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: stateMachineMomentumControl.m
    path of file: ./repos/whole-body-controllers/controllers/floating-base-balancing-torque-control/src
    
    the code of the file until where you have to start completion: function  [w_H_b, pos_CoM_des, jointPos_des, feetContactStatus, KP_postural_diag, KP_CoM_diag, KD_CoM_diag, state, smoothingTimeJoints, smoothingTimeCoM] = ...
              stateMachineMomentumControl(pos_CoM_0, jointPos_0, pos_CoM_fixed_l_sole, pos_CoM_fixed_r_sole, jointPos, ...
                                          time, wrench_rightFoot, wrench_leftFoot, l_sole_H_b, r_sole_H_b, StateMachine, Gain, Config)

    % STATEMACHINEMOMENTUMCONTROL generates the references for performing
    %                             two demos:
    %
    %                             YOGA: (highly dynamic movements) on one
    %                             foot and two feet;
    %
    %                             COORDINATOR: balancing on two feet while
    %                             performing left-right oscillations.
    
    %% --- Initialization ---

    persistent currentState;
    persistent t_switch;
    persistent w_H_fixedLink;
    persistent yogaMovesetCounter;
    
    if isempty(currentState) 
        
        currentState = StateMachine.initialState;        
    end
    if isempty(t_switch)
    

    
function  [w_H_b, pos_CoM_des, jointPos_des, feetContactStatus, KP_postural_diag, KP_CoM_diag, KD_CoM_diag, state, smoothingTimeJoints, smoothingTimeCoM] = ...
              stateMachineMomentumControl(pos_CoM_0, jointPos_0, pos_CoM_fixed_l_sole, pos_CoM_fixed_r_sole, jointPos, ...
                                          time, wrench_rightFoot, wrench_leftFoot, l_sole_H_b, r_sole_H_b, StateMachine, Gain, Config)

    % STATEMACHINEMOMENTUMCONTROL generates the references for performing
    %                             two demos:
    %
    %                             YOGA: (highly dynamic movements) on one
    %                             foot and two feet;
    %
    %                             COORDINATOR: balancing on two feet while
    %                             performing left-right oscillations.
    
    %% --- Initialization ---

    persistent currentState;
    persistent t_switch;
    persistent w_H_fixedLink;
    persistent yogaMovesetCounter;
    
    if isempty(currentState) 
        
        currentState = StateMachine.initialState;        
    end
    if isempty(t_switch)
    
        t_switch = 0;
    end
    if  isempty(w_H_fixedLink)
        
        w_H_fixedLink = eye(4);
    end