e="function R = Rodrigues(a,q)">Rodrigues</a>(axe,q)*<a href="../../../Functions/AlgoMathsModel/Rodrigues.html" class="code" title="function R = Rodrigues(a,q)">Rodrigues</a>(Human_model(j).u,Human_model(j).theta); <span class="comment">% orientation du rep�re</span>
0106             <span class="keyword">end</span>
0107             <span class="keyword">if</span> Human_model(j).joint == 2    <span class="comment">% liaison glissi�re (slide joint)</span>
0108 <span class="comment">%         Human_model(