bdsim blocks

A set of block definitions that add robotic capability to the bdsim block diagram simulation environment.

Spatial maths blocks

Tr2Delta	Transforms to delta
Delta2Tr	Delta to transform
Point2Tr	Point to transform.
TR2T	Translation components of transform

Robot manipulator blocks

FKine	Robot arm forward kinematics.
IKine	Robot arm inverse kinematics.
Jacobian	Robot arm Jacobian matrix.
ArmPlot	Plot robot arm.
JTraj	Joint-space trajectory
CTraj	Task space trajectory
CirclePath	Circular motion.
Trapezoidal	Trapezoidal scalar trajectory
Traj	Vector trajectory
IDyn	Robot arm inverse dynamics model.
Gravload	Robot arm gravity load.
Gravload_X	Task-space robot arm gravity wrench.
Inertia	Robot arm inertia matrix.
Inertia_X	Task-space robot arm inertia matrix.
FDyn	Robot arm forward dynamics.
FDyn_X	Task-space robot arm forward dynamics.

Mobile robot blocks

Bicycle	Vehicle model with Bicycle kinematics.
Unicycle	Vehicle model with Unicycle kinematics.
DiffSteer	Differential steer vehicle model
VehiclePlot	Vehicle animation

UAV blocks

MultiRotor	Dynamic model of a multi-rotor flying robot.
MultiRotorMixer	Speed mixer for a multi-rotor flying vehicle.
MultiRotorPlot	Displays/animates a multi-rotor flying vehicle.