181 lines
4.9 KiB
C
181 lines
4.9 KiB
C
/*
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* File: G_vctr_fcn.c
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*
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* MATLAB Coder version : 4.1
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* C/C++ source code generated on : 25-Mar-2020 16:43:47
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*/
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/* Include Files */
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#include <math.h>
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#include "G_vctr_fcn.h"
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/* Function Definitions */
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/*
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* G_VCTR_FCN
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* G_VCTR_SYM = G_VCTR_FCN(IN1,IN2)
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* Arguments : const double in1[6]
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* const double in2[60]
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* double G_vctr_sym[6]
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* Return Type : void
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*/
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void G_vctr_fcn(const double in1[6], const double in2[60], double G_vctr_sym[6])
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{
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double t3;
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double t4;
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double t5;
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double t6;
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double t7;
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double t37;
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double t10_tmp;
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double t10;
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double t24;
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double t11;
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double t14_tmp;
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double t14;
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double t16;
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double t17;
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double t20;
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double t22;
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double t25_tmp;
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double t26;
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double t27;
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double t28;
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double t30;
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double t31;
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double t34;
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double t36;
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double t39_tmp;
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double t42;
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double t43;
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double t47;
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double t49;
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double t53;
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double t54;
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double t57_tmp;
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double b_t57_tmp;
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double t57;
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double t60_tmp;
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double b_t60_tmp;
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double t62_tmp;
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double t64;
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double t66;
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double t67;
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double t75;
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double t76;
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double t80;
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double t82_tmp;
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double t82;
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double t85;
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double t87;
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double t89;
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double t90;
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double t93;
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double G_vctr_sym_tmp;
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double b_G_vctr_sym_tmp;
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double c_G_vctr_sym_tmp;
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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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t3 = cos(in1[2]);
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t4 = sin(in1[1]);
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t5 = cos(in1[1]);
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t6 = sin(in1[2]);
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t7 = t4 * 0.181;
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t37 = t3 * t5;
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t10_tmp = t4 * t6;
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t10 = t37 * 9.81 - t10_tmp * 9.81;
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t24 = t5 * t6;
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t11 = t24 * 0.181;
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t14_tmp = t3 * t4;
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t14 = t24 * 9.81 + t14_tmp * 9.81;
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t16 = cos(in1[3]);
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t17 = sin(in1[3]);
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t20 = t14 * t16 + t10 * t17;
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t22 = t6 * (t7 - 0.613);
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t6 = t37 * 0.181;
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t24 = t22 - t6;
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t25_tmp = t11 + t3 * (t7 - 0.613);
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t26 = cos(in1[5]);
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t27 = cos(in1[4]);
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t28 = sin(in1[5]);
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t30 = t10 * t16 - t14 * t17;
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t31 = sin(in1[4]);
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t7 = t17 * t24;
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t34 = t16 * (t25_tmp - 0.571) - t7;
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t36 = t31 * 0.174 + t27 * t34;
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t37 = t16 * t24;
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t39_tmp = t37 + t17 * (t25_tmp - 0.571);
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t42 = t11 + t14_tmp * 0.181;
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t43 = t6 - t10_tmp * 0.181;
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t47 = t16 * t42 + t17 * t43;
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t49 = t16 * t43 - t17 * t42;
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t53 = t27 * 0.174 - t31 * t34;
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t54 = t30 * t31 * t53;
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t24 = t31 * t31;
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t57_tmp = t26 * t27;
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b_t57_tmp = t20 * t28;
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t57 = b_t57_tmp - t57_tmp * t30;
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t60_tmp = t20 * t26;
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b_t60_tmp = t27 * t28;
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t11 = t60_tmp + b_t60_tmp * t30;
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t62_tmp = t20 * t39_tmp;
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t64 = t27 * t27;
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t66 = t37 + t17 * t25_tmp;
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t67 = t27 * t30 * t36;
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t75 = t7 - t16 * t25_tmp;
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t76 = t30 * t34;
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t80 = t28 * t30 + t60_tmp * t27;
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t82_tmp = t20 * t27;
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t82 = t26 * t30 - t82_tmp * t28;
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t85 = t28 * t36 + t26 * (t39_tmp + 0.12);
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t87 = t26 * t36 - t28 * (t39_tmp + 0.12);
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t6 = t20 * t24;
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t89 = t6 * t66;
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t90 = in2[46] * t27 * t30;
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t93 = t6 * t39_tmp;
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G_vctr_sym[0] = 0.0;
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G_vctr_sym_tmp = t20 * t49;
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b_G_vctr_sym_tmp = t30 * t47;
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t17 = G_vctr_sym_tmp * t24;
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t16 = t54 + t57 * t87;
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c_G_vctr_sym_tmp = t11 * t85;
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t14_tmp = ((in2[36] * t30 + in2[38] * t20) + in2[48] * t20) + in2[58] * t11;
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t10_tmp = (t14_tmp + in2[26] * t14) + t90;
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t37 = in2[28] * t10;
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t6 = in2[56] * t57;
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t7 = t62_tmp + t76;
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t24 = in2[47] * t30 * t31;
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t11 = in2[57] * t30 * t31;
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G_vctr_sym[1] = (((((((((t10_tmp - t37) - t6) + in2[29] * (((-t10 * t42 + t14 *
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t43) + t10 * t25_tmp) + t14 * (t22 - t3 * t5 * 0.181))) - in2[59] * ((((t16
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+ t80 * (t28 * t47 - t57_tmp * t49)) + t82 * (t26 * t47 + b_t60_tmp * t49))
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- c_G_vctr_sym_tmp) - t17)) + in2[39] * ((t7 + G_vctr_sym_tmp) -
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b_G_vctr_sym_tmp)) + in2[49] * (((((-t54 + t62_tmp) + t67) -
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b_G_vctr_sym_tmp) + t17) + G_vctr_sym_tmp * t64)) + in2[16] * t4 * 9.81) -
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in2[18] * t5 * 9.81) - t24) - t11;
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G_vctr_sym_tmp = t30 * t75;
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b_G_vctr_sym_tmp = (t54 - t62_tmp) - t67;
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G_vctr_sym[2] = ((((((t10_tmp - in2[59] * ((((t16 + t89) - t80 * (t28 * t75 -
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t57_tmp * t66)) - t82 * (t26 * t75 + b_t60_tmp * t66)) - c_G_vctr_sym_tmp))
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- t37) - t6) + in2[39] * ((t7 - t20 * t66) +
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G_vctr_sym_tmp)) - in2[49] * (((b_G_vctr_sym_tmp + t89) - G_vctr_sym_tmp) +
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t20 * t64 * t66)) - t24) - t11;
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G_vctr_sym[3] = (((((t14_tmp + t90) - in2[59] * ((((t16 + t93) + t80 * (t28 *
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t34 + t57_tmp * t39_tmp)) + t82 * (t26 * t34 - b_t60_tmp * t39_tmp)) -
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c_G_vctr_sym_tmp)) - t6) - in2[49] * (((b_G_vctr_sym_tmp + t76) + t93) +
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t62_tmp * t64)) - t24) - t11;
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G_vctr_sym[4] = ((((-in2[59] * (((((-t20 * t31 * t36 + t82_tmp * t53) - t26 *
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t53 * t80) + t28 * t53 * t82) + t60_tmp * t31 * t87) + b_t57_tmp * t31 * t85)
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- in2[46] * t20 * t31) - in2[47] * t20 * t27) - in2[57] *
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t20 * t27) - in2[56] * t20 * t26 * t31) - in2[58] * t20 *
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t28 * t31;
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G_vctr_sym[5] = in2[56] * t82 + in2[58] * t80;
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}
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/*
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* File trailer for G_vctr_fcn.c
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*
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* [EOF]
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*/
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