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Dynamic-Calibration/autogen/M_mtrx_fcn.m

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the last version of the project
2019-12-18 11:25:45 +00:00
function M_mtrx_sym = M_mtrx_fcn(in1,in2)
%M_MTRX_FCN
% M_MTRX_SYM = M_MTRX_FCN(IN1,IN2)
% This function was generated by the Symbolic Math Toolbox version 8.2.
refactored code and changed readme file
2021-10-20 09:21:43 +00:00
% 19-Oct-2021 16:04:07
the last version of the project
2019-12-18 11:25:45 +00:00
system matrices is generated in symbolic form as a function of standard rigid body parameters. Folder are slightly restructured
2020-03-06 12:55:03 +00:00
pi61 = in2(6,:);
pi111 = in2(11,:);
pi121 = in2(12,:);
pi131 = in2(13,:);
pi141 = in2(14,:);
pi151 = in2(15,:);
pi161 = in2(16,:);
pi171 = in2(17,:);
pi181 = in2(18,:);
pi191 = in2(19,:);
pi201 = in2(20,:);
pi211 = in2(21,:);
pi221 = in2(22,:);
pi231 = in2(23,:);
pi241 = in2(24,:);
pi251 = in2(25,:);
pi261 = in2(26,:);
pi271 = in2(27,:);
pi281 = in2(28,:);
pi291 = in2(29,:);
pi301 = in2(30,:);
pi311 = in2(31,:);
pi321 = in2(32,:);
pi331 = in2(33,:);
pi341 = in2(34,:);
pi351 = in2(35,:);
pi361 = in2(36,:);
pi371 = in2(37,:);
pi381 = in2(38,:);
pi391 = in2(39,:);
pi401 = in2(40,:);
pi411 = in2(41,:);
pi421 = in2(42,:);
pi431 = in2(43,:);
pi441 = in2(44,:);
pi451 = in2(45,:);
pi461 = in2(46,:);
pi471 = in2(47,:);
pi481 = in2(48,:);
pi491 = in2(49,:);
pi501 = in2(50,:);
pi511 = in2(51,:);
pi521 = in2(52,:);
pi531 = in2(53,:);
pi541 = in2(54,:);
pi551 = in2(55,:);
pi561 = in2(56,:);
pi571 = in2(57,:);
pi581 = in2(58,:);
pi591 = in2(59,:);
pi601 = in2(60,:);
the last version of the project
2019-12-18 11:25:45 +00:00
q2 = in1(2,:);
q3 = in1(3,:);
q4 = in1(4,:);
q5 = in1(5,:);
q6 = in1(6,:);
optimal code was generated for system matrices, then they were compiled into C code to be used in observer design. Some conclusions about drive gains and identification trajectories were made
2020-03-26 11:03:47 +00:00
t2 = sin(1.57079632679);
t3 = cos(q2);
t4 = sin(q3);
t5 = cos(q3);
t6 = sin(q2);
t7 = cos(q4);
t8 = t2.*t3.*t4;
t9 = t2.*t5.*t6;
t10 = t8+t9;
t11 = sin(q4);
t12 = t2.*t3.*t5;
t16 = t2.*t4.*t6;
t13 = t12-t16;
t15 = cos(q6);
t17 = t2.*t7.*t13;
t18 = t2.*t10.*t11;
t19 = t17-t18;
t20 = cos(q5);
t21 = sin(q6);
t22 = t2.*t7.*t10;
t23 = t2.*t11.*t13;
t24 = t22+t23;
t39 = t19.*t21;
t40 = t15.*t20.*t24;
t14 = t39+t40;
t50 = t15.*t19;
t51 = t20.*t21.*t24;
t25 = t50-t51;
t26 = t2.*t3.*t4.*(3.9e1./1.0e3);
t27 = t2.*t5.*t6.*(3.9e1./1.0e3);
t28 = t26+t27;
t29 = t2.*t3.*t5.*(3.9e1./1.0e3);
t31 = t2.*t4.*t6.*(3.9e1./1.0e3);
t30 = t29-t31;
t32 = t2.*t7.*t28;
t33 = t2.*t11.*t30;
t34 = t2.*t7.*t30;
t35 = t2.*t3.*(6.13e2./1.0e3);
t36 = t2.*t3.*t5.*(5.71e2./1.0e3);
t47 = t2.*t4.*t6.*(5.71e2./1.0e3);
t37 = t35+t36-t47;
t38 = sin(q5);
t41 = t2.*t7.*t10.*(2.7e1./2.0e2);
t42 = t2.*t11.*t13.*(2.7e1./2.0e2);
t43 = t32+t33+t41+t42;
t44 = t2.*t7.*t13.*(2.7e1./2.0e2);
t53 = t2.*t10.*t11.*(2.7e1./2.0e2);
t54 = t2.*t11.*t28;
t45 = t34+t44-t53-t54;
t46 = t20.*t45;
t48 = t37.*t38;
t55 = t24.*t38.*(3.0./2.5e1);
t49 = t46+t48-t55;
t52 = t15.*t43;
t56 = t21.*t49;
t57 = t52+t56;
t58 = t15.*t49;
t59 = t38.*t45;
t60 = t32+t33;
t61 = t2.^2;
t62 = t3.^2;
t63 = t6.^2;
t67 = t20.*t37;
t64 = t59-t67;
t65 = t46+t48;
t66 = t19.^2;
t68 = (t38.*t45)./2.0;
t69 = (t2.*t7.*t28)./2.0;
t70 = (t2.*t11.*t30)./2.0;
t71 = t20.*t24.*(3.0./2.5e1);
t72 = t59-t67+t71;
t89 = t21.*t43;
t73 = t58-t89;
t74 = t24.^2;
t75 = t38.^2;
t76 = t19.*t21.*2.0;
t77 = t15.*t20.*t24.*2.0;
t78 = t76+t77;
t79 = t5.*(6.13e2./1.0e3);
t80 = t79+5.71e2./1.0e3;
t81 = t2.*t4.*t11.*(6.13e2./1.0e3);
t86 = t2.*t7.*t80;
t82 = t81-t86;
t83 = t2.*t11.*t80;
t84 = t2.*t4.*t7.*(6.13e2./1.0e3);
t85 = t83+t84;
t87 = t20.*(3.0./2.5e1);
t91 = t20.*t85;
t88 = t87-t91;
t90 = t21.*t82;
t92 = t15.*t88;
t93 = t90+t92;
t94 = t38.*(3.0./2.5e1);
t102 = t38.*t85;
t95 = t94-t102;
t96 = t15.*t82;
t108 = t21.*t88;
t97 = t96-t108;
t98 = t2.*t7.*t10.*2.0;
t99 = t2.*t11.*t13.*2.0;
t100 = t98+t99;
t101 = t34-t54;
t103 = t20.*t24.*(3.0./5.0e1);
t121 = (t20.*t37)./2.0;
t104 = t68+t103-t121;
t105 = (t15.*t43)./2.0;
t106 = (t21.*t49)./2.0;
t107 = t105+t106;
t109 = (t15.*t49)./2.0;
t110 = t2.*t3.*t4.*1.95e-2;
t111 = t2.*t5.*t6.*1.95e-2;
t112 = t110+t111;
t113 = t2.*t3.*t5.*1.95e-2;
t186 = t2.*t4.*t6.*1.95e-2;
t114 = t113-t186;
t115 = t2.*t7.*t10.*(2.7e1./4.0e2);
t116 = t2.*t11.*t13.*(2.7e1./4.0e2);
t117 = t69+t70+t115+t116;
t118 = (t20.*t45)./2.0;
t119 = (t37.*t38)./2.0;
t120 = t118+t119;
t122 = (t2.*t7.*t30)./2.0;
t153 = (t2.*t11.*t28)./2.0;
t123 = t122-t153;
t124 = t69+t70;
t125 = t2.*t4.*t11.*3.065e-1;
t189 = (t2.*t7.*t80)./2.0;
t126 = t125-t189;
t127 = t2.*t3.*t5.*2.0;
t154 = t2.*t4.*t6.*2.0;
t128 = t127-t154;
t129 = t20.^2;
t130 = t15.*t38.*t72;
t131 = t20.*t57;
t143 = t2.*t11.*t38.*(5.71e2./1.0e3);
t132 = t94-t143;
t133 = t21.*t38.*t72;
t135 = t2.*t11.*t20.*(5.71e2./1.0e3);
t134 = t87-t135;
t136 = t21.*t134;
t137 = t2.*t7.*t15.*(5.71e2./1.0e3);
t138 = t136+t137;
t139 = t15.*t134;
t142 = t2.*t7.*t21.*(5.71e2./1.0e3);
t140 = t139-t142;
t141 = t21.*t38.*t73;
t144 = t38.*(3.0./5.0e1);
t145 = t68-t121;
t146 = t20.*t65;
t147 = t38.*t64;
t148 = t146+t147;
t149 = pi491.*t148;
t150 = (pi321.*t100)./2.0;
t151 = pi391.*t101;
t152 = t20.*t43;
t155 = pi271.*t30;
t156 = pi291.*t28;
t157 = (pi521.*t20.*t78)./2.0;
t158 = pi421.*t24.*t129;
t159 = pi411.*t20.*t24.*t38;
t160 = pi511.*t14.*t15.*t38;
t161 = (pi531.*t21.*t38.*t78)./2.0;
t162 = t20.*(t58-t89);
t163 = t15.*t38.*t57;
t164 = t24.*t82;
t165 = t19.*t85;
t166 = t164+t165;
t167 = t14.*t97;
t168 = t14.*t95;
t169 = t130+t162+t168-t24.*t38.*t93;
t170 = pi591.*t169;
t171 = t24.*t38.*t97;
t172 = t131+t133+t171-t25.*t95;
t218 = (t38.*t85)./2.0;
t173 = t144-t218;
t174 = t72.*t173;
t175 = t95.*t104;
t176 = (t15.*t82)./2.0;
t217 = (t21.*t88)./2.0;
t177 = t176-t217;
t178 = (t21.*t82)./2.0;
t179 = (t15.*t88)./2.0;
t180 = (t178+t179).*(t58-t89);
t255 = (t21.*t43)./2.0;
t181 = (t90+t92).*(t109-t255);
t182 = t174+t175+t180+t181-t97.*t107-t57.*t177;
t183 = pi601.*t182;
t184 = t5.*t28.*3.065e-1;
t185 = t5.*t112.*(6.13e2./1.0e3);
t187 = t184+t185-t4.*t30.*3.065e-1-t4.*t114.*(6.13e2./1.0e3);
t188 = pi301.*t187;
t190 = (t20.*t65.*t85)./2.0;
t191 = t20.*t85.*t120;
t192 = (t38.*t64.*t85)./2.0;
t193 = t38.*t85.*t145;
t194 = t82.*t117;
t195 = t43.*t126;
t196 = t190+t191+t192+t193+t194+t195;
t197 = t85.*t123;
t198 = (t2.*t11.*t80)./2.0;
t199 = t2.*t4.*t7.*3.065e-1;
t200 = t198+t199;
t201 = t101.*t200;
t202 = t82.*t124;
t203 = t60.*t126;
t204 = t197+t201+t202+t203;
t205 = t38.*t43;
t206 = t20.*t24.*t82;
t207 = t19.*t20.*t85;
t208 = t5.*t10.*(6.13e2./1.0e3);
t209 = t208-t4.*t13.*(6.13e2./1.0e3);
t210 = pi281.*t209;
t211 = t19.*t38.*t85;
t212 = t24.*t38.*t82;
t213 = t152+t211+t212;
t214 = pi171.*t2.*t3.*(2.2e1./1.25e2);
t215 = pi191.*t2.*t6.*(2.2e1./1.25e2);
t216 = t85.^2;
t219 = (t81-t86).*(t125-t189).*2.0;
t220 = pi441.*t129;
t221 = pi541.*t129;
t222 = pi411.*t75;
t260 = t2.*t11.*t38.*2.855e-1;
t223 = t144-t260;
t224 = (t21.*t134)./2.0;
t225 = t2.*t7.*t15.*2.855e-1;
t226 = t224+t225;
t227 = (t15.*t134)./2.0;
t257 = t2.*t7.*t21.*2.855e-1;
t228 = t227-t257;
t229 = t2.*t7.*t82.*2.855e-1;
t230 = t2.*t7.*t126.*(5.71e2./1.0e3);
t231 = t15.^2;
t232 = pi511.*t75.*t231;
t233 = t21.^2;
t234 = pi561.*t75.*t233;
t235 = pi421.*t20.*t38.*2.0;
t236 = pi521.*t15.*t20.*t38.*2.0;
t237 = pi551.*t20.*t21.*t38.*2.0;
t238 = pi531.*t15.*t21.*t75.*2.0;
t239 = t85.*t129;
t240 = t75.*t85;
t241 = t15.*t38.*t97;
t242 = t21.*t38.*t93;
t243 = t20.*(t90+t92);
t244 = t15.*t38.*t95;
t245 = t21.*t38.*t95;
t246 = t20.*t73;
t247 = t14.*t132;
t248 = pi591.*(t130+t246+t247-t24.*t38.*t140);
t249 = t131+t133-t25.*t132-t24.*t38.*t138;
t250 = t14.*t138;
t251 = t25.*t140;
t252 = -t141+t163+t250+t251;
t253 = pi581.*t252;
t254 = t107.*t138;
t256 = t57.*t226;
t258 = t228.*(t58-t89);
t259 = t104.*t132;
t261 = t72.*t223;
t262 = t2.*t11.*t20.*t65.*2.855e-1;
t263 = t2.*t11.*t20.*t120.*(5.71e2./1.0e3);
t264 = t2.*t11.*t38.*t64.*2.855e-1;
t265 = t2.*t11.*t38.*t145.*(5.71e2./1.0e3);
t266 = t262+t263+t264+t265-t2.*t7.*t43.*2.855e-1-t2.*t7.*t117.*(5.71e2./1.0e3);
t267 = t2.*t7.*t20.*t24.*(5.71e2./1.0e3);
t268 = t205+t267-t2.*t11.*t19.*t20.*(5.71e2./1.0e3);
t269 = pi481.*t268;
t270 = t2.*t11.*t19.*t38.*(5.71e2./1.0e3);
t271 = t152+t270-t2.*t7.*t24.*t38.*(5.71e2./1.0e3);
t272 = t2.*t11.*t19.*(5.71e2./1.0e3);
t273 = t272-t2.*t7.*t24.*(5.71e2./1.0e3);
t274 = t2.*t7.*t60.*2.855e-1;
t275 = t2.*t7.*t124.*(5.71e2./1.0e3);
t276 = t274+t275-t2.*t11.*t101.*2.855e-1-t2.*t11.*t123.*(5.71e2./1.0e3);
t277 = pi401.*t276;
t278 = t20.*t138;
t279 = t21.*t38.*t132;
t343 = t20.*t97;
t280 = t245+t278+t279-t343;
t281 = t2.*t7.*(5.71e2./1.0e3);
t282 = -t81+t86+t281;
t283 = t229+t230-t2.*t11.*t75.*t85.*(5.71e2./1.0e3)-t2.*t11.*t85.*t129.*(5.71e2./1.0e3);
t284 = t132.*t173;
t285 = t95.*t223;
t286 = t140.*(t178+t179);
t287 = t228.*(t90+t92);
t288 = t284+t285+t286+t287-t138.*t177-t97.*t226;
t289 = pi601.*t288;
t290 = t2.*t11.*(5.71e2./1.0e3);
t291 = t83+t84+t290;
t292 = t21.*t38.*t140;
t311 = t15.*t38.*t138;
t293 = t241+t242+t292-t311;
t294 = t20.*t82;
t295 = pi471.*(t294-t2.*t7.*t20.*(5.71e2./1.0e3));
t296 = pi291.*t5.*(6.13e2./1.0e3);
t297 = t38.*t82;
t298 = t297-t2.*t7.*t38.*(5.71e2./1.0e3);
t299 = t2.*t11.*t129.*(5.71e2./1.0e3);
t300 = t2.*t11.*t75.*(5.71e2./1.0e3);
t301 = t239+t240+t299+t300;
t302 = t229+t230-t2.*t11.*t85.*2.855e-1-t2.*t11.*t200.*(5.71e2./1.0e3);
t303 = t20.*t140;
t304 = t15.*t38.*t132;
t305 = t243+t244+t303+t304;
t306 = pi591.*t305;
t307 = pi241+pi341+t220+t221+t222+t232+t234+t235+t236+t237+t238+t289+t295+t296+t306-pi271.*t4.*(6.13e2./1.0e3)-pi371.*t282-pi391.*t291-pi401.*t302-pi481.*t298-pi501.*t283-pi491.*t301-pi571.*t280-pi581.*t293;
t308 = t11.^2;
t309 = t7.^2;
t310 = t61.*t309.*3.26041e-1;
t312 = t15.*t129.*(3.0./2.5e1);
t313 = t15.*t75.*(3.0./2.5e1);
t314 = t21.*t129.*(3.0./2.5e1);
t315 = t21.*t75.*(3.0./2.5e1);
t316 = pi451.*t20;
t317 = pi431.*t38;
t318 = pi551.*t15.*t20;
t319 = pi531.*t38.*t231;
t320 = pi561.*t15.*t21.*t38;
t321 = pi541.*t20;
t322 = pi521.*t15.*t38;
t323 = pi551.*t21.*t38;
t324 = t38.*t72.*(3.0./5.0e1);
t325 = t38.*t104.*(3.0./2.5e1);
t326 = t15.*t20.*(t58-t89).*(3.0./5.0e1);
t327 = t20.*t21.*t57.*(3.0./5.0e1);
t328 = t20.*t21.*t107.*(3.0./2.5e1);
t329 = t14.*t38.*(3.0./2.5e1);
t330 = t130+t162+t329-t15.*t20.*t24.*t38.*(3.0./2.5e1);
t331 = pi591.*t330;
t332 = t15.*t20.*t25.*(3.0./2.5e1);
t333 = t14.*t20.*t21.*(3.0./2.5e1);
t334 = -t141+t163+t332+t333;
t335 = pi581.*t334;
t336 = t131+t133-t25.*t38.*(3.0./2.5e1)-t20.*t21.*t24.*t38.*(3.0./2.5e1);
t337 = pi481.*t38.*t43;
t338 = t239+t240;
t339 = t241+t242;
t340 = t243+t244+t312+t313;
t341 = pi591.*t340;
t342 = pi371.*(t81-t86);
t344 = t38.*t95.*(3.0./5.0e1);
t345 = t38.*t173.*(3.0./2.5e1);
t346 = t15.*t20.*(t90+t92).*(3.0./5.0e1);
t347 = t15.*t20.*(t178+t179).*(3.0./2.5e1);
t348 = t344+t345+t346+t347-t20.*t21.*t97.*(3.0./5.0e1)-t20.*t21.*t177.*(3.0./2.5e1);
t349 = pi601.*t348;
t350 = pi471.*t20.*(t81-t86);
t351 = t292-t311;
t352 = t303+t304+t312+t313;
t353 = pi591.*t352;
t354 = t278+t279+t314+t315;
t355 = t299+t300;
t356 = t38.*t132.*(3.0./5.0e1);
t357 = t38.*t223.*(3.0./2.5e1);
t358 = t20.*t21.*t138.*(3.0./5.0e1);
t359 = t20.*t21.*t226.*(3.0./2.5e1);
t360 = t15.*t20.*t140.*(3.0./5.0e1);
t361 = t15.*t20.*t228.*(3.0./2.5e1);
t362 = t356+t357+t358+t359+t360+t361;
t363 = pi601.*t362;
t364 = pi481.*t2.*t7.*t38.*(5.71e2./1.0e3);
t365 = pi341+t220+t221+t222+t232+t234+t235+t236+t237+t238+t353+t363+t364-pi491.*t355-pi571.*t354-pi581.*t351-pi371.*t2.*t7.*(5.71e2./1.0e3)-pi391.*t2.*t11.*(5.71e2./1.0e3)-pi471.*t2.*t7.*t20.*(5.71e2./1.0e3);
t366 = t15.*t73;
t367 = t21.*t57;
t368 = t366+t367;
t369 = pi431.*t20.*t24;
t370 = (pi531.*t15.*t78)./2.0;
t371 = pi531.*t21.*t25;
t372 = pi521.*t21.*t24.*t38;
t373 = t15.*t93;
t374 = t373-t21.*t97;
t375 = pi481.*t20.*t85;
t376 = pi471.*t38.*t85;
t381 = pi521.*t20.*t21;
t382 = pi531.*t38.*t233;
t383 = pi511.*t15.*t21.*t38;
t377 = t316+t317+t318+t319+t320+t375+t376-t381-t382-t383-pi581.*t374-pi571.*t15.*t95-pi591.*t21.*t95;
t378 = t15.*t140;
t379 = t21.*t138;
t380 = t378+t379;
t384 = pi481.*t2.*t11.*t20.*(5.71e2./1.0e3);
t385 = pi471.*t2.*t11.*t38.*(5.71e2./1.0e3);
t386 = t20.*t231.*(3.0./2.5e1);
t387 = t20.*t233.*(3.0./2.5e1);
t388 = t386+t387;
t389 = (pi521.*t78)./2.0;
t390 = pi591.*(t58-t89);
t391 = t389+t390-pi551.*t25-pi571.*t57-pi541.*t24.*t38;
t392 = pi571.*(t96-t108);
t393 = pi591.*(t90+t92);
t394 = t321+t322+t323+t392+t393;
t395 = pi591.*t140;
t396 = t321+t322+t323+t395-pi571.*t138;
t397 = pi591.*t15.*t20.*(3.0./2.5e1);
t398 = t321+t322+t323+t397-pi571.*t20.*t21.*(3.0./2.5e1);
t399 = pi551.*t15;
t400 = t399-pi521.*t21;
M_mtrx_sym = reshape([pi61+pi301.*(t61.*t62.*3.75769e-1+t28.*t112.*2.0+t30.*t114.*2.0)+pi481.*(t19.*t65.*2.0+t20.*t24.*t43.*2.0)+pi471.*(t19.*t64.*2.0+t24.*t38.*t43.*2.0)+pi571.*(t25.*t72.*2.0+t24.*t38.*t57.*2.0)+pi591.*(t14.*t72.*2.0-t24.*t38.*t73.*2.0)+pi311.*t74+pi361.*t66+pi461.*t66+pi211.*t13.^2+pi261.*t10.^2+pi511.*t14.^2+pi561.*t25.^2+pi491.*(t20.*t24.*t64.*2.0-t24.*t38.*t65.*2.0)+pi501.*(t43.*t117.*2.0+t65.*t120.*2.0+t64.*(t68-(t20.*t37)./2.0).*2.0)+pi281.*(t10.*t28.*2.0+t13.*t30.*2.0)+pi381.*(t24.*t60.*2.0+t19.*t101.*2.0)+pi581.*(t14.*t57.*2.0+t25.*t73.*2.0)+pi181.*(t61.*t62.*(4.4e1./1.25e2)+t61.*t63.*(4.4e1./1.25e2))+pi201.*(t61.*t62.*3.0976e-2+t61.*t63.*3.0976e-2)+pi601.*(t57.*t107.*2.0+t104.*(t59+t71-t20.*t37).*2.0+t73.*(t109-(t21.*t43)./2.0).*2.0)+pi401.*(t60.*t124.*2.0+t123.*(t34-t2.*t11.*t28).*2.0+t37.*(t2.*t3.*3.065e-1+t2.*t3.*t5.*2.855e-1-t2.*t4.*t6.*2.855e-1).*2.0)+pi111.*t61.*t62+pi161.*t61.*t63+pi231.*t10.*t128-pi371.*t19.*t37.*2.0-pi331.*t19.*t100-pi391.*t24.*t37.*2.0+pi441.*t74.*t75+pi411.*t74.*t129-pi531.*t25.*t78+pi541.*t74.*t75+pi131.*t3.*t6.*t61.*2.0-pi271.*t2.*t3.*t10.*(6.13e2./5.0e2)+pi291.*t2.*t3.*t13.*(6.13e2./5.0e2)-pi431.*t19.*t20.*t24.*2.0+pi451.*t19.*t24.*t38.*2.0-pi421.*t20.*t38.*t74.*2.0+pi551.*t24.*t25.*t38.*2.0-pi521.*t24.*t38.*t78,t149+t150+t151+t155+t156+t157+t158+t159+t160+t161+t170+t183+t188+t210+t214+t215-pi581.*(t141-t163+t167-t25.*t93)-pi251.*t10-(pi221.*t128)./2.0-pi351.*t19-pi371.*t60-pi381.*t166-pi401.*t204-pi471.*t213-pi501.*t196-pi571.*t172-pi481.*(-t205+t206+t207)-pi121.*t2.*t3-pi151.*t2.*t6-pi431.*t19.*t38-pi451.*t19.*t20-pi421.*t24.*t75-pi551.*t20.*t25-pi441.*t20.*t24.*t38-pi531.*t15.*t25.*t38-pi541.*t20.*t24.*t38-pi521.*t15.*t24.*t75-pi561.*t21.*t25.*t38-pi551.*t21.*t24.*t75,t149+t150+t151+t155+t156+t157+t158+t159+t160+t161+t248+t253+t269+t277-pi251.*t10-(pi221.*t128)./2.0-pi351.*t19-pi371.*t60-pi381.*t273-pi471.*t271-pi501.*t266-pi571.*t249+pi601.*(t254+t256+t258+t259+t261+t140.*(t109-t255))-pi431.*t19.*t38-pi451.*t19.*t20-pi421.*t24.*t75-pi551.*t20.*t25-pi441.*t20.*t24.*t38-pi531.*t15.*t25.*t38-pi541.*t20.*t24.*t38-pi521.*t15.*t24.*t75-pi561.*t21.*t25.*t38-pi551.*t21.*t24.*t75,t149+t150+t151+t157+t158+t159+t160+t161+t331+t335+t337-pi351.*t19-pi371.*t60-pi571.*t336+pi601.*(t324+t325+t326+t327+t328+t15.*t20.*(t109-t255).*(3.0./2.5e1))-pi431.*t19.*t38-pi451.*t19.*t20-pi421.*t24.*t75-pi471.*t20.*t43-pi551.*t20.*t25-pi441.*t20.*t24.*t38-pi531.*t15.*t25.*t38-pi541.*t20.*t24.*t38-pi521.*t15.*t24.*t75-pi561.*t21.*t25.*t38-pi551.*t21.*t24.*t75,t369+t370+t371+t372-pi471.*t64-pi481.*t65-pi581.*t368-(pi461.*(t2.*t7.*t13.*2.0-t2.*t10.*t11.*2.0))./2.0-pi451.*t24.*t38-pi511.*t14.*t21-pi561.*t15.*t25-pi571.*t15.*t72-pi591.*t21.*t72-pi551.*t15.*t24.*t38,t391,t149+t150+t151+t155+t156+t157+t158+t159+t160+t161+t170+t183+t188+t210+t214+t215-pi581.*(t141+t167-t25.*t93-t15.*t38.*t57)-pi251.*t10-(pi221.*t128)./2.0-pi351.*t19-pi371.*t60-pi381.*t166-pi401.*t204-pi471.*t213-pi501.*t196-pi571.*t172-pi481.*(t206+t207-t38.*t43)-pi121.*t2.*t3-pi151.*t2.*t6-pi431.*t19.*t38-pi451.*t19.*t20-pi421.*t24.*t75-pi551.*t20.*t25-pi441.*t20.*t24.*t38-pi531.*t15.*t25.*t38-pi541.*t20.*t24.*t38-pi521.*t15.*t24.*t75-pi561.*t21.*t25.*t38-pi551.*t21.*t24.*t75,pi141+pi241+pi341+t220+t221+t222+t232+t234+t235+t236+t237+t238+pi601.*(t95.*t173.*2.0+(t96-t108).*(t176-t217).*2.0+(t90+t92).*(t178+t179).*2.0)+pi571.*(t20.*t97.*2.0-t21.*t38.*t95.*2.0)+pi591.*(t20.*t93.*2.0+t15.*t38.*t95.*2.0)+pi501.*(t219+t75.*t216+t129.*t216)-pi271.*t4.*(6.13e2./5.0e2)+pi291.*t5.*(6.13e2./5.0e2)+pi301.*(t4.^2.*3.75769e-1+t5.^2.*3.75769e-1)-pi581.*(t15.*t38.*t97.*2.0+t21.*t38.*t93.*2.0)+pi371.*(t2.*t4.*t11.*(6.13e2./5.0e2)-t2.*t7.*t80.*2.0)-pi391.*(t2.*t4.*t7.*(6.13e2./5.0e2)+t2.*t11.*t80.*2.0)-pi491.*(t75.*t85.*2.0+t85.*t129.*2.0)+pi401.*(t219+t85.*t200.*2.0)-pi481.*t38.*t82.*2.0+pi471.*t20.*(t81-t86).*2.0,t307,pi341+t220+t221+t222+t232+t234+t235+t236+t237+t238+t341+t342+t349+t350-pi391.*t85-pi491.*t338-pi581.*t339-pi571.*(t245+t314+t315-t343)-pi481.*t38.*t82,t377,t394,t149+t150+t151+t155+t156+t157+t158+t159+t160+t161+t248+t253+t269+t277