torso_gait2354</a>	CREDIT</li></ul>
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<h2><a name="_source"></a>SOURCE CODE <a href="#_top"><img alt="^" border="0" src="../../up.png"></a></h2>
<div class="fragment"><pre>0001 <a name="_sub0" href="#_subfunctions" class="code">function [Io] = Huygens(OG,Ig,m)</a>
0002 <span class="comment">% Computation of inertia matrix at point O</span>
0003 <span class="comment">%</span>
0004 <span class="comment">%   INPUT</span>
0005 <span class="comment">%   - OG: location of the center of gr