n{i}=zeros(3,1);
0108     Base_rotation{i}=eye(3,3);
0109 <span class="keyword">end</span>
0110 
0111 <span class="comment">%% Initializations</span>
0112 taille = nb_k+nb_p+nb_alpha;
0113 
0114 k_init=zeros(taille,1);
0115 
0116 Nb_qred=size(GC.q_red,1);
0117 <span class="comment">% linear constraints for inverse kinemeatics, same joint angles for two</span>
0118 <span class="comment">% joints</span>
0119 Aeq_ik=zeros(Nb_qred);  
0120 beq_ik=zeros(Nb_qred,1);
0121 solid_red = (GC.q_map'*[1:nb_solid]')';
01