You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: genslblockjacobian.m
    path of file: ./repos/robotics-toolbox-matlab/@CodeGenerator
    
    the code of the file until where you have to start completion: %CODEGENERATOR.GENSLBLOCKJACOBIAN Generate Simulink block for robot Jacobians
%
% cGen.genslblockjacobian() generates a robot-specific Simulink block to compute
% robot Jacobians (world and tool frame).
%
% Notes::
% - Is called by CodeGenerator.genjacobian if cGen has active flag genslblock
% - The Simulink blocks are generated and stored in a robot specific block 
%   library cGen.slib in the directory cGen.basepath.
%
% Author::
%  Joern Malzahn, (joern.malzahn@tu-dortmund.de)
%
% See also CodeGenerator.CodeGenerator, CodeGenerator.genjacobian.

% Copyright (C) 2012-2014, by Joern Malzahn
%
% This file is part of The Robotics Toolbox for Matlab (RTB).
%
% RTB is free software: you can redistribute it
    
function genslblockjacobian(CGen)
 
%% Open or create block library
bdclose('all')                                                              % avoid problems with previously loaded libraries
load_system('simulink');
if ~(exist([CGen.slibpath,simulinkext]) == 2)                                  % Create new block library if none exists
 CGen.createnewblocklibrary;
end
open_system(CGen.slibpath);
set_param(CGen.slib,'lock','off');

q = CGen.rob.gencoords;
%% Jacobian0
CGen.logmsg([datestr(now),'\tGenerating jacobian Embedded Matlab Function Block with respect to the robot base frame']);
%     [datestr(now),'\tGenerating jacobian Embedded Matlab Function Block with respect to the end-effector frame']);
symname = 'jacob0';
fname = fullfile(CGen.sympath,[symname,'.mat']);

if exist(fname,'file')
    tmpStruct = load(fname);
else
    error ('genSLBlockFkine:SymbolicsNotFound','Save symbolic expressions to disk first!')
end