| 1 |
V_b_Ib_ref |
Output | 6 x 1 |
double |
No |
| 2 |
qdot_ref |
Output | 8 x 1 |
double |
No |
| 3 |
activeTasks |
Output | 1 x 3 |
double |
No |
| 4 |
q |
Input | 8 x 1 |
double |
No |
| 5 |
pf_ref |
Input | 3 x 1 |
double |
No |
| 6 |
pr_ref |
Input | 3 x 1 |
double |
No |
| 7 |
g_joints_home |
Input | 4 x 4 x 10 |
double |
No |
| 8 |
T_I_f |
Input | 4 x 4 |
double |
No |
| 9 |
T_I_b |
Input | 4 x 4 |
double |
No |
| 10 |
T_I_r |
Input | 4 x 4 |
double |
No |
| 11 |
obstacleSurfacePoints |
Input | 3 x 3 |
double |
No |
| 12 |
CA_active |
Input | 1 x 1 |
double |
No |
| 13 |
modelParams |
Input | 1 x 1 |
struct |
- |
| 13.1 |
modelParams.num_joints |
Field | 1 x 1 |
double |
No |
| 13.2 |
modelParams.num_modules |
Field | 1 x 1 |
double |
No |
| 13.3 |
modelParams.num_thrusters |
Field | 1 x 1 |
double |
No |
| 13.4 |
modelParams.accel_grav |
Field | 1 x 1 |
double |
No |
| 13.5 |
modelParams.density_water |
Field | 1 x 1 |
double |
No |
| 13.6 |
modelParams.lengths |
Field | 9 x 1 |
double |
No |
| 13.7 |
modelParams.joint_tr |
Field | 9 x 3 |
double |
No |
| 13.8 |
modelParams.radius |
Field | 9 x 1 |
double |
No |
| 13.9 |
modelParams.volume |
Field | 9 x 1 |
double |
No |
| 13.10 |
modelParams.volume_tot |
Field | 1 x 1 |
double |
No |
| 13.11 |
modelParams.buoyancy_vector |
Field | 9 x 1 |
double |
No |
| 13.12 |
modelParams.mass |
Field | 9 x 1 |
double |
No |
| 13.13 |
modelParams.mass_tot |
Field | 1 x 1 |
double |
No |
| 13.14 |
modelParams.joint_ax |
Field | 8 x 1 |
char |
- |
| 13.15 |
modelParams.bodyTwists |
Field | 6 x 8 |
double |
No |
| 13.16 |
modelParams.i |
Field | 1 x 1 |
double |
No |
| 13.17 |
modelParams.q_min |
Field | 8 x 1 |
double |
No |
| 13.18 |
modelParams.q_max |
Field | 8 x 1 |
double |
No |
| 13.19 |
modelParams.module_cb |
Field | 9 x 3 |
double |
No |
| 13.20 |
modelParams.module_cm |
Field | 9 x 3 |
double |
No |
| 13.21 |
modelParams.momentOfInertia |
Field | 9 x 3 |
double |
No |
| 13.22 |
modelParams.addedMass |
Field | 9 x 6 |
double |
No |
| 13.23 |
modelParams.thruster_ax |
Field | 7 x 1 |
char |
- |
| 13.24 |
modelParams.thruster_moduleNumber |
Field | 1 x 7 |
double |
No |
| 13.25 |
modelParams.f_thr_max |
Field | 7 x 1 |
double |
No |
| 13.26 |
modelParams.thrusterRPMMapping |
Field | 400 x 2 |
double |
No |
| 13.27 |
modelParams.thruster_pos |
Field | 7 x 3 |
double |
No |
| 14 |
num_joints |
Local | 1 x 1 |
double |
No |
| 15 |
bodyTwists |
Local | 6 x 8 |
double |
No |
| 16 |
q_max |
Local | 8 x 1 |
double |
No |
| 17 |
q_min |
Local | 8 x 1 |
double |
No |
| 18 |
q_normalized |
Local | 8 x 1 |
double |
No |
| 19 |
alpha |
Local | 1 x 1 |
double |
No |
| 20 |
W_jointLimit |
Local | 8 x 1 |
double |
No |
| 21 |
base |
Local | 1 x 1 |
double |
No |
| 22 |
sf |
Local | 1 x 1 |
double |
No |
| 23 |
g_joints_home_f |
Local | 4 x 4 x 5 |
double |
No |
| 24 |
bodyTwists_f |
Local | 6 x 4 |
double |
No |
| 25 |
num_joints_f |
Local | 1 x 1 |
double |
No |
| 26 |
Jf |
Local | 6 x 10 |
double |
No |
| 27 |
eb |
Local | 1 x 1 |
double |
No |
| 28 |
num_joints_b |
Local | 1 x 1 |
double |
No |
| 29 |
g_joints_home_b |
Local | 4 x 4 x 5 |
double |
No |
| 30 |
i |
Local | 1 x 1 |
double |
No |
| 31 |
bodyTwists_b |
Local | 6 x 4 |
double |
No |
| 32 |
Jr |
Local | 6 x 10 |
double |
No |
| 33 |
Jb |
Local | 6 x 10 |
double |
No |