l(j).v)
0065         axe = Human_model(j).a;
0066     <span class="keyword">else</span>
0067         <span class="comment">%Angles</span>
0068         alpha_j=alpha(2*j-1:2*j);
0069         <span class="comment">% Nouvel axe</span>
0070         axe = <a href="../../../Functions/AlgoMathsModel/Rodrigues.html" class="code" title="function R = Rodrigues(a,q)">Rodrigues</a>(Human_model(j).v(:,2),alpha_j(2))*<a href="../../../Functions/AlgoMathsModel/Rodrigues.html" class="code" title="function R = Rodrigues(a,q