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Copy pathjacob_State.m
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jacob_State.m
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function dbigF_x = jacob_State(b1,b2,b3,dth1,dth2,dth3,l1,l3,m1,m3,th1,th2,th3,u1,u2,u3)
%JACOB_STATE
% DBIGF_X = JACOB_STATE(B1,B2,B3,DTH1,DTH2,DTH3,L1,L3,M1,M3,TH1,TH2,TH3,U1,U2,U3)
% This function was generated by the Symbolic Math Toolbox version 7.2.
% 09-Dec-2017 13:02:33
t2 = cos(th2);
t3 = cos(th3);
t4 = cos(th1);
t5 = t2.^2;
t6 = sin(th2);
t7 = dth1.^2;
t8 = l3.^2;
t9 = l1.^2;
t10 = t4.^2;
t11 = t3.^2;
t12 = sin(th1);
t13 = sin(th3);
t14 = 1.0./l1.^2;
t15 = 1.0./t3;
t16 = m3.*t5.*t11.*4.0;
t17 = m1+t16;
t18 = 1.0./t17;
t19 = t6.^2;
t20 = dth2.^2;
t21 = t19-1.0;
t22 = 1.0./l3;
t23 = dth3.^2;
t24 = t11.^2;
t25 = 1.0./t17.^2;
t26 = m3.^2;
t27 = t5.^2;
t28 = l3.*m3.*t6.*t7.*t9.*t12.*2.0e2;
t29 = t13.^2;
t30 = t29-1.0;
t31 = t12.^2;
t32 = 1.0./t30;
t33 = m3.*4.0;
t34 = m3.*t19.*t29.*4.0;
t39 = m3.*t19.*4.0;
t40 = m3.*t29.*4.0;
t35 = m1+t33+t34-t39-t40;
t36 = 1.0./t35;
t37 = th3.*2.0;
t38 = sin(t37);
t41 = l3.*t12;
t42 = l1+t41;
t43 = l1.*t13;
t44 = l3+t43;
t45 = m1.*t3;
t46 = m3.*t3.*t5.*t11.*4.0;
t47 = t45+t46;
t48 = 1.0./t47;
t49 = m1.*t9;
t50 = m3.*t9.*4.0;
t51 = m3.*t9.*t19.*t29.*4.0;
t52 = m3.*t8.*t19.*t31.*4.0;
t53 = l1.*l3.*m3.*t12.*t19.*8.0;
t61 = m3.*t9.*t29.*4.0;
t54 = t49+t50+t51+t52+t53-t61;
t55 = dth2.*dth3.*m3.*t8.*t38;
t56 = l3.*m3.*t3.*t4.*t6.*(9.81e2./1.0e2);
t57 = l1.*l3.*m3.*t2.*t6.*t7.*t12.*2.0;
t58 = dth1.*dth3.*m3.*t6.*t8.*t12.*t13;
t62 = b2.*dth2;
t63 = dth1.*dth3.*m3.*t6.*t8;
t64 = m3.*t2.*t6.*t7.*t8.*t10;
t65 = m3.*t3.*t4.*t6.*t7.*t8;
t66 = l1.*l3.*m3.*t2.*t6.*t7.*t13.*2.0;
t59 = t55+t56+t57+t58-t62-t63-t64-t65-t66+u2;
t60 = 1.0./l3.^2;
t67 = l3.*m3.*t3.*t12.*(9.81e2./1.0e2);
t68 = dth1.*dth2.*m3.*t6.*t8;
t69 = l3.*m3.*t2.*t4.*t13.*(9.81e2./1.0e2);
t70 = l1.*l3.*m3.*t3.*t5.*t7;
t72 = b3.*dth3;
t73 = m3.*t3.*t8.*t13.*t20;
t74 = dth1.*dth2.*m3.*t6.*t8.*t12.*t13;
t71 = t67+t68+t69+t70-t72-t73-t74+u3;
t75 = 1.0./t35.^2;
t76 = t4.*t6.*t13.*9.81e2;
t77 = l1.*t2.*t3.*t6.*t7.*2.0e2;
t78 = 1.0./t3.^2;
t79 = l1.*t6.*u1.*2.0e2;
t80 = l3.*t6.*t12.*u1.*2.0e2;
t81 = m1.*t4.*t6.*t9.*9.81e2;
t82 = m3.*t4.*t6.*t9.*1.962e3;
t83 = m3.*t2.*t3.*t6.*t8.*1.962e3;
t84 = dth2.*dth3.*l3.*m3.*t8.*t12.*2.0e2;
t85 = dth2.*dth3.*l3.*m3.*t8.*t13.*2.0e2;
t86 = l3.*m3.*t4.*t6.*t7.*t8.*t10.*2.0e2;
t87 = dth2.*dth3.*l1.*m3.*t8.*2.0e2;
t88 = dth1.*dth2.*l1.*m3.*t2.*t5.*t8.*8.0e2;
t89 = m3.*t4.*t6.*t8.*t12.*t13.*1.962e3;
t90 = l1.*l3.*m1.*t4.*t6.*t12.*9.81e2;
t91 = l1.*l3.*m3.*t4.*t6.*t12.*1.962e3;
t92 = l1.*l3.*m3.*t4.*t6.*t13.*1.962e3;
t93 = l3.*m3.*t4.*t5.*t6.*t7.*t8.*2.0e2;
t94 = dth2.*dth3.*l3.*m3.*t9.*t13.*4.0e2;
t95 = l1.*l3.*m3.*t2.*t3.*t6.*t12.*1.962e3;
t96 = l3.*m3.*t2.*t3.*t6.*t8.*t10.*t20.*2.0e2;
t97 = dth1.*dth2.*l3.*m3.*t2.*t8.*t10.*t12.*4.0e2;
t98 = dth1.*dth2.*l3.*m3.*t2.*t9.*t13.*8.0e2;
t99 = dth2.*dth3.*l1.*m3.*t8.*t12.*t13.*6.0e2;
t100 = dth2.*dth3.*l3.*m3.*t5.*t8.*t10.*t13.*2.0e2;
t101 = l3.*m3.*t4.*t5.*t6.*t7.*t9.*2.0e2;
t102 = dth1.*dth2.*l1.*m3.*t2.*t8.*t10.*1.2e3;
t103 = dth1.*dth2.*l3.*m3.*t2.*t5.*t9.*t12.*8.0e2;
t104 = dth1.*dth2.*l1.*m3.*t2.*t8.*t12.*t13.*8.0e2;
t105 = l1.*m3.*t4.*t5.*t6.*t7.*t8.*t12.*4.0e2;
t107 = b1.*dth1.*l1.*t6.*2.0e2;
t108 = l3.*m3.*t4.*t6.*t7.*t8.*2.0e2;
t109 = b1.*dth1.*l3.*t6.*t12.*2.0e2;
t110 = dth2.*dth3.*l1.*m3.*t5.*t8.*2.0e2;
t111 = m3.*t2.*t3.*t6.*t8.*t10.*1.962e3;
t112 = dth2.*dth3.*l3.*m3.*t5.*t8.*t12.*2.0e2;
t113 = dth2.*dth3.*l3.*m3.*t8.*t10.*t13.*2.0e2;
t114 = dth2.*dth3.*l3.*m3.*t5.*t8.*t13.*2.0e2;
t115 = l3.*m3.*t4.*t6.*t7.*t9.*2.0e2;
t116 = dth1.*dth2.*l1.*m3.*t2.*t8.*8.0e2;
t117 = l3.*m3.*t4.*t5.*t6.*t7.*t8.*t10.*2.0e2;
t118 = l3.*m3.*t2.*t3.*t6.*t8.*t20.*2.0e2;
t119 = dth1.*dth2.*l1.*m3.*t2.*t5.*t8.*t10.*1.2e3;
t120 = l3.*m3.*t2.*t3.*t6.*t9.*t20.*2.0e2;
t121 = l3.*m3.*t2.*t3.*t6.*t9.*t23.*2.0e2;
t122 = l1.*m3.*t4.*t6.*t7.*t8.*t12.*4.0e2;
t123 = dth1.*dth2.*l3.*m3.*t2.*t9.*t12.*8.0e2;
t124 = dth1.*dth2.*l3.*m3.*t2.*t5.*t8.*t10.*t12.*4.0e2;
t125 = dth1.*dth2.*l3.*m3.*t2.*t5.*t9.*t13.*8.0e2;
t126 = dth2.*dth3.*l3.*m3.*t5.*t9.*t13.*4.0e2;
t127 = l1.*m3.*t2.*t3.*t6.*t8.*t12.*t20.*4.0e2;
t128 = l1.*m3.*t2.*t3.*t6.*t8.*t12.*t23.*2.0e2;
t129 = dth1.*dth3.*l3.*m3.*t3.*t5.*t6.*t9.*4.0e2;
t130 = dth1.*dth2.*l1.*m3.*t2.*t5.*t8.*t12.*t13.*8.0e2;
t131 = dth2.*dth3.*l1.*m3.*t5.*t8.*t12.*t13.*6.0e2;
t132 = dth1.*dth3.*l1.*m3.*t3.*t5.*t6.*t8.*t12.*4.0e2;
t106 = t79+t80+t81+t82+t83+t84+t85+t86+t87+t88+t89+t90+t91+t92+t93+t94+t95+t96+t97+t98+t99+t100+t101+t102+t103+t104+t105-t107-t108-t109-t110-t111-t112-t113-t114-t115-t116-t117-t118-t119-t120-t121-t122-t123-t124-t125-t126-t127-t128-t129-t130-t131-t132;
t133 = 1.0./t30.^2;
t134 = 1.0./m3;
t135 = dth2.*t3.*t13.*2.0;
t136 = dth1.*t6.*t12.*t13;
t137 = t135+t136-dth1.*t6;
t138 = t8.^2;
t139 = th2.*2.0;
t140 = sin(t139);
t141 = m1.^2;
dbigF_x = 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