Migration Guide - TRC File Changes with dSPACE Release ... · TRC File Changes with dSPACE Release...

TRC File Changes with dSPACE Release 2014-A and Later

Migration Guide

October 2015

How to Contact dSPACE

Mail: dSPACE GmbH

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Germany

Tel.: ++49 5251 1638-0

Fax: ++49 5251 16198-0

E-mail: [email protected]

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How to Contact dSPACE Support

To contact dSPACE if you have problems and questions, fill out the support request form provided on the website

at http://www.dspace.com/go/supportrequest.

The request form helps the support team handle your difficulties quickly and efficiently.

In urgent cases contact dSPACE via phone:

General Technical Support: +49 5251 1638-941

TargetLink Support: +49 5251 1638-700

Software Updates and Patches

dSPACE strongly recommends that you download and install the most recent patches for your current dSPACE

installation. Visit http://www.dspace.de/goto?support for software updates and patches.

Important Notice

This document contains proprietary information that is protected by copyright. All rights are reserved. The

document may be printed for personal or internal use provided all the proprietary markings are retained on all

printed copies. In all other cases, the document must not be copied, photocopied, reproduced, translated, or

reduced to any electronic medium or machine-readable form, in whole or in part, without the prior written consent

of dSPACE GmbH.

© Copyright 2015 by:

dSPACE GmbH

Rathenaustraße 26

33102 Paderborn

Germany

This publication and the contents hereof are subject to change without notice.

CalDesk, ConfigurationDesk, ControlDesk, SCALEXIO, SYNECT, SystemDesk, TargetLink and VEOS are registered

trademarks of dSPACE GmbH in the United States or other countries, or both. Other brand names or product names

are trademarks or registered trademarks of their respective companies or organizations

mailto:[email protected]

http://www.dspace.com/

http://www.dspace.com/go/supportrequest

http://www.dspace.de/goto?support

TRC File Changes with dSPACE Release 2014-A and Later Migration Guide - October 2015 3

Contents

Contents

About This Document ................................................................ 4

Document Symbols and Conventions .......................................................................................... 4

TRC File Changes with dSPACE Release 2014-A and Later .... 5

Introduction and Technical Background .................................. 6

Simulink Coder Core Enhancements ............................................................................................ 6 Tunable Structured Parameters ...................................................................................................... 8 Model Referencing ............................................................................................................................... 8 Summary of Resulting Advantages ............................................................................................ 10

Overview of Planned dSPACE Support ................................... 12

Features and Compatibility Considerations ........................... 14

Step A (Support for R2014a) ......................................................................................................... 14 Step B (Support for R2014b and R2015a) ................................................................................ 15 Step C (Support for R2015b and Higher) ................................................................................. 17

Change History .......................................................................... 27

4 TRC File Changes with dSPACE Release 2014-A and Later Migration Guide - October 2015


About This Document

Document Symbols and Conventions

The following symbols may be used in this document:

Indicates a general hazard that may cause

personal injury of any kind if you do not avoid it

by following the instructions given.

Indicates the danger of electric shock which may

cause death or serious injury if you do not avoid it

by following the instructions given.

Indicates a hazard that may cause material

damage if you do not avoid it by following the

instructions given.

Indicates important information that should be

kept in mind, for example, to avoid malfunctions.

Indicates tips containing useful information to

make your work easier.

The following abbreviations and formats are used in this document:

Names enclosed in percent signs refer to environment variables for

file and path names, for example, %DSPACE_PYTHON25% is the folder containing

the Python installation.

Angle brackets contain wildcard characters or placeholders for variable file

and path names, etc.

Symbols

Naming Conventions

%name%

< >



TRC File Changes with dSPACE Release

2014-A and Later

The information in this document lets you plan your next steps for migrating to

new MATLAB and dSPACE Releases. Study this document carefully and analyze

your projects accordingly in order to plan resources and allocate time for

migration and testing activities.

The information is subject to changes without further notice. The

last update was on October 13, 2015.

If you have any questions about the planned steps for MATLAB R2014a and later

outlined in this document, contact [email protected].

mailto:[email protected]


Introduction and Technical Background


Variable description (TRC) files are used by ControlDesk Next Generation,

AutomationDesk, ModelDesk, Real-Time Testing, HIL API, and RTPLIB2. The TRC

files include information on all signals and parameters of the application, which

lets you observe and manipulate the signals and parameters of the simulation.

Real-Time Interface (RTI), ConfigurationDesk, and VEOS generate the TRC files and

an SDF file that references the relevant TRC files for the application. When

ControlDesk Next Generation loads the SDF file, it loads the TRC files at the same

time.

MATLAB Release R2014a provides enhanced code generation with Simulink®

CoderTM, which is used when the Inline Parameters option is set to Off. It is

the most commonly used setting for this option in models for dSPACE HIL and

RCP systems. The enhancements are explained in the subsequent sections.

The aforementioned Simulink Coder enhancements require extensions to and

changes of the TRC file. The sections Overview of Planned dSPACE Support and

Features and Compatibility Considerations provide an overview of the planned

dSPACE support for these features for each Release, and compatibility

considerations.

Simulink Coder Core Enhancements

The following table provides an overview of the most important characteristics of

these Simulink Coder enhancements. For more details, refer to the Simulink Coder

release notes and the Simulink Coder documentation.

Description Example Model Generated Code

(Principle)

When block parameters are defined

with expressions referencing one or

more MATLAB workspace variables (e.g.,

K*L+1 with K=2.0 and L=4.5 in MATLAB

workspace), the expressions are now

preserved in the generated code, and

the used variables become global

tunable variables.

Previous:

real_T

Gain_Gain =

10;

y = Gain_Gain

* u;

New:




(Principle)

real_T K =

2.0;

real_T L =

4.5;

y = (K * L +

1.0) * u;

Multiple blocks referencing a common

MATLAB workspace variable (e.g.,

S=1.5) now also share a common

variable in the generated code.

Previous:

real_T

Gain_Gain =

1.5;

real_T

Gain1_Gain =

4.5;

y1 = Gain_Gain

* u;

y2 =

Gain1_Gain *

u;

New:

real_T S =

1.5;

y1 = S * u;

y2 = (S + 3.0)

* u;

When blocks reference a mask

parameter of a masked subsystem (MP

in the example), the code preserves the

expressions and uses the mask

parameter variable for several blocks.

Previous:

real_T

Gain_Gain =

3.22;

real_T

Gain1_Gain =

6.22;

y1 = Gain_Gain

* u;




(Principle)

y2 =

Gain1_Gain *

u;

New:

real_T

Subsys_MP =

3.22;

y1 = Subsys_MP

* u;

y2 =

(Subsys_MP +

3.0) * u;

Tunable Structured Parameters

If the block parameters, mask parameters, or model arguments reference MATLAB

structures, Simulink Coder generates the structure as a tunable structured

parameter in the model code (if the conditions for this are fulfilled; see Structure

Parameters in the Simulink and Simulink Coder documentation for details).

In these cases, the following basic principles remain in place, as shown in Simulink

Coder Core Enhancements:

Preserving the expressions

Using the same parameter variable for several blocks

Restrictions apply to specific cases, see Simulink and Simulink Coder

documentation for details.

Model Referencing

Up to R2013b, Simulink Coder forced the Inline Parameters option to be set

to On for referenced models. Therefore, the block parameters were not available in

the TRC file, unless you explicitly configured selected parameters to remain

tunable. This was a major disadvantage when Simulink model referencing was

used for large-scale modeling use cases, such as HIL simulations.



To resolve this disadvantage, Simulink Coder supports the Inline Parameters

option with the value Off for referenced models as of R2014a.



Summary of Resulting Advantages

The advantages of the enhancements described earlier can be summarized as

follows:

In future dSPACE Releases, the parameter change behavior in real-time simulations

(generated with RTI or ConfigurationDesk) and in VEOS simulations will be the

same as in Simulink offline simulations. Consistent parameter tuning of multiple

blocks in a model will be possible for dSPACE simulations in the same way as for

Simulink offline simulations.

Most models are parameterized by MATLAB workspace variables that are entered

in the Simulink block dialogs. These variables are now tunable in the generated

code. All tunable model parameters defined by MATLAB workspace variables are

consistently present in the TRC file within the top-level Tunable Parameters group

and under the same name. You no longer have to search for parameters defined

by MATLAB workspace variables in the model hierarchy. It also enables you to

modify the model hierarchy without affecting parameter access of ControlDesk

Next Generation layouts and test scripts.

If you use MATLAB structures to define the parameters of a model, the parameter

structure is preserved in the generated code, including the names of the structure

levels and structure fields (provided the structure is tunable according to Simulink

Coder rules). The parameter structure can therefore be presented in an identical

manner in the TRC file in future dSPACE Releases, i.e., you have the same view on

parameters in the MATLAB workspace and in ControlDesk Next Generation.

In future dSPACE Releases, you will no longer have to model tunable parameter

expressions by using several interconnected Simulink blocks. Models will therefore

be more compact and easier to read. With the new modeling principle shown in

the following example, the two parameters K and L are also available in the TRC

file:

Same behavior of Simulink offline and dSPACE simulation

Same view on model parameters in MATLAB workspace and TRC file

Working with MATLAB structures

More compact models by using tunable parameter expressions



Before New

Tunable parameters identical for Inline Parameters options Off and On

It is possible to retain the mapping between tunable workspace variables and

variables in generated code, irrespective of the Inline Parameters setting. In

future dSPACE Releases, this will enable you to configure your model and

parameters in a way to get the same global tunable parameters in the TRC file (in

the Tunable Parameters group) for both settings of the Inline Parameters

option.

Significant improvement of model referencing support

In the past, the Inline Parameters option was forced to be On. This was a

major disadvantage when you used Simulink model referencing for large-scale

modeling use cases, such as HIL simulations. To resolve this limitation in future

dSPACE Releases, Simulink Coder now supports the Inline Parameters option

with the value Off for referenced models. This is a significant benefit for modeling

and building large applications.


Overview of Planned dSPACE Support


Significant development work is required to integrate the Simulink Coder

enhancements described in Introduction and Technical Background into the

dSPACE tool chain. The generation of variable description files (TRC files) by RTI,

ConfigurationDesk, and VEOS has to be extended accordingly to support these

enhancements. Furthermore, the dSPACE products ControlDesk Next Generation,

AutomationDesk, ModelDesk, Automotive Simulation Models, HIL API, RTPLIB2,

and Real-Time Testing (RTT) have to support the new TRC file features.

The letters A, B, and C stand for different basic characteristics or features of the

support. These basic characteristics are kept unchanged across the dSPACE

Releases for a specific MATLAB Release.

dSPACE Releases

Release

2014-A

Release

2014-B

Release

2015-A

Release

2015-B

Release

2016-A

Release

2016-B

Release

2017-A

MA

TLA

B R

ele

ase

s

R2012b as known - - - - - -

R2013a as known as known - - - - -

R2013b as known as known as known - - - -

R2014a Step A (*) (**) Step A (**) Step A (**) Step A (**) - - -

R2014b - Step B (**) Step B (**) Step B (**) Step B - -

R2015a - - Step B (**) Step B (**) Step B Step B -

R2015b - - - Step C Step C Step C Step C

R2016a - - - - Step C Step C Step C

R2016b - - - - - Step C Step C

R2017a - - - - - - Step C

The behavior of Simulink Coder code generation and dSPACE TRC file generation

is the same as with R2013b, i.e., “as known”. This means that none of the

advantages described in Introduction and Technical Background are available.

The support is based on the revertInlineParametersOffToR2013b

Simulink command, which you must execute before using RTI, ConfigurationDesk,

or VEOS.

(*) For official support of MATLAB® R2014a with dSPACE Release 2014-A, Service

Pack 2 must be installed. See http://www.dspace.com/go/matlabr2014a for more

details.

(**) Setting the Inline Parameters option to Off for referenced models is not

supported for dSPACE Releases 2014-A up to 2015-B.

Step A

(for R2014a)

http://www.dspace.com/go/matlabr2014a



Using the same parameter variable for several blocks is supported for block

parameters that are defined with an unstructured MATLAB workspace variable and

without expressions.

Other cases of block parameter definitions still have the previous behavior, i.e.,

they lead to block-specific independent parameter variables in the generated code

and mask parameters are not available in the generated code.


supported for dSPACE Releases 2014-B, 2015-A and 2015-B with R2014b and

R2015a. Support for dSPACE Release 2016-A is planned.

Full support of the new Simulink Coder features and advantages described in

Introduction and Technical Background is provided, including new TRC file

generation and new dSPACE experiment software features.


supported for dSPACE Release 2015-B with R2014a, R2014b and R2015a, but

support for R2015b is planned. Support for dSPACE Release 2016-A is also

planned.

Step B

(for R2014b

and R2015a)

Step C

(for R2015b

and higher)


Features and Compatibility Considerations

Features and Compatibility

Considerations

This section provides information on features and compatibility considerations

relevant for Steps A to C.

Step A (Support for R2014a)

If you use MATLAB R2014a, you have to execute the

revertInlineParametersOffToR2013b command. This command activates

the Simulink Coder behavior in MATLAB R2014a and dSPACE TRC file generation,

which is similar to that in MATLAB R2013b and ealier. Therefore, none of the

advantages described in Introduction and Technical Background are available.

The revertInlineParametersOffToR2013b command is shipped with

MATLAB R2014a as part of the Simulink Coder product. For more details, see the

Simulink Coder release notes here: http://www.mathworks.de/de/help/rtw/release-

notes.html (MathWorks Account required).

If you use MATLAB R2014a, you have to execute the

revertInlineParametersOffToR2013b command before using RTI,

ConfigurationDesk, or VEOS.

You have the following options to do this:

Execute the command manually after MATLAB started

Add a call to your startup.m script (see MATLAB documentation for more

details on the startup.m script)

Add a call to your dsstartup.m script (see dSPACE documentation for more

details on the dsstartup.m script)

For dSPACE Release 2014-A, support is unofficial. Known issues of R2014a support

are described here: http://www.dspace.com/go/matlabr2014a.

For official support of R2014a with dSPACE Release 2014-A, Service Pack 2 must

be installed.

Features

Handling of

revertInlineParame

tersOffToR2013b

command

Compatibility

considerations

http://www.mathworks.de/de/help/rtw/release-notes.html

http://www.mathworks.de/de/help/rtw/release-notes.html

http://www.dspace.com/go/matlabr2014a



The following minor changes generally apply for dSPACE Release 2014-B and later:

For R2014a and later: The TRC file no longer contains entries for output signals of

a Bus Selector block connected to a nonvirtual bus and for other virtual blocks

connected to these signals. This is due to a change in the behavior of the Simulink

Bus Selector block. ControlDesk layout instrument connections and test scripts

accessing such signals must be updated.

The TRC file generation option ‘Apply subsystem read/write permissions’ is

discontinued. This affects only the TRC file generation option. You can still

configure the Simulink subsystem read/write permissions in the Simulink editor

as you like.

For R2014a support, we do not expect any other compatibility issues related to

TRC file generation and migration of existing ControlDesk layouts or test scripts.

Step B (Support for R2014b and R2015a)

In this step, using the same parameter variable for several blocks is supported for

block parameters that are defined with an unstructured MATLAB workspace

variable and without expressions.

The following table gives you an example of the above:

Description Example Model Generated Code (Principle)

An unstructured variable is

defined in the MATLAB

workspace:

>> P = 2.0;

Two blocks in the model use this

variable. The variable is used

without an expression.

Previous:

real_T Gain_Gain =

2.0;

real_T Constant_Value

= 2.0;

y1 = Gain_Gain * u;

y2 = Constant_Value;

New:

real_T P = 2.0;

y1 = P * u1;

y2 = P;

The following table shows the resulting TRC file:

Features



TRC File up to R2014a (up to Step A) TRC File for R2014b and R2015a

(Step B)

TRC file has:

A Gain parameter for the Gain block

(as in Step A and earlier)

A Value parameter for the Constant

block (as in Step A and earlier)

The two TRC parameters point to different

variables in the code (i.e., to different

addresses).

Therefore, writing a new value to one

of these TRC parameters changes the

parameter for only one of the blocks.

TRC file has:

A Gain parameter for the Gain

block (as in Step A and earlier)

A Value parameter for the

Constant block (as in Step A and

earlier)

A P parameter in the Tunable

Parameters group (new)

All three TRC parameters point to

the same variable in the code (i.e.,

to the same address).

Therefore, writing a new value to

any of these TRC parameters

changes the parameter for both

blocks.

All other cases of block parameter definition still have the previous behavior (as in

Step A and earlier), i.e., they lead to block-specific independent parameter

variables in the generated code. This applies to:

Block parameters defined with expressions (e.g., K+1)

Block parameters defined from structured MATLAB workspace variables (e.g.,

myStruct.A.B.C.myParam)

Block parameters defined by mask parameters

We do not expect major compatibility issues during TRC file generation and

migration of existing ControlDesk layouts or test scripts.

However, because of the wide variety of modeling variants, there may be rare

cases requiring some minor adjustments when you migrate your models or

projects.

The following minor changes generally apply for dSPACE Release 2014-B and later:

For R2014a and later: The TRC file no longer contains entries for output signals

of a Bus Selector block connected to a nonvirtual bus and for other virtual

blocks connected to these signals. This is due to a change in the behavior of

the Simulink Bus Selector block. ControlDesk layout instrument connections

and test scripts accessing such signals must be updated.

The TRC file generation option ‘Apply subsystem read/write permissions’ is

discontinued. This affects only the TRC file generation option. You can still

Compatibility

considerations



configure the Simulink subsystem read/write permissions in the Simulink editor

as you like.

The most important issue that you should be aware of:

In a modeling and parameter situation as described in the example above

(Step B (Support for R2014b and R2015a) Features), changing the parameter

value effectively changes the parameter for several blocks. This results in a

consistent simulation behavior on different execution platforms according to

the original Simulink model.

Step C (Support for R2015b and Higher)

In this step, the new Simulink Coder behavior as described in Introduction and

Technical Background is planned to be fully adopted and supported for dSPACE

systems, resulting in the benefits described in Summary of Resulting Advantages

under Introduction and Technical Background.

Besides these new features, it is planned to redesign and streamline some

functionalities of TRC file generation in order to improve usability and

performance. However, this means that some TRC file features will be discontinued

or behave differently than in the past.

Although we strive to reduce migration issues as much as possible, you should be

prepared for major adjustment work when you migrate your model or projects.

The possible issues are described in the following table.

Feature

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Explanations

TRC file generation options

Include only Simulink.Parameter and

Simulink.Signal objects with global storage

class

Features



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Include signal labels

Include virtual blocks

Include states

Planned to also be available for

ConfigurationDesk and VEOS.

Include derivatives



Apply subsystem read/write permissions

This TRC file generation option

is discontinued.

This affects only the TRC file

generation option. You can still

configure the Simulink

subsystem read/write

permissions in the Simulink

editor as you like.

Include initial parameter values

Apply subsystem omission tags

Block parameters in Tunable Parameters

group, if Inline Parameters option is

set to On

Parameters in the top-level Tunable

Parameters group



Feature

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Parameters in Tunable Parameters groups of

referenced models (i.e., Tunable Parameters

groups in the model hierarchy below the

Model Root group)

These additional groups are no

longer generated. All tunable

parameters of the top-level

model and of all referenced

models are generated only into

the top-level Tunable

Parameters group. This improves

performance and usability.

ControlDesk layout instrument

connections and test scripts

accessing tunable parameters of

referenced models must be

updated to access the

parameters available in the top-

level Tunable Parameters group.

Tip: You can already carry out

this change with dSPACE Release

2014-A and earlier.

Block parameters below Model Root

group, if Inline Parameters option is

set to Off

Block parameters specified with numbers

(e.g., 2.71 or [1, 6, 7]) or with expressions only

involving numbers (e.g., 2.71+4)

Block parameter is local to the

block as in Step A and earlier.



Feature

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Block parameters defined with an

unstructured MATLAB workspace variable and

without expressions (e.g., P=2.71 in MATLAB

workspace and P used as block parameter).

Same case if P is a Simulink.Parameter object.

Several blocks can share the

same parameter P, which now is

a model-wide parameter; see

description of Step B (section 0).

The dSPACE tools and the TRC

file ensure that ControlDesk

Next Generation layouts and test

scripts work without requiring

manual adjustments.

Block parameters defined with references to

fields of a MATLAB structure (e.g.,

myStruct.P=2.71 in MATLAB workspace and

myStruct.P used as block parameter.

For MATLAB structures that fulfill

the Simulink Coder conditions

for a tunable structured

parameter, the complete

myStruct structure is planned to

be available as one structured

variable in the TRC file. So the

same view on parameters is

available in the MATLAB

workspace and in ControlDesk

Next Generation.




scripts accessing block

parameters, which reference

fields of structured variables,

work without requiring manual

adjustments.



Feature

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Block parameters depending on a mask

parameter of a masked subsystem, if the

mask parameter is used without expressions

(e.g., MP=2.71 defined in the mask, several

blocks below the mask using MP).

Several blocks can share the

same mask parameter MP.




scripts accessing block

parameters, which reference

mask parameters, work without

requiring manual adjustments.

Block parameters defined with one or more

MATLAB workspace variables using

expressions (e.g., P=2.71 in MATLAB

workspace and P+4 used as block

parameter).

Same case if P is a Simulink.Parameter object.

The original parameter local to

the block is no longer available

in the TRC file. Parameter P is

available as a model-wide

parameter instead.



accessing such a block local

parameter must be updated.

However, simply changing the

connection to the model-wide

parameter P is most probably

not what is desired.

Block signals below Model Root group



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Virtual Simulink buses

The TRC file no longer contains

entries for virtual buses (e.g.,

Out1{SubArray1}). This improves

performance and usability.



accessing signals within virtual

Simulink buses must be updated

to directly access the signal

source block.

Nonvirtual Simulink buses

The representation of nonvirtual

Simulink buses in the TRC file

has changed. Instead of multiple

entries (one for each bus signal),

the complete Simulink bus is

planned to be available as one

structured variable in the TRC

file. This improves performance

and usability and is consistent

with the representation of

tunable structured parameters

(see above).



accessing signals within

nonvirtual Simulink buses must

be updated to access the

corresponding leaf element of

this structured variable.



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Signals downstream of a Bus Selector block


entries for output signals of a

Bus Selector block connected to

a nonvirtual bus and for other

virtual blocks connected to these

signals. This is due to a change

in the behavior of the Simulink

Bus Selector block.



accessing such signals must be

updated to access the

corresponding leaf struct

component of the structured

variable generated for a

nonvirtual bus.

Input signals of signal sink blocks



All other block output signals

Other

Labels group (Simulink block signals with

labels)

Labels for virtual and nonvirtual

Simulink buses are affected in

the same way as described

above.



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Data Stores group

The Data Stores group is no

longer generated. The feature is

discontinued to improve

performance and consistency

with other blocks.



accessing TRC variables of the

Data Stores group must be

updated to access a

corresponding Data Store Read

block in the Model Root

hierarchy. If write access is

required, the model must use a

Constant block connected to a

Data Store Write block and the

parameter of the Constant Block

must be accessed.

Tip: You can already carry out

these changes with dSPACE

Release 2014-A and earlier.

State Machine Data group (variables of

Stateflow charts)

RTI Simulation control variables (e.g.,

simState)

Task Info group (RTI task information

variables, e.g., turnaround Time)



Feature

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Explanations

Simulation and RTOS group

(ConfigurationDesk simulation control and

task information variables, e.g., simState and

Task Turnaround Time)

RTT Dynamic Variables group (Real-Time

Testing)

BusSystems group (RTI CAN MultiMessage

Blockset, RTI LIN MultiMessage Blockset,

FlexRay Configuration Tool; Ethernet

Configuration Tool)

Signal Chain group (variables for I/O signal

chain configured in ConfigurationDesk)

Diagnostics group (variables for diagnostics

of a SCALEXIO system)

TRC variable rtiAssertionMode

The feature is discontinued. This

control variable is no longer

available.

TRC variables for Functional Mock-up Units

(ConfigurationDesk FMI support)



Feature

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Explanations

Two-dimensional “slices” of parameters with

three or more dimensions


additional slices for parameters

with three or more dimensions.

This was previously the case for

Lookup Table blocks and – if

Inline Parameters was selected –

for entries the Tunable

Parameters group.



accessing these slices of a

parameter must be updated to

access the corresponding

elements of the parameter itself

instead.


Change History

Change History

October 13, 2015

Minor linguistic corrections

September 3, 2015

Corrections

Time schedule for supporting „Inline Parameters option set

to Off for referenced models“ on page 13

August 27, 2015

Corrections

Typo "searing" corrected to "searching"

“Step A (for RLS 2014-A)” corrected to “Step A (for R2014a)”

“Step B (for RLS 2014-B and RLS 2015-A)” corrected to “Step

B (for R2014b and R2015a)”

“Step C (for RLS 2015-B and beyond)” corrected to “Step C

(for R2015b and beyond)”

Additions

Added "Step B" in Overview table at RLS 2016-A/R2014b.

August 13, 2015

Additions

Feature added for Step C: "2-dimensional slices" of

parameters with three or more dimensions

January 31, 2015

Initial Revision

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