnoreCustomStorageClasses" Cell "InsertBlockDesc" Cell "SFDataObjDesc" Cell "SimulinkDataObjDesc" Cell "DefineNamingRule" Cell "SignalNamingRule" Cell "ParamNamingRule" Cell "InlinedPrmAccess" Cell "CustomSymbolStr" Cell "CustomSymbolStrGlobalVar" Cell "CustomSymbolStrType" Cell "CustomSymbolStrField" Cell "CustomSymbolStrFcn" Cell "CustomSymbolStrBlkIO" Cell "CustomSymbolStrTmpVar" Cell "CustomSymbolStrMacro" PropName "DisabledProps" } Version "1.3.0" ForceParamTrailComments off GenerateComments on IgnoreCustomStorageClasses on IncHierarchyInIds off MaxIdLength 31 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc off SFDataObjDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "$R$N$M" CustomSymbolStrType "$N$R$M" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$R$N$M$F" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$R$N$M" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc off SimulinkBlockComments on EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 10 Array { Type "Cell" Dimension 15 Cell "IncludeMdlTerminateFcn" Cell "CombineOutputUpdateFcns" Cell "SuppressErrorStatus" Cell "ERTCustomFileBanners" Cell "GenerateSampleERTMain" Cell "GenerateTestInterfaces" Cell "ModelStepFunctionPrototypeControlCompliant" Cell "MultiInstanceERTCode" Cell "PurelyIntegerCode" Cell "SupportNonFinite" Cell "SupportComplex" Cell "SupportAbsoluteTime" Cell "SupportContinuousTime" Cell "SupportNonInlinedSFcns" Cell "PortableWordSizes" PropName "DisabledProps" } Version "1.3.0" TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" GenFloatMathFcnCalls "ANSI_C" UtilityFuncGeneration "Auto" GenerateFullHeader on GenerateSampleERTMain off GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on CompOptLevelCompliant on IncludeMdlTerminateFcn on CombineOutputUpdateFcns off SuppressErrorStatus off IncludeFileDelimiter "Auto" ERTCustomFileBanners off SupportAbsoluteTime on LogVarNameModifier "rt_" MatFileLogging on MultiInstanceERTCode off SupportNonFinite on SupportComplex on PurelyIntegerCode off SupportContinuousTime on SupportNonInlinedSFcns on EnableShiftOperators on ParenthesesLevel "Nominal" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant off ExtMode off ExtModeStaticAlloc off ExtModeTesting off ExtModeStaticAllocSize 1000000 ExtModeTransport 0 ExtModeMexFile "ext_comm" ExtModeIntrfLevel "Level1" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off GenerateASAP2 off } PropName "Components" } } PropName "Components" } Name "Configuration" CurrentDlgPage "Solver" } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } BlockDefaults { Orientation "right" ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "Arial" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on } BlockParameterDefaults { Block { BlockType Clock DisplayTime off } Block { BlockType Inport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" SignalType "auto" SamplingMode "auto" LatchByDelayingOutsideSignal off LatchByCopyingInsideSignal off Interpolate on } Block { BlockType Mux Inputs "4" DisplayOption "none" UseBusObject off BusObject "BusObject" NonVirtualBus off } Block { BlockType Outport Port "1" UseBusObject off BusObject "BusObject" BusOutputAsStruct off PortDimensions "-1" SampleTime "-1" OutMin "[]" OutMax "[]" DataType "auto" OutDataType "fixdt(1,16,0)" OutScaling "[]" SignalType "auto" SamplingMode "auto" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType Selector NumberOfDimensions "1" IndexMode "One-based" InputPortWidth "-1" SampleTime "-1" } Block { BlockType "S-Function" FunctionName "system" SFunctionModules "''" PortCounts "[]" } Block { BlockType SubSystem ShowPortLabels "FromPortIcon" Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit off SystemSampleTime "-1" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" RTWMemSecFuncInitTerm "Inherit from model" RTWMemSecFuncExecute "Inherit from model" RTWMemSecDataConstants "Inherit from model" RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" SimViewingDevice off DataTypeOverride "UseLocalSettings" MinMaxOverflowLogging "UseLocalSettings" } Block { BlockType Switch Criteria "u2 >= Threshold" Threshold "0" InputSameDT on OutMin "[]" OutMax "[]" OutDataTypeMode "Inherit via internal rule" OutDataType "fixdt(1,16,0)" OutScaling "[]" LockScale off RndMeth "Floor" SaturateOnIntegerOverflow on ZeroCross on SampleTime "-1" } Block { BlockType Terminator } Block { BlockType Constant Value "1" VectorParams1D on SamplingMode "Sample based" OutMin "[]" OutMax "[]" OutDataTypeMode "Inherit from 'Constant value'" OutDataType "fixdt(1,16,0)" ConRadixGroup "Use specified scaling" OutScaling "[]" SampleTime "inf" FramePeriod "inf" } } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "Arial" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "Arial" FontSize 9 FontWeight "normal" FontAngle "normal" } System { Name "worldmodel" Location [5, 77, 1547, 994] Open on ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "A4" PaperUnits "centimeters" TiledPaperMargins [1.270000, 1.270000, 1.270000, 1.270000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" ReportName "simulink-default.rpt" Block { BlockType "S-Function" Name "Clip measurements" Ports [1, 1] Position [565, 324, 640, 366] BackgroundColor "orange" FunctionName "clip_measurements" MaskDisplay "port_label('input', 1, 'input')\nport_label('output', 1, 'output')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" } Block { BlockType Clock Name "Clock" Position [670, 455, 690, 475] Decimation "10" } Block { BlockType "S-Function" Name "Convert data" Ports [4, 2] Position [960, 252, 1070, 393] BackgroundColor "lightBlue" FunctionName "convert_data" MaskDisplay "port_label('input', 1, 'obj')\nport_label('input', 2, 'r')\nport_label('input', 3, 'label')\nport_label('input', 4, 'nobj')\nport_label('output', 1, 'Turtles x,y,phi')\nport_label('output', 2, 'Objects x,y,r')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" } Block { BlockType Mux Name "Mux" Ports [7, 1] Position [470, 135, 475, 555] ShowName off Inputs "7" DisplayOption "bar" } Block { BlockType Mux Name "Mux1" Ports [7, 1] Position [320, 165, 325, 585] ShowName off Inputs "7" DisplayOption "bar" } Block { BlockType Constant Name "MyPOS" Position [715, 268, 755, 302] Value "[0 0]" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Constant Name "MyPOS1" Position [45, 169, 95, 211] Value "[0 0 0]" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType "S-Function" Name "S-Function1" Ports [5, 14] Position [110, 143, 275, 577] BackgroundColor "yellow" FunctionName "mccomm_worldmodel" MaskInitialization "labels = getLabels('mccomm_worldmodel.c');\nset_param(gcb,'MaskDisplay',labels);" MaskDisplay "port_label('input',1,'ball position')\nport_label('input',2,'list of enabled / in field robots')\nport_label('input',3,'robot positions [x,y,phi]')\nport_label('input',4,'labeled objects [x,y,r]')\nport_label('input',5,'simulation time')\nport_label('output',1,'obstacles+cur_xyo #')\nport_label('output',2,'ball+cur_xyo #')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" } Block { BlockType Selector Name "Selector1" Ports [1, 1] Position [715, 386, 755, 424] NamePlacement "alternate" ShowName off InputPortWidth "100" IndexOptions "Index vector (dialog)" Indices "get_global_par('WMTuneparams')" OutputSizes "1" } Block { BlockType Selector Name "Selector2" Ports [1, 1] Position [265, 31, 305, 69] Orientation "left" InputPortWidth "385" IndexOptions "Index vector (dialog)" Indices "[1:3 56:58 111:113 166:168 221:223 276:278 331:333]" OutputSizes "1" } Block { BlockType Selector Name "Selector3" Ports [1, 1] Position [710, 771, 750, 809] NamePlacement "alternate" ShowName off InputPortWidth "100" IndexOptions "Index vector (dialog)" Indices "get_global_par('WMLiteTuneparams')" OutputSizes "1" } Block { BlockType Selector Name "Selector4" Ports [1, 1] Position [350, 356, 390, 394] InputPortWidth "63" IndexOptions "Index vector (dialog)" Indices "[1:9:63]" OutputSizes "1" } Block { BlockType Selector Name "Selector5" Ports [1, 1] Position [885, 561, 925, 599] NamePlacement "alternate" ShowName off InputPortWidth "100" IndexOptions "Index vector (dialog)" Indices "1" OutputSizes "1" } Block { BlockType SubSystem Name "Sequential Clustering Global" Ports [4, 7] Position [775, 251, 925, 499] BackgroundColor "darkGreen" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off System { Name "Sequential Clustering Global" Location [831, 550, 1403, 937] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType Inport Name "mypos" Position [190, 118, 220, 132] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "obst" Position [190, 158, 220, 172] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "tunable parameters" Position [190, 198, 220, 212] Port "3" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Inport Name "simulation time" Position [190, 238, 220, 252] Port "4" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType "S-Function" Name "Sequential Clustering" Ports [4, 7] Position [250, 101, 320, 269] FunctionName "sf_sc_wm" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" } Block { BlockType Outport Name "obj" Position [400, 103, 430, 117] IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "r" Position [365, 128, 395, 142] Port "2" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "label" Position [400, 153, 430, 167] Port "3" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "nobj" Position [365, 178, 395, 192] Port "4" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "maxnobj" Position [400, 203, 430, 217] Port "5" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "avgcpu" Position [360, 228, 390, 242] Port "6" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Block { BlockType Outport Name "maxcpu" Position [400, 253, 430, 267] Port "7" IconDisplay "Port number" OutDataType "sfix(16)" OutScaling "2^0" } Line { SrcBlock "Sequential Clustering" SrcPort 2 DstBlock "r" DstPort 1 } Line { SrcBlock "mypos" SrcPort 1 DstBlock "Sequential Clustering" DstPort 1 } Line { SrcBlock "Sequential Clustering" SrcPort 1 DstBlock "obj" DstPort 1 } Line { SrcBlock "obst" SrcPort 1 DstBlock "Sequential Clustering" DstPort 2 } Line { SrcBlock "Sequential Clustering" SrcPort 6 DstBlock "avgcpu" DstPort 1 } Line { SrcBlock "Sequential Clustering" SrcPort 7 DstBlock "maxcpu" DstPort 1 } Line { SrcBlock "Sequential Clustering" SrcPort 5 DstBlock "maxnobj" DstPort 1 } Line { SrcBlock "Sequential Clustering" SrcPort 4 DstBlock "nobj" DstPort 1 } Line { SrcBlock "Sequential Clustering" SrcPort 3 DstBlock "label" DstPort 1 } Line { SrcBlock "tunable parameters" SrcPort 1 DstBlock "Sequential Clustering" DstPort 3 } Line { SrcBlock "simulation time" SrcPort 1 DstBlock "Sequential Clustering" DstPort 4 } } } Block { BlockType SubSystem Name "Set CPU affinity" Ports [] Position [616, 93, 716, 158] BackgroundColor "gray" MinAlgLoopOccurrences off RTWSystemCode "Auto" FunctionWithSeparateData off MaskType "Set CPU affinity" MaskPromptString "Choose CPU id" MaskStyleString "popup(cpu0|cpu1|cpu2|cpu3)" MaskTunableValueString "on" MaskEnableString "on" MaskVisibilityString "on" MaskToolTipString "on" MaskVariables "cpu_id=@1;" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "cpu0" System { Name "Set CPU affinity" Location [620, 379, 1037, 707] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" Block { BlockType "S-Function" Name "Set CPU affinity" Ports [0, 1] Position [110, 121, 250, 189] BackgroundColor "green" FunctionName "sf_setcpu" Parameters "cpu_id" } Block { BlockType Terminator Name "Terminator" Position [280, 145, 300, 165] } Line { SrcBlock "Set CPU affinity" SrcPort 1 DstBlock "Terminator" DstPort 1 } } } Block { BlockType Switch Name "Switch1" Position [1220, 565, 1250, 595] Threshold "0.5" InputSameDT off OutDataType "sfix(16)" OutScaling "2^0" SaturateOnIntegerOverflow off } Block { BlockType Terminator Name "Terminator" Position [955, 435, 975, 455] } Block { BlockType Terminator Name "Terminator1" Position [955, 470, 975, 490] } Block { BlockType Terminator Name "Terminator2" Position [1090, 280, 1110, 300] } Block { BlockType Terminator Name "Terminator3" Position [955, 400, 975, 420] } Block { BlockType Terminator Name "Terminator4" Position [1120, 730, 1140, 750] } Block { BlockType "S-Function" Name "Worldmodel tuning" Ports [0, 1] Position [505, 387, 655, 423] BackgroundColor "blue" FunctionName "sf_tuning_server_worldmodel" Parameters "char(Names_worldmodel), Defaults_worldmodel" } Block { BlockType "S-Function" Name "worldmodelLite" Ports [3, 2] Position [860, 714, 1060, 806] BackgroundColor "lightBlue" FunctionName "worldmodelLite" MaskDisplay "port_label('input',1,'Measurements')\nport_label('input',2,'Active list')\nport_label('input',3,'Tunable parameters')\nport_label('output',1,'Turtles (x,y,phi)')\nport_label('output',2,'Objects (x,y,r)')" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" } Line { SrcBlock "S-Function1" SrcPort 1 DstBlock "Mux" DstPort 1 } Line { SrcBlock "S-Function1" SrcPort 3 DstBlock "Mux" DstPort 2 } Line { SrcBlock "S-Function1" SrcPort 5 DstBlock "Mux" DstPort 3 } Line { SrcBlock "S-Function1" SrcPort 7 DstBlock "Mux" DstPort 4 } Line { SrcBlock "S-Function1" SrcPort 9 DstBlock "Mux" DstPort 5 } Line { SrcBlock "S-Function1" SrcPort 11 DstBlock "Mux" DstPort 6 } Line { SrcBlock "S-Function1" SrcPort 13 DstBlock "Mux" DstPort 7 } Line { SrcBlock "S-Function1" SrcPort 2 DstBlock "Mux1" DstPort 1 } Line { SrcBlock "S-Function1" SrcPort 4 DstBlock "Mux1" DstPort 2 } Line { SrcBlock "S-Function1" SrcPort 6 DstBlock "Mux1" DstPort 3 } Line { SrcBlock "S-Function1" SrcPort 8 DstBlock "Mux1" DstPort 4 } Line { SrcBlock "S-Function1" SrcPort 10 DstBlock "Mux1" DstPort 5 } Line { SrcBlock "S-Function1" SrcPort 12 DstBlock "Mux1" DstPort 6 } Line { SrcBlock "S-Function1" SrcPort 14 DstBlock "Mux1" DstPort 7 } Line { SrcBlock "MyPOS1" SrcPort 1 DstBlock "S-Function1" DstPort 1 } Line { SrcBlock "Mux1" SrcPort 1 DstBlock "Selector4" DstPort 1 } Line { SrcBlock "MyPOS" SrcPort 1 DstBlock "Sequential Clustering Global" DstPort 1 } Line { SrcBlock "Sequential Clustering Global" SrcPort 6 DstBlock "Terminator" DstPort 1 } Line { SrcBlock "Sequential Clustering Global" SrcPort 7 DstBlock "Terminator1" DstPort 1 } Line { SrcBlock "Sequential Clustering Global" SrcPort 4 DstBlock "Convert data" DstPort 4 } Line { SrcBlock "Sequential Clustering Global" SrcPort 1 DstBlock "Convert data" DstPort 1 } Line { SrcBlock "Sequential Clustering Global" SrcPort 2 DstBlock "Convert data" DstPort 2 } Line { SrcBlock "Sequential Clustering Global" SrcPort 3 DstBlock "Convert data" DstPort 3 } Line { SrcBlock "Sequential Clustering Global" SrcPort 5 DstBlock "Terminator3" DstPort 1 } Line { SrcBlock "Mux" SrcPort 1 Points [10, 0] Branch { Points [25, 0] Branch { DstBlock "Clip measurements" DstPort 1 } Branch { Points [0, -295] DstBlock "Selector2" DstPort 1 } } Branch { Points [0, 385] DstBlock "worldmodelLite" DstPort 1 } } Line { SrcBlock "Worldmodel tuning" SrcPort 1 Points [40, 0] Branch { DstBlock "Selector1" DstPort 1 } Branch { Points [-35, 0; 0, 175; 5, 0] Branch { DstBlock "Selector5" DstPort 1 } Branch { Points [0, 210] DstBlock "Selector3" DstPort 1 } } } Line { SrcBlock "Selector1" SrcPort 1 DstBlock "Sequential Clustering Global" DstPort 3 } Line { SrcBlock "Clip measurements" SrcPort 1 DstBlock "Sequential Clustering Global" DstPort 2 } Line { SrcBlock "Convert data" SrcPort 1 DstBlock "Terminator2" DstPort 1 } Line { SrcBlock "Selector2" SrcPort 1 Points [-230, 0; 0, 310] DstBlock "S-Function1" DstPort 3 } Line { SrcBlock "Clock" SrcPort 1 Points [35, 0] Branch { DstBlock "Sequential Clustering Global" DstPort 4 } Branch { Points [0, 140; -660, 0; 0, -75] DstBlock "S-Function1" DstPort 5 } } Line { SrcBlock "Selector3" SrcPort 1 DstBlock "worldmodelLite" DstPort 3 } Line { SrcBlock "worldmodelLite" SrcPort 1 DstBlock "Terminator4" DstPort 1 } Line { SrcBlock "Selector5" SrcPort 1 DstBlock "Switch1" DstPort 2 } Line { SrcBlock "worldmodelLite" SrcPort 2 Points [105, 0; 0, -215] DstBlock "Switch1" DstPort 1 } Line { SrcBlock "Convert data" SrcPort 2 Points [65, 0; 0, 230] DstBlock "Switch1" DstPort 3 } Line { SrcBlock "Selector4" SrcPort 1 Points [5, 0] Branch { Points [0, -290; -360, 0; 0, 190] DstBlock "S-Function1" DstPort 2 } Branch { Points [0, 385] DstBlock "worldmodelLite" DstPort 2 } } Line { SrcBlock "Switch1" SrcPort 1 Points [140, 0; 0, 270; -1340, 0; 0, -405] DstBlock "S-Function1" DstPort 4 } } }