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get_Snum.m
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get_Snum.m
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function S = get_Snum(q,dq)
%GET_SNUM
% S = GET_SNUM(Q,dQ)
% This function was generated by the Symbolic Math Toolbox version 5.9.
% 05-May-2016 02:11:01
q1 = q(1);
q2 = q(2);
q3 = q(3);
q4 = q(4);
q5 = q(5);
q6 = q(6);
q7 = q(7);
dq1 = dq(1);
dq2 = dq(2);
dq3 = dq(3);
dq4 = dq(4);
dq5 = dq(5);
dq6 = dq(6);
dq7 = dq(7);
t2 = cos(q2);
t3 = t2.^2;
t4 = cos(q3);
t5 = t4.^2;
t6 = cos(q4);
t7 = t6.^2;
t8 = sin(q2);
t9 = t8.^2;
t10 = sin(q3);
t11 = cos(q5);
t12 = sin(q4);
t13 = sin(q5);
t14 = cos(q6);
t15 = t14.^2;
t16 = t10.^2;
t17 = sin(q6);
t18 = cos(q7);
t19 = sin(q7);
t20 = t11.^2;
t21 = t12.^2;
t22 = t13.^2;
t23 = t18.^2;
t24 = t17.^2;
t25 = t19.^2;
t26 = dq1.*t10.*7.263612829999412e-4;
t27 = dq1.*t3.*1.112750296248289e-7;
t28 = dq1.*t4.*t11.*1.102381467758384e-7;
t29 = dq1.*t2.*t8.*1.241560652983074;
t30 = dq1.*t4.*t12.*5.186552137197585e-1;
t31 = dq1.*t4.*t13.*8.92896057296514e-3;
t32 = dq1.*t10.*t13.*9.484943124070918e-9;
t33 = dq1.*t3.*t4.*2.232385687728538e-7;
t34 = dq1.*t4.*t7.*1.203658424332597e-7;
t35 = dq3.*t5.*t8.*4.078385767063644e-1;
t36 = dq3.*t5.*t8.*t15.*2.105378687322648e-3;
t37 = dq1.*t2.*t6.*t8.*1.037310427439517;
t38 = dq1.*t4.*t6.*t12.*4.094720331268669e-1;
t39 = dq1.*t4.*t12.*t14.*6.463182340947666e-3;
t40 = dq1.*t4.*t11.*t17.*6.301356806311332e-3;
t41 = dq1.*t4.*t13.*t14.*1.005618684322139e-5;
t42 = dq1.*t10.*t11.*t18.*7.811832126104028e-8;
t43 = dq1.*t2.*t8.*t12.*2.09021268655367e-7;
t44 = dq1.*t6.*t10.*t13.*1.102381467758384e-7;
t45 = dq1.*t4.*t12.*t17.*1.330890793890566e-7;
t46 = dq1.*t4.*t13.*t17.*1.674476426657637e-7;
t47 = dq1.*t10.*t12.*t17.*1.005618684322139e-5;
t48 = dq1.*t10.*t13.*t17.*6.463182340947666e-3;
t49 = dq1.*t3.*t4.*t6.*2.09021268655367e-7;
t50 = dq1.*t2.*t7.*t8.*4.094720331268669e-1;
t51 = dq1.*t3.*t6.*t10.*1.06483967997661e-3;
t52 = dq1.*t2.*t8.*t15.*1.053187534647033e-3;
t53 = dq1.*t3.*t10.*t11.*1.918248559291571e-2;
t54 = dq1.*t2.*t8.*t23.*6.718274883049224e-7;
t55 = dq4.*t2.*t7.*t10.*4.094720331268669e-1;
t56 = dq4.*t5.*t6.*t8.*5.324198399883049e-4;
t57 = dq3.*t5.*t8.*t14.*1.260271361262266e-2;
t58 = dq5.*t5.*t6.*t8.*3.041289395787721e-4;
t59 = dq4.*t2.*t10.*t23.*6.718274883049224e-7;
t60 = dq5.*t6.*t8.*t20.*3.041289395787721e-4;
t61 = dq1.*t3.*t10.*t12.*1.510154825553947e-7;
t62 = dq4.*t5.*t8.*t12.*7.550774127769734e-8;
t63 = dq3.*t5.*t8.*t17.*2.090130838870015e-8;
t64 = dq1.*t4.*t6.*t11.*t14.*1.330890793890566e-7;
t65 = dq1.*t4.*t11.*t14.*t18.*2.213310761066599e-8;
t66 = dq1.*t2.*t6.*t8.*t14.*1.292636468189533e-2;
t67 = dq1.*t4.*t6.*t12.*t14.*1.260271361262266e-2;
t68 = dq1.*t4.*t6.*t13.*t18.*7.811832126104028e-8;
t69 = dq1.*t6.*t10.*t11.*t18.*1.903872170821106e-8;
t70 = dq1.*t4.*t11.*t14.*t17.*1.053187534647033e-3;
t71 = dq1.*t2.*t4.*t8.*t10.*2.086640424557542e-7;
t72 = dq1.*t2.*t8.*t11.*t12.*1.896988624814184e-8;
t73 = dq1.*t2.*t6.*t8.*t17.*2.661781587781131e-7;
t74 = dq1.*t2.*t8.*t11.*t13.*1.233339528377628e-7;
t75 = dq3.*t4.*t6.*t8.*t10.*1.510154825553947e-7;
t76 = dq1.*t2.*t8.*t14.*t17.*3.258008130972376e-7;
t77 = dq4.*t4.*t8.*t10.*t11.*1.102381467758384e-7;
t78 = dq1.*t4.*t6.*t12.*t17.*2.090130838870015e-8;
t79 = dq5.*t2.*t6.*t10.*t12.*3.08334882094407e-8;
t80 = dq5.*t4.*t8.*t10.*t14.*1.674476426657637e-7;
t81 = dq1.*t6.*t10.*t11.*t19.*2.213310761066599e-8;
t82 = dq6.*t4.*t8.*t10.*t14.*1.045065419435007e-8;
t83 = dq1.*t4.*t12.*t17.*t18.*8.802182859261754e-8;
t84 = dq7.*t6.*t8.*t11.*t13.*2.642863428220103e-8;
t85 = dq3.*t5.*t7.*t8.*t23.*2.340036948028305e-6;
t86 = dq3.*t5.*t8.*t15.*t23.*2.340036948028305e-6;
t87 = dq1.*t2.*t8.*t12.*t13.*1.918248559291571e-2;
t88 = dq4.*t4.*t8.*t10.*t13.*8.92896057296514e-3;
t89 = dq1.*t6.*t10.*t13.*t17.*6.301356806311332e-3;
t90 = dq1.*t4.*t12.*t17.*t19.*7.811832126104028e-8;
t91 = dq1.*t3.*t4.*t6.*t11.*1.896988624814184e-8;
t92 = dq1.*t3.*t4.*t11.*t14.*2.090130838870015e-8;
t93 = dq1.*t4.*t7.*t11.*t14.*2.090130838870015e-8;
t94 = dq1.*t2.*t7.*t8.*t14.*1.260271361262266e-2;
t95 = dq1.*t3.*t4.*t6.*t13.*1.918248559291571e-2;
t96 = dq1.*t3.*t6.*t10.*t11.*1.785792114593028e-2;
t97 = dq1.*t4.*t6.*t12.*t20.*3.040854880711737e-4;
t98 = dq1.*t4.*t6.*t12.*t15.*1.053187534647033e-3;
t99 = dq1.*t3.*t4.*t13.*t18.*3.807744341642212e-8;
t100 = dq4.*t5.*t6.*t8.*t11.*8.92896057296514e-3;
t101 = dq4.*t2.*t7.*t10.*t14.*1.260271361262266e-2;
t102 = dq5.*t2.*t4.*t12.*t20.*3.040949641501492e-4;
t103 = dq1.*t4.*t7.*t13.*t18.*3.807744341642212e-8;
t104 = dq6.*t2.*t7.*t10.*t11.*1.053187534647033e-3;
t105 = dq6.*t5.*t6.*t8.*t14.*1.005618684322139e-5;
t106 = dq6.*t2.*t10.*t11.*t15.*1.053187534647033e-3;
t107 = dq6.*t6.*t8.*t14.*t20.*1.005618684322139e-5;
t108 = dq1.*t2.*t7.*t8.*t17.*2.090130838870015e-8;
t109 = dq1.*t3.*t10.*t12.*t14.*3.348952853315275e-7;
t110 = dq3.*t5.*t6.*t8.*t12.*1.203658424332597e-7;
t111 = dq4.*t4.*t7.*t8.*t10.*1.203658424332597e-7;
t112 = dq1.*t3.*t10.*t13.*t14.*2.661781587781131e-7;
t113 = dq1.*t3.*t4.*t13.*t19.*4.426621522133197e-8;
t114 = dq1.*t3.*t10.*t11.*t19.*1.760436571852351e-7;
t115 = dq3.*t5.*t8.*t11.*t13.*6.16669764188814e-8;
t116 = dq5.*t4.*t8.*t10.*t20.*6.16669764188814e-8;
t117 = dq6.*t4.*t7.*t8.*t10.*1.629004065486188e-7;
t118 = dq1.*t10.*t12.*t14.*t20.*3.348952853315275e-7;
t119 = dq4.*t2.*t7.*t10.*t17.*2.090130838870015e-8;
t120 = dq4.*t5.*t8.*t12.*t14.*1.674476426657637e-7;
t121 = dq5.*t2.*t7.*t10.*t13.*1.102381467758384e-7;
t122 = dq6.*t4.*t8.*t10.*t20.*1.629004065486188e-7;
t123 = dq7.*t4.*t7.*t8.*t10.*5.285726856440206e-8;
t124 = dq1.*t4.*t7.*t13.*t19.*4.426621522133197e-8;
t125 = dq3.*t5.*t8.*t14.*t17.*6.516016261944752e-7;
t126 = dq6.*t4.*t8.*t10.*t15.*6.516016261944752e-7;
t127 = dq1.*t10.*t12.*t14.*t23.*5.285726856440206e-8;
t128 = dq6.*t5.*t6.*t8.*t17.*1.674476426657637e-7;
t129 = dq7.*t4.*t8.*t10.*t15.*5.285726856440206e-8;
t130 = dq3.*t5.*t8.*t18.*t19.*5.285726856440206e-8;
t131 = dq7.*t4.*t8.*t10.*t23.*5.285726856440206e-8;
t132 = dq6.*t6.*t8.*t17.*t20.*1.674476426657637e-7;
t133 = dq3.*t8.*t15.*t18.*t19.*5.285726856440206e-8;
t134 = dq6.*t5.*t8.*t12.*t13.*1.052689343661324e-3;
t135 = dq3.*t5.*t8.*t17.*t19.*3.807744341642212e-8;
t136 = dq6.*t8.*t12.*t13.*t15.*1.052689343661324e-3;
t137 = dq1.*t3.*t4.*t7.*t11.*4.409525871033534e-7;
t138 = dq1.*t3.*t4.*t11.*t15.*6.516016261944752e-7;
t139 = dq1.*t4.*t7.*t11.*t15.*6.516016261944752e-7;
t140 = dq1.*t2.*t5.*t7.*t8.*4.094720331268669e-1;
t141 = dq1.*t2.*t5.*t8.*t20.*3.040854880711737e-4;
t142 = dq1.*t2.*t7.*t8.*t20.*3.040854880711737e-4;
t143 = dq1.*t2.*t5.*t8.*t23.*6.718274883049224e-7;
t144 = dq1.*t2.*t7.*t8.*t15.*1.053187534647033e-3;
t145 = dq1.*t3.*t4.*t7.*t13.*3.571584229186056e-2;
t146 = dq1.*t2.*t8.*t15.*t23.*6.718274883049224e-7;
t147 = dq4.*t2.*t7.*t10.*t20.*3.040854880711737e-4;
t148 = dq4.*t2.*t7.*t10.*t15.*1.053187534647033e-3;
t149 = dq5.*t5.*t6.*t8.*t15.*1.052689343661324e-3;
t150 = dq5.*t5.*t6.*t8.*t23.*1.170018474014152e-6;
t151 = dq5.*t6.*t8.*t15.*t20.*1.052689343661324e-3;
t152 = dq5.*t6.*t8.*t20.*t23.*1.170018474014152e-6;
t153 = dq1.*t3.*t10.*t12.*t20.*1.233339528377628e-7;
t154 = dq4.*t5.*t8.*t12.*t20.*6.16669764188814e-8;
t155 = dq1.*t2.*t6.*t8.*t11.*t12.*2.204762935516767e-7;
t156 = dq3.*t4.*t6.*t8.*t10.*t14.*3.348952853315275e-7;
t157 = dq1.*t2.*t6.*t8.*t17.*t18.*1.760436571852351e-7;
t158 = dq4.*t2.*t6.*t10.*t11.*t12.*2.204762935516767e-7;
t159 = dq1.*t4.*t6.*t12.*t14.*t17.*3.258008130972376e-7;
t160 = dq6.*t2.*t6.*t10.*t12.*t14.*1.045065419435007e-8;
t161 = dq1.*t4.*t6.*t12.*t18.*t19.*1.057145371288041e-7;
t162 = dq1.*t6.*t10.*t13.*t14.*t18.*2.213310761066599e-8;
t163 = dq7.*t2.*t4.*t11.*t12.*t13.*2.642863428220103e-8;
t164 = dq5.*t6.*t8.*t11.*t13.*t14.*3.348952853315275e-7;
t165 = dq6.*t2.*t10.*t11.*t14.*t17.*3.258008130972376e-7;
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