function out1 = base_regressor_Two_bar(in1,in2,in3)
%base_regressor_Two_bar
%    OUT1 = base_regressor_Two_bar(IN1,IN2,IN3)

%    This function was generated by the Symbolic Math Toolbox version 9.1.
%    16-Feb-2024 11:59:18

q2 = in1(2,:);
qd1 = in2(1,:);
qd2 = in2(2,:);
qdd1 = in3(1,:);
qdd2 = in3(2,:);
t2 = cos(q2);
t3 = sin(q2);
t4 = qd1+qd2;
t5 = qdd1+qdd2;
t6 = qd1.^2;
t7 = qdd1.*t2;
t8 = qdd1.*t3;
t9 = t4.^2;
t10 = t2.*t6;
t11 = t3.*t6;
t12 = -t8;
t13 = t7+t11;
t14 = t10+t12;
out1 = reshape([t14-t3.*t5-t2.*t9,t14,t13+t2.*t5-t3.*t9,t13,t5,t5,t2.*t13+t3.*(t8-t10),0.0],[2,4]);