| 1 |
g_If |
Output | 4 x 4 |
double |
No |
| 2 |
R_If |
Output | 3 x 3 |
double |
No |
| 3 |
eta_f |
Output | 6 x 1 |
double |
No |
| 4 |
g_Ib |
Output | 4 x 4 |
double |
No |
| 5 |
R_Ib |
Output | 3 x 3 |
double |
No |
| 6 |
eta_b |
Output | 6 x 1 |
double |
No |
| 7 |
q |
Output | 8 x 1 |
double |
No |
| 8 |
g_joints_home |
Output | 4 x 4 x 9 |
double |
No |
| 9 |
g_moduleCM |
Output | 4 x 4 x 9 |
double |
No |
| 10 |
g_thrusters |
Output | 4 x 4 x 7 |
double |
No |
| 11 |
q1 |
Input | 5 x 1 |
double |
No |
| 12 |
q2 |
Input | 5 x 1 |
double |
No |
| 13 |
eta_marker |
Input | 6 x 1 |
double |
No |
| 14 |
g_marker2front |
Input | 4 x 4 |
double |
No |
| 15 |
controlCenterLink |
Input | 1 x 1 |
double |
No |
| 16 |
modelParams |
Local | 1 x 1 |
struct |
- |
| 16.1 |
modelParams.num_joints |
Field | 1 x 1 |
double |
No |
| 16.2 |
modelParams.num_modules |
Field | 1 x 1 |
double |
No |
| 16.3 |
modelParams.num_thrusters |
Field | 1 x 1 |
double |
No |
| 16.4 |
modelParams.g_marker2front |
Field | 4 x 4 |
double |
No |
| 16.5 |
modelParams.accel_grav |
Field | 1 x 1 |
double |
No |
| 16.6 |
modelParams.density_water |
Field | 1 x 1 |
double |
No |
| 16.7 |
modelParams.lengths |
Field | 9 x 1 |
double |
No |
| 16.8 |
modelParams.joint_tr |
Field | 9 x 3 |
double |
No |
| 16.9 |
modelParams.radius |
Field | 9 x 1 |
double |
No |
| 16.10 |
modelParams.volume |
Field | 9 x 1 |
double |
No |
| 16.11 |
modelParams.volume_tot |
Field | 1 x 1 |
double |
No |
| 16.12 |
modelParams.buoyancy_vector |
Field | 9 x 1 |
double |
No |
| 16.13 |
modelParams.mass |
Field | 9 x 1 |
double |
No |
| 16.14 |
modelParams.mass_tot |
Field | 1 x 1 |
double |
No |
| 16.15 |
modelParams.joint_ax |
Field | 8 x 1 |
char |
- |
| 16.16 |
modelParams.bodyTwists |
Field | 8 x 6 |
double |
No |
| 16.17 |
modelParams.i |
Field | 1 x 1 |
double |
No |
| 16.18 |
modelParams.module_cb |
Field | 9 x 3 |
double |
No |
| 16.19 |
modelParams.p_cm2cb |
Field | 9 x 3 |
double |
No |
| 16.20 |
modelParams.module_cm |
Field | 9 x 3 |
double |
No |
| 16.21 |
modelParams.momentOfInertia |
Field | 9 x 3 |
double |
No |
| 16.22 |
modelParams.thickness |
Field | 1 x 1 |
double |
No |
| 16.23 |
modelParams.addedMass |
Field | 9 x 6 |
double |
No |
| 16.24 |
modelParams.DOF |
Field | 1 x 6 |
double |
No |
| 16.25 |
modelParams.thruster_ax |
Field | 7 x 1 |
char |
- |
| 16.26 |
modelParams.thruster_moduleNumber |
Field | 1 x 7 |
double |
No |
| 16.27 |
modelParams.f_thr_max |
Field | 7 x 1 |
double |
No |
| 16.28 |
modelParams.cmd_max |
Field | 6 x 1 |
double |
No |
| 16.29 |
modelParams.thruster_pos |
Field | 7 x 3 |
double |
No |
| 17 |
num_joints |
Local | 1 x 1 |
double |
No |
| 18 |
num_modules |
Local | 1 x 1 |
double |
No |
| 19 |
num_thrusters |
Local | 1 x 1 |
double |
No |
| 20 |
module_cm |
Local | 9 x 3 |
double |
No |
| 21 |
joint_tr |
Local | 9 x 3 |
double |
No |
| 22 |
joint_ax |
Local | 8 x 1 |
char |
- |
| 23 |
thruster_ax |
Local | 7 x 1 |
char |
- |
| 24 |
thruster_pos |
Local | 7 x 3 |
double |
No |
| 25 |
thruster_moduleNumber |
Local | 1 x 7 |
double |
No |
| 26 |
R_marker |
Local | 3 x 3 |
double |
No |
| 27 |
g_marker |
Local | 4 x 4 |
double |
No |
| 28 |
p_If_I |
Local | 3 x 1 |
double |
No |
| 29 |
g_joints |
Local | 4 x 4 x 8 |
double |
No |
| 30 |
g_front2back |
Local | 4 x 4 |
double |
No |
| 31 |
g_back2center |
Local | 4 x 4 |
double |
No |
| 32 |
g_center2back |
Local | 4 x 4 |
double |
No |
| 33 |
i |
Local | 1 x 1 |
double |
No |
| 34 |
p_Ib_I |
Local | 3 x 1 |
double |
No |