'_Position'</span>]));
0163 <span class="keyword">end</span>
0164 
0165 <span class="comment">% Joint limits</span>
0166 q_map=GC.q_map;
0167 l_inf=[OsteoArticularModel.limit_inf]';
0168 l_sup=[OsteoArticularModel.limit_sup]';
0169 <span class="comment">% to handle infinity</span>
0170 ind_infinf=not(isfinite(l_inf));
0171 ind_infsup=not(isfinite(l_sup));
0172 <span class="comment">% tip to handle inflinity with a complex number.</span>
0173 l_inf(ind_infinf)=1i;
0174 l_sup(ind_infsup)=1i;
0175 <span class=