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All computations are done with respect to a world reference frame that is located at the same position of the left foot reference frame as shown in http://eris.liralab.it/images/9/97/NewiCubRefFrames1.png with an additional rotation to look like:
The block wholeBodyModel/Set World Reference Frame can also be used to decide where to put the world either on the right or left foot.
The following are the MATLAB/Simulink dependencies necessary for the WBI-Toolbox to work off the shelf.
| Matlab | Simulink | Simulink Coder |
It might be useful to know the Toolboxes and files dependencies of a particular Simulink model. If you want to check this yourself you can run in Matlab the following commands:
[files, missing, depfile, manifestfile] = dependencies.fileDependencyAnalysis('name_of_your_model')
file_name = {'name_of_your_model_without_extension'}
tbxes = dependencies.toolboxDependencyAnalysis(file_name)
For more detailed information refer to: http://www.mathworks.it/it/help/simulink/ug/model-dependencies.html#brz_pdq-1