// CBD model of the AGVVirtual block
// Created with CBD.converters.CBDDraw
digraph model {
 splines=ortho;
 label=<<B>AGVVirtual (AGVVirtual)</B>>;
 labelloc="t";
 fontsize=20;
 node_140486831185200 [label="PathBlock\n(environment)", shape=box];
 inter_140486831184480_OUT1 -> node_140486831185200 [headlabel="x", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831266208_OUT1 -> node_140486831185200 [headlabel="y", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831185200_color [shape=point, width=0.01, height=0.01];
 node_140486831185200 -> inter_140486831185200_color [taillabel="color", arrowtail="invempty", arrowhead="none", dir=both];
 inter_140486831185200_offset [shape=point, width=0.01, height=0.01];
 node_140486831185200 -> inter_140486831185200_offset [taillabel="offset", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831185344 [label="PositionCollectorBlock\n(plot)", shape=box];
 inter_140486831184480_OUT1 -> node_140486831185344 [headlabel="X", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831266208_OUT1 -> node_140486831185344 [headlabel="Y", arrowhead="normal", arrowtail="none", dir=both];
 node_140486831265680 [label="SignalCollectorBlock\n(errorPlot)", shape=box];
 inter_140486831266016_OUT1 -> node_140486831265680 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 node_140486831265776 [label="SignalCollectorBlock\n(headingPlot)", shape=box];
 inter_140486831184576_OUT1 -> node_140486831265776 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 node_140486831265824 [label="IntegratorBlock\n(int)", shape=box];
 inter_140486831185200_offset -> node_140486831265824 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831265872_OUT1 -> node_140486831265824 [headlabel="IC", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831265920_OUT1 -> node_140486831265824 [headlabel="delta_t", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831265824_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831265824 -> inter_140486831265824_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831265872 [label=" ConstantBlock\n(zero)\n0", shape=ellipse];
 inter_140486831265872_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831265872 -> inter_140486831265872_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831265920 [label=" ConstantBlock\n(delta)\n0.2", shape=ellipse];
 inter_140486831265920_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831265920 -> inter_140486831265920_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831265968 [label="IntegratorBlock\n(intH)", shape=box];
 inter_140486831265872_OUT1 -> node_140486831265968 [headlabel="IC", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831265920_OUT1 -> node_140486831265968 [headlabel="delta_t", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184576_OUT1 -> node_140486831265968 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831265968_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831265968 -> inter_140486831265968_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831266016 [label="ProductBlock\n(mult)", shape=box];
 inter_140486831265968_OUT1 -> node_140486831266016 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831265824_OUT1 -> node_140486831266016 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831266016_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831266016 -> inter_140486831266016_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140487039590560 [label=" ConstantBlock\n(Controller.v)\n0.05", shape=ellipse];
 inter_140487039590560_OUT1 [shape=point, width=0.01, height=0.01];
 node_140487039590560 -> inter_140487039590560_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831183088 [label=" ConstantBlock\n(Controller.threshold)\n-50", shape=ellipse];
 inter_140486831183088_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831183088 -> inter_140486831183088_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831183136 [label=" ConstantBlock\n(Controller.friction)\n1", shape=ellipse];
 inter_140486831183136_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831183136 -> inter_140486831183136_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831183184 [label="AdderBlock\n(Controller.sum)", shape=box];
 inter_140486831266304_OUT1 -> node_140486831183184 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831183088_OUT1 -> node_140486831183184 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831183184_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831183184 -> inter_140486831183184_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831183280 [label="ProductBlock\n(Controller.mult)", shape=box];
 inter_140486831266832_OUT1 -> node_140486831183280 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831183136_OUT1 -> node_140486831183280 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831183280_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831183280 -> inter_140486831183280_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831183376 [label=" ConstantBlock\n(Controller.PID.Kp)\n0.0", shape=ellipse];
 inter_140486831183376_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831183376 -> inter_140486831183376_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831183616 [label=" ConstantBlock\n(Controller.PID.Ki)\n0.0", shape=ellipse];
 inter_140486831183616_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831183616 -> inter_140486831183616_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831183664 [label=" ConstantBlock\n(Controller.PID.Kd)\n0.0", shape=ellipse];
 inter_140486831183664_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831183664 -> inter_140486831183664_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831183712 [label="IntegratorBlock\n(Controller.PID.int)", shape=box];
 inter_140486831266736_OUT1 -> node_140486831183712 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831183856_OUT1 -> node_140486831183712 [headlabel="delta_t", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184096_OUT1 -> node_140486831183712 [headlabel="IC", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831183712_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831183712 -> inter_140486831183712_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831183760 [label="DerivatorBlock\n(Controller.PID.deriv)", shape=box];
 inter_140486831266736_OUT1 -> node_140486831183760 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831183856_OUT1 -> node_140486831183760 [headlabel="delta_t", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184096_OUT1 -> node_140486831183760 [headlabel="IC", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831183760_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831183760 -> inter_140486831183760_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831183856 [label=" ConstantBlock\n(Controller.PID.delta_t)\n0.2", shape=ellipse];
 inter_140486831183856_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831183856 -> inter_140486831183856_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831183904 [label="ProductBlock\n(Controller.PID.prod)", shape=box];
 inter_140486831183376_OUT1 -> node_140486831183904 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831266736_OUT1 -> node_140486831183904 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831183904_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831183904 -> inter_140486831183904_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184000 [label="ProductBlock\n(Controller.PID.imult)", shape=box];
 inter_140486831183712_OUT1 -> node_140486831184000 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831183616_OUT1 -> node_140486831184000 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184000_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184000 -> inter_140486831184000_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184048 [label="ProductBlock\n(Controller.PID.dmult)", shape=box];
 inter_140486831183760_OUT1 -> node_140486831184048 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831183664_OUT1 -> node_140486831184048 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184048_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184048 -> inter_140486831184048_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184096 [label=" ConstantBlock\n(Controller.PID.zero)\n0", shape=ellipse];
 inter_140486831184096_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184096 -> inter_140486831184096_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831183952 [label="AdderBlock\n(Controller.PID.sum1)", shape=box];
 inter_140486831183904_OUT1 -> node_140486831183952 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184000_OUT1 -> node_140486831183952 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831183952_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831183952 -> inter_140486831183952_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184192 [label="AdderBlock\n(Controller.PID.sum2)", shape=box];
 inter_140486831183952_OUT1 -> node_140486831184192 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184048_OUT1 -> node_140486831184192 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184192_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184192 -> inter_140486831184192_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831266736 [label="WireBlock\n(Controller.PID.IN1)", shape=box];
 inter_140486831183184_OUT1 -> node_140486831266736 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831266736_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831266736 -> inter_140486831266736_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831266832 [label="WireBlock\n(Controller.PID.OUT1)", shape=box];
 inter_140486831184192_OUT1 -> node_140486831266832 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831266832_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831266832 -> inter_140486831266832_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831266304 [label="WireBlock\n(Controller.color)", shape=box];
 inter_140486831185200_color -> node_140486831266304 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831266304_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831266304 -> inter_140486831266304_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831266400 [label="WireBlock\n(Controller.heading)", shape=box];
 inter_140486831183280_OUT1 -> node_140486831266400 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831266400_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831266400 -> inter_140486831266400_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831266496 [label="WireBlock\n(Controller.velocity)", shape=box];
 inter_140487039590560_OUT1 -> node_140486831266496 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831266496_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831266496 -> inter_140486831266496_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184240 [label="ProductBlock\n(StaticPlant.steeringMult)", shape=box];
 inter_140486831183040_OUT1 -> node_140486831184240 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184672_OUT1 -> node_140486831184240 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184240_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184240 -> inter_140486831184240_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184672 [label=" ConstantBlock\n(StaticPlant.WheelAxis)\n0.18", shape=ellipse];
 inter_140486831184672_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184672 -> inter_140486831184672_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184624 [label=" ConstantBlock\n(StaticPlant.half)\n0.5", shape=ellipse];
 inter_140486831184624_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184624 -> inter_140486831184624_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184720 [label="ProductBlock\n(StaticPlant.halfSteeringMult)", shape=box];
 inter_140486831184240_OUT1 -> node_140486831184720 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184624_OUT1 -> node_140486831184720 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184720_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184720 -> inter_140486831184720_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184816 [label="AdderBlock\n(StaticPlant.leftSum)", shape=box];
 inter_140486831182944_OUT1 -> node_140486831184816 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184912_OUT1 -> node_140486831184816 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184816_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184816 -> inter_140486831184816_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184864 [label="AdderBlock\n(StaticPlant.rightSum)", shape=box];
 inter_140486831182944_OUT1 -> node_140486831184864 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184720_OUT1 -> node_140486831184864 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184864_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184864 -> inter_140486831184864_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184912 [label="NegatorBlock\n(StaticPlant.neg)", shape=box];
 inter_140486831184720_OUT1 -> node_140486831184912 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184912_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184912 -> inter_140486831184912_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184960 [label="ProductBlock\n(StaticPlant.leftMult)", shape=box];
 inter_140486831184816_OUT1 -> node_140486831184960 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831185104_OUT1 -> node_140486831184960 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184960_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184960 -> inter_140486831184960_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831185056 [label="ProductBlock\n(StaticPlant.rightMult)", shape=box];
 inter_140486831184864_OUT1 -> node_140486831185056 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831185104_OUT1 -> node_140486831185056 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831185056_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831185056 -> inter_140486831185056_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831185104 [label=" ConstantBlock\n(StaticPlant.WheelRadius)\n66.66666666666667", shape=ellipse];
 inter_140486831185104_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831185104 -> inter_140486831185104_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831185008 [label=" ClampBlock\n(StaticPlant.leftClamp)\n[-11.868238913562223, 11.868238913562223]", shape=box];
 inter_140486831184960_OUT1 -> node_140486831185008 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831185008_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831185008 -> inter_140486831185008_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831185152 [label=" ClampBlock\n(StaticPlant.rightClamp)\n[-11.868238913562223, 11.868238913562223]", shape=box];
 inter_140486831185056_OUT1 -> node_140486831185152 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831185152_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831185152 -> inter_140486831185152_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831182944 [label="WireBlock\n(StaticPlant.velocity)", shape=box];
 inter_140486831266496_OUT1 -> node_140486831182944 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831182944_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831182944 -> inter_140486831182944_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831183040 [label="WireBlock\n(StaticPlant.steering)", shape=box];
 inter_140486831266400_OUT1 -> node_140486831183040 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831183040_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831183040 -> inter_140486831183040_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831183424 [label="WireBlock\n(StaticPlant.phiLdot)", shape=box];
 inter_140486831185008_OUT1 -> node_140486831183424 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831183424_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831183424 -> inter_140486831183424_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831183520 [label="WireBlock\n(StaticPlant.phiRdot)", shape=box];
 inter_140486831185152_OUT1 -> node_140486831183520 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831183520_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831183520 -> inter_140486831183520_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831185296 [label="IntegratorBlock\n(odo.int_w)", shape=box];
 inter_140486831185872_OUT1 -> node_140486831185296 [headlabel="delta_t", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264144_OUT1 -> node_140486831185296 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831265728_OUT1 -> node_140486831185296 [headlabel="IC", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831185296_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831185296 -> inter_140486831185296_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831185872 [label=" ConstantBlock\n(odo.delta)\n0.2", shape=ellipse];
 inter_140486831185872_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831185872 -> inter_140486831185872_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831264864 [label="IntegratorBlock\n(odo.int_x)", shape=box];
 inter_140486831185872_OUT1 -> node_140486831264864 [headlabel="delta_t", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831267264_OUT1 -> node_140486831264864 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264912_OUT1 -> node_140486831264864 [headlabel="IC", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264864_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831264864 -> inter_140486831264864_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831264624 [label="IntegratorBlock\n(odo.int_y)", shape=box];
 inter_140486831185872_OUT1 -> node_140486831264624 [headlabel="delta_t", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831267168_OUT1 -> node_140486831264624 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264960_OUT1 -> node_140486831264624 [headlabel="IC", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264624_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831264624 -> inter_140486831264624_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831264912 [label=" ConstantBlock\n(odo.init_x)\n0", shape=ellipse];
 inter_140486831264912_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831264912 -> inter_140486831264912_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831264960 [label=" ConstantBlock\n(odo.init_y)\n-0.3", shape=ellipse];
 inter_140486831264960_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831264960 -> inter_140486831264960_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831265728 [label=" ConstantBlock\n(odo.init_w)\n0", shape=ellipse];
 inter_140486831265728_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831265728 -> inter_140486831265728_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831263856 [label=" ConstantBlock\n(odo.base.r)\n0.03", shape=ellipse];
 inter_140486831263856_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831263856 -> inter_140486831263856_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831264384 [label=" GenericBlock\n(odo.base.sin)\nsin", shape=box];
 inter_140486831266976_OUT1 -> node_140486831264384 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264384_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831264384 -> inter_140486831264384_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831264432 [label=" GenericBlock\n(odo.base.cos)\ncos", shape=box];
 inter_140486831266976_OUT1 -> node_140486831264432 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264432_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831264432 -> inter_140486831264432_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831264480 [label="AdderBlock\n(odo.base.B-OUZVyqj9DiQNmVnVL9-16)", shape=box];
 inter_140486831266688_OUT1 -> node_140486831264480 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831267072_OUT1 -> node_140486831264480 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264480_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831264480 -> inter_140486831264480_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831264576 [label=" ConstantBlock\n(odo.base.half)\n0.5", shape=ellipse];
 inter_140486831264576_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831264576 -> inter_140486831264576_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831264528 [label="ProductBlock\n(odo.base.div2)", shape=box];
 inter_140486831264576_OUT1 -> node_140486831264528 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264480_OUT1 -> node_140486831264528 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264528_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831264528 -> inter_140486831264528_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831264672 [label="ProductBlock\n(odo.base.mulX)", shape=box];
 inter_140486831264528_OUT1 -> node_140486831264672 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264768_OUT1 -> node_140486831264672 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264672_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831264672 -> inter_140486831264672_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831264720 [label="ProductBlock\n(odo.base.mulY)", shape=box];
 inter_140486831264528_OUT1 -> node_140486831264720 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264816_OUT1 -> node_140486831264720 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264720_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831264720 -> inter_140486831264720_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831264768 [label="ProductBlock\n(odo.base.mulSin)", shape=box];
 inter_140486831264384_OUT1 -> node_140486831264768 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831263856_OUT1 -> node_140486831264768 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264768_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831264768 -> inter_140486831264768_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831264816 [label="ProductBlock\n(odo.base.mulCos)", shape=box];
 inter_140486831263856_OUT1 -> node_140486831264816 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264432_OUT1 -> node_140486831264816 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264816_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831264816 -> inter_140486831264816_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831266688 [label="WireBlock\n(odo.base.phiLdot)", shape=box];
 inter_140486831184288_OUT1 -> node_140486831266688 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831266688_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831266688 -> inter_140486831266688_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831266976 [label="WireBlock\n(odo.base.heading)", shape=box];
 inter_140486831185296_OUT1 -> node_140486831266976 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831266976_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831266976 -> inter_140486831266976_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831267072 [label="WireBlock\n(odo.base.phiRdot)", shape=box];
 inter_140486831184384_OUT1 -> node_140486831267072 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831267072_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831267072 -> inter_140486831267072_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831267168 [label="WireBlock\n(odo.base.ydot)", shape=box];
 inter_140486831264672_OUT1 -> node_140486831267168 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831267168_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831267168 -> inter_140486831267168_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831267264 [label="WireBlock\n(odo.base.xdot)", shape=box];
 inter_140486831264720_OUT1 -> node_140486831267264 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831267264_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831267264 -> inter_140486831267264_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831265056 [label=" ConstantBlock\n(odo.OCegTr4naEkMIVMNTQIZ-73.rneg)\n-0.03", shape=ellipse];
 inter_140486831265056_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831265056 -> inter_140486831265056_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831265392 [label="NegatorBlock\n(odo.OCegTr4naEkMIVMNTQIZ-73.OCegTr4naEkMIVMNTQIZ-39)", shape=box];
 inter_140486831264048_OUT1 -> node_140486831265392 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831265392_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831265392 -> inter_140486831265392_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831265488 [label="AdderBlock\n(odo.OCegTr4naEkMIVMNTQIZ-73.OCegTr4naEkMIVMNTQIZ-43)", shape=box];
 inter_140486831263952_OUT1 -> node_140486831265488 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831265392_OUT1 -> node_140486831265488 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831265488_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831265488 -> inter_140486831265488_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831265584 [label="ProductBlock\n(odo.OCegTr4naEkMIVMNTQIZ-73.multr)", shape=box];
 inter_140486831265488_OUT1 -> node_140486831265584 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831265056_OUT1 -> node_140486831265584 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831265584_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831265584 -> inter_140486831265584_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831265632 [label=" ConstantBlock\n(odo.OCegTr4naEkMIVMNTQIZ-73.invd)\n5.555555555555555", shape=ellipse];
 inter_140486831265632_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831265632 -> inter_140486831265632_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831265536 [label="ProductBlock\n(odo.OCegTr4naEkMIVMNTQIZ-73.multd)", shape=box];
 inter_140486831265632_OUT1 -> node_140486831265536 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831265584_OUT1 -> node_140486831265536 [headlabel="IN2", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831265536_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831265536 -> inter_140486831265536_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831263952 [label="WireBlock\n(odo.OCegTr4naEkMIVMNTQIZ-73.phiLdot)", shape=box];
 inter_140486831184288_OUT1 -> node_140486831263952 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831263952_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831263952 -> inter_140486831263952_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831264048 [label="WireBlock\n(odo.OCegTr4naEkMIVMNTQIZ-73.phiRdot)", shape=box];
 inter_140486831184384_OUT1 -> node_140486831264048 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264048_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831264048 -> inter_140486831264048_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831264144 [label="WireBlock\n(odo.OCegTr4naEkMIVMNTQIZ-73.wdot)", shape=box];
 inter_140486831265536_OUT1 -> node_140486831264144 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831264144_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831264144 -> inter_140486831264144_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184288 [label="WireBlock\n(odo.phiLdot)", shape=box];
 inter_140486831183424_OUT1 -> node_140486831184288 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184288_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184288 -> inter_140486831184288_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184384 [label="WireBlock\n(odo.phiRdot)", shape=box];
 inter_140486831183520_OUT1 -> node_140486831184384 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184384_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184384 -> inter_140486831184384_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184480 [label="WireBlock\n(odo.x)", shape=box];
 inter_140486831264864_OUT1 -> node_140486831184480 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184480_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184480 -> inter_140486831184480_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831184576 [label="WireBlock\n(odo.heading)", shape=box];
 inter_140486831185296_OUT1 -> node_140486831184576 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831184576_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831184576 -> inter_140486831184576_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];
 node_140486831266208 [label="WireBlock\n(odo.y)", shape=box];
 inter_140486831264624_OUT1 -> node_140486831266208 [headlabel="IN1", arrowhead="normal", arrowtail="none", dir=both];
 inter_140486831266208_OUT1 [shape=point, width=0.01, height=0.01];
 node_140486831266208 -> inter_140486831266208_OUT1 [taillabel="OUT1", arrowtail="invempty", arrowhead="none", dir=both];

}