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.
%    25-Mar-2020 14:58:34

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,:);
q2 = in1(2,:);
q3 = in1(3,:);
q4 = in1(4,:);
q5 = in1(5,:);
q6 = in1(6,:);
t2 = sin(1.57079632679);
t3 = cos(q3);
t4 = sin(q2);
t5 = cos(q2);
t6 = sin(q3);
t7 = t2.*t4.*(1.81e2./1.0e3);
t8 = t7-6.13e2./1.0e3;
t9 = t2.*t3.*t5.*(9.81e2./1.0e2);
t15 = t2.*t4.*t6.*(9.81e2./1.0e2);
t10 = t9-t15;
t11 = t2.*t5.*t6.*(1.81e2./1.0e3);
t12 = t2.*t5.*t6.*(9.81e2./1.0e2);
t13 = t2.*t3.*t4.*(9.81e2./1.0e2);
t14 = t12+t13;
t16 = cos(q4);
t17 = sin(q4);
t18 = t2.*t14.*t16;
t19 = t2.*t10.*t17;
t20 = t18+t19;
t21 = t3.*t8;
t22 = t6.*t8;
t23 = t2.*t3.*t5.*(1.81e2./1.0e3);
t24 = t22-t23;
t25 = t11+t21-5.71e2./1.0e3;
t26 = cos(q6);
t27 = cos(q5);
t28 = sin(q6);
t29 = t2.*t10.*t16;
t40 = t2.*t14.*t17;
t30 = t29-t40;
t31 = sin(q5);
t32 = t31.*(8.7e1./5.0e2);
t33 = t2.*t16.*t25;
t50 = t2.*t17.*t24;
t34 = t33-t50;
t35 = t27.*t34;
t36 = t32+t35;
t37 = t2.*t16.*t24;
t38 = t2.*t17.*t25;
t39 = t37+t38+3.0./2.5e1;
t41 = t2.*t3.*t4.*(1.81e2./1.0e3);
t42 = t11+t41;
t44 = t2.*t4.*t6.*(1.81e2./1.0e3);
t43 = t23-t44;
t45 = t2.*t16.*t42;
t46 = t2.*t17.*t43;
t47 = t45+t46;
t48 = t2.*t16.*t43;
t51 = t2.*t17.*t42;
t49 = t48-t51;
t52 = t27.*(8.7e1./5.0e2);
t68 = t31.*t34;
t53 = t52-t68;
t54 = t30.*t31.*t53;
t55 = t31.^2;
t56 = t20.*t28;
t72 = t26.*t27.*t30;
t57 = t56-t72;
t58 = t20.*t26;
t59 = t27.*t28.*t30;
t60 = t58+t59;
t61 = t37+t38;
t62 = t20.*t61;
t63 = t11+t21;
t64 = t27.^2;
t65 = t2.*t17.*t63;
t66 = t37+t65;
t67 = t27.*t30.*t36;
t69 = pi371.*t30;
t70 = pi391.*t20;
t71 = pi491.*t20;
t73 = pi591.*t60;
t74 = pi271.*t14;
t77 = t2.*t16.*t63;
t75 = t50-t77;
t76 = t30.*t34;
t78 = t28.*t30;
t79 = t20.*t26.*t27;
t80 = t78+t79;
t81 = t26.*t30;
t91 = t20.*t27.*t28;
t82 = t81-t91;
t83 = t28.*t36;
t84 = t26.*t39;
t85 = t83+t84;
t86 = t26.*t36;
t92 = t28.*t39;
t87 = t86-t92;
t88 = t57.*t87;
t89 = t20.*t55.*t66;
t90 = pi471.*t27.*t30;
t93 = t20.*t55.*t61;
G_vctr_sym = [0.0;t69+t70+t71+t73+t74+t90-pi291.*t10-pi571.*t57+pi301.*(-t10.*t42+t14.*t43+t10.*t63+t14.*(t22-t2.*t3.*t5.*(1.81e2./1.0e3)))-pi601.*(t54+t88+t80.*(t28.*t47-t26.*t27.*t49)+t82.*(t26.*t47+t27.*t28.*t49)-t60.*t85-t20.*t49.*t55)+pi401.*(t62+t76+t20.*t49-t30.*t47)+pi501.*(-t54+t62+t67-t30.*t47+t20.*t49.*t55+t20.*t49.*t64)+pi171.*t2.*t4.*(9.81e2./1.0e2)-pi191.*t2.*t5.*(9.81e2./1.0e2)-pi481.*t30.*t31-pi581.*t30.*t31;t69+t70+t71+t73+t74+t90-pi601.*(t54+t88+t89-t80.*(t28.*t75-t26.*t27.*t66)-t82.*(t26.*t75+t27.*t28.*t66)-t60.*t85)-pi291.*t10-pi571.*t57+pi401.*(t62+t76-t20.*t66+t30.*t75)-pi501.*(t54-t62-t67+t89-t30.*t75+t20.*t64.*t66)-pi481.*t30.*t31-pi581.*t30.*t31;t69+t70+t71+t73+t90-pi601.*(t54+t88+t93+t80.*(t28.*t34+t26.*t27.*t61)+t82.*(t26.*t34-t27.*t28.*t61)-t60.*t85)-pi571.*t57-pi501.*(t54-t62-t67+t76+t93+t20.*t61.*t64)-pi481.*t30.*t31-pi581.*t30.*t31;-pi601.*(-t20.*t31.*t36+t20.*t27.*t53-t26.*t53.*t80+t28.*t53.*t82+t20.*t26.*t31.*t87+t20.*t28.*t31.*t85)-pi471.*t20.*t31-pi481.*t20.*t27-pi581.*t20.*t27-pi571.*t20.*t26.*t31-pi591.*t20.*t28.*t31;pi571.*t82+pi591.*t80];