1function [g_thrusters] = calculateThrusterTransformations(g_joints, num_thrusters, thruster_ax, thruster_pos, thruster_moduleNumber)
 2
 3% Calculating the transformations from the back frame to the thruster
 4% frames
 5% From the tail module and forward
 6
 7
 8
 9
10% THRUSTER FRAMES
11g_thrusters = zeros(4,4,num_thrusters);
12
13for i = 1:num_thrusters
14    
15    switch thruster_ax(i)
16        case 'Y'
17            g_joint2Thruster = [rotationZ(pi/2), thruster_pos(i,:)'; zeros(1,3), 1];
18        case 'Z'
19            g_joint2Thruster = [rotationY(-pi/2), thruster_pos(i,:)'; zeros(1,3), 1];
20        otherwise
21            g_joint2Thruster = eye(4);
22    end
23        
24    g_thrusters(:,:,i) = g_joints(:,:,thruster_moduleNumber(i)-1) * g_joint2Thruster;
25end
26
27end
28
29
30