How to store a matrix output of a loop?

Here's my code:

(tryna get the transformation matrices of each link of a robot and save them)

     g=zeroes(4); %initial global frame

     for j=1:7 
    theta=q(j);
    alpha=al(j);
    LinkLength=a(j);
    LinkOffset=d(j);
    g(j,:) = [cos(theta),-sin(theta)*cos(alpha),sin(theta)*sin(alpha),LinkLength*cos(theta);
        sin(theta),cos(theta)*cos(alpha),-cos(theta)*sin(alpha),LinkLength*sin(theta);
        0,sin(alpha),cos(alpha),LinkOffset;
        0,0,0,1];
end

I need to have 7 matrices corresponding to the transformation of each link like g(1),g(2), ....

Answer 1

[Walter Roberson]

     g=zeroes(4, 4, 7); %initial global frame
     for j=1:7 
        theta=q(j);
        alpha=al(j);
        LinkLength=a(j);
        LinkOffset=d(j);
        g(:, :, j) = [cos(theta),-sin(theta)*cos(alpha),sin(theta)*sin(alpha),LinkLength*cos(theta);
            sin(theta),cos(theta)*cos(alpha),-cos(theta)*sin(alpha),LinkLength*sin(theta);
            0,sin(alpha),cos(alpha),LinkOffset;
            0,0,0,1];
    end

Now g(:,:,k) will be the k'th matrix.

If you prefer,

     g = cell(7, 1); %initial global frame
     for j=1:7 
        theta=q(j);
        alpha=al(j);
        LinkLength=a(j);
        LinkOffset=d(j);
        g{j} = [cos(theta),-sin(theta)*cos(alpha),sin(theta)*sin(alpha),LinkLength*cos(theta);
            sin(theta),cos(theta)*cos(alpha),-cos(theta)*sin(alpha),LinkLength*sin(theta);
            0,sin(alpha),cos(alpha),LinkOffset;
            0,0,0,1];
    end

and then g{k} would be the k'th matrix.

[azarang asadi]

first one didn't work but the second one worked, thanks