58 lines
1.4 KiB
Mathematica
58 lines
1.4 KiB
Mathematica
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function G_vctr_sym = G_vctr_fcn(in1,in2)
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%G_VCTR_FCN
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% G_VCTR_SYM = G_VCTR_FCN(IN1,IN2)
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% This function was generated by the Symbolic Math Toolbox version 8.2.
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% 14-Nov-2019 09:16:43
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q2 = in1(2,:);
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q3 = in1(3,:);
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q4 = in1(4,:);
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q5 = in1(5,:);
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q6 = in1(6,:);
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xi7 = in2(7,:);
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xi8 = in2(8,:);
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xi14 = in2(14,:);
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xi15 = in2(15,:);
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xi21 = in2(21,:);
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xi22 = in2(22,:);
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xi28 = in2(28,:);
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xi29 = in2(29,:);
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xi35 = in2(35,:);
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xi36 = in2(36,:);
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t2 = sin(1.57079632679);
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t3 = cos(q2);
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t4 = sin(q3);
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t5 = cos(q3);
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t6 = sin(q2);
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t7 = cos(q4);
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t8 = t2.*t3.*t4.*(9.81e2./1.0e2);
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t9 = t2.*t5.*t6.*(9.81e2./1.0e2);
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t10 = t8+t9;
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t11 = sin(q4);
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t12 = t2.*t3.*t5.*(9.81e2./1.0e2);
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t15 = t2.*t4.*t6.*(9.81e2./1.0e2);
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t13 = t12-t15;
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t14 = t2.*t7.*t10;
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t16 = t2.*t11.*t13;
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t17 = t14+t16;
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t18 = t2.*t7.*t13;
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t23 = t2.*t10.*t11;
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t19 = t18-t23;
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t20 = cos(q6);
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t21 = cos(q5);
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t22 = sin(q6);
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t24 = t19.*xi21;
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t25 = t17.*xi22;
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t26 = t17.*t22;
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t35 = t19.*t20.*t21;
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t27 = t26-t35;
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t28 = t17.*t20;
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t29 = t19.*t21.*t22;
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t30 = t28+t29;
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t31 = t30.*xi36;
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t32 = t10.*xi14;
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t33 = t19.*t21.*xi28;
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t34 = sin(q5);
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G_vctr_sym = [0.0;t24+t25+t31+t32+t33-t13.*xi15-t27.*xi35-t2.*t3.*xi8.*(9.81e2./1.0e2)+t2.*t6.*xi7.*(9.81e2./1.0e2)-t19.*t34.*xi29;t24+t25+t31+t32+t33-t13.*xi15-t27.*xi35-t19.*t34.*xi29;t24+t25+t31+t33-t27.*xi35-t19.*t34.*xi29;-t17.*t21.*xi29-t17.*t34.*xi28-t17.*t20.*t34.*xi35-t17.*t22.*t34.*xi36;xi35.*(t19.*t20-t17.*t21.*t22)+xi36.*(t19.*t22+t17.*t20.*t21)];
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