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LeftJacobians.m
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LeftJacobians.m
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function [J_RFoot,J_Torso,J_RHand,J_LHand] = LeftJacobians(in1)
%LEFTJACOBIANS
% [J_RFOOT,J_TORSO,J_RHAND,J_LHAND] = LEFTJACOBIANS(IN1)
% This function was generated by the Symbolic Math Toolbox version 6.2.
% 01-Jul-2015 20:26:57
q1 = in1(1,:);
q2 = in1(2,:);
q3 = in1(3,:);
q4 = in1(4,:);
q5 = in1(5,:);
q6 = in1(6,:);
q7 = in1(7,:);
q8 = in1(8,:);
q9 = in1(9,:);
q10 = in1(10,:);
q11 = in1(11,:);
q12 = in1(12,:);
q13 = in1(13,:);
q14 = in1(14,:);
q15 = in1(15,:);
q16 = in1(16,:);
q17 = in1(17,:);
q18 = in1(18,:);
q19 = in1(19,:);
q20 = in1(20,:);
q21 = in1(21,:);
t2 = q11+1.570796326795971;
t3 = sin(t2);
t4 = cos(q9);
t5 = cos(q10);
t6 = t3.*t5.*4.51900000000478e-2;
t7 = t6+1.029000000000906e-1;
t8 = sin(q9);
t9 = sin(q10);
t10 = q7-7.853981633979856e-1;
t11 = q6-1.570796326795971;
t12 = sin(q8);
t13 = t4.*t7;
t14 = t3.*t8.*t9.*-4.51900000000478e-2;
t15 = t13+t14+9.999999999990905e-2;
t16 = cos(q8);
t17 = t7.*t8;
t18 = t3.*t4.*t9.*4.51900000000478e-2;
t19 = t17+t18;
t20 = sin(t10);
t21 = t12.*t19.*1.0;
t22 = t15.*t16.*-1.0;
t23 = t21+t22;
t24 = cos(t2);
t25 = cos(t10);
t26 = q5+7.853981633979856e-1;
t27 = cos(t11);
t28 = t12.*t15;
t29 = t16.*t19;
t30 = t28+t29;
t31 = sin(t11);
t36 = t20.*t24.*-4.51900000000478e-2;
t32 = -t36;
t35 = t23.*t25;
t33 = t32-t35;
t34 = cos(q6);
t37 = sin(q6);
t38 = t20.*t23.*1.000000053212716;
t39 = t24.*t25.*4.519000240463811e-2;
t40 = t38+t39+7.071068188133722e-2;
t41 = cos(q4);
t42 = cos(t26);
t43 = t35+t36;
t44 = t27.*t43;
t45 = t30.*t31.*1.0;
t46 = t44+t45;
t47 = sin(t26);
t48 = t27.*t30.*1.000000053212716;
t55 = t34.*t40.*-1.0;
t49 = -t55;
t50 = sin(q4);
t51 = t34.*t46.*1.0;
t52 = t37.*t40;
t53 = t51+t52;
t54 = sin(q3);
t56 = t31.*t43.*-1.000000053212716;
t57 = t48+t56+7.071067811875764e-2;
t58 = t47.*t57;
t59 = cos(q3);
t60 = t37.*t46;
t61 = t55+t60;
t62 = t42.*t61.*1.0;
t63 = t58+t62;
t64 = t50.*t53;
t65 = cos(q2);
t66 = t41.*t63;
t67 = t64+t66+9.999999999990905e-2;
t68 = t59.*t67;
t69 = sin(q2);
t73 = t41.*t53.*-1.0;
t70 = -t73;
t72 = t50.*t63;
t71 = t70-t72;
t74 = t50.*t53.*1.0;
t75 = t66+t74;
t80 = t42.*t57.*-1.0;
t76 = -t80;
t79 = t47.*t61.*1.0;
t77 = -t79;
t78 = t76+t77;
t81 = t79+t80;
t82 = t27.*t30.*1.0;
t83 = t31.*t43.*-1.0;
t84 = t82+t83;
t85 = t27.*t43.*1.000000053212716;
t86 = t30.*t31.*1.000000053212716;
t87 = t85+t86;
t88 = t37.*t84;
t89 = t34.*t46;
t90 = t52+t88+t89;
t99 = t42.*t90.*-1.0;
t91 = -t99;
t98 = t47.*t87.*1.0;
t92 = -t98;
t93 = t91+t92;
t94 = t34.*t84.*1.0;
t95 = t37.*t46.*-1.0;
t96 = t34.*t40;
t97 = t94+t95+t96;
t100 = t41.*t97.*1.0;
t101 = t98+t99;
t102 = t50.*t97;
t103 = t20.*t23.*1.0;
t104 = t24.*t25.*4.51900000000478e-2;
t105 = t103+t104;
t110 = t20.*t24.*-4.519000240463811e-2;
t106 = -t110;
t109 = t23.*t25.*1.000000053212716;
t107 = -t109;
t108 = t106+t107;
t111 = t109+t110;
t112 = t37.*t111;
t113 = t27.*t34.*t105.*-1.0;
t114 = t112+t113;
t115 = t34.*t111;
t116 = t27.*t37.*t105;
t117 = t115+t116;
t118 = t42.*t117.*1.0;
t119 = t31.*t47.*t105.*-1.000000053212716;
t120 = t118+t119;
t121 = t41.*t120;
t268 = t50.*t114.*1.0;
t122 = -t268;
t123 = t121+t122;
t124 = t16.*t19.*1.0;
t125 = t28+t124;
t126 = t12.*t19;
t127 = t22+t126;
t128 = t31.*t127.*1.0;
t129 = t25.*t27.*t125.*-1.0;
t130 = t128+t129;
t131 = t27.*t127.*1.000000053212716;
t132 = t25.*t31.*t125.*1.000000053212716;
t133 = t131+t132;
t134 = t47.*t133;
t135 = t37.*t130;
t136 = t20.*t34.*t125.*1.000000053212716;
t137 = t135+t136;
t138 = t42.*t137.*1.0;
t139 = t134+t138;
t140 = t34.*t130.*1.0;
t141 = t20.*t37.*t125.*-1.000000053212716;
t142 = t140+t141;
t143 = t41.*t139;
t144 = t50.*t142;
t145 = t143+t144;
t146 = t41.*t142.*1.0;
t147 = t50.*t139.*-1.0;
t148 = t146+t147;
t149 = t13+t14;
t150 = t12.*t149.*1.0;
t151 = t29+t150;
t152 = t16.*t149.*-1.0;
t153 = t126+t152;
t154 = t31.*t153.*1.0;
t155 = t25.*t27.*t151.*-1.0;
t156 = t154+t155;
t157 = t34.*t156.*1.0;
t158 = t20.*t37.*t151.*-1.000000053212716;
t159 = t157+t158;
t160 = t27.*t153.*1.000000053212716;
t161 = t25.*t31.*t151.*1.000000053212716;
t162 = t160+t161;
t163 = t47.*t162;
t164 = t37.*t156;
t165 = t20.*t34.*t151.*1.000000053212716;
t166 = t164+t165;
t167 = t42.*t166.*1.0;
t168 = t163+t167;
t169 = t50.*t159;
t170 = t41.*t168;
t171 = t169+t170;
t172 = t41.*t159.*1.0;
t173 = t50.*t168.*-1.0;
t174 = t172+t173;
t175 = t3.*t4.*t5.*4.51900000000478e-2;
t176 = t14+t175;
t177 = t3.*t5.*t8.*4.51900000000478e-2;
t178 = t18+t177;
t179 = t12.*t176.*1.0;
t180 = t16.*t178;
t181 = t179+t180;
t185 = t12.*t178.*-1.0;
t182 = -t185;
t184 = t16.*t176;
t183 = t182-t184;
t186 = t184+t185;
t187 = t31.*t186.*1.0;
t188 = t25.*t27.*t181;
t189 = t187+t188;
t190 = t37.*t189;
t191 = t20.*t34.*t181.*-1.000000053212716;
t192 = t190+t191;
t193 = t42.*t192.*1.0;
t194 = t34.*t189.*1.0;
t195 = t20.*t37.*t181.*1.000000053212716;
t196 = t194+t195;
t197 = t41.*t196.*1.0;
t198 = t27.*t186.*1.000000053212716;
t199 = t25.*t31.*t181.*-1.000000053212716;
t200 = t198+t199;
t201 = t47.*t200;
t202 = t193+t201;
t283 = t50.*t202;
t203 = t197-t283;
t204 = t4.*t5.*t24.*4.51900000000478e-2;
t205 = t8.*t9.*t24.*-4.51900000000478e-2;
t206 = t204+t205;
t207 = t4.*t9.*t24.*4.51900000000478e-2;
t208 = t5.*t8.*t24.*4.51900000000478e-2;
t209 = t207+t208;
t210 = t12.*t209.*1.0;
t211 = t16.*t206.*-1.0;
t212 = t210+t211;
t213 = t25.*t212;
t214 = t3.*t20.*4.51900000000478e-2;
t215 = t213+t214;
t216 = t12.*t206;
t217 = t16.*t209;
t218 = t216+t217;
t219 = t27.*t215;
t220 = t31.*t218.*1.0;
t221 = t219+t220;
t231 = t3.*t25.*-4.519000240463811e-2;
t222 = -t231;
t230 = t20.*t212.*1.000000053212716;
t223 = -t230;
t224 = t222+t223;
t235 = t27.*t218.*-1.000000053212716;
t225 = -t235;
t234 = t31.*t215.*1.000000053212716;
t226 = -t234;
t227 = t225+t226;
t228 = t47.*t227;
t229 = t37.*t221;
t232 = t34.*t221.*1.0;
t233 = t230+t231;
t236 = t34.*t233.*-1.0;
t237 = t229+t236;
t238 = t37.*t233;
t239 = t232+t238;
t240 = t234+t235;
t289 = t42.*t237.*-1.0;
t241 = -t289;
t288 = t47.*t240;
t242 = t241-t288;
t243 = q1+1.570796326795971;
t244 = t72+t73;
t245 = t59.*t244;
t246 = t54.*t67;
t247 = cos(t243);
t248 = t245+t246;
t303 = t54.*t244.*1.0;
t296 = -t303;
t251 = -t296;
t249 = -t251;
t250 = t68+t249+1.029000000000906e-1;
t252 = t54.*t75.*1.0;
t253 = t245+t252;
t254 = sin(t243);
t255 = t41.*t59.*t81;
t256 = t50.*t54.*t81.*-1.0;
t257 = t255+t256;
t258 = t50.*t101.*1.0;
t259 = t100+t258;
t260 = t54.*t259.*1.0;
t263 = t41.*t101;
t264 = t102-t263;
t261 = t59.*t264;
t262 = t260+t261;
t265 = t50.*t120;
t266 = t41.*t114.*1.0;
t267 = t265+t266;
t269 = t121-t268;
t270 = t59.*t145;
t271 = t54.*t148.*1.0;
t272 = t270+t271;
t273 = t54.*t145;
t326 = t59.*t148.*1.0;
t274 = -t326;
t275 = t273+t274;
t276 = t59.*t171;
t277 = t54.*t174.*1.0;
t278 = t276+t277;
t279 = t54.*t171;
t280 = t50.*t196;
t281 = t41.*t202;
t282 = t280+t281;
t284 = t59.*t203;
t285 = t54.*t203.*1.0;
t286 = t59.*t282.*1.0;
t287 = t285+t286;
t290 = t41.*t239.*1.0;
t291 = t288+t289;
t292 = t50.*t239;
t338 = t41.*t291;
t293 = t292-t338;
t294 = t50.*t291.*1.0;
t295 = t290+t294;
t297 = t79-t42.*t57;
t298 = t65.*t248;
t299 = t68+t296+1.029000000000906e-1;
t300 = t59.*t244.*1.0;
t301 = t246+t300;
t302 = t65.*t301.*1.0;
t304 = t47.*t57.*1.0;
t305 = t62+t304;
t306 = t50.*t59.*t81;
t307 = t41.*t54.*t81;
t308 = t306+t307;
t309 = t42.*t87;
t310 = t47.*t90;
t311 = t309+t310;
t312 = t54.*t264;
t313 = t59.*t259.*-1.0;
t314 = t312+t313;
t315 = t47.*t117;
t316 = t31.*t42.*t105.*1.000000053212716;
t317 = t315+t316;
t318 = t59.*t267;
t319 = t54.*t267.*1.0;
t320 = t319-t59.*t269;
t321 = t65.*t320.*1.0;
t322 = t42.*t133;
t323 = t47.*t137.*-1.0;
t324 = t322+t323;
t325 = t65.*t272.*1.0;
t327 = t42.*t162.*1.0;
t328 = t327-t47.*t166;
t329 = t65.*t278.*1.0;
t330 = t69.*(t279-t59.*t174.*1.0).*-1.0;
t331 = t329+t330;
t332 = t284-t54.*t282;
t333 = t69.*t332;
t334 = t47.*t237;
t335 = t42.*t240.*1.0;
t336 = t334+t335;
t337 = t54.*t295.*1.0;
t339 = t54.*t293;
t340 = pi.*(1.0./4.0);
t341 = q5+t340;
t342 = cos(t341);
t343 = sin(t341);
t344 = t37.*t41.*1.00000005321248;
t345 = t34.*t50.*t342.*1.00000005321248;
t346 = t344+t345;
t347 = t37.*t50.*1.00000005321248;
t432 = t34.*t41.*t342.*1.00000005321248;
t348 = t347-t432;
t350 = pi.*(1.0./2.0);
t349 = q6-t350;
t351 = sin(t349);
t352 = cos(t349);
t353 = t343.*t352.*1.00000005321248;
t354 = t37.*t342.*t351;
t355 = t353+t354;
t356 = t41.*t355;
t357 = t34.*t50.*t351;
t358 = t356+t357;
t359 = t50.*t355;
t438 = t34.*t41.*t351;
t360 = t359-t438;
t361 = q7-t340;
t362 = cos(t361);
t363 = sin(t361);
t364 = t37.*t362.*1.00000005321248;
t371 = t34.*t352.*t363;
t365 = t364-t371;
t366 = t34.*t362.*1.00000005321248;
t367 = t37.*t352.*t363;
t368 = t366+t367;
t369 = t342.*t368;
t372 = t343.*t351.*t363.*1.00000005321248;
t370 = t369-t372;
t373 = t41.*t370;
t379 = t50.*t365;
t374 = t373-t379;
t375 = t41.*t365;
t376 = t50.*t370;
t377 = t375+t376;
t378 = t59.*t377;
t380 = t54.*t374;
t381 = t378+t380;
t382 = t54.*t377;
t387 = t59.*t374;
t383 = t382-t387;
t384 = t69.*t383;
t386 = t65.*t381;
t385 = t384-t386;
t388 = t4.*t9;
t389 = t5.*t8;
t390 = t388+t389;
t391 = t4.*t5;
t393 = t8.*t9;
t392 = t391-t393;
t394 = t12.*t390;
t399 = t16.*t392;
t395 = t394-t399;
t396 = t16.*t390;
t397 = t12.*t392;
t398 = t396+t397;
t400 = t351.*t395;
t406 = t352.*t362.*t398;
t401 = t400-t406;
t402 = t352.*t395.*1.00000005321248;
t403 = t351.*t362.*t398.*1.00000005321248;
t404 = t402+t403;
t405 = t343.*t404;
t407 = t37.*t401;
t408 = t34.*t363.*t398.*1.00000005321248;
t409 = t407+t408;
t410 = t342.*t409;
t411 = t405+t410;
t412 = t34.*t401;
t415 = t37.*t363.*t398.*1.00000005321248;
t413 = t412-t415;
t414 = t41.*t411;
t416 = t50.*t413;
t417 = t414+t416;
t418 = t41.*t413;
t419 = q1+t350;
t420 = sin(t419);
t421 = t50.*t59;
t422 = t41.*t54;
t423 = t421+t422;
t424 = t41.*t59;
t462 = t50.*t54;
t425 = t424-t462;
t426 = cos(t419);
t427 = t41.*t59.*t343;
t465 = t50.*t54.*t343;
t428 = t427-t465;
t429 = t50.*t59.*t343;
t430 = t41.*t54.*t343;
t431 = t429+t430;
t433 = t54.*t348;
t467 = t59.*t346;
t434 = t433-t467;
t435 = t59.*t348;
t436 = t54.*t346;
t437 = t435+t436;
t439 = t54.*t360;
t470 = t59.*t358;
t440 = t439-t470;
t441 = t59.*t360;
t442 = t54.*t358;
t443 = t441+t442;
t444 = t65.*t383;
t445 = t54.*(t373-t379);
t446 = t378+t445;
t447 = t69.*t446;
t448 = t444+t447;
t449 = t426.*t448;
t450 = t343.*t368;
t451 = t342.*t351.*t363.*1.00000005321248;
t452 = t450+t451;
t453 = t420.*t452;
t454 = t449+t453;
t455 = t59.*t417;
t458 = t50.*t411;
t459 = t418-t458;
t456 = t54.*t459;
t457 = t455+t456;
t460 = t54.*t417;
t461 = t65.*t423;
t463 = t69.*t425;
t464 = t461+t463;
t466 = t65.*t428;
t468 = t65.*t437;
t469 = t468-t69.*t434;
t471 = t65.*t440;
t472 = t69.*t443;
t473 = t342.*t352.*1.00000005321248;
t474 = t473-t37.*t343.*t351;
t475 = t426.*t452;
t477 = t420.*t448;
t476 = t475-t477;
t478 = t343.*(t407+t408);
t479 = t478-t342.*t404;
t480 = t47.*9.545941611872877e-2;
t481 = t34.*t42.*2.474873800002797e-2;
t482 = t480+t481;
t483 = t37.*t41.*2.474873800002797e-2;
t484 = t50.*t482;
t485 = t483+t484;
t532 = t37.*t50.*2.474873800002797e-2;
t526 = -t532;
t512 = -t526;
t505 = -t512;
t490 = -t505;
t486 = -t490;
t487 = t41.*t482;
t488 = t486+t487+9.999999999990905e-2;
t489 = t54.*t488;
t491 = t54.*t485;
t492 = t41.*t482.*-1.0;
t493 = t490+t492;
t494 = t59.*t485;
t495 = t42.*9.545941611872877e-2;
t496 = t34.*t47.*-2.474873800002797e-2;
t497 = t495+t496;
t498 = t34.*t50.*2.474873800002797e-2;
t499 = t37.*t41.*t42.*2.474873800002797e-2;
t500 = t498+t499;
t501 = t34.*t41.*2.474873800002797e-2;
t502 = t37.*t42.*t50.*-2.474873800002797e-2;
t503 = t501+t502;
t504 = t54.*t485.*-1.0;
t506 = t487+t505+9.999999999990905e-2;
t507 = t59.*t506;
t508 = t504+t507+1.029000000000906e-1;
t509 = t54.*t506;
t510 = t494+t509;
t511 = t59.*t485.*1.0;
t513 = t492+t512;
t514 = t50.*t59.*t497;
t515 = t41.*t54.*t497;
t516 = t514+t515;
t517 = t41.*t59.*t497;
t518 = t50.*t54.*t497.*-1.0;
t519 = t517+t518;
t520 = t59.*t500;
t521 = t54.*t503.*1.0;
t522 = t520+t521;
t523 = t54.*t500;
t524 = t59.*t503.*-1.0;
t525 = t523+t524;
t527 = t487+t526+9.999999999990905e-2;
t528 = t59.*t527;
t529 = t504+t528+1.029000000000906e-1;
t530 = t54.*t527;
t531 = t494+t530;
t533 = t492+t532;
t534 = t65.*t522.*1.0;
t535 = t69.*t525.*-1.0;
t536 = t534+t535;
t537 = t69.*t423;
t1212 = t65.*t425;
t538 = t537-t1212;
t539 = t426.*t464;
t541 = t69.*t431;
t540 = t466-t541;
J_RFoot = reshape([0.0,t254.*(t65.*t250.*1.0-t69.*t248).*1.0+t247.*t297.*1.0,t254.*t297.*-1.0-t247.*(t69.*t248-t65.*t299.*1.0).*1.0,-1.0,0.0,0.0,t69.*(t54.*(t64+t41.*(t58-t42.*(t49-t37.*t46).*1.0)+9.999999999990905e-2)-t59.*(t70+t50.*(t42.*(t49+t37.*(t27.*t33-t30.*t31.*1.0)).*1.0-t47.*(t48+t31.*t33.*1.000000053212716+7.071067811875764e-2)))).*1.0-t65.*(t68+t54.*t71.*1.0+1.029000000000906e-1).*1.0,t247.*(t298+t69.*t250.*1.0),t254.*(t298+t69.*t299.*1.0).*-1.0,0.0,-t420,-t426,t65.*(t68+t54.*t71.*1.0).*-1.0+t69.*(t246-t59.*t71.*1.0).*1.0,t247.*(t302+t69.*(t68-t251)),t254.*(t302+t69.*(t68-t303)).*-1.0,0.0,-t420,-t426,t65.*(t54.*t71+t59.*t75.*1.0).*-1.0+t69.*t253.*1.0,t247.*(t69.*(t59.*t75.*1.0-t54.*t244).*1.0+t65.*t253.*1.0),t254.*(t69.*(t59.*t75.*1.0-t54.*t244).*1.0+t65.*t253.*1.0).*-1.0,0.0,-t420,-t426,t69.*t257.*1.0-t65.*(t41.*t54.*t78+t50.*t59.*t78).*1.0,t247.*(t65.*t257.*1.0-t69.*t308)+t254.*t305.*1.0,t254.*(t65.*t257.*1.0-t69.*t308).*-1.0+t247.*t305.*1.0,t538,t539,-t420.*t464,t65.*(t59.*(t100-t50.*t93.*1.0).*1.0-t54.*(t102+t41.*t93)).*1.0-t69.*t262.*1.0,-t247.*(t65.*t262.*1.0-t69.*t314)+t254.*t311.*1.0,t247.*t311.*1.0+t254.*(t65.*(t260+t59.*(t102-t263)).*1.0-t69.*t314).*1.0,-t65.*t431-t69.*t428+t65.*t434+t69.*t437,-t342.*t420+t426.*t469-t426.*t540+t34.*t343.*t420.*1.00000005321248,-t342.*t426-t420.*t469+t420.*t540+t34.*t343.*t426.*1.00000005321248,t65.*(t54.*t123-t59.*(t41.*(t37.*t108+t27.*t34.*t105.*1.0).*1.0+t50.*(t42.*(t34.*t108-t27.*t37.*t105).*1.0+t31.*t47.*t105.*1.000000053212716))).*1.0+t69.*(t59.*t123-t54.*t267.*1.0).*1.0,t254.*t317.*-1.0-t247.*(t321+t69.*(t318+t54.*t269).*1.0),t254.*(t321+t69.*(t318+t54.*(t121-t268)).*1.0).*1.0-t247.*t317.*1.0,t65.*t443-t69.*t440,-t426.*(t471+t472)+t420.*t474,t420.*(t471+t472)+t426.*t474,t65.*t275.*1.0+t69.*t272.*1.0,t254.*t324.*1.0+t247.*(t325-t69.*t275).*1.0,t254.*(t325-t69.*(t273-t326)).*-1.0+t247.*t324.*1.0,t385,t454,t476,t69.*t278.*1.0+t65.*(t279-t59.*t174.*1.0).*1.0,t247.*t331+t254.*t328.*1.0,t247.*t328.*1.0-t254.*t331.*1.0,t385,t454,t476,t69.*t287.*-1.0+t65.*(t284-t54.*(t41.*(t193-t47.*(t27.*t183.*1.000000053212716+t25.*t31.*t181.*1.000000053212716))-t50.*(t34.*(t31.*t183.*1.0-t25.*t27.*t181).*1.0-t20.*t37.*t181.*1.000000053212716))).*1.0,t254.*(t47.*t192.*1.0-t42.*t200).*1.0-t247.*(t333+t65.*t287.*1.0),t247.*(t47.*t192.*1.0-t42.*t200).*1.0+t254.*(t333+t65.*t287.*1.0).*1.0,t385,t454,t476,t69.*(t54.*(t290-t50.*t242.*1.0).*1.0+t59.*(t292+t41.*t242)).*-1.0-t65.*(t54.*(t41.*(t228+t42.*(t229+t34.*t224.*1.0).*1.0)+t50.*(t232-t37.*t224))+t59.*(t50.*(t228+t241).*1.0-t41.*t239.*1.0).*1.0).*1.0,t254.*t336.*1.0+t247.*(t69.*(t339-t59.*t295.*1.0).*1.0-t65.*(t337+t59.*t293).*1.0).*1.0,t254.*(t65.*(t337+t59.*(t292-t338)).*1.0-t69.*(t339-t59.*t295.*1.0).*1.0).*1.0+t247.*t336.*1.0,-t69.*t457-t65.*(t460-t59.*(t418-t50.*t411)),t420.*t479-t426.*(t65.*t457-t69.*(t460-t59.*t459)),t420.*(t65.*(t455+t54.*(t418-t458))-t69.*(t460-t59.*t459))+t426.*t479,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0],[6, 23]);
if nargout > 1
t542 = q13+1.570796326795971;
t543 = cos(q15);
t544 = sin(q15);
t545 = sin(q16);
t546 = cos(t542);
t547 = t543.*1.13700000000108e-1;
t548 = t544.*t545.*-1.231000000001359e-2;
t549 = t547+t548+1.050000000000182e-1;
t550 = sin(t542);
t551 = cos(q16);
t552 = sin(q14);
t553 = t551.*t552.*1.231000000001359e-2;
t554 = cos(q14);
t555 = t544.*1.13700000000108e-1;
t556 = t543.*t545.*1.231000000001359e-2;
t557 = t555+t556;
t558 = t554.*t557;
t559 = t553+t558-1.499999999998636e-2;
t560 = sin(q12);
t561 = t551.*t554.*1.231000000001359e-2;
t562 = t552.*t557.*-1.0;
t563 = t561+t562;
t564 = cos(q12);
t565 = t546.*t559;
t566 = t549.*t550;
t567 = t565+t566;
t568 = t560.*t567.*7.071068000004743e-1;
t569 = t563.*t564.*7.071068000004743e-1;
t570 = t560.*t563.*1.0;
t571 = t564.*t567.*-1.0;
t572 = t570+t571;
t1106 = t546.*t549.*7.071068000004743e-1;
t1104 = -t1106;
t1102 = -t1104;
t1100 = -t1102;
t1098 = -t1100;
t1096 = -t1098;
t1094 = -t1096;
t1092 = -t1094;
t1090 = -t1092;
t1088 = -t1090;
t1085 = -t1088;
t1083 = -t1085;
t1080 = -t1083;
t1078 = -t1080;
t1075 = -t1078;
t1073 = -t1075;
t1070 = -t1073;
t1068 = -t1070;
t1065 = -t1068;
t1063 = -t1065;
t1060 = -t1063;
t1058 = -t1060;
t1055 = -t1058;
t1053 = -t1055;
t1050 = -t1053;
t1048 = -t1050;
t1045 = -t1048;
t1043 = -t1045;
t1040 = -t1043;
t1038 = -t1040;
t1035 = -t1038;
t1033 = -t1035;
t1030 = -t1033;
t1028 = -t1030;
t1026 = -t1028;
t1024 = -t1026;
t1021 = -t1024;
t1019 = -t1021;
t1016 = -t1019;
t1014 = -t1016;
t1011 = -t1014;
t1009 = -t1011;
t1006 = -t1009;
t1004 = -t1006;
t896 = -t1004;
t894 = -t896;
t892 = -t894;
t890 = -t892;
t888 = -t890;
t886 = -t888;
t884 = -t886;
t882 = -t884;
t880 = -t882;
t878 = -t880;
t875 = -t878;
t873 = -t875;
t870 = -t873;
t868 = -t870;
t865 = -t868;
t863 = -t865;
t860 = -t863;
t858 = -t860;
t855 = -t858;
t853 = -t855;
t850 = -t853;
t848 = -t850;
t845 = -t848;
t843 = -t845;
t840 = -t843;
t838 = -t840;
t835 = -t838;
t833 = -t835;
t830 = -t833;
t828 = -t830;
t825 = -t828;
t823 = -t825;
t820 = -t823;
t818 = -t820;
t816 = -t818;
t814 = -t816;
t811 = -t814;
t809 = -t811;
t806 = -t809;
t804 = -t806;
t801 = -t804;
t799 = -t801;
t796 = -t799;
t794 = -t796;
t649 = -t794;
t647 = -t649;
t645 = -t647;
t643 = -t645;
t641 = -t643;
t639 = -t641;
t637 = -t639;
t635 = -t637;
t632 = -t635;
t630 = -t632;
t627 = -t630;
t625 = -t627;
t622 = -t625;
t620 = -t622;
t617 = -t620;
t615 = -t617;
t612 = -t615;
t610 = -t612;
t607 = -t610;
t605 = -t607;
t602 = -t605;
t600 = -t602;
t597 = -t600;
t595 = -t597;
t592 = -t595;
t590 = -t592;
t587 = -t590;
t585 = -t587;
t581 = -t585;
t576 = -t581;
t573 = -t576;
t1107 = t550.*t559.*-7.071068000004743e-1;
t1105 = -t1107;
t1103 = -t1105;
t1101 = -t1103;
t1099 = -t1101;
t1097 = -t1099;
t1095 = -t1097;
t1093 = -t1095;
t1091 = -t1093;
t1089 = -t1091;
t1086 = -t1089;
t1084 = -t1086;
t1081 = -t1084;
t1079 = -t1081;
t1076 = -t1079;
t1074 = -t1076;
t1071 = -t1074;
t1069 = -t1071;
t1066 = -t1069;
t1064 = -t1066;
t1061 = -t1064;
t1059 = -t1061;
t1056 = -t1059;
t1054 = -t1056;
t1051 = -t1054;
t1049 = -t1051;
t1046 = -t1049;
t1044 = -t1046;
t1041 = -t1044;
t1039 = -t1041;
t1036 = -t1039;
t1034 = -t1036;
t1031 = -t1034;
t1029 = -t1031;
t1027 = -t1029;
t1025 = -t1027;
t1022 = -t1025;
t1020 = -t1022;
t1017 = -t1020;
t1015 = -t1017;
t1012 = -t1015;
t1010 = -t1012;
t1007 = -t1010;
t1005 = -t1007;
t897 = -t1005;
t895 = -t897;
t893 = -t895;
t891 = -t893;
t889 = -t891;
t887 = -t889;
t885 = -t887;
t883 = -t885;
t881 = -t883;
t879 = -t881;
t876 = -t879;
t874 = -t876;
t871 = -t874;
t869 = -t871;
t866 = -t869;
t864 = -t866;
t861 = -t864;
t859 = -t861;
t856 = -t859;
t854 = -t856;
t851 = -t854;
t849 = -t851;
t846 = -t849;
t844 = -t846;
t841 = -t844;
t839 = -t841;
t836 = -t839;
t834 = -t836;
t831 = -t834;
t829 = -t831;
t826 = -t829;
t824 = -t826;
t821 = -t824;
t819 = -t821;
t817 = -t819;
t815 = -t817;
t812 = -t815;
t810 = -t812;
t807 = -t810;
t805 = -t807;
t802 = -t805;
t800 = -t802;
t797 = -t800;
t795 = -t797;
t650 = -t795;
t648 = -t650;
t646 = -t648;
t644 = -t646;
t642 = -t644;
t640 = -t642;
t638 = -t640;
t636 = -t638;
t633 = -t636;
t631 = -t633;
t628 = -t631;
t626 = -t628;
t623 = -t626;
t621 = -t623;
t618 = -t621;
t616 = -t618;
t613 = -t616;
t611 = -t613;
t608 = -t611;
t606 = -t608;
t603 = -t606;
t601 = -t603;
t598 = -t601;
t596 = -t598;
t593 = -t596;
t591 = -t593;
t588 = -t591;
t586 = -t588;
t582 = -t586;
t577 = -t582;
t574 = -t577;
t575 = t568+t569+t573+t574-2.616295159998572e-2;
t578 = t568+t569+t576+t577-2.35466562518468e-1;
t579 = t47.*t578;
t580 = t37.*t572;
t583 = t34.*t572;
t584 = t568+t569+t581+t582-2.616295159998572e-2;
t589 = t568+t569+t587+t588-2.616295159998572e-2;
t594 = t568+t569+t592+t593-2.616295159998572e-2;
t599 = t568+t569+t597+t598-2.616295159998572e-2;
t604 = t568+t569+t602+t603-2.616295159998572e-2;
t609 = t568+t569+t607+t608-2.616295159998572e-2;
t614 = t568+t569+t612+t613-2.616295159998572e-2;
t619 = t568+t569+t617+t618-2.616295159998572e-2;
t624 = t568+t569+t622+t623-2.616295159998572e-2;
t629 = t568+t569+t627+t628-2.616295159998572e-2;
t634 = t568+t569+t632+t633-2.616295159998572e-2;
t651 = t568+t569+t649+t650-2.616295159998572e-2;
t652 = t34.*t651;
t653 = t580+t652;
t654 = t37.*t651.*-1.0;
t655 = t583+t654;
t656 = t50.*t653;
t657 = t41.*t42.*t655.*-1.0;
t658 = t656+t657;
t659 = t41.*t653;
t660 = t42.*t50.*t655.*1.0;
t661 = t659+t660;
t662 = t560.*t563.*7.071068000004743e-1;
t663 = t564.*t567.*-7.071068000004743e-1;
t664 = t662+t663;
t665 = t560.*t567;
t666 = t563.*t564.*1.0;
t667 = t665+t666;
t668 = t37.*t664;
t669 = t34.*t667;
t670 = t668+t669;
t671 = t47.*t664;
t672 = t34.*t664.*1.0;
t673 = t37.*t667.*-1.0;
t674 = t672+t673;
t675 = t42.*t674.*1.0;
t676 = t671+t675;
t677 = t41.*t670;
t678 = t50.*t676;
t679 = t677+t678;
t680 = t546.*t549.*1.0;
t681 = t550.*t559.*-1.0;
t682 = t680+t681;
t683 = t546.*t559.*7.071068000004743e-1;
t684 = t549.*t550.*7.071068000004743e-1;
t1139 = t560.*t682.*-7.071068000004743e-1;
t1138 = -t1139;
t1137 = -t1138;
t1136 = -t1137;
t1134 = -t1136;
t1133 = -t1134;
t1131 = -t1133;
t1130 = -t1131;
t1128 = -t1130;
t1127 = -t1128;
t931 = -t1127;
t930 = -t931;
t928 = -t930;
t927 = -t928;
t925 = -t927;
t924 = -t925;
t922 = -t924;
t921 = -t922;
t917 = -t921;
t916 = -t917;
t699 = -t916;
t698 = -t699;
t696 = -t698;
t695 = -t696;
t692 = -t695;
t691 = -t692;
t685 = -t691;
t686 = t683+t684+t685;
t687 = t34.*t686.*1.0;
t688 = t37.*t564.*t682;
t689 = t687+t688;
t690 = t42.*t689.*1.0;
t693 = t34.*t564.*t682.*-1.0;
t694 = t683+t684+t692;
t697 = t683+t684+t696;
t700 = t554.*t557.*1.0;
t701 = t553+t700;
t702 = t550.*t563.*7.071068000004743e-1;
t703 = t560.*t701.*1.0;
t704 = t546.*t563.*t564;
t705 = t703+t704;
t1162 = t564.*t701.*7.071068000004743e-1;
t1160 = -t1162;
t1157 = -t1160;
t1155 = -t1157;
t1152 = -t1155;
t1150 = -t1152;
t1147 = -t1150;
t1145 = -t1147;
t1142 = -t1145;
t1140 = -t1142;
t954 = -t1140;
t952 = -t954;
t949 = -t952;
t947 = -t949;
t944 = -t947;
t942 = -t944;
t939 = -t942;
t937 = -t939;
t934 = -t937;
t932 = -t934;
t723 = -t932;
t721 = -t723;
t718 = -t721;
t716 = -t718;
t712 = -t716;
t709 = -t712;
t706 = -t709;
t1163 = t546.*t560.*t563.*-7.071068000004743e-1;
t1161 = -t1163;
t1158 = -t1161;
t1156 = -t1158;
t1153 = -t1156;
t1151 = -t1153;
t1148 = -t1151;
t1146 = -t1148;
t1143 = -t1146;
t1141 = -t1143;
t955 = -t1141;
t953 = -t955;
t950 = -t953;
t948 = -t950;
t945 = -t948;
t943 = -t945;
t940 = -t943;
t938 = -t940;
t935 = -t938;
t933 = -t935;
t724 = -t933;
t722 = -t724;
t719 = -t722;
t717 = -t719;
t713 = -t717;
t710 = -t713;
t707 = -t710;
t708 = t702+t706+t707;
t711 = t37.*t705;
t714 = t34.*t705.*1.0;
t715 = t702+t712+t713;
t720 = t702+t718+t719;
t725 = t702+t723+t724;
t726 = t547+t548;
t727 = t550.*t557;
t728 = t546.*t554.*t726.*-1.0;
t729 = t727+t728;
t730 = t546.*t557.*7.071068000004743e-1;
t731 = t550.*t554.*t726.*7.071068000004743e-1;
t1186 = t560.*t729.*7.071068000004743e-1;
t1184 = -t1186;
t1181 = -t1184;