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Comment:Minor formatting.
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SHA3-256: 1fb636e4cfd3caaae1c18783817771f0ecc264b76b8128eb5fe194e057bb0d0f
User & Date: geraint@users.sourceforge.net on 2004-09-13 10:50:36
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Context
2004-09-13
11:12:28
Named position states. check-in: d7db22c076 user: geraint@users.sourceforge.net tags: origin/master, trunk
10:50:36
Minor formatting. check-in: 1fb636e4cf user: geraint@users.sourceforge.net tags: origin/master, trunk
2004-09-12
23:16:24
A passive multiple trailer system dor indoor service robots. check-in: 391df3d84f user: geraint@users.sourceforge.net tags: origin/master, trunk
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Modified mttroot/mtt/lib/examples/Dia/robotrain/robotrain_input.txt from [f3726c6409] to [cac5b175aa]. 

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## -*-octave-*- Put Emacs into octave-mode ##
 
## 
## System robotrain, representation input, language txt; 
## File robotrain_input.txt; 
## Generated by MTT on Fri Sep 10 00:39:34 BST 2004; 



robotrain__Fx			= 0.0;
robotrain__Fy			= 0.0;
robotrain__tractor__omega__u	= 1.0;
robotrain__tractor__v__u		= 1.0;








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## -*-octave-*- Put Emacs into octave-mode ##
 
## 
## System robotrain, representation input, language txt; 
## File robotrain_input.txt; 
## Generated by MTT on Fri Sep 10 00:39:34 BST 2004; 



robotrain__Fx			= 0.0;
robotrain__Fy			= 0.0;
robotrain__tractor__omega__u	= 1.0;
robotrain__tractor__v__u	= 1.0;

Modified mttroot/mtt/lib/examples/Dia/robotrain/rotate_z.pm from [1022fea680] to [3d31fd12d1].

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    my @args = @_;
    my $retval = '';

    if ($#args == 18-1)
    {
	my ($component,
	    $out_causality,
	    $out_port,
	    $x1,
	    $causality1,
	    $port1,
	    $y1,
	    $causality2,
	    $port2,
	    $x2,
	    $causality3,
	    $port3,
	    $y2,
	    $causality4,
	    $port4,
	    $psi,
	    $causality5,
	    $port5) = @args;

	# [ x2 ]   [ +cos(psi) +sin(psi) 0 ] [ x1 ]
	# [ y2 ] = [ -sin(psi) +cos(psi) 0 ] [ y1 ]
	# [ z2 ]   [    0          0     1 ] [ z1 ]

	# for reverse transformation (x2->x1) use psi=-psi
	# note that cos(-psi)=cos(psi) and sin(-psi)=-sin(psi)








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    my @args = @_;
    my $retval = '';

    if ($#args == 18-1)
    {
	my ($component,
	    $out_causality, $out_port,


	    $x1, $causality1, $port1,


	    $y1, $causality2, $port2,


	    $x2, $causality3, $port3,


	    $y2, $causality4, $port4,



	    $psi, $causality5, $port5) = @args;

	# [ x2 ]   [ +cos(psi) +sin(psi) 0 ] [ x1 ]
	# [ y2 ] = [ -sin(psi) +cos(psi) 0 ] [ y1 ]
	# [ z2 ]   [    0          0     1 ] [ z1 ]

	# for reverse transformation (x2->x1) use psi=-psi
	# note that cos(-psi)=cos(psi) and sin(-psi)=-sin(psi)
︙︙

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