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<div class="fragment"><pre class="comment"> Computation of a symbolic forward kinematics 

   INPUT
   - Human_model: osteo-articular model (see the Documentation for the
   structure) 
   - Markers_set: set of markers (see the Documentation for the structure)
   - j: current solid
   - Q: vector of joint coordinates
   - k: vector of homothety coefficient
   - p_adapt: vector of variation of local model markers position
   - alpha : joint axis of rotation
   - num_cut: number of geometrica