Blocks - Alphabetical List

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A465 Forward Kinematics	Converts joint angles to cartesian world coordinates and stance for the CRS A465 robot.
A465 Inverse Kinematics	Converts cartesian world coordinates to joint angles for the CRS A465 robot.
A465 Joint Angles to World Coordinates	Converts joint angles to world coordinates for the CRS A465 robot.
A465 Joint Torques to Motor Inputs	Converts joint torques to motor inputs (voltages or currents) for the CRS A465 robot.
A465 Motor Pulses to Joint Angles	Converts motor encoder counts to joint angles for the CRS A465 robot
A465 Stance	Outputs the stance corresponding to the given joint angles for the CRS A465 robot.
A465 World Coordinates to Joint Angles	Converts cartesian world coordinates to joint angles for the CRS A465 robot.
ATS AFR Tool	Interfaces to the ATS AFR Tool.
ATS AFR Tool Simulation	Facilitates simulation of an ATS AFR Tool.
Altia Get Value	Gets the value of an Altia GUI component.
Altia Initialize	Initializes the interface to an Altia GUI and associates a name with the interface.
Altia Plot	Sends a signal for plotting on a Quanser Altia Plot component.
Altia Set Value	Sets the value of an Altia GUI component.
Angle and Axis from Rotation Matrix	This block converts a rotation matrix to the equivalent rotation angle about a fixed axis.
Angle and Axis to Rotation Matrix	This block converts a rotation by an angle about an arbitrary axis into a rotation matrix.
Asynchronous Thread	Executes a in an asynchronous thread.
Atomic Transition	Performs a rate transition between arbitrary rates that guarantees data integrity.
Audio Capture	Captures audio samples through the microphones on the target platform.
Audio Play	Plays audio samples through the speakers on the target platform.

Basis from Rotation Matrix	This block converts a rotation matrix to a basis of three unit vectors.
Basis to Rotation Matrix	This block converts a basis of three unit vectors to a rotation matrix.
Beep	Emits a beep sound of the given frequency and duration.
Bias Removal	Calculates the initial bias (using a simple moving average algorithm) of the input signal and removes the estimated bias from the input signal.
Bitwise Concatenate	Concatenates binary bits of logical or integral types into larger integral types.

CAT5 Forward Kinematics	Converts joint angles to cartesian world coordinates for the CRS Catalyst-5 robot. This block is actually equivalent to the block.
CAT5 Inverse Kinematics	Converts cartesian world coordinates to joint angles for the CRS Catalyst-5 robot.
CAT5 Joint Angles to World Coordinates	Converts joint angles to cartesian world coordinates for the CRS Catalyst-5 robot.
CAT5 Joint Torques to Motor Inputs	Converts joint torques to motor inputs (voltages or currents) for the CRS Catalyst-5 robot.
CAT5 Motor Pulses to Joint Angles	Converts motor encoder counts to joint angles for the CRS Catalyst-5 robot.
CAT5 World Coordinates to Joint Angles	Converts cartesian world coordinates to joint angles for the CRS Catalyst-5 robot.
CEAL CIGI Host	Sends position and orientation commands for the Ownship and Entity, requests for Height Above Terrain (HAT)/ Height Of Terrain (HOT), and generic data for Short Component Control to the CEAL Common Image Generator Interface (CIGI) Image Generator (IG).
CEAL Floor Force Plates	Outputs the forces and torques measured in SI units (i.e., N, N.m) from up to the nine AMTI force plates used on the Challenging Environment Assessment Laboratory (CEAL) instrumented floor.
CEAL HyMotion-11000	Sends position, velocity, and acceleration commands to the 6-DOF Bosch Rexroth HyMotion-11000 motion system and outputs the HyMotion-11000 position setpoints as well as its actual positions, velocities, and accelerations.
CEAL NI PCI-6255 and Quanser QPID	Reads from the National Instruments PCI-6255 card all of its 80 analog input channels as well as its 8 first digital channels at the sampling rate of the model and also acts as a timebase for the model. Also implements the Quanser QPID watchdog timer and reads from the Quanser QPID card its 8 first digital channels at the sampling rate of the model.
CEAL NI PCI-6255	Reads from the National Instruments PCI-6255 card all of its 80 analog input channels as well as its 8 first digital channels at the sampling rate of the model and also acts as a timebase for the model.
CEAL Quanser QPID	Implements the Quanser QPID watchdog timer.
CEAL Staircase Force Plates	Outputs the forces and torques measured in SI units (i.e., N, N.m) from up to the four (4) AMTI force plates used in the Challenging Environment Assessment Laboratory (CEAL) instrumented staircase.
Channel	A specialized signal router for sending large signals to Simulink.
Circular Buffer Clear	Clears a circular buffer.
Circular Buffer Has New Data	Indicates whether a circular buffer contains new data or is empty.
Circular Buffer Initialize	Initializes a circular buffer.
Circular Buffer Read	Reads from a circular buffer.
Circular Buffer Write	Writes to a circular buffer.
Color Constant	Outputs a vector of RGB color values.
Compare	Compares two signals.
Compare to Error	Compares a signal to a QUARC error code.
Computation Time	Outputs the computation time of a Function Call Subsystem or task, measured using a high-resolution independent time source.
Continuous Sigmoid	Generates a sigmoid trajectory from the current position (and velocity) to the target position. Position, velocity and acceleration profiles are generated, as well as a signal to indicate when the trajectory has reached the target. Trajectories are recomputed whenever the target position or maximum velocity or acceleration limits change.
Controller	This block implements three commonly used controllers.
Cross Product	Computes the cross product of two 3-vectors.

Date/Time	Outputs the current date and/or time.
Debouncer	Debounces a switch signal.
Delcom Visual Indicator	Controls a Delcom Visual Indicator, such as an LED beacon or traffic light.
Demultiplexer	Routes an input signal to one of several outputs based on a selection input.
Denso Read	Initializes a connection to the Denso robot controller and reads the robot joint positions and state.
Denso Write	Sends joint commands and controller gains to the Denso robot.
Discrete Second-Order Low-Pass Filter	Models, in the discrete-time domain, a second-order low-pass filter characterized by a cut-off frequency and a damping ratio.
Discretized State-Space	Implements a continuous-time state-space system in discrete-time.
Discretized Transfer Function	Implements a continuous-time transfer function in discrete-time.
Discretized Zero-Pole	Implements a continuous-time zero-pole transfer function in discrete-time.
Display Image	Displays the image in a Matlab figure or on axes within a Matlab GUI.
Dynamic Router	Dynamically selects the elements from the input array.
Dynamic System	This block simulates a dynamic system based on the preset parameters.
Dynamixel OpenManipulatorX Read	Reads the Dynamixel OpenManipulator-X joint angular positions, velocities, PWM, loads/currents.
Dynamixel OpenManipulatorX Write	Writes to the Dynamixel OpenManipulator-X joint commands, gains, and PWM commands.

Elapsed Time	Starts tracking time elapsed when an enable signal is received.
Enabled Moving Average	Implements a moving average (a.k.a., running average, or rolling average) computation. The moving average is only calculated while the input received at the Enable port is greater than zero.
Error Constant	Outputs a QUARC error code.
ESC Output	Computes the PWM output value to use to achieve a particular ESC output.
EtherCAT Master	Creates an EtherCAT master in the network subsystem.
EtherCAT Read	Reads the specified variables from the EtherCAT process image.
EtherCAT Write	Writes the specified variables to the EtherCAT process image.
Euler Angles from Rotation Matrix	This block converts a rotation matrix to Euler angles.
Euler Angles to Rotation Matrix	This block converts Euler angles into a rotation matrix.
Extended Kalman Filter	Implements a continuous-time extended Kalman filter, which is a Kalman filter for non-linear systems.

Falcon	Reads the current position and button states of the Novint Falcon and writes a force vector to the Falcon.
FDT Data Glove	Reads the finger grip data from the 5DT Data Glove.
FIFO Read	Reads from a FIFO queue.
FIFO Write	Writes to a FIFO queue.
File Read	Reads a file from the local file system.
File Write	Writes the time and input, or video to a specified file on the target machine.
Force Dimension Read	Initializes a connection to the Force Dimension haptic device and reads the position and orientation.
Force Dimension Write	Writes force and torque commands to the Force Dimension haptic device.
Force Torque Sensor	Reads a force/torque sensor.

Game Controller	Reads the state of a game controller on the target.
GenICam Capture	Captures video images from a GenICam compatible camera.
GPS NMEA	Reads NMEA-0183 sentences from a GPS receiver and outputs position data.

Haptics	Creates forces for haptics applications.
Haptic 3-DOF Pantograph Amplifier Status	Monitors the status of the Quanser Haptic 3-DOF Pantograph amplifiers.
Haptic 3-DOF Pantograph Cartesian Plant	Represents the Quanser Haptic 3-DOF Pantograph in Cartesian coordinates.
Haptic 3-DOF Pantograph Emergency Stop	Monitors the Haptic 3-DOF Pantograph emergency stop button.
Haptic 3-DOF Pantograph Enable	Outputs an enable signal suitable for enabling the current amplifiers of the Quanser Haptic 3-DOF Pantograph.
Haptic 3-DOF Pantograph Forward Kinematics	Converts joint angles to cartesian world coordinates for the Quanser Haptic 3-DOF Pantograph.
Haptic 3-DOF Pantograph Gimbal Switch	Returns the status of the Haptic 3-DOF Pantograph gimbal switch.
Haptic 3-DOF Pantograph Inverse Force Kinematics	Converts cartesian end-effector forces to joint torques for the Quanser Haptic 3-DOF Pantograph.
Haptic 3-DOF Pantograph Inverse Kinematics	Converts cartesian world coordinates to joint angles for the Quanser Haptic 3-DOF Pantograph.
Haptic 3-DOF Pantograph Joint Angles	Converts encoder counts from the Quanser Haptic 3-DOF Pantograph into joint angles.
Haptic 3-DOF Pantograph Motors	Converts motor currents to D/A voltages that may be used to drive the motors of the Quanser Haptic 3-DOF Pantograph.
Haptic 3-DOF Pantograph Motor Currents	Monitors the Haptic 3-DOF Pantograph motor currents.
Haptic 3-DOF Pantograph N-mm to Amps	Converts joint torques to motor currents for the Quanser Haptic 3-DOF Pantograph.
Haptic 3-DOF Pantograph Power Supplies	Monitors the Haptic 3-DOF Pantograph power supplies.
Haptic 3-DOF Pantograph Velocity Kinematics	Converts joint angular velocities to cartesian world coordinate velocities for the Quanser Haptic 3-DOF Pantograph.
Haptic 5-DOF Wand Amplifier Status	Monitors the status of the Quanser Haptic 5-DOF Wand amplifiers.
Haptic 5-DOF Wand Cartesian Plant	Represents the Quanser Haptic 5-DOF Wand in Cartesian coordinates
Haptic 5-DOF Wand Emergency Stop	Monitors the Haptic 5-DOF Wand emergency stop button.
Haptic 5-DOF Wand Enable	Outputs an enable signal suitable for enabling the current amplifiers of the Quanser Haptic 5-DOF Wand.
Haptic 5-DOF Wand Forward Kinematics	Converts joint angles to cartesian world coordinates for the Quanser Haptic 5-DOF Wand.
Haptic 5-DOF Wand Gimbal Switch	Returns the status of the Haptic 5-DOF Wand gimbal switch.
Haptic 5-DOF Wand Inverse Force Kinematics	Converts cartesian end-effector forces to joint torques for the Quanser Haptic 5-DOF Wand.
Haptic 5-DOF Wand Inverse Kinematics	Converts cartesian world coordinates to joint angles for the Quanser Haptic 5-DOF Wand.
Haptic 5-DOF Wand Joint Angles	Converts encoder counts from the Quanser Haptic 5-DOF Wand into joint angles.
Haptic 5-DOF Wand Motors	Converts motor currents to D/A voltages that may be used to drive the motors of the Quanser Haptic 5-DOF Wand.
Haptic 5-DOF Wand Motor Currents	Monitors the Haptic 5-DOF Wand motor currents.
Haptic 5-DOF Wand N-mm to Amps	Converts joint torques to motor currents for the Quanser Haptic 5-DOF Wand.
Haptic 5-DOF Wand Power Supplies	Monitors the Haptic 5-DOF Wand power supplies.
Haptic 5-DOF Wand Velocity Kinematics	Converts joint angular velocities to cartesian world coordinate velocities for the Quanser Haptic 5-DOF Wand.
HIL Asynchronous Interrupt	Invokes a Function-Call Subsystem whenever the specified interrupts occur.
HIL Get Property	Gets numeric or string properties of a hardware-in-the-loop card.
HIL Initialize	Initializes an HIL board and associates a name with the board.
HIL Poll Interrupt	Polls the specified interrupt sources.
HIL Read Analog	Reads the specified analog channels immediately.
HIL Read Analog Buffer	Reads the number of samples from the analog input channels of a hardware-in-the-loop card at the specified rate.
HIL Read Analog Codes	Reads the specified analog channels immediately, returning the raw integer codes from the analog-to-digital converters.
HIL Read Analog Timebase	Reads the specified analog channels at the sampling rate of the model and acts as a timebase for the model.
HIL Read	Reads the specified channels immediately.
HIL Read Buffer	Reads the number of samples from a combination of input channels of a hardware-in-the-loop card at the specified rate.
HIL Read Digital	Reads the specified digital channels immediately.
HIL Read Digital Buffer	Reads the number of samples from the digital input channels of a hardware-in-the-loop card at the specified rate.
HIL Read Digital Timebase	Reads the specified digital channels at the sampling rate of the model and acts as a timebase for the model.
HIL Read Encoder	Reads the specified encoder channels immediately.
HIL Read Encoder Buffer	Reads the number of samples from the encoder input channels of a hardware-in-the-loop card at the specified rate.
HIL Read Encoder Timebase	Reads the specified encoder channels at the sampling rate of the model and acts as a timebase for the model.
HIL Read Other	Reads the specified other channels immediately.
HIL Read Other Buffer	Reads the number of samples from the other input channels of a hardware-in-the-loop card at the specified rate.
HIL Read Other Timebase	Reads the specified other channels at the sampling rate of the model and acts as a timebase for the model.
HIL Read Timebase	Reads the specified channels at the sampling rate of the model and acts as a timebase for the model.
HIL Read Write	Reads and writes the specified channels immediately.
HIL Set Encoder Counts	Sets the counter values for the specified encoder channels.
HIL Set Property	Sets numeric or string properties of a hardware-in-the-loop card.
HIL Simulation	Allows a HIL board to be simulated.
HIL Watchdog	Implements a watchdog timer.
HIL Watchdog Clear	Clears the watchdog state so that I/O may be performed again.
HIL Write Analog	Writes the specified analog channels immediately.
HIL Write Analog Codes	Writes to the specified analog channels immediately. The inputs are the raw integer codes for the D/A converters.
HIL Write Analog Timebase	Writes to the specified analog channels at the sampling rate of the model and acts as a timebase for the model.
HIL Write	Writes to the specified channels immediately.
HIL Write Digital	Writes to the specified digital channels immediately.
HIL Write Digital Timebase	Writes to the specified digital channels at the sampling rate of the model and acts as a timebase for the model.
HIL Write Other	Writes to the specified other channels immediately.
HIL Write Other Timebase	Writes to the specified other channels at the sampling rate of the model and acts as a timebase for the model.
HIL Write PWM	Writes to the specified PWM channels immediately.
HIL Write PWM Timebase	Writes to the specified PWM channels at the sampling rate of the model and acts as a timebase for the model.
HIL Write Timebase	Writes to the specified channels at the sampling rate of the model and acts as a timebase for the model.
Host Beep	Emits a beep sound of the given frequency and duration on the host.
Host Disk	Writes the input signal to disk on the host. When configured appropriately it can even write data to disk on the host when the Simulink model is not connected.
Host Force Feedback Button-Triggered Condition Force	Produces a condition force effect on a game controller on the host that is triggered by a button.
Host Force Feedback Button-Triggered Condition Torque	Produces a condition torque effect on a game controller on the host that is triggered by a button.
Host Force Feedback Button-Triggered Constant Force	Produces a constant force effect on a game controller on the host that is triggered by a button.
Host Force Feedback Button-Triggered Constant Torque	Produces a constant torque effect on a game controller on the host that is triggered by a button.
Host Force Feedback Button-Triggered Periodic Force	Produces a periodic force effect on a game controller on the host that is triggered by a button.
Host Force Feedback Button-Triggered Periodic Torque	Produces a periodic torque effect on a game controller on the host that is triggered by a button.
Host Force Feedback Button-Triggered Ramp Force	Produces a ramp force effect on a game controller on the host that is triggered by a button.
Host Force Feedback Button-Triggered Ramp Torque	Produces a ramp torque effect on a game controller on the host that is triggered by a button.
Host Force Feedback Condition Force	Produces a condition force effect on a game controller on the host.
Host Force Feedback Condition Torque	Produces a condition torque effect on a game controller on the host.
Host Force Feedback Constant Force	Produces a condition force effect on a game controller on the host.
Host Force Feedback Constant Torque	Produces a constant torque effect on a game controller on the host.
Host Force Feedback Externally-Triggered Condition Force	Produces a condition force effect on a game controller on the host that is triggered by an input signal.
Host Force Feedback Externally-Triggered Condition Torque	Produces a condition torque effect on a game controller on the host that is triggered by an input signal.
Host Force Feedback Externally-Triggered Constant Force	Produces a constant force effect on a game controller on the host that is triggered by an input signal.
Host Force Feedback Externally-Triggered Constant Torque	Produces a constant torque effect on a game controller on the host that is triggered by an input signal.
Host Force Feedback Externally-Triggered Periodic Force	Produces a periodic force effect on a game controller on the host that is triggered by an input signal.
Host Force Feedback Externally-Triggered Periodic Torque	Produces a periodic torque effect on a game controller on the host that is triggered by an input signal.
Host Force Feedback Externally-Triggered Ramp Force	Produces a ramp force effect on a game controller on the host that is triggered by an input signal.
Host Force Feedback Externally-Triggered Ramp Torque	Produces a ramp torque effect on a game controller on the host that is triggered by an input signal.
Host Force Feedback Game Controller	Reads the state of a force feedback game controller on the host, rather than the target.
Host Force Feedback Periodic Force	Produces a periodic force effect on a game controller on the host.
Host Force Feedback Periodic Torque	Produces a periodic torque effect on a game controller on the host.
Host Game Controller	Reads the state of a game controller on the host, rather than the target.
Host Heartbeat	Receives a heartbeat message from the host to monitor the host connection.
Host Initialize	Initializes host devices for use with local or remote targets.
Host Keyboard	This block outputs a vector in which each elements is 1 if the corresponding key is pressed and 0 if the key is not pressed.
Host Mouse	Reads the state of the mouse on the host, rather than the target.
Show Message on Host	Displays the message in a dialog on the host machine.
Host Speech Recognition	Recognizes spoken commands on the host, rather than the target.
Host Speech Synthesis	Reads the given text aloud on the host, rather than the target.
Host Subsystem	A subsystem that executes on the host rather than the target.
Host Wiimote	Reads the state of a wiimote device connected to the target and outputs the buttons, accelerations, and detected IR points.

Identity Transformation	This block outputs a constant 4x4 identity matrix. It is typically placed at the start of a homogeneous transformation chain to create a transformation matrix.
Image Align	Aligns a depth image to another image.
Image Compare	Compares pixels of an image to given ranges.
Image Compress	Compresses a raw image.
Image Convert	Converts from one image format to another.
Image Decompress	Decompresses a compressed image into a raw image.
Image Filter	Filters an image or portion of an image.
Image Find Corners	Finds corners within an image.
Image Find Objects	Finds objects within an image.
Image Find Tags	Finds tags within an image.
Image Get Camera Extrinsics	Get the world coordinates of the camera given object detection information.
Image Logic	Applies the selected bitwise logic operation to a pair of images or a single image.
Image Optical Flow	Computes the optical flow from successive images.
Image Transform	Transforms a raw image using the selected transformation algorithm.
Invalid Stream	Outputs an invalid stream.
Inverse Modulus	Computes the accumulated output for signals which wrap. Optionally outputs the derivative of the input signal, accounting for wrapping.
Inverse Transformation	This block computes the inverse of a homogeneous transformation matrix.
Is Connected?	Indicates whether Simulink is currently connected to the model.
Is Stop Requested?	Indicates whether the model is being stopped via an external connection or a block.

Jacobian	Numerically computes the Jacobian of a non-linear function, f(x,u), with respect to x.
JR3 PCI Force Torque Sensor	Measures forces and moments of inertia along X, Y, and Z axes using the JR3 PCI sensor.

Kinect Get Camera Angle	Gets the elevation angle of the Kinect sensor.
Kinect Get Depth	Gets a depth image and player information from the Kinect sensor.
Kinect Get Image	Gets a colour or infrared image from the Kinect sensor.
Kinect Initialize	Initializes a Kinect sensor and associates a name with the sensor.
Kinect Set Camera Angle	Sets the elevation angle of the Kinect sensor.
Kinova 4-DOF MICO Read	Reads the Joint Control Robot - 4 DOF joint angular positions, velocities, currents, torques, temperatures and states.
Kinova 4-DOF MICO Torque Reset	Reset the torque sensors to the Joint Control Robot - 4 DOF.
Kinova 4-DOF MICO Write	Writes to the Joint Control Robot - 4 DOF the joint angular position commands, if the robot is used in Position Control Mode, or the joint torque commands, if the robot is used in Torque Control Mode, as well as the finger position commands.
Kinova 6-DOF MICO Read	Reads the Joint Control Robot - 6 DOF joint angular positions, velocities, currents, torques, temperatures and states.
Kinova 6-DOF MICO Torque Reset	Reset the torque sensors to the Joint Control Robot - 6 DOF.
Kinova 6-DOF MICO Write	Writes to the Joint Control Robot - 6 DOF the joint angular position commands, if the robot is used in Position Control Mode, or the joint torque commands, if the robot is used in Torque Control Mode, as well as the finger position commands.
Kinova JACO Read	Reads the JACO (Gen1) joint positions, current and states.
Kinova JACO Write	Writes joint and finger position commands to the JACO (Gen1) robot.
KUKA LBR FRI Timebase	Reads and writes to a 7-DOF KUKA LBR manipulator (e.g., LBR iiwa, LBR Med) at the sampling rate specified by the robot cabinet application (e.g., 1 ms) and acts as a timebase for the model.
KUKA RSI	Depending on the control mode, sends Cartesian position correction, or Cartesian velocity, or joint position correction, or joint velocity commands to a 6-DOF KUKA robot and outputs the robot actual Cartesian positions, joint angles and gear torques for each joint.

LCD Display	Prints to an LCD display.
Leap Motion	Reads linear translation, rotation matrix and scale factor from Leap Motion detector.
LED Strip	Writes to an LED strip.
LED Strip Simulation	Simulates an LED strip.
LIDAR Scan Match	Matches LIDAR scans to determine the transformation between the reference scan and the current scan.
Log Message	Logs messages to the model log file, if any has been specified.

Mavlink Enumeration	Outputs the value of a Mavlink enumeration constant.
Mavlink Initialize	Establishes connections to Mavlink-based flight controllers. This block is intended for use in the main diagram.
Mavlink Receive	Receives data over a Mavlink connection.
Mavlink Send	Sends data over a Mavlink connection.
Memory	The Memory block holds and delays its input by one major timestep. This version supports variable-size signals and discrete sample times.
Model Argument	Outputs the value of a model command-line argument.
Multistage Limiter	Limits the input value in two stages so that the input value is saturated to the peak limit for a limited time.
Multiwii Altitude	Reads the altitude of the aircraft.
Multiwii Analog	Reads the analog sensors, such as voltages and currents.
Multiwii Attitude	Reads the attitude of the aircraft.
Multiwii Bind	Binds to satellites.
Multiwii Box Identifiers	Gets the box identifiers used by the auto-pilot.
Multiwii Calibration	Calibrates auto-pilot sensors.
Multiwii Computed GPS	Gets the GPS coordinates relative to the home location.
Multiwii Connect	Connects to an auto-pilot. This block is intended for use in the main diagram.
Multiwii Debug	Gets debug values from the auto-pilot.
Multiwii EEPROM Write	Writes the settings to the auto-pilot EEPROM.
Multiwii Heading Lock	Sets a new heading lock reference.
Multiwii Identity	Gets information about the auto-pilot.
Multiwii IMU	Gets raw IMU sensor data from the auto-pilot.
Multiwii Motor Pins	Gets the motor pin indications from the auto-pilot.
Multiwii Names	Gets the names of the boxes or PID items from the auto-pilot.
Multiwii Read Actuators	Reads the commands for the servos or motors from the auto-pilot.
Multiwii Read Boxes	Reads the box items. Each word in the output array is a bitmask of activation switches.
Multiwii Read GPS	Reads the raw GPS data.
Multiwii Read Miscellaneous	Reads miscellaneous information from the auto-pilot, such as thresholds, triggers and counters.
Multiwii Read PID	Reads PID gains from the auto-pilot.
Multiwii Read RC	Reads RC values from the auto-pilot.
Multiwii Read RC Tuning	Reads RC tuning parameters from the auto-pilot.
Multiwii Read Servo Configuration	Reads the servo configuration from the auto-pilot.
Multiwii Read Waypoint	Reads the current waypoint from the auto-pilot.
Multiwii Reset Configuration	Resets all parameters to defaults in the auto-pilot.
Multiwii Select Setting	Select the setting configuration for the auto-pilot.
Multiwii Status	Gets the status of the auto-pilot.
Multiwii Write Actuators	Writes the commands for the motors to the auto-pilot.
Multiwii Write Boxes	Writes box items to the auto-pilot. Each word in the input array is a bitmask of activation switches.
Multiwii Write GPS	Writes raw GPS data to the auto-pilot. The data is injected into the GPS stream.
Multiwii Write Miscellaneous	Writes miscellaneous information from the auto-pilot, such as thresholds, triggers and counters.
Multiwii Write PID	Writes PID gains to the auto-pilot.
Multiwii Write RC	Writes raw RC values to the auto-pilot.
Multiwii Write RC Tuning	Writes RC tuning parameters to the auto-pilot.
Multiwii Write Servo Configuration	Writes the servo configuration to the auto-pilot.
Multiwii Write Waypoint	Writes a new waypoint to the auto-pilot.

NEES Get Signals	This block receives data from a NEES daemon.
NEES Initialize	Initializes the interface to a Quanser NEES Daemon and associates a name with the interface.
NEES Set Signals	This block sends data to a NEES daemon.
Nonlinear State-Space	Implements a continuous-time non-linear state-space system.
Normalize	Normalizes a vector or quaternion by scaling it to a unit vector or quaternion.
Norm	Computes the 2-norm of a vector or quaternion.
Norm Squared	Computes the square of the 2-norm of a vector or quaternion.

One Shot	The block produces a pulse signal with the specified width whenever the input signal meets user defined trigger condition.
Optical Flow Sensor	Reads an optical flow sensor.
OptiTrack Point Cloud	Gives the position of markers tracked by the OptiTrack camera system.
OptiTrack Trackables	Gives the 6-DOF position of trackable objects tracked by the OptiTrack camera system.

PA10 Control	Sends joint velocity or torque commands to the PA10 robot and outputs the angles, velocities, and torques for each joint.
Peak CAN	Sends and receives messages over a CAN network using a Peak CAN device.
Performance Meter	Measures the amount of data travelling down a signal wire per second.
PGR Find Object	Finds the center-of-mass coordinates (in pixels) of the object detected in the given image.
PGR Grab Image	Grabs images from the specified Point Grey Research (FLIR) camera.
PGR Image Convert	Converts the given image to a format that can be displayed with the Video Display or Display Image block.
Phantom	Sends forces and torques in Cartesian or joint space to the Sensable Phantom (currently available as 3D System Geomagic Touch) device, and gets the encoder values, position, and joint angles of the robot.
Polar Figure	Plots a polar graph in a separate window or on axes within a Matlab GUI.
Powered by QLabs	Displays the Quanser Interactive Labs (QLabs) logo.
Powered by Quanser	Displays the Quanser logo.
Powered by QUARC	Displays the QUARC logo.
Print	Prints to the QUARC Console or the MATLAB Command Window.
PTI Visualeyez	Reads raw 3D marker position and rigid body position and orientation data from the Phoenix Technologies Incorporated Visualeyez tracker system.

QBot 2 Chassis Velocities to World Velocities	Converts chassis velocities to world Cartesian velocities for the Quanser QBot 2/2e mobile robot.
QBot 2 Encoder Counts to Distance	Converts encoder counts to metre for the wheels on the Quanser QBot 2/2e mobile robot.
QBot 2 Joint Velocities to Chassis Velocities	Converts joint velocities to chassis velocities for the Quanser QBot 2/2e mobile robot.
Quaternion Conjugate	Computes the conjugate of a quaternion.
Quaternion from Angle and Axis	Creates a quaternion from an axis/angle representation.
Quaternion from Euler Angles	This block converts Euler angles into a unit quaternion.
Quaternion from Rotation Matrix	This block converts a rotation matrix into a unit quaternion.
Quaternion Inverse	Computes the inverse of a quaternion.
Quaternion Product	Computes the product of two quaternions.
Quaternion Product Jacobian	Computes the Jacobian of the quaternion product with respect to q1 or q2.
Quaternion Rotate Jacobian	Computes the Jacobian of the quaternion rotation of q2 with respect to q1.
Quaternion Rotate Vector	Rotates a vector according to the given quaternion.
Quaternion to Angle and Axis	Converts a quaternion to an axis/angle representation.
Quaternion to Euler Angles	This block converts a unit quaternion to Euler angles.
Quaternion to Rotation Matrix	Converts a quaternion to a rotation matrix.
Quaternion to Homogeneous Transformation	Converts a quaternion to a homogeneous transformation.

Ranging Sensor	Measures distance using a ranging sensor such as a time-of-flight sensor or LIDAR.
Ranging Sensor Simulation	Simulates a ranging sensor such as a time-of-flight sensor or LIDAR.
Reconfiguration Group	Assigns the model to a particular reconfiguration group.
Repeating Chirp	Outputs a chirp signal (sine wave whose frequency increases linearly with time) repeatedly.
Replace Elements	Replaces selected elements of the first input with the elements of the second input.
Roomba Bump Wall-follow	Generates motion commands (velocity and radius of curvature) to reach the specified target and avoid obstacles using bump sensor.
Roomba Change Mode	Changes Roomba mode to Passive, Safe or Full.
Roomba Cover	Starts the built-in iRobot Cover demo.
Roomba Create Trajectory	Calculates the robot's current (x, y) coordinate and orientation with respect to its initial pose.
Roomba Demos	Provides a list of built-in iRobot demos.
Roomba Digital Output	Controls the state of the 3 digital output pins.
Roomba Direct Drive	Controls the forward and backward motion of Roomba's left and right wheels independently.
Roomba Dock	Starts the built-in iRobot Cover and Dock demo.
Roomba Drive	Controls Roomba's motion using the specified velocity and direction.
Roomba Initialize	Connects to an iRobot Roomba.
Roomba LED	Controls the LEDs on Roomba.
Roomba LSD	Controls the three low side drivers on Roomba.
Roomba Modes	Provides the available options for Roomba operating mode.
Roomba Play Script	Executes the specified script.
Roomba Play Song	Plays the specified song.
Roomba PWM LSD	Controls the three low side drivers with variable power.
Roomba Query List	Requests a list of sensor packets.
Roomba Run Demo	Runs the specified built-in iRobot Roomba demo.
Roomba Send IR	Sends the requested byte out of low side driver 1.
Roomba Sensor Request	Requests a (or a group of) sensor packet(s).
Roomba Sensor Stream	Requests a continuous stream of the specified sensor packets.
Roomba Spot	Starts the built-in iRobot Spot Cover demo.
Roomba Track Blob	Generates motion commands (velocity and radius of curvature) to track a blob.
Roomba Wait Angle	Waits until Roomba has rotated through the specified angle in degrees.
Roomba Wait Distance	Waits until Roomba has traveled the specified distance in mm.
Roomba Wait Event	Waits until Roomba detects the specified event.
Roomba Wait Time	Waits the specified time.
Roomba Waypoint Navigation	Generates motion commands (velocity and radius of curvature) to reach the specified waypoints.
Rotation Transformation	This block multiplies a homogeneous transformation matrix by a rotation matrix. The block can be configured to have either a fixed or variable rotation axis and a fixed or variable rotation angle.

Sample Time	Outputs the time between samples measured using a high-resolution independent time source.
SBus Decode	Decodes an S.BUS frame into its constituent parts.
SBus Read	Receives an S.BUS frame over a stream. This block is intended for use in the main diagram.
SBus Write	Sends an S.BUS frame over a stream. This block is intended for use in the main diagram.
Scale Transformation	This block multiplies a homogeneous transformation matrix by a scaling matrix. The block can be configured to have either a fixed or variable scale.
Scan	Scans input from the QUARC Console.
Schunk Gripper Control	Sends position, velocity, and current control commands to the Schunk gripper and reads the position, velocity, and current values from the module.
Second-Order Low-Pass Filter	Models, in the continuous-time domain, a second-order low-pass filter characterized by a cut-off frequency and a damping ratio.
Select by Mask	Selects elements from the input signal based on a mask.
SerAccel	Reads the current acceleration of the SparkFun Electronics SerAccel triple-axis accelerometer.
Serial Receiver Read	Receives commands from a serial receiver such as DSMX or S.BUS. This block is intended for use in the main diagram.
Serial Receiver Write	Emulates commands from a serial receiver such as DSMX or S.BUS. This block is intended for use in the main diagram.
Sigmoid	Generates a sigmoid trajectory from the initial position and velocity to the target position. Position, velocity and acceleration profiles are generated, as well as a signal to indicate when the trajectory has reached the target. Trajectories are recomputed at periodic intervals.
Sleep	Sleeps for the specified number of seconds.
Smooth Signal Generator	Outputs a waveform whose amplitude and frequency may be changed without causing a discontinuity in the output and may be driven by inputs to the block.
SRV-02 Self-Erecting Inverted Pendulum	Computes the dynamics of the SRV02 Self-Erecting Inverted Pendulum.
Stall Monitor	Monitors whether a device has stalled. It is typically used to protect a device from overheating by stopping the model if the device is stalled for too long.
State Input	Reads states output from another model.
State Output	Writes states to be input by another model.
Stop with Error	Stops the model and issues an error message.
Stop with Message	Stops the model and displays the error message in a dialog.
Stream Accept	Accepts a connection from a remote host.
Stream Answer	Listens for and accepts a connection from a remote host. This block is intended for use in the main diagram.
Stream Answer State Comparison	Compares the connection state of a Stream Answer block to a particular state.
Stream Answer State Constant	Outputs the value of a particular Stream Answer block connection state.
Stream Call	Connects to a remote host. This block is intended for use in the main diagram.
Stream Call State Comparison	Compares the connection state of a block to a particular state.
Stream Call State Constant	Outputs the value of a particular block connection state.
Stream Client	Connects to a remote host and sends and/or receives data from that host.
Stream Close	Closes a stream.
Stream Connect	Connects to a remote host.
Stream Flush	Flushes data from the stream buffer to the underlying communication channel.
Stream Formatted Read	Scans formatted data received over a stream. This block is intended for use in the main diagram.
Stream Formatted Write	Sends formatted text over a stream. This block is intended for use in the main diagram.
Stream Get Property	Gets the values of stream properties.
Stream Listen	Creates a stream that listens for connections from remote hosts.
Stream Poll	Polls for events associated with the stream.
Stream Print	Prints formatted data over a stream.
Stream Read	Receives data over a stream. This block is intended for use in the main diagram.
Stream Receive	Receives data over a stream.
Stream Scan	Scans formatted data received over a stream.
Stream Send	Sends data over a stream.
Stream Server	Listens for and accepts a connection from a remote host and sends and/or receives data from that host.
Stream Set Property	Sets the values of stream properties.
Stream State Comparison	Compares a signal to a persistent stream state.
Stream State Constant	Outputs the value of a persistent stream state.
Stream Write	Sends data over a stream. This block is intended for use in the main diagram.
Stream Write-Read	Sends and receives data atomically over a stream. This block is intended for use in the main diagram.
String Accumulate	Accumulates a series of strings into one concatenated string.
String Concatenate	Concatenates a number of strings together.
String Constant	Outputs a constant string value.
String Display	Displays the value of a string signal.
String Error	Outputs the error message string corresponding to a given error code.
String Print	Prints formatted data to a string.
String Scan	Scans formatted data from a stream.
String Select	Outputs a string from a list of strings based on the input.
String Subset	Extracts a contiguous range of characters from a string.
Switching In	Executes a when dynamically switching to this model from another model.
Switching Out	Executes a when dynamically switching from this model to another model.
Synchronize	Synchronizes two signals.
System Timebase	Uses the QUARC system timebase as a timebase.

Target Connect	Connects to a QUARC target.
Target Download Model	Downloads a model to a QUARC target.
Target Information	Retrieves information about a QUARC target.
Target Load Model	Loads a model on a QUARC target.
Target Switch Model	Switches models on a QUARC target.
Target Type	Gets the QUARC target type on which the model is running.
Text Figure	Prints formatted text in a separate window or on a uicontrol within a Matlab GUI.
Threshold	This block checks the relation between the input signal and the preset threshold.
Time	Outputs the current time measured using the selected time source.
Time Figure	Plots a Y versus Time graph in a separate window or on axes within a Matlab GUI.
To Host File	Writes the time and input, or video to a specified file on the host machine.
Trace	This block computes the trace of a matrix.
Transformation from Euler Angles	This block converts Euler angles into a homogeneous transformation matrix.
Translation Transformation	This block multiplies a homogeneous transformation matrix by a translation matrix. The block can be configured to have either a fixed or variable translation.
Triggered Sigmoid	Generates a sigmoid trajectory from the initial position and velocity to the target position. Position, velocity and acceleration profiles are generated, as well as a signal to indicate when the trajectory has reached the target. Trajectories are recomputed whenever the trigger input is fired.

Ublox Access Data	Provides the specified data field of Ublox GPS data.
Ublox Data Accuracy	Provides the GPS data fields associated with data accuracy.
Ublox Get Lat-Lon-Alt	Provides lattitude, longitude, and altitude obtained from Ublox GPS data.
Ublox Get Speed	Provides the values of Speed and Course data fields.
Ublox Get XYZ	Provides x, y, and z coordinates obtained from Ublox GPS data.
Ublox Initialize	Initializes Ublox and provides the GPS data structure.

VAL Command	Used to execute vehicle commands.
VAL Initialize	Initializes a vehicle for use with the vehicle abstraction layer blocks.
VAL Read Sensors	Reads a combination of input channels of a vehicle.
VAL Read Vehicle State	Reads the vehicle state for the selected vehicle.
VAL Set Waypoint	Sets the x, y, z waypoint for the specified vehicle.
Vector from Skew Symmetric Matrix	This block converts a skew symmetric matrix to a 3-vector.
Vector Rotation	Rotates the input 3-vector by the given angle about an arbitrary axis.
Vector to Skew Symmetric Matrix	This block converts 3-vector to a skew symmetric matrix.
Vicon	Selects Vicon segments, markers, and unlabeled markers for tracking.
Video3D Capture	Captures video images from a 3D imaging device, such as an RGBD camera.
Video3D Extrinsics	Gets the extrinsic transformation from one Video3D image sensor to another.
Video3D Initialize	Initializes a 3D imaging device, such as an RGBD camera or simulates such a device from a file.
Video3D Simulation	Simulates an RGBD camera.
Video Capture	Captures video images from a device, such as a camera, or a file or from a supplied matrix.
Video Compressed Display	Displays video in a window on the host, using compression to minimize bandwidth.
Video Display	Displays video in a window on the host.
Video Simulation	Simulates an RGB camera.
Vision Adaptive Threshold	Segments a grayscale image.
Vision BGR2Gray	Converts a color image to a grayscale image.
Vision Canny Edge	Detects edges on the input image.
Vision Capture Image	Captures images from a USB camera.
Vision Color Threshold	Detects the specified color blobs.
Vision Create Image	Creates an image.
Vision Convert Color	Converts an image from one color space to another.
Vision Detect Landmark	Detects the specified landmark.
Vision Draw Polygon	Draws polygons.
Vision Draw Shape	Draws curve and shapes.
Vision Find Contours	Finds connected contours in a binary images.
Vision Get Centroid Pose	Calculates centroid of the specified binary blob(s).
Vision Get Iplimage Data	Extracts raw image data from the input image.
Vision Gray Threshold	Thresholds a grayscale image.
Vision Laplace Edge	Calculates Laplacian of the input image.
Vision Load Image	Loads an image from the specified file.
Vision Morphological Operation	Performs morphological transformations on the input image.
Vision Save Image	Saves an image to the specified file.
Vision Smooth	Smooths the input image.
Vision Sobel Edge	Detects edges on the input image using Sobel kernel.
Vision Threshold	Thresholds a color or grayscale image.
Vision Update Map	Updates input image at the specified location.
Vision Write JPEG File	Saves files in JPEG format.
Visualization Initialize	Adds a visualization window to your model and sets the scene parameters and content.
Visualization Set Variables	Sets parameters of the actors created with the block.
VRPN Client	VRPN clients to interface with VRPN servers to get VRPN enabled devices information.

Wiimote

Reads the state of a wiimote device connected to the target and outputs the buttons, accelerations, and detected IR points.

XY Figure

Plots an X-Y graph in a separate window or on axes within a Matlab GUI. This implementation is much more efficient than the XY Graph block that comes with Simulink. It is also capable of plotting more than one curve on the same plot.

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