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Dynamic-Calibration/autogen/G_vctr_fcn.m

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52 KiB
Mathematica
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the last version of the project
2019-12-18 11:25:45 +00:00
function G_vctr_sym = G_vctr_fcn(in1,in2)
%G_VCTR_FCN
% G_VCTR_SYM = G_VCTR_FCN(IN1,IN2)
% This function was generated by the Symbolic Math Toolbox version 8.2.
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
% 06-Mar-2020 15:19:32
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
pi171 = in2(17,:);
pi191 = in2(19,:);
pi271 = in2(27,:);
pi291 = in2(29,:);
pi301 = in2(30,:);
pi371 = in2(37,:);
pi391 = in2(39,:);
pi401 = in2(40,:);
pi471 = in2(47,:);
pi481 = in2(48,:);
pi491 = in2(49,:);
pi501 = in2(50,:);
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,:);
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
G_vctr_sym = [0.0;pi301.*((sin(1.57079632679).*cos(q2).*cos(q3).*(9.81e2./1.0e2)-sin(1.57079632679).*sin(q2).*sin(q3).*(9.81e2./1.0e2)).*(cos(q3).*(sin(1.57079632679).*sin(q2).*(1.81e2./1.0e3)-6.13e2./1.0e3)+sin(1.57079632679).*cos(q2).*sin(q3).*(1.81e2./1.0e3))+(sin(1.57079632679).*cos(q2).*sin(q3).*(9.81e2./1.0e2)+sin(1.57079632679).*cos(q3).*sin(q2).*(9.81e2./1.0e2)).*(sin(q3).*(sin(1.57079632679).*sin(q2).*(1.81e2./1.0e3)-6.13e2./1.0e3)-sin(1.57079632679).*cos(q2).*cos(q3).*(1.81e2./1.0e3))-(sin(1.57079632679).*cos(q2).*cos(q3).*(9.81e2./1.0e2)-sin(1.57079632679).*sin(q2).*sin(q3).*(9.81e2./1.0e2)).*(sin(1.57079632679).*cos(q2).*sin(q3).*(1.81e2./1.0e3)+sin(1.57079632679).*cos(q3).*sin(q2).*(1.81e2./1.0e3))+(sin(1.57079632679).*cos(q2).*sin(q3).*(9.81e2./1.0e2)+sin(1.57079632679).*cos(q3).*sin(q2).*(9.81e2./1.0e2)).*(sin(1.57079632679).*cos(q2).*cos(q3).*(1.81e2./1.0e3)-sin(1.57079632679).*sin(q2).*sin(q3).*(1.81e2./1.0e3)))+pi371.*(sin(1.57079632679).*cos(q4).*(sin(1.57079632679).*cos(q2).*cos(q3).*(9.81e2./1.0e2)-sin(1.57079632679).*sin(q2).*sin(q3).*(9.81e2./1.0e2))-sin(1.57079632679).*sin(q4).*(sin(1.57079632679).*cos(q2).*sin(q3).*(9.81e2./1.0e2)+sin(1.57079632679).*cos(q3).*sin(q2).*(9.81e2./1.0e2)))+pi391.*(sin(1.57079632679).*cos(q4).*(sin(1.57079632679).*cos(q2).*sin(q3).*(9.81e2./1.0e2)+sin(1.57079632679).*cos(q3).*sin(q2).*(9.81e2./1.0e2))+sin(1.57079632679).*sin(q4).*(sin(1.57079632679).*cos(q2).*cos(q3).*(9.81e2./1.0e2)-sin(1.57079632679).*sin(q2).*sin(q3).*(9.81e2./1.0e2)))+pi491.*(sin(1.57079632679).*cos(q4).*(sin(1.57079632679).*cos(q2).*sin(q3).*(9.81e2./1.0e2)+sin(1.57079632679).*cos(q3).*sin(q2).*(9.81e2./1.0e2))+sin(1.57079632679).*sin(q4).*(sin(1.57079632679).*cos(q2).*cos(q3).*(9.81e2./1.0e2)-sin(1.57079632679).*sin(q2).*sin(q3).*(9.81e2./1.0e2)))-pi601.*(-(sin(q6).*(sin(q5).*(8.7e1./5.0e2)+cos(q5).*(sin(1.57079632679).*cos(q4).*(cos(q3).*(sin(1.57079632679).*sin(q2).*(1.81e2./1.0e3)-6.13e2./1.0e3)+sin(1.57079632679).*cos(q2).*sin(q3).*(1.81e2./1.0e3)-5.71e2./1.0e3)-sin(1.57079632679).*sin(q4).*(sin(q3).*(sin(1.57079632679).*sin(q2).*(1.81e2./1.0e3)-6.13e2./1.0e3)-sin(1.57079632679).*cos(q2).*cos(q3).*(1.81e2./1.0e3))))+cos(q6).*(sin(1.57079632679).*cos(q4).*(sin(q3).*(sin(1.57079632679).*sin(q2).*(1.81e2./1.0e3)-6.13e2./1.0e3)-sin(1.57079632679).*cos(q2).*cos(q3).*(1.81e2./1.0e3))+sin(1.57079632679).*sin(q4).*(cos(q3).*(sin(1.57079632679).*sin(q2).*(1.81e2./1.0e3)-6.13e2./1.0e3)+sin(1.57079632679).*cos(q2).*sin(q3).*(1.81e2./1.0e3)-5.71e2./1.0e3)+3.0./2.5e1)).*(cos(q6).*(sin(1.57079632679).*cos(q4).*(sin(1.57079632679).*cos(q2).*sin(q3).*(9.81e2./1.0e2)+sin(1.57079632679).*cos(q3).*sin(q2).*(9.81e2./1.0e2))+sin(1.57079632679).*sin(q4).*(sin(1.57079632679).*cos(q2).*cos(q3).*(9.81e2./1.0e2)-sin(1.57079632679).*sin(q2).*sin(q3).*(9.81e2./1.0e2)))+cos(q5).*sin(q6).*(sin(1.57079632679).*cos(q4).*(sin(1.57079632679).*cos(q2).*cos(q3).*(9.81e2./1.0e2)-sin(1.57079632679).*sin(q2).*sin(q3).*(9.81e2./1.0e2))-sin(1.57079632679).*sin(q4).*(sin(1.57079632679).*cos(q2).*sin(q3).*(9.81e2./1.0e2)+sin(1.57079632679).*cos(q3).*sin(q2).*(9.81e2./1.0e2))))+(cos(q6).*(sin(q5).*(8.7e1./5.0e2)+cos(q5).*(sin(1.57079632679).*cos(q4).*(cos(q3).*(sin(1.57079632679).*sin(q2).*(1.81e2./1.0e3)-6.13e2./1.0e3)+sin(1.57079632679).*cos(q2).*sin(q3).*(1.81e2./1.0e3)-5.71e2./1.0e3)-sin(1.57079632679).*sin(q4).*(sin(q3).*(sin(1.57079632679).*sin(q2).*(1.81e2./1.0e3)-6.13e2./1.0e3)-sin(1.57079632679).*cos(q2).*cos(q3).*(1.81e2./1.0e3))))-sin(q6).*(sin(1.57079632679).*cos(q4).*(sin(q3).*(sin(1.57079632679).*sin(q2).*(1.81e2./1.0e3)-6.13e2./1.0e3)-sin(1.57079632679).*cos(q2).*cos(q3).*(1.81e2./1.0e3))+sin(1.57079632679).*sin(q4).*(cos(q3).*(sin(1.57079632679).*sin(q2).*(1.81e2./1.0e3)-6.13e2./1.0e3)+sin(1.57079632679).*cos(q2).*sin(q3).*(1.81e2./1.0e3)-5.71e2./1.0e3)+3.0./2.5e1)).*(sin(q6).*(sin(1.57079632679).*cos(q4).*(sin(1.57079632679).*cos(q2).*sin(q3).*(9.81e2./1.0e2)+sin(1.57079632679).*cos(q3).*sin(q2).*(9.81e2./1.0e2))+sin(1.57079632679).*sin(q4).*(sin(1.57079632679).*cos(q2).*cos(q3).*(9.81e2./1.0e2)-sin(1.57079632679).*s