erseDynamicsSolid.html" class="code" title="function [Human_model,f,t]=InverseDynamicsSolid(Human_model,external_forces,g,j)">InverseDynamicsSolid</a>(Human_model,external_forces(i).fext,g,1);
0078     <span class="comment">% Calcul des efforts au niveau de la liaison 6DoF (transport du moment)</span>
0079     t6dof(:,i) = t6dof0(:,i) + cross(f6dof(:,i),p_pelvis(i,:)'); 
0080 <span class="keyword">end</span>
0081 
0082 <span class="comment">%% Calcul de la fonction de cout</span>
0083 <span class="comment">