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get_gnum.m
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get_gnum.m
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function g = get_gnum(q)
%GET_GNUM
% G = GET_GNUM(Q)
% This function was generated by the Symbolic Math Toolbox version 5.9.
% 04-May-2016 19:28:56
g0 = 9.80665;
q1 = q(1);
q2 = q(2);
q3 = q(3);
q4 = q(4);
q5 = q(5);
q6 = q(6);
q7 = q(7);
t2 = sin(q6);
t3 = cos(q2);
t4 = cos(q6);
t5 = sin(q2);
t6 = sin(q4);
t7 = cos(q3);
t8 = cos(q4);
t9 = cos(q5);
t10 = sin(q3);
t11 = sin(q5);
t12 = sin(q7);
t13 = cos(q7);
t14 = t3.*t8;
t15 = t5.*t6.*t7;
t16 = t14+t15;
t17 = t5.*t9.*t10;
t18 = t5.*t7.*t8.*t11;
t20 = t3.*t6.*t11;
t19 = t17+t18-t20;
t21 = t3.*t4.*t8;
t22 = t4.*t5.*t6.*t7;
t23 = t2.*t3.*t6.*t9;
t24 = t2.*t5.*t10.*t11;
t26 = t2.*t5.*t7.*t8.*t9;
t25 = t21+t22+t23+t24-t26;
g = [0.0;g0.*(t4.*t5.*t8-t3.*t4.*t6.*t7+t2.*t5.*t6.*t9-t2.*t3.*t10.*t11+t2.*t3.*t7.*t8.*t9).*(-2.863717839968354e-2)+g0.*(-t2.*t5.*t8+t2.*t3.*t6.*t7+t4.*t5.*t6.*t9-t3.*t4.*t10.*t11+t3.*t4.*t7.*t8.*t9).*8.352273621158435e-4-g0.*(t5.*t6+t3.*t7.*t8).*3.497484120373631e-3+g0.*t3.*1.354740403883117e-3-g0.*t5.*3.456788674801104-g0.*(-t2.*t5.*t8.*t12+t3.*t9.*t10.*t13+t5.*t6.*t11.*t13+t2.*t3.*t6.*t7.*t12+t4.*t5.*t6.*t9.*t12-t3.*t4.*t10.*t11.*t12+t3.*t7.*t8.*t11.*t13+t3.*t4.*t7.*t8.*t9.*t12).*9.545155258288587e-4+g0.*(t2.*t5.*t8.*t13+t3.*t9.*t10.*t12+t5.*t6.*t11.*t12-t2.*t3.*t6.*t7.*t13-t4.*t5.*t6.*t9.*t13+t3.*t4.*t10.*t11.*t13+t3.*t7.*t8.*t11.*t12-t3.*t4.*t7.*t8.*t9.*t13).*2.984472586164982e-4-g0.*(t5.*t6.*t9-t3.*t10.*t11+t3.*t7.*t8.*t9).*6.562319985927724e-4-g0.*(t3.*t9.*t10+t5.*t6.*t11+t3.*t7.*t8.*t11).*4.068797401250747e-2+g0.*t3.*t7.*9.456007899655566e-4+g0.*t3.*t10.*4.723745007459195e-4-g0.*t5.*t8.*1.334022497768863+g0.*t3.*t6.*t7.*1.334022497768863;g0.*t5.*(t2.*t7.*t11-t4.*t6.*t10+t2.*t8.*t9.*t10).*2.863717839968354e-2-g0.*t5.*(t2.*t6.*t10+t4.*t7.*t11+t4.*t8.*t9.*t10).*8.352273621158435e-4+g0.*t5.*(-t7.*t9.*t13+t2.*t6.*t10.*t12+t4.*t7.*t11.*t12+t8.*t10.*t11.*t13+t4.*t8.*t9.*t10.*t12).*9.545155258288587e-4+g0.*t5.*(t7.*t9.*t12+t2.*t6.*t10.*t13+t4.*t7.*t11.*t13-t8.*t10.*t11.*t12+t4.*t8.*t9.*t10.*t13).*2.984472586164982e-4+g0.*t5.*(t7.*t11+t8.*t9.*t10).*6.562319985927724e-4-g0.*t5.*(t7.*t9-t8.*t10.*t11).*4.068797401250747e-2+g0.*t5.*t7.*4.723745007459195e-4-g0.*t5.*t10.*9.456007899655566e-4-g0.*t5.*t6.*t10.*1.334022497768863+g0.*t5.*t8.*t10.*3.497484120373631e-3;g0.*t16.*3.497484120373631e-3+g0.*(t2.*t3.*t6.*t12+t3.*t8.*t11.*t13-t2.*t5.*t7.*t8.*t12+t3.*t4.*t8.*t9.*t12+t5.*t6.*t7.*t11.*t13+t4.*t5.*t6.*t7.*t9.*t12).*9.545155258288587e-4+g0.*(t2.*t3.*t6.*t13-t3.*t8.*t11.*t12-t2.*t5.*t7.*t8.*t13+t3.*t4.*t8.*t9.*t13-t5.*t6.*t7.*t11.*t12+t4.*t5.*t6.*t7.*t9.*t13).*2.984472586164982e-4-g0.*(t2.*t3.*t6-t2.*t5.*t7.*t8+t3.*t4.*t8.*t9+t4.*t5.*t6.*t7.*t9).*8.352273621158435e-4+g0.*(-t3.*t4.*t6+t2.*t3.*t8.*t9+t4.*t5.*t7.*t8+t2.*t5.*t6.*t7.*t9).*2.863717839968354e-2-g0.*t3.*t6.*1.334022497768863+g0.*t9.*t16.*6.562319985927724e-4+g0.*t11.*t16.*4.068797401250747e-2+g0.*t5.*t7.*t8.*1.334022497768863;g0.*t19.*6.562319985927724e-4+g0.*(t3.*t6.*t9.*t13+t5.*t10.*t11.*t13-t3.*t4.*t6.*t11.*t12+t4.*t5.*t9.*t10.*t12-t5.*t7.*t8.*t9.*t13+t4.*t5.*t7.*t8.*t11.*t12).*9.545155258288587e-4-g0.*(t3.*t6.*t9.*t12+t5.*t10.*t11.*t12+t3.*t4.*t6.*t11.*t13-t4.*t5.*t9.*t10.*t13-t5.*t7.*t8.*t9.*t12-t4.*t5.*t7.*t8.*t11.*t13).*2.984472586164982e-4+g0.*(t3.*t6.*t9+t5.*t10.*t11-t5.*t7.*t8.*t9).*4.068797401250747e-2+g0.*t2.*t19.*2.863717839968354e-2-g0.*t4.*t19.*8.352273621158435e-4;g0.*(t2.*t3.*t8+t2.*t5.*t6.*t7-t3.*t4.*t6.*t9-t4.*t5.*t10.*t11+t4.*t5.*t7.*t8.*t9).*(-2.863717839968354e-2)+g0.*t25.*8.352273621158435e-4-g0.*t12.*t25.*9.545155258288587e-4-g0.*t13.*t25.*2.984472586164982e-4;g0.*(t2.*t3.*t8.*t12-t3.*t6.*t11.*t13+t5.*t9.*t10.*t13+t2.*t5.*t6.*t7.*t12-t3.*t4.*t6.*t9.*t12-t4.*t5.*t10.*t11.*t12+t5.*t7.*t8.*t11.*t13+t4.*t5.*t7.*t8.*t9.*t12).*2.984472586164982e-4-g0.*(t2.*t3.*t8.*t13+t3.*t6.*t11.*t12-t5.*t9.*t10.*t12+t2.*t5.*t6.*t7.*t13-t3.*t4.*t6.*t9.*t13-t4.*t5.*t10.*t11.*t13-t5.*t7.*t8.*t11.*t12+t4.*t5.*t7.*t8.*t9.*t13).*9.545155258288587e-4];