another one)</span>
0057         q=Q(j);
0058     <span class="keyword">else</span>
0059         q=Human_model(j).linear_constraint(2)*Q(Human_model(j).linear_constraint(1)); <span class="comment">% qj=alpha*q</span>
0060     <span class="keyword">end</span>
0061     
0062     <span class="comment">%Axe</span>
0063     <span class="comment">%On fait varier la position de ces axes selon</span>
0064     <span class="keyword">if</span> ~isfield(Human_model,<span class="string">'v'</span>) || isempty(Human_mode