122 lines
3.4 KiB
Matlab
122 lines
3.4 KiB
Matlab
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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% 25-Mar-2020 14:58:34
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pi171 = in2(17,:);
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pi191 = in2(19,:);
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pi271 = in2(27,:);
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pi291 = in2(29,:);
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pi301 = in2(30,:);
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pi371 = in2(37,:);
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pi391 = in2(39,:);
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pi401 = in2(40,:);
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pi471 = in2(47,:);
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pi481 = in2(48,:);
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pi491 = in2(49,:);
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pi501 = in2(50,:);
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pi571 = in2(57,:);
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pi581 = in2(58,:);
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pi591 = in2(59,:);
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pi601 = in2(60,:);
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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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t2 = sin(1.57079632679);
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t3 = cos(q3);
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t4 = sin(q2);
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t5 = cos(q2);
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t6 = sin(q3);
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t7 = t2.*t4.*(1.81e2./1.0e3);
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t8 = t7-6.13e2./1.0e3;
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t9 = t2.*t3.*t5.*(9.81e2./1.0e2);
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t15 = t2.*t4.*t6.*(9.81e2./1.0e2);
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t10 = t9-t15;
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t11 = t2.*t5.*t6.*(1.81e2./1.0e3);
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t12 = t2.*t5.*t6.*(9.81e2./1.0e2);
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t13 = t2.*t3.*t4.*(9.81e2./1.0e2);
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t14 = t12+t13;
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t16 = cos(q4);
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t17 = sin(q4);
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t18 = t2.*t14.*t16;
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t19 = t2.*t10.*t17;
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t20 = t18+t19;
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t21 = t3.*t8;
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t22 = t6.*t8;
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t23 = t2.*t3.*t5.*(1.81e2./1.0e3);
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t24 = t22-t23;
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t25 = t11+t21-5.71e2./1.0e3;
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t26 = cos(q6);
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t27 = cos(q5);
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t28 = sin(q6);
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t29 = t2.*t10.*t16;
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t40 = t2.*t14.*t17;
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t30 = t29-t40;
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t31 = sin(q5);
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t32 = t31.*(8.7e1./5.0e2);
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t33 = t2.*t16.*t25;
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t50 = t2.*t17.*t24;
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t34 = t33-t50;
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t35 = t27.*t34;
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t36 = t32+t35;
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t37 = t2.*t16.*t24;
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t38 = t2.*t17.*t25;
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t39 = t37+t38+3.0./2.5e1;
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t41 = t2.*t3.*t4.*(1.81e2./1.0e3);
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t42 = t11+t41;
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t44 = t2.*t4.*t6.*(1.81e2./1.0e3);
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t43 = t23-t44;
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t45 = t2.*t16.*t42;
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t46 = t2.*t17.*t43;
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t47 = t45+t46;
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t48 = t2.*t16.*t43;
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t51 = t2.*t17.*t42;
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t49 = t48-t51;
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t52 = t27.*(8.7e1./5.0e2);
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t68 = t31.*t34;
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t53 = t52-t68;
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t54 = t30.*t31.*t53;
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t55 = t31.^2;
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t56 = t20.*t28;
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t72 = t26.*t27.*t30;
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t57 = t56-t72;
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t58 = t20.*t26;
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t59 = t27.*t28.*t30;
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t60 = t58+t59;
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t61 = t37+t38;
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t62 = t20.*t61;
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t63 = t11+t21;
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t64 = t27.^2;
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t65 = t2.*t17.*t63;
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t66 = t37+t65;
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t67 = t27.*t30.*t36;
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t69 = pi371.*t30;
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t70 = pi391.*t20;
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t71 = pi491.*t20;
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t73 = pi591.*t60;
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t74 = pi271.*t14;
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t77 = t2.*t16.*t63;
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t75 = t50-t77;
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t76 = t30.*t34;
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t78 = t28.*t30;
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t79 = t20.*t26.*t27;
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t80 = t78+t79;
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t81 = t26.*t30;
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t91 = t20.*t27.*t28;
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t82 = t81-t91;
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t83 = t28.*t36;
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t84 = t26.*t39;
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t85 = t83+t84;
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t86 = t26.*t36;
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t92 = t28.*t39;
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t87 = t86-t92;
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t88 = t57.*t87;
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t89 = t20.*t55.*t66;
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t90 = pi471.*t27.*t30;
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t93 = t20.*t55.*t61;
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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];
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