  function [stewart] = computeJointsPose(stewart)
  % computeJointsPose -
  %
  % Syntax: [stewart] = computeJointsPose(stewart)
  %
  % Inputs:
  %    - stewart - A structure with the following fields
  %        - platform_F.Fa   [3x6] - Its i'th column is the position vector of joint ai with respect to {F}
  %        - platform_M.Mb   [3x6] - Its i'th column is the position vector of joint bi with respect to {M}
  %        - platform_F.FO_A [3x1] - Position of {A} with respect to {F}
  %        - platform_M.MO_B [3x1] - Position of {B} with respect to {M}
  %        - geometry.FO_M   [3x1] - Position of {M} with respect to {F}
  %
  % Outputs:
  %    - stewart - A structure with the following added fields
  %        - geometry.Aa    [3x6]   - The i'th column is the position of ai with respect to {A}
  %        - geometry.Ab    [3x6]   - The i'th column is the position of bi with respect to {A}
  %        - geometry.Ba    [3x6]   - The i'th column is the position of ai with respect to {B}
  %        - geometry.Bb    [3x6]   - The i'th column is the position of bi with respect to {B}
  %        - geometry.l     [6x1]   - The i'th element is the initial length of strut i
  %        - geometry.As    [3x6]   - The i'th column is the unit vector of strut i expressed in {A}
  %        - geometry.Bs    [3x6]   - The i'th column is the unit vector of strut i expressed in {B}
  %        - struts_F.l     [6x1]   - Length of the Fixed part of the i'th strut
  %        - struts_M.l     [6x1]   - Length of the Mobile part of the i'th strut
  %        - platform_F.FRa [3x3x6] - The i'th 3x3 array is the rotation matrix to orientate the bottom of the i'th strut from {F}
  %        - platform_M.MRb [3x3x6] - The i'th 3x3 array is the rotation matrix to orientate the top of the i'th strut from {M}

  assert(isfield(stewart.platform_F, 'Fa'),   'stewart.platform_F should have attribute Fa')
  Fa = stewart.platform_F.Fa;

  assert(isfield(stewart.platform_M, 'Mb'),   'stewart.platform_M should have attribute Mb')
  Mb = stewart.platform_M.Mb;

  assert(isfield(stewart.platform_F, 'FO_A'), 'stewart.platform_F should have attribute FO_A')
  FO_A = stewart.platform_F.FO_A;

  assert(isfield(stewart.platform_M, 'MO_B'), 'stewart.platform_M should have attribute MO_B')
  MO_B = stewart.platform_M.MO_B;

  assert(isfield(stewart.geometry,   'FO_M'), 'stewart.geometry should have attribute FO_M')
  FO_M = stewart.geometry.FO_M;

  Aa = Fa - repmat(FO_A, [1, 6]);
  Bb = Mb - repmat(MO_B, [1, 6]);

  Ab = Bb - repmat(-MO_B-FO_M+FO_A, [1, 6]);
  Ba = Aa - repmat( MO_B+FO_M-FO_A, [1, 6]);

  As = (Ab - Aa)./vecnorm(Ab - Aa); % As_i is the i'th vector of As

  l = vecnorm(Ab - Aa)';

  Bs = (Bb - Ba)./vecnorm(Bb - Ba);

  FRa = zeros(3,3,6);
  MRb = zeros(3,3,6);

  for i = 1:6
    FRa(:,:,i) = [cross([0;1;0], As(:,i)) , cross(As(:,i), cross([0;1;0], As(:,i))) , As(:,i)];
    FRa(:,:,i) = FRa(:,:,i)./vecnorm(FRa(:,:,i));

    MRb(:,:,i) = [cross([0;1;0], Bs(:,i)) , cross(Bs(:,i), cross([0;1;0], Bs(:,i))) , Bs(:,i)];
    MRb(:,:,i) = MRb(:,:,i)./vecnorm(MRb(:,:,i));
  end

  stewart.geometry.Aa = Aa;
  stewart.geometry.Ab = Ab;
  stewart.geometry.Ba = Ba;
  stewart.geometry.Bb = Bb;
  stewart.geometry.As = As;
  stewart.geometry.Bs = Bs;
  stewart.geometry.l  = l;

  stewart.struts_F.l  = l/2;
  stewart.struts_M.l  = l/2;

  stewart.platform_F.FRa = FRa;
  stewart.platform_M.MRb = MRb;
