├── .gitignore ├── resources └── project │ ├── rootp.xml │ ├── Project.xml │ ├── uuid-5c156bfa-7097-49d6-9c31-362e5b4dbc7e.xml │ ├── -Rce9Lxzt4v7MmBOh-k5NnO_YJM │ ├── FyaTa5jAbbNpTXx8meWki5KFjkId.xml │ ├── FyaTa5jAbbNpTXx8meWki5KFjkIp.xml │ ├── BLXTFIuiwKtJeCCiXh48WdzaadEp.xml │ ├── 48rfrBH5PCEvKLfyTSrGuT2Fh0Up.xml │ ├── hgBtd9CpNNnKfzCB-onJ-yhp8CUp.xml │ ├── 48rfrBH5PCEvKLfyTSrGuT2Fh0Ud.xml │ ├── BLXTFIuiwKtJeCCiXh48WdzaadEd.xml │ └── hgBtd9CpNNnKfzCB-onJ-yhp8CUd.xml │ ├── 5dU3btpmk4dY_ZMC5NcEXiPbA04 │ ├── 2aHM8yI21DQjYfz-zfsKTdJB2sYd.xml │ ├── 2aHM8yI21DQjYfz-zfsKTdJB2sYp.xml │ ├── 9BWD3FQNPHn_1SONdljNjmTY3u0p.xml │ ├── k1tovcXFV_6xpLB9fDVg6ivAgvMp.xml │ ├── 9BWD3FQNPHn_1SONdljNjmTY3u0d.xml │ └── k1tovcXFV_6xpLB9fDVg6ivAgvMd.xml │ ├── 9BWD3FQNPHn_1SONdljNjmTY3u0 │ ├── SslNmN3YRiqedXVFzSgA0d8KwR0d.xml │ ├── SslNmN3YRiqedXVFzSgA0d8KwR0p.xml │ ├── JtFAmKmisNC72vqWN1bUVXoKeXcp.xml │ ├── ylW-z0ew6pEVAhCk7oQQwe0mhy0p.xml │ ├── gUB9WNusKdZmocY_aFy4GmJiJKUp.xml │ ├── JtFAmKmisNC72vqWN1bUVXoKeXcd.xml │ ├── gUB9WNusKdZmocY_aFy4GmJiJKUd.xml │ └── ylW-z0ew6pEVAhCk7oQQwe0mhy0d.xml │ ├── BT5hWoz-UTefONdqForZyI91O8Y │ ├── I9iYex6uBOpfktKDmuq-Wf6tK1Md.xml │ ├── K3kIDV8wB8OSX4bT-A8ibfu4264d.xml │ ├── L7Fc2PR2jeEW0lHQA6wQCknu5X0d.xml │ ├── RjwOlzUOPbI3GtRYxZCPPZN6VVEd.xml │ ├── T3cLgwATbcJWcpGkQgesEMFkBuod.xml │ ├── Ur1esh7xN9L6aqDUKBE31DKE1Qod.xml │ ├── fB3lVNoNSfriV3b8Oi9NJVpYPRsd.xml │ ├── Ur1esh7xN9L6aqDUKBE31DKE1Qop.xml │ ├── n9MHmP-crhAngH-sL1PwA99Th6Mp.xml │ ├── 01YYlWoh_LW-lr9pR4UOy4aH6TEp.xml │ ├── D8wIQeYUcFvoo6JzX5wb5rtzkDYp.xml │ ├── G1zPGBWouwUUaaaHVIv5ApvHe7Yp.xml │ ├── Tw1IVkdtBKF-TqY7SF_JfoWXSvsp.xml │ ├── fB3lVNoNSfriV3b8Oi9NJVpYPRsp.xml │ ├── K3kIDV8wB8OSX4bT-A8ibfu4264p.xml │ ├── L7Fc2PR2jeEW0lHQA6wQCknu5X0p.xml │ ├── RjwOlzUOPbI3GtRYxZCPPZN6VVEp.xml │ ├── T3cLgwATbcJWcpGkQgesEMFkBuop.xml │ ├── oc5yf78slKhRB8wxoISLjLGwmMMp.xml │ ├── I9iYex6uBOpfktKDmuq-Wf6tK1Mp.xml │ ├── P20JB4DyxevALrYxUyS8dPwYpYUp.xml │ ├── AFbLVLp0ZUChLUJ5V8VdP5_NEd8p.xml │ ├── RtgOQMLfc2NxufpO9g_TduQMwDkp.xml │ ├── s52-u7_UMBvV_39LW32KgNev-5Up.xml │ ├── sYcC1hUsEQpXlTIrSWxM_dkRt3wp.xml │ ├── vY2tcjTYS0qNxdD1Otsq_XENi1Qp.xml │ ├── vmJiUp4E8PsYOUTv6dyiW2tugRUp.xml │ ├── U5OIqVI_i6w-Jn5RJWhhrOJs9jgp.xml │ ├── jRzPikJTbHkEopnVIA-K-RzJ0Xsp.xml │ ├── 01YYlWoh_LW-lr9pR4UOy4aH6TEd.xml │ ├── AFbLVLp0ZUChLUJ5V8VdP5_NEd8d.xml │ ├── D8wIQeYUcFvoo6JzX5wb5rtzkDYd.xml │ ├── G1zPGBWouwUUaaaHVIv5ApvHe7Yd.xml │ ├── P20JB4DyxevALrYxUyS8dPwYpYUd.xml │ ├── RtgOQMLfc2NxufpO9g_TduQMwDkd.xml │ ├── Tw1IVkdtBKF-TqY7SF_JfoWXSvsd.xml │ ├── U5OIqVI_i6w-Jn5RJWhhrOJs9jgd.xml │ ├── jRzPikJTbHkEopnVIA-K-RzJ0Xsd.xml │ ├── n9MHmP-crhAngH-sL1PwA99Th6Md.xml │ ├── oc5yf78slKhRB8wxoISLjLGwmMMd.xml │ ├── s52-u7_UMBvV_39LW32KgNev-5Ud.xml │ ├── sYcC1hUsEQpXlTIrSWxM_dkRt3wd.xml │ ├── vY2tcjTYS0qNxdD1Otsq_XENi1Qd.xml │ └── vmJiUp4E8PsYOUTv6dyiW2tugRUd.xml │ ├── Kj5y7Sbs6PCiYPR09Z1h7ZtTtfQ │ ├── AVJ0aRIDhu6qPcAI-Czr65IBRNQd.xml │ ├── WS7L7U3R0F3ft4esx_Z4zRwM4vQp.xml │ ├── AVJ0aRIDhu6qPcAI-Czr65IBRNQp.xml │ ├── Vzwnp8eFlgGa7iuwSW6j29WevHMp.xml │ ├── YezOFOQK4khQbC4T-JADGV_ShSEp.xml │ ├── _fSKbJ7JskWiymxTjg2OVGXtV5sp.xml │ ├── Vzwnp8eFlgGa7iuwSW6j29WevHMd.xml │ ├── WS7L7U3R0F3ft4esx_Z4zRwM4vQd.xml │ ├── YezOFOQK4khQbC4T-JADGV_ShSEd.xml │ └── _fSKbJ7JskWiymxTjg2OVGXtV5sd.xml │ ├── Ku1GztezL9EjyCgEHy-OJ5TN58o │ ├── IvImEaWht1DCSt-baA1yrSqF640d.xml │ ├── 5dU3btpmk4dY_ZMC5NcEXiPbA04p.xml │ ├── dRDnEiZy1msYZ9YTrI33yZUy_IYp.xml │ ├── IvImEaWht1DCSt-baA1yrSqF640p.xml │ ├── hMpdUAzNSvQ7vZY38N7Dwe2jOy4p.xml │ ├── 5dU3btpmk4dY_ZMC5NcEXiPbA04d.xml │ ├── dRDnEiZy1msYZ9YTrI33yZUy_IYd.xml │ └── hMpdUAzNSvQ7vZY38N7Dwe2jOy4d.xml │ ├── TYfgflJCZVoukaDCF0Qmqt7Do2E │ ├── kt4qBUGW9OvG4Hse789fMusnym8d.xml │ ├── kt4qBUGW9OvG4Hse789fMusnym8p.xml │ ├── WXdr_vAoDLKgONZ0_UYcc1e7xT0p.xml │ ├── hgu6AOc8JgPD9bhLDbhlFzeC0AUp.xml │ ├── YYnvSi7ce7829epQYhARv0nps8cp.xml │ ├── NtXF6kK26TfK6fVbj7nvzYyMEPsp.xml │ ├── NtXF6kK26TfK6fVbj7nvzYyMEPsd.xml │ ├── WXdr_vAoDLKgONZ0_UYcc1e7xT0d.xml │ ├── YYnvSi7ce7829epQYhARv0nps8cd.xml │ └── hgu6AOc8JgPD9bhLDbhlFzeC0AUd.xml │ ├── WS7L7U3R0F3ft4esx_Z4zRwM4vQ │ ├── b6Is0QMQ2WlvlkpLzlIJtwSUQekd.xml │ ├── b6Is0QMQ2WlvlkpLzlIJtwSUQekp.xml │ ├── 0adGmypHwxAPWwe-bfn1yBFr1ggp.xml │ ├── 0EUulyvbUch84ssFFDOy8XnDNyYp.xml │ ├── 4E4i7aMV0F8lAwCm6jUt-VUshScp.xml │ ├── Bl4a8jYMI3aFTFJ_w6JGfCqP6RUp.xml │ ├── F11mPkeJw_idmSvH0ebRA0q97KQp.xml │ ├── Ff3FMZaZwttF3Agzsc4aoqUJTFMp.xml │ ├── IsP1la3P18oKLCq0bW1W6317mFYp.xml │ ├── O9Q0tPoIqtS7Vzb9uK4Pqd8nB1Ap.xml │ ├── QtzNkUX0P31drlTzLXzzwAdYRNUp.xml │ ├── afJUbe7rFBrnldX9eCgH9hwzFwMp.xml │ ├── bxMPSPyetVzUUyjYnBgU5U-Mxs4p.xml │ ├── cGZgEEB7a9aUc7jLWwKPjxkfNfQp.xml │ ├── dXWmvtxxO-k3A9bTcgkJSJHmwngp.xml │ ├── huOi75vxQVmGQvjLTnLFm6nibJIp.xml │ ├── jhqVpHqc8CHZONQzijCa307c3iwp.xml │ ├── kRFrW7bR6J2GQk_wNbO8m3mcuCkp.xml │ ├── l4YBgKVJ27pILrXUhx40t9dFRsEp.xml │ ├── mhGCA8jC2X2fxX_jHzrAFwEFQcMp.xml │ ├── ncwyVC6icRqb_iRVzLKU6JLYOTsp.xml │ ├── oap_X8zD0WZ7b0sjU75oN_bbWdcp.xml │ ├── pDOPmcDRfjlQqUJFhpQ_ETQbYiEp.xml │ ├── vSqj82H2U5T0XGkXYQLSjNbiTWYp.xml │ ├── wa1SAXbQWU3fYwgo0JG0EmcP-zop.xml │ ├── wv8jYTylZqEX5hIbS1lMOy4D0Q0p.xml │ ├── xM2ulE0hJ74g3EI2jvCY90afm_8p.xml │ ├── yqsQjdy_ee4LLJ8_Js8PYddpjzwp.xml │ ├── zkEGEkgSi21yhMqTBDMwhcIE8mAp.xml │ ├── -VWgHCrLTQB9zhYuEqX_hHyvPu4p.xml │ ├── 2EtHa8XaYSYKAJSNbxgVu7_tAHIp.xml │ ├── 3UiwlsejOhMhZK5h-X6u1yWWl_wp.xml │ ├── 401uaPNroNGQqeFFo-9ZHuIrudkp.xml │ ├── 704E9Sidl60RQ8HGuY5YB5lpFEUp.xml │ ├── 82efWuIPKMYvtFDoWAujS1MliZcp.xml │ ├── 8LifhqL6dRzj4cAgQ9cpTwp3rREp.xml │ ├── 8rHO9fVMrcQnhnst_D9ji3w6qFkp.xml │ ├── DXGk0Nk46vQXBRsb-0yXvwYO6uMp.xml │ ├── Dhdi1vkBLgQu62vc5zCxAD-8fkIp.xml │ ├── E_Nrm--BYPILYJNAwKUS4dJ-P1Qp.xml │ ├── FJUcoB4m1LE_WazcThxweHygcwYp.xml │ ├── J_Ts5UTuy6gU6LWJYnvLAFVeBoQp.xml │ ├── JohVQXITMesCMA8eY3-VzfO2YRwp.xml │ ├── Jpnwt2Zl8MqKv8rIczjkzuhmzP0p.xml │ ├── LuYSzom4zS-uPBFpkT5tI1DPQ2Ap.xml │ ├── Mwf2g7-C7WcQPcPl74VjfFO8DsMp.xml │ ├── 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elfhPwFNqG8SpqfVz06sT5K5Bq4d.xml │ ├── f2bca_xlvLENGp0ny-IyIesTm6kd.xml │ ├── fg3GPni1ZRrRWNNsdvf6fqZ-8Pwd.xml │ ├── hF0LxJS1TpZxOFw4Np2mS0IVXfwd.xml │ ├── hGoKe9tJ2xl6QsjrnmWGTpmOHJwd.xml │ ├── hkhamIcbqt0sZpT_a8qVcixIe2Ud.xml │ ├── huOi75vxQVmGQvjLTnLFm6nibJId.xml │ ├── isyzDHRsZz5sbWBbfpxTWSk3NVId.xml │ ├── jhqVpHqc8CHZONQzijCa307c3iwd.xml │ ├── kA8qWSz_S3xSA5ILW2c3JaU9lP0d.xml │ ├── kRFrW7bR6J2GQk_wNbO8m3mcuCkd.xml │ ├── l4YBgKVJ27pILrXUhx40t9dFRsEd.xml │ ├── mW3m1ucyzzB7-psZQ3yJXE7D3Pkd.xml │ ├── mhGCA8jC2X2fxX_jHzrAFwEFQcMd.xml │ ├── mzcGAPbd413dy-KgsCy1SAZWQEwd.xml │ ├── n-Io3u8D0zrhNGhHZCFd99nSsWwd.xml │ ├── nL7PlqtMKhiiVJk3B9WPyH7_6twd.xml │ ├── ncwyVC6icRqb_iRVzLKU6JLYOTsd.xml │ ├── noEyRwEuL3VJTZF2Eb6QfQk2Af8d.xml │ ├── oap_X8zD0WZ7b0sjU75oN_bbWdcd.xml │ ├── pDOPmcDRfjlQqUJFhpQ_ETQbYiEd.xml │ ├── uPEWQV5Q6MWLHGrfbL1K9iLFLHcd.xml │ ├── uexAqOQrb9YxIhxMenZCVHe2C2cd.xml │ ├── vSqj82H2U5T0XGkXYQLSjNbiTWYd.xml │ ├── vSxS60Cx2h2_pYvSvbrv59yeZlcd.xml │ ├── wa1SAXbQWU3fYwgo0JG0EmcP-zod.xml │ ├── wv8jYTylZqEX5hIbS1lMOy4D0Q0d.xml │ ├── xE0SxFYkWL8YM4P5Fzk2miezyn8d.xml │ ├── xM2ulE0hJ74g3EI2jvCY90afm_8d.xml │ ├── xVohuq6AIBzlFYRPeag8D7QJrBYd.xml │ ├── xn2bXJCWVxEVShvagz7cDGBbEd4d.xml │ ├── xwsj4FR10F_A4HOo0k4apEQIoW8d.xml │ ├── yaem1zXyt2inTFaBtHF0w0tMAAwd.xml │ ├── yqsQjdy_ee4LLJ8_Js8PYddpjzwd.xml │ └── zkEGEkgSi21yhMqTBDMwhcIE8mAd.xml │ ├── dRDnEiZy1msYZ9YTrI33yZUy_IY │ ├── Qne0GQ_kNFvaUPy5ec8LjOTjyqsd.xml │ ├── Qne0GQ_kNFvaUPy5ec8LjOTjyqsp.xml │ ├── RC9aNQWWutobiL0hFgBAl5GyYukp.xml │ ├── jTtjkbMRPgrRlxUa2QwmmVuInM8p.xml │ ├── 9rrbQHirRxN03COM_PrOhRVFMsYp.xml │ ├── 9rrbQHirRxN03COM_PrOhRVFMsYd.xml │ ├── RC9aNQWWutobiL0hFgBAl5GyYukd.xml │ └── jTtjkbMRPgrRlxUa2QwmmVuInM8d.xml │ ├── k1tovcXFV_6xpLB9fDVg6ivAgvM │ ├── k_NUYMPuNjNeRvMYQT2VjpDAYGId.xml │ ├── k_NUYMPuNjNeRvMYQT2VjpDAYGIp.xml │ ├── G8e-wJX_M53JmmFmKCOv6NeAKIcp.xml │ ├── RQIYQHTAynlEa-yIP2nnX0dFerAp.xml │ ├── KxXaO99ovEhysR5S96BN51db-cop.xml │ ├── G8e-wJX_M53JmmFmKCOv6NeAKIcd.xml │ ├── KxXaO99ovEhysR5S96BN51db-cod.xml │ └── RQIYQHTAynlEa-yIP2nnX0dFerAd.xml │ ├── ojME0DLi1acAi9d0fF737hnpvFQ │ ├── y3pIxeAZrmnsmUWA3VrtIokR004d.xml │ ├── TYfgflJCZVoukaDCF0Qmqt7Do2Ep.xml │ ├── y3pIxeAZrmnsmUWA3VrtIokR004p.xml │ ├── 30nQbKNgWi-UAwC8nUZVgXqPVAQp.xml │ ├── 5f3Ejvpk5yEdW-QwUwB5diaprjwp.xml │ ├── g6ud_Hj93kRX1PH-ItBJu4woyNwp.xml │ ├── -4UyxZyPu_lw6ygSDcCExWyX4SIp.xml │ ├── iRuuUH3zTKk-_ZYETe4MiDnEE1Ap.xml │ ├── VWcY_lt5v3Kwbt2YFLx0gXQmT2sp.xml │ ├── dVv2w68WWpN-Rb-oTNbDm4LhSKUp.xml │ ├── utJS7DlbuBoeYuwPk-9996Hw228p.xml │ ├── v2BYoMaN80VeIGc0ZnO8rbDIxdwp.xml │ ├── 8yhXv9pHyG0eZaPf3quqrPREGs8p.xml │ ├── HU44Kr2VymLKC6I8FQlBU3fSm2Yp.xml │ ├── PcT_V23z3AiFtm-IwsNCROiuJkcp.xml │ ├── aTsMkNrM31q-mmSaBdLwzbadZ2op.xml │ ├── ji8RoeMiEziG5pZqnJcibI3ivcsp.xml │ ├── ZrZYj40fIvNUrzq0gLSa1R7ToKEp.xml │ ├── jAHOfUD6coqA5UEzHMSvFbPec7sp.xml │ ├── nPju3ycNjPjpptcyOxD7NaU-R8kp.xml │ ├── -IL-jo1EMlyudy--2GeoIKNObDkp.xml │ ├── aVsAtmBjD5qTQ52WCB1o95cm1Ccp.xml │ ├── gHaXD5pLda-d2uT4msHNRy7slpUp.xml │ ├── k7S88ULljgFDUjg6XXeRx5_PGFkp.xml │ ├── lgUFpLsJ12313c8_MXzQGr1AEaop.xml │ ├── m2Q5Voj-jZPYnRkESjsp5Bwbvokp.xml │ ├── sL1RWzanrn2eknAHapjZ05pu_lwp.xml │ ├── -4UyxZyPu_lw6ygSDcCExWyX4SId.xml │ ├── -IL-jo1EMlyudy--2GeoIKNObDkd.xml │ ├── 30nQbKNgWi-UAwC8nUZVgXqPVAQd.xml │ ├── 5f3Ejvpk5yEdW-QwUwB5diaprjwd.xml │ ├── 8yhXv9pHyG0eZaPf3quqrPREGs8d.xml │ ├── HU44Kr2VymLKC6I8FQlBU3fSm2Yd.xml │ ├── PcT_V23z3AiFtm-IwsNCROiuJkcd.xml │ ├── TYfgflJCZVoukaDCF0Qmqt7Do2Ed.xml │ ├── VWcY_lt5v3Kwbt2YFLx0gXQmT2sd.xml │ ├── ZrZYj40fIvNUrzq0gLSa1R7ToKEd.xml │ ├── aTsMkNrM31q-mmSaBdLwzbadZ2od.xml │ ├── aVsAtmBjD5qTQ52WCB1o95cm1Ccd.xml │ ├── dVv2w68WWpN-Rb-oTNbDm4LhSKUd.xml │ ├── g6ud_Hj93kRX1PH-ItBJu4woyNwd.xml │ ├── gHaXD5pLda-d2uT4msHNRy7slpUd.xml │ ├── iRuuUH3zTKk-_ZYETe4MiDnEE1Ad.xml │ ├── jAHOfUD6coqA5UEzHMSvFbPec7sd.xml │ ├── ji8RoeMiEziG5pZqnJcibI3ivcsd.xml │ ├── k7S88ULljgFDUjg6XXeRx5_PGFkd.xml │ ├── lgUFpLsJ12313c8_MXzQGr1AEaod.xml │ ├── m2Q5Voj-jZPYnRkESjsp5Bwbvokd.xml │ ├── nPju3ycNjPjpptcyOxD7NaU-R8kd.xml │ ├── sL1RWzanrn2eknAHapjZ05pu_lwd.xml │ ├── utJS7DlbuBoeYuwPk-9996Hw228d.xml │ └── v2BYoMaN80VeIGc0ZnO8rbDIxdwd.xml │ ├── qaw0eS1zuuY1ar9TdPn1GMfrjbQ │ ├── TMK4UzWHdRLhy_w-CHt9y11Q8XAd.xml │ ├── qD-kr16wmwlzR-nIg1IG_vvRrWkd.xml │ ├── -Rce9Lxzt4v7MmBOh-k5NnO_YJMp.xml │ ├── BT5hWoz-UTefONdqForZyI91O8Yp.xml │ ├── Kj5y7Sbs6PCiYPR09Z1h7ZtTtfQp.xml │ ├── Ku1GztezL9EjyCgEHy-OJ5TN58op.xml │ ├── QMJD9OLFzxcTTbPOoh-ahQ4zTRUp.xml │ ├── R0IsxKENiOKovWZXASFjrmpbBCYp.xml │ ├── TMK4UzWHdRLhy_w-CHt9y11Q8XAp.xml │ ├── rh0jHbNfmojECiiHH7BQHmZTsWkp.xml │ ├── ojME0DLi1acAi9d0fF737hnpvFQp.xml │ ├── qD-kr16wmwlzR-nIg1IG_vvRrWkp.xml │ ├── -Rce9Lxzt4v7MmBOh-k5NnO_YJMd.xml │ ├── BT5hWoz-UTefONdqForZyI91O8Yd.xml │ ├── Kj5y7Sbs6PCiYPR09Z1h7ZtTtfQd.xml │ ├── Ku1GztezL9EjyCgEHy-OJ5TN58od.xml │ ├── QMJD9OLFzxcTTbPOoh-ahQ4zTRUd.xml │ ├── R0IsxKENiOKovWZXASFjrmpbBCYd.xml │ ├── ojME0DLi1acAi9d0fF737hnpvFQd.xml │ └── rh0jHbNfmojECiiHH7BQHmZTsWkd.xml │ ├── root │ ├── Tpa2TdYQyLNeWJn7EF8wbNd7gFUp.xml │ ├── qaw0eS1zuuY1ar9TdPn1GMfrjbQp.xml │ ├── 6x1BhZX_fLnKpcwqra0qFwv1jIgp.xml │ ├── EEtUlUb-dLAdf0KpMVivaUlztwAp.xml │ ├── GiiBklLgTxteCEmomM8RCvWT0nQp.xml │ ├── KAXfQgCar2Yb8zOxgvf9hdmLP1Ep.xml │ ├── NmGqIpAwUJcXFyLjFAGnU9uyN5Yp.xml │ ├── WZRuNzqc-Db7NcQAZO8Y-R8U9ccp.xml │ ├── fjRQtWiSIy7hIlj-Kmk87M7s21kp.xml │ ├── W1eD2F85jUZK1DJhjzKdaV-n984p.xml │ └── GiiBklLgTxteCEmomM8RCvWT0nQd.xml │ ├── Tpa2TdYQyLNeWJn7EF8wbNd7gFU │ ├── mOoXG1MMMzuKZAU5pC7Gn4Q_P-gd.xml │ └── mOoXG1MMMzuKZAU5pC7Gn4Q_P-gp.xml │ ├── W1eD2F85jUZK1DJhjzKdaV-n984 │ ├── LVydPrgeChnIjP6j5Sd_SUWFP1Ad.xml │ ├── RQO6Bw0X1QxScssZepyiHIk72A4d.xml │ ├── HhpWxRuwKKY0aFmUSIxFtpisqGcd.xml │ ├── SDiZnLF4YcX5PfnWeLqmTO1RV0cd.xml │ ├── HhpWxRuwKKY0aFmUSIxFtpisqGcp.xml │ ├── LVydPrgeChnIjP6j5Sd_SUWFP1Ap.xml │ ├── RQO6Bw0X1QxScssZepyiHIk72A4p.xml │ └── SDiZnLF4YcX5PfnWeLqmTO1RV0cp.xml │ ├── EEtUlUb-dLAdf0KpMVivaUlztwA │ ├── Xf4FNI5jWzNnpUyrpTt888q32fYd.xml │ ├── bbOSarPxBJzQ8VxVEXpriFKe9U0d.xml │ ├── mBUBGY0w_wZ8D5WRJnol9x1V1V0d.xml │ ├── FULU2pYj09JsxbfXGwaqwP0NP1gd.xml │ ├── pHfzrgkoIMDxNn00jg9vCQLNd74d.xml │ ├── Ggmre0Sj9xCK6yfXwFWx8RGeJvkd.xml │ ├── HQWxKa6URI3vYFCL6W2gWSqBUM4d.xml │ ├── 8YQMX8c3QCb7TMeSFexN7gfoAPwd.xml │ ├── N0L5UDDNdOwy0JDN8evNngjJKB0d.xml │ ├── scWVD1OsmaCkUQIl2iFMuuH2wMAd.xml │ ├── 8YQMX8c3QCb7TMeSFexN7gfoAPwp.xml │ ├── FULU2pYj09JsxbfXGwaqwP0NP1gp.xml │ ├── Ggmre0Sj9xCK6yfXwFWx8RGeJvkp.xml │ ├── HQWxKa6URI3vYFCL6W2gWSqBUM4p.xml │ ├── N0L5UDDNdOwy0JDN8evNngjJKB0p.xml │ ├── Xf4FNI5jWzNnpUyrpTt888q32fYp.xml │ ├── bbOSarPxBJzQ8VxVEXpriFKe9U0p.xml │ ├── mBUBGY0w_wZ8D5WRJnol9x1V1V0p.xml │ ├── pHfzrgkoIMDxNn00jg9vCQLNd74p.xml │ └── scWVD1OsmaCkUQIl2iFMuuH2wMAp.xml │ ├── p_CwEFtBFMbbgYOKR7OaZkpcYmc │ ├── QfIiZSmBHXFe1BnfcOEf5CIGJGsd.xml │ └── QfIiZSmBHXFe1BnfcOEf5CIGJGsp.xml │ ├── sseeyHbk3kN2J4SZIg7wQdy3pTw │ ├── 8688J9wBvWCBJVLlPM4mLjIR4wod.xml │ └── 8688J9wBvWCBJVLlPM4mLjIR4wop.xml │ ├── NjSPEMsIuLUyIpr2u1Js5bVPsOs │ ├── 2kj09UetkV_lru3gvSPXnY6-nM4p.xml │ ├── KKyDJtbdIBOlaeHmIZd5VX6vqx8p.xml │ ├── R1RggVhA72agIvELiuhWPRS8F0Ip.xml │ ├── 2kj09UetkV_lru3gvSPXnY6-nM4d.xml │ ├── KKyDJtbdIBOlaeHmIZd5VX6vqx8d.xml │ ├── R1RggVhA72agIvELiuhWPRS8F0Id.xml │ ├── aEHSZBIY-yve10yGis12Zr5DLZop.xml │ ├── j4xwF_j8iFTVayUMfxLgMnTbencd.xml │ ├── j4xwF_j8iFTVayUMfxLgMnTbencp.xml │ ├── nvi5KbQCdHAlFMG_p34_QTFDgf4d.xml │ ├── r8LR4nLmg9ai3oHrW1r_-KocQzkp.xml │ ├── QWNDYJD5mGW1bWYvPx9DtKnxzw4d.xml │ ├── QWNDYJD5mGW1bWYvPx9DtKnxzw4p.xml │ ├── aEHSZBIY-yve10yGis12Zr5DLZod.xml │ ├── r8LR4nLmg9ai3oHrW1r_-KocQzkd.xml │ └── nvi5KbQCdHAlFMG_p34_QTFDgf4p.xml │ ├── WZRuNzqc-Db7NcQAZO8Y-R8U9cc │ ├── 66WgGCcF5RIH9MCEgPmgjZK9k3Ud.xml │ ├── AtMjXDrOSm8YDv3_4UFXiyrWqNEd.xml │ ├── 66WgGCcF5RIH9MCEgPmgjZK9k3Up.xml │ └── AtMjXDrOSm8YDv3_4UFXiyrWqNEp.xml │ ├── mOoXG1MMMzuKZAU5pC7Gn4Q_P-g │ ├── p_CwEFtBFMbbgYOKR7OaZkpcYmcp.xml │ └── sseeyHbk3kN2J4SZIg7wQdy3pTwp.xml │ ├── fjRQtWiSIy7hIlj-Kmk87M7s21k │ ├── NjSPEMsIuLUyIpr2u1Js5bVPsOsp.xml │ └── NjSPEMsIuLUyIpr2u1Js5bVPsOsd.xml │ └── KAXfQgCar2Yb8zOxgvf9hdmLP1E │ ├── 4Upz20GX1Cu60Q-PXD_V1QFs0Egp.xml │ ├── I3Z99FhuAswARFr_hD3nlaub-qUp.xml │ ├── JZYMeIUp6laLeDptGycHjZyB42Qp.xml │ ├── NxGP-V7fB4ovjUw1xkbUaisxQ3Qp.xml │ ├── QaGT7v49iBU7z8pSq2vqZlHSCxYp.xml │ ├── V6PEse4z_pQAonAJwT5m7sOe-w8p.xml │ ├── XlABXVxhUWbU-LZ3cQ8BZIYZ4PUp.xml │ ├── hOL0GtL_xX-HWcameLuSGT35B2Ip.xml │ ├── pgdca1BiSAstngpGvkwUB9dTERYp.xml │ ├── NxGP-V7fB4ovjUw1xkbUaisxQ3Qd.xml │ ├── 4Upz20GX1Cu60Q-PXD_V1QFs0Egd.xml │ ├── XlABXVxhUWbU-LZ3cQ8BZIYZ4PUd.xml │ ├── pgdca1BiSAstngpGvkwUB9dTERYd.xml │ ├── V6PEse4z_pQAonAJwT5m7sOe-w8d.xml │ ├── hOL0GtL_xX-HWcameLuSGT35B2Id.xml │ ├── I3Z99FhuAswARFr_hD3nlaub-qUd.xml │ ├── JZYMeIUp6laLeDptGycHjZyB42Qd.xml │ └── QaGT7v49iBU7z8pSq2vqZlHSCxYd.xml ├── Overview └── html │ ├── sm_vehicle_2axle_heave_roll_web.m │ ├── sm_vehicle_2axle_heave_roll_mu_web.m │ ├── sm_vehicle_2axle_heave_roll_grid_web.m │ ├── sm_vehicle_2axle_heave_roll.png │ ├── sm_vehicle_2axle_heave_roll_01.png │ ├── sm_vehicle_2axle_heave_roll_02.png │ ├── sm_vehicle_2axle_heave_roll_03.png │ ├── sm_vehicle_2axle_heave_roll_04.png │ ├── sm_vehicle_2axle_heave_roll_05.png │ ├── sm_vehicle_2axle_heave_roll_06.png │ ├── sm_vehicle_2axle_heave_roll_07.png │ ├── sm_vehicle_2axle_heave_roll_08.png │ ├── sm_vehicle_2axle_heave_roll_09.png │ ├── sm_vehicle_2axle_heave_roll_10.png │ ├── sm_vehicle_2axle_heave_roll_11.png │ ├── sm_vehicle_2axle_heave_roll_12.png │ ├── sm_vehicle_2axle_heave_roll_13.png │ ├── sm_vehicle_2axle_heave_roll_14.png │ ├── sm_vehicle_2axle_heave_roll_15.png │ ├── sm_vehicle_2axle_heave_roll_16.png │ ├── sm_vehicle_2axle_heave_roll_17.png │ ├── sm_vehicle_2axle_heave_roll_18.png │ ├── sm_vehicle_2axle_heave_roll_19.png │ ├── sm_vehicle_2axle_heave_roll_20.png │ ├── sm_vehicle_2axle_heave_roll_mu.png │ ├── sm_vehicle_2axle_heave_roll_grid.png │ ├── sm_vehicle_2axle_heave_roll_MFS_v1.pdf │ ├── sm_vehicle_2axle_heave_roll_grid_01.png │ ├── sm_vehicle_2axle_heave_roll_grid_02.png │ ├── sm_vehicle_2axle_heave_roll_grid_03.png │ ├── sm_vehicle_2axle_heave_roll_grid_04.png │ ├── sm_vehicle_2axle_heave_roll_grid_05.png │ ├── sm_vehicle_2axle_heave_roll_grid_06.png │ ├── sm_vehicle_2axle_heave_roll_grid_07.png │ ├── sm_vehicle_2axle_heave_roll_grid_08.png │ ├── sm_vehicle_2axle_heave_roll_grid_09.png │ ├── sm_vehicle_2axle_heave_roll_mu_01.png │ ├── sm_vehicle_2axle_heave_roll_mu_02.png │ ├── sm_vehicle_2axle_heave_roll_mu_03.png │ ├── sm_vehicle_2axle_heave_roll_mu_04.png │ ├── sm_vehicle_2axle_heave_roll_mu_05.png │ ├── sm_vehicle_2axle_heave_roll_mu_06.png │ ├── sm_vehicle_2axle_heave_roll_mu_07.png │ ├── sm_vehicle_2axle_heave_roll_mu_08.png │ ├── sm_vehicle_2axle_heave_roll_mu_09.png │ ├── sm_vehicle_2axle_heave_roll_mu_10.png │ ├── sm_vehicle_2axle_heave_roll_mu_11.png │ ├── sm_vehicle_2axle_heave_roll_mu_12.png │ ├── sm_vehicle_2axle_heave_roll_mu_13.png │ ├── sm_vehicle_2axle_heave_roll_mu_14.png │ ├── sm_vehicle_2axle_heave_roll_mu_15.png │ ├── sm_vehicle_2axle_heave_roll_mu_16.png │ ├── sm_vehicle_2axle_heave_roll_mu_17.png │ ├── sm_vehicle_2axle_heave_roll_mu_18.png │ ├── sm_vehicle_2axle_heave_roll_mu_19.png │ ├── sm_vehicle_2axle_heave_roll_mu_20.png │ ├── sm_vehicle_2axle_heave_roll_mu_21.png │ ├── sm_vehicle_2axle_heave_roll_mu_22.png │ ├── sm_vehicle_2axle_heave_roll_mu_23.png │ ├── sm_vehicle_2axle_heave_roll_mu_24.png │ ├── sm_vehicle_2axle_heave_roll_mu_25.png │ ├── sm_vehicle_2axle_heave_roll_mu_26.png │ ├── sm_vehicle_2axle_heave_roll_mu_27.png │ ├── sm_vehicle_2axle_heave_roll_mu_28.png │ ├── sm_vehicle_2axle_heave_roll_mu_29.png │ ├── sm_vehicle_2axle_heave_roll_mu_30.png │ ├── sm_vehicle_2axle_heave_roll_mu_31.png │ ├── sm_vehicle_2axle_heave_roll_mu_32.png │ ├── sm_vehicle_2axle_heave_roll_mu_33.png │ ├── sm_vehicle_2axle_heave_roll_mu_34.png │ ├── sm_vehicle_2axle_heave_roll_modelAnim.png │ ├── sm_vehicle_2axle_heave_roll_mu_modelAnim.png │ ├── sm_vehicle_2axle_heave_roll_grid_modelAnim.png │ └── sm_vehicle_2axle_heave_roll_mechExpAnim_plateau.png ├── Scripts_Data ├── Overview │ ├── sm_vehicle_2axle_heave_roll_Overview_web.m │ ├── sm_vehicle_2axle_heave_roll_Overview_modelAnim.png │ └── sm_vehicle_2axle_heave_roll_Overview.m ├── shutdown_sm_vehicle_14dof.m ├── sm_vehicle_2axle_heave_roll_activeVariantBlock.m ├── startup_sm_vehicle_14dof.m ├── sm_vehicle_2axle_heave_roll_abs_param.m ├── sm_vehicle_2axle_heave_roll_mu_config_abs_system.m ├── sm_vehicle_yawpitchroll_to_rotmat.m ├── sm_vehicle_2axle_heave_roll_plot2bodypos.m ├── KT_MF_Tool_245_60_R16.rights ├── sm_vehicle_2axle_heave_roll_plot_grid_surface.m ├── sm_vehicle_2axle_heave_roll_plot2brktrq.m ├── sm_vehicle_2axle_heave_roll_plot1whlspd.m ├── sm_vehicle_camera_frames_car_3m.m ├── sm_vehicle_2axle_heave_roll_plot3bodytiremeas.m ├── sm_vehicle_2axle_heave_roll_mu_config_icepatch.m ├── sm_vehicle_2axle_heave_roll_scene.m └── sm_vehicle_2axle_heave_roll_plot3cylpress1plot.m ├── Images ├── sm_parts_mesh_image.png ├── sm_vehicle_utilities_wheel.png ├── sm_vehicle_2axle_brake_damper.png ├── sm_vehicle_2axle_brake_act_ideal.png ├── sm_vehicle_utilities_body_sedan.png ├── sm_vehicle_utilities_wheel_MFS.png ├── sm_vehicle_2axle_brake_act_valves.png ├── sm_vehicle_2axle_brake_disc_ideal.png ├── sm_vehicle_2axle_brake_disc_valves.png ├── sm_vehicle_2axle_brake_act_hydraulic.png ├── sm_vehicle_2axle_brake_disc_hydraulic.png ├── sm_vehicle_2axle_brake_disc_valves_ctrl.png ├── sm_vehicle_2axle_heave_roll_vehicle_scene.png ├── sm_vehicle_2axle_heave_roll_vehicle_grid_scene.png ├── sm_vehicle_2axle_heave_roll_vehicle_grid_plateau.png ├── sm_vehicle_2axle_heave_roll_vehicle_grid_rough_road.png ├── sm_vehicle_2axle_heave_roll_vehicle_mu_checker_right.png ├── sm_vehicle_2axle_heave_roll_vehicle_mu_high_to_low.png ├── sm_vehicle_2axle_heave_roll_vehicle_mu_low_to_high.png ├── sm_vehicle_2axle_heave_roll_vehicle_mu_right_low_patch.png └── sm_vehicle_2axle_heave_roll_vehicle_mu_right_low_split.png ├── Libraries ├── sm_vehicle_utilities_lib.slx ├── CAD │ ├── sm_vehicle_slalom_tire.STL │ ├── sm_vehicle_slalom_wheel.STL │ └── sm_vehicle_slalom_vehicle_body.STL └── Road │ ├── Rough_Road │ └── sm_car_scenedata_rdf_rough_road.m │ └── Plateau │ ├── sm_car_scenedata_rdf_plateau.m │ └── Extr_Data_RDF.m ├── Models ├── sm_vehicle_2axle_heave_roll.slx ├── sm_vehicle_2axle_heave_roll_grid.slx └── sm_vehicle_2axle_heave_roll_mu.slx ├── sm_vehicle_14dof.prj ├── SECURITY.md ├── .gitattributes ├── LICENSE.md └── README.md /.gitignore: -------------------------------------------------------------------------------- 1 | # List of untracked files to ignore 2 | -------------------------------------------------------------------------------- /resources/project/rootp.xml: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | # Reporting Security Vulnerabilities 2 | 3 | If you believe you have discovered a security vulnerability, please report it to 4 | [security@mathworks.com](mailto:security@mathworks.com). Please see 5 | [MathWorks Vulnerability Disclosure Policy for Security Researchers](https://www.mathworks.com/company/aboutus/policies_statements/vulnerability-disclosure-policy.html) 6 | for additional information. -------------------------------------------------------------------------------- /Scripts_Data/shutdown_sm_vehicle_14dof.m: -------------------------------------------------------------------------------- 1 | %% Copyright 2021-2024 The MathWorks, Inc. 2 | % Add shutdown commands here 3 | 4 | if(exist('MFSwifttbx_folders','var')) 5 | if (~isempty(MFSwifttbx_folders)) 6 | disp('Removing MF-Swift from path'); 7 | for mfs_i = 1:length(MFSwifttbx_folders) 8 | rmpath(MFSwifttbx_folders{mfs_i}) 9 | end 10 | end 11 | clear MFSwifttbx_folders 12 | end -------------------------------------------------------------------------------- /Scripts_Data/sm_vehicle_2axle_heave_roll_activeVariantBlock.m: -------------------------------------------------------------------------------- 1 | function blk = ssc_car_abs_activeVariantBlock(variant_sub_name) 2 | % Code to return path to block which is the active variant. 3 | 4 | % Copyright 2022-2024 The MathWorks, Inc. 5 | 6 | vnt_list = get_param(variant_sub_name,'Variants'); 7 | vnt_actv = get_param(variant_sub_name,'ActiveVariant'); 8 | 9 | blk = []; 10 | if(~isempty(vnt_actv)) 11 | blk = vnt_list(strcmp(vnt_actv,{vnt_list(:).Name})).BlockName; 12 | end -------------------------------------------------------------------------------- /Scripts_Data/startup_sm_vehicle_14dof.m: -------------------------------------------------------------------------------- 1 | %% Copyright 2021-2024 The MathWorks, Inc. 2 | 3 | % Add MF-Swift software to path if it can be found 4 | if(exist('sm_vehicle_startupMFSwift.m','file')) 5 | [~,MFSwifttbx_folders]=sm_vehicle_startupMFSwift; 6 | assignin('base','MFSwifttbx_folders',MFSwifttbx_folders); 7 | end 8 | 9 | % Parameters 10 | sm_vehicle_2axle_heave_roll_abs_param 11 | 12 | % Open Overiew 13 | web('sm_vehicle_2axle_heave_roll_Overview.html'); 14 | 15 | % Open model 16 | sm_vehicle_2axle_heave_roll 17 | -------------------------------------------------------------------------------- /.gitattributes: -------------------------------------------------------------------------------- 1 | *.fig binary 2 | *.mat binary 3 | *.mdl binary diff merge=mlAutoMerge 4 | *.mdlp binary 5 | *.mexa64 binary 6 | *.mexw64 binary 7 | *.mexmaci64 binary 8 | *.mlapp binary 9 | *.mldatx binary 10 | *.mlproj binary 11 | *.mlx binary 12 | *.p binary 13 | *.sfx binary 14 | *.sldd binary 15 | *.slreqx binary merge=mlAutoMerge 16 | *.slmx binary merge=mlAutoMerge 17 | *.sltx binary 18 | *.slxc binary 19 | *.slx binary merge=mlAutoMerge 20 | *.slxp binary 21 | 22 | ## Other common binary file types 23 | *.docx binary 24 | *.exe binary 25 | *.jpg binary 26 | *.pdf binary 27 | *.png binary 28 | *.xlsx binary 29 | -------------------------------------------------------------------------------- /Scripts_Data/Overview/sm_vehicle_2axle_heave_roll_Overview.m: -------------------------------------------------------------------------------- 1 | %% Vehicle Dynamics, 14 DOF Model with Simscape(TM) 2 | % 3 | % <> 4 | % 5 | % This repository contains models and code to help engineers model and 6 | % simulate vehicles driving on surfaces with varying conditions, including 7 | % uneven, and have varying coefficients of friction. 8 | % 9 | % *Example Models* 10 | % 11 | % # ** such as slalom, step steer, parking, on flat and uneven surfaces. 12 | % # ** defined by a regular or non-uniform grid in MATLAB. 13 | % # ** on surface with adjustable icy patches. 14 | % 15 | % Copyright 2021-2024 The MathWorks, Inc. 16 | 17 | -------------------------------------------------------------------------------- /Scripts_Data/sm_vehicle_2axle_heave_roll_abs_param.m: -------------------------------------------------------------------------------- 1 | brk_cyc = 1; 2 | brk_dc = 5; 3 | 4 | valve_maxA = 0.25*pi*1^1; 5 | valve_maxO = 0.005; 6 | valve_leak = 1e-12; 7 | valve_x0 = 0; 8 | valve_ts = 0.001; 9 | 10 | wheel_rad = 0.3; 11 | wheel_mus = 0.2; 12 | wheel_muk = 0.15; 13 | wheel_vth = 0.01; 14 | 15 | brake_rad = 0.04; % m 16 | brake_muk = 0.3*2; 17 | brake_mus = 0.35*2; 18 | 19 | brake_pistA = 0.25*pi*40^2; % mm^2 20 | brake_x0 = 1; % mm 21 | brake_p0 = 0; % Pa 22 | 23 | brake_trqTs = 0.01; 24 | 25 | 26 | pump_mtrw = 1000 *15; % RPM 27 | pump_mtrTs = 1/20; 28 | pump_chkv_Amax = 0.25*pi*4.33*2; % mm^2 29 | pump_chkv_crkP = 2376.85 /2; % Pa 30 | pump_chkv_maxP = 3e5 /2; % Pa 31 | pump_orifP = 0.25*pi*(0.015)^2; 32 | 33 | mc_area = 0.25*pi*30^2; 34 | 35 | road_mus = 0.7; 36 | road_muk = 0.65; 37 | 38 | MFormulaCoeff.DryTarmac = [10 1.9 1 0.97]; 39 | MFormulaCoeff.WetTarmac = [12 2.3 0.82 1]; 40 | MFormulaCoeff.Snow = [5 2 0.3 1]; 41 | MFormulaCoeff.Ice = [4 2 0.1 1]; 42 | 43 | -------------------------------------------------------------------------------- /Scripts_Data/sm_vehicle_2axle_heave_roll_mu_config_abs_system.m: -------------------------------------------------------------------------------- 1 | function sm_vehicle_2axle_heave_roll_mu_config_abs_system(b_h,brk_index) 2 | % Copyright 2019-2024 The MathWorks, Inc. 3 | 4 | switch brk_index 5 | case 1 % 'damper' 6 | set_param(b_h,'control_mode','Mode'); 7 | set_param(b_h,'brake_type','Damper'); 8 | set_param(b_h,'AttributesFormatString','Damper'); 9 | case 2 % 'ideal' 10 | set_param(b_h,'control_mode','Mode'); 11 | set_param(b_h,'brake_type','Disc'); 12 | set_param(b_h,'actuator_type','Ideal'); 13 | set_param(b_h,'AttributesFormatString','Disc, Ideal'); 14 | case 3 % 'hydraulic' 15 | set_param(b_h,'control_mode','Mode'); 16 | set_param(b_h,'brake_type','Disc'); 17 | set_param(b_h,'actuator_type','Hydraulic'); 18 | set_param(b_h,'AttributesFormatString','Disc, Pressure'); 19 | case 4 % 'valves' 20 | set_param(b_h,'control_mode','Valve Open-Loop'); 21 | set_param(b_h,'brake_type','Disc'); 22 | set_param(b_h,'actuator_type','Valves'); 23 | set_param(b_h,'AttributesFormatString','Disc, Valves, Open-Loop'); 24 | case 5 % 'control' 25 | set_param(b_h,'control_mode','Valve Closed-Loop'); 26 | set_param(b_h,'brake_type','Disc'); 27 | set_param(b_h,'actuator_type','Valves'); 28 | set_param(b_h,'AttributesFormatString','Disc, Valves, Closed-Loop'); 29 | end 30 | -------------------------------------------------------------------------------- /Scripts_Data/sm_vehicle_yawpitchroll_to_rotmat.m: -------------------------------------------------------------------------------- 1 | function rotmat_ypr = sm_vehicle_yawpitchroll_to_rotmat(yaw,pitch,roll) 2 | %sm_vehicle_yawpitchroll_to_rotmat Calculate rotation matrix to transform 3 | %velocity in vehicle frame to velocity in world frame 4 | % 5 | % The initial velocity of the vehicle in the model is specified via a 6 | % 6-DOF joint connected to the world frame. Most often, the initial 7 | % velocity of the vehicle will convenient to define in the vehicle frame. 8 | % This function calculates the rotation matrix from the vehicle frame to 9 | % the world frame. 10 | % 11 | % It takes as arguments 12 | % yaw - about vehicle z-axis 13 | % pitch - about vehicle y-axis 14 | % roll - about vehicle x-axis 15 | % 16 | % This calculation assumes that the rotation order is yaw, pitch, then 17 | % roll, and assumes intrinsic rotations, where the elemental rotations 18 | % are performed on the coordinate system as rotated by the previous 19 | % operation. 20 | % 21 | % Copyright 2018-2024 The MathWorks, Inc. 22 | 23 | Rx = [1 0 0; 24 | 0 cos(roll) -sin(roll); 25 | 0 sin(roll) cos(roll)]; 26 | 27 | Ry = [cos(pitch) 0 sin(pitch); 28 | 0 1 0; 29 | -sin(pitch) 0 cos(pitch)]; 30 | 31 | Rz = [cos(yaw) -sin(yaw) 0; 32 | sin(yaw) cos(yaw) 0; 33 | 0 0 1]; 34 | 35 | rotmat_ypr = Rz*Ry*Rx; -------------------------------------------------------------------------------- /LICENSE.md: -------------------------------------------------------------------------------- 1 | Copyright (c) 2021-2022, The MathWorks, Inc. 2 | All rights reserved. 3 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 4 | 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 5 | 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 6 | 3. In all cases, the software is, and all modifications and derivatives of the software shall be, licensed to you solely for use in conjunction with MathWorks products and service offerings. 7 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 8 | 9 | 10 | 11 | 12 | -------------------------------------------------------------------------------- /Scripts_Data/sm_vehicle_2axle_heave_roll_plot2bodypos.m: -------------------------------------------------------------------------------- 1 | function sm_vehicle_2axle_heave_roll_plot2bodypos(simlogRes) 2 | % Code to plot simulation results from sm_vehicle_2axle_heave_roll 3 | %% Plot Description: 4 | % 5 | % The plot below shows the position of the vehicle during the maneuver. 6 | 7 | % Copyright 2021-2024 The MathWorks, Inc. 8 | 9 | % Reuse figure if it exists, else create new figure 10 | figString = ['h1_' mfilename]; 11 | % Only create a figure if no figure exists 12 | figExist = 0; 13 | fig_hExist = evalin('base',['exist(''' figString ''')']); 14 | if (fig_hExist) 15 | figExist = evalin('base',['ishandle(' figString ') && strcmp(get(' figString ', ''type''), ''figure'')']); 16 | end 17 | if ~figExist 18 | fig_h = figure('Name',figString); 19 | assignin('base',figString,fig_h); 20 | else 21 | fig_h = evalin('base',figString); 22 | end 23 | figure(fig_h) 24 | clf(fig_h) 25 | 26 | % Get simulation results 27 | simlog_xVeh = simlogRes.Vehicle.Body_to_World.Body_World_Joint.Px.p.series.values; 28 | simlog_yVeh = simlogRes.Vehicle.Body_to_World.Body_World_Joint.Py.p.series.values; 29 | 30 | % Plot results 31 | plot(simlog_xVeh, simlog_yVeh, 'LineWidth', 1) 32 | xlabel('X Position (m)') 33 | ylabel('Y Position (m)') 34 | title('Vehicle Position, World Coordinates') 35 | grid on 36 | axis equal 37 | text(0.05,0.05,['Final Position: ' sprintf('%3.2fm, %3.2fm',simlog_xVeh(end),simlog_yVeh(end))],'Color',[0.6 0.6 0.6],'Units','Normalized') 38 | 39 | 40 | 41 | -------------------------------------------------------------------------------- /Libraries/Road/Rough_Road/sm_car_scenedata_rdf_rough_road.m: -------------------------------------------------------------------------------- 1 | function scene_data = sm_car_scenedata_rdf_rough_road 2 | %% RDF Rough Road parameters 3 | % Copyright 2018-2024 The MathWorks, Inc. 4 | 5 | scene_data.Name = 'RDF_Rough_Road'; 6 | scene_data.Road.filename = 'Rough_Road.rdf'; 7 | scene_data.Road.depth = 0.1; % m 8 | [xy_data_L, xy_data_R] = Extr_Data_RDF(scene_data.Road.filename,scene_data.Road.depth); 9 | scene_data.Road.extr_data_L = xy_data_L; % m 10 | scene_data.Road.extr_data_R = xy_data_R; % m 11 | scene_data.Road.w = 0.7; % m 12 | 13 | scene_data.Road.clr = [0.2 0.4 0.6]; % [R G B] 14 | scene_data.Road.opc = 1; % (0-1) 15 | scene_data.Road.x = 0; % m 16 | scene_data.Road.profile_separation = 2.0; % m 17 | scene_data.Road.z = 0; % m 18 | scene_data.Road.yaw = 0; % rad 19 | 20 | scene_data.Road.pzLUT.px = flipud(xy_data_L(end/2+1:end,1)); 21 | scene_data.Road.pzLUT.pz(:,1) = flipud(xy_data_L(end/2+1:end,2)); 22 | scene_data.Road.pzLUT.pz(:,2) = flipud(xy_data_R(end/2+1:end,2)); 23 | 24 | x = scene_data.Road.pzLUT.px; 25 | z_L = scene_data.Road.pzLUT.pz(:,1); 26 | z_R = scene_data.Road.pzLUT.pz(:,2); 27 | 28 | offset = 2; 29 | vlen = length(z_L); 30 | roadslope_L = atan2((z_L(offset:end)-z_L(1:(vlen-offset+1))),(x(offset:end)-x(1:(vlen-offset+1)))); 31 | roadslope_R = atan2((z_R(offset:end)-z_R(1:(vlen-offset+1))),(x(offset:end)-x(1:(vlen-offset+1)))); 32 | 33 | scene_data.Road.qyLUT.px = x; 34 | scene_data.Road.qyLUT.qy(:,1) = -[0 ;roadslope_L]; 35 | scene_data.Road.qyLUT.qy(:,2) = -[0 ;roadslope_R]; 36 | -------------------------------------------------------------------------------- /Libraries/Road/Plateau/sm_car_scenedata_rdf_plateau.m: -------------------------------------------------------------------------------- 1 | function scene_data = sm_car_scenedata_rdf_plateau 2 | %% RDF Plateau parameters 3 | % Copyright 2018-2024 The MathWorks, Inc. 4 | 5 | scene_data.Name = 'RDF_Plateau'; 6 | scene_data.Road.filename = 'Plateau_Road.rdf'; 7 | scene_data.Road.depth = 0.1; % m 8 | [xy_data_L, xy_data_R] = Extr_Data_RDF(scene_data.Road.filename,scene_data.Road.depth); 9 | scene_data.Road.extr_data_L = xy_data_L; % m 10 | scene_data.Road.extr_data_R = xy_data_R; % m 11 | scene_data.Road.w = 0.7; % m 12 | 13 | scene_data.Road.clr = [0.2 0.4 0.6]; % [R G B] 14 | scene_data.Road.opc = 1; % (0-1) 15 | scene_data.Road.x = 0; % m 16 | scene_data.Road.profile_separation = 2.0; % m 17 | scene_data.Road.z = 0; % m 18 | scene_data.Road.yaw = 0; % rad 19 | 20 | scene_data.Road.pzLUT.px = flipud(xy_data_L(end/2+1:end,1)); 21 | scene_data.Road.pzLUT.pz(:,1) = flipud(xy_data_L(end/2+1:end,2)); 22 | scene_data.Road.pzLUT.pz(:,2) = flipud(xy_data_R(end/2+1:end,2)); 23 | 24 | x = scene_data.Road.pzLUT.px; 25 | z_L = scene_data.Road.pzLUT.pz(:,1); 26 | z_R = scene_data.Road.pzLUT.pz(:,2); 27 | 28 | offset = 2; 29 | vlen = length(z_L); 30 | roadslope_L = atan2((z_L(offset:end)-z_L(1:(vlen-offset+1))),(x(offset:end)-x(1:(vlen-offset+1)))); 31 | roadslope_R = atan2((z_R(offset:end)-z_R(1:(vlen-offset+1))),(x(offset:end)-x(1:(vlen-offset+1)))); 32 | 33 | scene_data.Road.qyLUT.px = x; 34 | scene_data.Road.qyLUT.qy(:,1) = -[0 ;roadslope_L]; 35 | scene_data.Road.qyLUT.qy(:,2) = -[0 ;roadslope_R]; 36 | 37 | -------------------------------------------------------------------------------- /Scripts_Data/KT_MF_Tool_245_60_R16.rights: -------------------------------------------------------------------------------- 1 | Copyright 2021-2022 2 | Virtual Proving Ground and Simulation Lab 3 | Raghupati Singhania Centre of Excellence at the 4 | Indian Institute of Technology, Madras 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are met: 8 | 9 | 1. Redistributions of source code must retain the above copyright notice, 10 | this list of conditions and the following disclaimer. 11 | 12 | 2. Redistributions in binary form must reproduce the above copyright 13 | notice, this list of conditions and the following disclaimer in the 14 | documentation and/or other materials provided with the distribution. 15 | 16 | 3. Neither the name of the copyright holder nor the names of its 17 | contributors may be used to endorse or promote products derived from 18 | this software without specific prior written permission. 19 | 20 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 21 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 22 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 23 | ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE 24 | LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 25 | CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 26 | SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 27 | INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 28 | CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 29 | ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 30 | POSSIBILITY OF SUCH DAMAGE. 31 | -------------------------------------------------------------------------------- /Scripts_Data/sm_vehicle_2axle_heave_roll_plot_grid_surface.m: -------------------------------------------------------------------------------- 1 | function sm_vehicle_2axle_heave_roll_plot_grid_surface(surf_name) 2 | 3 | switch(lower(surf_name)) 4 | case('plateau') 5 | Plateau = evalin('base','SceneData.Plateau'); 6 | grid_surf_x = Plateau.Road.pzLUT.px; 7 | grid_surf_y = [-4 4]; 8 | grid_surf_z = Plateau.Road.pzLUT.pz; 9 | viewSettings = [-88, 0.97]; 10 | titlestr = 'Plateau'; 11 | edgeColor = [1 1 1]*0.5; 12 | 13 | case('rough road') 14 | Rough_Road = evalin('base','SceneData.Rough_Road'); 15 | grid_surf_x = Rough_Road.Road.pzLUT.px; 16 | grid_surf_y = [-4 -0.5 0 0.5 4]; 17 | grid_surf_z = [... 18 | Rough_Road.Road.pzLUT.pz(:,2) ... 19 | Rough_Road.Road.pzLUT.pz(:,2) ... 20 | sum(Rough_Road.Road.pzLUT.pz,2)/2 ... 21 | Rough_Road.Road.pzLUT.pz(:,1) ... 22 | Rough_Road.Road.pzLUT.pz(:,1)]; 23 | viewSettings = [-87, 8]; 24 | titlestr = 'Rough Road'; 25 | edgeColor = 'None'; 26 | 27 | otherwise 28 | error(['Data for ' surf_name ' not known.']) 29 | end 30 | % Reuse figure if it exists, else create new figure 31 | figString = ['h1_' mfilename]; 32 | % Only create a figure if no figure exists 33 | figExist = 0; 34 | fig_hExist = evalin('base',['exist(''' figString ''',''var'')']); 35 | if (fig_hExist) 36 | figExist = evalin('base',['ishandle(' figString ') && strcmp(get(' figString ', ''type''), ''figure'')']); 37 | end 38 | if ~figExist 39 | fig_h = figure('Name',figString); 40 | assignin('base',figString,fig_h); 41 | else 42 | fig_h = evalin('base',figString); 43 | end 44 | figure(fig_h) 45 | clf(fig_h) 46 | 47 | colormap('parula') 48 | s=surf(grid_surf_x',grid_surf_y,grid_surf_z'); 49 | view(viewSettings(1), viewSettings(2)) 50 | box on 51 | axis equal 52 | s.EdgeColor = edgeColor; 53 | title([titlestr ' Grid Surface']) 54 | -------------------------------------------------------------------------------- /Scripts_Data/sm_vehicle_2axle_heave_roll_plot2brktrq.m: -------------------------------------------------------------------------------- 1 | function sm_vehicle_2axle_heave_roll_plot2brktrq(simlogRes,logsoutRes) 2 | % Code to plot simulation results from sm_vehicle_2axle_heave_roll_mu 3 | %% Plot Description: 4 | % 5 | % Plot of torque applied by braking system. 6 | % 7 | % Copyright 2016-2024 The MathWorks, Inc. 8 | 9 | % Reuse figure if it exists, else create new figure 10 | figString = ['h1_' mfilename]; 11 | % Only create a figure if no figure exists 12 | figExist = 0; 13 | fig_hExist = evalin('base',['exist(''' figString ''')']); 14 | if (fig_hExist) 15 | figExist = evalin('base',['ishandle(' figString ') && strcmp(get(' figString ', ''type''), ''figure'')']); 16 | end 17 | if ~figExist 18 | fig_h = figure('Name',figString); 19 | assignin('base',figString,fig_h); 20 | else 21 | fig_h = evalin('base',figString); 22 | end 23 | figure(fig_h) 24 | clf(fig_h) 25 | 26 | temp_colororder = get(gca,'defaultAxesColorOrder'); 27 | 28 | % Get simulation results 29 | simlog_vVeh = simlogRes.Vehicle.Body_to_World.Body_World_Joint.Px.v.series.values('m/s'); 30 | 31 | simlog_brkMeas = logsoutRes.get('BrkBus'); 32 | simlog_xVeh = simlogRes.Vehicle.Body_to_World.Body_World_Joint.Px.p.series.values('m'); 33 | simlog_brkPed = logsoutRes.get('BrkPedal'); 34 | 35 | index_brkstart = find(simlog_brkPed.Values.Data>0,1); 36 | 37 | simlog_brakingDist = simlog_xVeh(end)-simlog_xVeh(index_brkstart); 38 | 39 | % Plot results 40 | simlog_handles(1) = subplot(1, 1, 1); 41 | plot(... 42 | simlog_brkMeas.Values.FL.trq.Time, -simlog_brkMeas.Values.FL.trq.Data,... 43 | simlog_brkMeas.Values.FR.trq.Time, -simlog_brkMeas.Values.FR.trq.Data,... 44 | simlog_brkMeas.Values.RL.trq.Time, -simlog_brkMeas.Values.RL.trq.Data,... 45 | simlog_brkMeas.Values.RR.trq.Time, -simlog_brkMeas.Values.RR.trq.Data,... 46 | 'LineWidth', 1) 47 | hold off 48 | grid on 49 | title('Brake Torque (N*m)') 50 | ylabel('Torque (N*m)') 51 | legend({'FL','FR','RL','RR'},'Location','Best'); 52 | xlabel('Time (s)'); 53 | 54 | 55 | -------------------------------------------------------------------------------- /Scripts_Data/sm_vehicle_2axle_heave_roll_plot1whlspd.m: -------------------------------------------------------------------------------- 1 | function h=sm_vehicle_2axle_heave_roll_plot1whlspd(simlogRes,logsoutRes,whlRadF,whlRadR) 2 | % Code to plot simulation results from sm_vehicle_2axle_heave_roll 3 | %% Plot Description: 4 | % 5 | % The plot below shows the wheel speeds during the maneuver. The 6 | % rotational wheel speeds are scaled by the unloaded radius so they can be 7 | % compared with the translational speed of the vehicle. 8 | 9 | % Copyright 2021-2024 The MathWorks, Inc. 10 | 11 | % Reuse figure if it exists, else create new figure 12 | figString = ['h1_' mfilename]; 13 | % Only create a figure if no figure exists 14 | figExist = 0; 15 | fig_hExist = evalin('base',['exist(''' figString ''',''var'')']); 16 | if (fig_hExist) 17 | figExist = evalin('base',['ishandle(' figString ') && strcmp(get(' figString ', ''type''), ''figure'')']); 18 | end 19 | if ~figExist 20 | fig_h = figure('Name',figString); 21 | assignin('base',figString,fig_h); 22 | else 23 | fig_h = evalin('base',figString); 24 | end 25 | figure(fig_h) 26 | clf(fig_h) 27 | 28 | % Get simulation results 29 | simlog_t = simlogRes.Vehicle.Revolute_FL.Rz.w.series.time; 30 | simlog_vFL = simlogRes.Vehicle.Revolute_FL.Rz.w.series.values('rad/s')*whlRadF; 31 | simlog_vFR = simlogRes.Vehicle.Revolute_FR.Rz.w.series.values('rad/s')*whlRadF; 32 | simlog_vRL = simlogRes.Vehicle.Revolute_RL.Rz.w.series.values('rad/s')*whlRadR; 33 | simlog_vRR = simlogRes.Vehicle.Revolute_RR.Rz.w.series.values('rad/s')*whlRadR; 34 | simlog_Veh = logsoutRes.get('Vehicle'); 35 | simlog_vVeh = simlog_Veh.Values.Body.vx.Data; 36 | 37 | % Plot results 38 | plot(simlog_t, simlog_vVeh, 'k--', 'LineWidth', 1) 39 | hold on 40 | plot(simlog_t, simlog_vFL, 'LineWidth', 1) 41 | plot(simlog_t, simlog_vFR, 'LineWidth', 1) 42 | plot(simlog_t, simlog_vRL, 'LineWidth', 1) 43 | plot(simlog_t, simlog_vRR, 'LineWidth', 1) 44 | 45 | hold off 46 | ylabel('Speed (m/s)') 47 | xlabel('Time (s)') 48 | title('Wheel Speeds and Vehicle Speed') 49 | grid on 50 | legend({'Vehicle','FL','FR','RL','RR'},'Location','Best'); 51 | text(0.05,0.05,'Wheel Speeds estimated with unloaded radius','Units','normalized','Color',[0.6 0.6 0.6]) 52 | 53 | -------------------------------------------------------------------------------- /Scripts_Data/sm_vehicle_camera_frames_car_3m.m: -------------------------------------------------------------------------------- 1 | function Camera = sm_vehicle_camera_frames_car_3m 2 | % Function to specify parameters for animation cameras 3 | % 4 | % Adjust frame locations below 5 | % 6 | % Copyright 2021-2024 The MathWorks, Inc. 7 | 8 | % Offset from vehicle reference to camera reference 9 | % Vehicle Reference: Frame where camera frame subsystem is attached 10 | % Camera Reference: Frame camera will point at 11 | 12 | camera_param.veh_to_cam = [ -1.5 0 0.7]; 13 | 14 | % Camera positions relative to camera reference 15 | % Circle of cameras 16 | camera_param.xyz_f = [ 5 0 1.1]; % Front 17 | camera_param.xyz_l = [ 0 5 0.65]; % Left (right) 18 | camera_param.xyz_r = [ -5 0 1.1]; % Rear 19 | camera_param.xyz_d = [ 3.84 3.2 1.1]; % Front Left (diagonal) 20 | camera_param.xyz_t = [-eps 0 10]; % Top 21 | 22 | % Viewing Suspension and Seats 23 | camera_param.whl_fl = [ 1.41 3 -0.35]; % Wheel Front Left (right) 24 | camera_param.whl_rl = [ -1.41 3 -0.35]; % Wheel Rear Left (right) 25 | camera_param.susp_f = [ 3.00 0 -0.35]; % Suspension Front 26 | camera_param.susp_r = [ -3.00 0 -0.35]; % Suspension Rear 27 | camera_param.susp_fl = [ 0.80 0.45 -0.35]; % Suspension Front Left (right) 28 | camera_param.susp_rl = [ -0.70 0.45 -0.35]; % Suspension Rear Left (right) 29 | camera_param.seat_fl = [ 0.10 0.38 0.55]; % Seat Front Left (right) 30 | 31 | % Dolly Camera 32 | camera_param.dolly.s = [ 7.00 -5.00 1.30]; % Camera offset 33 | camera_param.dolly.a = [ 0 15.00 155]; % View angle orientation 34 | camera_param.dolly.tvec = [0 1 2 3 4 5 7 10 20]; % Time 35 | camera_param.dolly.xvec = [5 6.1 8.6 12.5 17.7 24.5 44.1 79.9 199]; % Trajectory x 36 | camera_param.dolly.yvec = [0 0 0 0 0 0 0 0 0]; % Trajectory y 37 | camera_param.dolly.zvec = [0 0 0 0 0 0 0 0 0]; % Trajectory z 38 | 39 | % Obtain Camera structure 40 | Camera = sm_vehicle_camera_generate_structure(camera_param); 41 | -------------------------------------------------------------------------------- /Scripts_Data/sm_vehicle_2axle_heave_roll_plot3bodytiremeas.m: -------------------------------------------------------------------------------- 1 | function sm_vehicle_2axle_heave_roll_plot3bodytiremeas(logsoutRes) 2 | % Code to plot simulation results from sm_vehicle_2axle_heave_roll 3 | %% Plot Description: 4 | % 5 | % The plots below shows the body roll and pitch angles, as well as the 6 | % normal forces on the tires. 7 | 8 | % Copyright 2021-2024 The MathWorks, Inc. 9 | 10 | % Reuse figure if it exists, else create new figure 11 | figString = ['h1_' mfilename]; 12 | % Only create a figure if no figure exists 13 | figExist = 0; 14 | fig_hExist = evalin('base',['exist(''' figString ''')']); 15 | if (fig_hExist) 16 | figExist = evalin('base',['ishandle(' figString ') && strcmp(get(' figString ', ''type''), ''figure'')']); 17 | end 18 | if ~figExist 19 | fig_h = figure('Name',figString); 20 | assignin('base',figString,fig_h); 21 | else 22 | fig_h = evalin('base',figString); 23 | end 24 | figure(fig_h) 25 | clf(fig_h) 26 | 27 | % Get simulation results 28 | simlog_Veh = logsoutRes.get('Vehicle'); 29 | simlog_t = simlog_Veh.Values.Body.aRoll.Time; 30 | simlog_rollVeh = simlog_Veh.Values.Body.aRoll.Data(:); 31 | simlog_pitchVeh = simlog_Veh.Values.Body.aPitch.Data(:); 32 | 33 | simlog_f_t = simlog_Veh.Values.TireFL.Fz.Time; 34 | simlog_fnFL = simlog_Veh.Values.TireFL.Fz.Data; 35 | simlog_fnFR = simlog_Veh.Values.TireFR.Fz.Data; 36 | simlog_fnRL = simlog_Veh.Values.TireRL.Fz.Data; 37 | simlog_fnRR = simlog_Veh.Values.TireRR.Fz.Data; 38 | 39 | % Plot results 40 | ah(1) = subplot(2,1,1); 41 | plot(simlog_t, simlog_rollVeh, 'LineWidth', 1, 'DisplayName','Roll') 42 | hold on 43 | plot(simlog_t, simlog_pitchVeh, 'LineWidth', 1, 'DisplayName','Pitch') 44 | hold off 45 | 46 | ylabel('Angle (rad)') 47 | xlabel('Time (s)') 48 | title('Body Angles') 49 | grid on 50 | legend('Location','Best'); 51 | 52 | ah(2) = subplot(2,1,2); 53 | plot(simlog_f_t, simlog_fnFL, 'LineWidth', 1,'DisplayName','FL') 54 | hold on 55 | plot(simlog_f_t, simlog_fnFR, 'LineWidth', 1,'DisplayName','FR') 56 | plot(simlog_f_t, simlog_fnRL, 'LineWidth', 1,'DisplayName','RL') 57 | plot(simlog_f_t, simlog_fnRR, 'LineWidth', 1,'DisplayName','RR') 58 | hold off 59 | 60 | ylabel('Force (N)') 61 | xlabel('Time (s)') 62 | title('Tire Normal Forces') 63 | grid on 64 | legend('Location','Best'); 65 | 66 | % Remove temporary variables 67 | clear simlog_t simlog_handles 68 | clear simlog_rollVeh simlog_pitchVeh simlog_Veh 69 | clear simlog_fnFL simlog_fnFR simlog_fnRL simlog_fnRR 70 | 71 | -------------------------------------------------------------------------------- /Scripts_Data/sm_vehicle_2axle_heave_roll_mu_config_icepatch.m: -------------------------------------------------------------------------------- 1 | function [mu_surface, p1, p2] = sm_vehicle_2axle_heave_roll_mu_config_icepatch(patch_config) 2 | 3 | patch_depth = 0.011; 4 | 5 | switch(lower(patch_config)) 6 | case('right_low_patch') 7 | mu_surface = 1; 8 | p1.mu = 0.5; 9 | p1.xstart = 15; 10 | p1.xend = 25; 11 | p1.ystart = -10; 12 | p1.yend = 0; 13 | p1.opc = 1; 14 | p2.mu = 1; 15 | p2.xstart = -25; 16 | p2.xend = -15; 17 | p2.ystart = 0; 18 | p2.yend = 10; 19 | p2.opc = 0; 20 | case('right_low_split') 21 | mu_surface = 1; 22 | p1.mu = 0.5; 23 | p1.xstart = 15; 24 | p1.xend = 100; 25 | p1.ystart = -10; 26 | p1.yend = 0; 27 | p1.opc = 1; 28 | p2.mu = 1; 29 | p2.xstart = -25; 30 | p2.xend = -15; 31 | p2.ystart = 0; 32 | p2.yend = 10; 33 | p2.opc = 0; 34 | case('low_to_high') 35 | mu_surface= 1; 36 | p1.mu = 0.5; 37 | p1.xstart = 0; 38 | p1.xend = 25; 39 | p1.ystart = -10; 40 | p1.yend = 10; 41 | p1.opc = 1; 42 | p2.mu = 1; 43 | p2.xstart = -25; 44 | p2.xend = -15; 45 | p2.ystart = 0; 46 | p2.yend = 10; 47 | p2.opc = 0; 48 | case('high_to_low') 49 | mu_surface= 1; 50 | p1.mu = 1; 51 | p1.xstart = 0; 52 | p1.xend = 25; 53 | p1.ystart = -10; 54 | p1.yend = 10; 55 | p1.opc = 0; 56 | p2.mu = 0.5; 57 | p2.xstart = 25; 58 | p2.xend = 100; 59 | p2.ystart = -10; 60 | p2.yend = 10; 61 | p2.opc = 1; 62 | case('checker_right') 63 | mu_surface = 1; 64 | p1.mu = 0.3; 65 | p1.xstart = 15; 66 | p1.xend = 25; 67 | p1.ystart = -10; 68 | p1.yend = 0; 69 | p1.opc = 1; 70 | p2.mu = 0.3; 71 | p2.xstart = 25; 72 | p2.xend = 35; 73 | p2.ystart = 0; 74 | p2.yend = 10; 75 | p2.opc = 1; 76 | end 77 | 78 | p1.dim = [p1.xend-p1.xstart p1.yend-p1.ystart patch_depth]; 79 | p1.offset = [(p1.xend+p1.xstart)/2 (p1.yend+p1.ystart)/2 0]; 80 | 81 | p2.dim = [p2.xend-p2.xstart p2.yend-p2.ystart patch_depth]; 82 | p2.offset = [(p2.xend+p2.xstart)/2 (p2.yend+p2.ystart)/2 0]; 83 | 84 | 85 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # **Vehicle Dynamics, 14 DOF Model in Simscape Multibody™** 2 | Copyright 2021-2022 The MathWorks, Inc. 3 | 4 | This example models a vehicle with heave and roll degrees of freedom for 5 | the front and rear axles. The driver inputs and scene where the vehicle 6 | is driving can be configured as you select one of the maneuvers. 7 | 8 | The **[Simscape Multibody Tire Model](https://www.mathworks.com/help/physmod/sm/ref/magicformulatireforceandtorque.html)** is tested under various conditions: 9 | 10 | * **Step Steer Maneuver** to test lateral dynamics 11 | * **Traversing a Plateau** to test the effect of road slope 12 | * **Parking Lot Maneuver** to test behavior at zero speed 13 | * **Slalom on a Hill** to test behavior at low speed and in reverse 14 | * **Rough Road** to show road definitions using surface data in MATLAB 15 | * **Icy Surface** to test braking systems on surfaces with varying friction 16 | 17 | Open the project file sm_vehicle_heave_roll.prj to get started. 18 | 19 | View on File Exchange: [![View Vehicle Dynamics, 14 DOF Model in Simscape Multibody™ on File Exchange](https://www.mathworks.com/matlabcentral/images/matlab-file-exchange.svg)](https://de.mathworks.com/matlabcentral/fileexchange/110350-vehicle-dynamics-14-dof-model-in-simscape-multibody) 20 | You can also open in MATLAB Online: [![Open in MATLAB Online](https://www.mathworks.com/images/responsive/global/open-in-matlab-online.svg)](https://matlab.mathworks.com/open/github/v1?repo=mathworks/Vehicle-Dynamics-14DOF-Simscape-Multibody&project=sm_vehicle_14dof.prj) 21 | 22 | **Acknowledgements**: MathWorks would like to thank M V Krishna Teja, PhD, 23 | [Virtual Proving Ground and Simulation Lab](https://prof-rkkumar.wixsite.com/iitm-vpg-lab), 24 | Raghupati Singhania Centre of Excellence at the Indian Institute of Technology, 25 | Madras for providing the tire parameters for this example. 26 | 27 | ## **Visualization** 28 | ![](Overview/html/sm_vehicle_2axle_heave_roll_mechExpAnim_plateau.png) 29 | 30 | ## **Model Overview** 31 | ![](Overview/html/sm_vehicle_2axle_heave_roll_01.png) 32 | 33 | ## **Vehicle Model** 34 | ![](Overview/html/sm_vehicle_2axle_heave_roll_02.png) 35 | 36 | ## **Tire Model** 37 | ![](Overview/html/sm_vehicle_2axle_heave_roll_03.png) 38 | 39 | To learn more about vehicle modeling and simulation with Simscape, please visit: 40 | * [Simscape Vehicle Templates](https://www.mathworks.com/solutions/physical-modeling/simscape-vehicle-templates.html) 41 | * See also: 42 | * [Simscape™](https://www.mathworks.com/products/simscape.html) 43 | * [Simscape Battery™](https://www.mathworks.com/products/simscape-battery.html) 44 | * [Simscape Driveline™](https://www.mathworks.com/products/simscape-driveline.html) 45 | * [Simscape Electrical™](https://www.mathworks.com/products/simscape-electrical.html) 46 | * [Simscape Fluids™](https://www.mathworks.com/products/simscape-fluids.html) 47 | * [Simscape Multibody™](https://www.mathworks.com/products/simscape-multibody.html) 48 | -------------------------------------------------------------------------------- /Libraries/Road/Plateau/Extr_Data_RDF.m: -------------------------------------------------------------------------------- 1 | function [xy_data_L, xy_data_R] = Extr_Data_RDF(filename, poly_line_depth, varargin) 2 | %Extr_Data_RDF Produce extrusion data from RDF file. 3 | % [[xy_data_L, xy_data_R] = Extr_Data_RDF(filename) 4 | % This function returns x-y data left and right road surfaces. 5 | % You specify: 6 | % filename Name of the RDF file 7 | % poly_line_depth Depth of road surface 8 | % 9 | % To see a plot created with your parameter values, 10 | % add 'plot' as the final argument 11 | % >> Extr_Data_RDF(10,5,'plot') 12 | 13 | % Copyright 2013-2024 The MathWorks, Inc. 14 | 15 | showplot = 'n'; 16 | if(nargin>2) 17 | showplot = varargin{1}; 18 | end 19 | 20 | road_raw = importdata(filename,' '); 21 | 22 | line_i = 1; 23 | rdf_type = []; 24 | while (line_i < length(road_raw.textdata) || ... 25 | isempty(rdf_type)) 26 | linetext = road_raw.textdata{line_i}; 27 | if(contains(linetext,'ROAD_TYPE')) 28 | rdf_type = extractBetween(linetext,"'","'"); 29 | end 30 | line_i=line_i+1; 31 | end 32 | 33 | if(isempty(rdf_type)) 34 | rdf_type = 'not found'; 35 | end 36 | 37 | switch char(rdf_type) 38 | case 'not found' 39 | xy_data_L = [-1 -1]; 40 | xy_data_R = [-1 -1]; 41 | disp(['RDF type not found in ' which(filename) ]); 42 | case 'poly_line' 43 | road.x = road_raw.data(1:end-1,1); 44 | road.zl = road_raw.data(1:end-1,2); 45 | road.zr = road_raw.data(1:end-1,3); 46 | xy_data_L = flipud([road.x road.zl;flipud(road.x) flipud(road.zl)-poly_line_depth]); 47 | xy_data_R = flipud([road.x road.zr;flipud(road.x) flipud(road.zr)-poly_line_depth]); 48 | 49 | otherwise 50 | disp(['RDF type unknown: ' rdf_type]); 51 | end 52 | 53 | % Plot diagram to show parameters and extrusion 54 | if (strcmpi(showplot,'plot')) 55 | 56 | % Figure name 57 | figString = ['h1_' mfilename]; 58 | % Only create a figure if no figure exists 59 | figExist = 0; 60 | fig_hExist = evalin('base',['exist(''' figString ''')']); 61 | if (fig_hExist) 62 | figExist = evalin('base',['ishandle(' figString ') && strcmp(get(' figString ', ''type''), ''figure'')']); 63 | end 64 | if ~figExist 65 | fig_h = figure('Name',figString); 66 | assignin('base',figString,fig_h); 67 | else 68 | fig_h = evalin('base',figString); 69 | end 70 | figure(fig_h) 71 | clf(fig_h) 72 | 73 | % Plot extrusion 74 | patch(xy_data_L(:,1),xy_data_L(:,2),[1 1 1]*0.90,'EdgeColor','none'); 75 | hold on 76 | plot(xy_data_L(:,1),xy_data_L(:,2),'-','Marker','o','MarkerSize',4,'LineWidth',2); 77 | 78 | patch(xy_data_R(:,1),xy_data_R(:,2),[1 1 1]*0.90,'EdgeColor','none'); 79 | plot(xy_data_R(:,1),xy_data_R(:,2),'-','Marker','x','MarkerSize',4,'LineWidth',2); 80 | 81 | axis('equal'); 82 | %axis([-1.1 1.1 -1.1 1.1]*maxd/2); 83 | 84 | title('[xy\_data\_L xy\_data\_R] = Extr\_Data\_RDF(filename, poly_line_depth);'); 85 | hold off 86 | box on 87 | clear xy_data_L xy_data_R 88 | end 89 | 90 | 91 | -------------------------------------------------------------------------------- /Scripts_Data/sm_vehicle_2axle_heave_roll_scene.m: -------------------------------------------------------------------------------- 1 | % Parameters used in scenes of sm_vehicle_2axle_heave_roll.slx 2 | 3 | color = simmechanics.demohelpers.colors; 4 | SceneData.Reference.yaw = 0; % rad 5 | SceneData.Reference.pitch = 0; % rad 6 | SceneData.Reference.roll = 0; % rad 7 | 8 | %% Grid %% 9 | SceneData.Grid.length = 400; % m 10 | SceneData.Grid.width = 400; % m 11 | SceneData.Grid.depth = 0.02; % m 12 | SceneData.Grid.linewidth = 0.08; % m 13 | SceneData.Grid.numsquaresx = 40; % m 14 | SceneData.Grid.numsquaresy = 40; % m 15 | SceneData.Grid.linecolor = [1 1 1]; % [RGB] 16 | SceneData.Grid.planecolor = [0.8 0.8 0.8]; % [RGB] 17 | 18 | 19 | %% Road %% 20 | SceneData.Road.markings.segmentLength = 3; % m 21 | SceneData.Road.markings.segmentWidth = 0.15; % m 22 | SceneData.Road.markings.segmentDepth = 0.005; % m 23 | SceneData.Road.markings.spacing = 9; % m 24 | SceneData.Road.markings.numMarkings = 36; 25 | SceneData.Road.markings.color = color.white; 26 | 27 | SceneData.Road.length = SceneData.Road.markings.segmentLength + ... 28 | (SceneData.Road.markings.numMarkings - 1) * (SceneData.Road.markings.segmentLength + SceneData.Road.markings.spacing); 29 | SceneData.Road.width = 7.2; % m 30 | SceneData.Road.depth = 0.1; % m 31 | SceneData.Road.dim = [SceneData.Road.length SceneData.Road.width SceneData.Road.depth]; 32 | SceneData.Road.color = color.grey; 33 | 34 | SceneData.Road.markings.extrusion = roadMarkingsExtrusion(SceneData.Road); 35 | 36 | SceneData.Plateau = sm_car_scenedata_rdf_plateau; 37 | SceneData.Rough_Road = sm_car_scenedata_rdf_rough_road; 38 | 39 | %% Grass Verge %% 40 | 41 | SceneData.Road.verge.length = SceneData.Road.length; 42 | SceneData.Road.verge.width = 5; % m 43 | SceneData.Road.verge.depth = SceneData.Road.depth - 0.05; % m 44 | SceneData.Road.verge.dim = [SceneData.Road.verge.length SceneData.Road.verge.width SceneData.Road.verge.depth]; 45 | SceneData.Road.verge.color = [0.8 1.0 0.8]; 46 | 47 | 48 | %% Road Markings Extrusion Helper Function %% 49 | 50 | function extrusion = roadMarkingsExtrusion(road) 51 | 52 | extrusion = [0 0; road.length 0; road.length road.depth + road.markings.segmentDepth]; 53 | 54 | nextMarking_y1 = road.depth + road.markings.segmentDepth; 55 | nextMarking_y2 = 0.5 * road.depth; 56 | nextMarking_y3 = nextMarking_y2; 57 | nextMarking_y4 = nextMarking_y1; 58 | 59 | for i = 1:road.markings.numMarkings-1 60 | nextMarking_x1 = extrusion(end, 1) - road.markings.segmentLength; 61 | nextMarking_x2 = nextMarking_x1; 62 | nextMarking_x3 = extrusion(end, 1) - road.markings.segmentLength - road.markings.spacing; 63 | nextMarking_x4 = nextMarking_x3; 64 | nextMarking = [nextMarking_x1, nextMarking_y1; 65 | nextMarking_x2, nextMarking_y2; 66 | nextMarking_x3, nextMarking_y3; 67 | nextMarking_x4, nextMarking_y4]; 68 | extrusion = [extrusion; nextMarking]; %#ok 69 | end 70 | 71 | extrusion(end + 1, 1) = 0; 72 | extrusion(end, 2) = road.depth + road.markings.segmentDepth; 73 | 74 | end 75 | 76 | 77 | -------------------------------------------------------------------------------- /Scripts_Data/sm_vehicle_2axle_heave_roll_plot3cylpress1plot.m: -------------------------------------------------------------------------------- 1 | function simlog_handles = sm_vehicle_2axle_heave_roll_plot3cylpress1plot(simlogRes,logsoutRes) 2 | % Code to plot simulation results from ssc_car_abs 3 | %% Plot Description: 4 | % 5 | % Plot caliper pressure and master cylinder pressure on a single plot. 6 | % 7 | % Copyright 2019-2024 The MathWorks, Inc. 8 | 9 | 10 | % Only plot pressures if pressure data is present 11 | % (not present in variable-damper brake model) 12 | simlog_Brakes_Children = simlogRes.Brakes.Brakes.childIds; 13 | if(~isempty(find(strcmp(simlog_Brakes_Children,'Disc'), 1))) 14 | 15 | % Reuse figure if it exists, else create new figure 16 | figString = ['h1_' mfilename]; 17 | % Only create a figure if no figure exists 18 | figExist = 0; 19 | fig_hExist = evalin('base',['exist(''' figString ''')']); 20 | if (fig_hExist) 21 | figExist = evalin('base',['ishandle(' figString ') && strcmp(get(' figString ', ''type''), ''figure'')']); 22 | end 23 | if ~figExist 24 | fig_h = figure('Name',figString); 25 | assignin('base',figString,fig_h); 26 | else 27 | fig_h = evalin('base',figString); 28 | end 29 | figure(fig_h) 30 | clf(fig_h) 31 | 32 | temp_colororder = get(gca,'defaultAxesColorOrder'); 33 | 34 | % Get simulation results 35 | simlog_t = simlogRes.Vehicle.Revolute_FR.Rz.w.series.time; 36 | 37 | simlog_brkMeas = logsoutRes.get('BrkBus'); 38 | simlog_pFL = simlog_brkMeas.Values.FL.p.Data; 39 | simlog_pFR = simlog_brkMeas.Values.FR.p.Data; 40 | simlog_pRL = simlog_brkMeas.Values.RL.p.Data; 41 | simlog_pRR = simlog_brkMeas.Values.RR.p.Data; 42 | 43 | simlog_Actuator_Children = simlogRes.Brakes.Brakes.Disc.Actuator.childIds; 44 | if(~isempty(find(strcmp(simlog_Actuator_Children,'Valves'), 1))) 45 | simlog_pMCL = simlogRes.Brakes.Brakes.Disc.Actuator.Valves.Valves_FL.Orifice_Apply.A.p.series.values('psi'); 46 | simlog_pMCR = simlogRes.Brakes.Brakes.Disc.Actuator.Valves.Valves_FR.Orifice_Apply.A.p.series.values('psi'); 47 | else 48 | simlog_pMCL = []; 49 | simlog_pMCR = []; 50 | end 51 | % Plot results 52 | simlog_handles(1) = subplot(1, 1, 1); 53 | 54 | if(~isempty(simlog_pMCL)) 55 | plot(simlog_t,simlog_pMCL,'k--','LineWidth',2); 56 | hold on 57 | end 58 | plot(simlog_t, simlog_pFL,'Color',temp_colororder(1,:),'LineWidth',1); 59 | hold on 60 | plot(simlog_t, simlog_pFR,'Color',temp_colororder(2,:),'LineWidth',1); 61 | plot(simlog_t, simlog_pRL,'Color',temp_colororder(3,:),'LineWidth',1); 62 | plot(simlog_t, simlog_pRR,'Color',temp_colororder(4,:),'LineWidth',1); 63 | hold off 64 | grid on 65 | title('Hydraulic Pressure'); 66 | ylabel('Pressure (psi)'); 67 | xlabel('Time (s)'); 68 | if(~isempty(simlog_pMCL)) 69 | legend_str = {'Master Cylinder','Front Left','Front Right','Rear Left','Rear Right'}; 70 | else 71 | legend_str = {'Front Left','Front Right','Rear Left','Rear Right'}; 72 | end 73 | legend(legend_str,'Location','Best'); 74 | 75 | else 76 | msgbox('No valve data - select a different configuration.') 77 | simlog_handles = -1; 78 | end 79 | --------------------------------------------------------------------------------