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Initial commit R2019b. Converted to MATLAB project.
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <MATLABProject xmlns="http://www.mathworks.com/MATLABProjectFile" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" version="1.0"/> |
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21 changes: 11 additions & 10 deletions
21
Libraries/CFL_Libs/startup_Contact_Forces.m → ...cripts_Data/startup_Contact_Forces_Core.m
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,25 +1,26 @@ | ||
| % Startup for Simscape Multibody Contact Force Library | ||
| % Copyright 2014-2019 The MathWorks, Inc. | ||
| function startup_Contact_Forces_Core | ||
|
|
||
| CFR_HomeDir = pwd; | ||
| addpath(genpath(pwd)); | ||
| % Startup for project Contact_Forces_Core.prj | ||
| % Copyright 2014-2019 The MathWorks, Inc. | ||
|
|
||
| % Load library and display version to Command Window | ||
| CFL_libname = 'Contact_Forces_Lib'; | ||
| load_system(CFL_libname); | ||
| CFL_ver = get_param(CFL_libname,'Description'); | ||
| disp(CFL_ver); | ||
| disp(get_param(CFL_libname,'Description')); | ||
| which(CFL_libname) | ||
|
|
||
| % Check for shadowed versions on the path | ||
| tempNumCFLLibs = which(CFL_libname,'-all'); | ||
| if (length(tempNumCFLLibs)>1) | ||
| tempCFLwarnStr = sprintf('Multiple copies of the Simscape Multibody Contact Force Library are on the MATLAB path. It is recommended you only have one copy on your path. Please consider adjusting your MATLAB path so that only one copy is present.\n\nLocations of Simscape Multibody Contact Force Library on your path:\n'); | ||
| tempCFLLibStr = sprintf('%s\n',tempNumCFLLibs{:}); | ||
| warning([tempCFLwarnStr tempCFLLibStr]) | ||
| end | ||
| clear tempNumCFLLibs tempCFLwarnStr | ||
|
|
||
| if(exist('Cam_Follower.slx')==4) | ||
| Cam_Follower | ||
| web('Contact_Forces_Demo_Script.html'); | ||
| % Only open overview if this is the top level project | ||
| % Do not open if this is a Reference Projects | ||
| curr_proj = simulinkproject; | ||
| if(curr_proj.Information.TopLevel) | ||
| web('Contact_Forces_Demo_Script_Library_Only.html'); | ||
| end | ||
|
|
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53
Libraries/CFL_Core/Test_Models/Test2D_Disks_in_Box_plot1diskpos.m
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| % Code to plot simulation results from Test2D_Disks_in_Box | ||
| % | ||
| % Copyright 2015-2019 The MathWorks, Inc. | ||
|
|
||
| % Reuse figure if it exists, else create new figure | ||
| try | ||
| figure(h1_Test2D_Disks_in_Box) | ||
| catch | ||
| h1_Test2D_Disks_in_Box=figure('Name','Test2D_Disks_in_Box'); | ||
| end | ||
|
|
||
| % Generate simulation results if they don't exist | ||
| if(~exist('simlog_Test2D_Disks_in_Box','var')) | ||
| sim('Test2D_Disks_in_Box') | ||
| end | ||
|
|
||
| % Get simulation results | ||
| simlog_d1x = simlog_Test2D_Disks_in_Box.Planar_Joint_Disk1.Px.p.series.values; | ||
| simlog_d1y = simlog_Test2D_Disks_in_Box.Planar_Joint_Disk1.Py.p.series.values; | ||
| simlog_d2x = simlog_Test2D_Disks_in_Box.Planar_Joint_Disk2.Px.p.series.values; | ||
| simlog_d2y = simlog_Test2D_Disks_in_Box.Planar_Joint_Disk2.Py.p.series.values; | ||
| simlog_d3x = simlog_Test2D_Disks_in_Box.Planar_Joint_Disk3.Px.p.series.values; | ||
| simlog_d3y = simlog_Test2D_Disks_in_Box.Planar_Joint_Disk3.Py.p.series.values; | ||
|
|
||
| % Plot results | ||
| temp_colorOrder = get(gca,'DefaultAxesColorOrder'); | ||
| plot(simlog_d1y,simlog_d1x,'LineWidth',1); | ||
| hold on | ||
| plot(simlog_d2y,simlog_d2x,'LineWidth',1); | ||
| plot(simlog_d3y,simlog_d3x,'LineWidth',1); | ||
| plot([-1 1 1 -1 -1 1]*0.5,[-1 -1 1 1 -1 -1]*0.5,'Color',[0.5 0.5 0.5],'LineWidth',5); | ||
| patch(sin(0:0.1:2*pi)*0.05+simlog_d1y(1),cos(0:0.1:2*pi)*0.05+simlog_d1x(1),temp_colorOrder(1,:),'FaceAlpha',0.2) | ||
| patch(sin(0:0.1:2*pi)*0.05+simlog_d2y(1),cos(0:0.1:2*pi)*0.05+simlog_d2x(1),temp_colorOrder(2,:),'FaceAlpha',0.2) | ||
| patch(sin(0:0.1:2*pi)*0.05+simlog_d3y(1),cos(0:0.1:2*pi)*0.05+simlog_d3x(1),temp_colorOrder(3,:),'FaceAlpha',0.2) | ||
|
|
||
| patch(sin(0:0.1:2*pi)*0.05+simlog_d1y(end),cos(0:0.1:2*pi)*0.05+simlog_d1x(end),temp_colorOrder(1,:)) | ||
| patch(sin(0:0.1:2*pi)*0.05+simlog_d2y(end),cos(0:0.1:2*pi)*0.05+simlog_d2x(end),temp_colorOrder(2,:)) | ||
| patch(sin(0:0.1:2*pi)*0.05+simlog_d3y(end),cos(0:0.1:2*pi)*0.05+simlog_d3x(end),temp_colorOrder(3,:)) | ||
|
|
||
| hold off | ||
| xlabel('Horizontal Position (m)'); | ||
| ylabel('Vertical Position (m)'); | ||
| title('Disk Position (m)'); | ||
| axis equal | ||
| axis square | ||
| axis([-1 1 -1 1]*0.6) | ||
|
|
||
| % Remove temporary variables | ||
| clear simlog_d1y simlog_d1x temp_colorOrder | ||
| clear simlog_d2y simlog_d2x | ||
| clear simlog_d3y simlog_d3x | ||
|
|
||
|
|
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46
Libraries/CFL_Core/Test_Models/Test3D_Balls_in_Box_plot1ballpos.m
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,46 @@ | ||
| % Code to plot simulation results from Test3D_Balls_in_Box | ||
| % | ||
| % Copyright 2015-2019 The MathWorks, Inc. | ||
|
|
||
| % Reuse figure if it exists, else create new figure | ||
| try | ||
| figure(h1_Test3D_Balls_in_Box) | ||
| catch | ||
| h1_Test3D_Balls_in_Box=figure('Name','Test3D_Balls_in_Box'); | ||
| end | ||
|
|
||
| % Generate simulation results if they don't exist | ||
| if(~exist('simlog_Test3D_Balls_in_Box','var')) | ||
| sim('Test3D_Balls_in_Box') | ||
| end | ||
|
|
||
| % Get simulation results | ||
| temp_b1px = simlog_Test3D_Balls_in_Box.x6_DOF_Joint_Ball_1.Px.p.series; | ||
| temp_b1py = simlog_Test3D_Balls_in_Box.x6_DOF_Joint_Ball_1.Py.p.series; | ||
| temp_b1pz = simlog_Test3D_Balls_in_Box.x6_DOF_Joint_Ball_1.Pz.p.series; | ||
| temp_b2px = simlog_Test3D_Balls_in_Box.x6_DOF_Joint_Ball_2.Px.p.series; | ||
| temp_b2py = simlog_Test3D_Balls_in_Box.x6_DOF_Joint_Ball_2.Py.p.series; | ||
| temp_b2pz = simlog_Test3D_Balls_in_Box.x6_DOF_Joint_Ball_2.Pz.p.series; | ||
| temp_b3px = simlog_Test3D_Balls_in_Box.x6_DOF_Joint_Ball_3.Px.p.series; | ||
| temp_b3py = simlog_Test3D_Balls_in_Box.x6_DOF_Joint_Ball_3.Py.p.series; | ||
| temp_b3pz = simlog_Test3D_Balls_in_Box.x6_DOF_Joint_Ball_3.Pz.p.series; | ||
|
|
||
| % Plot results | ||
| plot3(temp_b1px.values,temp_b1py.values,temp_b1pz.values,'r'); | ||
| hold on | ||
| plot3(temp_b2px.values,temp_b2py.values,temp_b2pz.values,'b'); | ||
| plot3(temp_b3px.values,temp_b3py.values,temp_b3pz.values,'Color',[168 164 0]/255); | ||
| hold off | ||
| grid on | ||
| box on | ||
| axis equal | ||
| xlabel('Length (m)'); | ||
| ylabel('Width (m)'); | ||
| zlabel('Height (m)'); | ||
| title('Ball Position in Box (m)'); | ||
|
|
||
| % Remove temporary variables | ||
| clear temp_b1px temp_b1py temp_b1pz | ||
| clear temp_b2px temp_b2py temp_b2pz | ||
| clear temp_b3px temp_b3py temp_b3pz | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,2 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info MetadataType="distributed" /> |
2 changes: 2 additions & 0 deletions
2
Libraries/CFL_Core/resources/project/ProjectData.type.Info.xml
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,2 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info Name="Contact_Forces_Core" /> |
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...aries/CFL_Core/resources/project/Root.type.Categories/FileClassCategory.type.Category.xml
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| @@ -0,0 +1,2 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info ReadOnly="1" SingleValued="1" DataType="None" Name="Classification" /> |
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...ories/FileClassCategory.type.Category/ad2dea70-790c-4d13-aa0b-381399c1ae7d.type.Label.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,2 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info ReadOnly="WRITABLE" Name="ForCore" /> |
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...rces/project/Root.type.Categories/FileClassCategory.type.Category/artifact.type.Label.xml
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| @@ -0,0 +1,2 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info ReadOnly="READ_ONLY" Name="Artifact" /> |
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...s/project/Root.type.Categories/FileClassCategory.type.Category/convenience.type.Label.xml
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| @@ -0,0 +1,2 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info ReadOnly="READ_ONLY" Name="Convenience" /> |
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...urces/project/Root.type.Categories/FileClassCategory.type.Category/derived.type.Label.xml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,2 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info ReadOnly="READ_ONLY" Name="Derived" /> |
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...ources/project/Root.type.Categories/FileClassCategory.type.Category/design.type.Label.xml
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,2 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info ReadOnly="READ_ONLY" Name="Design" /> |
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...ories/FileClassCategory.type.Category/e758491f-dede-4c34-ae7d-553888133829.type.Label.xml
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| @@ -0,0 +1,2 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info ReadOnly="WRITABLE" Name="ForDeveloper" /> |
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...esources/project/Root.type.Categories/FileClassCategory.type.Category/none.type.Label.xml
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| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info ReadOnly="READ_ONLY" Name="None" /> |
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...sources/project/Root.type.Categories/FileClassCategory.type.Category/other.type.Label.xml
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| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info ReadOnly="READ_ONLY" Name="Other" /> |
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...esources/project/Root.type.Categories/FileClassCategory.type.Category/test.type.Label.xml
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| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info ReadOnly="READ_ONLY" Name="Test" /> |
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...es/project/Root.type.EntryPoints/0a5cd3f2-c205-4d30-96e0-ae5ec8c38981.type.EntryPoint.xml
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| @@ -0,0 +1,2 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info Type="Basic" Visible="1" Icon="" File="Test_Models/Test3D_Balls_in_Box.slx" Name="Test Model 3D" /> |
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...es/project/Root.type.EntryPoints/1e5a6af0-74ff-446e-a0a7-6b7fad616157.type.EntryPoint.xml
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| @@ -0,0 +1,2 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info Type="Basic" Visible="1" Icon="" File="Test_Models/Test2D_Disks_in_Box.slx" Name="Test Model 2D" /> |
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...es/project/Root.type.EntryPoints/74be83e4-d0af-48cd-b36d-ed8b6497f920.type.EntryPoint.xml
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| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info Type="Basic" Visible="1" Icon="" File="Scripts_Data/Doc/Contact_Forces_Demo_Script_Library_Only.html" Name="Demo Script" /> |
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...es/project/Root.type.EntryPoints/a427e084-34dc-4cf9-94d6-023fc2faeea6.type.EntryPoint.xml
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|---|---|---|
| @@ -0,0 +1,2 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info Type="StartUp" Visible="0" Icon="" File="Scripts_Data/startup_Contact_Forces_Core.m" Name="startup_Contact_Forces_Core" /> |
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...rces/project/Root.type.Export/b2dcfef5-3f09-43eb-b11a-5caa54b15ec7.type.ExportProfile.xml
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| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info Name="ForUser" /> |
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....ExportProfile/FileLabel.type.Filter/e758491f-dede-4c34-ae7d-553888133829.type.Filter.xml
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| @@ -0,0 +1,2 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info Data="FileClassCategory" /> |
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Libraries/CFL_Core/resources/project/Root.type.Files/Libraries.type.File.xml
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| @@ -0,0 +1,6 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info> | ||
| <Category UUID="FileClassCategory"> | ||
| <Label UUID="ad2dea70-790c-4d13-aa0b-381399c1ae7d" /> | ||
| </Category> | ||
| </Info> |
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...s/CFL_Core/resources/project/Root.type.Files/Libraries.type.File/1.type.DIR_SIGNIFIER.xml
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| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info /> |
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...esources/project/Root.type.Files/Libraries.type.File/Contact_Forces_Lib.slx.type.File.xml
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| @@ -0,0 +1,6 @@ | ||
| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info> | ||
| <Category UUID="FileClassCategory"> | ||
| <Label UUID="ad2dea70-790c-4d13-aa0b-381399c1ae7d" /> | ||
| </Category> | ||
| </Info> |
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...s/CFL_Core/resources/project/Root.type.Files/Libraries.type.File/Extrusions.type.File.xml
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| <?xml version='1.0' encoding='UTF-8'?> | ||
| <Info> | ||
| <Category UUID="FileClassCategory"> | ||
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| </Info> |
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...project/Root.type.Files/Libraries.type.File/Extrusions.type.File/1.type.DIR_SIGNIFIER.xml
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| <?xml version='1.0' encoding='UTF-8'?> | ||
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...iles/Libraries.type.File/Extrusions.type.File/Extr_Data_Block_NotchCircle.m.type.File.xml
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| <?xml version='1.0' encoding='UTF-8'?> | ||
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| <Label UUID="ad2dea70-790c-4d13-aa0b-381399c1ae7d" /> | ||
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| </Info> |
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...ct/Root.type.Files/Libraries.type.File/Extrusions.type.File/Extr_Data_Box.m.type.File.xml
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| <?xml version='1.0' encoding='UTF-8'?> | ||
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| <Label UUID="ad2dea70-790c-4d13-aa0b-381399c1ae7d" /> | ||
| </Category> | ||
| </Info> |
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...type.Files/Libraries.type.File/Extrusions.type.File/Extr_Data_Cam_Circles.m.type.File.xml
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| <?xml version='1.0' encoding='UTF-8'?> | ||
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| <Category UUID="FileClassCategory"> | ||
| <Label UUID="ad2dea70-790c-4d13-aa0b-381399c1ae7d" /> | ||
| </Category> | ||
| </Info> |
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