tle="function R = Rodrigues(a,q)">Rodrigues</a>(Human_model(n).a,q(n)) * <a href="Rodrigues.html" class="code" title="function R = Rodrigues(a,q)">Rodrigues</a>(Human_model(n).u,Human_model(n).theta);
0063     <span class="keyword">end</span>
0064     l = solid1(end);
0065     Human_model(l).c_global = Human_model(l).p + Human_model(l).R * Human_model(l).c;
0066     A = Human_model(l).c_global + Human_model(l).R * Human_model(Bone1).anat_position{Point1,2};
0067 <span class="keyword">end</span>
0068 
0069 <