You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: forward_kinematics.m
    path of file: ./repos/gptoolbox/mesh
    
    the code of the file until where you have to start completion: function [Q,T] = forward_kinematics(C,BE,P,dQ)
  % Compute absolute transformations from FK hierarchy and relative bone
  % rotations.
  %
  % Inputs:
  %   C  #C by dim list of joint positions
  %   BE  #BE by 2 list of bone edge indices
  %   P  #BE list of parent indices into BE
  %   dQ  #BE by 4 list of relative rotations

    
function [Q,T] = forward_kinematics(C,BE,P,dQ)
  % Compute absolute transformations from FK hierarchy and relative bone
  % rotations.
  %
  % Inputs:
  %   C  #C by dim list of joint positions
  %   BE  #BE by 2 list of bone edge indices
  %   P  #BE list of parent indices into BE
  %   dQ  #BE by 4 list of relative rotations
  % Outputs:
  %   Q  #BE by 4 list of absolute rotations
  %   T  #BE by 2 list of absolute translations
  %
  % Example:
  %   [Q,T] = forward_kinematics(C,BE,P,mpose);
  %   % stacked transposed 3x4 Affine matrices
  %   A = reshape(cat(2,permute(quat2mat(Q),[2 1 3]),permute(T,[2 3 1])),3,[])';
  %   n = size(V,1);
  %   M = reshape(bsxfun(@times,[V ones(n,1)],permute(W,[1 3 2])),n,[]);
  %   % Linear blend