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function Glist = SpatialInertia(G)
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% *** CHAPTER x: DYNAMICS OF OPEN CHAINS ***
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% Takes G: A list of inertia,
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% Returns Glist: Spatial inertia matrices Gi of the links
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n = size(G,1);
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Glist = zeros(6,6,n);
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for i = 1:n
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Glist(:,:,i) = diag(G(i,1:6));
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end
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