You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: stateMachineYoga.m
    path of file: ./repos/whole-body-controllers/controllers/floating-base-jerk-control/src/stateMachine
    
    the code of the file until where you have to start completion: function  [w_H_b, CoM_des, qj_des, constraints, impedances, dampings, KPCoM, KDCoM, currentState, jointsSmoothingTime] = ...
              stateMachineYoga(CoM_0, qj_0, l_sole_CoM, r_sole_CoM, qj, t, wrench_rightFoot, wrench_leftFoot, l_sole_H_b, r_sole_H_b, Sm, Gain)

    % SATEMACHINEYOGA state machine for performing Yoga ++ movements.
    %

    %% --- Initialization ---

    persistent state;
    persistent tSwitch;
    persistent w_H_fixedLink;
    persistent secondYoga;

    
function  [w_H_b, CoM_des, qj_des, constraints, impedances, dampings, KPCoM, KDCoM, currentState, jointsSmoothingTime] = ...
              stateMachineYoga(CoM_0, qj_0, l_sole_CoM, r_sole_CoM, qj, t, wrench_rightFoot, wrench_leftFoot, l_sole_H_b, r_sole_H_b, Sm, Gain)

    % SATEMACHINEYOGA state machine for performing Yoga ++ movements.
    %

    %% --- Initialization ---

    persistent state;
    persistent tSwitch;
    persistent w_H_fixedLink;
    persistent secondYoga;
    persistent yogaMovesetCounter;
       
    if isempty(state) || isempty(tSwitch) || isempty(w_H_fixedLink) || isempty(secondYoga) || isempty(yogaMovesetCounter)
        state              = Sm.stateAt0;
        tSwitch            = 0;
        w_H_fixedLink      = eye(4);
        secondYoga         = false;
        yogaMovesetCounter = 1;
    end