ClosedLoop]=Symbolic_ForwardKinematicsCoupure_A(Human_model,Markers_set,Human_model(j).sister,Q,k,p_adapt,alpha,num_cut,numClosedLoop,p_ClosedLoop,R_ClosedLoop);</span>
0154 <span class="comment">% [Human_model,Markers_set,num_cut,numClosedLoop,p_ClosedLoop,R_ClosedLoop]=Symbolic_ForwardKinematicsCoupure_A(Human_model,Markers_set,Human_model(j).child,Q,k,p_adapt,alpha,num_cut,numClosedLoop,p_ClosedLoop,R_ClosedLoop);</span>
0155 [Human_model,Markers_set,num_cut,numClosedLoop,c,ceq]=<a href="Symbolic_Forward