Model { Name "MarkerLocator" Version 7.9 MdlSubVersion 0 GraphicalInterface { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" ComputedModelVersion "1.1113" NumModelReferences 0 NumTestPointedSignals 0 } SavedCharacterEncoding "windows-1252" SaveDefaultBlockParams on ScopeRefreshTime 0.035000 OverrideScopeRefreshTime on DisableAllScopes off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" MinMaxOverflowArchiveMode "Overwrite" FPTRunName "Run 1" MaxMDLFileLineLength 120 Created "Fri Jun 03 10:13:39 2011" Creator "tchikama" UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" LastModifiedBy "mjj2" ModifiedDateFormat "%" LastModifiedDate "Fri Dec 07 16:38:19 2012" RTWModifiedTimeStamp 276735989 ModelVersionFormat "1.%" ConfigurationManager "None" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "none" WideLines on ShowLineDimensions on ShowPortDataTypes off ShowDesignRanges off ShowLoopsOnError on IgnoreBidirectionalLines off ShowStorageClass off ShowTestPointIcons on ShowSignalResolutionIcons on ShowViewerIcons on SortedOrder off ExecutionContextIcon off ShowLinearizationAnnotations on BlockNameDataTip off BlockParametersDataTip off BlockDescriptionStringDataTip off ToolBar on StatusBar on BrowserShowLibraryLinks off BrowserLookUnderMasks off 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 CovForceBlockReductionOff on covSaveCumulativeToWorkspaceVar on CovSaveSingleToWorkspaceVar on CovCumulativeVarName "covCumulativeData" CovCumulativeReport off CovReportOnPause on CovModelRefEnable "Off" CovExternalEMLEnable off 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 on BufferReuse on ShowModelReferenceBlockVersion off ShowModelReferenceBlockIO off Array { Type "Handle" Dimension 1 Simulink.ConfigSet { $ObjectID 1 Version "1.12.0" Array { Type "Handle" Dimension 8 Simulink.SolverCC { $ObjectID 2 Version "1.12.0" StartTime "0.0" StopTime "inf" AbsTol "auto" FixedStep "auto" InitialStep "auto" MaxNumMinSteps "-1" MaxOrder 5 ZcThreshold "auto" ConsecutiveZCsStepRelTol "10*128*eps" MaxConsecutiveZCs "1000" ExtrapolationOrder 4 NumberNewtonIterations 1 MaxStep "auto" MinStep "auto" MaxConsecutiveMinStep "1" RelTol "1e-3" SolverMode "Auto" EnableConcurrentExecution off ConcurrentTasks off Solver "FixedStepDiscrete" SolverName "FixedStepDiscrete" SolverJacobianMethodControl "auto" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Nonadaptive" AlgebraicLoopSolver "TrustRegion" SolverResetMethod "Fast" PositivePriorityOrder off AutoInsertRateTranBlk on SampleTimeConstraint "Unconstrained" InsertRTBMode "Whenever possible" } Simulink.DataIOCC { $ObjectID 3 Version "1.12.0" Decimation "1" ExternalInput "[t, u]" FinalStateName "xFinal" InitialState "xInitial" LimitDataPoints on MaxDataPoints "1000" LoadExternalInput off LoadInitialState off SaveFinalState off SaveCompleteFinalSimState off SaveFormat "Array" SignalLoggingSaveFormat "ModelDataLogs" SaveOutput off SaveState off SignalLogging on DSMLogging on InspectSignalLogs off SaveTime off ReturnWorkspaceOutputs off StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" SignalLoggingName "logsout" DSMLoggingName "dsmout" OutputOption "RefineOutputTimes" OutputTimes "[]" ReturnWorkspaceOutputsName "out" Refine "1" } Simulink.OptimizationCC { $ObjectID 4 Version "1.12.0" BlockReduction on BooleanDataType on ConditionallyExecuteInputs on InlineParams on UseIntDivNetSlope off UseFloatMulNetSlope off UseSpecifiedMinMax off InlineInvariantSignals on OptimizeBlockIOStorage on BufferReuse on EnhancedBackFolding off StrengthReduction off ExpressionFolding on BooleansAsBitfields off BitfieldContainerType "uint_T" EnableMemcpy on MemcpyThreshold 64 PassReuseOutputArgsAs "Structure reference" ExpressionDepthLimit 2147483647 FoldNonRolledExpr on LocalBlockOutputs on RollThreshold 5 SystemCodeInlineAuto off StateBitsets on DataBitsets on UseTempVars on ZeroExternalMemoryAtStartup off ZeroInternalMemoryAtStartup off InitFltsAndDblsToZero off NoFixptDivByZeroProtection on EfficientFloat2IntCast off EfficientMapNaN2IntZero on OptimizeModelRefInitCode on LifeSpan "1" MaxStackSize "Inherit from target" BufferReusableBoundary on SimCompilerOptimization "On" AccelVerboseBuild off ParallelExecutionInRapidAccelerator on } Simulink.DebuggingCC { $ObjectID 5 Version "1.12.0" RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" SignalRangeChecking "none" ReadBeforeWriteMsg "UseLocalSettings" WriteAfterWriteMsg "UseLocalSettings" WriteAfterReadMsg "UseLocalSettings" AlgebraicLoopMsg "warning" ArtificialAlgebraicLoopMsg "warning" SaveWithDisabledLinksMsg "warning" SaveWithParameterizedLinksMsg "warning" CheckSSInitialOutputMsg on UnderspecifiedInitializationDetection "Classic" MergeDetectMultiDrivingBlocksExec "none" CheckExecutionContextPreStartOutputMsg off CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "UseLocalSettings" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" TimeAdjustmentMsg "none" MaxConsecutiveZCsMsg "error" MaskedZcDiagnostic "warning" IgnoredZcDiagnostic "warning" SolverPrmCheckMsg "warning" InheritedTsInSrcMsg "none" DiscreteInheritContinuousMsg "warning" MultiTaskDSMMsg "error" MultiTaskCondExecSysMsg "error" MultiTaskRateTransMsg "error" SingleTaskRateTransMsg "none" TasksWithSamePriorityMsg "warning" SigSpecEnsureSampleTimeMsg "warning" CheckMatrixSingularityMsg "none" IntegerOverflowMsg "warning" Int32ToFloatConvMsg "warning" ParameterDowncastMsg "error" ParameterOverflowMsg "error" ParameterUnderflowMsg "none" ParameterPrecisionLossMsg "warning" ParameterTunabilityLossMsg "warning" FixptConstUnderflowMsg "none" FixptConstOverflowMsg "none" FixptConstPrecisionLossMsg "none" UnderSpecifiedDataTypeMsg "none" UnnecessaryDatatypeConvMsg "none" VectorMatrixConversionMsg "none" InvalidFcnCallConnMsg "error" FcnCallInpInsideContextMsg "Use local settings" SignalLabelMismatchMsg "none" UnconnectedInputMsg "warning" UnconnectedOutputMsg "warning" UnconnectedLineMsg "warning" SFcnCompatibilityMsg "none" FrameProcessingCompatibilityMsg "warning" UniqueDataStoreMsg "none" BusObjectLabelMismatch "warning" RootOutportRequireBusObject "warning" AssertControl "UseLocalSettings" EnableOverflowDetection off ModelReferenceIOMsg "none" ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error" ModelReferenceVersionMismatchMessage "none" ModelReferenceIOMismatchMessage "none" ModelReferenceCSMismatchMessage "none" UnknownTsInhSupMsg "warning" ModelReferenceDataLoggingMessage "warning" ModelReferenceSymbolNameMessage "warning" ModelReferenceExtraNoncontSigs "error" StateNameClashWarn "warning" SimStateInterfaceChecksumMismatchMsg "warning" SimStateOlderReleaseMsg "error" InitInArrayFormatMsg "warning" StrictBusMsg "ErrorLevel1" BusNameAdapt "WarnAndRepair" NonBusSignalsTreatedAsBus "none" LoggingUnavailableSignals "error" BlockIODiagnostic "none" SFUnusedDataAndEventsDiag "warning" SFUnexpectedBacktrackingDiag "warning" SFInvalidInputDataAccessInChartInitDiag "warning" SFNoUnconditionalDefaultTransitionDiag "warning" SFTransitionOutsideNaturalParentDiag "warning" SFUnconditionalTransitionShadowingDiag "warning" } Simulink.HardwareCC { $ObjectID 6 Version "1.12.0" ProdBitPerChar 8 ProdBitPerShort 16 ProdBitPerInt 32 ProdBitPerLong 32 ProdBitPerFloat 32 ProdBitPerDouble 64 ProdBitPerPointer 32 ProdLargestAtomicInteger "Char" ProdLargestAtomicFloat "None" ProdIntDivRoundTo "Floor" ProdEndianess "LittleEndian" ProdWordSize 32 ProdShiftRightIntArith on ProdHWDeviceType "Generic->Custom" TargetBitPerChar 8 TargetBitPerShort 16 TargetBitPerInt 32 TargetBitPerLong 32 TargetBitPerFloat 32 TargetBitPerDouble 64 TargetBitPerPointer 32 TargetLargestAtomicInteger "Char" TargetLargestAtomicFloat "None" 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 "1.12.0" UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" CheckModelReferenceTargetMessage "error" EnableParallelModelReferenceBuilds off ParallelModelReferenceErrorOnInvalidPool on ParallelModelReferenceMATLABWorkerInit "None" ModelReferenceNumInstancesAllowed "Multi" PropagateVarSize "Infer from blocks in model" ModelReferencePassRootInputsByReference on ModelReferenceMinAlgLoopOccurrences off PropagateSignalLabelsOutOfModel off SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { $ObjectID 8 Version "1.12.0" SFSimEnableDebug on SFSimOverflowDetection on SFSimEcho on SimBlas on SimCtrlC on SimExtrinsic on SimIntegrity on SimUseLocalCustomCode off SimParseCustomCode on SimBuildMode "sf_incremental_build" } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 9 Version "1.12.0" SystemTargetFile "ert.tlc" TLCOptions "-p0" GenCodeOnly on MakeCommand "make_rtw" GenerateMakefile on TemplateMakefile "ert_default_tmf" Description "Embedded Coder" GenerateReport on SaveLog off RTWVerbose off RetainRTWFile off ProfileTLC off TLCDebug off TLCCoverage off TLCAssert off ProcessScriptMode "Default" ConfigurationMode "Optimized" ProcessScript "ert_make_rtw_hook" ConfigAtBuild off RTWUseLocalCustomCode off RTWUseSimCustomCode off IncludeHyperlinkInReport on LaunchReport on TargetLang "C" IncludeBusHierarchyInRTWFileBlockHierarchyMap off IncludeERTFirstTime off GenerateTraceInfo off GenerateTraceReport off GenerateTraceReportSl off GenerateTraceReportSf off GenerateTraceReportEml off GenerateCodeInfo off GenerateWebview off GenerateCodeMetricsReport off GenerateCodeReplacementReport off RTWCompilerOptimization "On" CheckMdlBeforeBuild "Off" CustomRebuildMode "OnUpdate" Array { Type "Handle" Dimension 2 Simulink.CodeAppCC { $ObjectID 10 Version "1.12.0" ForceParamTrailComments on GenerateComments on IgnoreCustomStorageClasses off IgnoreTestpoints off IncHierarchyInIds off MaxIdLength 95 PreserveName off PreserveNameWithParent off ShowEliminatedStatement off IncAutoGenComments off SimulinkDataObjDesc on SFDataObjDesc off MATLABFcnDesc off IncDataTypeInIds off MangleLength 1 CustomSymbolStrGlobalVar "rt$N$M" CustomSymbolStrType "$N$M" CustomSymbolStrField "$N$M" CustomSymbolStrFcn "$N$M$F" CustomSymbolStrFcnArg "rt$I$N$M" CustomSymbolStrBlkIO "rtb_$N$M" CustomSymbolStrTmpVar "$N$M" CustomSymbolStrMacro "$N$M" DefineNamingRule "None" ParamNamingRule "None" SignalNamingRule "None" InsertBlockDesc on InsertPolySpaceComments off SimulinkBlockComments on MATLABSourceComments off EnableCustomComments off InlinedPrmAccess "Literals" ReqsInCode off UseSimReservedNames off } Simulink.ERTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 11 Version "1.12.0" TargetFcnLib "ansi_tfl_table_tmw.mat" TargetLibSuffix "" TargetPreCompLibLocation "" CodeReplacementLibrary "ISO_C" UtilityFuncGeneration "Auto" ERTMultiwordTypeDef "System defined" CodeExecutionProfiling off ERTMultiwordLength 256 MultiwordLength 2048 GenerateFullHeader on GenerateSampleERTMain on GenerateTestInterfaces off IsPILTarget off ModelReferenceCompliant on ParMdlRefBuildCompliant on CompOptLevelCompliant on ConcurrentExecutionCompliant on IncludeMdlTerminateFcn off GeneratePreprocessorConditionals "Use local settings" CombineOutputUpdateFcns on CombineSignalStateStructs off SuppressErrorStatus on ERTFirstTimeCompliant on IncludeFileDelimiter "Auto" ERTCustomFileBanners on SupportAbsoluteTime off LogVarNameModifier "rt_" MatFileLogging off MultiInstanceERTCode off SupportNonFinite off SupportComplex off PurelyIntegerCode on SupportContinuousTime off SupportNonInlinedSFcns off SupportVariableSizeSignals off EnableShiftOperators on ParenthesesLevel "Nominal" PortableWordSizes off ModelStepFunctionPrototypeControlCompliant on CPPClassGenCompliant on AutosarCompliant off GRTInterface off GenerateErtSFunction off CreateSILPILBlock "None" CodeExecutionProfileVariable "executionProfile" CodeProfilingSaveOptions "SummaryOnly" GenerateASAP2 off ExtMode off ExtModeTransport 0 ExtModeStaticAlloc off ExtModeStaticAllocSize 1000000 ExtModeTesting off ExtModeMexFile "ext_comm" ExtModeIntrfLevel "Level1" InlinedParameterPlacement "NonHierarchical" TargetOS "BareBoardExample" MultiInstanceErrorCode "Error" RateGroupingCode on RootIOFormat "Structure reference" RTWCAPISignals off RTWCAPIParams off RTWCAPIStates off RTWCAPIRootIO off ERTSrcFileBannerTemplate "ert_code_template.cgt" ERTHdrFileBannerTemplate "ert_code_template.cgt" ERTDataSrcFileTemplate "ert_code_template.cgt" ERTDataHdrFileTemplate "ert_code_template.cgt" ERTCustomFileTemplate "example_file_process.tlc" CoverageDialogOpen "off" EnableDataOwnership off SignalDisplayLevel 10 ParamTuneLevel 10 GlobalDataDefinition "Auto" DataDefinitionFile "global.c" GlobalDataReference "Auto" ERTFilePackagingFormat "Modular" DataReferenceFile "global.h" PreserveExpressionOrder off PreserveIfCondition off ConvertIfToSwitch off PreserveExternInFcnDecls on SuppressUnreachableDefaultCases off EnableUserReplacementTypes off Array { Type "Struct" Dimension 1 MATStruct { double "" single "" int32 "" int16 "" int8 "" uint32 "" uint16 "" uint8 "" boolean "" int "" uint "" char "" } PropName "ReplacementTypes" } MemSecPackage "--- None ---" MemSecDataConstants "Default" MemSecDataIO "Default" MemSecDataInternal "Default" MemSecDataParameters "Default" MemSecFuncInitTerm "Default" MemSecFuncExecute "Default" MemSecFuncSharedUtil "Default" CodeProfilingInstrumentation off } PropName "Components" } } PropName "Components" } Name "Configuration" ExtraOptions "-aGenerateTraceInfo=0 -aIgnoreTestpoints=0 -p0" CurrentDlgPage "Data Import//Export" ConfigPrmDlgPosition [ 496, 40, 1425, 912 ] } PropName "ConfigurationSets" } Simulink.ConfigSet { $PropName "ActiveConfigurationSet" $ObjectID 1 } ExplicitPartitioning off BlockDefaults { ForegroundColor "black" BackgroundColor "white" DropShadow off NamePlacement "normal" FontName "MS UI Gothic" FontSize 10 FontWeight "normal" FontAngle "normal" ShowName on BlockRotation 0 BlockMirror off } AnnotationDefaults { HorizontalAlignment "center" VerticalAlignment "middle" ForegroundColor "black" BackgroundColor "white" DropShadow off FontName "MS UI Gothic" FontSize 10 FontWeight "normal" FontAngle "normal" UseDisplayTextAsClickCallback off } LineDefaults { FontName "MS UI Gothic" FontSize 9 FontWeight "normal" FontAngle "normal" } BlockParameterDefaults { Block { BlockType Constant Value "1" VectorParams1D on SamplingMode "Sample based" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit from 'Constant value'" LockScale off SampleTime "inf" FramePeriod "inf" PreserveConstantTs off } Block { BlockType DataTypeConversion OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: Inherit via back propagation" LockScale off ConvertRealWorld "Real World Value (RWV)" RndMeth "Zero" SaturateOnIntegerOverflow on SampleTime "-1" } Block { BlockType Demux Outputs "4" DisplayOption "none" BusSelectionMode off } Block { BlockType Display Format "short" Decimation "10" Floating off SampleTime "-1" } Block { BlockType Inport Port "1" OutputFunctionCall off OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" LatchByDelayingOutsideSignal off LatchInputForFeedbackSignals off Interpolate on } Block { BlockType Outport Port "1" OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" LockScale off BusOutputAsStruct off PortDimensions "-1" VarSizeSig "Inherit" SampleTime "-1" SignalType "auto" SamplingMode "auto" SourceOfInitialOutputValue "Dialog" OutputWhenDisabled "held" InitialOutput "[]" } Block { BlockType S-Function FunctionName "system" SFunctionModules "''" PortCounts "[]" SFunctionDeploymentMode off } Block { BlockType SubSystem ShowPortLabels "FromPortIcon" Permissions "ReadWrite" PermitHierarchicalResolution "All" TreatAsAtomicUnit off CheckFcnCallInpInsideContextMsg 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" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" SFBlockType "NONE" Variant off GeneratePreprocessorConditionals off } Block { BlockType Terminator } Block { BlockType ToWorkspace VariableName "simulink_output" MaxDataPoints "1000" Decimation "1" SampleTime "0" SaveFormat "Array" FixptAsFi off NumInputs "1" } } System { Name "MarkerLocator" Location [668, 158, 1578, 812] Open on ModelBrowserVisibility off ModelBrowserWidth 212 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" SIDHighWatermark "297" Block { BlockType DataTypeConversion Name "Data Type Conversion" SID "237" Position [875, 228, 950, 262] ZOrder -5 RndMeth "Floor" SaturateOnIntegerOverflow off } Block { BlockType Reference Name "Draw Markers" SID "218" Ports [2, 1] Position [905, 560, 1010, 635] LibraryVersion "1.194" FontName "Arial" SourceBlock "visiontextngfix/Draw Markers" SourceType "Draw Markers" shape "Circle" size "2" fill on fillClrSource "Specify via dialog" display "White" intensity "200" color "[1 0 0]" opacity ".85" viewport "Entire image" antialiasing off inType "Obsolete" imagePorts "One multidimensional signal" accumMode "Same as product output" accumWordLength "32" accumFracLength "14" prodOutputMode "Binary point scaling" prodOutputWordLength "32" prodOutputFracLength "14" memoryMode "Specify word length" memoryWordLength "16" memoryFracLength "14" roundingMode "Floor" overflowMode off LockScale off } Block { BlockType Reference Name "Frame Rate\nDisplay" SID "158" Ports [1] Position [680, 519, 735, 551] NamePlacement "alternate" LibraryVersion "1.254" FontName "Arial" FontSize 9 SourceBlock "visionsinks/Frame Rate\nDisplay" SourceType "Frame Rate Display" UpdateRate "10" } Block { BlockType Reference Name "Insert Text" SID "223" Ports [3, 1] Position [1085, 397, 1225, 493] ZOrder -4 LibraryVersion "1.194" SourceBlock "visiontextngfix/Insert Text" SourceType "Insert Text" inputType "Obsolete" theText "'(X,Y,Z)= (%0.0f, %0.0f, %0.0f)'" fontFace "LucidaSansDemiBold" dummyVar1 "0" blockFontSize "12" antiAliased on getTextLocFrom "Input port" textLoc "[1 1]" getTextColorFrom "Specify via dialog" textColor "[1 1 1]" getTextIntensityFrom "Specify via dialog" textIntensity "0" getTextOpacityFrom "Specify via dialog" textOpacity "1.0" dummyVar2 "0" dummyVar3 "0" dummyVar4 "0" imagePorts "One multidimensional signal" isInputTransposed off } Block { BlockType Reference Name "NID Depth X/Y/Z" SID "207" Ports [1, 3] Position [485, 346, 615, 414] LibraryVersion "1.372" FontName "Arial" SourceBlock "nid_lib/NID Depth" SourceType "NID Depth" depthOutput "X/Y/Z" conv_XYZ_RW on viewer off } Block { BlockType Reference Name "NID IMAQ" SID "130" Ports [0, 1] Position [305, 405, 435, 485] LibraryVersion "1.372" FontName "Arial" SourceBlock "nid_lib/NID IMAQ" SourceType "NID IMAQ" imaq_depth on imaq_motion off imaq_image on view_point on imaq_skeleton off imaq_ir off mirror_image off imaq_sample_time "1/30" res_fps "VGA (640x480): 30 FPS" needPsiPose off angle_input off angle "0" angle_read off near_mode on seated_mode on skeleton_smooth "[0.5 0.5 0.5 0.05 0.04]" infer_skeleton on } Block { BlockType Reference Name "NID Image RGB" SID "136" Ports [1, 1] Position [485, 504, 615, 566] LibraryVersion "1.372" FontName "Arial" SourceBlock "nid_lib/NID Image" SourceType "NID Image" imageOutput "RGB" } Block { BlockType Reference Name "To Video Display" SID "289" Ports [1] Position [1265, 411, 1380, 479] LibraryVersion "1.254" SourceBlock "visionsinks/To Video Display" SourceType "To Video Display" inputType "Obsolete" imagePorts "One multidimensional signal" OutputDevice "On-screen video monitor" fullScreen off videoWindowX "44" videoWindowY "9" saveWindowSize off videoWindowWidth "640" videoWindowHeight "480" dataOrg "Column-major" openAtMdlStart on isWindowOpen "off" inputColorFormat "RGB" } Block { BlockType ToWorkspace Name "To Workspace" SID "295" Ports [1] Position [1240, 235, 1300, 265] ZOrder -7 VariableName "x" MaxDataPoints "1" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace1" SID "296" Ports [1] Position [1240, 300, 1300, 330] ZOrder -7 VariableName "y" MaxDataPoints "1" SampleTime "-1" } Block { BlockType ToWorkspace Name "To Workspace2" SID "297" Ports [1] Position [1240, 345, 1300, 375] ZOrder -7 VariableName "z" MaxDataPoints "1" SampleTime "-1" } Block { BlockType SubSystem Name "VV" SID "208" Ports [3, 5] Position [735, 112, 850, 258] ZOrder -4 LibraryVersion "1.32" FontName "Arial" ErrorFcn "Stateflow.Translate.translate" PermitHierarchicalResolution "ExplicitOnly" TreatAsAtomicUnit on MinAlgLoopOccurrences off PropExecContextOutsideSubsystem off RTWSystemCode "Auto" FunctionWithSeparateData off Opaque off RequestExecContextInheritance off MaskHideContents off SFBlockType "MATLAB Function" MaskType "Stateflow" MaskDescription "Embedded MATLAB block" MaskSelfModifiable on MaskDisplay "bgColor = Simulink.Root.ColorString2Rgb(get_param(gcbh, 'BackgroundColor')); image(imread('pr" "ivate/eml_membrane_16.png','png','BackgroundColor',bgColor(1:3)),'center'); disp([10 10 'transformCoordinate']);" MaskIconFrame on MaskIconOpaque off MaskIconRotate "none" MaskPortRotate "default" MaskIconUnits "normalized" System { Name "VV" Location [257, 457, 812, 717] 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" SIDHighWatermark "55" Block { BlockType Inport Name "X" SID "208::34" Position [20, 101, 40, 119] ZOrder 8 IconDisplay "Port number" } Block { BlockType Inport Name "Y" SID "208::35" Position [20, 136, 40, 154] ZOrder 9 Port "2" IconDisplay "Port number" } Block { BlockType Inport Name "Z" SID "208::23" Position [20, 171, 40, 189] Port "3" IconDisplay "Port number" } Block { BlockType Demux Name " Demux " SID "208::28" Ports [1, 1] Position [270, 370, 320, 410] ZOrder 2 Outputs "1" } Block { BlockType S-Function Name " SFunction " SID "208::27" Tag "Stateflow S-Function MarkerLocator 2" Ports [3, 6] Position [180, 139, 230, 371] ZOrder 1 FunctionName "sf_sfun" PortCounts "[3 6]" EnableBusSupport on Port { PortNumber 2 Name "x_robot" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 3 Name "y_robot" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 4 Name "z_robot" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 5 Name "xyz" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } Port { PortNumber 6 Name "xy" RTWStorageClass "Auto" DataLoggingNameMode "SignalName" } } Block { BlockType Terminator Name " Terminator " SID "208::30" Position [460, 381, 480, 399] ZOrder 4 } Block { BlockType Outport Name "x_robot" SID "208::53" Position [460, 101, 480, 119] ZOrder 23 IconDisplay "Port number" } Block { BlockType Outport Name "y_robot" SID "208::54" Position [460, 136, 480, 154] ZOrder 24 Port "2" IconDisplay "Port number" } Block { BlockType Outport Name "z_robot" SID "208::55" Position [460, 171, 480, 189] ZOrder 25 Port "3" IconDisplay "Port number" } Block { BlockType Outport Name "xyz" SID "208::37" Position [460, 206, 480, 224] ZOrder 11 Port "4" IconDisplay "Port number" } Block { BlockType Outport Name "xy" SID "208::36" Position [460, 246, 480, 264] ZOrder 10 Port "5" IconDisplay "Port number" } Line { SrcBlock "X" SrcPort 1 DstBlock " SFunction " DstPort 1 } Line { SrcBlock "Y" SrcPort 1 DstBlock " SFunction " DstPort 2 } Line { SrcBlock "Z" SrcPort 1 DstBlock " SFunction " DstPort 3 } Line { Name "x_robot" Labels [0, 0] SrcBlock " SFunction " SrcPort 2 DstBlock "x_robot" DstPort 1 } Line { Name "y_robot" Labels [0, 0] SrcBlock " SFunction " SrcPort 3 DstBlock "y_robot" DstPort 1 } Line { Name "z_robot" Labels [0, 0] SrcBlock " SFunction " SrcPort 4 DstBlock "z_robot" DstPort 1 } Line { Name "xyz" Labels [0, 0] SrcBlock " SFunction " SrcPort 5 DstBlock "xyz" DstPort 1 } Line { Name "xy" Labels [0, 0] SrcBlock " SFunction " SrcPort 6 DstBlock "xy" DstPort 1 } Line { SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " DstPort 1 } } } Block { BlockType Display Name "X-Real Robot" SID "211" Ports [1] Position [1230, 44, 1320, 76] ZOrder -1 Decimation "1" Lockdown off } Block { BlockType Display Name "Y-Real Robot" SID "209" Ports [1] Position [1230, 90, 1320, 120] ZOrder -1 Decimation "1" Lockdown off } Block { BlockType Display Name "Z-Real Robot1" SID "287" Ports [1] Position [1230, 140, 1320, 170] ZOrder -1 Decimation "1" Lockdown off } Block { BlockType Constant Name "Constant" SID "174" Position [40, 95, 70, 125] IOType "siggen" } Block { BlockType Constant Name "Constant2" SID "202" Position [40, 95, 70, 125] IOType "siggen" } Line { SrcBlock "NID IMAQ" SrcPort 1 Points [15, 0] Branch { Points [0, 90] DstBlock "NID Image RGB" DstPort 1 } Branch { Points [0, -65] DstBlock "NID Depth X/Y/Z" DstPort 1 } } Line { SrcBlock "NID Image RGB" SrcPort 1 Points [10, 0] Branch { DstBlock "Frame Rate\nDisplay" DstPort 1 } Branch { Points [0, 45] DstBlock "Draw Markers" DstPort 1 } } Line { SrcBlock "Draw Markers" SrcPort 1 Points [20, 0; 0, -185] DstBlock "Insert Text" DstPort 1 } Line { SrcBlock "Insert Text" SrcPort 1 DstBlock "To Video Display" DstPort 1 } Line { SrcBlock "VV" SrcPort 5 DstBlock "Data Type Conversion" DstPort 1 } Line { Labels [1, 0] SrcBlock "Data Type Conversion" SrcPort 1 Points [35, 0; 0, 230] Branch { Points [0, 65; -125, 0; 0, 75] DstBlock "Draw Markers" DstPort 2 } Branch { DstBlock "Insert Text" DstPort 3 } } Line { SrcBlock "NID Depth X/Y/Z" SrcPort 1 Points [100, 0] DstBlock "VV" DstPort 1 } Line { SrcBlock "NID Depth X/Y/Z" SrcPort 2 Points [100, 0] DstBlock "VV" DstPort 2 } Line { SrcBlock "NID Depth X/Y/Z" SrcPort 3 Points [100, 0] DstBlock "VV" DstPort 3 } Line { SrcBlock "VV" SrcPort 1 Points [170, 0; 0, -65; 135, 0] Branch { DstBlock "X-Real Robot" DstPort 1 } Branch { Points [0, 190] DstBlock "To Workspace" DstPort 1 } } Line { SrcBlock "VV" SrcPort 2 Points [185, 0; 0, -50; 95, 0] Branch { DstBlock "Y-Real Robot" DstPort 1 } Branch { Points [0, 210] DstBlock "To Workspace1" DstPort 1 } } Line { SrcBlock "VV" SrcPort 3 Points [200, 0; 0, -30; 45, 0] Branch { DstBlock "Z-Real Robot1" DstPort 1 } Branch { Points [0, 205] DstBlock "To Workspace2" DstPort 1 } } Line { SrcBlock "VV" SrcPort 4 Points [195, 0; 0, 230] DstBlock "Insert Text" DstPort 2 } Annotation { SID "172" Name "Copyright 2011 The MathWorks, Inc." Position [815, 755] FontName "Arial" } Annotation { SID "242" Position [1272, 5] } Annotation { SID "241" Position [654, 421] } } } # Finite State Machines # # Stateflow Version 7.6 (R2011b) dated Jan 26 2012, 02:07:42 # # Stateflow { machine { id 1 name "MarkerLocator" created "20-Jun-2011 11:12:23" isLibrary 0 firstTarget 15 debug { } sfVersion 76014001.00040001 } chart { id 2 name "VV" windowPosition [405.75 244.95 200.25 189.75] viewLimits [0 156.75 0 153.75] screen [1 1 1920 1080 1.333333333333333] treeNode [0 3 0 0] firstTransition 5 firstJunction 4 viewObj 2 machine 1 ssIdHighWaterMark 39 decomposition CLUSTER_CHART type EML_CHART firstData 6 chartFileNumber 2 disableImplicitCasting 1 eml { name "transformCoordinate" } } state { id 3 labelString "eML_blk_kernel()" position [18 64.5 118 66] fontSize 12 chart 2 treeNode [2 0 0 0] superState SUBCHART subviewer 2 ssIdNumber 1 type FUNC_STATE decomposition CLUSTER_STATE eml { isEML 1 script "function [x_robot, y_robot, z_robot, xyz,xy] = transformCoordinate(X,Y,Z)\n%kinect coordinsate a" "t angle\n% xr=X(pixely,pixelx);\n% zr=Y(pixely,pixelx);\n% yr=Z(pixely,pixelx);\n% %Corrected coordinates (pixel" " specific)\n% Rx=-1093.36*(xr+0.0153);\n% Ry=-980.344*(yr+-0.9469)*0.944+1474.1*(zr+0.3004)*0.329;\n% Rz=1474.1*" "(zr+0.3004)*0.944--980.344*(yr+-0.9469)*0.329;\n\n%Constrain the dimension to be less than 2\n%coder.varsize('pi" "xelx',1,1);\n\n%Corrected coordinates (All)\n%Note Y and Z had to be changed since Y and Z\n%coordinates are dif" "ferent on Robot Coordinate system\nXR=-1093.36*(X+0.0153);\nXR(find(Z==0)) = -100000 ;\nYR=-980.344*(Z+-0.9469)*" "0.944+1474.1*(Y+0.3004)*0.329;\nYR(find(Z==0)) = -100000 ;\nZR=1474.1*(Y+0.3004)*0.944--980.344*(Z+-0.9469)*0.32" "9;\nZR(find(Z==0)) = -100000 ;\nA=find(XR>-150 & XR<150);\nB=find(YR>200 & YR<375);\nC=intersect(A',B');\nD=find" "(ZR>50 & ZR<200);\nE=intersect(C,D');\nMax=0;\nfor i=1:length(E)\n if ZR(E(i))>Max\n Max=ZR(E(i));\n " " Index = E(i) ;\n end\nend\n[pixelrow, pixelcol] = find(ZR==Max);\nif isempty(pixelrow)==1\n pixelx=0" ";\n pixely=0;\nelse\npixely=pixelrow(1,1);\npixelx=pixelcol(1,1);\nend\nx_robot=XR(pixely,pixelx);\ny_robot=Y" "R(pixely,pixelx)-5;\nz_robot=ZR(pixely,pixelx);\n\nxyz=[x_robot y_robot z_robot];\nxy=[pixelx,pixely];\nend\n" editorLayout "100 M4x1[10 5 700 500]" } } junction { id 4 position [23.5747 49.5747 7] chart 2 linkNode [2 0 0] subviewer 2 ssIdNumber 3 type CONNECTIVE_JUNCTION } transition { id 5 labelString "{eML_blk_kernel();}" labelPosition [32.125 19.875 102.544 14.964] fontSize 12 src { intersection [0 0 1 0 23.5747 14.625 0 0] } dst { id 4 intersection [7 0 -1 -1 23.5747 42.5747 0 0] } midPoint [23.5747 24.9468] chart 2 linkNode [2 0 0] dataLimits [23.575 23.575 14.625 34.575] subviewer 2 drawStyle SMART executionOrder 1 ssIdNumber 2 } data { id 6 ssIdNumber 37 name "x_robot" linkNode [2 0 7] scope OUTPUT_DATA machine 1 props { array { size "-1" } type { method SF_INHERITED_TYPE primitive SF_DOUBLE_TYPE isSigned 1 wordLength "16" } complexity SF_COMPLEX_INHERITED frame SF_FRAME_NO } dataType "Inherit: Same as Simulink" } data { id 7 ssIdNumber 38 name "y_robot" linkNode [2 6 8] scope OUTPUT_DATA machine 1 props { array { size "-1" } type { method SF_INHERITED_TYPE primitive SF_DOUBLE_TYPE isSigned 1 wordLength "16" } complexity SF_COMPLEX_INHERITED frame SF_FRAME_NO } dataType "Inherit: Same as Simulink" } data { id 8 ssIdNumber 39 name "z_robot" linkNode [2 7 9] scope OUTPUT_DATA machine 1 props { array { size "-1" } type { method SF_INHERITED_TYPE primitive SF_DOUBLE_TYPE isSigned 1 wordLength "16" } complexity SF_COMPLEX_INHERITED frame SF_FRAME_NO } dataType "Inherit: Same as Simulink" } data { id 9 ssIdNumber 18 name "X" linkNode [2 8 10] scope INPUT_DATA machine 1 props { array { size "-1" } type { method SF_INHERITED_TYPE primitive SF_DOUBLE_TYPE isSigned 1 wordLength "16" } complexity SF_COMPLEX_INHERITED frame SF_FRAME_INHERITED } dataType "Inherit: Same as Simulink" } data { id 10 ssIdNumber 19 name "Y" linkNode [2 9 11] scope INPUT_DATA machine 1 props { array { size "-1" } type { method SF_INHERITED_TYPE primitive SF_DOUBLE_TYPE isSigned 1 wordLength "16" } complexity SF_COMPLEX_INHERITED frame SF_FRAME_INHERITED } dataType "Inherit: Same as Simulink" } data { id 11 ssIdNumber 11 name "Z" linkNode [2 10 12] scope INPUT_DATA machine 1 props { array { size "-1" } type { method SF_INHERITED_TYPE primitive SF_DOUBLE_TYPE isSigned 1 wordLength "16" } complexity SF_COMPLEX_INHERITED frame SF_FRAME_INHERITED } dataType "Inherit: Same as Simulink" } data { id 12 ssIdNumber 21 name "xyz" linkNode [2 11 13] scope OUTPUT_DATA machine 1 props { array { size "-1" } type { method SF_INHERITED_TYPE primitive SF_DOUBLE_TYPE isSigned 1 wordLength "16" } complexity SF_COMPLEX_INHERITED frame SF_FRAME_NO } dataType "Inherit: Same as Simulink" } data { id 13 ssIdNumber 20 name "xy" linkNode [2 12 0] scope OUTPUT_DATA machine 1 props { array { size "-1" } type { method SF_INHERITED_TYPE primitive SF_DOUBLE_TYPE isSigned 1 wordLength "16" } complexity SF_COMPLEX_INHERITED frame SF_FRAME_NO } dataType "Inherit: Same as Simulink" } instance { id 14 name "VV" machine 1 chart 2 } target { id 15 name "sfun" description "Default Simulink S-Function Target." machine 1 linkNode [1 0 16] } target { id 16 name "rtw" machine 1 linkNode [1 15 0] } }