n class="keyword">end</span>
0082 
0083 
0084 <span class="comment">% Computation of coordinates of the Wrap</span>
0085 <span class="keyword">if</span> numel(wrap_path)==1
0086     Wc = Human_model(Wrap.num_solid).c+Wrap.location; <span class="comment">% wrap_center</span>
0087     R_i_w = Wrap.orientation;
0088     T_Ri_Rw = [R_i_w, Wc;[0 0 0],1];
0089 <span class="keyword">else</span>
0090     <span class="keyword">for</span> n=wrap_path(2:end)
0091         m = Human_model(n).mother;
0092         Human_m