Block path

Blocks are dynamically loaded from several locations. They are always loaded from:

• src/bdsim/blocks holds the standard block set

Other blocks are looked for along the path given by the environment variable BDSIMPATH which is a colon-separated list of folders.

If BDSim(... toolboxes=True), which is the default, it will add these folders to the path their block libraries:

• roboticstoolbox/blocks holds robot-specific blocks
• machinevisiontoolbox/blocks holds machine-vision specific blocks

For each folder on the path, all Python files, excluding those whose name starts with test_, are parsed for blocks.

The list of dynamically loaded blocks can be seen by

sim.blocks()

90  blocks loaded
bdsim.blocks.connections................: ITEM DICT MUX DEMUX INDEX SUBSYSTEM INPORT OUTPORT 
bdsim.blocks.continuous.................: INTEGRATOR POSEINTEGRATOR LTI_SS LTI_SISO DERIV2 DERIV PID 
bdsim.blocks.displays...................: SCOPE SCOPEXY SCOPEXY1 
bdsim.blocks.functions..................: SUM PROD GAIN POW CLIP FUNCTION INTERPOLATE 
bdsim.blocks.io.........................: ANALOGIN ANALOGOUT DIGITALIN DIGITALOUT PWMOUT TELEMETRY 
bdsim.blocks.linalg.....................: INVERSE TRANSPOSE NORM FLATTEN SLICE2 SLICE1 DET COND 
bdsim.blocks.sampled....................: ZOH INTEGRATOR_S POSEINTEGRATOR_S DERIV_S LTI_SS_S LTI_SISO_S PID_S 
........................................: DPOSEINTEGRATOR 
bdsim.blocks.sinks......................: PRINT STOP EVENT NULL WATCH 
bdsim.blocks.sources....................: CONSTANT TIME WAVEFORM PIECEWISE STEP RAMP 
roboticstoolbox.blocks.arm..............: FKINE IKINE JACOBIAN ARMPLOT JTRAJ CTRAJ CIRCLEPATH TRAPEZOIDAL TRAJ IDYN 
........................................: GRAVLOAD_X INERTIA INERTIA_X FDYN FDYN_X 
roboticstoolbox.blocks.mobile...........: BICYCLE UNICYCLE DIFFSTEER VEHICLEPLOT 
roboticstoolbox.blocks.spatial..........: TR2DELTA DELTA2TR POINT2TR TR2T 
roboticstoolbox.blocks.uav..............: MULTIROTOR MULTIROTORMIXER MULTIROTORPLOT 
machinevisiontoolbox.blocks.camera......: CAMERA VISJAC_P ESTPOSE_P IMAGEPLANE