)">Rodrigues</a>(Human_model(j).v(:,1),alpha_j(1))*Human_model(j).a;
0071     <span class="keyword">end</span>
0072    
0073    
0074    
0075     <span class="comment">% si c'est sup�rieur � 10 : alors on coupe --&gt; position de la m�re picoupure, rotation de la m�re : Ricoupure</span>
0076     <span class="comment">% If &gt; 10, then proceed to a cut in the chain =&gt; position of the Mother picoupure, rotation of the Mother Ricoupure</span>
0077     <span class="keyword">if</span> num_solid &gt;