coordinate transformation module

vehicle local coordinate system
kinematic unicycle state Model
[xi yi θi] Cartesian coordinate system
[vi ωi]  the states of linear velocity and the angular velocity

the model equations from the global coordinates to the local coordinates
The Global Coordinates and Local Coordinates for Cyclic Pursuit Strategy
coordinate transformation module --> an Embedded MATLAB function
http://marhes.ece.unm.edu/index.php/Ysong:Project514#Introduction

Implementation of coordinate transformation with rotation around multiple axes
http://alexandria.tue.nl/repository/books/626941.pdf


 Autonomous Vehicle Based on Simulink
http://www.springerlink.com/content/17817601t7836742/fulltext.pdf

Global and Local Coordinate Systems
Cartesian (X, Y, Z components)
Cylindrical (R, θ, Z components)
Spherical (R, θ, φ components)
Cylindrical (R, θ, Y components)
http://www.kxcad.net/ansys/ANSYS/ansyshelp/Hlp_G_MOD3_2.html

Global to Local Coordinate Transformation Matrix

http://www.mathworks.com/matlabcentral/fileexchange/9586-global-to-local-coordinate-transformation-matrix
modeling the vehicle environment


Road model
Test Track Design
Environment Model
global coordinate system of the environment
local coordinate system of the test track
transformation should be made to convert from one coordinate system to another.
Road model
1. coordinate transformation
2. transformation road properties
the global (x,y,z) and local (s,t) coordinate

Environment  module block diagram
1. Road: Vertical Profile ,Horizontal Profile ,Transformation
2. scenario:
3. Traffic Participants

Transformation between the 2 coordinates (local road coordinate (s,t) ,global coordinates(x,y))
Modeling the test track profile
- Matlab M-functions
- Simulink basic components
- Automatically generated S-functions
- Manually written S-function
We found that the automatically generated S-function is the most suitable method because of its low
execution time.

Building S-Functions Automatically
S-Function Builder is a Simulink block that builds an S-function
open_system('sfcndemo_mixedm.mdl');
edit(fullfile(matlabroot,'simulink','src','mixedm.c'))

http://metalab.uniten.edu.my/~farrukh/mywork/s_fun1.pdf 
How the S-Function Builder Builds an S-Function