Block catalog

Documentation for all blocks can be found here.

To see a list of available blocks from the command line use

$ bdsim --blocks
89  blocks loaded
bdsim.blocks.connections................: ITEM DICT MUX DEMUX INDEX SUBSYSTEM INPORT OUTPORT 
bdsim.blocks.continuous.................: INTEGRATOR LTI_SS LTI_SISO DERIV2 DERIV PID 
bdsim.blocks.displays...................: SCOPE SCOPEXY SCOPEXY1 ANIMATION 
bdsim.blocks.functions..................: SUM PROD GAIN POW CLIP FUNCTION INTERPOLATE 
bdsim.blocks.linalg.....................: INVERSE TRANSPOSE NORM FLATTEN SLICE2 SLICE1 DET COND 
bdsim.blocks.sampled....................: ZOH INTEGRATOR_S DERIV_S LTI_SS_S LTI_SISO_S PID_S DINTEGRATOR 
bdsim.blocks.sinks......................: PRINT STOP EVENT NULL WATCH 
bdsim.blocks.sources....................: CONSTANT TIME WAVEFORM PIECEWISE STEP RAMP 
bdsim.blocks.spatial....................: POSE_POSTMUL POSE_PREMUL TRANSFORM_VECTOR POSE_INVERSE POSEINTEGRATOR 
........................................: DPOSEINTEGRATOR 
roboticstoolbox.blocks.arm..............: FKINE IKINE JACOBIAN ARMPLOT JTRAJ CTRAJ CIRCLEPATH TRAPEZOIDAL TRAJ IDYN 
........................................: GRAVLOAD_X INERTIA INERTIA_X FDYN FDYN_X 
roboticstoolbox.blocks.mobile...........: BICYCLE UNICYCLE DIFFSTEER VEHICLEPLOT 
roboticstoolbox.blocks.spatial..........: TR2DELTA DELTA2TR POINT2TR TR2T 
roboticstoolbox.blocks.uav..............: MULTIROTOR MULTIROTORMIXER MULTIROTORPLOT 
machinevisiontoolbox.blocks.camera......: CAMERA VISJAC_P ESTPOSE_P IMAGEPLANE 

The first part of each line is the module in which the block was defined and you can read the source code. For example, the module bdsim.blocks.functions is src/bdsim/blocks/functions.py. roboticstoolbox and machinevisiontoolbox are blocks defined by the Robotics Toolbox and Machine Vision Toolbox respectively, in their src/.../blocks folder.

This script (installed with bdsim) invokes the dynamic block loader and displays the list of blocks that were loaded. It is equivalent to this short script:

>>> import bdsim
>>> sim = bdsim.BDSim()
>>> sim.blocks()
89  blocks loaded
bdsim.blocks.connections................: ITEM DICT MUX DEMUX INDEX SUBSYSTEM INPORT OUTPORT 
bdsim.blocks.continuous.................: INTEGRATOR LTI_SS LTI_SISO DERIV2 DERIV PID 
bdsim.blocks.displays...................: SCOPE SCOPEXY SCOPEXY1 ANIMATION 
bdsim.blocks.functions..................: SUM PROD GAIN POW CLIP FUNCTION INTERPOLATE 
bdsim.blocks.linalg.....................: INVERSE TRANSPOSE NORM FLATTEN SLICE2 SLICE1 DET COND 
bdsim.blocks.sampled....................: ZOH INTEGRATOR_S DERIV_S LTI_SS_S LTI_SISO_S PID_S DINTEGRATOR 
bdsim.blocks.sinks......................: PRINT STOP EVENT NULL WATCH 
bdsim.blocks.sources....................: CONSTANT TIME WAVEFORM PIECEWISE STEP RAMP 
bdsim.blocks.spatial....................: POSE_POSTMUL POSE_PREMUL TRANSFORM_VECTOR POSE_INVERSE POSEINTEGRATOR 
........................................: DPOSEINTEGRATOR 
roboticstoolbox.blocks.arm..............: FKINE IKINE JACOBIAN ARMPLOT JTRAJ CTRAJ CIRCLEPATH TRAPEZOIDAL TRAJ IDYN 
........................................: GRAVLOAD_X INERTIA INERTIA_X FDYN FDYN_X 
roboticstoolbox.blocks.mobile...........: BICYCLE UNICYCLE DIFFSTEER VEHICLEPLOT 
roboticstoolbox.blocks.spatial..........: TR2DELTA DELTA2TR POINT2TR TR2T 
roboticstoolbox.blocks.uav..............: MULTIROTOR MULTIROTORMIXER MULTIROTORPLOT 
machinevisiontoolbox.blocks.camera......: CAMERA VISJAC_P ESTPOSE_P IMAGEPLANE