function Y_hat = base_regressor(in1,in2,in3)
%BASE_REGRESSOR
%    Y_HAT = BASE_REGRESSOR(IN1,IN2,IN3)

%    This function was generated by the Symbolic Math Toolbox version 8.2.
%    24-Sep-2019 07:46:13

q2 = in1(2,:);
q3 = in1(3,:);
q4 = in1(4,:);
q5 = in1(5,:);
q6 = in1(6,:);
q2d1 = in3(1,:);
q2d2 = in3(2,:);
q2d3 = in3(3,:);
q2d4 = in3(4,:);
q2d5 = in3(5,:);
q2d6 = in3(6,:);
qd1 = in2(1,:);
qd2 = in2(2,:);
qd3 = in2(3,:);
qd4 = in2(4,:);
qd5 = in2(5,:);
qd6 = in2(6,:);
t2 = sin(1.570796325);
t3 = cos(q2);
t4 = t2.^2;
t5 = sin(q2);
t6 = t3.^2;
t7 = qd2.^2;
t8 = t5.^2;
t9 = sin(q3);
t10 = cos(q3);
t11 = t10.^2;
t12 = t9.^2;
t13 = qd1.*t3.*t4.*t5.*t11.*2.0;
t14 = qd1.*t4.*t6.*t9.*t10.*2.0;
t52 = qd1.*t3.*t4.*t5.*t12.*2.0;
t53 = qd1.*t4.*t8.*t9.*t10.*2.0;
t15 = t13+t14-t52-t53;
t16 = t2.*t3.*t9;
t17 = t2.*t5.*t10;
t18 = t16+t17;
t19 = qd3.*t18;
t20 = qd2.*t2.*t3.*t9;
t21 = qd2.*t2.*t5.*t10;
t22 = t19+t20+t21;
t23 = t2.*t3.*t10;
t27 = t2.*t5.*t9;
t24 = t23-t27;
t25 = t11-t12;
t26 = qd1.*t3.*t4.*t5.*t9.*t10.*8.0;
t28 = qd3.*t24;
t29 = qd2.*t2.*t3.*t10;
t66 = qd2.*t2.*t5.*t9;
t30 = t28+t29-t66;
t31 = t2.*t3.*t10.*4.9041e-2;
t40 = t2.*t5.*t9.*4.9041e-2;
t32 = t31-t40;
t33 = t2.*t3.*t9.*4.9041e-2;
t34 = t2.*t5.*t10.*4.9041e-2;
t35 = t33+t34;
t36 = qd3.*t35;
t37 = qd2.*t2.*t3.*t9.*4.9041e-2;
t38 = qd2.*t2.*t5.*t10.*4.9041e-2;
t39 = qd1.*t4.*t6.*t10.*(1.53e2./1.25e2);
t41 = qd1.*t4.*t6.*t9.*(1.53e2./1.25e2);
t42 = qd2.*t2.*t5.*t9.*4.9041e-2;
t43 = cos(q4);
t44 = sin(q4);
t45 = t4.*t8.*t12;
t46 = t4.*t6.*t11;
t47 = t3.*t4.*t5.*t9.*t10.*2.0;
t48 = t4.*t6.*t9.*t10.*2.0;
t49 = t3.*t4.*t5.*t25.*2.0;
t88 = t4.*t8.*t9.*t10.*2.0;
t50 = t48+t49-t88;
t51 = t43.^2;
t54 = t44.^2;
t55 = qd1.*t4.*t6.*t12.*2.0;
t56 = qd1.*t4.*t8.*t11.*2.0;
t81 = qd1.*t4.*t6.*t11.*2.0;
t82 = qd1.*t4.*t8.*t12.*2.0;
t57 = t26+t55+t56-t81-t82;
t58 = t4.*t15.*t54;
t59 = qd1.*t4.*t8.*t25.*2.0;
t85 = qd1.*t4.*t6.*t25.*2.0;
t60 = t26+t59-t85;
t61 = qd1.*t3.*t4.*t5.*t25.*2.0;
t62 = t14-t53+t61;
t63 = t2.*t18.*t43;
t64 = t2.*t24.*t44;
t65 = t63+t64;
t67 = t2.*t18.*t44;
t72 = t2.*t24.*t43;
t68 = t67-t72;
t69 = qd4.*t68;
t70 = t2.*t22.*t44;
t73 = t2.*t30.*t43;
t71 = t69+t70-t73;
t74 = qd1.*t4.*t6.*t11;
t75 = qd1.*t4.*t8.*t12;
t76 = qd1.*t3.*t4.*t5.*t9.*t10.*2.0;
t77 = qd1.*t4.*t6.*t12;
t78 = qd1.*t4.*t8.*t11;
t79 = t76+t77+t78;
t80 = t74+t75-t76;
t83 = t4.*t51;
t87 = t4.*t54;
t84 = t83-t87;
t86 = t4.*t15.*t43.*t44.*4.0;
t89 = t45+t46-t47;
t90 = t4.*t6.*t12;
t91 = t4.*t8.*t11;
t92 = t47+t90+t91;
t93 = qd4.*t65;
t94 = t2.*t22.*t43;
t95 = t2.*t30.*t44;
t96 = t93+t94+t95;
t97 = qd1.*t3.*t4.*t5.*t10.*(3.06e2./1.25e2);
t111 = qd3.*t32;
t112 = qd2.*t2.*t3.*t10.*4.9041e-2;
t122 = qd1.*t4.*t8.*t9.*(1.53e2./1.25e2);
t98 = t41+t42+t97-t111-t112-t122;
t120 = qd1.*t4.*t8.*t10.*(1.53e2./1.25e2);
t121 = qd1.*t3.*t4.*t5.*t9.*(3.06e2./1.25e2);
t99 = t36+t37+t38+t39-t120-t121;
t100 = t4.*t6.*t10.*(1.53e2./1.25e2);
t123 = t3.*t4.*t5.*t9.*(1.53e2./1.25e2);
t101 = t100-t123;
t102 = t4.*t6.*t9.*(1.53e2./1.25e2);
t103 = t3.*t4.*t5.*t10.*(1.53e2./1.25e2);
t104 = t102+t103;
t105 = t2.*t35.*t43;
t106 = t2.*t32.*t44;
t107 = t105+t106;
t108 = t2.*t32.*t43;
t115 = t2.*t35.*t44;
t109 = t108-t115;
t110 = t2.*t15.*t43.*1.1446;
t113 = qd1.*t3.*t4.*t5.*t10.*(1.53e2./1.25e2);
t118 = qd1.*t3.*t4.*t5.*t9.*(1.53e2./1.25e2);
t114 = t36+t37+t38+t39-t118;
t116 = t41+t42-t111-t112+t113;
t117 = t2.*t43.*t116;
t119 = t2.*t44.*t114;
t124 = t2.*t15.*t44.*1.1446;
t125 = t2.*t44.*t116;
t126 = cos(q5);
t127 = t4.*t43.*t44.*t57;
t130 = t4.*t15.*t51;
t128 = t58+t127-t130;
t129 = t126.^2;
t131 = t4.*t43.*t44.*t60;
t132 = sin(q5);
t133 = t71.*t126.*t132;
t134 = t4.*t51.*t62;
t135 = t4.*t51.*t92;
t136 = t4.*t54.*t89;
t137 = t4.*t43.*t44.*t50;
t138 = t135+t136+t137;
t139 = t4.*t51.*t79;
t140 = t4.*t54.*t80;
t141 = t4.*t43.*t44.*t62;
t142 = t139+t140+t141;
t143 = t132.^2;
t144 = t129-t143;
t145 = t71.*t144;
t146 = t58-t130+t131;
t147 = t4.*t43.*t44.*t80.*2.0;
t158 = t4.*t43.*t44.*t79.*2.0;
t170 = t4.*t54.*t62;
t148 = t134+t147-t158-t170;
t149 = t4.*t51.*t79.*2.0;
t150 = t4.*t54.*t80.*2.0;
t151 = t4.*t43.*t44.*t62.*4.0;
t162 = t4.*t51.*t80.*2.0;
t163 = t4.*t54.*t79.*2.0;
t152 = t149+t150+t151-t162-t163;
t153 = t57.*t84;
t154 = t86+t153;
t155 = t96.*t132;
t156 = t60.*t84;
t157 = t86+t156;
t159 = t50.*t84;
t160 = t4.*t43.*t44.*t89.*2.0;
t168 = t4.*t43.*t44.*t92.*2.0;
t161 = t159+t160-t168;
t164 = t96.*t126;
t165 = qd5.*t68.*t132;
t166 = t62.*t84;
t167 = t147-t158+t166;
t169 = qd5.*t65;
t171 = t2.*t43.*t98;
t172 = t2.*t44.*t99;
t174 = qd4.*t109;
t205 = t2.*t44.*t60.*5.723e-1;
t173 = t110+t171+t172-t174-t205;
t175 = t2.*t43.*t62.*5.723e-1;
t176 = t2.*t44.*t80.*1.1446;
t177 = t2.*t18.*t43.*1.149e-1;
t178 = t2.*t24.*t44.*1.149e-1;
t179 = t105+t106+t177+t178;
t180 = qd3.*t24.*5.723e-1;
t181 = qd2.*t2.*t3.*t10.*5.723e-1;
t182 = t132.*t179;
t183 = t2.*t3.*t9.*5.723e-1;
t184 = t2.*t5.*t10.*5.723e-1;
t185 = t126.*(t69+t70-t73).*1.149e-1;
t186 = t183+t184;
t187 = t65.*t126.*1.149e-1;
t188 = t107.*t126;
t189 = t2.*t5.*(1.53e2./2.5e2);
t190 = t183+t184+t189;
t191 = qd4.*t107;
t192 = t2.*t43.*t80.*1.1446;
t193 = t2.*t43.*t114;
t219 = t2.*t44.*t62.*5.723e-1;
t194 = -t125+t191+t192+t193-t219;
t195 = t4.*t51.*t89;
t196 = t4.*t54.*t92;
t197 = -t137+t195+t196;
t198 = t2.*t44.*t104;
t199 = t2.*t44.*t50.*5.723e-1;
t200 = t2.*t3.*(1.53e2./2.5e2);
t201 = t2.*t3.*t10.*5.723e-1;
t226 = t2.*t5.*t9.*5.723e-1;
t202 = t200+t201-t226;
t203 = t2.*t24.*t43.*1.149e-1;
t228 = t2.*t18.*t44.*1.149e-1;
t204 = t108-t115+t203-t228;
t206 = qd2.*t2.*t3.*(1.53e2./2.5e2);
t210 = qd2.*t2.*t5.*t9.*5.723e-1;
t207 = t180+t181+t206-t210;
t208 = t117+t119-t174+t175+t176;
t209 = t71.*t132.*1.149e-1;
t345 = t2.*t44.*t57.*5.723e-1;
t211 = t110+t117+t119-t174-t345;
t212 = t126.*t179;
t213 = t107.*t132;
t214 = t65.*t132.*1.149e-1;
t215 = t4.*t6.*3.438e-1;
t216 = t4.*t8.*3.438e-1;
t217 = t215+t216-4.41882e-1;
t364 = t2.*t43.*t101;
t365 = t2.*t43.*t89.*1.1446;
t218 = t198+t199-t364-t365;
t220 = qd1.*4.41882e-1;
t221 = qd3.*t18.*5.723e-1;
t222 = qd2.*t2.*t5.*(1.53e2./2.5e2);
t223 = qd2.*t2.*t3.*t9.*5.723e-1;
t224 = qd2.*t2.*t5.*t10.*5.723e-1;
t328 = qd1.*t4.*t6.*3.438e-1;
t329 = qd1.*t4.*t8.*3.438e-1;
t225 = t220+t221+t222+t223+t224-t328-t329;
t227 = t126.*t202;
t319 = t132.*t204;
t229 = t227-t319;
t230 = t4.*t51.*t80;
t231 = t4.*t54.*t79;
t232 = -t141+t230+t231;
t233 = t126.*t204;
t234 = t132.*t202;
t235 = t233+t234;
t236 = cos(q6);
t237 = t96.*t143;
t238 = t126.*t132.*t142.*2.0;
t284 = t96.*t129;
t239 = t237+t238-t284;
t240 = t132.*t167;
t241 = t71.*t126;
t266 = qd5.*t65.*t132;
t242 = t240+t241-t266;
t243 = sin(q6);
t244 = t243.^2;
t245 = t236.^2;
t246 = t128.*t129;
t247 = t58+t127-t130+t169;
t248 = t126.*t154;
t261 = qd5.*t68.*t126;
t249 = t155+t248-t261;
t250 = t133+t246;
t251 = t71.*t132;
t252 = qd5.*t65.*t126;
t254 = t126.*t167;
t253 = t251+t252-t254;
t255 = t65.*t126.*t132.*t245;
t257 = t68.*t132.*t236.*t243;
t256 = t255-t257;
t258 = -t134-t147+t158+t169+t170;
t287 = t129.*t148;
t259 = t133-t287;
t260 = t126.*t152;
t262 = t129.*t146;
t263 = t58-t130+t131+t169;
t264 = t126.*t157;
t265 = t133+t262;
t304 = t132.*t154;
t267 = t164+t165-t304;
t305 = t126.*t128.*t132.*2.0;
t268 = t145-t305;
t306 = t132.*t152;
t269 = t164+t165-t306;
t270 = t65.*t243;
t271 = t68.*t126.*t236;
t272 = t270+t271;
t273 = qd6.*t272;
t274 = t126.*t132.*t148.*2.0;
t275 = t145+t274;
t309 = t132.*t157;
t276 = t164+t165-t309;
t311 = t126.*t132.*t146.*2.0;
t277 = t145-t311;
t278 = t129.*t142.*2.0;
t279 = t96.*t126.*t132.*4.0;
t314 = t142.*t143.*2.0;
t280 = t278+t279-t314;
t281 = t68.*t126.*t243;
t283 = t65.*t144.*t236;
t282 = t281-t283;
t285 = t244-t245;
t286 = t155+t260-t261;
t288 = t155-t261+t264;
t289 = t68.*t132.*t285;
t291 = t65.*t126.*t132.*t236.*t243.*2.0;
t290 = t289-t291;
t292 = qd5.*t68;
t293 = -t141+t230+t231+t292;
t294 = t129.*t142;
t295 = t96.*t126.*t132;
t296 = t294+t295;
t297 = qd6.*t68.*t132;
t298 = q2d2.*t65.*t126.*t132;
t299 = q2d3.*t65.*t126.*t132;
t300 = q2d4.*t65.*t126.*t132;
t301 = t238-t96.*t144;
t302 = t68.*t243;
t1044 = t65.*t126.*t236;
t303 = t302-t1044;
t310 = t65.*t236;
t307 = t281-t310;
t308 = qd6.*t307;
t312 = t68.*t236;
t313 = t65.*t126.*t243;
t315 = t65.*t144.*t243;
t316 = t126.*t236.*(t67-t72);
t317 = t315+t316;
t318 = t132.*t186;
t320 = t204.*t243;
t321 = t132.*t190;
t322 = t68.*t132.*t236.*1.157e-1;
t323 = t143.*t148;
t324 = t126.*t208;
t325 = qd5.*t132.*t179;
t326 = t185+t324+t325;
t327 = t132.*t194;
t330 = t126.*t225;
t331 = t126.*t142.*2.298e-1;
t332 = t126.*t232.*2.298e-1;
t333 = t96.*t132.*1.149e-1;
t379 = qd5.*t235;
t334 = t327+t330+t331+t332+t333-t379;
t335 = t132.*t225;
t336 = qd5.*t229;
t337 = t132.*t142.*2.298e-1;
t338 = t132.*t232.*2.298e-1;
t390 = t126.*t194;
t391 = t96.*t126.*1.149e-1;
t339 = t335+t336+t337+t338-t390-t391;
t340 = qd4.*t65.*1.149e-1;
t341 = t2.*t43.*t57.*5.723e-1;
t342 = t2.*t22.*t43.*1.149e-1;
t343 = t2.*t30.*t44.*1.149e-1;
t344 = t204.*t236;
t346 = t126.*t211;
t347 = t180+t181-t210;
t348 = t126.*t186;
t382 = t65.*t132.*1.157e-1;
t349 = t233+t234-t382;
t350 = t126.*t173;
t351 = t132.*t207;
t352 = t126.*t190;
t353 = t71.*t126.*1.149e-1;
t354 = t2.*t43.*t60.*5.723e-1;
t355 = t2.*t44.*t98;
t356 = t187+t188;
t357 = t2.*t43.*t104;
t358 = t2.*t44.*t101;
t359 = t2.*t44.*t89.*1.1446;
t360 = t2.*t43.*t50.*5.723e-1;
t361 = t357+t358+t359+t360;
t362 = t132.*t138.*2.298e-1;
t363 = t132.*t197.*2.298e-1;
t366 = t187+t188-t318;
t367 = t187+t188-t321;
t368 = t68.*t132.*t243.*1.157e-1;
t373 = t68.*t132.*1.157e-1;
t369 = t212-t373;
t370 = -t125+t191+t192+t193-t219+t340+t342+t343;
t371 = t126.*t132.*(t69+t70-t73);
t372 = -t124-t125+t191+t193+t340-t341+t342+t343;
t374 = t132.*t347;
t375 = t182-t348;
t376 = qd5.*t375;
t377 = t185+t346+t374+t376;
t378 = t133-t128.*t143;
t380 = t65.*t126.*1.157e-1;
t381 = -t227+t319+t380;
t383 = t243.*t349;
t384 = t179.*t236;
t385 = t383+t384;
t386 = t295-t142.*t143;
t387 = t2.*t22.*t44.*1.149e-1;
t388 = qd4.*t68.*1.149e-1;
t389 = t117+t119-t174+t175+t176+t387+t388-t2.*t30.*t43.*1.149e-1;
t392 = t182-t352;
t393 = qd5.*t392;
t394 = t350+t351+t353+t393;
t395 = t2.*t43.*t99;
t396 = -t124+t191+t340+t342+t343-t354-t355+t395;
t397 = t262+t371;
t398 = t133-t143.*t146;
t399 = t179.*t243;
t1076 = t236.*t349;
t400 = t399-t1076;
t401 = t126.*(t198+t199-t364-t365);
t402 = t362+t363+t401-t132.*t217;
t403 = qd1.^2;
t404 = qd1.*t2.*t3.*t9.*4.9041e-2;
t405 = qd1.*t2.*t5.*t10.*4.9041e-2;
t406 = t404+t405;
t407 = qd1.*t2.*t5.*t9.*4.9041e-2;
t408 = t3.*t4.*t5.*t11.*t403;
t409 = t4.*t6.*t9.*t10.*t403;
t411 = t3.*t4.*t5.*t12.*t403;
t412 = t4.*t8.*t9.*t10.*t403;
t410 = t408+t409-t411-t412;
t413 = t4.*t8.*t25.*t403;
t414 = t3.*t4.*t5.*t9.*t10.*t403.*4.0;
t425 = t4.*t6.*t25.*t403;
t415 = t413+t414-t425;
t416 = qd1.*t2.*t3.*t9;
t417 = qd1.*t2.*t5.*t10;
t418 = t416+t417;
t419 = qd1.*t2.*t3.*t10;
t422 = qd1.*t2.*t5.*t9;
t420 = t419-t422;
t421 = t2.*t44.*t418;
t481 = t2.*t43.*t420;
t423 = t421-t481;
t424 = qd1.*qd2.*t2.*t3.*t10;
t426 = t2.*t44.*t420;
t427 = t2.*t43.*t418;
t428 = t426+t427;
t429 = qd3.*t418;
t430 = qd1.*qd2.*t2.*t3.*t9;
t431 = qd1.*qd2.*t2.*t5.*t10;
t432 = t429+t430+t431;
t433 = qd3.*t420;
t482 = qd1.*qd2.*t2.*t5.*t9;
t434 = t424+t433-t482;
t435 = qd2.*t10.*(1.53e2./1.25e2);
t436 = qd3.*t10.*(1.53e2./2.5e2);
t437 = t404+t405+t435+t436;
t438 = qd2.*t9.*(1.53e2./1.25e2);
t439 = qd3.*t9.*(1.53e2./2.5e2);
t443 = qd1.*t2.*t3.*t10.*4.9041e-2;
t440 = t407+t438+t439-t443;
t441 = t2.*t9.*t43.*(1.53e2./2.5e2);
t442 = t2.*t44.*t437;
t444 = t2.*t43.*t440;
t445 = t407-t443;
t446 = t2.*t43.*t445;
t447 = t2.*t44.*t406;
t448 = t446+t447;
t449 = t10.*(1.53e2./2.5e2);
t450 = t449+5.723e-1;
t451 = t2.*t43.*1.1446;
t452 = t2.*t9.*t44.*(1.53e2./2.5e2);
t453 = t2.*t5.*t9.*(9.81e2./1.0e2);
t454 = t2.*t3.*t9.*(9.81e2./1.0e2);
t455 = t2.*t5.*t10.*(9.81e2./1.0e2);
t456 = t4.*t6.*t9.*t403.*(1.53e2./2.5e2);
t457 = qd1.*qd2.*t2.*t5.*t9.*4.9041e-2;
t458 = t3.*t4.*t5.*t10.*t403.*(1.53e2./1.25e2);
t459 = qd3.*t406;
t460 = t4.*t6.*t10.*t403.*(1.53e2./2.5e2);
t461 = qd1.*qd2.*t2.*t3.*t9.*4.9041e-2;
t462 = qd1.*qd2.*t2.*t5.*t10.*4.9041e-2;
t502 = t2.*t43.*t450;
t463 = t452-t502;
t464 = qd2+qd3;
t465 = t2.*t10.*t43.*(1.53e2./2.5e2);
t466 = t2.*t44.*t440;
t467 = t2.*t43.*t406;
t515 = t2.*t44.*t445;
t468 = t467-t515;
t469 = t2.*t44.*t450;
t470 = t441+t469;
t471 = t2.*t44.*1.1446;
t472 = t2.*t10.*t44.*(1.53e2./2.5e2);
t473 = t454+t455;
t519 = t2.*t3.*t10.*(9.81e2./1.0e2);
t474 = t453-t519;
t507 = t4.*t8.*t10.*t403.*(1.53e2./2.5e2);
t508 = t3.*t4.*t5.*t9.*t403.*(1.53e2./1.25e2);
t475 = t459+t460+t461+t462-t507-t508;
t476 = qd3.*t445;
t505 = t4.*t8.*t9.*t403.*(1.53e2./2.5e2);
t506 = qd1.*qd2.*t2.*t3.*t10.*4.9041e-2;
t477 = t456+t457+t458+t476-t505-t506;
t478 = t4.*t54.*t410;
t479 = t4.*t43.*t44.*t415;
t487 = t4.*t51.*t410;
t480 = t478+t479-t487;
t483 = t2.*t44.*t432;
t484 = qd2+qd3+qd4;
t485 = qd4.*t423;
t495 = t2.*t43.*t434;
t486 = t483+t485-t495;
t488 = qd4.*t428;
t489 = t2.*t43.*t432;
t490 = t2.*t44.*t434;
t491 = t488+t489+t490;
t492 = t84.*t415;
t493 = t4.*t43.*t44.*t410.*4.0;
t494 = t492+t493;
t496 = qd1.*t2.*t3.*t10.*5.723e-1;
t497 = t441+t472;
t498 = qd4.*t497;
t499 = t442+t444+t498;
t500 = t126.*t423.*1.149e-1;
t501 = t452-t465;
t503 = qd4.*t463;
t528 = t2.*t43.*t464.*1.1446;
t529 = t2.*t43.*t437;
t504 = t466+t503-t528-t529;
t509 = t2.*t44.*t415.*5.723e-1;
t510 = qd1.*t2.*t5.*(1.53e2./2.5e2);
t511 = qd1.*t2.*t3.*t9.*5.723e-1;
t512 = qd1.*t2.*t5.*t10.*5.723e-1;
t513 = t510+t511+t512;
t514 = t126.*t513;
t516 = qd4.*t470;
t517 = t2.*t44.*t464.*1.1446;
t518 = t442+t444+t516+t517;
t520 = t2.*t10.*t43.*(1.53e2./1.25e2);
t544 = t2.*t9.*t44.*(1.53e2./1.25e2);
t521 = t451+t520-t544;
t522 = t451-t452+t465;
t525 = qd1.*t2.*t5.*t9.*5.723e-1;
t523 = t496-t525;
t524 = qd1.*t2.*t3.*(1.53e2./2.5e2);
t526 = t132.*t423.*1.149e-1;
t527 = t213+t214+t352;
t530 = qd4.*t448;
t531 = t2.*t43.*t410.*1.1446;
t532 = t2.*t43.*t477;
t533 = t2.*t44.*t475;
t534 = t132.*t513;
t535 = t2.*t44.*t420.*1.149e-1;
t536 = t2.*t43.*t418.*1.149e-1;
t537 = t467-t515+t535+t536;
t538 = qd3.*t420.*5.723e-1;
t539 = qd1.*qd2.*t2.*t3.*(1.53e2./2.5e2);
t540 = qd1.*qd2.*t2.*t3.*t10.*5.723e-1;
t594 = qd1.*qd2.*t2.*t5.*t9.*5.723e-1;
t541 = t538+t539+t540-t594;
t542 = t2.*t43.*t474;
t543 = t2.*t44.*t473;
t545 = t132.*t423;
t546 = qd5.*t132;
t547 = t545+t546;
t548 = t132.*t236.*t243.*t428;
t549 = t126.*t132.*t245.*t423;
t550 = t548+t549;
t551 = t129.*t480;
t552 = t126.*t132.*t486;
t553 = t129.*t428;
t554 = t126.*t132.*t484.*2.0;
t577 = t143.*t428;
t555 = t553+t554-t577;
t556 = t126.*t423;
t557 = qd5.*t126;
t558 = t556+t557;
t559 = qd5.*t126.*t423;
t560 = t144.*t486;
t561 = t143.*t484.*2.0;
t562 = t126.*t132.*t428.*4.0;
t586 = t129.*t484.*2.0;
t563 = t561+t562-t586;
t564 = t132.*t494;
t565 = t126.*t243.*t428;
t566 = t144.*t236.*t423;
t567 = t565+t566;
t568 = t132.*t285.*t428;
t569 = t126.*t132.*t236.*t243.*t423.*2.0;
t570 = t568+t569;
t571 = t143.*t484;
t572 = t126.*t132.*t428;
t573 = t571+t572;
t574 = t132.*t491;
t575 = t126.*t494;
t576 = -t559+t574+t575;
t578 = t551+t552;
t579 = qd5.*t428;
t580 = t478+t479-t487+t579;
t581 = q2d1.*t65.*t126.*t132;
t582 = t560-t126.*t132.*t480.*2.0;
t583 = t126.*t491;
t584 = qd5.*t132.*t423;
t585 = -t564+t583+t584;
t587 = t126.*t236.*t428;
t589 = t144.*t243.*t423;
t588 = t587-t589;
t590 = t144.*t428;
t591 = t554+t590;
t628 = t132.*t537;
t592 = t514-t628;
t593 = qd5.*t592;
t595 = -t509+t530+t531+t532+t533;
t596 = t236.*t367;
t597 = t320+t322+t596;
t598 = t496+t524-t525;
t599 = t126.*(t446+t447);
t600 = qd4.*t468;
t601 = t2.*t43.*t475;
t602 = t143.*t480;
t603 = t132.*t428.*1.149e-1;
t604 = qd5.*t126.*t470;
t645 = t132.*t504;
t605 = t514+t603+t604-t645;
t606 = t126.*1.157e-1;
t636 = t126.*t470;
t607 = t606-t636;
t608 = t126.*t504;
t609 = qd5.*t132.*t470;
t654 = t126.*t428.*1.149e-1;
t610 = t534+t608+t609-t654;
t611 = t126.*t518;
t655 = qd5.*t132.*t463;
t612 = t500+t611-t655;
t613 = qd4.*t501;
t614 = t132.*t523;
t615 = t126.*t499;
t659 = qd5.*t132.*t501;
t616 = t500+t614+t615-t659;
t617 = t2.*t10.*t44.*(1.53e2./1.25e2);
t618 = t2.*t9.*t43.*(1.53e2./1.25e2);
t619 = t471+t617+t618;
t620 = t129.*t243.*2.314e-1;
t621 = t143.*t243.*2.314e-1;
t622 = t441+t471+t472;
t623 = t2.*t44.*t418.*1.149e-1;
t624 = t126.*t537;
t625 = t2.*t43.*t473;
t626 = t542+t543;
t627 = t126.*t486.*1.149e-1;
t629 = t132.*t541;
t630 = t126.*t595;
t631 = -t593+t627+t629+t630;
t632 = t236.*t470;
t633 = t243.*t367;
t634 = -t344+t368+t633;
t635 = t243.*t463;
t637 = t236.*t607;
t638 = t132.*t598;
t639 = t500+t599+t638;
t640 = qd4.*t428.*1.149e-1;
t641 = t2.*t43.*t432.*1.149e-1;
t642 = t2.*t44.*t434.*1.149e-1;
t693 = t2.*t44.*t410.*1.1446;
t643 = t600+t601+t640+t641+t642-t693-t2.*t43.*t415.*5.723e-1-t2.*t44.*t477;
t644 = t552-t602;
t646 = t132.*1.157e-1;
t647 = t646-t132.*t470;
t648 = t129.*t236.*2.314e-1;
t649 = t143.*t236.*2.314e-1;
t650 = t236.*t463;
t1064 = t243.*t607;
t651 = t650-t1064;
t832 = t129.*t484;
t652 = t572-t832;
t662 = t2.*t43.*t420.*1.149e-1;
t653 = t442+t444+t516+t517+t623-t662;
t656 = -t466-t503+t528+t529+t535+t536;
t657 = t132.*t243.*t428.*1.157e-1;
t658 = -t466+t529+t535+t536-t613;
t692 = t2.*t44.*t474;
t660 = t625-t692;
t822 = t132.*t423.*1.157e-1;
t661 = t534+t624-t822;
t663 = qd2.*t418;
t664 = q2d2+q2d3;
t665 = q2d1.*t32;
t666 = q2d1.*t35;
t667 = t4.*t6.*t12.*t403;
t668 = t4.*t8.*t11.*t403;
t671 = t4.*t6.*t11.*t403;
t672 = t4.*t8.*t12.*t403;
t669 = t414+t667+t668-t671-t672;
t670 = q2d1.*t65;
t673 = q2d2+q2d3+q2d4;
t674 = qd2.*t428;
t675 = qd3.*t428;
t676 = q2d1.*(t67-t72);
t677 = qd2.*(1.53e2./2.5e2);
t678 = qd1.*t2.*t5.*4.9041e-2;
t679 = t677+t678;
t684 = t9.*t679;
t680 = t443-t684;
t681 = t10.*t679;
t682 = t404+t681;
t683 = t2.*t44.*t682;
t724 = t2.*t43.*t680;
t685 = t683-t724;
t686 = t7.*t9.*(1.53e2./2.5e2);
t687 = t3.*t4.*t5.*t10.*t403.*(1.53e2./2.5e2);
t688 = t7.*t10.*(1.53e2./2.5e2);
t689 = t2.*t43.*t682;
t690 = t2.*t44.*t680;
t691 = q2d1.*t109;
t694 = qd3.*t682;
t727 = t3.*t4.*t5.*t9.*t403.*(1.53e2./2.5e2);
t695 = t460+t461+t462+t688+t694-t727;
t726 = qd3.*t680;
t696 = t456+t457-t506+t686+t687-t726;
t697 = qd5.*t555;
t698 = q2d2.*t143;
t699 = q2d3.*t143;
t700 = q2d4.*t143;
t701 = t4.*t43.*t44.*t669;
t702 = t478-t487+t701;
t703 = qd2.*t126.*t132.*t423;
t704 = qd3.*t126.*t132.*t423;
t705 = qd4.*t126.*t132.*t423;
t706 = q2d2.*t126.*t132.*2.0;
t707 = q2d3.*t126.*t132.*2.0;
t708 = q2d4.*t126.*t132.*2.0;
t709 = q2d1.*t65.*t144;
t710 = qd5.*t558;
t711 = q2d5.*t132;
t712 = qd2.*t132.*t428;
t713 = qd3.*t132.*t428;
t714 = qd4.*t132.*t428;
t715 = q2d1.*t132.*(t67-t72);
t716 = t84.*t669;
t717 = t493+t716;
t718 = q2d5.*t126;
t719 = qd2.*t126.*t428;
t720 = qd3.*t126.*t428;
t721 = qd4.*t126.*t428;
t722 = q2d1.*t126.*(t67-t72);
t723 = t2.*t44.*(t443-t684);
t725 = t2.*t44.*t669.*5.723e-1;
t728 = qd4.*t2.*t44.*5.723e-1;
t729 = t511+t512;
t730 = qd4.*t2.*t43.*5.723e-1;
t731 = t132.*t486.*1.149e-1;
t732 = t535+t536+t689+t723;
t733 = t213+t214+t348;
t734 = qd4.*t685;
t735 = t2.*t43.*t696;
t736 = t2.*t44.*t695;
t737 = t531-t725+t734+t735+t736;
t738 = t517+t683-t724+t728;
t739 = t132.*t448;
t740 = t538+t540-t594;
t741 = t132.*t729;
t742 = t528+t689+t723+t730;
t743 = t245.*t547;
t744 = t236.*t243.*t573.*2.0;
t913 = t244.*t547;
t745 = t743+t744-t913;
t746 = t129.*t702;
t747 = t245.*t555;
t914 = t236.*t243.*t558;
t748 = t747-t914;
t749 = qd5.*t748;
t750 = q2d1.*t256;
t751 = q2d2.*t143.*t245;
t752 = q2d3.*t143.*t245;
t753 = q2d4.*t143.*t245;
t754 = t243.*t591;
t755 = t236.*t558;
t756 = qd6.*t132.*t243;
t757 = t754+t755+t756;
t758 = t132.*t717;
t759 = t243.*t428;
t760 = t126.*t236.*t423;
t761 = t759+t760;
t762 = qd6.*t761;
t763 = t243.*t547;
t764 = qd6.*t126.*t236;
t916 = t236.*t563;
t765 = t763+t764-t916;
t766 = qd5.*t765;
t767 = q2d6.*t132.*t236;
t768 = q2d2.*t126.*t132.*t236.*2.0;
t769 = q2d3.*t126.*t132.*t236.*2.0;
t770 = q2d4.*t126.*t132.*t236.*2.0;
t771 = t126.*t717;
t772 = -t559+t574+t771;
t773 = t244.*t573.*2.0;
t774 = t236.*t243.*t547.*4.0;
t919 = t245.*t573.*2.0;
t775 = t773+t774-t919;
t776 = t285.*t558;
t920 = t236.*t243.*t555.*2.0;
t777 = t776-t920;
t921 = t132.*(t67-t72).*(t244-t245);
t778 = q2d1.*(t291-t921);
t779 = t552+t746;
t780 = t478-t487+t579+t701;
t781 = q2d2.*t143.*t236.*t243.*2.0;
t782 = q2d3.*t143.*t236.*t243.*2.0;
t783 = q2d4.*t143.*t236.*t243.*2.0;
t784 = q2d2.*t129;
t785 = q2d3.*t129;
t786 = q2d4.*t129;
t787 = q2d6.*t126;
t788 = qd6.*t132;
t789 = t553+t554-t577+t788;
t790 = t583+t584-t758;
t791 = t236.*t428;
t925 = t126.*t243.*t423;
t792 = t791-t925;
t793 = t243.*t563;
t794 = t236.*t547;
t926 = qd6.*t126.*t243;
t795 = t793+t794-t926;
t796 = qd2.*t588;
t797 = qd3.*t588;
t798 = qd4.*t588;
t799 = q2d1.*t317;
t800 = t236.*t591;
t801 = qd6.*t132.*t236;
t928 = t243.*t558;
t802 = t800+t801-t928;
t803 = qd6.*t802;
t804 = t560-t126.*t132.*t702.*2.0;
t805 = q2d5.*t126.*t236;
t806 = q2d6.*t132.*t243;
t807 = q2d2.*t126.*t132.*t243.*2.0;
t808 = q2d3.*t126.*t132.*t243.*2.0;
t809 = q2d4.*t126.*t132.*t243.*2.0;
t810 = t126.*t685;
t811 = t500+t614+t810;
t812 = t236.*t366;
t813 = t320+t322+t812;
t814 = t143.*t702;
t815 = t132.*t236.*1.157e-1;
t816 = t126.*t738;
t817 = qd5.*t2.*t43.*t132.*5.723e-1;
t818 = t500+t816+t817;
t819 = t689+t723;
t820 = qd4.*t819;
t821 = t2.*t43.*t695;
t823 = t126.*t732;
t824 = t126.*t729;
t825 = t132.*t742;
t826 = qd5.*t2.*t44.*t126.*5.723e-1;
t827 = t603+t824+t825+t826;
t828 = t126.*t236.*t522;
t829 = t620+t621+t828-t243.*t622;
t830 = t500+t599+t614;
t831 = t243.*t537;
t833 = t236.*t573.*2.314e-1;
t834 = t126.*t742;
t856 = qd5.*t2.*t44.*t132.*5.723e-1;
t835 = t654-t741+t834-t856;
t849 = t2.*t44.*t126.*5.723e-1;
t836 = t606-t849;
t862 = t132.*t732;
t837 = t824-t862;
t838 = qd5.*t837;
t839 = t243.*t366;
t840 = -t344+t368+t839;
t841 = t132.*t243.*1.157e-1;
t842 = t528+t535+t536+t689+t723+t730;
t843 = t2.*t43.*t126.*t236.*5.723e-1;
t880 = t2.*t44.*t696;
t844 = t640+t641+t642-t693+t820+t821-t880-t2.*t43.*t669.*5.723e-1;
t845 = t741-t822+t823;
t846 = t623-t662+t683-t724;
t847 = t2.*t44.*t236.*5.723e-1;
t848 = t2.*t43.*t126.*t243.*5.723e-1;
t850 = t236.*t836;
t1079 = t2.*t43.*t243.*5.723e-1;
t851 = t850-t1079;
t852 = t243.*t558.*1.157e-1;
t853 = t646-t2.*t44.*t132.*5.723e-1;
t854 = t236.*t660;
t855 = t236.*t537;
t857 = t243.*t652.*2.314e-1;
t858 = t243.*t836;
t859 = t2.*t43.*t236.*5.723e-1;
t860 = t858+t859;
t861 = t517+t623-t662+t683-t724+t728;
t863 = t126.*t737;
t864 = t132.*t740;
t865 = t627-t838+t863+t864;
t866 = t552-t814;
t867 = t3.*t4.*t5.*t25.*t403;
t868 = t409-t412+t867;
t869 = t3.*t4.*t5.*t9.*t10.*t403;
t870 = t483-t495+t670-qd2.*t423-qd3.*t423;
t871 = (t4.*t6.*t12.*t403)./2.0;
t872 = (t4.*t8.*t11.*t403)./2.0;
t873 = t869+t871+t872;
t874 = (t4.*t6.*t11.*t403)./2.0;
t875 = (t4.*t8.*t12.*t403)./2.0;
t876 = -t869+t874+t875;
t877 = -t489-t490+t674+t675+t676;
t878 = qd2.*(t446+t447);
t879 = qd3.*t685;
t881 = qd3./2.0;
t882 = qd2+t881;
t883 = qd3.*t882;
t884 = t7./2.0;
t885 = t883+t884;
t886 = t4.*t54.*t868;
t887 = t4.*t43.*t44.*t873.*2.0;
t889 = t4.*t51.*t868;
t890 = t4.*t43.*t44.*t876.*2.0;
t888 = t886+t887-t889-t890;
t891 = t4.*t51.*t876.*2.0;
t892 = t4.*t54.*t873.*2.0;
t893 = t4.*t51.*t873.*2.0;
t894 = t4.*t54.*t876.*2.0;
t895 = t4.*t43.*t44.*t868.*4.0;
t896 = -t891-t892+t893+t894+t895;
t897 = qd2.*5.723e-1;
t898 = qd3.*5.723e-1;
t899 = t404+t681+t897+t898;
t904 = t2.*t44.*t899;
t900 = t724-t904;
t901 = t2.*t43.*t899;
t902 = t213+t214;
t903 = t723+t901;
t905 = t2.*t44.*t885.*1.1446;
t906 = t2.*t43.*t868.*5.723e-1;
t907 = t2.*t44.*t876.*1.1446;
t934 = qd4.*t900;
t908 = t735+t736+t905+t906+t907-t934;
t909 = t132.*t685;
t910 = t132.*(t542+t543);
t911 = t535+t536+t723+t901;
t912 = t129.*t888;
t915 = t132.*t896;
t917 = t126.*t896;
t918 = -t559+t574+t917;
t922 = t552+t912;
t923 = t579+t886+t887-t889-t890;
t924 = t583+t584-t915;
t927 = t560-t126.*t132.*t888.*2.0;
t951 = t126.*t900;
t929 = t500-t951;
t930 = t2.*t43.*t876.*1.1446;
t931 = t2.*t43.*t885.*1.1446;
t932 = t243.*t470;
t933 = t126.*t236.*t463;
t935 = t132.*t903;
t936 = t603+t935;
t937 = t500+t599;
t938 = t236.*t356;
t939 = t320+t322+t938;
t940 = t500+t810;
t941 = t243.*t732;
t942 = t620+t621+t843-t2.*t44.*t243.*5.723e-1;
t943 = t243.*t547.*1.157e-1;
t944 = t623-t662-t724+t904;
t945 = t236.*t944;
t946 = t126.*t903;
t947 = t654+t946;
t948 = t143.*t888;
t949 = qd4.*t903;
t975 = t2.*t44.*t868.*5.723e-1;
t950 = t640+t641+t642+t821-t880+t930+t931+t949-t975;
t952 = t126.*t243.*t463;
t953 = t126.*t908;
t954 = qd5.*t132.*t911;
t955 = t627+t953+t954;
t1065 = t126.*t911;
t956 = t822-t1065;
t957 = t648+t649-t847-t848;
t958 = t243.*t356;
t959 = -t344+t368+t958;
t960 = t552-t948;
t961 = t236.*t732;
t962 = t243.*t573.*2.314e-1;
t963 = t243.*t944;
t964 = t236.*t547.*1.157e-1;
t965 = qd4./2.0;
t966 = qd2+qd3+t965;
t967 = qd4.*t966;
t968 = t883+t884+t967;
t969 = t4.*t51.*t873;
t970 = t4.*t54.*t876;
t971 = t4.*t43.*t44.*t868;
t972 = t969+t970+t971;
t973 = t84.*t868;
t974 = -t887+t890+t973;
t976 = t4.*t51.*t876;
t977 = t4.*t54.*t873;
t978 = -t971+t976+t977;
t979 = t821-t880+t930+t931+t949-t975;
t980 = t741+t823;
t981 = t534+t624;
t982 = t403.*2.20941e-1;
t983 = qd3.*t418.*5.723e-1;
t984 = qd1.*qd2.*t2.*t5.*(1.53e2./2.5e2);
t985 = qd1.*qd2.*t2.*t3.*t9.*5.723e-1;
t986 = qd1.*qd2.*t2.*t5.*t10.*5.723e-1;
t1024 = t4.*t6.*t403.*1.719e-1;
t1025 = t4.*t8.*t403.*1.719e-1;
t987 = t982+t983+t984+t985+t986-t1024-t1025;
t988 = t68.*t244;
t989 = t126.*t428;
t990 = t132.*t484;
t991 = t989+t990;
t992 = t143.*t491;
t993 = t126.*t132.*t972.*2.0;
t994 = t244.*t428;
t995 = t126.*t236.*t243.*t423;
t996 = t994+t995;
t997 = t132.*t428;
t1004 = t126.*t484;
t998 = t997-t1004;
t999 = t129.*t972.*2.0;
t1000 = t143.*t968.*2.0;
t1001 = t126.*t132.*t491.*4.0;
t1015 = t129.*t968.*2.0;
t1016 = t143.*t972.*2.0;
t1002 = t999+t1000+t1001-t1015-t1016;
t1003 = t132.*t486;
t1005 = t132.*t974;
t1006 = t126.*t486;
t1022 = qd5.*t998;
t1007 = t1005+t1006-t1022;
t1008 = qd5+t421-t481;
t1009 = t126.*t285.*t423;
t1010 = t65.*t126.*t285;
t1011 = t68.*t236.*t243.*2.0;
t1012 = t1010+t1011;
t1013 = qd5.*t991;
t1042 = t126.*t974;
t1014 = t1003+t1013-t1042;
t1017 = t815-t2.*t44.*t132.*t236.*5.723e-1;
t1018 = t229.*t236;
t1019 = t1018-t65.*t126.*t236.*1.157e-1;
t1020 = t815-t132.*t236.*t470;
t1021 = t126.*t236.*t423.*1.157e-1;
t1032 = t126.*t944;
t1023 = t638-t1032;
t1026 = t132.*t944;
t1027 = t126.*t598;
t1028 = t1026+t1027;
t1029 = t841-t2.*t44.*t132.*t243.*5.723e-1;
t1030 = t229.*t243;
t1031 = t1030-t65.*t126.*t243.*1.157e-1;
t1033 = t841-t132.*t243.*t470;
t1034 = t126.*t243.*t423.*1.157e-1;
t1035 = t126.*t972.*2.298e-1;
t1036 = t126.*t978.*2.298e-1;
t1037 = t132.*t491.*1.149e-1;
t1038 = t132.*t979;
t1039 = t126.*t987;
t1040 = t1035+t1036+t1037+t1038+t1039-qd5.*t1023;
t1071 = t126.*t428.*1.157e-1;
t1072 = t132.*t484.*1.157e-1;
t1041 = t1026+t1027-t1071-t1072;
t1043 = t126.*t132.*t968.*2.0;
t1045 = t129.*t972;
t1046 = t143.*t968;
t1047 = t126.*t132.*t491;
t1048 = t1045+t1046+t1047;
t1049 = qd5./2.0;
t1050 = t421-t481+t1049;
t1051 = qd5.*t1050;
t1052 = -t971+t976+t977+t1051;
t1053 = q2d2.*t126;
t1054 = q2d3.*t126;
t1055 = q2d4.*t126;
t1056 = qd2.*t132.*t423;
t1057 = qd3.*t132.*t423;
t1058 = qd4.*t132.*t423;
t1059 = t144.*t491;
t1060 = -t993+t1043+t1059;
t1061 = t132.*t972.*2.298e-1;
t1062 = t132.*t978.*2.298e-1;
t1063 = t132.*t987;
t1066 = t945-t243.*t956;
t1067 = t243.*t845;
t1068 = t236.*t846;
t1069 = t1067+t1068;
t1070 = t243.*t661;
t1073 = qd4.*t423.*1.149e-1;
t1074 = t2.*t44.*t432.*1.149e-1;
t1075 = t735+t736+t905+t906+t907-t934+t1073+t1074-t2.*t43.*t434.*1.149e-1;
t1077 = t236.*t845;
t1078 = t1077-t243.*t846;
t1080 = t129.*t968;
t1081 = t143.*t972;
t1082 = -t1047+t1080+t1081;
t1083 = t236.*t661;
t1084 = t2.*t43.*(t407-t443);
t1085 = t447+t623-t662+t1084;
t1086 = qd5.*t1028;
t1087 = t1061+t1062+t1063+t1086-t126.*t491.*1.149e-1-t126.*t979;
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