n of the pelvis
   - r_pelvis: rotation of the pelvis
   - v0: linear velocity of the pelvis
   - w: rotational velocity of the pelvis
   - dv0: linear acceleration of the pelvis
   - dw: rotational acceleration of the pelvis
   - BW: body weight of the subject
   - H: height of the subject
   - external_forces: external forces applied on the subject
   - g: vector of gravity
   - nbframe: number of frames
   OUTPUT
   - y: cost function value
________________________________________________________

 Licen