27 lines
731 B
Matlab
27 lines
731 B
Matlab
function out1 = standard_regressor_Two_bar(in1,in2,in3)
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%standard_regressor_Two_bar
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% OUT1 = standard_regressor_Two_bar(IN1,IN2,IN3)
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% This function was generated by the Symbolic Math Toolbox version 9.1.
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% 10-Jan-2024 23:01:38
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q2 = in1(2,:);
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qd1 = in2(1,:);
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qd2 = in2(2,:);
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qdd1 = in3(1,:);
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qdd2 = in3(2,:);
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t2 = cos(q2);
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t3 = sin(q2);
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t4 = qd1+qd2;
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t5 = qdd1+qdd2;
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t6 = qd1.^2;
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t7 = qdd1.*t2;
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t8 = qdd1.*t3;
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t9 = t4.^2;
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t10 = t2.*t6;
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t11 = t3.*t6;
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t12 = -t8;
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t13 = t7+t11;
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t14 = t10+t12;
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out1 = reshape([0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,qdd1,0.0,t2.*t13+t3.*(t8-t10),0.0,t13+t2.*t5-t3.*t9,t13,t14-t3.*t5-t2.*t9,t14,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,t5,t5],[2,20]);
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