Overview
Comment:A passive multiple trailer system dor indoor service robots.
Downloads: Tarball | ZIP archive | SQL archive
Timelines: family | ancestors | descendants | both | origin/master | trunk
Files: files | file ages | folders
SHA3-256: 09dab38f4a2bede1451dc665a874c9dd6a336ad007c391bfb0fe91235466011e
User & Date: geraint@users.sourceforge.net on 2004-09-12 23:16:24
Other Links: branch diff | manifest | tags
Context
2004-09-13
10:50:36
Minor formatting. check-in: fc177d09e6 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: 09dab38f4a user: geraint@users.sourceforge.net tags: origin/master, trunk
22:27:27
Appended 't' to fopen mode string to open in text mode. check-in: 1459f7b012 user: geraint@users.sourceforge.net tags: origin/master, trunk
Changes

Added mttroot/mtt/lib/examples/Dia/robotrain/make_trajectory.sh version [4193eb4c97].






















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#! /bin/sh
mtt -cc -no-reduce robotrain odeso ps
cd MTT_work
#set data style lines
cat <<EOF | gnuplot
set timestamp
set key left
set xlabel 'x'
set ylabel 'y'
set grid 
set title 'MTT model "robotrain": trajectory of trailer links'
plot   'robotrain_odes.dat2' using 4:5   title 'front'
replot 'robotrain_odes.dat2' using 8:9   title 'middle'
replot 'robotrain_odes.dat2' using 12:13 title 'rear'
set terminal postscript eps
set output "trajectory.ps"
replot
EOF
cd ..
cp MTT_work/trajectory.ps .
gv trajectory.ps

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_abg.dia version [ead8854105].
























































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































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<?xml version="1.0" encoding="UTF-8"?>
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      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O17" connection="0"/>
        <dia:connection handle="1" to="O18" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O22">
      <dia:attribute name="obj_pos">
        <dia:point val="44.5982,33.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="31.946,32.0536;40.9996,34.7469"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="44.5982,33.9036"/>
        <dia:point val="28.0044,33.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O18" connection="0"/>
        <dia:connection handle="1" to="O20" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O23">
      <dia:attribute name="obj_pos">
        <dia:point val="28.0044,33.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="14.7593,32.0536;24.0012,34.7469"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="28.0044,33.9036"/>
        <dia:point val="11.4107,33.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O20" connection="0"/>
        <dia:connection handle="1" to="O19" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O24">
      <dia:attribute name="obj_pos">
        <dia:point val="3,28"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="2.95,27.95;7.05888,29.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="3,28"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="4.0088834764831835"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811866759"/>
      </dia:attribute>
      <dia:attribute name="line_width">
        <dia:real val="0.10000000000000001"/>
      </dia:attribute>
      <dia:attribute name="line_colour">
        <dia:color val="#000000"/>
      </dia:attribute>
      <dia:attribute name="fill_colour">
        <dia:color val="#ffffff"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="0"/>
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#SS:Fx#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="serif" style="80" name="Times-Roman"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="5.00444,29.2036"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#000000"/>
          </dia:attribute>
          <dia:attribute name="alignment">
            <dia:enum val="1"/>
          </dia:attribute>
        </dia:composite>
      </dia:attribute>
      <dia:attribute name="flip_horizontal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="flip_vertical">
        <dia:boolean val="false"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O25">
      <dia:attribute name="obj_pos">
        <dia:point val="5,39"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="4.95,38.95;9.05888,40.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="5,39"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="4.0088834764831835"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865476"/>
      </dia:attribute>
      <dia:attribute name="line_width">
        <dia:real val="0.10000000000000001"/>
      </dia:attribute>
      <dia:attribute name="line_colour">
        <dia:color val="#000000"/>
      </dia:attribute>
      <dia:attribute name="fill_colour">
        <dia:color val="#ffffff"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="0"/>
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#SS:Fy#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="serif" style="80" name="Times-Roman"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="7.00444,40.2036"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#000000"/>
          </dia:attribute>
          <dia:attribute name="alignment">
            <dia:enum val="1"/>
          </dia:attribute>
        </dia:composite>
      </dia:attribute>
      <dia:attribute name="flip_horizontal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="flip_vertical">
        <dia:boolean val="false"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O26">
      <dia:attribute name="obj_pos">
        <dia:point val="11.4107,33.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="6.14248,28.2613;12.1275,33.6511"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="11.4107,33.9036"/>
        <dia:point val="5.00444,28.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="0"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="0"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="start_label">
        <dia:string>#[x2]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O19" connection="0"/>
        <dia:connection handle="1" to="O24" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O27">
      <dia:attribute name="obj_pos">
        <dia:point val="11.4107,33.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="7.59255,34.313;12.8781,39.861"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="11.4107,33.9036"/>
        <dia:point val="7.00444,39.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="0"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="0"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="start_label">
        <dia:string>#[y2]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O19" connection="0"/>
        <dia:connection handle="1" to="O25" connection="0"/>
      </dia:connections>
    </dia:object>
  </dia:layer>
</dia:diagram>

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_abg.ps version [489ef30f5a].
























































































































































































































































































































































































































































































































































































































































































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%!PS-Adobe-2.0 EPSF-2.0
%%Title: robotrain_abg.dia
%%Creator: Dia v0.94+bondgraph
%%CreationDate: Sun Sep 12 21:15:02 2004
%%For: geraint
%%Orientation: Portrait
%%Magnification: 1.0000
%%BoundingBox: 0 0 1979 1057
%%BeginSetup
%%EndSetup
%%EndComments
%%BeginProlog
[ /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef
/.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef
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n 56.850700 25.914300 m 56.850700 27.764300 l s
n 68.850700 25.914300 m 68.850700 27.764300 l s
n 56.850700 27.764300 0.000000 0.000000 90.000000 180.000000 ellipse s
n 68.850700 27.764300 0.000000 0.000000 0.000000 90.000000 ellipse s
1.000000 1.000000 1.000000 srgb
n 41.630000 16.085000 m 41.630000 17.985000 l 54.930000 17.985000 l 54.930000 16.085000 l f
0.100000 slw
[] 0 sd
[] 0 sd
0 slj
0.000000 0.000000 0.000000 srgb
n 41.630000 16.085000 m 41.630000 17.985000 l 54.930000 17.985000 l 54.930000 16.085000 l cp s
1.000000 1.000000 1.000000 srgb
n 42.650000 17.050000 0.500000 0.500000 0 360 ellipse f
0.100000 slw
[] 0 sd
[] 0 sd
0.000000 0.000000 0.000000 srgb
n 42.650000 17.050000 0.500000 0.500000 0 360 ellipse cp s
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(tractor:tractor) dup sw 2 div 61.316942 ex sub 34.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(trailer:front) dup sw 2 div 44.598192 ex sub 34.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(trailer:rear) dup sw 2 div 11.410692 ex sub 34.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(trailer:middle) dup sw 2 div 28.004442 ex sub 34.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 55.953548 33.903600 m 49.243170 33.903600 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 49.243170 33.903600 m 50.542209 34.653600 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 39.949569 33.903600 m 33.057646 33.903600 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 33.057646 33.903600 m 34.356684 34.653600 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 22.951178 33.903600 m 15.870928 33.903600 l s
/Helvetica-latin1 ff 0.560000 scf sf
n 15.870928 33.903600 m 17.169966 34.653600 l s
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(SS:Fx) dup sw 2 div 5.004442 ex sub 29.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
0 slc
0 slj
0 slc
0 slj
[] 0 sd
/Times-Roman-latin1 ff 0.700000 scf sf
(SS:Fy) dup sw 2 div 7.004442 ex sub 40.203553 m gs 1 -1 sc sh gr
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 9.400878 32.334961 m 7.014653 30.472545 l s
n 9.400878 32.334961 m 8.939425 32.926198 l s
n 9.400878 32.334961 m 9.862330 31.743723 l s
n 7.014653 30.472545 m 7.577254 31.863041 l s
0.100000 slw
[] 0 sd
[] 0 sd
1 slc
n 10.119016 35.662485 m 8.296124 38.144715 l s
n 10.119016 35.662485 m 10.723519 36.106417 l s
n 10.119016 35.662485 m 9.514513 35.218552 l s
n 8.296124 38.144715 m 9.669541 37.541618 l s
showpage

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_desc.tex version [0e2575aeb0].
































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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system robotrain (robotrain_desc.tex)
% Generated by MTT on Sun Sep 12 20:03:30 BST 2004.

The acausal bond graph of system \textbf{robotrain} is
displayed in Figure \Ref{fig:robotrain_abg.ps}.
The model is based on an off-hooked design of a passive multiple
trailer system for indoor service robots
\footnote{{Jaehyoung Lee, Woojin Chung, Munsang Kim, Chongwon Lee and Jeabok-Song,
    A passive multiple trailer system for indoor service robots,
    \emph{Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems},
    Maui, Hawaii, USA, 2001}}
The equations of motion for each trailer are given by:
\begin{align}
  v_i &= v_{i-1}\cos \phi_i+D_{i-1}\dot\theta_{i-1}\sin \phi_i\\
  \dot\theta_i &= \frac{1}{L_i}\left(v_{i-1}\sin \phi_i+D_{i-1}\dot\theta_{i-1}\cos \phi_i\right)\\
  \phi_i &= \theta_{i-1}-\theta_i
\end{align}
where $v$ and $\dot\theta$ are the translational and rotational velocity of each trailer (in the body axis system), $L$ and $D$ are the lengths of the front and rear moment arms, and the subscripts $_i$ and $_{i-1}$ refer to any trailer and the one in front of it.

The label file is listed in Section \Ref{sec:robotrain_lbl} and the
subsystems are listed in Section \Ref{sec:robotrain_sub}.

\subsection{Trajectory}
The trajectory of each of the trailer hooks in response to a constant forward and rotational velocity is shown in figure \Ref{fig:trajectory.ps}. 
\fig{trajectory}{trajectory.ps}{0.9}{Trajectory of trailer links}
The plot was generated with the following script:
\footnotesize
\verbatiminput{make_trajectory.sh}
\normalsize

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_input.txt version [f3726c6409].














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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;

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_lbl.txt version [c96da6fc3e].





































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#SUMMARY robotrain
#DESCRIPTION Detailed description here

## System robotrain, representation lbl, language txt
## File robotrain_lbl.txt
## Generated by MTT on Sun Sep 12 19:26:13 BST 2004

  ###################################### 
  ##### Model Transformation Tools #####
  ######################################

## Port aliases

## Argument aliases
#ALIAS	$1	D
#ALIAS	$2	L

## Each line should be of one of the following forms:
##	     a comment (ie starting with #)
##	     component-name	cr_name	arg1,arg2,..argn
##	     blank

## ---- Component labels ----

## Component type SS
	Fx	SS		external,external		
	Fy	SS		external,external		

## Component type tractor
	tractor	lin		D

## Component type trailer
	front	lin		D;L
	middle	lin		D;L
	rear	lin		D;L

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_rep.pdf version [befc3b00a1].

cannot compute difference between binary files

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_rep.txt version [9f54dfcd22].


























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## -*-octave-*- Put Emacs into octave-mode
## Outline report file for system robotrain (robotrain_rep.txt)
## Generated by MTT on" Sun Sep 12 20:02:40 BST 2004.

mtt robotrain abg tex			# The system description
#mtt robotrain cbg ps 		        # The causal bond graph
mtt robotrain struc tex	        # The system structure
mtt robotrain sympar tex	        # The system parameters
## Uncomment the following lines or add others
## mtt robotrain dae tex	        # The system dae
## mtt robotrain ode tex	        # The system ode 
## mtt robotrain sspar tex		# Steady-state parameters
## mtt robotrain ss tex 		# Steady state
## mtt robotrain dm tex		# Descriptor matrices (of linearised system)
## mtt robotrain sm tex		# State matrices (of linearised system)
## mtt robotrain tf tex		# Transfer function (of linearised system)
## mtt robotrain lmfr ps		# log modulus of frequency response (of linearised system)
## mtt robotrain simpar txt		# Simulation parameters
## mtt robotrain numpar txt		# Numerical simulation parameters
mtt robotrain state txt		# Simulation initial state
mtt robotrain input txt		# Simulation input
## mtt robotrain logic txt		# Logic control
## mtt robotrain odeso ps		# Simulation output

## mtt robotrain rep txt		# This file

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_simpar.txt version [9624a81d99].













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# -*-octave-*- Put Emacs into octave-mode
# Simulation parameters for system robotrain (robotrain_simpar.txt)
# Generated by MTT on Sun Sep 12 18:45:47 BST 2004.

FIRST        = 0.0;       # First time in simulation output
DT          = 0.1;        # Print interval
LAST        = 10.0;       # Last time in simulation
STEPFACTOR  = 10;          # Integration steps per print interval
WMIN        = -1;         # Minimum frequency = 10^WMIN
WMAX        = 2;          # Maximum frequency = 10^WMAX
WSTEPS      = 100;        # Number of frequency steps
INPUT       = 1;          # Index of the input

Added mttroot/mtt/lib/examples/Dia/robotrain/robotrain_state.txt version [341d93c3fd].


















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## -*-octave-*- Put Emacs into octave-mode ##
 
## 
## System robotrain, representation state, language txt; 
## File robotrain_state.txt; 
## Generated by MTT on Sun Sep 12 18:46:40 BST 2004; 

robotrain__tractor__yaw__mttC		= 0.0;
robotrain__front__mttINTF__mttC		= -D;
robotrain__front__mttINTF_2__mttC	= 0.0;
robotrain__front__yaw__mttC		= 0.0;
robotrain__middle__mttINTF__mttC	= -(D+L+D);
robotrain__middle__mttINTF_2__mttC	= 0.0;
robotrain__middle__yaw__mttC		= 0.0;
robotrain__rear__mttINTF__mttC		= -(D+L+D+L+D);
robotrain__rear__mttINTF_2__mttC	= 0.0;
robotrain__rear__yaw__mttC		= 0.0;

Added mttroot/mtt/lib/examples/Dia/robotrain/rotate_z.cr version [b08e480b1c].












































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operator rotate_z;

let rotate_z (R,~out_causality,1,
   ~x1,~causality1,1,
   ~y1,~causality2,2,
   ~x2,~causality3,3,
   ~y2,~causality4,4,
   ~psi,~causality5,5) =>		% x1
      x2*cos(psi)-y2*sin(psi);

let rotate_z (R,~out_causality,2,
   ~x1,~causality1,1,
   ~y1,~causality2,2,
   ~x2,~causality3,3,
   ~y2,~causality4,4,
   ~psi,~causality5,5) =>		% y1
      x2*sin(psi)+y2*sin(psi);

let rotate_z (R,~out_causality,3,
   ~x1,~causality1,1,
   ~y1,~causality2,2,
   ~x2,~causality3,3,
   ~y2,~causality4,4,
   ~psi,~causality5,5) =>		% x2
      x1*cos(psi)+y1*sin(psi);

let rotate_z (R,~out_causality,4,
   ~x1,~causality1,1,
   ~y1,~causality2,2,
   ~x2,~causality3,3,
   ~y2,~causality4,4,
   ~psi,~causality5,5) =>		% y2
      -x1*sin(psi)+y1*cos(psi);

let rotate_z (R,~out_causality,5,
   ~x1,~causality1,1,
   ~y1,~causality2,2,
   ~x2,~causality3,3,
   ~y2,~causality4,4,
   ~psi,~causality5,5) =>		% x1
      0;

;end;

Added mttroot/mtt/lib/examples/Dia/robotrain/rotate_z.pm version [1022fea680].





































































































































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#-------------------------------------------------------------------------------
#			Model Transformation Tools
#-------------------------------------------------------------------------------


package rotate_z;

#-------------------------------------------------------------------------------
#		rotation of x-y plane about z
#-------------------------------------------------------------------------------

use strict;
use warnings;

#-------------------------------------------------------------------------------
# standard module header (see perlmod for explanation)
#-------------------------------------------------------------------------------
BEGIN {
    use Exporter   ();
    our ($VERSION, @ISA, @EXPORT, @EXPORT_OK, %EXPORT_TAGS);

    $VERSION     = 1.00;

    @ISA         = qw(Exporter);
    @EXPORT      = qw(&rotate_z);	# CR name
    %EXPORT_TAGS = ( );
}

#-------------------------------------------------------------------------------
# declaration of specific component implementations
#-------------------------------------------------------------------------------
sub rotate_z_R(@);		# R

#-------------------------------------------------------------------------------
# main function: selects which subfunction to call
#-------------------------------------------------------------------------------
sub rotate_z (@) {

    my $retval;

    $_ = $_[0];

    s/\((.*)\)/$1/;		# strip brackets
    my @args = split (/,/);	# split arguments

    $_ = $args[0];		# get component type

    # select rule to use
    if (/^R|r$/)	{ $retval = rotate_z_R	(@args); }
    
    # if a substitution has been made ($retval)
    if ($retval)
    {
	return $retval;		# return substituted expression
    }
    else			# return nothing
    {
	return;
    }
}

#-------------------------------------------------------------------------------
# R
#-------------------------------------------------------------------------------
sub rotate_z_R (@) {

    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)

	if ($out_port == 1)	# x1
	{
	    $retval = "(($x2)*(+cos($psi))+($y2)*(-sin($psi)))";
	}
	elsif ($out_port == 2)	# y1
	{
	    $retval = "(($x2)*(+sin($psi))+($y2)*(+cos($psi)))";
	}
	elsif ($out_port == 3)	# x2
	{
	    $retval = "(($x1)*(+cos($psi))+($y1)*(+sin($psi)))";
	}
	elsif ($out_port == 4)	# y2
	{
	    $retval = "(($x1)*(-sin($psi))+($y1)*(+cos($psi)))";
	}
	elsif ($out_port == 5)
	{
	    $retval = "(0)";
	}
    }
    
    if ($retval)
    {
	return $retval;
    }
    else
    {
	return;
    }
}

#-------------------------------------------------------------------------------
1;				# return true

Added mttroot/mtt/lib/examples/Dia/robotrain/rotation_abg.dia version [df991c37a8].




































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































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            <dia:font family="sans" style="80" name="Helvetica"/>
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            <dia:font family="sans" style="80" name="Helvetica"/>
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        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O2" connection="0"/>
        <dia:connection handle="1" to="O10" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O13">
      <dia:attribute name="obj_pos">
        <dia:point val="27.9169,12.0036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="29.7336,10.1536;32.6739,12.8469"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="27.9169,12.0036"/>
        <dia:point val="36.3044,12.0036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#ff0000"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O8" connection="0"/>
        <dia:connection handle="1" to="O3" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O14">
      <dia:attribute name="obj_pos">
        <dia:point val="18.3919,5.46855"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="18.312,0.16061;19.6051,3.71831"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="18.3919,5.46855"/>
        <dia:point val="18.4107,-1.14645"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#ff0000"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O11" connection="0"/>
        <dia:connection handle="1" to="O4" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O15">
      <dia:attribute name="obj_pos">
        <dia:point val="11.7419,7.36855"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="12.498,6.29215;19.2016,11.4588"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="11.7419,7.36855"/>
        <dia:point val="18.45,11.9536"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#0000ff"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="end_label">
        <dia:string>#[1]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O9" connection="0"/>
        <dia:connection handle="1" to="O6" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O16">
      <dia:attribute name="obj_pos">
        <dia:point val="12.8419,17.5186"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="13.481,12.5484;19.4854,17.866"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="12.8419,17.5186"/>
        <dia:point val="18.45,11.9536"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#0000ff"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="end_label">
        <dia:string>#[2]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O10" connection="0"/>
        <dia:connection handle="1" to="O6" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O17">
      <dia:attribute name="obj_pos">
        <dia:point val="18.45,11.9536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="19.3997,10.1089;27.0286,12.8344"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="18.45,11.9536"/>
        <dia:point val="27.9169,12.0036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#ff0000"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="start_label">
        <dia:string>#[3]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O6" connection="0"/>
        <dia:connection handle="1" to="O8" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O18">
      <dia:attribute name="obj_pos">
        <dia:point val="18.45,11.9536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="18.307,5.80776;20.541,11.1429"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="18.45,11.9536"/>
        <dia:point val="18.3919,5.46855"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#ff0000"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="start_label">
        <dia:string>#[4]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O6" connection="0"/>
        <dia:connection handle="1" to="O11" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O19">
      <dia:attribute name="obj_pos">
        <dia:point val="17.3,17.8"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="17.25,17.75;19.6714,19.6571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="17.3,17.8"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="2.3213834764831809"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.80710678118655"/>
      </dia:attribute>
      <dia:attribute name="line_width">
        <dia:real val="0.10000000000000001"/>
      </dia:attribute>
      <dia:attribute name="line_colour">
        <dia:color val="#000000"/>
      </dia:attribute>
      <dia:attribute name="fill_colour">
        <dia:color val="#ffffff"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="0"/>
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#AE#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="sans" style="0" name="Helvetica"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="18.4607,18.9536"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#a020f0"/>
          </dia:attribute>
          <dia:attribute name="alignment">
            <dia:enum val="1"/>
          </dia:attribute>
        </dia:composite>
      </dia:attribute>
      <dia:attribute name="flip_horizontal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="flip_vertical">
        <dia:boolean val="false"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O20">
      <dia:attribute name="obj_pos">
        <dia:point val="18.4419,25.3536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="17.6575,19.057;19.6579,24.557"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="18.4419,25.3536"/>
        <dia:point val="18.4607,18.7036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#a020f0"/>
      </dia:attribute>
      <dia:attribute name="line_width">
        <dia:real val="0.050000000000000003"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O5" connection="0"/>
        <dia:connection handle="1" to="O19" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O21">
      <dia:attribute name="obj_pos">
        <dia:point val="18.4607,18.7036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="17.657,12.3017;20.5516,17.9017"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="18.4607,18.7036"/>
        <dia:point val="18.45,11.9536"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_color">
        <dia:color val="#a020f0"/>
      </dia:attribute>
      <dia:attribute name="line_width">
        <dia:real val="0.050000000000000003"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="end_label">
        <dia:string>#[5]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O19" connection="0"/>
        <dia:connection handle="1" to="O6" connection="0"/>
      </dia:connections>
    </dia:object>
  </dia:layer>
</dia:diagram>

Added mttroot/mtt/lib/examples/Dia/robotrain/rotation_abg.ps version [aeb5619686].
























































































































































































































































































































































































































































































































































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28.346000 -28.346000 scale
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%%EndProlog


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showpage

Added mttroot/mtt/lib/examples/Dia/robotrain/rotation_desc.tex version [585cc1ed33].























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% -*-latex-*- Put EMACS into LaTeX-mode
% Verbal description for system rotation (rotation_desc.tex)
% Generated by MTT on Sun Sep 12 22:06:34 BST 2004.

The acausal bond graph of system \textbf{rotation} is
displayed in Figure \Ref{fig:rotation_abg.ps}  
.
The label file is listed in Section \Ref{sec:rotation_lbl} and the
subsystems are listed in Section \Ref{sec:rotation_sub}.

\subsubsection{rotate\_z constitutive relationship}
The rotation between body and Earth axes is achieved using the ``rotate\_z'' constitutive relationship which is implemented as a Reduce file (.cr) and a Perl module (.pm) to permit the model to be built with or without MTT's -no-reduce option.

\paragraph{rotate\_z.cr}
\footnotesize
\verbatiminput{rotate_z.cr}
\normalsize

\paragraph{rotate\_z.pm}
\footnotesize
\verbatiminput{rotate_z.pm}
\normalsize

Added mttroot/mtt/lib/examples/Dia/robotrain/rotation_lbl.txt version [6ff5537fca].













































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#SUMMARY rotation
#DESCRIPTION Detailed description here

## System rotation, representation lbl, language txt
## File rotation_lbl.txt
## Generated by MTT on Tue Sep  7 16:59:01 BST 2004

  ###################################### 
  ##### Model Transformation Tools #####
  ######################################

## Port aliases
#ALIAS	in	x_earth,y_earth
#ALIAS	out	x_body,y_body

## Argument aliases

## Each line should be of one of the following forms:
##	     a comment (ie starting with #)
##	     component-name	cr_name	arg1,arg2,..argn
##	     blank

## ---- Component labels ----

## Component type 0 (anonymous => default parameters)
	# 0							
	# 0							
	# 0							
	# 0							
	# 0							

## Component type AF (anonymous => default parameters)
	# AF							

## Component type R
	rotation	rotate_z

## Component type SS
	[psi]		SS	external,external		
	[x_body]	SS	external,external		
	[x_earth]	SS	external,external		
	[y_body]	SS	external,external		
	[y_earth]	SS	external,external		

Added mttroot/mtt/lib/examples/Dia/robotrain/tractor_abg.dia version [68d89c2e44].



















































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































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        <dia:point val="23.4,50.65"/>
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        <dia:rectangle val="23.35,50.6;25.0839,52.5071"/>
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        <dia:point val="23.4,50.65"/>
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        <dia:real val="1.8071067811865476"/>
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        <dia:real val="0.10000000000000001"/>
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            <dia:font family="serif" style="80" name="Times-Roman"/>
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            <dia:point val="24.2169,51.8536"/>
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            <dia:color val="#000000"/>
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        <dia:boolean val="false"/>
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        <dia:point val="23.8169,35.9036"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="12.7216,33.9821;22.0006,36.6842"/>
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        <dia:point val="23.8169,35.9036"/>
        <dia:point val="8.46694,35.8036"/>
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      <dia:attribute name="numcp">
        <dia:int val="1"/>
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        <dia:real val="1"/>
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        <dia:boolean val="false"/>
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      <dia:attribute name="signal">
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        <dia:connection handle="1" to="O8" connection="0"/>
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        <dia:point val="24.2169,51.5536"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="16.6078,42.558;24.3542,50.9191"/>
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        <dia:point val="24.2169,51.5536"/>
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        <dia:enum val="1"/>
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        <dia:point val="15.9732,43.3536"/>
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        <dia:rectangle val="10.0103,35.9701;15.1712,41.7617"/>
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        <dia:point val="15.9732,43.3536"/>
        <dia:point val="8.46694,35.8036"/>
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        <dia:point val="8.46694,35.8036"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="0.759721,33.9931;5.58945,36.7033"/>
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        <dia:point val="8.46694,35.8036"/>
        <dia:point val="-2.58931,35.9036"/>
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        <dia:int val="1"/>
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        <dia:real val="1"/>
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        <dia:point val="8.46694,35.8036"/>
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        <dia:rectangle val="7.60063,30.1977;11.151,34.04"/>
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        <dia:point val="8.46694,35.8036"/>
        <dia:point val="8.41069,28.9036"/>
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        <dia:real val="1"/>
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      <dia:attribute name="start_label">
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        <dia:point val="32,35"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="31.95,34.95;35.1839,36.8571"/>
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        <dia:real val="1"/>
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          <dia:attribute name="font">
            <dia:font family="serif" style="80" name="Times-Roman"/>
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          <dia:attribute name="height">
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          <dia:attribute name="pos">
            <dia:point val="33.5669,36.2036"/>
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          <dia:attribute name="color">
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      <dia:attribute name="flip_horizontal">
        <dia:boolean val="false"/>
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        <dia:point val="30.45,50.65"/>
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      <dia:attribute name="obj_bb">
        <dia:rectangle val="30.4,50.6;36.4464,52.5071"/>
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            <dia:font family="serif" style="80" name="Times-Roman"/>
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        <dia:point val="21.25,46.25"/>
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        <dia:rectangle val="21.2,46.2;27.1839,48.1071"/>
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        <dia:point val="21.25,46.25"/>
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        <dia:point val="24.2169,51.5536"/>
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        <dia:point val="23.4,42"/>
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        <dia:rectangle val="23.35,41.95;25.0839,43.8571"/>
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      <dia:attribute name="effort_causality">
        <dia:enum val="2"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="2"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="end_label">
        <dia:string>#[psi]#</dia:string>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O28" connection="0"/>
        <dia:connection handle="1" to="O8" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O26">
      <dia:attribute name="obj_pos">
        <dia:point val="33.5669,35.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="24.7053,34.0536;32.6169,36.7469"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="33.5669,35.9036"/>
        <dia:point val="23.8169,35.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O19" connection="0"/>
        <dia:connection handle="1" to="O12" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O27">
      <dia:attribute name="obj_pos">
        <dia:point val="33.4232,51.5536"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="25.1053,49.7036;32.4732,52.3969"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="33.4232,51.5536"/>
        <dia:point val="24.2169,51.5536"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O20" connection="0"/>
        <dia:connection handle="1" to="O13" connection="0"/>
      </dia:connections>
    </dia:object>
    <dia:object type="BondGraph - MTT port" version="0" id="O28">
      <dia:attribute name="obj_pos">
        <dia:point val="14.8437,39"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="14.7937,38.95;21.7776,40.8571"/>
      </dia:attribute>
      <dia:attribute name="elem_corner">
        <dia:point val="14.8437,39"/>
      </dia:attribute>
      <dia:attribute name="elem_width">
        <dia:real val="6.8838834764831871"/>
      </dia:attribute>
      <dia:attribute name="elem_height">
        <dia:real val="1.8071067811865476"/>
      </dia:attribute>
      <dia:attribute name="line_width">
        <dia:real val="0.10000000000000001"/>
      </dia:attribute>
      <dia:attribute name="line_colour">
        <dia:color val="#000000"/>
      </dia:attribute>
      <dia:attribute name="fill_colour">
        <dia:color val="#ffffff"/>
      </dia:attribute>
      <dia:attribute name="show_background">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="line_style">
        <dia:enum val="0"/>
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="text">
        <dia:composite type="text">
          <dia:attribute name="string">
            <dia:string>#AE:negative#</dia:string>
          </dia:attribute>
          <dia:attribute name="font">
            <dia:font family="serif" style="0" name="Times-Roman"/>
          </dia:attribute>
          <dia:attribute name="height">
            <dia:real val="1"/>
          </dia:attribute>
          <dia:attribute name="pos">
            <dia:point val="18.2856,40.1536"/>
          </dia:attribute>
          <dia:attribute name="color">
            <dia:color val="#000000"/>
          </dia:attribute>
          <dia:attribute name="alignment">
            <dia:enum val="1"/>
          </dia:attribute>
        </dia:composite>
      </dia:attribute>
      <dia:attribute name="flip_horizontal">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="flip_vertical">
        <dia:boolean val="false"/>
      </dia:attribute>
    </dia:object>
    <dia:object type="BondGraph - MTT bond" version="0" id="O29">
      <dia:attribute name="obj_pos">
        <dia:point val="24.2169,42.9036"/>
      </dia:attribute>
      <dia:attribute name="obj_bb">
        <dia:rectangle val="19.1267,38.6341;23.8662,42.4858"/>
      </dia:attribute>
      <dia:attribute name="conn_endpoints">
        <dia:point val="24.2169,42.9036"/>
        <dia:point val="18.2857,39.9036"/>
      </dia:attribute>
      <dia:attribute name="numcp">
        <dia:int val="1"/>
      </dia:attribute>
      <dia:attribute name="line_width">
        <dia:real val="0.050000000000000003"/>
      </dia:attribute>
      <dia:attribute name="absolute_start_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="absolute_end_gap">
        <dia:real val="1"/>
      </dia:attribute>
      <dia:attribute name="object_edge_start">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="object_edge_end">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="effort_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="flow_causality">
        <dia:enum val="1"/>
      </dia:attribute>
      <dia:attribute name="arrow_on_start">
        <dia:boolean val="false"/>
      </dia:attribute>
      <dia:attribute name="signal">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:attribute name="show_labels">
        <dia:boolean val="true"/>
      </dia:attribute>
      <dia:connections>
        <dia:connection handle="0" to="O23" connection="0"/>
        <dia:connection handle="1" to="O28" connection="0"/>
      </dia:connections>
    </dia:object>
  </dia:layer>
</dia:diagram>

Added mttroot/mtt/lib/examples/Dia/robotrain/tractor_abg.ps version [9f0629015e].



































































































































































































































































































































































































































































































































































































































































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%!PS-Adobe-2.0 EPSF-2.0
%%Title: tractor_abg.dia
%%Creator: Dia v0.94+bondgraph
%%CreationDate: Sun Sep 12 21:15:57 2004
%%For: geraint
%%Orientation: Portrait
%%Magnification: 1.0000
%%BoundingBox: 0 0 1177 1288
%%BeginSetup
%%EndSetup
%%EndComments
%%BeginProlog
[ /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef
/.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef
/.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef
/.notdef /.notdef /space /exclam /quotedbl /numbersign /dollar /percent /ampersand /quoteright
/parenleft /parenright /asterisk /plus /comma /hyphen /period /slash /zero /one
/two /three /four /five /six /seven /eight /nine /colon /semicolon
/less /equal /greater /question /at /A /B /C /D /E
/F /G /H /I /J /K /L /M /N /O
/P /Q /R /S /T /U /V /W /X /Y
/Z /bracketleft /backslash /bracketright /asciicircum /underscore /quoteleft /a /b /c
/d /e /f /g /h /i /j /k /l /m
/n /o /p /q /r /s /t /u /v /w
/x /y /z /braceleft /bar /braceright /asciitilde /.notdef /.notdef /.notdef
/.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef
/.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef
/.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef /.notdef
/space /exclamdown /cent /sterling /currency /yen /brokenbar /section /dieresis /copyright
/ordfeminine /guillemotleft /logicalnot /hyphen /registered /macron /degree /plusminus /twosuperior /threesuperior
/acute /mu /paragraph /periodcentered /cedilla /onesuperior /ordmasculine /guillemotright /onequarter /onehalf
/threequarters /questiondown /Agrave /Aacute /Acircumflex /Atilde /Adieresis /Aring /AE /Ccedilla
/Egrave /Eacute /Ecircumflex /Edieresis /Igrave /Iacute /Icircumflex /Idieresis /Eth /Ntilde
/Ograve /Oacute /Ocircumflex /Otilde /Odieresis /multiply /Oslash /Ugrave /Uacute /Ucircumflex
/Udieresis /Yacute /Thorn /germandbls /agrave /aacute /acircumflex /atilde /adieresis /aring
/ae /ccedilla /egrave /eacute /ecircumflex /edieresis /igrave /iacute /icircumflex /idieresis
/eth /ntilde /ograve /oacute /ocircumflex /otilde /odieresis /divide /oslash /ugrave
/uacute /ucircumflex /udieresis /yacute /thorn /ydieresis] /isolatin1encoding exch def
/cp {closepath} bind def
/c {curveto} bind def
/f {fill} bind def
/a {arc} bind def
/ef {eofill} bind def
/ex {exch} bind def
/gr {grestore} bind def
/gs {gsave} bind def
/sa {save} bind def
/rs {restore} bind def
/l {lineto} bind def
/m {moveto} bind def
/rm {rmoveto} bind def
/n {newpath} bind def
/s {stroke} bind def
/sh {show} bind def
/slc {setlinecap} bind def
/slj {setlinejoin} bind def
/slw {setlinewidth} bind def
/srgb {setrgbcolor} bind def
/rot {rotate} bind def
/sc {scale} bind def
/sd {setdash} bind def
/ff {findfont} bind def
/sf {setfont} bind def
/scf {scalefont} bind def
/sw {stringwidth pop} bind def
/tr {translate} bind def

/ellipsedict 8 dict def
ellipsedict /mtrx matrix put
/ellipse
{ ellipsedict begin
   /endangle exch def
   /startangle exch def
   /yrad exch def
   /xrad exch def
   /y exch def
   /x exch def   /savematrix mtrx currentmatrix def
   x y tr xrad yrad sc
   0 0 1 startangle endangle arc
   savematrix setmatrix
   end
} def

/mergeprocs {
dup length
3 -1 roll
dup
length
dup
5 1 roll
3 -1 roll
add
array cvx
dup
3 -1 roll
0 exch
putinterval
dup
4 2 roll
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showpage

Added mttroot/mtt/lib/examples/Dia/robotrain/tractor_lbl.txt version [9aa5974a3e].


















































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#SUMMARY tractor
#DESCRIPTION Detailed description here

## System tractor, representation lbl, language txt
## File tractor_lbl.txt
## Generated by MTT on Wed Sep  8 00:42:45 BST 2004

  ###################################### 
  ##### Model Transformation Tools #####
  ######################################

## Port aliases
#ALIAS	out	x2,y2

## Argument aliases
#ALIAS	$1	D

## Each line should be of one of the following forms:
##	     a comment (ie starting with #)
##	     component-name	cr_name	arg1,arg2,..argn
##	     blank

## ---- Component labels ----

## Component type 1 (anonymous => default parameters)
	# 1							
	# 1							
	# 1							

## Component type AE
	negative  lin		effort,-1

## Component type INTF
	yaw	  none				

## Component type SS
	[x2]	  SS		external,external		
	[y2]	  SS		external,external		

## Component type Sf
	omega	  SS		external		
	v	  SS		external		

## Component type TF
	D	  lin		flow,-D		

## Component type rotation
	z2	  rotate_z		

Added mttroot/mtt/lib/examples/Dia/robotrain/trailer_abg.dia version [0050075c63].

























































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































































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Added mttroot/mtt/lib/examples/Dia/robotrain/trailer_abg.ps version [a0fab52c92].























































































































































































































































































































































































































































































































































































































































































































































































































































































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%%Title: trailer_abg.dia
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/NewCenturySchoolbook-BoldItalic-latin1
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showpage

Added mttroot/mtt/lib/examples/Dia/robotrain/trailer_lbl.txt version [b833a95bcb].




























































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#SUMMARY trailer
#DESCRIPTION Detailed description here

## System trailer, representation lbl, language txt
## File trailer_lbl.txt
## Generated by MTT on Wed Sep  8 00:41:53 BST 2004

  ###################################### 
  ##### Model Transformation Tools #####
  ######################################

## Port aliases
#ALIAS	in	x1,y1
#ALIAS	out	x2,y2

## Argument aliases
#ALIAS	$1	D
#ALIAS	$2	L

## Each line should be of one of the following forms:
##	     a comment (ie starting with #)
##	     component-name	cr_name	arg1,arg2,..argn
##	     blank

## ---- Component labels ----

## Component type 1 (anonymous => default parameters)
	# 1							
	# 1							
	# 1							

## Component type AE
	negative  lin		effort,-1

## Component type De
	x	  SS		external		
	y	  SS		external		

## Component type Df
	omega	  SS		external		
	v	  SS		external		

## Component type INTF
	yaw	  none				

## Component type SS
	[x1]	  SS		external,external		
	[x2]	  SS		external,external		
	[y1]	  SS		external,external		
	[y2]	  SS		external,external		

## Component type TF
	D	  lin		flow,-D		
	L	  lin		effort,L		

## Component type rotation
	z1	  rotate_z		
	z2	  rotate_z		

Added mttroot/mtt/lib/examples/Dia/robotrain/trajectory.ps version [a9bf91e4a0].
































































































































































































































































































































































































































































































































































































































































































































































































































































































































































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%!PS-Adobe-2.0 EPSF-2.0
%%Title: trajectory.eps
%%Creator: gnuplot 4.0 patchlevel 0
%%CreationDate: Sun Sep 12 19:59:53 2004
%%DocumentFonts: (atend)
%%BoundingBox: 50 50 410 302
%%Orientation: Portrait
%%EndComments
/gnudict 256 dict def
gnudict begin
/Color false def
/Solid false def
/gnulinewidth 5.000 def
/userlinewidth gnulinewidth def
/vshift -46 def
/dl {10.0 mul} def
/hpt_ 31.5 def
/vpt_ 31.5 def
/hpt hpt_ def
/vpt vpt_ def
/Rounded false def
/M {moveto} bind def
/L {lineto} bind def
/R {rmoveto} bind def
/V {rlineto} bind def
/N {newpath moveto} bind def
/C {setrgbcolor} bind def
/f {rlineto fill} bind def
/vpt2 vpt 2 mul def
/hpt2 hpt 2 mul def
/Lshow { currentpoint stroke M
  0 vshift R show } def
/Rshow { currentpoint stroke M
  dup stringwidth pop neg vshift R show } def
/Cshow { currentpoint stroke M
  dup stringwidth pop -2 div vshift R show } def
/UP { dup vpt_ mul /vpt exch def hpt_ mul /hpt exch def
  /hpt2 hpt 2 mul def /vpt2 vpt 2 mul def } def
/DL { Color {setrgbcolor Solid {pop []} if 0 setdash }
 {pop pop pop 0 setgray Solid {pop []} if 0 setdash} ifelse } def
/BL { stroke userlinewidth 2 mul setlinewidth
      Rounded { 1 setlinejoin 1 setlinecap } if } def
/AL { stroke userlinewidth 2 div setlinewidth
      Rounded { 1 setlinejoin 1 setlinecap } if } def
/UL { dup gnulinewidth mul /userlinewidth exch def
      dup 1 lt {pop 1} if 10 mul /udl exch def } def
/PL { stroke userlinewidth setlinewidth
      Rounded { 1 setlinejoin 1 setlinecap } if } def
/LTw { PL [] 1 setgray } def
/LTb { BL [] 0 0 0 DL } def
/LTa { AL [1 udl mul 2 udl mul] 0 setdash 0 0 0 setrgbcolor } def
/LT0 { PL [] 1 0 0 DL } def
/LT1 { PL [4 dl 2 dl] 0 1 0 DL } def
/LT2 { PL [2 dl 3 dl] 0 0 1 DL } def
/LT3 { PL [1 dl 1.5 dl] 1 0 1 DL } def
/LT4 { PL [5 dl 2 dl 1 dl 2 dl] 0 1 1 DL } def
/LT5 { PL [4 dl 3 dl 1 dl 3 dl] 1 1 0 DL } def
/LT6 { PL [2 dl 2 dl 2 dl 4 dl] 0 0 0 DL } def
/LT7 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 1 0.3 0 DL } def
/LT8 { PL [2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 2 dl 4 dl] 0.5 0.5 0.5 DL } def
/Pnt { stroke [] 0 setdash
   gsave 1 setlinecap M 0 0 V stroke grestore } def
/Dia { stroke [] 0 setdash 2 copy vpt add M
  hpt neg vpt neg V hpt vpt neg V
  hpt vpt V hpt neg vpt V closepath stroke
  Pnt } def
/Pls { stroke [] 0 setdash vpt sub M 0 vpt2 V
  currentpoint stroke M
  hpt neg vpt neg R hpt2 0 V stroke
  } def
/Box { stroke [] 0 setdash 2 copy exch hpt sub exch vpt add M
  0 vpt2 neg V hpt2 0 V 0 vpt2 V
  hpt2 neg 0 V closepath stroke
  Pnt } def
/Crs { stroke [] 0 setdash exch hpt sub exch vpt add M
  hpt2 vpt2 neg V currentpoint stroke M
  hpt2 neg 0 R hpt2 vpt2 V stroke } def
/TriU { stroke [] 0 setdash 2 copy vpt 1.12 mul add M
  hpt neg vpt -1.62 mul V
  hpt 2 mul 0 V
  hpt neg vpt 1.62 mul V closepath stroke
  Pnt  } def
/Star { 2 copy Pls Crs } def
/BoxF { stroke [] 0 setdash exch hpt sub exch vpt add M
  0 vpt2 neg V  hpt2 0 V  0 vpt2 V
  hpt2 neg 0 V  closepath fill } def
/TriUF { stroke [] 0 setdash vpt 1.12 mul add M
  hpt neg vpt -1.62 mul V
  hpt 2 mul 0 V
  hpt neg vpt 1.62 mul V closepath fill } def
/TriD { stroke [] 0 setdash 2 copy vpt 1.12 mul sub M
  hpt neg vpt 1.62 mul V
  hpt 2 mul 0 V
  hpt neg vpt -1.62 mul V closepath stroke
  Pnt  } def
/TriDF { stroke [] 0 setdash vpt 1.12 mul sub M
  hpt neg vpt 1.62 mul V
  hpt 2 mul 0 V
  hpt neg vpt -1.62 mul V closepath fill} def
/DiaF { stroke [] 0 setdash vpt add M
  hpt neg vpt neg V hpt vpt neg V
  hpt vpt V hpt neg vpt V closepath fill } def
/Pent { stroke [] 0 setdash 2 copy gsave
  translate 0 hpt M 4 {72 rotate 0 hpt L} repeat
  closepath stroke grestore Pnt } def
/PentF { stroke [] 0 setdash gsave
  translate 0 hpt M 4 {72 rotate 0 hpt L} repeat
  closepath fill grestore } def
/Circle { stroke [] 0 setdash 2 copy
  hpt 0 360 arc stroke Pnt } def
/CircleF { stroke [] 0 setdash hpt 0 360 arc fill } def
/C0 { BL [] 0 setdash 2 copy moveto vpt 90 450  arc } bind def
/C1 { BL [] 0 setdash 2 copy        moveto
       2 copy  vpt 0 90 arc closepath fill
               vpt 0 360 arc closepath } bind def
/C2 { BL [] 0 setdash 2 copy moveto
       2 copy  vpt 90 180 arc closepath fill
               vpt 0 360 arc closepath } bind def
/C3 { BL [] 0 setdash 2 copy moveto
       2 copy  vpt 0 180 arc closepath fill
               vpt 0 360 arc closepath } bind def
/C4 { BL [] 0 setdash 2 copy moveto
       2 copy  vpt 180 270 arc closepath fill
               vpt 0 360 arc closepath } bind def
/C5 { BL [] 0 setdash 2 copy moveto
       2 copy  vpt 0 90 arc
       2 copy moveto
       2 copy  vpt 180 270 arc closepath fill
               vpt 0 360 arc } bind def
/C6 { BL [] 0 setdash 2 copy moveto
      2 copy  vpt 90 270 arc closepath fill
              vpt 0 360 arc closepath } bind def
/C7 { BL [] 0 setdash 2 copy moveto
      2 copy  vpt 0 270 arc closepath fill
              vpt 0 360 arc closepath } bind def
/C8 { BL [] 0 setdash 2 copy moveto
      2 copy vpt 270 360 arc closepath fill
              vpt 0 360 arc closepath } bind def
/C9 { BL [] 0 setdash 2 copy moveto
      2 copy  vpt 270 450 arc closepath fill
              vpt 0 360 arc closepath } bind def
/C10 { BL [] 0 setdash 2 copy 2 copy moveto vpt 270 360 arc closepath fill
       2 copy moveto
       2 copy vpt 90 180 arc closepath fill
               vpt 0 360 arc closepath } bind def
/C11 { BL [] 0 setdash 2 copy moveto
       2 copy  vpt 0 180 arc closepath fill
       2 copy moveto
       2 copy  vpt 270 360 arc closepath fill
               vpt 0 360 arc closepath } bind def
/C12 { BL [] 0 setdash 2 copy moveto
       2 copy  vpt 180 360 arc closepath fill
               vpt 0 360 arc closepath } bind def
/C13 { BL [] 0 setdash  2 copy moveto
       2 copy  vpt 0 90 arc closepath fill
       2 copy moveto
       2 copy  vpt 180 360 arc closepath fill
               vpt 0 360 arc closepath } bind def
/C14 { BL [] 0 setdash 2 copy moveto
       2 copy  vpt 90 360 arc closepath fill
               vpt 0 360 arc } bind def
/C15 { BL [] 0 setdash 2 copy vpt 0 360 arc closepath fill
               vpt 0 360 arc closepath } bind def
/Rec   { newpath 4 2 roll moveto 1 index 0 rlineto 0 exch rlineto
       neg 0 rlineto closepath } bind def
/Square { dup Rec } bind def
/Bsquare { vpt sub exch vpt sub exch vpt2 Square } bind def
/S0 { BL [] 0 setdash 2 copy moveto 0 vpt rlineto BL Bsquare } bind def
/S1 { BL [] 0 setdash 2 copy vpt Square fill Bsquare } bind def
/S2 { BL [] 0 setdash 2 copy exch vpt sub exch vpt Square fill Bsquare } bind def
/S3 { BL [] 0 setdash 2 copy exch vpt sub exch vpt2 vpt Rec fill Bsquare } bind def
/S4 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def
/S5 { BL [] 0 setdash 2 copy 2 copy vpt Square fill
       exch vpt sub exch vpt sub vpt Square fill Bsquare } bind def
/S6 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill Bsquare } bind def
/S7 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt vpt2 Rec fill
       2 copy vpt Square fill
       Bsquare } bind def
/S8 { BL [] 0 setdash 2 copy vpt sub vpt Square fill Bsquare } bind def
/S9 { BL [] 0 setdash 2 copy vpt sub vpt vpt2 Rec fill Bsquare } bind def
/S10 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt Square fill
       Bsquare } bind def
/S11 { BL [] 0 setdash 2 copy vpt sub vpt Square fill 2 copy exch vpt sub exch vpt2 vpt Rec fill
       Bsquare } bind def
/S12 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill Bsquare } bind def
/S13 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill
       2 copy vpt Square fill Bsquare } bind def
/S14 { BL [] 0 setdash 2 copy exch vpt sub exch vpt sub vpt2 vpt Rec fill
       2 copy exch vpt sub exch vpt Square fill Bsquare } bind def
/S15 { BL [] 0 setdash 2 copy Bsquare fill Bsquare } bind def
/D0 { gsave translate 45 rotate 0 0 S0 stroke grestore } bind def
/D1 { gsave translate 45 rotate 0 0 S1 stroke grestore } bind def
/D2 { gsave translate 45 rotate 0 0 S2 stroke grestore } bind def
/D3 { gsave translate 45 rotate 0 0 S3 stroke grestore } bind def
/D4 { gsave translate 45 rotate 0 0 S4 stroke grestore } bind def
/D5 { gsave translate 45 rotate 0 0 S5 stroke grestore } bind def
/D6 { gsave translate 45 rotate 0 0 S6 stroke grestore } bind def
/D7 { gsave translate 45 rotate 0 0 S7 stroke grestore } bind def
/D8 { gsave translate 45 rotate 0 0 S8 stroke grestore } bind def
/D9 { gsave translate 45 rotate 0 0 S9 stroke grestore } bind def
/D10 { gsave translate 45 rotate 0 0 S10 stroke grestore } bind def
/D11 { gsave translate 45 rotate 0 0 S11 stroke grestore } bind def
/D12 { gsave translate 45 rotate 0 0 S12 stroke grestore } bind def
/D13 { gsave translate 45 rotate 0 0 S13 stroke grestore } bind def
/D14 { gsave translate 45 rotate 0 0 S14 stroke grestore } bind def
/D15 { gsave translate 45 rotate 0 0 S15 stroke grestore } bind def
/DiaE { stroke [] 0 setdash vpt add M
  hpt neg vpt neg V hpt vpt neg V
  hpt vpt V hpt neg vpt V closepath stroke } def
/BoxE { stroke [] 0 setdash exch hpt sub exch vpt add M
  0 vpt2 neg V hpt2 0 V 0 vpt2 V
  hpt2 neg 0 V closepath stroke } def
/TriUE { stroke [] 0 setdash vpt 1.12 mul add M
  hpt neg vpt -1.62 mul V
  hpt 2 mul 0 V
  hpt neg vpt 1.62 mul V closepath stroke } def
/TriDE { stroke [] 0 setdash vpt 1.12 mul sub M
  hpt neg vpt 1.62 mul V
  hpt 2 mul 0 V
  hpt neg vpt -1.62 mul V closepath stroke } def
/PentE { stroke [] 0 setdash gsave
  translate 0 hpt M 4 {72 rotate 0 hpt L} repeat
  closepath stroke grestore } def
/CircE { stroke [] 0 setdash 
  hpt 0 360 arc stroke } def
/Opaque { gsave closepath 1 setgray fill grestore 0 setgray closepath } def
/DiaW { stroke [] 0 setdash vpt add M
  hpt neg vpt neg V hpt vpt neg V
  hpt vpt V hpt neg vpt V Opaque stroke } def
/BoxW { stroke [] 0 setdash exch hpt sub exch vpt add M
  0 vpt2 neg V hpt2 0 V 0 vpt2 V
  hpt2 neg 0 V Opaque stroke } def
/TriUW { stroke [] 0 setdash vpt 1.12 mul add M
  hpt neg vpt -1.62 mul V
  hpt 2 mul 0 V
  hpt neg vpt 1.62 mul V Opaque stroke } def
/TriDW { stroke [] 0 setdash vpt 1.12 mul sub M
  hpt neg vpt 1.62 mul V
  hpt 2 mul 0 V
  hpt neg vpt -1.62 mul V Opaque stroke } def
/PentW { stroke [] 0 setdash gsave
  translate 0 hpt M 4 {72 rotate 0 hpt L} repeat
  Opaque stroke grestore } def
/CircW { stroke [] 0 setdash 
  hpt 0 360 arc Opaque stroke } def
/BoxFill { gsave Rec 1 setgray fill grestore } def
/BoxColFill {
  gsave Rec
  /Fillden exch def
  currentrgbcolor
  /ColB exch def /ColG exch def /ColR exch def
  /ColR ColR Fillden mul Fillden sub 1 add def
  /ColG ColG Fillden mul Fillden sub 1 add def
  /ColB ColB Fillden mul Fillden sub 1 add def
  ColR ColG ColB setrgbcolor
  fill grestore } def
%
% PostScript Level 1 Pattern Fill routine
% Usage: x y w h s a XX PatternFill
%	x,y = lower left corner of box to be filled
%	w,h = width and height of box
%	  a = angle in degrees between lines and x-axis
%	 XX = 0/1 for no/yes cross-hatch
%
/PatternFill { gsave /PFa [ 9 2 roll ] def
    PFa 0 get PFa 2 get 2 div add PFa 1 get PFa 3 get 2 div add translate
    PFa 2 get -2 div PFa 3 get -2 div PFa 2 get PFa 3 get Rec
    gsave 1 setgray fill grestore clip
    currentlinewidth 0.5 mul setlinewidth
    /PFs PFa 2 get dup mul PFa 3 get dup mul add sqrt def
    0 0 M PFa 5 get rotate PFs -2 div dup translate
	0 1 PFs PFa 4 get div 1 add floor cvi
	{ PFa 4 get mul 0 M 0 PFs V } for
    0 PFa 6 get ne {
	0 1 PFs PFa 4 get div 1 add floor cvi
	{ PFa 4 get mul 0 2 1 roll M PFs 0 V } for
    } if
    stroke grestore } def
%
/Symbol-Oblique /Symbol findfont [1 0 .167 1 0 0] makefont
dup length dict begin {1 index /FID eq {pop pop} {def} ifelse} forall
currentdict end definefont pop
end
%%EndProlog
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714 1720 Star
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stroke
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end
showpage
%%Trailer
%%DocumentFonts: Helvetica


MTT: Model Transformation Tools
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