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Dynamic-Calibration/autogen/codegen/lib/M_mtrx_fcn/M_mtrx_fcn.c

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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
/*
* File: M_mtrx_fcn.c
*
* MATLAB Coder version : 4.1
* C/C++ source code generated on : 25-Mar-2020 16:38:11
*/
/* Include Files */
#include <math.h>
#include "M_mtrx_fcn.h"
/* Function Definitions */
/*
* M_MTRX_FCN
* M_MTRX_SYM = M_MTRX_FCN(IN1,IN2)
* Arguments : const double in1[6]
* const double in2[60]
* double M_mtrx_sym[36]
* Return Type : void
*/
void M_mtrx_fcn(const double in1[6], const double in2[60], double M_mtrx_sym[36])
{
double t3;
double t4;
double t5;
double t6;
double t7;
double t130;
double t299;
double t10;
double t11;
double t13_tmp;
double b_t13_tmp;
double t13;
double t15;
double t19_tmp;
double b_t19_tmp;
double t19;
double t20;
double t21;
double t24_tmp;
double b_t24_tmp;
double t24;
double t87;
double t14_tmp_tmp;
double t14_tmp;
double t14;
double t25_tmp;
double b_t25_tmp;
double t25;
double t28;
double t30;
double t300;
double t33_tmp;
double t34_tmp;
double t37;
double t38;
double t43_tmp;
double t43;
double t54_tmp;
double t45;
double t46_tmp;
double t48_tmp;
double t49_tmp;
double b_t49_tmp;
double t49;
double t57_tmp;
double b_t57_tmp;
double t57;
double t58_tmp;
double t59_tmp;
double t62;
double t63;
double t67_tmp;
double t64_tmp;
double t66;
double t68;
double t71_tmp;
double t71;
double t72;
double t89_tmp;
double t73_tmp;
double t74;
double t75;
double t78;
double t80;
double t81_tmp;
double t81;
double t86_tmp;
double t82_tmp;
double t84_tmp;
double t85_tmp;
double t88_tmp;
double t90_tmp;
double t92_tmp;
double t93_tmp;
double t95_tmp;
double t95;
double t96_tmp;
double t108_tmp;
double t97_tmp;
double t100;
double t101;
double t121;
double t104;
double t107;
double t109;
double t112;
double t114;
double t117_tmp;
double t117;
double t120;
double t123;
double t126_tmp;
double t128;
double t129;
double t132;
double t138;
double t140;
double t141;
double t145;
double t149_tmp;
double b_t149_tmp;
double t149;
double t150;
double t151;
double t152;
double t155;
double t156;
double t157;
double t158;
double t159;
double t160_tmp;
double t160;
double t161_tmp;
double t161;
double t163_tmp;
double t167;
double t172_tmp;
double t173;
double t177_tmp;
double t183_tmp;
double b_t183_tmp;
double t200;
double t205_tmp;
double t206;
double t207;
double t216;
double t219;
double t220;
double t221;
double t222;
double t223;
double t226;
double t228;
double t231;
double t232;
double t233;
double t234;
double t235;
double t236;
double t237;
double t238_tmp;
double b_t238_tmp;
double t238;
double t239_tmp;
double t240_tmp;
double t241_tmp;
double t242_tmp;
double t243_tmp;
double t244_tmp;
double t245_tmp;
double t248;
double t249;
double t253;
double t254;
double t256;
double t258;
double t259;
double t261;
double t266;
double t269;
double t271;
double t273;
double t277;
double t278_tmp;
double t279_tmp;
double t343_tmp;
double t292_tmp;
double t311_tmp;
double t299_tmp;
double t300_tmp;
double t303_tmp;
double t304_tmp;
double t307_tmp;
double b_t307_tmp;
double c_t307_tmp;
double d_t307_tmp;
double e_t307_tmp;
double t307;
double t308;
double t310;
double t312_tmp;
double t313_tmp;
double t314_tmp;
double t314;
double t315_tmp;
double t315;
double t318_tmp;
double t320_tmp;
double t324;
double t325;
double t326;
double t327;
double t328;
double t331;
double t335;
double t336;
double t337_tmp;
double t337;
double t341;
double t342;
double t349;
double t350_tmp;
double t365_tmp;
double b_t365_tmp;
double c_t365_tmp;
double d_t365_tmp;
double e_t365_tmp;
double t365;
double t381_tmp;
double t382_tmp;
double t383_tmp;
double t377_tmp;
double b_t377_tmp;
double c_t377_tmp;
double t377;
double t384;
double t385;
double t391;
double t394;
double t396;
double t398;
double t400;
double M_mtrx_sym_tmp;
double b_M_mtrx_sym_tmp;
/* This function was generated by the Symbolic Math Toolbox version 8.2. */
/* 25-Mar-2020 15:01:27 */
t3 = cos(in1[1]);
t4 = sin(in1[2]);
t5 = cos(in1[2]);
t6 = sin(in1[1]);
t7 = cos(in1[3]);
t130 = t3 * t4;
t299 = t5 * t6;
t10 = t130 + t299;
t11 = sin(in1[3]);
t13_tmp = t3 * t5;
b_t13_tmp = t4 * t6;
t13 = t13_tmp - b_t13_tmp;
t15 = cos(in1[5]);
t19_tmp = t7 * t13;
b_t19_tmp = t10 * t11;
t19 = t19_tmp - b_t19_tmp;
t20 = cos(in1[4]);
t21 = sin(in1[5]);
t24_tmp = t7 * t10;
b_t24_tmp = t11 * t13;
t24 = t24_tmp + b_t24_tmp;
t87 = t19 * t21;
t14_tmp_tmp = t15 * t20;
t14_tmp = t14_tmp_tmp * t24;
t14 = t87 + t14_tmp;
t25_tmp = t20 * t21;
b_t25_tmp = t25_tmp * t24;
t25 = t15 * t19 - b_t25_tmp;
t28 = t130 * 0.039 + t299 * 0.039;
t30 = t13_tmp * 0.039 - b_t13_tmp * 0.039;
t300 = t7 * t28;
t33_tmp = t11 * t30;
t34_tmp = t7 * t30;
t37 = (t3 * 0.613 + t13_tmp * 0.571) - b_t13_tmp * 0.571;
t38 = sin(in1[4]);
t43_tmp = t300 + t33_tmp;
t43 = (t43_tmp + t24_tmp * 0.135) + b_t24_tmp * 0.135;
t54_tmp = t11 * t28;
t45 = ((t34_tmp + t19_tmp * 0.135) - b_t19_tmp * 0.135) - t54_tmp;
t46_tmp = t20 * t45;
t48_tmp = t37 * t38;
t49_tmp = t46_tmp + t48_tmp;
b_t49_tmp = t24 * t38;
t49 = t49_tmp - b_t49_tmp * 0.12;
t57_tmp = t15 * t43;
b_t57_tmp = t21 * t49;
t57 = t57_tmp + b_t57_tmp;
t58_tmp = t15 * t49;
t59_tmp = t38 * t45;
t62 = t3 * t3;
t63 = t6 * t6;
t67_tmp = t20 * t37;
t64_tmp = t59_tmp - t67_tmp;
t66 = t19 * t19;
t68 = t59_tmp / 2.0;
t71_tmp = t20 * t24;
t71 = t71_tmp * 0.12;
t72 = t64_tmp + t71;
t89_tmp = t21 * t43;
t73_tmp = t58_tmp - t89_tmp;
t74 = t24 * t24;
t75 = t38 * t38;
t78 = t87 * 2.0 + t14_tmp * 2.0;
t49 = t5 * 0.613;
t80 = t5 * 0.613 + 0.571;
t81_tmp = t4 * t11;
t81 = t81_tmp * 0.613;
t86_tmp = t7 * (t49 + 0.571);
t82_tmp = t81 - t86_tmp;
t84_tmp = t4 * t7;
t85_tmp = t11 * (t49 + 0.571) + t84_tmp * 0.613;
t87 = t20 * 0.12;
t88_tmp = t20 * t85_tmp;
t49 = t87 - t88_tmp;
t90_tmp = t21 * t82_tmp;
t92_tmp = t15 * t49;
t93_tmp = t90_tmp + t92_tmp;
t45 = t38 * 0.12;
t95_tmp = t38 * t85_tmp;
t95 = t45 - t95_tmp;
t96_tmp = t15 * t82_tmp;
t108_tmp = t21 * t49;
t97_tmp = t96_tmp - t108_tmp;
t100 = t24_tmp * 2.0 + b_t24_tmp * 2.0;
t101 = t34_tmp - t54_tmp;
t121 = t67_tmp / 2.0;
t104 = (t68 + t71_tmp * 0.06) - t121;
t107 = t57_tmp / 2.0 + b_t57_tmp / 2.0;
t109 = t58_tmp / 2.0;
t112 = t130 * 0.0195 + t299 * 0.0195;
t114 = t13_tmp * 0.0195 - b_t13_tmp * 0.0195;
t117_tmp = t300 / 2.0 + t33_tmp / 2.0;
t117 = (t117_tmp + t24_tmp * 0.0675) + b_t24_tmp * 0.0675;
t120 = t46_tmp / 2.0 + t48_tmp / 2.0;
t123 = t34_tmp / 2.0 - t54_tmp / 2.0;
t126_tmp = t81_tmp * 0.3065 - t86_tmp / 2.0;
t128 = t13_tmp * 2.0 - b_t13_tmp * 2.0;
t129 = t20 * t20;
t24_tmp = t15 * t38;
t130 = t24_tmp * t72;
t300 = t11 * t38;
t132 = t45 - t300 * 0.571;
t33_tmp = t21 * t38;
t299 = t11 * t20;
t49 = t87 - t299 * 0.571;
t45 = t21 * t49;
t57_tmp = t7 * t15;
t138 = t45 + t57_tmp * 0.571;
b_t57_tmp = t15 * t49;
t58_tmp = t7 * t21;
t140 = b_t57_tmp - t58_tmp * 0.571;
t141 = t33_tmp * t73_tmp;
t49 = t38 * 0.06;
t145 = t68 - t121;
t149_tmp = t20 * t49_tmp;
b_t149_tmp = t38 * t64_tmp;
t149 = in2[48] * (t149_tmp + b_t149_tmp);
t150 = in2[31] * t100 / 2.0;
t151 = in2[38] * t101;
t152 = t20 * t43;
t155 = in2[26] * t30;
t156 = in2[28] * t28;
b_t24_tmp = in2[51] * t20;
t157 = b_t24_tmp * t78 / 2.0;
t87 = in2[41] * t24;
t158 = t87 * t129;
t159 = in2[40] * t20 * t24 * t38;
t160_tmp = in2[50] * t14;
t160 = t160_tmp * t15 * t38;
t161_tmp = in2[52] * t21;
t161 = t161_tmp * t38 * t78 / 2.0;
t163_tmp = t24_tmp * t57;
t167 = t14 * t97_tmp;
t121 = t130 + t20 * t73_tmp;
t172_tmp = t20 * t57 + t33_tmp * t72;
t173 = t49 - t95_tmp / 2.0;
t177_tmp = t96_tmp / 2.0 - t108_tmp / 2.0;
t183_tmp = t90_tmp / 2.0 + t92_tmp / 2.0;
b_t183_tmp = t109 - t89_tmp / 2.0;
t200 = t11 * t80 / 2.0 + t84_tmp * 0.3065;
t205_tmp = t38 * t43;
t206 = t71_tmp * t82_tmp;
t207 = t19 * t20 * t85_tmp;
t216 = t85_tmp * t85_tmp;
t219 = t82_tmp * t126_tmp * 2.0;
t220 = in2[43] * t129;
t221 = in2[53] * t129;
t222 = in2[40] * t75;
t223 = t49 - t300 * 0.2855;
t226 = t45 / 2.0 + t57_tmp * 0.2855;
t228 = b_t57_tmp / 2.0 - t58_tmp * 0.2855;
t231 = t15 * t15;
t232 = in2[50] * t75 * t231;
t233 = t21 * t21;
t234 = in2[55] * t75 * t233;
t46_tmp = in2[41] * t20 * t38;
t235 = t46_tmp * 2.0;
t54_tmp = in2[51] * t15;
t236 = t54_tmp * t20 * t38 * 2.0;
t48_tmp = in2[54] * t20;
t237 = t48_tmp * t21 * t38 * 2.0;
t238_tmp = in2[52] * t15;
b_t238_tmp = t238_tmp * t21;
t238 = b_t238_tmp * t75 * 2.0;
t239_tmp = t85_tmp * t129;
t240_tmp = t75 * t85_tmp;
t241_tmp = t24_tmp * t97_tmp;
t242_tmp = t33_tmp * t93_tmp;
t243_tmp = t20 * t93_tmp;
t244_tmp = t24_tmp * t95;
t245_tmp = t33_tmp * t95;
t248 = in2[58] * (((t130 + t20 * t73_tmp) + t14 * t132) - b_t49_tmp * t140);
t249 = (t172_tmp - t25 * t132) - b_t49_tmp * t138;
t58_tmp = -t141 + t163_tmp;
t253 = in2[57] * ((t58_tmp + t14 * t138) + t25 * t140);
t254 = t107 * t138;
t256 = t57 * t226;
t258 = t228 * t73_tmp;
t259 = t104 * t132;
t261 = t72 * t223;
t266 = ((((t299 * t49_tmp * 0.2855 + t299 * t120 * 0.571) + t300 * t64_tmp *
0.2855) + t300 * t145 * 0.571) - t7 * t43 * 0.2855) - t7 * t117 *
0.571;
t49 = t11 * t19;
t57_tmp = t7 * t20;
t269 = in2[47] * ((t205_tmp + t57_tmp * t24 * 0.571) - t49 * t20 * 0.571);
t45 = t7 * t24;
t271 = (t152 + t49 * t38 * 0.571) - t45 * t38 * 0.571;
t273 = t49 * 0.571 - t45 * 0.571;
t277 = in2[39] * (((t7 * t43_tmp * 0.2855 + t7 * t117_tmp * 0.571) - t11 *
t101 * 0.2855) - t11 * t123 * 0.571);
t278_tmp = t20 * t138;
t279_tmp = t33_tmp * t132;
t343_tmp = t20 * t97_tmp;
t292_tmp = t33_tmp * t140;
t311_tmp = t24_tmp * t138;
t299_tmp = t11 * t129;
t299 = t299_tmp * 0.571;
t300_tmp = t11 * t75;
t300 = t300_tmp * 0.571;
t303_tmp = t20 * t140;
t304_tmp = t24_tmp * t132;
t49 = t7 * t82_tmp * 0.2855 + t7 * t126_tmp * 0.571;
t45 = t11 * t85_tmp;
t307_tmp = t239_tmp + t240_tmp;
b_t307_tmp = t241_tmp + t242_tmp;
b_t57_tmp = t243_tmp + t244_tmp;
c_t307_tmp = in2[26] * t4;
d_t307_tmp = in2[28] * t5;
e_t307_tmp = (((((((((in2[23] + in2[33]) + t220) + t221) + t222) + t232) +
t234) + t235) + t236) + t237) + t238;
t307 = ((((((((((((e_t307_tmp + in2[59] * (((((t132 * t173 + t95 * t223) +
t140 * t183_tmp) + t228 * t93_tmp) - t138 * t177_tmp) - t97_tmp * t226)) +
in2[46] * (t20 * t82_tmp - t57_tmp * 0.571)) + d_t307_tmp *
0.613) + in2[58] * ((b_t57_tmp + t303_tmp) + t304_tmp)) -
c_t307_tmp * 0.613) - in2[36] * ((-t81 + t86_tmp) + t7 * 0.571))
- in2[38] * (t85_tmp + t11 * 0.571)) - in2[39] * ((t49 - t45 *
0.2855) - t11 * t200 * 0.571)) - in2[47] * (t38 * t82_tmp - t7 * t38 * 0.571))
- in2[49] * ((t49 - t300_tmp * t85_tmp * 0.571) - t45 * t129 * 0.571))
- in2[48] * ((t307_tmp + t299) + t300)) - in2[56] * (((t245_tmp +
t278_tmp) + t279_tmp) - t343_tmp)) - in2[57] * ((b_t307_tmp +
t292_tmp) - t311_tmp);
t308 = t11 * t11;
t310 = t7 * t7 * 0.326041;
t312_tmp = t15 * t129;
t49 = t312_tmp * 0.12;
t313_tmp = t15 * t75;
t45 = t313_tmp * 0.12;
t314_tmp = t21 * t129;
t314 = t314_tmp * 0.12;
t315_tmp = t21 * t75;
t315 = t315_tmp * 0.12;
t318_tmp = in2[54] * t15;
t57_tmp = in2[52] * t38;
t320_tmp = in2[55] * t15;
t33_tmp = in2[53] * t20;
t24_tmp = in2[54] * t21;
t324 = t38 * t72 * 0.06;
t325 = t38 * t104 * 0.12;
t326 = t14_tmp_tmp * t73_tmp * 0.06;
t327 = t25_tmp * t57 * 0.06;
t328 = t25_tmp * t107 * 0.12;
t331 = in2[58] * ((t121 + t14 * t38 * 0.12) - t14_tmp * t38 * 0.12);
t335 = in2[57] * ((t58_tmp + t14_tmp_tmp * t25 * 0.12) + t14 * t20 * t21 *
0.12);
t336 = (t172_tmp - t25 * t38 * 0.12) - b_t25_tmp * t38 * 0.12;
t337_tmp = in2[47] * t38;
t337 = t337_tmp * t43;
t341 = in2[58] * ((b_t57_tmp + t49) + t45);
t342 = in2[36] * t82_tmp;
t349 = in2[59] * (((((t38 * t95 * 0.06 + t38 * t173 * 0.12) + t14_tmp_tmp *
t93_tmp * 0.06) + t14_tmp_tmp * t183_tmp * 0.12) -
t25_tmp * t97_tmp * 0.06) - t25_tmp * t177_tmp * 0.12);
b_t57_tmp = in2[46] * t20;
t350_tmp = b_t57_tmp * t82_tmp;
t365_tmp = ((((((((in2[33] + t220) + t221) + t222) + t232) + t234) + t235) +
t236) + t237) + t238;
b_t365_tmp = in2[36] * t7;
c_t365_tmp = in2[38] * t11;
d_t365_tmp = in2[46] * t7 * t20;
e_t365_tmp = in2[47] * t7 * t38;
t365 = ((((((((t365_tmp + in2[58] * (((t303_tmp + t304_tmp) + t49) + t45)) +
in2[59] * (((((t38 * t132 * 0.06 + t38 * t223 * 0.12) + t25_tmp *
t138 * 0.06) + t25_tmp * t226 * 0.12) + t14_tmp_tmp * t140 * 0.06) +
t14_tmp_tmp * t228 * 0.12)) + e_t365_tmp * 0.571) - in2[48] * (t299 + t300))
- in2[56] * (((t278_tmp + t279_tmp) + t314) + t315)) - in2[57] *
(t292_tmp - t311_tmp)) - b_t365_tmp * 0.571) - c_t365_tmp * 0.571) -
d_t365_tmp * 0.571;
t45 = in2[51] * t21;
t381_tmp = b_t24_tmp * t21;
t382_tmp = t57_tmp * t233;
t383_tmp = in2[50] * t15 * t21 * t38;
t377_tmp = in2[56] * t15;
b_t377_tmp = in2[58] * t21;
c_t377_tmp = (((in2[44] * t20 + in2[42] * t38) + t318_tmp * t20) + t57_tmp *
t231) + t320_tmp * t21 * t38;
t377 = (((((((c_t377_tmp + in2[47] * t20 * t85_tmp) + in2[46] * t38 * t85_tmp)
- t381_tmp) - t382_tmp) - t383_tmp) - in2[57] * (t15 * t93_tmp -
t21 * t97_tmp)) - t377_tmp * t95) - b_t377_tmp * t95;
t384 = in2[47] * t11 * t20 * 0.571;
t385 = in2[46] * t11 * t38 * 0.571;
t391 = (((in2[51] * t78 / 2.0 + in2[58] * t73_tmp) - in2[54] * t25) - in2[56] *
t57) - in2[53] * t24 * t38;
t49 = (t33_tmp + t54_tmp * t38) + t24_tmp * t38;
t394 = (t49 + in2[56] * t97_tmp) + in2[58] * t93_tmp;
t396 = (t49 + in2[58] * t140) - in2[56] * t138;
t398 = (t49 + in2[58] * t15 * t20 * 0.12) - in2[56] * t20 * t21 * 0.12;
t400 = t318_tmp - t45;
M_mtrx_sym_tmp = in2[42] * t19;
b_M_mtrx_sym_tmp = in2[44] * t19;
M_mtrx_sym[0] = ((((((((((((((((((((((((((((((((((((((in2[5] + in2[29] * ((t62
* 0.375769 + t28 * t112 * 2.0) + t30 * t114 * 2.0)) + in2[47] * (t19 *
t49_tmp * 2.0 + t71_tmp * t43 * 2.0)) + in2[46] * (t19 * t64_tmp * 2.0 +
b_t49_tmp * t43 * 2.0)) + in2[56] * (t25 * t72 * 2.0 + b_t49_tmp * t57 * 2.0))
+ in2[58] * (t14 * t72 * 2.0 - b_t49_tmp * t73_tmp * 2.0)) + in2[30] * t74)
+ in2[35] * t66) + in2[45] * t66) + in2[20] * (t13 * t13)) + in2[25] * (t10 *
t10)) + in2[50] * (t14 * t14)) + in2[55] * (t25 * t25)) + in2[48] * (t71_tmp
* t64_tmp * 2.0 - b_t49_tmp * t49_tmp * 2.0)) + in2[49] * ((t43 * t117 * 2.0
+ t49_tmp * t120 * 2.0) + t64_tmp * (t68 - t20 * t37 / 2.0) * 2.0)) + in2[27]
* (t10 * t28 * 2.0 + t13 * t30 * 2.0)) + in2[37] * (t24 * t43_tmp * 2.0 +
t19 * t101 * 2.0)) + in2[57] * (t14 * t57 * 2.0 + t25 * t73_tmp * 2.0)) +
in2[17] * (t62 * 0.352 + t63 * 0.352)) + in2[19] * (t62 * 0.030976 + t63 *
0.030976)) + in2[59] * ((t57 * t107 * 2.0 + t104 * ((t59_tmp + t71) -
t67_tmp) * 2.0) + t73_tmp * (t109 - t21 * t43 / 2.0) * 2.0)) + in2[39] *
((t43_tmp * t117_tmp * 2.0 + t123 * (t34_tmp - t11 * t28) * 2.0) + t37 *
((t3 * 0.3065 + t13_tmp * 0.2855) - b_t13_tmp * 0.2855) * 2.0)) + in2[10] *
t62) + in2[15] * t63) + in2[22] * t10 * t128) - in2[36] * t19 * t37 * 2.0) -
in2[32] * t19 * t100) - in2[38] * t24 * t37 * 2.0) + in2[43] * t74 * t75) +
in2[40] * t74 * t129) - in2[52] * t25 * t78) + in2[53] * t74 * t75) + in2[12]
* t3 * t6 * 2.0) - in2[26] * t3 * t10 * 1.226) + in2[28] * t3 * t13 * 1.226)
- M_mtrx_sym_tmp * t20 * t24 * 2.0) + b_M_mtrx_sym_tmp *
t24 * t38 * 2.0) - t46_tmp * t74 * 2.0) + in2[54] * t24 *
t25 * t38 * 2.0) - in2[51] * t24 * t38 * t78;
t49 = (t149 + t150) + t151;
t100 = ((((((t49 + t155) + t156) + t157) + t158) + t159) + t160) + t161;
t59_tmp = in2[24] * t10;
t62 = in2[21] * t128 / 2.0;
t63 = in2[34] * t19;
t67_tmp = in2[36] * t43_tmp;
M_mtrx_sym_tmp *= t38;
b_M_mtrx_sym_tmp *= t20;
t25_tmp = t87 * t75;
t86_tmp = t48_tmp * t25;
t14_tmp = in2[43] * t20 * t24 * t38;
b_t25_tmp = t238_tmp * t25 * t38;
t81 = t33_tmp * t24 * t38;
t89_tmp = t54_tmp * t24 * t75;
t130 = in2[55] * t21 * t25 * t38;
t90_tmp = t24_tmp * t24 * t75;
t92_tmp = t25 * t93_tmp;
t108_tmp = (((((t100 + in2[58] * ((t121 + t14 * t95) - b_t49_tmp * t93_tmp)) +
in2[59] * (((((t72 * t173 + t95 * t104) + t183_tmp * t73_tmp) +
t93_tmp * b_t183_tmp) - t97_tmp * t107) - t57 * t177_tmp)) + in2[29] * (((t5
* t28 * 0.3065 + t5 * t112 * 0.613) - t4 * t30 * 0.3065) - t4 * t114 * 0.613))
+ in2[27] * (t5 * t10 * 0.613 - t4 * t13 * 0.613)) + in2[16] * t3
* 0.176) + in2[18] * t6 * 0.176;
t96_tmp = in2[37] * (t24 * t82_tmp + t19 * t85_tmp);
t121 = in2[39] * (((t85_tmp * t123 + t101 * t200) + t82_tmp * t117_tmp) +
t43_tmp * t126_tmp);
t87 = in2[46] * ((t152 + t19 * t38 * t85_tmp) + b_t49_tmp * t82_tmp);
t54_tmp = in2[49] * (((((t149_tmp * t85_tmp / 2.0 + t88_tmp * t120) +
b_t149_tmp * t85_tmp / 2.0) + t95_tmp * t145) + t82_tmp * t117) + t43 *
t126_tmp);
t48_tmp = in2[56] * ((t172_tmp + b_t49_tmp * t97_tmp) - t25 * t95);
t46_tmp = in2[11] * t3;
b_t24_tmp = in2[14] * t6;
M_mtrx_sym[1] = ((((((((((((((((((((((t108_tmp - in2[57] * (((t141 - t163_tmp)
+ t167) - t92_tmp)) - t59_tmp) - t62) - t63) - t67_tmp) - t96_tmp) - t121) -
t87) - t54_tmp) - t48_tmp) - in2[47] * ((-t205_tmp + t206) + t207)) -
t46_tmp) - b_t24_tmp) - M_mtrx_sym_tmp) - b_M_mtrx_sym_tmp) - t25_tmp) -
t86_tmp) - t14_tmp) - b_t25_tmp) - t81) - t89_tmp) -
t130) - t90_tmp;
M_mtrx_sym[2] = ((((((((((((((((((((((t100 + t248) + t253) + t269) + t277) -
t59_tmp) - t62) - t63) - t67_tmp) - in2[37] * t273) - in2[46] * t271) - in2
[49] * t266) - in2[56] * t249) + in2[59] * (((((t254 + t256) + t258) + t259)
+ t261) + t140 * b_t183_tmp)) - M_mtrx_sym_tmp) - b_M_mtrx_sym_tmp) -
t25_tmp) - t86_tmp) - t14_tmp) - b_t25_tmp) - t81) - t89_tmp) - t130) -
t90_tmp;
M_mtrx_sym[3] = ((((((((((((((((((((((t49 + t157) + t158) + t159) + t160) +
t161) + t331) + t335) + t337) - t63) - t67_tmp) - in2[56] * t336) + in2[59] *
(((((t324 + t325) + t326) + t327) + t328) + t14_tmp_tmp * b_t183_tmp * 0.12))
- M_mtrx_sym_tmp) - b_M_mtrx_sym_tmp) - t25_tmp) - b_t57_tmp * t43) -
t86_tmp) - t14_tmp) - b_t25_tmp) - t81) - t89_tmp) -
t130) - t90_tmp;
t100 = ((in2[42] * t20 * t24 + t238_tmp * t78 / 2.0) + t161_tmp * t25) + t45 *
t24 * t38;
t24_tmp = in2[46] * t64_tmp;
t33_tmp = in2[47] * t49_tmp;
t299 = in2[57] * (t15 * t73_tmp + t21 * t57);
t300 = in2[44] * t24 * t38;
t58_tmp = t160_tmp * t21;
t57_tmp = t320_tmp * t25;
b_t57_tmp = t377_tmp * t72;
t45 = b_t377_tmp * t72;
t49 = t318_tmp * t24 * t38;
M_mtrx_sym[4] = (((((((((t100 - t24_tmp) - t33_tmp) - t299) - in2[45] *
(t19_tmp * 2.0 - b_t19_tmp * 2.0) / 2.0) - t300) -
t58_tmp) - t57_tmp) - b_t57_tmp) - t45) - t49;
M_mtrx_sym[5] = t391;
M_mtrx_sym[6] = ((((((((((((((((((((((t108_tmp - in2[57] * (((t141 + t167) -
t92_tmp) - t163_tmp)) - t59_tmp) - t62) - t63) - t67_tmp) - t96_tmp) - t121)
- t87) - t54_tmp) - t48_tmp) - in2[47] * ((t206 + t207) - t205_tmp)) -
t46_tmp) - b_t24_tmp) - M_mtrx_sym_tmp) - b_M_mtrx_sym_tmp) - t25_tmp) -
t86_tmp) - t14_tmp) - b_t25_tmp) - t81) - t89_tmp) -
t130) - t90_tmp;
M_mtrx_sym_tmp = t337_tmp * t82_tmp;
M_mtrx_sym[7] = ((((((((((((((((((((((((in2[13] + in2[23]) + in2[33]) + t220)
+ t221) + t222) + t232) + t234) + t235) + t236) + t237) + t238) + in2[59] *
((t95 * t173 * 2.0 + t97_tmp * t177_tmp * 2.0) + t93_tmp * t183_tmp * 2.0))
+ in2[56] * (t343_tmp * 2.0 - t245_tmp * 2.0)) + in2[58] * (t243_tmp * 2.0 +
t244_tmp * 2.0)) + in2[49] * ((t219 + t75 * t216) + t129 * t216)) -
c_t307_tmp * 1.226) + d_t307_tmp * 1.226) + in2[29] * (t4 * t4 * 0.375769 +
t5 * t5 * 0.375769)) - in2[57] * (t241_tmp * 2.0 + t242_tmp * 2.0)) + in2[36]
* (t81_tmp * 1.226 - t7 * t80 * 2.0)) - in2[38] *
(t84_tmp * 1.226 + t11 * t80 * 2.0)) - in2[48] * (t240_tmp
* 2.0 + t239_tmp * 2.0)) + in2[39] * (t219 + t85_tmp * t200 * 2.0)) -
M_mtrx_sym_tmp * 2.0) + t350_tmp * 2.0;
M_mtrx_sym[8] = t307;
M_mtrx_sym[9] = ((((((((t365_tmp + t341) + t342) + t349) + t350_tmp) - in2[38]
* t85_tmp) - in2[48] * t307_tmp) - in2[57] * b_t307_tmp) -
in2[56] * (((t245_tmp + t314) + t315) - t343_tmp)) -
M_mtrx_sym_tmp;
M_mtrx_sym[10] = t377;
M_mtrx_sym[11] = t394;
M_mtrx_sym[12] = (((((((((((((((((((((((((((((((t149 + t150) + t151) + t155) +
t156) + t157) + t158) + t159) + t160) + t161) + t248) + t253) + t269) + t277)
- in2[24] * t10) - in2[21] * t128 / 2.0) - in2[34] * t19) - in2[36] *
t43_tmp) - in2[37] * t273) - in2[46] * t271) - in2[49] * t266) - in2[56] *
t249) + in2[59] * (((((t254 + t256) + t258) + t259) + t261) + t140 * (t109 -
t21 * t43 / 2.0))) - in2[42] * t19 * t38) - in2[44] * t19 * t20) - in2[41] *
t24 * t75) - in2[54] * t20 * t25) - in2[43] * t20 * t24 * t38) - in2[52] *
t15 * t25 * t38) - in2[53] * t20 * t24 * t38) - in2[51] *
t15 * t24 * t75) - in2[55] * t21 * t25 * t38) - in2[54] *
t21 * t24 * t75;
M_mtrx_sym[13] = t307;
M_mtrx_sym[14] = ((((((((((e_t307_tmp + in2[59] * ((t132 * t223 * 2.0 + t138 *
t226 * 2.0) + t140 * t228 * 2.0)) + in2[49] * ((t310 + t75 * t308 * 0.326041)
+ t129 * t308 * 0.326041)) - in2[56] * (t278_tmp * 2.0 + t279_tmp * 2.0)) +
in2[58] * (t303_tmp * 2.0 + t304_tmp * 2.0)) + in2[57] * (t311_tmp * 2.0 -
t292_tmp * 2.0)) - in2[48] * (t300_tmp * 1.142 + t299_tmp * 1.142)) + in2[39]
* (t310 + t308 * 0.326041)) - b_t365_tmp * 1.142) -
c_t365_tmp * 1.142) - d_t365_tmp * 1.142) + e_t365_tmp *
1.142;
M_mtrx_sym[15] = t365;
M_mtrx_sym_tmp = ((c_t377_tmp - t381_tmp) - t382_tmp) - t383_tmp;
b_M_mtrx_sym_tmp = in2[57] * (t15 * t140 + t21 * t138);
t59_tmp = t377_tmp * t132;
t62 = b_t377_tmp * t132;
M_mtrx_sym[16] = ((((M_mtrx_sym_tmp + t384) + t385) - b_M_mtrx_sym_tmp) -
t59_tmp) - t62;
M_mtrx_sym[17] = t396;
M_mtrx_sym[18] = ((((((((((((((((((((((((t149 + t150) + t151) + t157) + t158)
+ t159) + t160) + t161) + t331) + t335) + t337) - in2[34] * t19) - in2[36] *
t43_tmp) - in2[56] * t336) + in2[59] * (((((t324 + t325) + t326) + t327) +
t328) + t15 * t20 * (t109 - t21 * t43 / 2.0) * 0.12)) - in2[42] * t19 * t38)
- in2[44] * t19 * t20) - in2[41] * t24 * t75) - in2[46] * t20 * t43) - in2
[54] * t20 * t25) - in2[43] * t20 * t24 * t38) - in2[52] * t15 * t25 * t38)
- in2[53] * t20 * t24 * t38) - in2[51] * t15 * t24 * t75)
- in2[55] * t21 * t25 * t38) - in2[54] * t21 * t24 * t75;
M_mtrx_sym[19] = (((((((((((((((((in2[33] + t220) + t221) + t222) + t232) +
t234) + t235) + t236) + t237) + t238) + t341) + t342) + t349) + t350_tmp) -
in2[38] * t85_tmp) - in2[48] * t307_tmp) - in2[57] *
b_t307_tmp) - in2[56] * (((t245_tmp + t314) + t315) - t20 *
t97_tmp)) - in2[47] * t38 * t82_tmp;
M_mtrx_sym[20] = t365;
M_mtrx_sym[21] = ((t365_tmp + in2[59] * ((t75 * 0.0144 + t129 * t231 * 0.0144)
+ t129 * t233 * 0.0144)) - in2[56] * (t315_tmp * 0.24 + t314_tmp * 0.24)) +
in2[58] * (t313_tmp * 0.24 + t312_tmp * 0.24);
t63 = in2[57] * (t20 * t231 * 0.12 + t20 * t233 * 0.12);
t67_tmp = t377_tmp * t38 * 0.12;
t25_tmp = b_t377_tmp * t38 * 0.12;
M_mtrx_sym[22] = ((M_mtrx_sym_tmp - t63) - t67_tmp) - t25_tmp;
M_mtrx_sym[23] = t398;
M_mtrx_sym[24] = (((((((((t100 - in2[45] * t19) - t24_tmp) - t33_tmp) - t299)
- t300) - t58_tmp) - t57_tmp) - b_t57_tmp) - t45) - t49;
M_mtrx_sym[25] = t377;
M_mtrx_sym[26] = (((((((c_t377_tmp + t384) + t385) - b_M_mtrx_sym_tmp) -
t381_tmp) - t59_tmp) - t62) - t382_tmp) - t383_tmp;
M_mtrx_sym[27] = (((((c_t377_tmp - t63) - t381_tmp) - t67_tmp) - t25_tmp) -
t382_tmp) - t383_tmp;
M_mtrx_sym[28] = ((in2[45] + in2[50] * t233) + in2[55] * t231) - b_t238_tmp *
2.0;
M_mtrx_sym[29] = t400;
M_mtrx_sym[30] = t391;
M_mtrx_sym[31] = t394;
M_mtrx_sym[32] = t396;
M_mtrx_sym[33] = t398;
M_mtrx_sym[34] = t400;
M_mtrx_sym[35] = in2[53];
}
/*
* File trailer for M_mtrx_fcn.c
*
* [EOF]
*/