1function [g_moduleCM] = calculateModuleTransformations(g_joints, num_modules, module_cm)
2
3
4
5
6
7
8g_moduleCM = zeros(4,4,num_modules);
9
10for i = 1:num_modules
11 g_translationCM = [eye(3), module_cm(i,:)'; zeros(1,3), 1];
12
13 if i == 1
14 g_moduleCM(:,:,i) = g_translationCM;
15 else
16 g_moduleCM(:,:,i) = g_joints(:,:,i-1) * g_translationCM;
17 end
18end
19
20
21end
22
23
24