ction R = Rodrigues(a,q)">Rodrigues</a>( Human_model(j).u , Human_model(j).theta );
0113             <span class="keyword">end</span>
0114     <span class="keyword">end</span>
0115     
0116     <span class="comment">% Si fermeture de boucle</span>
0117     <span class="keyword">if</span> size(Human_model(j).ClosedLoop) ~= [0 0] <span class="comment">%#ok&lt;BDSCA&gt;</span>
0118         <span class="comment">% on trouve le solide et la position du point o� il y a eu la coupure</span>
0119         <span c