odrigues.html" class="code" title="function R = Rodrigues(a,q)">Rodrigues</a>(Human_model(j).u,Human_model(j).theta); <span class="comment">% orientation du rep�re (reference frame orientation)</span>
0093             <span class="keyword">end</span>
0094             <span class="keyword">if</span> Human_model(j).joint == 2    <span class="comment">% liaison glissi�re (slide joint)</span>
0095 <span class="comment">%        Human_model(j).p=eval(['R' num2str(num_cut) 'cut'])*(k(i)*Human_model(j).b + ang