igues.html" class="code" title="function R = Rodrigues(a,q)">Rodrigues</a>(Human_model_calib(j).v(:,1),alpha_j(1))*Human_model_calib(j).a;
0313         <span class="keyword">end</span>
0314     <span class="keyword">end</span>
0315 <span class="keyword">end</span>
0316 
0317 <span class="comment">% kinematic dependancy %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%</span>
0318 <span class="keyword">if</span> size(GC.q_dep,1)&gt;0
0319     vect_q_dep = GC.q_dep_map*GC.fq_dep_k(GC.q_red , kp_opt_unormalized(1:nb_k,end));
03