model(j).b)+Human_model(i).p; % position du rep�re</span>
0103         Human_model(j).p=Human_model(i).R*(k(i)*Human_model(j).b)+Human_model(i).p; <span class="comment">% position du rep�re</span>
0104 <span class="comment">%         Human_model(j).R=Human_model(i).R*Rodrigues(Human_model(j).a,angle)*Rodrigues(Human_model(j).u,Human_model(j).theta); % orientation du rep�re</span>
0105         Human_model(j).R=Human_model(i).R*<a href="../../../Functions/AlgoMathsModel/Rodrigues.html" class="code" titl