RightJacobiansLF.m

function J_LFoot = RightJacobiansLF(in1)
%RIGHTJACOBIANSLF
%    J_LFOOT = RIGHTJACOBIANSLF(IN1)

%    This function was generated by the Symbolic Math Toolbox version 6.2.
%    18-Jun-2015 19:25:43

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,:);
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 = sin(q8);
t12 = t4.*t7;
t13 = t3.*t8.*t9.*-4.51900000000478e-2;
t14 = t12+t13+9.999999999990905e-2;
t15 = cos(q8);
t16 = t7.*t8;
t17 = t3.*t4.*t9.*4.51900000000478e-2;
t18 = t16+t17;
t19 = q6-1.570796326795971;
t20 = cos(t10);
t21 = t11.*t18.*1.0;
t22 = t14.*t15.*-1.0;
t23 = t21+t22;
t24 = cos(t2);
t25 = sin(t10);
t26 = cos(t19);
t27 = t11.*t14;
t28 = t15.*t18;
t29 = t27+t28;
t30 = sin(t19);
t31 = t20.*t23;
t32 = t24.*t25.*-4.51900000000478e-2;
t33 = t31+t32;
t34 = q5-7.853981633979856e-1;
t35 = cos(q6);
t36 = t23.*t25.*1.000000053212716;
t37 = t20.*t24.*4.519000240463811e-2;
t38 = t36+t37-7.071068188133722e-2;
t39 = sin(q6);
t40 = t29.*t30.*1.0;
t41 = t26.*t33;
t42 = t40+t41;
t43 = sin(q4);
t318 = t35.*t42.*1.0;
t300 = -t318;
t258 = -t300;
t237 = -t258;
t80 = -t237;
t60 = -t80;
t44 = -t60;
t59 = t38.*t39.*1.0;
t45 = -t59;
t46 = t44+t45;
t47 = cos(q4);
t48 = sin(t34);
t49 = t26.*t29.*1.000000053212716;
t50 = t30.*t33.*-1.000000053212716;
t51 = t49+t50+7.071067811875764e-2;
t52 = cos(t34);
t53 = t35.*t38;
t54 = t39.*t42;
t55 = t53+t54;
t56 = t52.*t55.*-1.0;
t61 = t48.*t51;
t57 = t56+t61;
t58 = sin(q3);
t62 = cos(q3);
t63 = t59+t60;
t64 = t43.*t57;
t65 = cos(q2);
t71 = t47.*t63;
t66 = t64-t71;
t67 = t43.*t63;
t68 = t47.*t57.*1.0;
t69 = t67+t68-9.999999999990905e-2;
t70 = sin(q2);
t72 = t43.*t63.*1.0;
t73 = t47.*t57;
t74 = t72+t73;
t75 = t43.*t57.*-1.0;
t76 = t71+t75;
t77 = t48.*t55.*1.0;
t78 = t51.*t52.*1.0;
t79 = t77+t78;
t81 = t26.*t29.*1.0;
t82 = t30.*t33.*-1.0;
t83 = t81+t82;
t84 = t39.*t83;
t95 = t38.*t39;
t85 = t80+t84-t95;
t86 = t52.*t85.*1.0;
t87 = t29.*t30.*1.000000053212716;
t88 = t26.*t33.*1.000000053212716;
t89 = t87+t88;
t90 = t48.*t89;
t91 = t86+t90;
t92 = t35.*t83.*-1.0;
t93 = t39.*t42.*1.0;
t94 = t53+t92+t93;
t96 = t43.*t91;
t97 = t47.*t94;
t98 = t96+t97;
t99 = t43.*t94;
t100 = t23.*t25.*1.0;
t101 = t20.*t24.*4.51900000000478e-2;
t102 = t100+t101;
t103 = t20.*t23.*1.000000053212716;
t104 = t24.*t25.*-4.519000240463811e-2;
t105 = t103+t104;
t106 = t35.*t105;
t107 = t26.*t39.*t102.*-1.0;
t108 = t106+t107;
t109 = t52.*t108;
t110 = t30.*t48.*t102.*-1.000000053212716;
t111 = t109+t110;
t112 = t39.*t105;
t113 = t26.*t35.*t102.*1.0;
t114 = t112+t113;
t115 = t43.*t111;
t116 = t47.*t114;
t117 = t115+t116;
t118 = t15.*t18.*1.0;
t119 = t27+t118;
t120 = t11.*t18;
t121 = t22+t120;
t122 = t30.*t121.*1.0;
t123 = t20.*t26.*t119.*-1.0;
t124 = t122+t123;
t125 = t39.*t124;
t126 = t25.*t35.*t119.*-1.000000053212716;
t127 = t125+t126;
t128 = t52.*t127.*1.0;
t129 = t26.*t121.*1.000000053212716;
t130 = t20.*t30.*t119.*1.000000053212716;
t131 = t129+t130;
t137 = t48.*t131;
t132 = t128-t137;
t133 = t35.*t124.*1.0;
t134 = t25.*t39.*t119.*1.000000053212716;
t135 = t133+t134;
t136 = t43.*t135;
t138 = t47.*t132.*1.0;
t139 = t136+t138;
t140 = t43.*t132;
t274 = t47.*t135;
t141 = t140-t274;
t142 = t12+t13;
t143 = t15.*t142.*-1.0;
t144 = t120+t143;
t145 = t11.*t142.*1.0;
t146 = t28+t145;
t147 = t30.*t144.*1.0;
t148 = t20.*t26.*t146.*-1.0;
t149 = t147+t148;
t150 = t26.*t144.*1.000000053212716;
t151 = t20.*t30.*t146.*1.000000053212716;
t152 = t150+t151;
t153 = t48.*t152.*1.0;
t154 = t39.*t149;
t155 = t25.*t35.*t146.*-1.000000053212716;
t156 = t154+t155;
t161 = t52.*t156;
t157 = t153-t161;
t158 = t35.*t149.*1.0;
t159 = t25.*t39.*t146.*1.000000053212716;
t160 = t158+t159;
t162 = t43.*t157.*1.0;
t163 = t47.*t160;
t164 = t162+t163;
t165 = t43.*t160;
t166 = t3.*t4.*t5.*4.51900000000478e-2;
t167 = t13+t166;
t168 = t3.*t5.*t8.*4.51900000000478e-2;
t169 = t17+t168;
t170 = t11.*t167.*1.0;
t171 = t15.*t169;
t172 = t170+t171;
t178 = t11.*t169.*-1.0;
t173 = -t178;
t177 = t15.*t167;
t174 = t173-t177;
t175 = t30.*t174.*1.0;
t179 = t20.*t26.*t172;
t176 = t175-t179;
t180 = t177+t178;
t181 = t30.*t180.*1.0;
t182 = t179+t181;
t183 = t35.*t182.*1.0;
t184 = t25.*t39.*t172.*-1.000000053212716;
t185 = t183+t184;
t186 = t26.*t180.*1.000000053212716;
t187 = t20.*t30.*t172.*-1.000000053212716;
t188 = t186+t187;
t189 = t48.*t188.*1.0;
t190 = t39.*t182;
t191 = t25.*t35.*t172.*1.000000053212716;
t192 = t190+t191;
t195 = t52.*t192;
t193 = t189-t195;
t194 = t43.*t185;
t196 = t47.*t193.*-1.0;
t197 = t194+t196;
t198 = t4.*t5.*t24.*4.51900000000478e-2;
t199 = t8.*t9.*t24.*-4.51900000000478e-2;
t200 = t198+t199;
t201 = t4.*t9.*t24.*4.51900000000478e-2;
t202 = t5.*t8.*t24.*4.51900000000478e-2;
t203 = t201+t202;
t204 = t11.*t203.*1.0;
t205 = t15.*t200.*-1.0;
t206 = t204+t205;
t207 = t11.*t200;
t208 = t15.*t203;
t209 = t207+t208;
t210 = t20.*t206;
t211 = t3.*t25.*4.51900000000478e-2;
t212 = t210+t211;
t224 = t3.*t20.*-4.519000240463811e-2;
t213 = -t224;
t223 = t25.*t206.*1.000000053212716;
t214 = -t223;
t215 = t213+t214;
t216 = t30.*t209.*1.0;
t217 = t26.*t212;
t218 = t216+t217;
t219 = t26.*t209.*1.000000053212716;
t220 = t30.*t212.*-1.000000053212716;
t221 = t219+t220;
t222 = t48.*t221.*1.0;
t225 = t223+t224;
t232 = t35.*t218.*-1.0;
t226 = -t232;
t227 = t35.*t225;
t228 = t39.*t218;
t229 = t227+t228;
t235 = t52.*t229;
t230 = t222-t235;
t231 = t43.*t230.*1.0;
t233 = t39.*t225.*1.0;
t234 = t232+t233;
t236 = q1+1.570796326795971;
t238 = t59+t237;
t239 = t43.*t238;
t240 = t68+t239-9.999999999990905e-2;
t243 = t47.*t238;
t241 = t64-t243;
t242 = cos(t236);
t244 = t58.*t241;
t245 = t244-t62.*t240+1.029000000000906e-1;
t246 = t58.*t240.*1.0;
t247 = t62.*(t64-t243).*1.0;
t248 = t43.*t238.*1.0;
t249 = t73+t248;
t250 = t75+t243;
t251 = t43.*t58.*t79.*1.0;
t252 = t47.*t62.*t79.*-1.0;
t253 = t251+t252;
t254 = t43.*t62.*t79;
t255 = t47.*t58.*t79.*1.0;
t256 = t254+t255;
t257 = sin(t236);
t259 = t84-t95+t258;
t260 = t52.*t259.*1.0;
t261 = t90+t260;
t262 = t43.*t261;
t263 = t97+t262;
t272 = t43.*t114.*-1.0;
t264 = -t272;
t271 = t47.*t111.*1.0;
t265 = -t271;
t266 = t264+t265;
t267 = t62.*t266;
t328 = t58.*t117.*-1.0;
t268 = -t328;
t269 = t267+t268;
t270 = t62.*t117;
t273 = t58.*t139.*1.0;
t275 = t62.*t141.*1.0;
t276 = t273+t275;
t277 = t58.*t141;
t284 = t47.*t157.*1.0;
t278 = -t284;
t279 = t165+t278;
t280 = t62.*t279;
t281 = t58.*t164;
t282 = t280+t281;
t283 = t62.*t164;
t285 = t47.*t185.*1.0;
t286 = t43.*t193;
t287 = t285+t286;
t352 = t58.*t197.*-1.0;
t288 = -t352;
t351 = t62.*t287;
t289 = t288-t351;
t290 = t43.*t234;
t291 = t47.*t230.*1.0;
t292 = t290+t291;
t294 = t47.*t234;
t293 = t231-t294;
t295 = t62.*t293;
t296 = t58.*t292.*1.0;
t297 = t295+t296;
t298 = t51.*t52;
t299 = t77+t298;
t301 = t59+t300;
t302 = t43.*t301;
t303 = t68+t302-9.999999999990905e-2;
t305 = t47.*t301;
t304 = t64-t305;
t306 = t58.*t304;
t307 = t306-t62.*t303+1.029000000000906e-1;
t308 = t58.*t303.*1.0;
t309 = t62.*(t64-t305).*1.0;
t310 = t43.*t301.*1.0;
t311 = t73+t310;
t312 = t75+t305;
t313 = t65.*t253;
t314 = t70.*t256.*1.0;
t315 = t313+t314;
t316 = t48.*t51.*1.0;
t317 = t56+t316;
t319 = t84-t95+t318;
t320 = t52.*t319.*1.0;
t321 = t90+t320;
t322 = t43.*t321;
t323 = t97+t322;
t324 = t47.*t321.*-1.0;
t325 = t99+t324;
t326 = t52.*t89;
t327 = t271+t272;
t329 = t58.*t327.*1.0;
t330 = t270+t329;
t331 = t70.*t330.*1.0;
t332 = t48.*t108.*1.0;
t333 = t30.*t52.*t102.*1.000000053212716;
t334 = t332+t333;
t335 = t70.*t276;
t336 = t65.*(t277-t62.*t139).*1.0;
t337 = t335+t336;
t338 = t52.*t131;
t339 = t48.*t127.*1.0;
t340 = t338+t339;
t341 = t165-t284;
t342 = t58.*t341.*-1.0;
t343 = t283+t342;
t344 = t70.*t343;
t345 = t48.*t156.*1.0;
t346 = t52.*t152;
t347 = t345+t346;
t348 = t58.*t287;
t349 = t62.*t197.*1.0;
t350 = t348+t349;
t353 = t52.*t188;
t354 = t48.*t192.*1.0;
t355 = t353+t354;
t356 = t52.*t221;
t357 = t48.*t229.*1.0;
t358 = t356+t357;
t359 = t58.*t293;
t360 = t359-t62.*t292;
t361 = t65.*t360;
t362 = t70.*t297;
t365 = pi.*(1.0./4.0);
t363 = q5-t365;
t364 = sin(t363);
t366 = t364.*7.071068e-1;
t367 = cos(t363);
t370 = t35.*t367.*7.071068e-1;
t368 = t366-t370;
t369 = t39.*t43.*7.071068e-1;
t371 = t47.*t368;
t372 = t369+t371;
t373 = t39.*t47.*7.071068e-1;
t503 = t43.*t368;
t374 = t373-t503;
t375 = t39.*t47.*1.00000005321248;
t376 = t35.*t43.*t367.*1.00000005321248;
t377 = t375+t376;
t378 = t39.*t43.*1.00000005321248;
t508 = t35.*t47.*t367.*1.00000005321248;
t379 = t378-t508;
t381 = pi.*(1.0./2.0);
t380 = q6-t381;
t382 = sin(t380);
t383 = cos(t380);
t384 = t364.*t383.*1.00000005321248;
t386 = t39.*t367.*t382;
t385 = t384-t386;
t387 = t47.*t385;
t514 = t35.*t43.*t382;
t388 = t387-t514;
t389 = t43.*t385;
t390 = t35.*t47.*t382;
t391 = t389+t390;
t392 = q7+t365;
t393 = cos(t392);
t394 = sin(t392);
t395 = t39.*t393.*1.00000005321248;
t396 = t35.*t383.*t394;
t397 = t395+t396;
t398 = t35.*t393.*1.00000005321248;
t403 = t39.*t383.*t394;
t399 = t398-t403;
t400 = t367.*t399;
t404 = t364.*t382.*t394.*1.00000005321248;
t401 = t400-t404;
t402 = t43.*t397;
t409 = t47.*t401;
t405 = t402-t409;
t406 = t47.*t397;
t407 = t43.*t401;
t408 = t406+t407;
t410 = t58.*t405;
t416 = t62.*t408;
t411 = t410-t416;
t412 = t62.*t405;
t413 = t58.*t408;
t414 = t412+t413;
t417 = t65.*t411;
t418 = t70.*t414;
t415 = -t417-t418;
t419 = t4.*t9;
t420 = t5.*t8;
t421 = t419+t420;
t422 = t4.*t5;
t424 = t8.*t9;
t423 = t422-t424;
t425 = t11.*t421;
t430 = t15.*t423;
t426 = t425-t430;
t427 = t15.*t421;
t428 = t11.*t423;
t429 = t427+t428;
t431 = t382.*t426;
t437 = t383.*t393.*t429;
t432 = t431-t437;
t433 = t383.*t426.*1.00000005321248;
t434 = t382.*t393.*t429.*1.00000005321248;
t435 = t433+t434;
t436 = t364.*t435;
t438 = t39.*t432;
t444 = t35.*t394.*t429.*1.00000005321248;
t439 = t438-t444;
t445 = t367.*t439;
t440 = t436-t445;
t441 = t35.*t432;
t442 = t39.*t394.*t429.*1.00000005321248;
t443 = t441+t442;
t446 = t43.*t440;
t447 = t47.*t443;
t448 = t446+t447;
t449 = t43.*t443;
t529 = t47.*t440;
t450 = t449-t529;
t451 = q11+t381;
t452 = sin(t451);
t453 = t4.*t5.*t452;
t458 = t8.*t9.*t452;
t454 = t453-t458;
t455 = t4.*t9.*t452;
t456 = t5.*t8.*t452;
t457 = t455+t456;
t459 = t11.*t457;
t463 = t15.*t454;
t460 = t459-t463;
t461 = cos(t451);
t462 = t15.*t457;
t464 = t393.*t460;
t472 = t394.*t461;
t465 = t464-t472;
t466 = t383.*t465;
t467 = t394.*t460.*1.00000005321248;
t468 = t393.*t461.*1.00000005321248;
t469 = t467+t468;
t470 = t11.*(t453-t458);
t471 = t462+t470;
t473 = t382.*t471;
t474 = t466+t473;
t475 = t39.*t469;
t476 = t39.*t474;
t477 = t35.*t469;
t478 = t476+t477;
t479 = t367.*t478;
t480 = t382.*t465.*1.00000005321248;
t485 = t383.*t471.*1.00000005321248;
t540 = t480-t485;
t481 = t364.*t540;
t482 = t479+t481;
t487 = t35.*t474;
t483 = t475-t487;
t484 = t43.*t483;
t533 = t47.*t482;
t486 = t484-t533;
t488 = t43.*t482;
t489 = q1+t381;
t490 = sin(t489);
t491 = t43.*t62;
t492 = t47.*t58;
t493 = t491+t492;
t494 = t43.*t58;
t542 = t47.*t62;
t495 = t494-t542;
t496 = cos(t489);
t497 = t43.*t58.*t364;
t544 = t47.*t62.*t364;
t498 = t497-t544;
t499 = t43.*t62.*t364;
t500 = t47.*t58.*t364;
t501 = t499+t500;
t502 = t62.*t372;
t504 = t58.*t374;
t505 = t502+t504;
t506 = t58.*t372;
t549 = t62.*t374;
t507 = t506-t549;
t509 = t58.*t379;
t554 = t62.*t377;
t510 = t509-t554;
t511 = t62.*t379;
t512 = t58.*t377;
t513 = t511+t512;
t515 = t58.*t391;
t557 = t62.*t388;
t516 = t515-t557;
t517 = t62.*t391;
t518 = t58.*t388;
t519 = t517+t518;
t520 = t65.*t414;
t526 = t70.*t411;
t521 = t520-t526;
t522 = t364.*t399;
t523 = t367.*t382.*t394.*1.00000005321248;
t524 = t522+t523;
t527 = t496.*t521;
t528 = t490.*t524;
t525 = -t527-t528;
t530 = t62.*t450;
t531 = t58.*t450;
t571 = t62.*t448;
t532 = t531-t571;
t534 = t62.*t486;
t535 = t47.*t483;
t536 = t488+t535;
t537 = t58.*t536;
t538 = t534+t537;
t539 = t58.*t486;
t541 = t65.*t493;
t543 = t541-t70.*t495;
t545 = t65.*t498;
t546 = t70.*t501;
t547 = t545+t546;
t548 = t65.*t505;
t550 = t548-t70.*t507;
t551 = t367.*7.071068e-1;
t552 = t35.*t364.*7.071068e-1;
t553 = t551+t552;
t555 = t65.*t513;
t556 = t555-t70.*t510;
t558 = t65.*t516;
t559 = t70.*t519;
t560 = t558+t559;
t561 = t367.*t383.*1.00000005321248;
t562 = t39.*t364.*t382;
t563 = t561+t562;
t564 = t490.*t521;
t566 = t496.*t524;
t565 = t564-t566;
t567 = t367.*t435;
t568 = t364.*t439;
t569 = t58.*(t446+t447);
t570 = t530+t569;
t572 = t70.*t532;
t573 = t572-t65.*t570;
t574 = t65.*t538;
t575 = t539-t62.*t536;
t576 = t364.*t478;
t577 = t576-t367.*t540;
J_LFoot = reshape([0.0,t242.*t299.*1.0+t257.*(t70.*(t246+t62.*t241.*1.0)+t65.*t245.*1.0).*1.0,t257.*t299.*-1.0+t242.*(t70.*(t308+t62.*t304.*1.0)+t65.*t307.*1.0).*1.0,1.0,0.0,0.0,-t70.*(t58.*t69.*1.0+t62.*t66.*1.0)-t65.*(t62.*(t43.*t46-t47.*t57.*1.0+9.999999999990905e-2)+t58.*(t64+t46.*t47)+1.029000000000906e-1).*1.0,t242.*(t65.*(t246+t247)-t70.*t245).*-1.0,t257.*(t65.*(t308+t309)-t70.*t307).*1.0,0.0,t490,t496,t70.*(t58.*t69+t62.*(t64-t71).*1.0).*-1.0-t65.*(t58.*t66-t62.*t69.*1.0).*1.0,t242.*(t70.*(t244-t62.*t240.*1.0)-t65.*(t247+t58.*t240)).*1.0,t257.*(t70.*(t306-t62.*t303.*1.0)-t65.*(t309+t58.*t303)).*-1.0,0.0,t490,t496,t65.*(t58.*t76.*1.0+t62.*t74.*1.0).*1.0-t70.*(t58.*t74-t62.*t76).*1.0,t242.*(t70.*(t58.*t250.*1.0+t62.*t249.*1.0).*1.0+t65.*(t58.*t249-t62.*t250)).*-1.0,t257.*(t70.*(t58.*t312.*1.0+t62.*t311.*1.0).*1.0+t65.*(t58.*t311-t62.*t312)),0.0,t490,t496,t65.*t256-t70.*t253.*1.0,t242.*t315.*-1.0-t257.*t317.*1.0,t242.*t317.*-1.0+t257.*t315.*1.0,-t65.*t495-t70.*t493,-t496.*t543,t490.*t543,-t65.*(t62.*t98.*1.0-t58.*(t99-t47.*t91.*1.0).*1.0)+t70.*(t58.*t98+t62.*(t99-t47.*t91.*1.0)).*1.0,t257.*(t326-t48.*t259.*1.0).*-1.0+t242.*(t65.*(t58.*t263+t62.*(t99-t47.*t261.*1.0)).*1.0+t70.*(t62.*t263.*1.0-t58.*(t99-t47.*t261.*1.0).*1.0)).*1.0,t242.*(t326-t48.*t319.*1.0).*-1.0-t257.*(t65.*(t58.*t323+t62.*t325).*1.0-t70.*(t58.*t325.*1.0-t62.*t323.*1.0)),t65.*t501-t70.*t498,t367.*t490-t496.*t547,t367.*t496+t490.*t547,t70.*t269.*1.0-t65.*(t270-t58.*t266.*1.0).*1.0,t257.*t334+t242.*(t331+t65.*t269).*1.0,t242.*t334-t257.*(t331-t65.*(t328+t62.*t327)),t65.*t507+t70.*t505,t490.*t553+t496.*t550,-t490.*t550+t496.*t553,t65.*t276-t70.*(t277-t62.*t139).*1.0,t242.*t337.*-1.0-t257.*t340.*1.0,t242.*t340.*-1.0+t257.*t337,-t65.*t510-t70.*t513,-t496.*t556-t35.*t364.*t490.*1.00000005321248,t490.*t556-t35.*t364.*t496.*1.00000005321248,t70.*t282.*1.0-t65.*(t283-t58.*t279.*1.0).*1.0,t257.*t347.*-1.0+t242.*(t344+t65.*t282).*1.0,t242.*t347.*-1.0-t257.*(t344+t65.*(t281+t62.*t341)).*1.0,-t65.*t519+t70.*t516,-t490.*t563+t496.*t560,-t490.*t560-t496.*t563,t65.*t289.*-1.0+t70.*(t58.*(t43.*(t48.*(t26.*t174.*1.000000053212716+t20.*t30.*t172.*1.000000053212716).*1.0-t52.*(t39.*t176-t25.*t35.*t172.*1.000000053212716))+t47.*(t35.*t176.*1.0+t25.*t39.*t172.*1.000000053212716).*1.0)-t62.*t197.*1.0).*1.0,t257.*t355+t242.*(t70.*t289-t65.*t350).*1.0,t242.*t355+t257.*(t70.*(t351+t352)+t65.*t350).*1.0,t415,t525,t565,t70.*(t58.*(t231+t47.*(t226-t39.*t225.*1.0))+t62.*(t43.*(t226+t39.*t215.*1.0)-t47.*(t222+t52.*(t35.*t215-t39.*t218)).*1.0)).*-1.0+t65.*t297,t242.*(t361+t362).*-1.0+t257.*t358,t257.*(t361+t362)+t242.*t358,t415,t525,t565,0.0,0.0,0.0,t415,t525,t565,0.0,0.0,0.0,-t65.*t532-t70.*(t530+t58.*t448),t490.*(t567+t568)+t496.*t573,t496.*(t567+t568)-t490.*t573,0.0,0.0,0.0,-t70.*t538-t65.*(t539-t62.*(t488+t47.*(t475-t35.*(t466+t382.*(t462+t11.*t454))))),-t490.*t577-t496.*(t574-t70.*t575),-t496.*t577+t490.*(t574-t70.*t575),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]);