del(l).c;
0097     Wc = Human_model(l).c_global + Human_model(l).R * Wrap.location; <span class="comment">% wrap_center</span>
0098     R_i_w = Human_model(l).R*Wrap.orientation;
0099     T_Ri_Rw = [R_i_w, Wc;[0 0 0],1];
0100 <span class="keyword">end</span>
0101 
0102 <span class="comment">% fastscatter3(A); hold on;</span>
0103 <span class="comment">% fastscatter3(B)</span>
0104 <span class="comment">% fastscatter3(Wc)</span>
0105 
0106 <span class="comment">% Compute A and B in Wrap frame</span>
0107 Aw=