odel(n).p = Human_model(m).R * Human_model(n).b + Human_model(m).p;
0093         Human_model(n).R = Human_model(m).R * <a href="Rodrigues.html" class="code" title="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);
0094     <span class="keyword">end</span>
0095     l = wrap_path(end);
0096     Human_model(l).c_global = Human_model(l).p + Human_model(l).R * Human_mo