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 q Input8 x 1 double No
5 pf_ref Input3 x 1 double No
6 pr_ref Input3 x 1 double No
7 g_joints_home Input4 x 4 x 10 double No
8 T_I_f Input4 x 4 double No
9 T_I_b Input4 x 4 double No
10 T_I_r Input4 x 4 double No
11 obstacleSurfacePoints Input3 x 3 double No
12 CA_active Input1 x 1 double No
13 modelParams Input1 x 1 struct -
13.1 modelParams.num_joints Field1 x 1 double No
13.2 modelParams.num_modules Field1 x 1 double No
13.3 modelParams.num_thrusters Field1 x 1 double No
13.4 modelParams.accel_grav Field1 x 1 double No
13.5 modelParams.density_water Field1 x 1 double No
13.6 modelParams.lengths Field9 x 1 double No
13.7 modelParams.joint_tr Field9 x 3 double No
13.8 modelParams.radius Field9 x 1 double No
13.9 modelParams.volume Field9 x 1 double No
13.10 modelParams.volume_tot Field1 x 1 double No
13.11 modelParams.buoyancy_vector Field9 x 1 double No
13.12 modelParams.mass Field9 x 1 double No
13.13 modelParams.mass_tot Field1 x 1 double No
13.14 modelParams.joint_ax Field8 x 1 char -
13.15 modelParams.bodyTwists Field6 x 8 double No
13.16 modelParams.i Field1 x 1 double No
13.17 modelParams.q_min Field8 x 1 double No
13.18 modelParams.q_max Field8 x 1 double No
13.19 modelParams.module_cb Field9 x 3 double No
13.20 modelParams.module_cm Field9 x 3 double No
13.21 modelParams.momentOfInertia Field9 x 3 double No
13.22 modelParams.addedMass Field9 x 6 double No
13.23 modelParams.thruster_ax Field7 x 1 char -
13.24 modelParams.thruster_moduleNumber Field1 x 7 double No
13.25 modelParams.f_thr_max Field7 x 1 double No
13.26 modelParams.thrusterRPMMapping Field400 x 2 double No
13.27 modelParams.thruster_pos Field7 x 3 double No
14 num_joints Local1 x 1 double No
15 bodyTwists Local6 x 8 double No
16 q_max Local8 x 1 double No
17 q_min Local8 x 1 double No
18 q_normalized Local8 x 1 double No
19 alpha Local1 x 1 double No
20 W_jointLimit Local8 x 1 double No
21 base Local1 x 1 double No
22 sf Local1 x 1 double No
23 g_joints_home_f Local4 x 4 x 5 double No
24 bodyTwists_f Local6 x 4 double No
25 num_joints_f Local1 x 1 double No
26 Jf Local6 x 10 double No
27 eb Local1 x 1 double No
28 num_joints_b Local1 x 1 double No
29 g_joints_home_b Local4 x 4 x 5 double No
30 i Local1 x 1 double No
31 bodyTwists_b Local6 x 4 double No
32 Jr Local6 x 10 double No
33 Jb Local6 x 10 double No