% Körperschwerpunkt CoM = [-205.112342954290,239.550470216747,846.633875962673;-196.746236517836,239.336079991041,845.452427876635;-188.298682836700,239.073486220829,844.353341304766;-179.759375422123,238.758928072296,843.368526413220;-171.119622069665,238.389949230892,842.531743672442;-162.372640651231,237.965720700048,841.876365739870;-153.513782013978,237.487166069112,841.433067191763;-144.540727941512,236.957003994760,841.226611985566;-135.453670096996,236.379707254920,841.273474760732;-126.255515204309,235.761270113664,841.579420862285;-116.952072556804,235.108971814558,842.138368170565;-107.552251872174,234.431038480677,842.932298862196;-98.0681416817967,233.736219644610,843.932295411501;-88.5148484606576,233.033487257894,845.101009806278;-78.9101424971802,232.331694482624,846.395673894942;-69.2738498541465,231.639284765490,847.771774350741;-59.6269708581896,230.964029530347,849.186502223842;-49.9907258043039,230.312783223592,850.602042367541;-40.3854882365274,229.691245981170,851.987848840059;-30.8297590036764,229.103683680988,853.321867236431;-21.3392921465350,228.552765099720,854.590866083850;-11.9263834986041,228.039460955856,855.789386863783;-2.59943649267476,227.563047434102,856.918462297394;6.63722142620715,227.121339705929,857.983250881604;15.7832476378999,226.711068063588,858.991147360291;24.8418748575280,226.328326404984,859.949502376880;33.8192435417273,225.969112556876,860.864150875637;42.7234625624283,225.629741710454,861.738295915226;51.5635517482748,225.307270359430,862.571903520613;60.3483654937876,224.999682886308,863.361668080425;69.0856831012206,224.706036836929,864.101475013565;77.7815624986759,224.426435664092,864.783076451729;86.4400461143155,224.161924791136,865.397071833225;95.0632040784037,223.914352213487,865.933731425492;103.651442994411,223.686139840254,866.383772624036;112.203983281924,223.480099537105,866.739051773961;120.719389486519,223.299237582051,866.992844288912;129.196101522827,223.146628360128,867.140154199214;137.632909792324,223.025233284766,867.177511490735;146.029311076395,222.937819578125,867.103119643969;154.385802530313,222.886895145767,866.916442498424;162.704016097312,222.874591974464,866.618204032809;170.986773840256,222.902622148388,866.210070133182;179.237988184866,222.972251944391,865.694687870102;187.462532670097,223.084249999910,865.075542399523;195.666058196624,223.238915078580,864.356904309710;203.854846442693,223.436165375684,863.544113051281;212.035678108263,223.675609421975,862.643361160886;220.215780000264,223.956727212711,861.662046817769;228.402772837652,224.279041513560,860.608727230082;236.604643773807,224.642292772575,859.493215799781;244.829689801052,225.046603078624,858.326548488062;253.086465711155,225.492613194661,857.121049133227;261.383617257599,225.981558535965,855.890113911490;269.729623866026,226.515251389514,854.648167422338;278.132395030538,227.095999666220,853.410526429115;286.598728406216,227.726446569943,852.193266734291;295.133765893810,228.409326209092,851.013300731261;303.740409061591,229.147229130737,849.888282842020;312.418952578792,229.942313336660,848.836762749650;321.167061910058,230.796101736365,847.878408145720;329.980066680169,231.709358404792,847.033774610613;338.851699112423,232.681945936929,846.324198378634;347.775126948261,233.712924944097,845.771066959681;356.744059805844,234.800533193599,845.394534565342;365.753667062403,235.942346997601,845.211948923735;374.801225917175,237.135308631518,845.235643452465;383.886021999620,238.375802821397,845.471001802725;393.008822945347,239.659600333698,845.914728997463;402.170899307303,240.981804630848,846.553994673750;411.372662662752,242.336697131123,847.366811836671;420.612484901250,243.717545929042,848.323257409571;429.885769033622,245.116427364890,849.388045147955;439.184511019626,246.524108434518,850.523387310876;448.497522963160,247.930059877483,851.692095996516;457.811044404703,249.322607470584,852.860662335680;467.110067441005,250.689282597766,854.001320173000;476.379581181646,252.017423071509,855.093590436590;485.605953191876,253.294897581416,856.124793532067;494.777983492891,254.510985213569,857.089739290924;503.887584964697,255.657225625649,857.989556570401;512.929961200274,256.728208340963,858.830139402871;521.903485546646,257.722115842506,859.620143914405;530.809055238020,258.640893502656,860.369311429353;539.649376125778,259.490069066578,861.086437659563;548.428098493751,260.278173047405,861.778272206071;557.149116318252,261.015798767886,862.448536955067;565.815996023774,261.714434301712,863.097619342909;574.431713225680,262.385262912402,863.722836603496;582.998770216165,263.037926255007,864.318821496331;591.519396356353,263.679578574687,864.878631640984;599.995956538991,264.314125677013,865.394501845964;608.431118657849,264.941937978199,865.858830395150;616.827994710865,265.559860968236,866.264649454707;625.189837962328,266.161639818075,866.606248488795;633.519832389083,266.738680319462,866.879116730470;641.820599745722,267.281005090320,867.080152829807;650.094068236800,267.778382942675,867.207400868149;658.341321837717,268.221356647904,867.259876217439;666.562831417310,268.602258315397,867.237374247626;674.758626137073,268.915809343508,867.140221777766;682.928691814392,269.159571371254,866.969016991716;691.073334974912,269.333915931054,866.724596284624;699.193434964342,269.441727447269,866.407786861541;707.290678153157,269.487812069749,866.019458884776;715.367409606264,269.478196523772,865.560602700106;723.426711169928,269.419348998181,865.032343720409;731.472088369064,269.317383090002,864.436082349852;739.507352873221,269.177531131159,863.773549604890;747.536473541612,269.003676510566,863.046952494941;755.563505445652,268.798241970084,862.258823550642;763.592707362283,268.562213234369,861.412198182252;771.628795340800,268.295340115401,860.510435876883;779.677078644699,267.996434940194,859.557449169205;787.743721695715,267.663691811476,858.557901446339;795.835929999065,267.294896055041,857.517571423819;803.962002984038,266.887592550975,856.444101259401;812.131084753946,266.439163971712,855.347668798292;820.352938234279,265.946801076828,854.241978995686;828.637404786286,265.407573227186,853.144851097379;836.993875216925,264.818465658450,852.079034776807;845.430688996686,264.176544777817,851.072095103584;853.954847375382,263.479188689804,850.156120751509;862.571360144283,262.724399262400,849.366062637754;871.283278762949,261.911093537280,848.737635128260;880.091257771675,261.039441968853,848.304253220832;888.993526078926,260.111030729809,848.093375587629;897.985941856236,259.128931601579,848.123152268217;907.061807893736,258.097546919033,848.399426117471;916.212036445921,257.022374814142,848.914017186897;925.425141950193,255.909634281676,849.644528788140;934.687396597343,254.765985523079,850.555857717839;943.983089974367,253.598320173508,851.603217864555;953.294818495753,252.413743939251,852.736378131964;962.603991823329,251.219603521377,853.904331141803;971.891532208372,250.023578142572,855.060186480104;981.138485822771,248.833679270353,856.164917213814;990.327117290609,247.658150251444,857.190337863390;999.441690203537,246.505177867902,858.120306956225;1008.46921218843,245.382467900117,858.950600491618;1017.40033111046,244.296770614687,859.687346966330;1026.22955395351,243.253330824466,860.344503713638;1034.95549037045,242.255482819754,860.940797949696;1043.58069724721,241.304310968119,861.496543277812;1052.11119342311,240.398562556316,862.030744575229;1060.55552951952,239.534705906483,862.558817519437;1068.92398614573,238.707252751896,863.091074722575;1077.22734024468,237.909201776216,863.631862759909;1085.47591702575,237.132718216782,864.179604959601;1093.67871265723,236.369882824459,864.727469726371;1101.84292117600,235.613450535618,865.264452919956;1109.97373915866,234.857631816565,865.776673240996;1118.07439728997,234.098746507991,866.248948919427;1126.14682503880,233.335690832650,866.665959278406;1134.19208329959,232.570183369323,867.013496833545;1142.21116691934,231.806792418518,867.279315738240;1150.20549680062,231.052683501049,867.453637216615;1158.17733506987,230.317104290099,867.529444750089;1166.12990485390,229.610714051726,867.502500136919;1174.06736093356,228.944761474833,867.371145316802;1181.99424018136,228.330189505735,867.135879940490;1189.91529567229,227.776786184673,866.799044393025;1197.83512129371,227.292431615509,866.364425254521;1205.75794460567,226.882443555620,865.836967956411;1213.68760276098,226.549231157039,865.222270784832;1221.62742142633,226.292169844192,864.526591918754;1229.58032007721,226.107792108862,863.756412167188;1237.54865799078,225.990268879611,862.918348207629;1245.53416778907,225.932132172752,862.018719164111;1253.53782595019,225.925208044655,861.063498516589;1261.55994201151,225.961580147196,860.058030686174;1269.60038625297,226.034542878669,859.007285778334;1277.65896318056,226.139369742423,857.915961809950;1285.73604478781,226.273824186524,856.788909028327;1293.83318501741,226.438384925839,855.631743558722;1301.95368244431,226.636076856427,854.451742271808;1310.10286035881,226.872031391144,853.258485911117;1318.28844447110,227.152738210139,852.064866919057;1326.52023883850,227.485228197424,850.887536883965;1334.80967892063,227.876123614399,849.747299895549;1343.16918363417,228.330829726334,848.668974931095;1351.61122592872,228.852844984961,847.680586189782;1360.14723810230,229.443327475536,846.812132693760;1368.78669381406,230.100913326681,846.093680641928;1377.53608786234,230.821830519208,845.553061842309;1386.39802246490,231.600244806909,845.213264054131;1395.37073511494,232.428806919878,845.090004812892] % e1 = TD_r TD_r = [5;127] % e2 = TD_l TD_l = [67;185] % nicht verallgermeinte function l = length (TD_r); for j=1:l % Gangzyklus kürzen CoM_step_l(j) = CoM(TD_r(j):TD_l(j) ,:); CoM_step_r(j) = CoM(TD_l(j):TD_r(j+1),:); end