1 V_b_Ib_ref Output6 x 1 double No
2 qdot_ref Output8 x 1 double No
3 activeTasks Output1 x 3 double No
4 T_I_f Input4 x 4 double No
5 T_I_b Input4 x 4 double No
6 T_I_r Input4 x 4 double No
7 obstacleSurfacePoints Input3 x 3 double No
8 Jf Input6 x 10 double No
9 Jb Input6 x 10 double No
10 Jr Input6 x 10 double No
11 p_I_f Local3 x 1 double No
12 p_I_b Local3 x 1 double No
13 p_I_r Local3 x 1 double No
14 R_I_f Local3 x 3 double No
15 R_I_b Local3 x 3 double No
16 R_I_r Local3 x 3 double No
17 tasks Persistent1 x 3 cell -
17.1 tasks{:} Element1 x 1 NormTask -
17.1.1 Inherited coder.internal.matlabCodegenHandle
17.1.1.1 matlabCodegenIsDeleted Property1 x 1 logical -
17.1.2 Active Property1 x 1 double No
17.1.3 Gain Property1 x 1 double No
17.1.4 Weights Property1 x 10 double No
17.1.5 SetBased Property1 x 1 double No
17.1.6 J Property1 x 10 double No
17.1.7 J_inv Property10 x 1 double No
17.1.8 Sigma_des Property1 x 1 double No
17.1.9 Sigma_actual Property1 x 1 double No
17.1.10 Sigma_tilde Property1 x 1 double No
17.1.11 Sigma_ref_dot Property1 x 1 double No
17.1.12 Sigma_des_dot Property1 x 1 double No
18 CA_r Persistent1 x 1 NormTask -
18.1 Inherited coder.internal.matlabCodegenHandle
18.1.1 matlabCodegenIsDeleted Property1 x 1 logical -
18.2 Active Property1 x 1 double No
18.3 Gain Property1 x 1 double No
18.4 Weights Property1 x 10 double No
18.5 SetBased Property1 x 1 double No
18.6 J Property1 x 4 double No
18.7 J_inv Property4 x 1 double No
18.8 Sigma_des Property1 x 1 double No
18.9 Sigma_actual Property1 x 1 double No
18.10 Sigma_tilde Property1 x 1 double No
18.11 Sigma_ref_dot Property1 x 1 double No
18.12 Sigma_des_dot Property1 x 1 double No
19 Position_r Persistent1 x 1 NormTask -
19.1 Inherited coder.internal.matlabCodegenHandle
19.1.1 matlabCodegenIsDeleted Property1 x 1 logical -
19.2 Active Property1 x 1 double No
19.3 Gain Property1 x 1 double No
19.4 Weights Property1 x 10 double No
19.5 SetBased Property1 x 1 double No
19.6 J Property1 x 10 double No
19.7 J_inv Property10 x 1 double No
19.8 Sigma_des Property1 x 1 double No
19.9 Sigma_actual Property1 x 1 double No
19.10 Sigma_tilde Property1 x 1 double No
19.11 Sigma_ref_dot Property1 x 1 double No
19.12 Sigma_des_dot Property1 x 1 double No
20 k_CA Local1 x 1 double No
21 k_pos Local1 x 1 double No
22 distance_CA Local1 x 1 double No
23 distance_pos Local1 x 1 double No
24 W Local1 x 10 double No
25 CA_f Local1 x 1 NormTask -
25.1 Inherited coder.internal.matlabCodegenHandle
25.1.1 matlabCodegenIsDeleted Property1 x 1 logical -
25.2 Active Property1 x 1 double No
25.3 Gain Property1 x 1 double No
25.4 Weights Property1 x 10 double No
25.5 SetBased Property1 x 1 double No
25.6 J Property1 x 10 double No
25.7 J_inv Property10 x 1 double No
25.8 Sigma_des Property1 x 1 double No
25.9 Sigma_actual Property1 x 1 double No
25.10 Sigma_tilde Property1 x 1 double No
25.11 Sigma_ref_dot Property1 x 1 double No
25.12 Sigma_des_dot Property1 x 1 double No
26 CA_b Local1 x 1 NormTask -
26.1 Inherited coder.internal.matlabCodegenHandle
26.1.1 matlabCodegenIsDeleted Property1 x 1 logical -
26.2 Active Property1 x 1 double No
26.3 Gain Property1 x 1 double No
26.4 Weights Property1 x 10 double No
26.5 SetBased Property1 x 1 double No
26.6 J Property1 x 10 double No
26.7 J_inv Property10 x 1 double No
26.8 Sigma_des Property1 x 1 double No
26.9 Sigma_actual Property1 x 1 double No
26.10 Sigma_tilde Property1 x 1 double No
26.11 Sigma_ref_dot Property1 x 1 double No
26.12 Sigma_des_dot Property1 x 1 double No
27 Position_f Local1 x 1 NormTask -
27.1 Inherited coder.internal.matlabCodegenHandle
27.1.1 matlabCodegenIsDeleted Property1 x 1 logical -
27.2 Active Property1 x 1 double No
27.3 Gain Property1 x 1 double No
27.4 Weights Property1 x 10 double No
27.5 SetBased Property1 x 1 double No
27.6 J Property1 x 10 double No
27.7 J_inv Property10 x 1 double No
27.8 Sigma_des Property1 x 1 double No
27.9 Sigma_actual Property1 x 1 double No
27.10 Sigma_tilde Property1 x 1 double No
27.11 Sigma_ref_dot Property1 x 1 double No
27.12 Sigma_des_dot Property1 x 1 double No
28 Position_b Local1 x 1 NormTask -
28.1 Inherited coder.internal.matlabCodegenHandle
28.1.1 matlabCodegenIsDeleted Property1 x 1 logical -
28.2 Active Property1 x 1 double No
28.3 Gain Property1 x 1 double No
28.4 Weights Property1 x 10 double No
28.5 SetBased Property1 x 1 double No
28.6 Sigma_des Property1 x 1 double No
28.7 Sigma_des_dot Property1 x 1 double No
29 dim Local1 x 1 double No
30 p_attract Local3 x 1 double No
31 Jf_pos Local3 x 10 double No
32 Jb_pos Local3 x 10 double No
33 Jr_pos Local3 x 10 double No
34 Jr_pos_joints Local3 x 4 double No
35 p_obst_f Local3 x 1 double No
36 p_obst_b Local3 x 1 double No
37 p_obst_r Local3 x 1 double No
38 p_attract_f Local3 x 1 double No
39 p_attract_b Local3 x 1 double No
40 p_attract_r Local3 x 1 double No
41 Q Local10 x 1 double No
42 zeta_ref Local10 x 1 double No
43 qr Local:? x 1 double No