OnlineTrajectoryOptimization

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OnlineTrajectoryOptimizationmodel <h2>DE Director</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>startTime</td><td>&nbsp;</td><td>null</td></tr><tr><td>stopTime</td><td>&nbsp;</td><td>null</td></tr><tr><td>stopWhenQueueIsEmpty</td><td>true</td><td>true</td></tr><tr><td>synchronizeToRealTime</td><td>false</td><td>false</td></tr><tr><td>enforceMicrostepSemantics</td><td>false</td><td>false</td></tr></table> <h2>Merge</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>discard</td><td>true</td><td>true</td></tr></table> <h2>MicrostepDelay</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>_flipPortsHorizontal</td><td>true</td><td>true</td></tr></table> <h2>InstanceOfRobot0</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>RobotID</td><td>0</td><td>0</td></tr><tr><td>N_Particles</td><td>Nparticles</td><td>50</td></tr><tr><td>SpeedLimit</td><td>SpeedLimit</td><td>20.0</td></tr><tr><td>initialXposition</td><td>100.0</td><td>100.0</td></tr><tr><td>initialYposition</td><td>5.0</td><td>5.0</td></tr><tr><td>samplePeriod</td><td>T</td><td>0.1</td></tr></table> <h2>InstanceOfRobot2</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>RobotID</td><td>2</td><td>2</td></tr><tr><td>N_Particles</td><td>Nparticles</td><td>50</td></tr><tr><td>SpeedLimit</td><td>SpeedLimit</td><td>20.0</td></tr><tr><td>initialXposition</td><td>100.0</td><td>100.0</td></tr><tr><td>initialYposition</td><td>-5.0</td><td>-5.0</td></tr><tr><td>samplePeriod</td><td>T</td><td>0.1</td></tr></table> <h2>InstanceOfRobot3</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>RobotID</td><td>3</td><td>3</td></tr><tr><td>N_Particles</td><td>Nparticles</td><td>50</td></tr><tr><td>SpeedLimit</td><td>SpeedLimit</td><td>20.0</td></tr><tr><td>initialXposition</td><td>100.0</td><td>100.0</td></tr><tr><td>initialYposition</td><td>-10.0</td><td>-10.0</td></tr><tr><td>samplePeriod</td><td>T</td><td>0.1</td></tr></table> <h2>InstanceOfRobot1</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>RobotID</td><td>1</td><td>1</td></tr><tr><td>N_Particles</td><td>Nparticles</td><td>50</td></tr><tr><td>SpeedLimit</td><td>SpeedLimit</td><td>20.0</td></tr><tr><td>initialXposition</td><td>100.0</td><td>100.0</td></tr><tr><td>initialYposition</td><td>10.0</td><td>10.0</td></tr><tr><td>samplePeriod</td><td>T</td><td>0.1</td></tr></table> <h2>InstanceOfIntruder</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>initialXposition</td><td>10.0</td><td>10.0</td></tr><tr><td>initialYposition</td><td>10.0</td><td>10.0</td></tr><tr><td>initialOrientation</td><td>0.0</td><td>0.0</td></tr><tr><td>initialVelocity</td><td>20.0</td><td>20.0</td></tr><tr><td>initialAngularVelocity</td><td>pi/5</td><td>0.628318530718</td></tr><tr><td>samplePeriod</td><td>T</td><td>0.1</td></tr></table> <h2>Central Computation Node</h2><table border="1"><tr><td><b>Parameter</b></td><td><b>Expression</b></td><td><b>Value</b></td></tr><tr><td>RobotCount</td><td>RobotCount</td><td>4</td></tr><tr><td>intruderCov</td><td>[10.0,0.0;0.0,10.0]</td><td>[10.0, 0.0; 0.0, 10.0]</td></tr><tr><td>samplePeriod</td><td>0.1</td><td>0.1</td></tr></table>