jacob_Cont.m

function dbigF_u = jacob_Cont(l1,l3,m1,m3,th1,th2,th3)
%JACOB_CONT
%    DBIGF_U = JACOB_CONT(L1,L3,M1,M3,TH1,TH2,TH3)

%    This function was generated by the Symbolic Math Toolbox version 7.2.
%    09-Dec-2017 13:02:37

t2 = cos(th2);
t3 = cos(th3);
t4 = 1.0./l1.^2;
t5 = t2.^2;
t6 = t3.^2;
t7 = m3.*t5.*t6.*4.0;
t8 = m1+t7;
t9 = 1.0./t8;
t10 = 1.0./l3;
t11 = 1.0./t3;
t12 = sin(th2);
t13 = sin(th1);
t14 = l3.*t13;
t15 = l1+t14;
t16 = sin(th3);
t17 = t16.^2;
t18 = t12.^2;
t19 = l1.^2;
t20 = 1.0./l3.^2;
t21 = l1.*t16;
t22 = l3+t21;
t23 = th2.*2.0;
t24 = sin(t23);
t25 = 1.0./m3;
t26 = m1.*t19;
t27 = l3.^2;
dbigF_u = reshape([0.0,0.0,0.0,t4.*t9.*4.0,t4.*t9.*t10.*t11.*t12.*t15.*-4.0,t2.*t4.*t9.*t10.*t22.*-4.0,0.0,0.0,0.0,t4.*t9.*t10.*t11.*t12.*t15.*-4.0,-(t4.*t20.*t25.*(t26+m3.*t19.*4.0-m3.*t17.*t19.*4.0+m3.*t17.*t18.*t19.*4.0+m3.*t13.^2.*t18.*t27.*4.0+l1.*l3.*m3.*t13.*t18.*8.0))./((t17-1.0).*(m1+m3.*4.0-m3.*t17.*4.0-m3.*t18.*4.0+m3.*t17.*t18.*4.0)),t4.*t9.*t11.*t15.*t20.*t22.*t24.*2.0,0.0,0.0,0.0,t2.*t4.*t9.*t10.*t22.*-4.0,(t4.*t15.*t20.*t22.*t24.*2.0)./(m1.*t3+m3.*t3.*t5.*t6.*4.0),t4.*t9.*t20.*t25.*(t26+m3.*t5.*t19.*4.0+m3.*t5.*t27.*4.0+l1.*l3.*m3.*t5.*t16.*8.0)],[6,3]);