Revert "Merge branch 'master' into dev_fix_symbolics_rtb10"

This reverts commit c1708c5, reversing
changes made to bb05052.

@CodeGenerator/CodeGenerator.m

@@ -21,13 +21,10 @@
 %        cg = CodeGenerator(twolink);
 %        cg.geneverything();
 %
-%        % delete old SerialLink object named twolink (created by mdl_twolink)
-%        clear twolink
+%        % a new class has been automatically generated in the robot directory.
+%        addpath robot
 %
-%        % we now have a new class, which has been automatically generated in the robot directory named twolink.
-%        addpath twolink
-%
-%        tl = twolink;
+%        tl = @robot();
 %        % this class is a subclass of SerialLink, and thus polymorphic with
 %        % SerialLink but its methods have been overloaded with robot-specific code,
 %        % for example
@@ -37,7 +34,7 @@
 %
 %        % The Simulink block library containing robot-specific blocks can be
 %        % opened by
-%        open twolink/twolinkslib.slx
+%        open robot/robotslib.slx
 %        % and the blocks dragged into your own models.
 %
 % Methods::

@CodeGenerator/genslblockcoriolis.m

@@ -68,9 +68,9 @@
     , [CoriolisBlock,'/coriolis']...
     , 'NumInputs',num2str(nJoints)...
     , 'ConcatenateDimension','1');
-add_block('simulink/Sinks/Out1',[CoriolisBlock,'/out'],'PortDimensions',['[',num2str(nJoints),', ',num2str(nJoints),']']);
-add_block('simulink/Sources/In1',[CoriolisBlock,'/q'],'PortDimensions',['[',num2str(nJoints),', 1]']);
-add_block('simulink/Sources/In1',[CoriolisBlock,'/qd'],'PortDimensions',['[',num2str(nJoints),', 1]']);
+add_block('simulink/Sinks/Out1',[CoriolisBlock,'/out']);
+add_block('simulink/Sources/In1',[CoriolisBlock,'/q']);
+add_block('simulink/Sources/In1',[CoriolisBlock,'/qd']);
 add_line(CoriolisBlock,'coriolis/1','out/1');
 CGen.logmsg('\t%s\n',' done!');
 
@@ -94,7 +94,7 @@
     end
 
     CGen.logmsg('%s',' block creation');
-    symexpr2slblock(blockaddress,tmpStruct.(symname),'vars',{q.',qd.'});
+    symexpr2slblock(blockaddress,tmpStruct.(symname),'vars',{q,qd});
 
 
     % connect output

@CodeGenerator/genslblockfdyn.m

@@ -72,10 +72,10 @@
 add_block([CGen.slib,'/coriolis'],[forwDynamicsBlock,'/coriolis']);
 add_block([CGen.slib,'/gravload'],[forwDynamicsBlock,'/gravload']);
 add_block([CGen.slib,'/friction'],[forwDynamicsBlock,'/friction']);
-add_block('simulink/Sinks/Out1',[forwDynamicsBlock,'/q'],'PortDimensions',['[',num2str(nJoints),', 1]']);
-add_block('simulink/Sinks/Out1',[forwDynamicsBlock,'/qDot'],'PortDimensions',['[',num2str(nJoints),', 1]']);
-add_block('simulink/Sinks/Out1',[forwDynamicsBlock,'/qDDot'],'PortDimensions',['[',num2str(nJoints),', 1]']);
-add_block('simulink/Sources/In1',[forwDynamicsBlock,'/tau'],'PortDimensions',['[',num2str(nJoints),', 1]']);
+add_block('simulink/Sinks/Out1',[forwDynamicsBlock,'/q']);
+add_block('simulink/Sinks/Out1',[forwDynamicsBlock,'/qDot']);
+add_block('simulink/Sinks/Out1',[forwDynamicsBlock,'/qDDot']);
+add_block('simulink/Sources/In1',[forwDynamicsBlock,'/tau']);
 add_block('built-in/Sum',[forwDynamicsBlock,'/Sum'],'inputs','|+---');
 add_block('built-in/Product',[forwDynamicsBlock,'/invInertiaMultiply'],'multiplication','Matrix(*)');
 add_block('built-in/Product',[forwDynamicsBlock,'/coriolisMultiply'],'multiplication','Matrix(*)');

@CodeGenerator/genslblockfkine.m

@@ -67,7 +67,7 @@ function genslblockfkine(CGen)
     save_system;
 end
 
-symexpr2slblock(blockaddress,tmpStruct.(symname).T,'vars',{q'});
+symexpr2slblock(blockaddress,tmpStruct.(symname).T,'vars',{q});
 
 CGen.logmsg('\t%s\n',' done!');
 
@@ -92,7 +92,7 @@ function genslblockfkine(CGen)
         save_system;
     end
 
-    symexpr2slblock(blockaddress,tmpStruct.(symname),'vars',{q});
+    symexpr2slblock(blockaddress,tmpStruct.(symname).T,'vars',{q});
 
 end
 CGen.logmsg('\t%s\n',' done!');

@CodeGenerator/genslblockfriction.m

@@ -66,7 +66,7 @@
     save_system;
 end
 
-symexpr2slblock(blockaddress,tmpStruct.(symname).','vars',{qd.'});
+symexpr2slblock(blockaddress,tmpStruct.(symname),'vars',{qd});
 
 CGen.logmsg('\t%s\n',' done!');
 

@CodeGenerator/genslblockgravload.m

@@ -66,7 +66,7 @@ function genslblockgravload(CGen)
     save_system;
 end
 
-symexpr2slblock(blockaddress,tmpStruct.(symname).','vars',{q.'});
+symexpr2slblock(blockaddress,tmpStruct.(symname),'vars',{q});
 
 CGen.logmsg('\t%s\n',' done!');
 

@CodeGenerator/genslblockinertia.m

@@ -68,8 +68,8 @@ function genslblockinertia(CGen)
     , [InertiaBlock,'/inertia']...
     , 'NumInputs',num2str(nJoints)...
     , 'ConcatenateDimension','1');
-add_block('simulink/Sinks/Out1',[InertiaBlock,'/out'],'PortDimensions',['[',num2str(nJoints),', ',num2str(nJoints),']']);
-add_block('simulink/Sources/In1',[InertiaBlock,'/q'],'PortDimensions',['[',num2str(nJoints),', 1]']);
+add_block('simulink/Sinks/Out1',[InertiaBlock,'/out']);
+add_block('simulink/Sources/In1',[InertiaBlock,'/q']);
 add_line(InertiaBlock,'inertia/1','out/1');
 CGen.logmsg('\t%s\n',' done!');
 
@@ -93,7 +93,7 @@ function genslblockinertia(CGen)
     end
 
     CGen.logmsg('%s',' block creation');
-    symexpr2slblock(blockaddress,tmpStruct.(symname),'vars',{q.'});
+    symexpr2slblock(blockaddress,tmpStruct.(symname),'vars',{q});
 
 
     % connect output

@CodeGenerator/genslblockinvdyn.m

@@ -72,10 +72,10 @@
 add_block([CGen.slib,'/coriolis'],[InvDynBlock,'/coriolis']);
 add_block([CGen.slib,'/gravload'],[InvDynBlock,'/gravload']);
 add_block([CGen.slib,'/friction'],[InvDynBlock,'/friction'])
-add_block('simulink/Sources/In1',[InvDynBlock,'/q'],'PortDimensions',['[',num2str(nJoints),', 1]']);
-add_block('simulink/Sources/In1',[InvDynBlock,'/qd'],'PortDimensions',['[',num2str(nJoints),', 1]']);
-add_block('simulink/Sources/In1',[InvDynBlock,'/qdd'],'PortDimensions',['[',num2str(nJoints),', 1]']);
-add_block('simulink/Sinks/Out1',[InvDynBlock,'/tau'],'PortDimensions',['[',num2str(nJoints),', 1]']);
+add_block('simulink/Sources/In1',[InvDynBlock,'/q']);
+add_block('simulink/Sources/In1',[InvDynBlock,'/qd']);
+add_block('simulink/Sources/In1',[InvDynBlock,'/qdd']);
+add_block('simulink/Sinks/Out1',[InvDynBlock,'/tau']);
 add_block('built-in/Product',[InvDynBlock,'/inertiaTorque'],'multiplication','Matrix(*)');
 add_block('built-in/Product',[InvDynBlock,'/coriolisTorque'],'multiplication','Matrix(*)');
 add_block('built-in/Sum',[InvDynBlock,'/Sum'],'inputs','++++');

@CodeGenerator/genslblockjacobian.m

@@ -87,7 +87,7 @@ function genslblockjacobian(CGen)
     save_system;
 end
 
-symexpr2slblock(blockaddress,tmpStruct.(symname),'vars',{q'});
+symexpr2slblock(blockaddress,tmpStruct.(symname),'vars',{q});
 CGen.logmsg('\t%s\n',' done!');
 
 %% Cleanup