742 lines
34 KiB
Matlab
742 lines
34 KiB
Matlab
function Y_l = load_regressor_UR10E(in1,in2,in3)
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%LOAD_REGRESSOR_UR10E
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% Y_L = LOAD_REGRESSOR_UR10E(IN1,IN2,IN3)
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% This function was generated by the Symbolic Math Toolbox version 8.2.
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% 20-Oct-2021 07:53:37
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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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q2d1 = in3(1,:);
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q2d2 = in3(2,:);
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q2d3 = in3(3,:);
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q2d4 = in3(4,:);
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q2d5 = in3(5,:);
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q2d6 = in3(6,:);
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qd1 = in2(1,:);
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qd2 = in2(2,:);
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qd3 = in2(3,:);
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qd4 = in2(4,:);
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qd5 = in2(5,:);
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qd6 = in2(6,:);
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t2 = sin(1.57079632679);
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t3 = cos(q2);
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t4 = sin(q3);
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t5 = cos(q3);
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t6 = sin(q2);
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t7 = sin(q5);
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t8 = cos(q4);
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t9 = sin(q4);
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t10 = t2.^2;
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t11 = qd1.*t2.*t3.*t5;
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t24 = qd1.*t2.*t4.*t6;
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t12 = t11-t24;
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t13 = qd1.*t2.*t3.*t4;
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t14 = qd1.*t2.*t5.*t6;
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t15 = t13+t14;
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t16 = t2.*t3.*t4;
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t17 = t2.*t5.*t6;
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t18 = t16+t17;
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t19 = t2.*t3.*t5;
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t21 = t2.*t4.*t6;
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t20 = t19-t21;
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t22 = t2.*t9.*t18;
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t23 = t2.*t8.*t15;
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t25 = t2.*t9.*t12;
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t26 = t23+t25;
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t27 = cos(q5);
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t28 = qd2+qd3+qd4;
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t29 = t27.*t28;
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t41 = t7.*t26;
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t30 = qd6+t29-t41;
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t40 = t2.*t8.*t20;
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t31 = t22-t40;
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t32 = t7.*t10.*t30.*t31;
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t33 = t7.^2;
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t34 = t2.*t8.*t12;
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t42 = t2.*t9.*t15;
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t35 = t34-t42;
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t36 = t2.*t8.*t18;
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t37 = t2.*t9.*t20;
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t38 = t36+t37;
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t39 = t10.*t33.*t35.*t38;
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t43 = sin(q6);
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t44 = cos(q6);
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t45 = t26.*t27;
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t46 = t7.*t28;
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t47 = t45+t46;
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t48 = t38.*t43;
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t49 = t26.*t43;
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t62 = t27.*t35.*t44;
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t50 = t49-t62;
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t51 = t7.*t10.*t38.*t50;
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t52 = qd5-t34+t42;
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t53 = t44.*t47;
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t63 = t43.*t52;
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t54 = t53-t63;
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t55 = t7.*t10.*t31.*t54;
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t56 = t31.*t43;
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t64 = t27.*t38.*t44;
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t57 = t56-t64;
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t58 = t7.*t10.*t35.*t57;
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t59 = t27.*t31.*t44;
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t60 = t48+t59;
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t65 = t10.*t30.*t60;
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t61 = t51+t55+t58-t65;
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t66 = t10.*t27.*t57;
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t67 = t10.*t33.*t38.*t44;
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t68 = t31.*t44;
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t69 = t27.*t38.*t43;
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t70 = t68+t69;
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t71 = t2.*t27.*t70;
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t72 = t44.*t52;
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t73 = t43.*t47;
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t74 = t72+t73;
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t75 = t29-t41;
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t76 = t38.*t44;
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t84 = t27.*t31.*t43;
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t77 = t76-t84;
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t78 = t2.*t30.*t77;
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t79 = t26.*t44;
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t80 = t27.*t35.*t43;
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t81 = t79+t80;
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t82 = t2.*t7.*t74.*(t22-t40);
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t85 = t2.*t7.*t38.*t81;
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t86 = t2.*t7.*t35.*t70;
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t83 = t78+t82-t85-t86;
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t87 = t10.*t50.*t57;
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t88 = t27.*t44.*(t22-t40);
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t89 = t48+t88;
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t90 = t56-t64;
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t91 = t2.*t7.*t43.*t57;
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t93 = t2.*t7.*t44.*t70;
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t92 = t91-t93;
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t94 = t2.*t57.*t81;
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t95 = t2.*t50.*t70;
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t96 = t2.*t74.*t89;
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t97 = t74.*t77;
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t98 = t81.*(t68+t69);
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t99 = t97+t98;
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t100 = t68+t69;
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t101 = t2.*t3.*t5.*(3.9e1./1.0e3);
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t109 = t2.*t4.*t6.*(3.9e1./1.0e3);
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t102 = t101-t109;
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t103 = t2.*t3.*t4.*(3.9e1./1.0e3);
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t104 = t2.*t5.*t6.*(3.9e1./1.0e3);
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t105 = t103+t104;
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t106 = t2.*t8.*t18.*(2.7e1./2.0e2);
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t107 = t2.*t8.*t105;
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t108 = t2.*t9.*t20.*(2.7e1./2.0e2);
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t110 = t2.*t9.*t102;
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t111 = t106+t107+t108+t110;
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t112 = t2.*t9.*t18.*(2.7e1./2.0e2);
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t113 = t2.*t9.*t105;
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t120 = t2.*t8.*t20.*(2.7e1./2.0e2);
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t121 = t2.*t8.*t102;
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t114 = t112+t113-t120-t121;
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t115 = t27.*t114;
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t116 = t2.*t3.*(6.13e2./1.0e3);
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t117 = t2.*t3.*t5.*(5.71e2./1.0e3);
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t122 = t2.*t4.*t6.*(5.71e2./1.0e3);
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t118 = t116+t117-t122;
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t119 = t7.*t38.*(3.0./2.5e1);
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t123 = t7.*t114;
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t124 = t27.*t118;
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t244 = t27.*t38.*(3.0./2.5e1);
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t125 = t123+t124-t244;
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t126 = qd2.*(6.13e2./1.0e3);
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t127 = qd1.*t2.*t6.*(3.9e1./1.0e3);
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t128 = t126+t127;
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t129 = qd1.*t2.*t3.*(6.13e2./1.0e3);
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t130 = qd1.*t2.*t3.*t5.*(5.71e2./1.0e3);
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t155 = qd1.*t2.*t4.*t6.*(5.71e2./1.0e3);
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t131 = t129+t130-t155;
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t132 = t4.*t128;
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t154 = qd1.*t2.*t3.*t5.*(3.9e1./1.0e3);
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t133 = t132-t154;
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t134 = t2.*t8.*t133;
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t135 = t2.*t9.*t15.*(2.7e1./2.0e2);
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t136 = qd2.*(5.71e2./1.0e3);
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t137 = qd3.*(5.71e2./1.0e3);
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t138 = t5.*t128;
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t139 = qd1.*t2.*t3.*t4.*(3.9e1./1.0e3);
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t140 = t136+t137+t138+t139;
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t141 = t2.*t9.*t140;
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t156 = t2.*t8.*t12.*(2.7e1./2.0e2);
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t142 = t134+t135+t141-t156;
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t143 = t26.*t27.*(3.0./2.5e1);
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t144 = t7.*t28.*(3.0./2.5e1);
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t149 = t7.*t118;
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t145 = t115+t119-t149;
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t146 = t43.*t145;
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t147 = t31.*t43.*(1.17e2./1.0e3);
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t148 = t43.*t111;
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t150 = t44.*(t22-t40).*(1.17e2./1.0e3);
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t151 = t27.*t38.*t43.*(1.17e2./1.0e3);
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t152 = t44.*t145;
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t153 = t148+t150+t151+t152;
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t157 = t2.*t8.*t15.*(2.7e1./2.0e2);
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t158 = t2.*t9.*t12.*(2.7e1./2.0e2);
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t159 = t2.*t8.*t140;
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t192 = t2.*t9.*t133;
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t160 = t157+t158+t159-t192;
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t161 = t27.*t142;
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t162 = t7.*t26.*(3.0./2.5e1);
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t249 = t27.*t131;
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t250 = t7.*t142;
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t163 = t143+t144-t249-t250;
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t201 = t44.*t111;
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t202 = t27.*t38.*t44.*(1.17e2./1.0e3);
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t164 = t146+t147-t201-t202;
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t194 = t7.*t131;
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t195 = t27.*t28.*(3.0./2.5e1);
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t165 = t161+t162-t194-t195;
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t166 = t27.*t111;
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t167 = t2.*t6.*(6.13e2./1.0e3);
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t168 = t2.*t3.*t4.*(5.71e2./1.0e3);
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t169 = t2.*t5.*t6.*(5.71e2./1.0e3);
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t170 = t167+t168+t169;
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t171 = t7.*t170;
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t215 = t7.*t31.*(3.0./2.5e1);
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t172 = t166+t171-t215;
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t183 = qd1.*t2.*t4.*t6.*(3.9e1./1.0e3);
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t173 = t154-t183;
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t174 = qd1.*t2.*t5.*t6.*(3.9e1./1.0e3);
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t175 = t139+t174;
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t176 = qd1.*t2.*t6.*(6.13e2./1.0e3);
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t177 = qd1.*t2.*t3.*t4.*(5.71e2./1.0e3);
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t178 = qd1.*t2.*t5.*t6.*(5.71e2./1.0e3);
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t179 = t176+t177+t178;
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t180 = t7.*t179;
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t181 = t7.*t35.*(3.0./2.5e1);
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t182 = t2.*t8.*t175;
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t184 = t2.*t9.*t173;
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t185 = t157+t158+t182+t184;
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t186 = t27.*t185;
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t187 = t180+t181+t186;
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t188 = t2.*t9.*t175;
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t284 = t2.*t8.*t173;
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t189 = t135-t156+t188-t284;
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t190 = t44.*t52.*(1.17e2./1.0e3);
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t191 = t43.*t47.*(1.17e2./1.0e3);
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t193 = t43.*t160;
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t196 = t44.*t165;
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t197 = t190+t191+t193+t196;
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t198 = t44.*t47.*(1.17e2./1.0e3);
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t199 = t44.*t160;
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t222 = t43.*t52.*(1.17e2./1.0e3);
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t223 = t43.*t165;
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t200 = t198+t199-t222-t223;
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t203 = t26.*t43.*(1.17e2./1.0e3);
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t204 = t138+t139;
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t205 = t177+t178;
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t206 = t7.*t205;
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t207 = t2.*t8.*t204;
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t208 = t157+t158-t192+t207;
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t209 = t27.*t208;
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t210 = t181+t206+t209;
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t211 = t26.*t44.*(1.17e2./1.0e3);
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t212 = t2.*t9.*t204;
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t213 = t134+t135-t156+t212;
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t214 = t27.*t35.*t43.*(1.17e2./1.0e3);
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t216 = t38.*t44.*(1.17e2./1.0e3);
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t217 = t168+t169;
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t218 = t7.*t217;
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t219 = t166-t215+t218;
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t220 = t38.*t43.*(1.17e2./1.0e3);
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t221 = t2.*t77.*t197;
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t224 = t2.*t81.*t153;
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t225 = t2.*t50.*t164;
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t226 = t5.*(6.13e2./1.0e3);
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t227 = t226+5.71e2./1.0e3;
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t228 = t2.*t4.*t9.*(6.13e2./1.0e3);
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t253 = t2.*t8.*t227;
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t229 = t228-t253;
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t230 = t27.*(3.0./2.5e1);
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t231 = t2.*t9.*t227;
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t232 = t2.*t4.*t8.*(6.13e2./1.0e3);
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t233 = t231+t232;
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t254 = t27.*t233;
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t234 = t230-t254;
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t235 = t44.*t114;
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t236 = t166-t215;
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t237 = t27.*t31.*t44.*(1.17e2./1.0e3);
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t238 = t27.*t160;
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t239 = t181+t238;
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t240 = t7.*t44.*(1.17e2./1.0e3);
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t245 = t2.*t9.*t27.*(5.71e2./1.0e3);
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t241 = t230-t245;
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t242 = t2.*t7.*t44.*t164;
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t243 = t7.*t43.*(1.17e2./1.0e3);
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t246 = t43.*t241;
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t247 = t2.*t8.*t44.*(5.71e2./1.0e3);
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t248 = t240+t246+t247;
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t251 = t2.*t27.*t164;
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t252 = t7.*(3.0./2.5e1);
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t255 = t43.*t234;
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t327 = t44.*t229;
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t256 = t240+t255-t327;
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t257 = t2.*t7.*t43.*t125;
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t258 = t43.*t219;
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t259 = t44.*(t112+t113-t120-t121);
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t260 = t27.*t44.*(t22-t40).*(1.17e2./1.0e3);
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t261 = t220+t258+t259+t260;
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t262 = t43.*t210;
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t263 = t44.*t213;
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t278 = t27.*t35.*t44.*(1.17e2./1.0e3);
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t264 = t203+t262+t263-t278;
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t265 = t27.*t43.*(3.0./2.5e1);
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t266 = t240+t265;
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t267 = t43.*t125;
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t343 = t7.*t38.*t44.*(1.17e2./1.0e3);
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t268 = t267-t343;
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t269 = t44.*t75.*(1.17e2./1.0e3);
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t358 = t43.*t163;
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t270 = t269-t358;
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t271 = t27.*t35.*(3.0./2.5e1);
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t272 = t7.*t111;
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t273 = t27.*t31.*(3.0./2.5e1);
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t274 = t43.*t236;
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t275 = t220+t235+t237+t274;
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t276 = t44.*t142;
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t277 = t43.*t239;
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t279 = t2.*t77.*t163;
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t280 = t43.*t172;
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t281 = t2.*t7.*t31.*t200;
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t282 = t2.*t7.*t35.*t164;
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t283 = t43.*t187;
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t285 = t44.*t189;
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t286 = t27.*t205;
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t335 = t7.*t208;
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t287 = t271+t286-t335;
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t336 = t27.*t217;
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t288 = t272+t273-t336;
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t289 = t44.*t219;
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t311 = t43.*t114;
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t313 = t27.*t31.*t43.*(1.17e2./1.0e3);
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t290 = t216+t289-t311-t313;
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t291 = t44.*t210;
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t337 = t43.*t213;
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t292 = t211+t214+t291-t337;
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t331 = t2.*t7.*t9.*(5.71e2./1.0e3);
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t293 = t252-t331;
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t294 = t2.*t8.*t43.*(5.71e2./1.0e3);
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t332 = t44.*t241;
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t295 = t243+t294-t332;
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t296 = t44.*t125;
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t297 = t7.*t38.*t43.*(1.17e2./1.0e3);
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t298 = t296+t297;
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t299 = t43.*t75.*(1.17e2./1.0e3);
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t300 = t44.*t163;
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t301 = t299+t300;
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t302 = t10.*t27.*t153;
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t328 = t7.*t233;
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t303 = t252-t328;
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t304 = t7.*t10.*t44.*t125;
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t305 = t43.*t229;
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t306 = t44.*t234;
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t307 = t44.*(t115+t119-t149);
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t308 = t148+t150+t151+t307;
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t330 = t27.*t44.*(3.0./2.5e1);
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t309 = t243-t330;
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t310 = t272+t273;
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t312 = t44.*t236;
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t346 = t7.*t160;
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t314 = t271-t346;
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t315 = t10.*t89.*t163;
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t316 = t44.*t239;
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t345 = t43.*t142;
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t317 = t211+t214+t316-t345;
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t318 = t7.*t10.*t31.*t197;
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t319 = t27.*t179;
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t340 = t7.*t185;
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t320 = t271+t319-t340;
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t339 = t27.*t170;
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t321 = t272+t273-t339;
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t322 = t44.*t172;
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t323 = t44.*t187;
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t341 = t43.*t189;
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t324 = t211+t214+t323-t341;
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t325 = t146+t147-t201-t202;
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t326 = t123+t124-t244;
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t329 = -t243+t305+t306;
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t333 = t44.*(t161+t162-t194-t195);
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t334 = t190+t191+t193+t333;
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t338 = t220+t235+t237+t280;
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t342 = t216-t311-t313+t322;
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t344 = t203+t276+t277-t278;
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t347 = t216-t311+t312-t313;
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t348 = t27.^2;
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t349 = t10.*t27.*t50;
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t350 = t10.*t33.*t35.*t44;
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t351 = t349+t350;
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t352 = t2.*t27.*t81;
|
|
t354 = t2.*t33.*t35.*t43;
|
|
t353 = t352-t354;
|
|
t355 = t44.^2;
|
|
t356 = t2.*t7.*t43.*t50;
|
|
t357 = t43.^2;
|
|
t359 = t44.*(t135-t156+t188-t284);
|
|
t360 = t203-t278+t283+t359;
|
|
t361 = t2.*t50.*t256;
|
|
t362 = t2.*t81.*t329;
|
|
t363 = t2.*t5.*t9.*(6.13e2./1.0e3);
|
|
t364 = t232+t363;
|
|
t385 = t2.*t5.*t8.*(6.13e2./1.0e3);
|
|
t365 = t228-t385;
|
|
t366 = t2.*t57.*t256;
|
|
t367 = t2.*t7.*t44.*t256;
|
|
t368 = t2.*t7.*t38.*t256;
|
|
t369 = t251+t257+t368-t2.*t70.*t303;
|
|
t370 = t2.*t27.*t256;
|
|
t371 = t2.*t7.*t43.*t303;
|
|
t372 = t44.*t233;
|
|
t412 = t27.*t43.*t229;
|
|
t373 = t372-t412;
|
|
t374 = t2.*t81.*t303;
|
|
t375 = t2.*t3.*t4.*(9.81e2./1.0e2);
|
|
t376 = t2.*t5.*t6.*(9.81e2./1.0e2);
|
|
t377 = t375+t376;
|
|
t378 = t2.*t3.*t5.*(9.81e2./1.0e2);
|
|
t380 = t2.*t4.*t6.*(9.81e2./1.0e2);
|
|
t379 = t378-t380;
|
|
t381 = t2.*t9.*t377;
|
|
t382 = t27.*t44.*(1.17e2./1.0e3);
|
|
t426 = t43.*t303;
|
|
t383 = t382-t426;
|
|
t384 = t44.*t364;
|
|
t405 = t27.*t43.*t365;
|
|
t386 = t384-t405;
|
|
t387 = t43.*t364;
|
|
t388 = t27.*t43.*(1.17e2./1.0e3);
|
|
t389 = t44.*t303;
|
|
t390 = t388+t389;
|
|
t391 = t10.*t50.*t303;
|
|
t392 = t43.*t233;
|
|
t393 = t27.*t44.*t229;
|
|
t394 = t392+t393;
|
|
t395 = t7.*t10.*t35.*t329;
|
|
t396 = t10.*t27.*t308;
|
|
t397 = t10.*t57.*t303;
|
|
t398 = t7.*t10.*t38.*t329;
|
|
t399 = t7.*t10.*t44.*t303;
|
|
t400 = t2.*t8.*t377;
|
|
t401 = t2.*t9.*t379;
|
|
t402 = t400+t401;
|
|
t421 = t2.*t8.*t379;
|
|
t403 = t381-t421;
|
|
t404 = -t243+t305+t306;
|
|
t406 = t27.*t44.*(t228-t385);
|
|
t407 = t387+t406;
|
|
t408 = t164.*t256;
|
|
t409 = t10.*t125.*t303;
|
|
t410 = t10.*t308.*t329;
|
|
t411 = t408+t409+t410;
|
|
t413 = t2.*t6.*(1.81e2./1.0e3);
|
|
t414 = t413-6.13e2./1.0e3;
|
|
t415 = t4.*t414;
|
|
t422 = t2.*t3.*t5.*(1.81e2./1.0e3);
|
|
t416 = t415-t422;
|
|
t417 = t5.*t414;
|
|
t418 = t2.*t3.*t4.*(1.81e2./1.0e3);
|
|
t419 = t417+t418-5.71e2./1.0e3;
|
|
t420 = t44.*t402;
|
|
t438 = t2.*t4.*t6.*(1.81e2./1.0e3);
|
|
t423 = t422-t438;
|
|
t424 = t2.*t5.*t6.*(1.81e2./1.0e3);
|
|
t425 = t418+t424;
|
|
t427 = t7.*(8.7e1./5.0e2);
|
|
t428 = t2.*t9.*t416;
|
|
t443 = t2.*t8.*t419;
|
|
t429 = t428-t443;
|
|
t580 = t27.*t429;
|
|
t430 = t427-t580;
|
|
t431 = t2.*t8.*t416;
|
|
t432 = t2.*t9.*t419;
|
|
t433 = t431+t432+3.0./2.5e1;
|
|
t434 = t43.*t402;
|
|
t435 = t27.*t44.*t403;
|
|
t436 = t434+t435;
|
|
t437 = t2.*t8.*t425;
|
|
t439 = t2.*t9.*t423;
|
|
t440 = t437+t439;
|
|
t441 = t2.*t8.*t423;
|
|
t444 = t2.*t9.*t425;
|
|
t442 = t441-t444;
|
|
t445 = t7.*t10.*t30;
|
|
t446 = t10.*t27.*t47;
|
|
t447 = t445+t446;
|
|
t448 = q2d6.*t10.*t27;
|
|
t449 = q2d2.*t10.*t348;
|
|
t450 = q2d3.*t10.*t348;
|
|
t451 = q2d4.*t10.*t348;
|
|
t452 = t7.*t10.*t30.*t35;
|
|
t607 = qd5.*t447;
|
|
t608 = qd2.*t7.*t10.*t27.*t35;
|
|
t609 = qd3.*t7.*t10.*t27.*t35;
|
|
t610 = qd4.*t7.*t10.*t27.*t35;
|
|
t611 = q2d1.*t7.*t10.*t27.*t38;
|
|
t453 = t448+t449+t450+t451+t452-t607-t608-t609-t610-t611;
|
|
t454 = qd2.*t351;
|
|
t455 = qd3.*t351;
|
|
t456 = qd4.*t351;
|
|
t457 = t7.*t10.*t54;
|
|
t458 = t7.*t10.*t44.*t47;
|
|
t612 = t10.*t27.*t30.*t44;
|
|
t613 = t10.*t27.*t44.*(t29-t41);
|
|
t459 = qd5.*(t457+t458-t612-t613);
|
|
t460 = q2d1.*(t66+t67);
|
|
t461 = t10.*t27.*t74;
|
|
t462 = t7.*t10.*t30.*t43;
|
|
t463 = t461+t462;
|
|
t464 = qd6.*t463;
|
|
t465 = q2d5.*t10.*t27.*t43;
|
|
t614 = t10.*t30.*t50;
|
|
t615 = t7.*t10.*t35.*t54;
|
|
t616 = q2d6.*t7.*t10.*t44;
|
|
t617 = q2d2.*t7.*t10.*t27.*t44.*2.0;
|
|
t618 = q2d3.*t7.*t10.*t27.*t44.*2.0;
|
|
t619 = q2d4.*t7.*t10.*t27.*t44.*2.0;
|
|
t466 = t454+t455+t456+t459+t460+t464+t465-t614-t615-t616-t617-t618-t619;
|
|
t467 = t2.*t7.*t74;
|
|
t468 = t2.*t7.*t43.*t47;
|
|
t620 = t2.*t27.*t43.*t75;
|
|
t621 = t2.*t27.*t30.*t43;
|
|
t469 = t467+t468-t620-t621;
|
|
t623 = t2.*t33.*t38.*t43;
|
|
t470 = q2d1.*(t71-t623);
|
|
t471 = t2.*t27.*t54;
|
|
t472 = t2.*t7.*t30.*t44;
|
|
t473 = qd6.*(t471+t472);
|
|
t474 = qd2.*t353;
|
|
t475 = qd3.*t353;
|
|
t476 = qd4.*t353;
|
|
t477 = t2.*t7.*t35.*t74;
|
|
t478 = q2d5.*t2.*t27.*t44;
|
|
t479 = q2d6.*t2.*t7.*t43;
|
|
t480 = q2d2.*t2.*t7.*t27.*t43.*2.0;
|
|
t481 = q2d3.*t2.*t7.*t27.*t43.*2.0;
|
|
t482 = q2d4.*t2.*t7.*t27.*t43.*2.0;
|
|
t622 = qd5.*t469;
|
|
t624 = t2.*t30.*t81;
|
|
t483 = t470+t473+t474+t475+t476+t477+t478+t479+t480+t481+t482-t622-t624;
|
|
t484 = t7.*t10.*t44.*t74;
|
|
t485 = t7.*t10.*t43.*t54;
|
|
t486 = t484+t485;
|
|
t487 = t7.*t10.*t75.*t355;
|
|
t488 = t10.*t27.*t44.*t54;
|
|
t489 = qd5.*(t487+t488);
|
|
t490 = t10.*t50.*(t53-t63);
|
|
t491 = q2d2.*t10.*t33.*t355;
|
|
t492 = q2d3.*t10.*t33.*t355;
|
|
t493 = q2d4.*t10.*t33.*t355;
|
|
t625 = qd6.*t486;
|
|
t626 = q2d5.*t7.*t10.*t43.*t44;
|
|
t627 = q2d1.*t7.*t10.*t44.*t57;
|
|
t628 = qd2.*t7.*t10.*t44.*t50;
|
|
t629 = qd3.*t7.*t10.*t44.*t50;
|
|
t630 = qd4.*t7.*t10.*t44.*t50;
|
|
t494 = t489+t490+t491+t492+t493-t625-t626-t627-t628-t629-t630;
|
|
t495 = q2d1.*t92;
|
|
t497 = t2.*t7.*t44.*t81;
|
|
t496 = qd2.*(t356-t497);
|
|
t498 = t2.*t7.*t44.*t54.*2.0;
|
|
t633 = t2.*t7.*t43.*t74.*2.0;
|
|
t499 = t498-t633;
|
|
t500 = t2.*t27.*t44.*t74;
|
|
t501 = t2.*t27.*t43.*t54;
|
|
t502 = t2.*t7.*t43.*t44.*t75.*2.0;
|
|
t503 = t500+t501+t502;
|
|
t504 = t2.*t7.*t355;
|
|
t634 = t2.*t7.*t357;
|
|
t505 = t504-t634;
|
|
t506 = t2.*t81.*(t53-t63);
|
|
t507 = t7.*t75.*t357;
|
|
t508 = t27.*t43.*t74;
|
|
t509 = qd5.*(t507+t508);
|
|
t510 = t7.*t44.*t74;
|
|
t511 = t7.*t43.*(t53-t63);
|
|
t512 = t510+t511;
|
|
t513 = qd6.*t512;
|
|
t514 = q2d2.*t33.*t357;
|
|
t515 = q2d3.*t33.*t357;
|
|
t516 = q2d4.*t33.*t357;
|
|
t517 = qd2.*t7.*t43.*t81;
|
|
t518 = qd3.*t7.*t43.*t81;
|
|
t519 = qd4.*t7.*t43.*t81;
|
|
t520 = q2d5.*t7.*t43.*t44;
|
|
t521 = q2d1.*t7.*t43.*(t68+t69);
|
|
t636 = t74.*t81;
|
|
t522 = t509+t513+t514+t515+t516+t517+t518+t519+t520+t521-t636;
|
|
t523 = t2.*t7.*t43.*(t243-t330);
|
|
t524 = t2.*t7.*t44.*t248;
|
|
t525 = t2.*t7.*t43.*t295;
|
|
t526 = t2.*t7.*t44.*t266;
|
|
t527 = t2.*t7.*t44.*t264;
|
|
t528 = t2.*t50.*t248;
|
|
t529 = t2.*t7.*t44.*t360;
|
|
t530 = t2.*t7.*t44.*t344;
|
|
t639 = t2.*t7.*t43.*t329;
|
|
t531 = t367+t524+t525-t639;
|
|
t532 = t2.*t57.*t248;
|
|
t533 = t2.*t27.*t44.*t200;
|
|
t534 = t2.*t27.*t43.*t334;
|
|
t535 = t2.*t7.*t44.*t270;
|
|
t536 = t2.*t7.*t43.*t301;
|
|
t537 = t2.*t50.*t200;
|
|
t538 = t2.*t27.*t266;
|
|
t539 = t2.*t27.*t248;
|
|
t540 = t2.*t33.*t43.*(3.0./2.5e1);
|
|
t541 = t2.*t7.*t43.*t293;
|
|
t542 = t2.*t7.*t38.*t248;
|
|
t543 = t251+t257+t542-t2.*t70.*t293;
|
|
t544 = t2.*t27.*t43.*(1.17e2./1.0e3);
|
|
t545 = t2.*t9.*t44.*(5.71e2./1.0e3);
|
|
t546 = t2.*t8.*t27.*t43.*(5.71e2./1.0e3);
|
|
t547 = t545+t546;
|
|
t548 = t2.*t7.*t43.*t314;
|
|
t593 = t43.*t293;
|
|
t549 = t382-t593;
|
|
t550 = t2.*t27.*t270;
|
|
t551 = t2.*t27.*t43.*t163;
|
|
t552 = t2.*t7.*t43.*t287;
|
|
t553 = t2.*t7.*t35.*t248;
|
|
t554 = t2.*t7.*t44.*t163;
|
|
t555 = t370+t371+t539+t541;
|
|
t556 = t2.*t81.*t293;
|
|
t557 = t2.*t7.*t43.*t320;
|
|
t558 = t2.*t7.*t35.*t200;
|
|
t559 = t2.*t9.*t43.*(5.71e2./1.0e3);
|
|
t592 = t2.*t8.*t27.*t44.*(5.71e2./1.0e3);
|
|
t560 = t559-t592;
|
|
t561 = t10.*t27.*t317;
|
|
t562 = t44.*t293;
|
|
t563 = t388+t562;
|
|
t564 = t7.*t10.*t334;
|
|
t565 = t10.*t27.*t324;
|
|
t566 = t10.*t50.*t293;
|
|
t567 = t10.*t33.*t44.*(3.0./2.5e1);
|
|
t568 = t7.*t10.*t44.*t293;
|
|
t569 = t10.*t57.*t293;
|
|
t570 = t10.*t27.*t292;
|
|
t571 = t10.*t27.*t200;
|
|
t572 = t7.*t10.*t43.*t163;
|
|
t573 = t10.*t27.*t329;
|
|
t574 = t10.*t27.*t44.*(1.17e2./1.0e3);
|
|
t575 = t10.*t50.*(t143+t144-t249-t250);
|
|
t576 = t417+t418;
|
|
t577 = t44.*t403;
|
|
t578 = t27.*t43.*t402;
|
|
t579 = t577+t578;
|
|
t581 = t43.*t430;
|
|
t582 = t44.*t433;
|
|
t583 = t581+t582;
|
|
t660 = t27.*t43.*t403;
|
|
t584 = t420-t660;
|
|
t585 = t583.*t584;
|
|
t586 = t248.*t256;
|
|
t587 = t10.*t293.*t303;
|
|
t588 = t586+t587-t10.*t295.*t329;
|
|
t589 = t164.*t248;
|
|
t590 = t10.*t125.*t293;
|
|
t591 = t589+t590-t10.*t295.*t308;
|
|
t594 = t428-t2.*t8.*t576;
|
|
t595 = t2.*t9.*t576;
|
|
t596 = t431+t595;
|
|
t597 = t43.*t403;
|
|
t674 = t27.*t44.*t402;
|
|
t598 = t597-t674;
|
|
t599 = t44.*t430;
|
|
t675 = t43.*t433;
|
|
t600 = t599-t675;
|
|
t601 = t27.*t44.*(t381-t421);
|
|
t602 = t434+t601;
|
|
t603 = t27.*(8.7e1./5.0e2);
|
|
t604 = t7.*(t428-t443);
|
|
t605 = t603+t604+1.17e2./1.0e3;
|
|
t606 = t7.*t10.*t605.*(t381-t421);
|
|
t631 = qd3.*(t356-t497);
|
|
t632 = qd4.*(t356-t497);
|
|
t635 = t495+t496+t506+t631+t632-q2d5.*t505-qd6.*t499-qd5.*t503-t2.*t50.*t74-q2d2.*t2.*t33.*t43.*t44.*2.0-q2d3.*t2.*t33.*t43.*t44.*2.0-q2d4.*t2.*t33.*t43.*t44.*2.0;
|
|
t637 = t523+t524+t525+t526;
|
|
t638 = t2.*t50.*t266;
|
|
t640 = t2.*t57.*t266;
|
|
t641 = t2.*t7.*(t381-t421);
|
|
t642 = t538+t539+t540+t541;
|
|
t643 = t2.*t27.*t344;
|
|
t644 = t370+t371+t538+t540;
|
|
t661 = t7.*t43.*(3.0./2.5e1);
|
|
t645 = t382-t661;
|
|
t646 = t2.*t27.*t360;
|
|
t647 = t2.*t7.*t81.*(3.0./2.5e1);
|
|
t648 = t2.*t7.*t38.*t266;
|
|
t649 = t251+t257+t648-t2.*t7.*t70.*(3.0./2.5e1);
|
|
t650 = t2.*t602;
|
|
t651 = t7.*t44.*(3.0./2.5e1);
|
|
t652 = t388+t651;
|
|
t653 = t10.*t27.*t44.*t163;
|
|
t657 = t10.*t27.*t309;
|
|
t654 = t567+t568-t657-t10.*t27.*t295;
|
|
t655 = t7.*t10.*t50.*(3.0./2.5e1);
|
|
t656 = t10.*t27.*(-t243+t305+t306);
|
|
t658 = t7.*t10.*t57.*(3.0./2.5e1);
|
|
t659 = t304+t396+t658-t7.*t10.*t38.*t309;
|
|
t662 = t243-t330;
|
|
t663 = t256.*t266;
|
|
t664 = t7.*t10.*t303.*(3.0./2.5e1);
|
|
t665 = t663+t664-t10.*t309.*t329;
|
|
t666 = t164.*t266;
|
|
t667 = t7.*t10.*t125.*(3.0./2.5e1);
|
|
t668 = t666+t667-t10.*t308.*t309;
|
|
t669 = t248.*t266;
|
|
t670 = t10.*t295.*(t243-t330);
|
|
t671 = t7.*t10.*t293.*(3.0./2.5e1);
|
|
t672 = t669+t670+t671;
|
|
t673 = t431+t432;
|
|
t676 = t2.*t44.*t57;
|
|
t677 = t2.*t43.*t70;
|
|
t678 = t2.*t44.*t50;
|
|
t679 = t2.*t43.*t81;
|
|
t680 = t678+t679;
|
|
t681 = t2.*t43.*t256;
|
|
t682 = t2.*t44.*t329;
|
|
t683 = t681+t682;
|
|
t684 = t2.*t43.*t248;
|
|
t685 = t684-t2.*t44.*t295;
|
|
t686 = t2.*t43.*t266;
|
|
t687 = t686-t2.*t44.*t309;
|
|
t688 = t2.*t43.*t164;
|
|
t689 = t2.*t44.*t70.*(1.17e2./1.0e3);
|
|
t690 = t2.*t43.*t57.*(1.17e2./1.0e3);
|
|
t691 = t2.*t44.*t81.*(1.17e2./1.0e3);
|
|
t692 = t2.*t43.*t50.*(1.17e2./1.0e3);
|
|
t693 = t2.*t44.*t125;
|
|
t694 = t693-t2.*t7.*t38.*t43.*(1.17e2./1.0e3);
|
|
t695 = t544-t2.*t44.*t293;
|
|
t696 = t2.*t7.*t35.*t43.*(1.17e2./1.0e3);
|
|
t697 = t544-t2.*t44.*t303;
|
|
t698 = t544-t2.*t7.*t44.*(3.0./2.5e1);
|
|
t699 = t10.*t43.*t303;
|
|
t700 = t574+t699;
|
|
t701 = t7.*t10.*t43.*(3.0./2.5e1);
|
|
t702 = t574+t701;
|
|
t703 = t10.*t43.*t125;
|
|
t704 = t7.*t10.*t38.*t44.*(1.17e2./1.0e3);
|
|
t705 = t10.*t43.*t293;
|
|
t706 = t574+t705;
|
|
t707 = t43.*t256.*(1.17e2./1.0e3);
|
|
t708 = t10.*t44.*t329.*(1.17e2./1.0e3);
|
|
t709 = t707+t708;
|
|
t710 = t43.*t248.*(1.17e2./1.0e3);
|
|
t711 = t710-t10.*t44.*t295.*(1.17e2./1.0e3);
|
|
t712 = t43.*t266.*(1.17e2./1.0e3);
|
|
t713 = t712-t10.*t44.*t309.*(1.17e2./1.0e3);
|
|
t714 = t43.*t164.*(1.17e2./1.0e3);
|
|
t715 = t10.*t44.*t308.*(1.17e2./1.0e3);
|
|
t716 = t603+t604;
|
|
t717 = t53-t63;
|
|
Y_l = 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