diff --git a/CHANGELOG.md b/CHANGELOG.md index a5d4aba4..050eea4a 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -5,11 +5,15 @@ The format of this document is based on [Keep a Changelog](https://keepachangelo ## [Unreleased] -## [5.4.1] - 2021-05-xx +## [5.4.1] - 2021-05-28 + +### Changed +- The `WBToolboxLibrary.slx` file is now encoded in R2016b slx format, so at least MATLAB R2016b is required to use it. ### Fixed - Fixed bug that caused Simulink models that used OSQP block to hang indefinitely in "Initializing" or "Compiling" phase (https://github.com/robotology/wb-toolbox/pull/220). - Disable verbose output option in OSQP block (https://github.com/robotology/wb-toolbox/pull/220). +- Fixed problem introduced in 5.4.0 that prevented the `WholeBodyToolbox` library to appear correctly in the Simulink library browser on some MATLAB versions and on some Operating Systems (spotted on MATLAB R2020b with Ubuntu 20.04) (https://github.com/robotology/wb-toolbox/issues/219, https://github.com/robotology/wb-toolbox/pull/220). ## [5.4.0] - 2021-05-24 diff --git a/CMakeLists.txt b/CMakeLists.txt index 02e7f66f..462298f9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -3,7 +3,7 @@ # GNU Lesser General Public License v2.1 or any later version. cmake_minimum_required(VERSION 3.5) -project(WB-Toolbox LANGUAGES CXX VERSION 5.4.0) +project(WB-Toolbox LANGUAGES CXX VERSION 5.4.1) if(WBT_BUILD_DOCS) add_subdirectory(doc) diff --git a/matlab/export_library.m b/matlab/export_library.m index 2e36e218..756d27d3 100644 --- a/matlab/export_library.m +++ b/matlab/export_library.m @@ -2,12 +2,7 @@ % This software may be modified and distributed under the terms of the % GNU Lesser General Public License v2.1 or any later version. -fprintf('\nWhole Body toolbox exporting library to multiple versions\n'); - -if (verLessThan('matlab', '8.4')) - error('This script should be launched with a MATLAB version >= than 2014b'); - quit; -end +fprintf('\nWhole Body toolbox exporting library to old Simulink version\n'); addpath(genpath('library')); libraryName = 'WBToolboxLibrary_repository'; @@ -26,8 +21,8 @@ % Export the library. It must be in slx otherwise it will not show up in % the Simulink Library browser. - fprintf('\nExporting for 2014b\n'); - save_system(libraryName, 'WBToolboxLibrary', 'ExportToVersion', 'R2014B_SLX'); + fprintf('\nExporting for 2016b\n'); + save_system(libraryName, 'WBToolboxLibrary', 'ExportToVersion', 'R2016B_SLX'); movefile('WBToolboxLibrary.slx', 'library/exported/WBToolboxLibrary.slx'); % Unload the library diff --git a/matlab/library/WBToolboxLibrary_repository.mdl b/matlab/library/WBToolboxLibrary_repository.mdl index 92a436b3..b529e284 100644 --- a/matlab/library/WBToolboxLibrary_repository.mdl +++ b/matlab/library/WBToolboxLibrary_repository.mdl @@ -1,13 +1,13 @@ Library { Name "WBToolboxLibrary_repository" - Version 10.3 + Version 10.2 SavedCharacterEncoding "UTF-8" - ModelUUID "ab3bc634-112e-4ce3-b3d3-90e66ca92abb" + ModelUUID "2df547a6-2710-4713-8771-1d8373118e68" + SLCCPlugin "on" LogicAnalyzerPlugin "on" + DiagnosticSuppressor "on" WebScopes_FoundationPlugin "on" - SLCCPlugin "on" slcheck_filter_plugin "on" - DiagnosticSuppressor "on" AnimationPlugin "on" NotesPlugin "on" LibraryType "BlockLibrary" @@ -17,7 +17,7 @@ Library { DisableAllScopes off FPTRunName "Run 1" MaxMDLFileLineLength 120 - LastSavedArchitecture "win64" + LastSavedArchitecture "glnxa64" Object { $PropName "BdWindowsInfo" $ObjectID 1 @@ -27,7 +27,7 @@ Library { $ObjectID 2 $ClassName "Simulink.WindowInfo" IsActive [1] - Location [-6.0, 0.0, 781.0, 830.0] + Location [0.0, 25.0, 1920.0, 1055.0] Object { $PropName "ModelBrowserInfo" $ObjectID 3 @@ -54,10 +54,10 @@ Library { IsTabbed [1] ViewObjType "SimulinkTopLevel" LoadSaveID "0" - Extents [913.0, 744.0] + Extents [1882.0, 920.0] ZoomFactor [2.0] Offset [-51.647344237659695, -39.161038908920773] - SceneRectInView [-51.647344237659695, -39.161038908920773, 365.2, 297.6] + SceneRectInView [-51.647344237659695, -39.161038908920773, 941.0, 460.0] } Object { $ObjectID 6 @@ -68,7 +68,7 @@ Library { Extents [913.0, 744.0] ZoomFactor [2.0] Offset [-184.68563869352414, -164.64890379313098] - SceneRectInView [-184.68563869352414, -164.64890379313098, 365.2, 297.6] + SceneRectInView [-184.68563869352414, -164.64890379313098, 456.5, 372.0] } Object { $ObjectID 7 @@ -78,8 +78,8 @@ Library { LoadSaveID "192" Extents [913.0, 744.0] ZoomFactor [1.5] - Offset [371.69049024359208, -20.02193304701251] - SceneRectInView [371.69049024359208, -20.02193304701251, 486.93333333333334, 396.8] + Offset [371.69049024359214, -20.02193304701251] + SceneRectInView [371.69049024359214, -20.02193304701251, 608.66666666666663, 496.0] } Object { $ObjectID 8 @@ -89,8 +89,8 @@ Library { LoadSaveID "202" Extents [1920.0, 1080.0] ZoomFactor [2.4606371641733422] - Offset [213.61276834817869, 99.508993480891093] - SceneRectInView [213.61276834817869, 99.508993480891093, 624.2285625707126, 351.12856644602584] + Offset [213.61276834817869, 99.508993480891121] + SceneRectInView [213.61276834817869, 99.508993480891121, 780.28570321339078, 438.9107080575323] } Object { $ObjectID 9 @@ -101,7 +101,7 @@ Library { Extents [1920.0, 1080.0] ZoomFactor [4.0] Offset [235.1044081864668, 52.222402871604459] - SceneRectInView [235.1044081864668, 52.222402871604459, 384.0, 216.0] + SceneRectInView [235.1044081864668, 52.222402871604459, 480.0, 270.0] } Object { $ObjectID 10 @@ -112,7 +112,7 @@ Library { Extents [1875.0, 754.0] ZoomFactor [6.2999999999999989] Offset [-19.500372023809547, -9.9920634920635081] - SceneRectInView [-19.500372023809547, -9.9920634920635081, 238.09523809523816, 95.746031746031761] + SceneRectInView [-19.500372023809547, -9.9920634920635081, 297.61904761904765, 119.6825396825397] } Object { $ObjectID 11 @@ -123,7 +123,7 @@ Library { Extents [1875.0, 754.0] ZoomFactor [5.95] Offset [-20.290375525210067, -14.021008403361336] - SceneRectInView [-20.290375525210067, -14.021008403361336, 252.10084033613447, 101.3781512605042] + SceneRectInView [-20.290375525210067, -14.021008403361336, 315.12605042016804, 126.72268907563024] } Object { $ObjectID 12 @@ -134,7 +134,7 @@ Library { Extents [1875.0, 754.0] ZoomFactor [3.0] Offset [201.78631633871396, 105.24564709323813] - SceneRectInView [201.78631633871396, 105.24564709323813, 500.0, 201.06666666666666] + SceneRectInView [201.78631633871396, 105.24564709323813, 625.0, 251.33333333333334] } Object { $ObjectID 13 @@ -145,7 +145,7 @@ Library { Extents [1875.0, 754.0] ZoomFactor [6.0] Offset [252.44396551724139, 145.16666666666663] - SceneRectInView [252.44396551724139, 145.16666666666663, 250.0, 100.53333333333333] + SceneRectInView [252.44396551724139, 145.16666666666663, 312.5, 125.66666666666667] } Object { $ObjectID 14 @@ -156,7 +156,7 @@ Library { Extents [1875.0, 754.0] ZoomFactor [1.0] Offset [-850.3318557824291, -279.74367685613072] - SceneRectInView [-850.3318557824291, -279.74367685613072, 1500.0, 603.2] + SceneRectInView [-850.3318557824291, -279.74367685613072, 1875.0, 754.0] } PropName "EditorsInfo" } @@ -165,59 +165,60 @@ Library { Dimension 2 Object { $ObjectID 15 - Type "GLUE2:PropertyInspector" - ID "Property Inspector" + Type "Simulink:Editor:ReferencedFiles" + ID "Referenced Files" Visible [0] CreateCallback "" - UserData "" + UserData "{\"filterShowRefModels\":\"true\",\"filterShowRefSubs\":\"true\",\"filterShowOnlyDirtyFiles\":\"false\"}\n" Floating [0] - DockPosition "Right" - Width [512] - Height [384] + DockPosition "Left" + Width [640] + Height [480] Minimized "Unset" } Object { $ObjectID 16 - Type "Simulink:Editor:ReferencedFiles" - ID "Referenced Files" + Type "GLUE2:PropertyInspector" + ID "Property Inspector" Visible [0] CreateCallback "" - UserData "{\"filterShowRefModels\":\"true\",\"filterShowRefSubs\":\"true\",\"filterShowOnlyDirtyFiles\":\"false\"}\n" + UserData "" Floating [0] - DockPosition "Left" - Width [512] - Height [384] + DockPosition "Right" + Width [640] + Height [480] Minimized "Unset" } PropName "DockComponentsInfo" } WindowState "AAAA/wAAAAD9AAAAAgAAAAAAAAC9AAAB+PwCAAAABPsAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAA" "AAAAAAA+wAAABYARABvAGMAawBXAGkAZABnAGUAdAA0AAAAAAD/////AAAAAAAAAAD7AAAAUgBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0Ac" - "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAAAP////8AAAB5AP////sAAABgAFMAaQBtAHUAb" + "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAAAP////8AAABiAP////sAAABgAFMAaQBtAHUAb" "ABpAG4AawA6AEUAZABpAHQAbwByADoAUgBlAGYAZQByAGUAbgBjAGUAZABGAGkAbABlAHMALwBSAGUAZgBlAHIAZQBuAGMAZQBkACAARgBpAGwAZ" - "QBzAAAAAAD/////AAAApwD///8AAAABAAAAAAAAAAD8AgAAAAH7AAAAVABHAEwAVQBFADIAOgBQAHIAbwBwAGUAcgB0AHkASQBuAHMAcABlAGMAd" - "ABvAHIALwBQAHIAbwBwAGUAcgB0AHkAIABJAG4AcwBwAGUAYwB0AG8AcgAAAAAA/////wAAAhYA////AAADvgAAAy8AAAABAAAAAgAAAAEAAAAC/" + "QBzAAAAAAD/////AAAAiQD///8AAAABAAAAAAAAAAD8AgAAAAH7AAAAVABHAEwAVQBFADIAOgBQAHIAbwBwAGUAcgB0AHkASQBuAHMAcABlAGMAd" + "ABvAHIALwBQAHIAbwBwAGUAcgB0AHkAIABJAG4AcwBwAGUAYwB0AG8AcgAAAAAA/////wAAAawA////AAAHgAAAA9UAAAABAAAAAgAAAAEAAAAC/" "AAAAAA=" Array { Type "Cell" Dimension 0 PropName "PersistedApps" } - WindowUuid "2367939c-8f2c-4934-945a-7bf0db2130e7" + WindowUuid "ad8aa86f-d4e0-4548-95bb-bd58dbd5e328" } - BDUuid "b1b9725e-2637-4af0-b0bd-a6b38f60ac9a" + BDUuid "feede281-d839-43c8-9bdf-7deb69870a90" } HideAutomaticNames on SequenceViewerTimePrecision 3 SequenceViewerHistory 1000 Created "Thu Feb 06 02:21:39 2014" Creator "jorhabib" + UpdateHistory "UpdateHistoryNever" ModifiedByFormat "%" - LastModifiedBy "STraversaro" + LastModifiedBy "straversaro" ModifiedDateFormat "%" - LastModifiedDate "Mon May 24 11:41:32 2021" - RTWModifiedTimeStamp 543755558 - ModelVersionFormat "%" + LastModifiedDate "Fri May 28 12:30:08 2021" + RTWModifiedTimeStamp 543757371 + ModelVersionFormat "%" SampleTimeColors off SampleTimeAnnotations off LibraryLinkDisplay "all" @@ -249,9 +250,8 @@ Library { StatusBar on BrowserShowLibraryLinks off FunctionConnectors off - ScheduleConnectors off BrowserLookUnderMasks off - MultithreadedSim "auto" + MultiThreadCoSim "on" SimulationMode "normal" PauseTimes "5" NumberOfSteps 1 @@ -292,7 +292,7 @@ Library { Dimension 1 Simulink.ConfigSet { $ObjectID 17 - Version "21.0.0" + Version "20.1.0" DisabledProps [] Description "" Array { @@ -300,7 +300,7 @@ Library { Dimension 10 Simulink.SolverCC { $ObjectID 18 - Version "21.0.0" + Version "20.1.0" DisabledProps [] Description "" Components [] @@ -324,7 +324,6 @@ Library { ConcurrentTasks off SolverName "ode45" SolverJacobianMethodControl "auto" - DaesscMode "auto" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" ZeroCrossAlgorithm "Nonadaptive" @@ -343,7 +342,7 @@ Library { } Simulink.DataIOCC { $ObjectID 19 - Version "21.0.0" + Version "20.1.0" DisabledProps [] Description "" Components [] @@ -385,7 +384,7 @@ Library { } Simulink.OptimizationCC { $ObjectID 20 - Version "21.0.0" + Version "20.1.0" Array { Type "Cell" Dimension 9 @@ -409,7 +408,6 @@ Library { UseDivisionForNetSlopeComputation "off" GainParamInheritBuiltInType off UseFloatMulNetSlope off - InheritOutputTypeSmallerThanSingle off DefaultUnderspecifiedDataType "double" UseSpecifiedMinMax off InlineInvariantSignals off @@ -460,7 +458,7 @@ Library { } Simulink.DebuggingCC { $ObjectID 21 - Version "21.0.0" + Version "20.1.0" Array { Type "Cell" Dimension 1 @@ -486,6 +484,7 @@ Library { UnderspecifiedInitializationDetection "Classic" MergeDetectMultiDrivingBlocksExec "none" CheckExecutionContextPreStartOutputMsg off + CheckExecutionContextRuntimeOutputMsg off SignalResolutionControl "UseLocalSettings" BlockPriorityViolationMsg "warning" MinStepSizeMsg "warning" @@ -582,7 +581,7 @@ Library { } Simulink.HardwareCC { $ObjectID 22 - Version "21.0.0" + Version "20.1.0" DisabledProps [] Description "" Components [] @@ -632,7 +631,7 @@ Library { } Simulink.ModelReferenceCC { $ObjectID 23 - Version "21.0.0" + Version "20.1.0" DisabledProps [] Description "" Components [] @@ -652,7 +651,7 @@ Library { } Simulink.SFSimCC { $ObjectID 24 - Version "21.0.0" + Version "20.1.0" DisabledProps [] Description "" Components [] @@ -669,25 +668,20 @@ Library { SimCustomLinkerFlags "" SFSimEcho on SimCtrlC on - SimIntegrity "on" + SimIntegrity on SimUseLocalCustomCode off SimParseCustomCode on SimAnalyzeCustomCode off - SimDebugExecutionForCustomCode off SimGenImportedTypeDefs off ModelFunctionsGlobalVisibility "on" CompileTimeRecursionLimit 50 EnableRuntimeRecursion on MATLABDynamicMemAlloc on MATLABDynamicMemAllocThreshold 65536 - LegacyBehaviorForPersistentVarInContinuousTime off CustomCodeFunctionArrayLayout [] DefaultCustomCodeFunctionArrayLayout "NotSpecified" CustomCodeUndefinedFunction "UseInterfaceOnly" CustomCodeGlobalsAsFunctionIO off - DefaultCustomCodeDeterministicFunctions "None" - CustomCodeDeterministicFunctions "" - SimHardwareAcceleration "generic" SimTargetLang "C" GPUAcceleration off SimGPUMallocThreshold 200 @@ -701,7 +695,7 @@ Library { Simulink.RTWCC { $BackupClass "Simulink.RTWCC" $ObjectID 25 - Version "21.0.0" + Version "20.1.0" Array { Type "Cell" Dimension 16 @@ -798,7 +792,6 @@ Library { GPUComputeCapability "3.5" GPUCustomComputeCapability "" GPUCompilerFlags "" - GPUMaximumBlocksPerKernel 0 DLTargetLibrary "none" DLAutoTuning on DLArmComputeVersion "19.05" @@ -808,7 +801,7 @@ Library { Dimension 2 Simulink.CodeAppCC { $ObjectID 26 - Version "21.0.0" + Version "20.1.0" Array { Type "Cell" Dimension 28 @@ -898,7 +891,7 @@ Library { Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" $ObjectID 27 - Version "21.0.0" + Version "20.1.0" Array { Type "Cell" Dimension 19 @@ -1005,7 +998,7 @@ Library { } SlCovCC.ConfigComp { $ObjectID 28 - Version "21.0.0" + Version "20.1.0" DisabledProps [] Description "Simulink Coverage Configuration Component" Components [] @@ -1044,7 +1037,7 @@ Library { } hdlcoderui.hdlcc { $ObjectID 29 - Version "21.0.0" + Version "20.1.0" DisabledProps [] Description "HDL Coder custom configuration component" Components [] @@ -1206,7 +1199,6 @@ Library { BlockType Outport Port "1" IconDisplay "Port number" - OutputFunctionCall off OutMin "[]" OutMax "[]" OutDataTypeStr "Inherit: auto" @@ -1247,7 +1239,7 @@ Library { FunctionName "system" SFunctionModules "''" PortCounts "[]" - MultithreadedSim "auto" + MultiThreadCoSim "auto" } Block { BlockType SubSystem @@ -1270,6 +1262,7 @@ Library { RTWMemSecDataInternal "Inherit from model" RTWMemSecDataParameters "Inherit from model" SimViewingDevice off + ActiveForDiff off DataTypeOverride "UseLocalSettings" DataTypeOverrideAppliesTo "AllNumericTypes" MinMaxOverflowLogging "UseLocalSettings" @@ -1311,7 +1304,7 @@ Library { } System { Name "WBToolboxLibrary_repository" - Location [-6, 0, 775, 830] + Location [0, 25, 1920, 1080] SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open on PortBlocksUseCompactNotation off @@ -1928,7 +1921,7 @@ Library { } System { Name "Model" - Location [-7, -7, 1543, 831] + Location [8, 33, 789, 863] SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open on PortBlocksUseCompactNotation off @@ -1963,7 +1956,7 @@ Library { } System { Name "Dynamics" - Location [-7, -7, 1543, 831] + Location [8, 33, 789, 863] SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open on PortBlocksUseCompactNotation off @@ -2674,7 +2667,7 @@ Library { } System { Name "MassMatrix" - Location [-7, -7, 1543, 831] + Location [8, 33, 789, 863] SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open on PortBlocksUseCompactNotation off @@ -2771,7 +2764,7 @@ Library { } System { Name "Jacobians" - Location [-7, -7, 1543, 831] + Location [8, 33, 789, 863] SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open on PortBlocksUseCompactNotation off @@ -3113,7 +3106,7 @@ Library { } System { Name "Jacobian" - Location [-7, -7, 1543, 831] + Location [8, 33, 789, 863] SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open on PortBlocksUseCompactNotation off @@ -3210,7 +3203,7 @@ Library { } System { Name "Kinematics" - Location [-7, -7, 1543, 831] + Location [8, 33, 789, 863] SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open on PortBlocksUseCompactNotation off @@ -4076,7 +4069,7 @@ Library { } System { Name "States" - Location [-7, -7, 1543, 831] + Location [8, 33, 789, 863] SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open on PortBlocksUseCompactNotation off @@ -4591,7 +4584,7 @@ Library { } System { Name "Utilities" - Location [-6, 0, 775, 830] + Location [8, 33, 789, 863] SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open on PortBlocksUseCompactNotation off @@ -4942,7 +4935,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "1646" + SIDHighWatermark "1649" SimulinkSubDomain "Simulink" Block { BlockType Inport @@ -4962,20 +4955,20 @@ Library { Block { BlockType Demux Name " Demux " - SID "107::1645" + SID "107::1648" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 125 + ZOrder 128 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "107::1644" + SID "107::1647" Tag "Stateflow S-Function 6" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 124 + ZOrder 127 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off @@ -4989,9 +4982,9 @@ Library { Block { BlockType Terminator Name " Terminator " - SID "107::1646" + SID "107::1649" Position [460, 241, 480, 259] - ZOrder 126 + ZOrder 129 } Block { BlockType Outport @@ -5001,7 +4994,7 @@ Library { ZOrder -6 } Line { - ZOrder 106 + ZOrder 111 SrcBlock "mat" SrcPort 1 Points [120, 0] @@ -5009,7 +5002,7 @@ Library { DstPort 1 } Line { - ZOrder 107 + ZOrder 112 SrcBlock "sigma" SrcPort 1 DstBlock " SFunction " @@ -5017,7 +5010,7 @@ Library { } Line { Name "DPinv" - ZOrder 108 + ZOrder 113 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -5025,14 +5018,14 @@ Library { DstPort 1 } Line { - ZOrder 109 + ZOrder 114 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 110 + ZOrder 115 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -6064,7 +6057,7 @@ Library { TiledPageScale 1 ShowPageBoundaries off ZoomFactor "100" - SIDHighWatermark "1637" + SIDHighWatermark "1640" SimulinkSubDomain "Simulink" Block { BlockType Inport @@ -6084,20 +6077,20 @@ Library { Block { BlockType Demux Name " Demux " - SID "112::1636" + SID "112::1639" Ports [1, 1] Position [270, 230, 320, 270] - ZOrder 125 + ZOrder 128 Outputs "1" } Block { BlockType S-Function Name " SFunction " - SID "112::1635" + SID "112::1638" Tag "Stateflow S-Function 7" Ports [2, 2] Position [180, 100, 230, 160] - ZOrder 124 + ZOrder 127 FunctionName "sf_sfun" PortCounts "[2 2]" SFunctionDeploymentMode off @@ -6111,9 +6104,9 @@ Library { Block { BlockType Terminator Name " Terminator " - SID "112::1637" + SID "112::1640" Position [460, 241, 480, 259] - ZOrder 126 + ZOrder 129 } Block { BlockType Outport @@ -6123,7 +6116,7 @@ Library { ZOrder -6 } Line { - ZOrder 106 + ZOrder 111 SrcBlock "mat" SrcPort 1 Points [120, 0] @@ -6131,7 +6124,7 @@ Library { DstPort 1 } Line { - ZOrder 107 + ZOrder 112 SrcBlock "tol" SrcPort 1 DstBlock " SFunction " @@ -6139,7 +6132,7 @@ Library { } Line { Name "TPinv" - ZOrder 108 + ZOrder 113 Labels [0, 0] SrcBlock " SFunction " SrcPort 2 @@ -6147,14 +6140,14 @@ Library { DstPort 1 } Line { - ZOrder 109 + ZOrder 114 SrcBlock " Demux " SrcPort 1 DstBlock " Terminator " DstPort 1 } Line { - ZOrder 110 + ZOrder 115 SrcBlock " SFunction " SrcPort 1 DstBlock " Demux " @@ -6526,7 +6519,7 @@ Library { } System { Name "holder\n" - Location [-6, 0, 775, 830] + Location [8, 33, 789, 863] SystemRect [0.000000, 0.000000, 0.000000, 0.000000] Open on PortBlocksUseCompactNotation off @@ -6660,7 +6653,7 @@ Library { Annotation { SID "1213" Name "WHOLE BODY TOOLBOX" - Position [172, 149, 304, 165] + Position [172, 149, 319, 166] InternalMargins [0, 0, 0, 0] ForegroundColor "white" BackgroundColor "black" @@ -6683,7 +6676,7 @@ Library { "1) http://www.codyco.eu

\n

H2020 EU Project AnDy (No. 731540 H" "2020-ICT-2016-1) http://andy-project.eu

" - Position [157, 176, 333, 208] + Position [157, 176, 333, 213] InternalMargins [0, 0, 0, 0] ForegroundColor "white" BackgroundColor "black" @@ -6695,14 +6688,14 @@ Library { } #Finite State Machines # -# Stateflow 80000041 +# Stateflow 80000036 # # Stateflow { machine { id 1 name "WBToolboxLibrary_repository" - sfVersion 80000041 + sfVersion 80000036 firstTarget 18 } chart { diff --git a/matlab/library/exported/WBToolboxLibrary.slx b/matlab/library/exported/WBToolboxLibrary.slx index b489513c..d93773a9 100644 Binary files a/matlab/library/exported/WBToolboxLibrary.slx and b/matlab/library/exported/WBToolboxLibrary.slx differ