guiji.rar_S轨迹规划_stomach1ry_一种s形轨迹_参考轨迹_轨迹规划

function [sys,x0,str,ts,simStateCompliance] = sfuntmpl(t,x,u,flag,a,v) switch flag, %%%%%%%%%%%%%%%%%% % Initialization % %%%%%%%%%%%%%%%%%% case 0, [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes; %%%%%%%%%%%%%%% % Derivatives % %%%%%%%%%%%%%%% case 1, sys=mdlDerivatives(t,x,u,a,v); %%%%%%%%%% % Update % %%%%%%%%%% case 2, sys=mdlUpdate(t,x,u,a,v); %%%%%%%%%%% % Outputs % %%%%%%%%%%% case 3, sys=mdlOutputs(t,x,u,a,v); %%%%%%%%%%%%%%%%%%%%%%% % GetTimeOfNextVarHit % %%%%%%%%%%%%%%%%%%%%%%% case 4, sys=mdlGetTimeOfNextVarHit(t,x,u,a,v); %%%%%%%%%%%%% % Terminate % %%%%%%%%%%%%% case 9, sys=mdlTerminate(t,x,u,a,v); %%%%%%%%%%%%%%%%%%%% % Unexpected flags % %%%%%%%%%%%%%%%%%%%% otherwise DAStudio.error('Simulink:blocks:unhandledFlag', num2str(flag)); end % end sfuntmpl % %============================================================================= % mdlInitializeSizes % Return the sizes, initial conditions, and sample times for the S-function. %============================================================================= % function [sys,x0,str,ts,simStateCompliance]=mdlInitializeSizes % % call simsizes for a sizes structure, fill it in and convert it to a % sizes array. % % Note that in this example, the values are hard coded. This is not a % recommended practice as the characteristics of the block are typically % defined by the S-function parameters. % sizes.NumContStates = 0; sizes.NumDiscStates = 0; sizes.NumOutputs = 1; sizes.NumInputs = 1; sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 1; % at least one sample time is needed sys = simsizes(sizes); % % initialize the initial conditions % x0 = []; % % str is always an empty matrix % str = []; % % initialize the array of sample times % ts = [-1 0]; % Specify the block simStateCompliance. The allowed values are: % 'UnknownSimState', < The default setting; warn and assume DefaultSimState % 'DefaultSimState', < Same sim state as a built-in block % 'HasNoSimState', < No sim state % 'DisallowSimState' < Error out when saving or restoring the model sim state simStateCompliance = 'UnknownSimState'; % end mdlInitializeSizes % %============================================================================= % mdlDerivatives % Return the derivatives for the continuous states. %============================================================================= % function sys=mdlDerivatives(t,x,u,a,v) sys = []; % end mdlDerivatives % %============================================================================= % mdlUpdate % Handle discrete state updates, sample time hits, and major time step % requirements. %============================================================================= % function sys=mdlUpdate(t,x,u,a,v) sys = []; % end mdlUpdate % %============================================================================= % mdlOutputs % Return the block outputs. %============================================================================= % function sys=mdlOutputs(t,x,u,a,v) ss=u*atan(t/100-5); sys = ss; % end mdlOutputs % %============================================================================= % mdlGetTimeOfNextVarHit % Return the time of the next hit for this block. Note that the result is % absolute time. Note that this function is only used when you specify a % variable discrete-time sample time [-2 0] in the sample time array in % mdlInitializeSizes. %============================================================================= % function sys=mdlGetTimeOfNextVarHit(t,x,u,a,v) sampleTime = 0.05; % Example, set the next hit to be one second later. sys = t + sampleTime; % end mdlGetTimeOfNextVarHit % %============================================================================= % mdlTerminate % Perform any end of simulation tasks. %============================================================================= % function sys=mdlTerminate(t,x,u,a,v) sys = []; % end mdlTerminate