First commit of R2017b files

mathworks-robotics · Oct 15, 2019 · 17f9925 · 17f9925
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diff --git a/Dependencies/Images/BallFloorIcon.PNG b/Dependencies/Images/BallFloorIcon.PNG
diff --git a/Dependencies/Images/BallMask.PNG b/Dependencies/Images/BallMask.PNG
diff --git a/Dependencies/Images/CameraIcon.PNG b/Dependencies/Images/CameraIcon.PNG
diff --git a/Dependencies/Images/EnvironmentIcon.PNG b/Dependencies/Images/EnvironmentIcon.PNG
diff --git a/Dependencies/Images/EnvironmentWaypointsIcon.PNG b/Dependencies/Images/EnvironmentWaypointsIcon.PNG
diff --git a/Dependencies/Images/PredictionIcon.PNG b/Dependencies/Images/PredictionIcon.PNG
diff --git a/Dependencies/Images/RobotIcon.PNG b/Dependencies/Images/RobotIcon.PNG
diff --git a/Dependencies/Images/wayPointsIcon.PNG b/Dependencies/Images/wayPointsIcon.PNG
diff --git a/Libraries/CFL_Libs/Libraries/Contact_Forces_Lib.slx b/Libraries/CFL_Libs/Libraries/Contact_Forces_Lib.slx
diff --git a/Libraries/CFL_Libs/Libraries/Help/Box_to_Belt_Contact.m b/Libraries/CFL_Libs/Libraries/Help/Box_to_Belt_Contact.m
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+%% Box to Belt Contact Forces (2D)
+% 
+% This block models planar contact forces between a box and a conveyor
+% belt.  The conveyor belt moves at the speed specified by the input signal
+% in m/s.
+% 
+% This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
+%
+% Copyright 2014-2017 The MathWorks, Inc.
+
+
+
+%% 
+% 
+% <<Box_to_Belt_Help_IMAGE.png>>
+
+%% 
+%
+% Frames connected to ports:
+% 
+% # Located at center of box and belt
+% # Box and belt are in XY plane of frame
+% 
+% Output signal is a bus with intermediate calculations and total force.
+% 
+% 
diff --git a/Libraries/CFL_Libs/Libraries/Help/Box_to_Belt_DBox_IMAGE.png b/Libraries/CFL_Libs/Libraries/Help/Box_to_Belt_DBox_IMAGE.png
diff --git a/Libraries/CFL_Libs/Libraries/Help/Box_to_Box_Contact.m b/Libraries/CFL_Libs/Libraries/Help/Box_to_Box_Contact.m
@@ -0,0 +1,24 @@
+%% Box to Box Contact Force (2D)
+% 
+% This subsystem models planar contact forces between two boxes. 
+% 
+% This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
+%
+% Copyright 2014-2017 The MathWorks, Inc.
+
+
+
+%% 
+% 
+% <<Box_to_Box_Contact_Forces_Help_IMAGE.png>>
+
+%% 
+%
+% Frames connected to ports:
+% 
+% # Located at center of boxes
+% # Box is in XY plane of frame
+% 
+% Output signal is a bus with intermediate calculations and total force.
+% 
+% 
diff --git a/Libraries/CFL_Libs/Libraries/Help/Box_to_Box_Contact_Forces_BoxB_Corners.m b/Libraries/CFL_Libs/Libraries/Help/Box_to_Box_Contact_Forces_BoxB_Corners.m
@@ -0,0 +1,25 @@
+%% Box to Box Contact Force, Base Corners to Follower Faces (2D)
+% 
+% This subsystem models planar contact forces the corners of the Base
+% box and the faces of the Follower Box. It is used within the <matlab:web('Box_to_Box_Contact.html'); Box to Box Contact Force>
+% 
+% This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
+%
+% Copyright 2014-2017 The MathWorks, Inc.
+
+
+
+%% 
+% 
+% <<Box_to_Box_Contact_Forces_BoxB_Corners_Help_IMAGE.png>>
+
+%% 
+%
+% Frames connected to ports:
+% 
+% # Located at center of boxes
+% # Box is in XY plane of frame
+% 
+% Output signal is a bus with intermediate calculations and total force.
+% 
+% 
diff --git a/Libraries/CFL_Libs/Libraries/Help/Box_to_Box_Contact_Forces_BoxF_Corners.m b/Libraries/CFL_Libs/Libraries/Help/Box_to_Box_Contact_Forces_BoxF_Corners.m
@@ -0,0 +1,25 @@
+%% Box to Box Contact Force, Follower Corners to Base Faces (2D)
+% 
+% This subsystem models planar contact forces the corners of the Follower
+% box and the faces of the Base Box. It is used within the <matlab:web('Box_to_Box_Contact.html'); Box to Box Contact Force>
+% 
+% This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
+%
+% Copyright 2014-2017 The MathWorks, Inc.
+
+
+
+%% 
+% 
+% <<Box_to_Box_Contact_Forces_BoxF_Corners_Help_IMAGE.png>>
+
+%% 
+%
+% Frames connected to ports:
+% 
+% # Located at center of boxes
+% # Box is in XY plane of frame
+% 
+% Output signal is a bus with intermediate calculations and total force.
+% 
+% 
diff --git a/Libraries/CFL_Libs/Libraries/Help/Box_to_Box_Dbox_IMAGE.png b/Libraries/CFL_Libs/Libraries/Help/Box_to_Box_Dbox_IMAGE.png
diff --git a/Libraries/CFL_Libs/Libraries/Help/Circle_to_Circle_Contact.m b/Libraries/CFL_Libs/Libraries/Help/Circle_to_Circle_Contact.m
@@ -0,0 +1,25 @@
+%% Circle to Circle Contact Force (2D)
+% 
+% This block implements a 2D contact force between two circles. It acts to
+% repel frames CirB and CirF.
+% 
+% This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
+%
+% Copyright 2014-2017 The MathWorks, Inc.
+
+
+
+%% 
+% 
+% <<Circle_to_Circle_Help_IMAGE.png>>
+
+%% 
+%
+% Frames connected to ports: 
+% 
+% # Located at center of circle 
+% # Circle is in XY plane of frame 
+% # Active range: counter-clockwise from -x axis of CirB
+% 
+% Output signal is a bus with intermediate calculations and total force.
+% 
diff --git a/Libraries/CFL_Libs/Libraries/Help/Circle_to_Circle_DBox_IMAGE.png b/Libraries/CFL_Libs/Libraries/Help/Circle_to_Circle_DBox_IMAGE.png
diff --git a/Libraries/CFL_Libs/Libraries/Help/Circle_to_Finite_Line_Contact.m b/Libraries/CFL_Libs/Libraries/Help/Circle_to_Finite_Line_Contact.m
@@ -0,0 +1,29 @@
+%% Circle to Finite Line Contact Force (2D)
+% 
+% This block implements a 2D contact force between a circle and a finite
+% line.  The force is active above and below the line.
+% 
+% This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
+%
+% Copyright 2014-2017 The MathWorks, Inc.
+
+
+
+%% 
+% 
+% <<Circle_to_Finite_Line_Help_IMAGE.png>>
+
+%% 
+%
+% Frame connected to LinB port: 
+% 
+% # Located at midpoint of line. 
+% # X-axis is normal to the finite line. 
+% # Y-axis is along the finite line.
+% 
+% Frame connected to the CirF port: 
+%
+% # Z-axis aligned with frame attached to LinB port.
+% 
+% Output signal is a bus with intermediate calculations and total force.
+% 
diff --git a/Libraries/CFL_Libs/Libraries/Help/Circle_to_Finite_Line_DBox_IMAGE.png b/Libraries/CFL_Libs/Libraries/Help/Circle_to_Finite_Line_DBox_IMAGE.png
diff --git a/Libraries/CFL_Libs/Libraries/Help/Circle_to_Ring_Contact.m b/Libraries/CFL_Libs/Libraries/Help/Circle_to_Ring_Contact.m
@@ -0,0 +1,26 @@
+%% Circle to Ring Contact Force (2D)
+% 
+% This block implements a 2D contact force between a circle and a ring.
+% The force is active on the outside and the inside of the ring.
+% 
+% This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
+%
+% Copyright 2014-2017 The MathWorks, Inc.
+
+
+
+%% 
+% 
+% <<Circle_to_Ring_Help_IMAGE.png>>
+
+%% 
+%
+% Frames connected to ports:
+% 
+% # Located at center of circle/ring
+% # Circle/Ring is in XY plane of frame
+% # Active range: counter-clockwise from -x axis of RinB
+% 
+% Output signal is a bus with intermediate calculations and total force.
+% 
+% 
diff --git a/Libraries/CFL_Libs/Libraries/Help/Circle_to_Ring_DBox_IMAGE.png b/Libraries/CFL_Libs/Libraries/Help/Circle_to_Ring_DBox_IMAGE.png
diff --git a/Libraries/CFL_Libs/Libraries/Help/Contact_Forces_Library_Use.m b/Libraries/CFL_Libs/Libraries/Help/Contact_Forces_Library_Use.m
@@ -0,0 +1,16 @@
+%% Using the Simscape Multibody Contact Forces Library
+% 
+% Copyright 2014-2017 The MathWorks, Inc.
+
+
+
+%% 
+% 
+% <<Contact_Forces_Library_Use_Help1_IMAGE.png>>
+
+%% 
+% 
+% <<Contact_Forces_Library_Use_Help2_IMAGE.png>>
+
+%% 
+%
diff --git a/Libraries/CFL_Libs/Libraries/Help/Contact_Forces_Library_Use_Help1_IMAGE.png b/Libraries/CFL_Libs/Libraries/Help/Contact_Forces_Library_Use_Help1_IMAGE.png
diff --git a/Libraries/CFL_Libs/Libraries/Help/Contact_Forces_Library_Use_Help2_IMAGE.png b/Libraries/CFL_Libs/Libraries/Help/Contact_Forces_Library_Use_Help2_IMAGE.png
diff --git a/Libraries/CFL_Libs/Libraries/Help/Face_to_Plane_Contact.m b/Libraries/CFL_Libs/Libraries/Help/Face_to_Plane_Contact.m
@@ -0,0 +1,33 @@
+%% Face to Plane Contact Force (3D)
+% 
+% This subsystem implements a contact force between a plane and a square
+% face. The plane is assumed significantly larger than the face such that
+% the edges will never intersect.  The force is active above and below the
+% plane and face.
+%
+% This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
+%
+% Copyright 2014-2017 The MathWorks, Inc.
+
+
+
+%% 
+% 
+% <<Face_to_Plane_Help_IMAGE.png>>
+
+%% 
+%
+% 
+% Frame connected to PlaB port:
+%
+% # Located at midpoint of plane (x, y, and z).
+% # Z-axis is normal to the surfaces where force is active. 
+% 
+% Frame connected to the FacF port:
+%
+% # Located at midpoint of box (x, y, and z).
+% # Z-axis is normal to the surfaces where force is active. 
+% 
+% Output signal is a bus with intermediate calculations and total force.
+% 
+% 
diff --git a/Libraries/CFL_Libs/Libraries/Help/Face_to_Plane_DBox_IMAGE.png b/Libraries/CFL_Libs/Libraries/Help/Face_to_Plane_DBox_IMAGE.png
diff --git a/Libraries/CFL_Libs/Libraries/Help/Force_Laws.m b/Libraries/CFL_Libs/Libraries/Help/Force_Laws.m
@@ -0,0 +1,23 @@
+%% Contact Force Laws
+% 
+% The diagrams and text below describe the configurable force laws in the
+% <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody
+% Contact Forces Library>.  It applies for 2D and 3D contact forces.
+%
+% Copyright 2014-2017 The MathWorks, Inc.
+
+
+
+%% 
+% 
+% <<Force_Laws_Help_IMAGE.png>>
+
+%% 
+%
+% You can also create your own customized force law:
+% 
+% Add your own in Simulink: <matlab:load_system('Contact_Forces_Lib');open_system('Contact_Forces_Lib/Force%20Law/Custom','force'); Edit Custom Force Law>
+%
+% See also <matlab:web('Friction_Laws.html'); friction law documentation>
+% 
+% 
diff --git a/Libraries/CFL_Libs/Libraries/Help/Friction_Laws.m b/Libraries/CFL_Libs/Libraries/Help/Friction_Laws.m
@@ -0,0 +1,16 @@
+%% Friction Force Laws
+% 
+% The diagrams and text below describe the configurable friction force laws in the
+% <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody
+% Contact Forces Library>.  It applies for 2D and 3D contact forces.
+%
+% Copyright 2014-2017 The MathWorks, Inc.
+
+
+
+%% 
+% 
+% <<Friction_Laws_Help_IMAGE.png>>
+
+%% 
+%
diff --git a/Libraries/CFL_Libs/Libraries/Help/Sphere_in_Sphere_Contact.m b/Libraries/CFL_Libs/Libraries/Help/Sphere_in_Sphere_Contact.m
@@ -0,0 +1,26 @@
+%% Sphere in Sphere Contact Force (3D)
+% 
+% This block implements a contact force between two spheres.  The force
+% acts to keep distance from frame SphB to SphF less than (inner radius
+% SphB - radius SphF).
+%
+% This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
+%
+% Copyright 2014-2017 The MathWorks, Inc.
+
+
+
+%% 
+% 
+% <<Sphere_in_Sphere_Help_IMAGE.png>>
+
+%% 
+%
+% Frames connected to ports:
+%
+% # Located at center of sphere
+% # Orientation does not matter
+% 
+% Output signal is a bus with intermediate calculations and total force.
+% 
+% 
diff --git a/Libraries/CFL_Libs/Libraries/Help/Sphere_in_Sphere_DBox_IMAGE.png b/Libraries/CFL_Libs/Libraries/Help/Sphere_in_Sphere_DBox_IMAGE.png
diff --git a/Libraries/CFL_Libs/Libraries/Help/Sphere_to_Cone_Contact.m b/Libraries/CFL_Libs/Libraries/Help/Sphere_to_Cone_Contact.m
@@ -0,0 +1,32 @@
+%% Sphere to Cone Contact Force (3D)
+% 
+% This block implements a contact force between a sphere and a cone. The
+% force is active outside and inside the cone.
+%
+% This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
+%
+% Copyright 2014-2017 The MathWorks, Inc.
+
+
+
+%% 
+% 
+% <<Sphere_to_Cone_Help_IMAGE.png>>
+
+%% 
+%
+% 
+% Frame connected to ConB port:
+% 
+% # Located at widest end of the cone
+% # Z-axis is aligned with the cone axis
+% # Active range: counter-clockwise from -x axis of ConB
+% 
+% Frame connected to SphF port:
+% 
+% # Located at center of sphere
+% # Orientation does not matter
+% 
+% Output signal is a bus with intermediate calculations and total force.
+% 
+% 
diff --git a/Libraries/CFL_Libs/Libraries/Help/Sphere_to_Cone_DBox_IMAGE.png b/Libraries/CFL_Libs/Libraries/Help/Sphere_to_Cone_DBox_IMAGE.png
diff --git a/Libraries/CFL_Libs/Libraries/Help/Sphere_to_Plane_Contact.m b/Libraries/CFL_Libs/Libraries/Help/Sphere_to_Plane_Contact.m
@@ -0,0 +1,30 @@
+%% Sphere to Plane Contact Force (3D)
+% 
+% This block implements a contact force between a sphere and a plane.  The
+% force is active above and below the plane.
+% 
+% This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
+%
+% Copyright 2014-2017 The MathWorks, Inc.
+
+
+
+%% 
+% 
+% <<Sphere_to_Plane_Help_IMAGE.png>>
+
+%% 
+%
+% Frame connected to PlaB port:
+%
+% # Located at midpoint of plane (x, y, and z).
+% # Z-axis is normal to the surfaces where force is active. 
+% 
+% Frame connected to the SphF port:
+% 
+% # Located at center of sphere.
+% # Orientation does not matter.
+% 
+% Output signal is a bus with intermediate calculations and total force.
+% 
+% 
diff --git a/Libraries/CFL_Libs/Libraries/Help/Sphere_to_Plane_DBox_IMAGE.png b/Libraries/CFL_Libs/Libraries/Help/Sphere_to_Plane_DBox_IMAGE.png
diff --git a/Libraries/CFL_Libs/Libraries/Help/Sphere_to_Sphere_Contact.m b/Libraries/CFL_Libs/Libraries/Help/Sphere_to_Sphere_Contact.m
@@ -0,0 +1,23 @@
+%% Sphere to Sphere Contact Force (3D)
+% 
+% This subsystem implements a contact force between two spheres. It acts to repel frames SphB and SphF.
+% 
+% This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
+%
+% Copyright 2014-2017 The MathWorks, Inc.
+
+
+
+%% 
+% 
+% <<Sphere_to_Sphere_Help_IMAGE.png>>
+
+%% 
+%
+% Frames connected to ports:
+%
+% # Located at center of sphere
+% # Orientation does not matter
+% 
+% Output signal is a bus with intermediate calculations and total force.
+% 
diff --git a/Libraries/CFL_Libs/Libraries/Help/Sphere_to_Sphere_DBox_IMAGE.png b/Libraries/CFL_Libs/Libraries/Help/Sphere_to_Sphere_DBox_IMAGE.png