...
| Mathblock |
|---|
^{GCS}T^{TCS_{thigh}} = \left[
\begin{array}{ccc}
c \beta c \gamma & - c \beta s \gamma & s \beta-0.4542 & 0.7576 & -0.4687 & 5.1436 \\
s \alpha s \beta c \gamma + c \alpha s \gamma -0.7900 & -0.0994 s \alpha s \beta s \gamma + c \alpha c \gamma& 0.6049 & - s3.2432 \alpha c \beta
\\
- c \alpha s \beta c \gamma + s \alpha s \gamma & c \alpha s \beta s \gamma + s \alpha c \gamma & c \alpha c \beta 0.4117 & 0.6451 & 0.6437 & 63.9444 \\
0 & 0 & 0 & 1
\end{array}
\right] |
| Mathblock |
|---|
^{GCS}T^{TCS_{shank}} = \left[
\begin{array}{ccc}
c \beta c \gamma & - c \beta s \gamma & s \beta \\
s \alpha s \beta c \gamma + c \alpha s \gamma & - s \alpha s \beta s \gamma + c \alpha c \gamma & - s \alpha c \beta \\
- c \alpha s \beta c \gamma + s \alpha s \gamma & c \alpha s \beta s \gamma + s \alpha c \gamma & c \alpha c \beta
\end{array}
\right] |
...