mbs_sensor_ArmarIII_simplified_virt_new.c
Go to the documentation of this file.
1//
2//-------------------------------------------------------------
3//
4// ROBOTRAN - Version 6.6 (build : february 22, 2008)
5//
6// Copyright
7// Universite catholique de Louvain
8// Departement de Mecanique
9// Unite de Production Mecanique et Machines
10// 2, Place du Levant
11// 1348 Louvain-la-Neuve
12// http://www.robotran.be//
13//
14// ==> Generation Date : Wed Dec 7 15:34:00 2016
15//
16// ==> Project name : ArmarIII_simplified_virt
17// ==> using XML input file
18//
19// ==> Number of joints : 56
20//
21// ==> Function : F 6 : Sensors Kinematical Informations (sens)
22// ==> Flops complexity : 11538
23//
24// ==> Generation Time : 0.210 seconds
25// ==> Post-Processing : 0.360 seconds
26//
27//-------------------------------------------------------------
28//
29
30#include <math.h>
31
32#include "user_hard_param_armar3.h"
33#include "mbs_sensor2.h"
34
35#ifndef M_PI
36# define M_PI 3.14159265358979323846
37#endif
38
39void mbs_sensor_ArmarIII_simplified_virt(MbsSensor* sens,
40 double* q_dof,
41 double* qd_dof,
42 int isens)
43{
44
45#include "mbs_sensor_ArmarIII_simplified_virt.h"
46
47
48 // inital q full of zeros
49 double q[57] = {0.};
50 double qd[57] = {0.};
51 double qdd[57] = {0.};
52
53 // add input config
54 q[1] = q_dof[1];
55 q[2] = q_dof[2];
56 q[3] = q_dof[3];
57 q[4] = q_dof[4];
58 q[5] = q_dof[5];
59 q[6] = q_dof[6];
60
61 q[18] = q_dof[7];
62 q[20] = q_dof[8];
63 q[21] = q_dof[9];
64 q[22] = q_dof[10];
65
66 q[30] = q_dof[11];
67 q[35] = q_dof[12];
68 q[40] = q_dof[13];
69 //q[43] = q_dof[14];
70 q[49] = q_dof[14];
71 q[53] = q_dof[15];
72
73 q[54] = q_dof[16];
74 q[55] = q_dof[17];
75 q[56] = q_dof[18];
76
77 qd[1] = qd_dof[1];
78 qd[2] = qd_dof[2];
79 qd[3] = qd_dof[3];
80 qd[4] = qd_dof[4];
81 qd[5] = qd_dof[5];
82 qd[6] = qd_dof[6];
83
84 qd[18] = qd_dof[7];
85 qd[20] = qd_dof[8];
86 qd[21] = qd_dof[9];
87 qd[22] = qd_dof[10];
88
89 qd[30] = qd_dof[11];
90 qd[35] = qd_dof[12];
91 qd[40] = qd_dof[13];
92 //qd[43] = qd_dof[14];
93 qd[49] = qd_dof[14];
94 qd[53] = qd_dof[15];
95
96 qd[54] = qd_dof[16];
97 qd[55] = qd_dof[17];
98 qd[56] = qd_dof[18];
99
100 // add blocked joints
101 q[7] = -M_PI / 2.;
102 q[9] = 2.35619449019;
103 q[10] = -M_PI / 2.;
104 q[11] = -2.35619449019;
105 q[13] = -2.35619449019;
106 q[14] = -M_PI / 2.;
107
108 q[15] = 2.35619449019;
109 q[17] = -M_PI / 2.;
110
111 q[25] = M_PI / 2.;
112 q[27] = M_PI / 2.;
113 q[28] = M_PI / 2.;
114 q[29] = M_PI;
115 q[31] = -M_PI;
116 q[32] = M_PI / 2;
117 q[33] = -1.96153085129E-8;
118 q[34] = M_PI / 2.;
119 q[36] = M_PI / 2.;
120 q[37] = -1.96153085129E-8;
121 q[38] = M_PI / 2.;
122 q[39] = M_PI;
123 q[41] = -M_PI;
124 q[42] = M_PI / 2.;
125 q[44] = -M_PI / 2.;
126 q[46] = -M_PI / 2.;
127 q[48] = M_PI;
128 q[50] = -M_PI;
129 q[51] = -M_PI / 2.;
130
131 // === begin imp_aux ===
132
133 // === end imp_aux ===
134
135 // ===== BEGIN task 0 =====
136
137 // Sensor Kinematics
138
139
140
141 // = = Block_0_0_0_0_0_1 = =
142
143 // Augmented Joint Position Vectors
144
145 Dz233 = q[23] + DPT_3_9;
146 Dz243 = q[24] + DPT_3_10;
147
148 // Trigonometric Variables
149
150 C4 = cos(q[4]);
151 S4 = sin(q[4]);
152 C5 = cos(q[5]);
153 S5 = sin(q[5]);
154 C6 = cos(q[6]);
155 S6 = sin(q[6]);
156 C7 = cos(q[7]);
157 S7 = sin(q[7]);
158 C9 = cos(q[9]);
159 S9 = sin(q[9]);
160 C10 = cos(q[10]);
161 S10 = sin(q[10]);
162 C11 = cos(q[11]);
163 S11 = sin(q[11]);
164 C13 = cos(q[13]);
165 S13 = sin(q[13]);
166 C14 = cos(q[14]);
167 S14 = sin(q[14]);
168 C15 = cos(q[15]);
169 S15 = sin(q[15]);
170 C17 = cos(q[17]);
171 S17 = sin(q[17]);
172 C18 = cos(q[18]);
173 S18 = sin(q[18]);
174 C20 = cos(q[20]);
175 S20 = sin(q[20]);
176 C21 = cos(q[21]);
177 S21 = sin(q[21]);
178 C22 = cos(q[22]);
179 S22 = sin(q[22]);
180 C25 = cos(q[25]);
181 S25 = sin(q[25]);
182 C27 = cos(q[27]);
183 S27 = sin(q[27]);
184 C28 = cos(q[28]);
185 S28 = sin(q[28]);
186 C29 = cos(q[29]);
187 S29 = sin(q[29]);
188 C30 = cos(q[30]);
189 S30 = sin(q[30]);
190 C31 = cos(q[31]);
191 S31 = sin(q[31]);
192 C32 = cos(q[32]);
193 S32 = sin(q[32]);
194 C33 = cos(q[33]);
195 S33 = sin(q[33]);
196 C34 = cos(q[34]);
197 S34 = sin(q[34]);
198 C35 = cos(q[35]);
199 S35 = sin(q[35]);
200 C36 = cos(q[36]);
201 S36 = sin(q[36]);
202 C37 = cos(q[37]);
203 S37 = sin(q[37]);
204 C38 = cos(q[38]);
205 S38 = sin(q[38]);
206 C39 = cos(q[39]);
207 S39 = sin(q[39]);
208 C40 = cos(q[40]);
209 S40 = sin(q[40]);
210 C41 = cos(q[41]);
211 S41 = sin(q[41]);
212 C42 = cos(q[42]);
213 S42 = sin(q[42]);
214 C43 = cos(q[43]);
215 S43 = sin(q[43]);
216 C44 = cos(q[44]);
217 S44 = sin(q[44]);
218 C46 = cos(q[46]);
219 S46 = sin(q[46]);
220 C48 = cos(q[48]);
221 S48 = sin(q[48]);
222 C49 = cos(q[49]);
223 S49 = sin(q[49]);
224 C50 = cos(q[50]);
225 S50 = sin(q[50]);
226 C51 = cos(q[51]);
227 S51 = sin(q[51]);
228 C53 = cos(q[53]);
229 S53 = sin(q[53]);
230 C55 = cos(q[55]);
231 S55 = sin(q[55]);
232 C56 = cos(q[56]);
233 S56 = sin(q[56]);
234
235 // ====== END Task 0 ======
236
237 // ===== BEGIN task 1 =====
238
239 switch (isens)
240 {
241
242 //
243 break;
244 case 1:
245
246
247
248 // = = Block_1_0_0_1_0_1 = =
249
250 // Sensor Kinematics
251
252
253 ROcp0_25 = S4 * S5;
254 ROcp0_35 = -C4 * S5;
255 ROcp0_85 = -S4 * C5;
256 ROcp0_95 = C4 * C5;
257 ROcp0_16 = C5 * C6;
258 ROcp0_26 = ROcp0_25 * C6 + C4 * S6;
259 ROcp0_36 = ROcp0_35 * C6 + S4 * S6;
260 ROcp0_46 = -C5 * S6;
261 ROcp0_56 = -(ROcp0_25 * S6 - C4 * C6);
262 ROcp0_66 = -(ROcp0_35 * S6 - S4 * C6);
263 ROcp0_47 = ROcp0_46 * C7 + S5 * S7;
264 ROcp0_57 = ROcp0_56 * C7 + ROcp0_85 * S7;
265 ROcp0_67 = ROcp0_66 * C7 + ROcp0_95 * S7;
266 ROcp0_77 = -(ROcp0_46 * S7 - S5 * C7);
267 ROcp0_87 = -(ROcp0_56 * S7 - ROcp0_85 * C7);
268 ROcp0_97 = -(ROcp0_66 * S7 - ROcp0_95 * C7);
269 ROcp0_49 = ROcp0_47 * C9 + ROcp0_77 * S9;
270 ROcp0_59 = ROcp0_57 * C9 + ROcp0_87 * S9;
271 ROcp0_69 = ROcp0_67 * C9 + ROcp0_97 * S9;
272 ROcp0_79 = -(ROcp0_47 * S9 - ROcp0_77 * C9);
273 ROcp0_89 = -(ROcp0_57 * S9 - ROcp0_87 * C9);
274 ROcp0_99 = -(ROcp0_67 * S9 - ROcp0_97 * C9);
275 ROcp0_110 = ROcp0_16 * C10 - ROcp0_79 * S10;
276 ROcp0_210 = ROcp0_26 * C10 - ROcp0_89 * S10;
277 ROcp0_310 = ROcp0_36 * C10 - ROcp0_99 * S10;
278 ROcp0_710 = ROcp0_16 * S10 + ROcp0_79 * C10;
279 ROcp0_810 = ROcp0_26 * S10 + ROcp0_89 * C10;
280 ROcp0_910 = ROcp0_36 * S10 + ROcp0_99 * C10;
281 ROcp0_111 = ROcp0_110 * C11 + ROcp0_49 * S11;
282 ROcp0_211 = ROcp0_210 * C11 + ROcp0_59 * S11;
283 ROcp0_311 = ROcp0_310 * C11 + ROcp0_69 * S11;
284 ROcp0_411 = -(ROcp0_110 * S11 - ROcp0_49 * C11);
285 ROcp0_511 = -(ROcp0_210 * S11 - ROcp0_59 * C11);
286 ROcp0_611 = -(ROcp0_310 * S11 - ROcp0_69 * C11);
287 ROcp0_413 = ROcp0_411 * C13 + ROcp0_710 * S13;
288 ROcp0_513 = ROcp0_511 * C13 + ROcp0_810 * S13;
289 ROcp0_613 = ROcp0_611 * C13 + ROcp0_910 * S13;
290 ROcp0_713 = -(ROcp0_411 * S13 - ROcp0_710 * C13);
291 ROcp0_813 = -(ROcp0_511 * S13 - ROcp0_810 * C13);
292 ROcp0_913 = -(ROcp0_611 * S13 - ROcp0_910 * C13);
293 ROcp0_114 = ROcp0_111 * C14 - ROcp0_713 * S14;
294 ROcp0_214 = ROcp0_211 * C14 - ROcp0_813 * S14;
295 ROcp0_314 = ROcp0_311 * C14 - ROcp0_913 * S14;
296 ROcp0_714 = ROcp0_111 * S14 + ROcp0_713 * C14;
297 ROcp0_814 = ROcp0_211 * S14 + ROcp0_813 * C14;
298 ROcp0_914 = ROcp0_311 * S14 + ROcp0_913 * C14;
299 ROcp0_115 = ROcp0_114 * C15 + ROcp0_413 * S15;
300 ROcp0_215 = ROcp0_214 * C15 + ROcp0_513 * S15;
301 ROcp0_315 = ROcp0_314 * C15 + ROcp0_613 * S15;
302 ROcp0_415 = -(ROcp0_114 * S15 - ROcp0_413 * C15);
303 ROcp0_515 = -(ROcp0_214 * S15 - ROcp0_513 * C15);
304 ROcp0_615 = -(ROcp0_314 * S15 - ROcp0_613 * C15);
305 ROcp0_117 = ROcp0_115 * C17 + ROcp0_415 * S17;
306 ROcp0_217 = ROcp0_215 * C17 + ROcp0_515 * S17;
307 ROcp0_317 = ROcp0_315 * C17 + ROcp0_615 * S17;
308 ROcp0_417 = -(ROcp0_115 * S17 - ROcp0_415 * C17);
309 ROcp0_517 = -(ROcp0_215 * S17 - ROcp0_515 * C17);
310 ROcp0_617 = -(ROcp0_315 * S17 - ROcp0_615 * C17);
311 ROcp0_118 = ROcp0_117 * C18 + ROcp0_417 * S18;
312 ROcp0_218 = ROcp0_217 * C18 + ROcp0_517 * S18;
313 ROcp0_318 = ROcp0_317 * C18 + ROcp0_617 * S18;
314 ROcp0_418 = -(ROcp0_117 * S18 - ROcp0_417 * C18);
315 ROcp0_518 = -(ROcp0_217 * S18 - ROcp0_517 * C18);
316 ROcp0_618 = -(ROcp0_317 * S18 - ROcp0_617 * C18);
317 ROcp0_420 = ROcp0_418 * C20 + ROcp0_714 * S20;
318 ROcp0_520 = ROcp0_518 * C20 + ROcp0_814 * S20;
319 ROcp0_620 = ROcp0_618 * C20 + ROcp0_914 * S20;
320 ROcp0_720 = -(ROcp0_418 * S20 - ROcp0_714 * C20);
321 ROcp0_820 = -(ROcp0_518 * S20 - ROcp0_814 * C20);
322 ROcp0_920 = -(ROcp0_618 * S20 - ROcp0_914 * C20);
323 ROcp0_121 = ROcp0_118 * C21 - ROcp0_720 * S21;
324 ROcp0_221 = ROcp0_218 * C21 - ROcp0_820 * S21;
325 ROcp0_321 = ROcp0_318 * C21 - ROcp0_920 * S21;
326 ROcp0_721 = ROcp0_118 * S21 + ROcp0_720 * C21;
327 ROcp0_821 = ROcp0_218 * S21 + ROcp0_820 * C21;
328 ROcp0_921 = ROcp0_318 * S21 + ROcp0_920 * C21;
329 ROcp0_122 = ROcp0_121 * C22 + ROcp0_420 * S22;
330 ROcp0_222 = ROcp0_221 * C22 + ROcp0_520 * S22;
331 ROcp0_322 = ROcp0_321 * C22 + ROcp0_620 * S22;
332 ROcp0_422 = -(ROcp0_121 * S22 - ROcp0_420 * C22);
333 ROcp0_522 = -(ROcp0_221 * S22 - ROcp0_520 * C22);
334 ROcp0_622 = -(ROcp0_321 * S22 - ROcp0_620 * C22);
335 ROcp0_125 = ROcp0_122 * C25 + ROcp0_422 * S25;
336 ROcp0_225 = ROcp0_222 * C25 + ROcp0_522 * S25;
337 ROcp0_325 = ROcp0_322 * C25 + ROcp0_622 * S25;
338 ROcp0_425 = -(ROcp0_122 * S25 - ROcp0_422 * C25);
339 ROcp0_525 = -(ROcp0_222 * S25 - ROcp0_522 * C25);
340 ROcp0_625 = -(ROcp0_322 * S25 - ROcp0_622 * C25);
341 ROcp0_427 = ROcp0_425 * C27 + ROcp0_721 * S27;
342 ROcp0_527 = ROcp0_525 * C27 + ROcp0_821 * S27;
343 ROcp0_627 = ROcp0_625 * C27 + ROcp0_921 * S27;
344 ROcp0_727 = -(ROcp0_425 * S27 - ROcp0_721 * C27);
345 ROcp0_827 = -(ROcp0_525 * S27 - ROcp0_821 * C27);
346 ROcp0_927 = -(ROcp0_625 * S27 - ROcp0_921 * C27);
347 ROcp0_128 = ROcp0_125 * C28 + ROcp0_427 * S28;
348 ROcp0_228 = ROcp0_225 * C28 + ROcp0_527 * S28;
349 ROcp0_328 = ROcp0_325 * C28 + ROcp0_627 * S28;
350 ROcp0_428 = -(ROcp0_125 * S28 - ROcp0_427 * C28);
351 ROcp0_528 = -(ROcp0_225 * S28 - ROcp0_527 * C28);
352 ROcp0_628 = -(ROcp0_325 * S28 - ROcp0_627 * C28);
353 ROcp0_429 = ROcp0_428 * C29 + ROcp0_727 * S29;
354 ROcp0_529 = ROcp0_528 * C29 + ROcp0_827 * S29;
355 ROcp0_629 = ROcp0_628 * C29 + ROcp0_927 * S29;
356 ROcp0_729 = -(ROcp0_428 * S29 - ROcp0_727 * C29);
357 ROcp0_829 = -(ROcp0_528 * S29 - ROcp0_827 * C29);
358 ROcp0_929 = -(ROcp0_628 * S29 - ROcp0_927 * C29);
359 ROcp0_130 = ROcp0_128 * C30 + ROcp0_429 * S30;
360 ROcp0_230 = ROcp0_228 * C30 + ROcp0_529 * S30;
361 ROcp0_330 = ROcp0_328 * C30 + ROcp0_629 * S30;
362 ROcp0_430 = -(ROcp0_128 * S30 - ROcp0_429 * C30);
363 ROcp0_530 = -(ROcp0_228 * S30 - ROcp0_529 * C30);
364 ROcp0_630 = -(ROcp0_328 * S30 - ROcp0_629 * C30);
365 ROcp0_431 = ROcp0_430 * C31 + ROcp0_729 * S31;
366 ROcp0_531 = ROcp0_530 * C31 + ROcp0_829 * S31;
367 ROcp0_631 = ROcp0_630 * C31 + ROcp0_929 * S31;
368 ROcp0_731 = -(ROcp0_430 * S31 - ROcp0_729 * C31);
369 ROcp0_831 = -(ROcp0_530 * S31 - ROcp0_829 * C31);
370 ROcp0_931 = -(ROcp0_630 * S31 - ROcp0_929 * C31);
371 ROcp0_432 = ROcp0_431 * C32 + ROcp0_731 * S32;
372 ROcp0_532 = ROcp0_531 * C32 + ROcp0_831 * S32;
373 ROcp0_632 = ROcp0_631 * C32 + ROcp0_931 * S32;
374 ROcp0_732 = -(ROcp0_431 * S32 - ROcp0_731 * C32);
375 ROcp0_832 = -(ROcp0_531 * S32 - ROcp0_831 * C32);
376 ROcp0_932 = -(ROcp0_631 * S32 - ROcp0_931 * C32);
377 ROcp0_133 = ROcp0_130 * C33 - ROcp0_732 * S33;
378 ROcp0_233 = ROcp0_230 * C33 - ROcp0_832 * S33;
379 ROcp0_333 = ROcp0_330 * C33 - ROcp0_932 * S33;
380 ROcp0_733 = ROcp0_130 * S33 + ROcp0_732 * C33;
381 ROcp0_833 = ROcp0_230 * S33 + ROcp0_832 * C33;
382 ROcp0_933 = ROcp0_330 * S33 + ROcp0_932 * C33;
383 ROcp0_134 = ROcp0_133 * C34 + ROcp0_432 * S34;
384 ROcp0_234 = ROcp0_233 * C34 + ROcp0_532 * S34;
385 ROcp0_334 = ROcp0_333 * C34 + ROcp0_632 * S34;
386 ROcp0_434 = -(ROcp0_133 * S34 - ROcp0_432 * C34);
387 ROcp0_534 = -(ROcp0_233 * S34 - ROcp0_532 * C34);
388 ROcp0_634 = -(ROcp0_333 * S34 - ROcp0_632 * C34);
389 ROcp0_135 = ROcp0_134 * C35 + ROcp0_434 * S35;
390 ROcp0_235 = ROcp0_234 * C35 + ROcp0_534 * S35;
391 ROcp0_335 = ROcp0_334 * C35 + ROcp0_634 * S35;
392 ROcp0_435 = -(ROcp0_134 * S35 - ROcp0_434 * C35);
393 ROcp0_535 = -(ROcp0_234 * S35 - ROcp0_534 * C35);
394 ROcp0_635 = -(ROcp0_334 * S35 - ROcp0_634 * C35);
395 ROcp0_436 = ROcp0_435 * C36 + ROcp0_733 * S36;
396 ROcp0_536 = ROcp0_535 * C36 + ROcp0_833 * S36;
397 ROcp0_636 = ROcp0_635 * C36 + ROcp0_933 * S36;
398 ROcp0_736 = -(ROcp0_435 * S36 - ROcp0_733 * C36);
399 ROcp0_836 = -(ROcp0_535 * S36 - ROcp0_833 * C36);
400 ROcp0_936 = -(ROcp0_635 * S36 - ROcp0_933 * C36);
401 ROcp0_137 = ROcp0_135 * C37 - ROcp0_736 * S37;
402 ROcp0_237 = ROcp0_235 * C37 - ROcp0_836 * S37;
403 ROcp0_337 = ROcp0_335 * C37 - ROcp0_936 * S37;
404 ROcp0_737 = ROcp0_135 * S37 + ROcp0_736 * C37;
405 ROcp0_837 = ROcp0_235 * S37 + ROcp0_836 * C37;
406 ROcp0_937 = ROcp0_335 * S37 + ROcp0_936 * C37;
407 ROcp0_138 = ROcp0_137 * C38 + ROcp0_436 * S38;
408 ROcp0_238 = ROcp0_237 * C38 + ROcp0_536 * S38;
409 ROcp0_338 = ROcp0_337 * C38 + ROcp0_636 * S38;
410 ROcp0_438 = -(ROcp0_137 * S38 - ROcp0_436 * C38);
411 ROcp0_538 = -(ROcp0_237 * S38 - ROcp0_536 * C38);
412 ROcp0_638 = -(ROcp0_337 * S38 - ROcp0_636 * C38);
413 ROcp0_439 = ROcp0_438 * C39 + ROcp0_737 * S39;
414 ROcp0_539 = ROcp0_538 * C39 + ROcp0_837 * S39;
415 ROcp0_639 = ROcp0_638 * C39 + ROcp0_937 * S39;
416 ROcp0_739 = -(ROcp0_438 * S39 - ROcp0_737 * C39);
417 ROcp0_839 = -(ROcp0_538 * S39 - ROcp0_837 * C39);
418 ROcp0_939 = -(ROcp0_638 * S39 - ROcp0_937 * C39);
419 ROcp0_140 = ROcp0_138 * C40 + ROcp0_439 * S40;
420 ROcp0_240 = ROcp0_238 * C40 + ROcp0_539 * S40;
421 ROcp0_340 = ROcp0_338 * C40 + ROcp0_639 * S40;
422 ROcp0_440 = -(ROcp0_138 * S40 - ROcp0_439 * C40);
423 ROcp0_540 = -(ROcp0_238 * S40 - ROcp0_539 * C40);
424 ROcp0_640 = -(ROcp0_338 * S40 - ROcp0_639 * C40);
425 ROcp0_441 = ROcp0_440 * C41 + ROcp0_739 * S41;
426 ROcp0_541 = ROcp0_540 * C41 + ROcp0_839 * S41;
427 ROcp0_641 = ROcp0_640 * C41 + ROcp0_939 * S41;
428 ROcp0_741 = -(ROcp0_440 * S41 - ROcp0_739 * C41);
429 ROcp0_841 = -(ROcp0_540 * S41 - ROcp0_839 * C41);
430 ROcp0_941 = -(ROcp0_640 * S41 - ROcp0_939 * C41);
431 ROcp0_442 = ROcp0_441 * C42 + ROcp0_741 * S42;
432 ROcp0_542 = ROcp0_541 * C42 + ROcp0_841 * S42;
433 ROcp0_642 = ROcp0_641 * C42 + ROcp0_941 * S42;
434 ROcp0_742 = -(ROcp0_441 * S42 - ROcp0_741 * C42);
435 ROcp0_842 = -(ROcp0_541 * S42 - ROcp0_841 * C42);
436 ROcp0_942 = -(ROcp0_641 * S42 - ROcp0_941 * C42);
437 ROcp0_143 = ROcp0_140 * C43 + ROcp0_442 * S43;
438 ROcp0_243 = ROcp0_240 * C43 + ROcp0_542 * S43;
439 ROcp0_343 = ROcp0_340 * C43 + ROcp0_642 * S43;
440 ROcp0_443 = -(ROcp0_140 * S43 - ROcp0_442 * C43);
441 ROcp0_543 = -(ROcp0_240 * S43 - ROcp0_542 * C43);
442 ROcp0_643 = -(ROcp0_340 * S43 - ROcp0_642 * C43);
443 OMcp0_25 = qd[5] * C4;
444 OMcp0_35 = qd[5] * S4;
445 OMcp0_16 = qd[4] + qd[6] * S5;
446 OMcp0_26 = OMcp0_25 + ROcp0_85 * qd[6];
447 OMcp0_36 = OMcp0_35 + ROcp0_95 * qd[6];
448 OPcp0_16 = qdd[4] + qdd[6] * S5 + qd[5] * qd[6] * C5;
449 OPcp0_26 = ROcp0_85 * qdd[6] + qdd[5] * C4 - qd[4] * qd[5] * S4 + qd[6] * (OMcp0_35 * S5 - ROcp0_95 * qd[4]);
450 OPcp0_36 = ROcp0_95 * qdd[6] + qdd[5] * S4 + qd[4] * qd[5] * C4 - qd[6] * (OMcp0_25 * S5 - ROcp0_85 * qd[4]);
451 RLcp0_18 = ROcp0_77 * q[8];
452 RLcp0_28 = ROcp0_87 * q[8];
453 RLcp0_38 = ROcp0_97 * q[8];
454 ORcp0_18 = OMcp0_26 * RLcp0_38 - OMcp0_36 * RLcp0_28;
455 ORcp0_28 = -(OMcp0_16 * RLcp0_38 - OMcp0_36 * RLcp0_18);
456 ORcp0_38 = OMcp0_16 * RLcp0_28 - OMcp0_26 * RLcp0_18;
457 RLcp0_112 = ROcp0_710 * q[12];
458 RLcp0_212 = ROcp0_810 * q[12];
459 RLcp0_312 = ROcp0_910 * q[12];
460 ORcp0_112 = OMcp0_26 * RLcp0_312 - OMcp0_36 * RLcp0_212;
461 ORcp0_212 = -(OMcp0_16 * RLcp0_312 - OMcp0_36 * RLcp0_112);
462 ORcp0_312 = OMcp0_16 * RLcp0_212 - OMcp0_26 * RLcp0_112;
463 RLcp0_116 = ROcp0_714 * q[16];
464 RLcp0_216 = ROcp0_814 * q[16];
465 RLcp0_316 = ROcp0_914 * q[16];
466 ORcp0_116 = OMcp0_26 * RLcp0_316 - OMcp0_36 * RLcp0_216;
467 ORcp0_216 = -(OMcp0_16 * RLcp0_316 - OMcp0_36 * RLcp0_116);
468 ORcp0_316 = OMcp0_16 * RLcp0_216 - OMcp0_26 * RLcp0_116;
469 OMcp0_118 = OMcp0_16 + ROcp0_714 * qd[18];
470 OMcp0_218 = OMcp0_26 + ROcp0_814 * qd[18];
471 OMcp0_318 = OMcp0_36 + ROcp0_914 * qd[18];
472 OPcp0_118 = OPcp0_16 + ROcp0_714 * qdd[18] + qd[18] * (OMcp0_26 * ROcp0_914 - OMcp0_36 * ROcp0_814);
473 OPcp0_218 = OPcp0_26 + ROcp0_814 * qdd[18] - qd[18] * (OMcp0_16 * ROcp0_914 - OMcp0_36 * ROcp0_714);
474 OPcp0_318 = OPcp0_36 + ROcp0_914 * qdd[18] + qd[18] * (OMcp0_16 * ROcp0_814 - OMcp0_26 * ROcp0_714);
475 RLcp0_119 = ROcp0_714 * q[19];
476 RLcp0_219 = ROcp0_814 * q[19];
477 RLcp0_319 = ROcp0_914 * q[19];
478 ORcp0_119 = OMcp0_218 * RLcp0_319 - OMcp0_318 * RLcp0_219;
479 ORcp0_219 = -(OMcp0_118 * RLcp0_319 - OMcp0_318 * RLcp0_119);
480 ORcp0_319 = OMcp0_118 * RLcp0_219 - OMcp0_218 * RLcp0_119;
481 RLcp0_120 = ROcp0_418 * DPT_2_6 + ROcp0_714 * DPT_3_6;
482 RLcp0_220 = ROcp0_518 * DPT_2_6 + ROcp0_814 * DPT_3_6;
483 RLcp0_320 = ROcp0_618 * DPT_2_6 + ROcp0_914 * DPT_3_6;
484 OMcp0_120 = OMcp0_118 + ROcp0_118 * qd[20];
485 OMcp0_220 = OMcp0_218 + ROcp0_218 * qd[20];
486 OMcp0_320 = OMcp0_318 + ROcp0_318 * qd[20];
487 ORcp0_120 = OMcp0_218 * RLcp0_320 - OMcp0_318 * RLcp0_220;
488 ORcp0_220 = -(OMcp0_118 * RLcp0_320 - OMcp0_318 * RLcp0_120);
489 ORcp0_320 = OMcp0_118 * RLcp0_220 - OMcp0_218 * RLcp0_120;
490 OMcp0_121 = OMcp0_120 + ROcp0_420 * qd[21];
491 OMcp0_221 = OMcp0_220 + ROcp0_520 * qd[21];
492 OMcp0_321 = OMcp0_320 + ROcp0_620 * qd[21];
493 OMcp0_122 = OMcp0_121 + ROcp0_721 * qd[22];
494 OMcp0_222 = OMcp0_221 + ROcp0_821 * qd[22];
495 OMcp0_322 = OMcp0_321 + ROcp0_921 * qd[22];
496 OPcp0_122 = OPcp0_118 + ROcp0_118 * qdd[20] + ROcp0_420 * qdd[21] + ROcp0_721 * qdd[22] + qd[20] * (OMcp0_218 * ROcp0_318 - OMcp0_318 *
497 ROcp0_218) + qd[21] * (OMcp0_220 * ROcp0_620 - OMcp0_320 * ROcp0_520) + qd[22] * (OMcp0_221 * ROcp0_921 - OMcp0_321 * ROcp0_821);
498 OPcp0_222 = OPcp0_218 + ROcp0_218 * qdd[20] + ROcp0_520 * qdd[21] + ROcp0_821 * qdd[22] - qd[20] * (OMcp0_118 * ROcp0_318 - OMcp0_318 *
499 ROcp0_118) - qd[21] * (OMcp0_120 * ROcp0_620 - OMcp0_320 * ROcp0_420) - qd[22] * (OMcp0_121 * ROcp0_921 - OMcp0_321 * ROcp0_721);
500 OPcp0_322 = OPcp0_318 + ROcp0_318 * qdd[20] + ROcp0_620 * qdd[21] + ROcp0_921 * qdd[22] + qd[20] * (OMcp0_118 * ROcp0_218 - OMcp0_218 *
501 ROcp0_118) + qd[21] * (OMcp0_120 * ROcp0_520 - OMcp0_220 * ROcp0_420) + qd[22] * (OMcp0_121 * ROcp0_821 - OMcp0_221 * ROcp0_721);
502 RLcp0_123 = Dz233 * ROcp0_721 + ROcp0_422 * DPT_2_9;
503 RLcp0_223 = Dz233 * ROcp0_821 + ROcp0_522 * DPT_2_9;
504 RLcp0_323 = Dz233 * ROcp0_921 + ROcp0_622 * DPT_2_9;
505 ORcp0_123 = OMcp0_222 * RLcp0_323 - OMcp0_322 * RLcp0_223;
506 ORcp0_223 = -(OMcp0_122 * RLcp0_323 - OMcp0_322 * RLcp0_123);
507 ORcp0_323 = OMcp0_122 * RLcp0_223 - OMcp0_222 * RLcp0_123;
508 RLcp0_124 = Dz243 * ROcp0_721;
509 RLcp0_224 = Dz243 * ROcp0_821;
510 RLcp0_324 = Dz243 * ROcp0_921;
511 ORcp0_124 = OMcp0_222 * RLcp0_324 - OMcp0_322 * RLcp0_224;
512 ORcp0_224 = -(OMcp0_122 * RLcp0_324 - OMcp0_322 * RLcp0_124);
513 ORcp0_324 = OMcp0_122 * RLcp0_224 - OMcp0_222 * RLcp0_124;
514 RLcp0_126 = ROcp0_721 * q[26];
515 RLcp0_226 = ROcp0_821 * q[26];
516 RLcp0_326 = ROcp0_921 * q[26];
517 ORcp0_126 = OMcp0_222 * RLcp0_326 - OMcp0_322 * RLcp0_226;
518 ORcp0_226 = -(OMcp0_122 * RLcp0_326 - OMcp0_322 * RLcp0_126);
519 ORcp0_326 = OMcp0_122 * RLcp0_226 - OMcp0_222 * RLcp0_126;
520 OMcp0_130 = OMcp0_122 + ROcp0_729 * qd[30];
521 OMcp0_230 = OMcp0_222 + ROcp0_829 * qd[30];
522 OMcp0_330 = OMcp0_322 + ROcp0_929 * qd[30];
523 OMcp0_135 = OMcp0_130 + ROcp0_733 * qd[35];
524 OMcp0_235 = OMcp0_230 + ROcp0_833 * qd[35];
525 OMcp0_335 = OMcp0_330 + ROcp0_933 * qd[35];
526 OMcp0_140 = OMcp0_135 + ROcp0_739 * qd[40];
527 OMcp0_240 = OMcp0_235 + ROcp0_839 * qd[40];
528 OMcp0_340 = OMcp0_335 + ROcp0_939 * qd[40];
529 OPcp0_140 = OPcp0_122 + ROcp0_729 * qdd[30] + ROcp0_733 * qdd[35] + ROcp0_739 * qdd[40] + qd[30] * (OMcp0_222 * ROcp0_929 - OMcp0_322 *
530 ROcp0_829) + qd[35] * (OMcp0_230 * ROcp0_933 - OMcp0_330 * ROcp0_833) + qd[40] * (OMcp0_235 * ROcp0_939 - OMcp0_335 * ROcp0_839);
531 OPcp0_240 = OPcp0_222 + ROcp0_829 * qdd[30] + ROcp0_833 * qdd[35] + ROcp0_839 * qdd[40] - qd[30] * (OMcp0_122 * ROcp0_929 - OMcp0_322 *
532 ROcp0_729) - qd[35] * (OMcp0_130 * ROcp0_933 - OMcp0_330 * ROcp0_733) - qd[40] * (OMcp0_135 * ROcp0_939 - OMcp0_335 * ROcp0_739);
533 OPcp0_340 = OPcp0_322 + ROcp0_929 * qdd[30] + ROcp0_933 * qdd[35] + ROcp0_939 * qdd[40] + qd[30] * (OMcp0_122 * ROcp0_829 - OMcp0_222 *
534 ROcp0_729) + qd[35] * (OMcp0_130 * ROcp0_833 - OMcp0_230 * ROcp0_733) + qd[40] * (OMcp0_135 * ROcp0_839 - OMcp0_235 * ROcp0_739);
535 RLcp0_142 = ROcp0_741 * DPT_3_15;
536 RLcp0_242 = ROcp0_841 * DPT_3_15;
537 RLcp0_342 = ROcp0_941 * DPT_3_15;
538 ORcp0_142 = OMcp0_240 * RLcp0_342 - OMcp0_340 * RLcp0_242;
539 ORcp0_242 = -(OMcp0_140 * RLcp0_342 - OMcp0_340 * RLcp0_142);
540 ORcp0_342 = OMcp0_140 * RLcp0_242 - OMcp0_240 * RLcp0_142;
541 OMcp0_143 = OMcp0_140 + ROcp0_742 * qd[43];
542 OMcp0_243 = OMcp0_240 + ROcp0_842 * qd[43];
543 OMcp0_343 = OMcp0_340 + ROcp0_942 * qd[43];
544 OPcp0_143 = OPcp0_140 + ROcp0_742 * qdd[43] + qd[43] * (OMcp0_240 * ROcp0_942 - OMcp0_340 * ROcp0_842);
545 OPcp0_243 = OPcp0_240 + ROcp0_842 * qdd[43] - qd[43] * (OMcp0_140 * ROcp0_942 - OMcp0_340 * ROcp0_742);
546 OPcp0_343 = OPcp0_340 + ROcp0_942 * qdd[43] + qd[43] * (OMcp0_140 * ROcp0_842 - OMcp0_240 * ROcp0_742);
547 RLcp0_157 = ROcp0_143 * DPT_1_17 + ROcp0_443 * DPT_2_17 + ROcp0_742 * DPT_3_17;
548 RLcp0_257 = ROcp0_243 * DPT_1_17 + ROcp0_543 * DPT_2_17 + ROcp0_842 * DPT_3_17;
549 RLcp0_357 = ROcp0_343 * DPT_1_17 + ROcp0_643 * DPT_2_17 + ROcp0_942 * DPT_3_17;
550 POcp0_157 = RLcp0_112 + RLcp0_116 + RLcp0_119 + RLcp0_120 + RLcp0_123 + RLcp0_124 + RLcp0_126 + RLcp0_142 + RLcp0_157 + RLcp0_18 + q[1];
551 POcp0_257 = RLcp0_212 + RLcp0_216 + RLcp0_219 + RLcp0_220 + RLcp0_223 + RLcp0_224 + RLcp0_226 + RLcp0_242 + RLcp0_257 + RLcp0_28 + q[2];
552 POcp0_357 = RLcp0_312 + RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342 + RLcp0_357 + RLcp0_38 + q[3];
553 JTcp0_257_4 = -(RLcp0_312 + RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342 + RLcp0_357 + RLcp0_38);
554 JTcp0_357_4 = RLcp0_212 + RLcp0_216 + RLcp0_219 + RLcp0_220 + RLcp0_223 + RLcp0_224 + RLcp0_226 + RLcp0_242 + RLcp0_257 + RLcp0_28;
555 JTcp0_157_5 = C4 * (RLcp0_312 + RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342 + RLcp0_357 + RLcp0_38) -
556 S4 * (RLcp0_212 + RLcp0_28) - S4 * (RLcp0_216 + RLcp0_219) - S4 * (RLcp0_220 + RLcp0_223) - S4 * (RLcp0_224 + RLcp0_226) - S4 * (RLcp0_242 + RLcp0_257);
557 JTcp0_257_5 = S4 * (RLcp0_112 + RLcp0_116 + RLcp0_119 + RLcp0_120 + RLcp0_123 + RLcp0_124 + RLcp0_126 + RLcp0_142 + RLcp0_157 + RLcp0_18);
558 JTcp0_357_5 = -C4 * (RLcp0_112 + RLcp0_116 + RLcp0_119 + RLcp0_120 + RLcp0_123 + RLcp0_124 + RLcp0_126 + RLcp0_142 + RLcp0_157 + RLcp0_18);
559 JTcp0_157_6 = ROcp0_85 * (RLcp0_312 + RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342 + RLcp0_357 +
560 RLcp0_38) - ROcp0_95 * (RLcp0_212 + RLcp0_28) - ROcp0_95 * (RLcp0_216 + RLcp0_219) - ROcp0_95 * (RLcp0_220 + RLcp0_223) - ROcp0_95 * (RLcp0_224 +
561 RLcp0_226) - ROcp0_95 * (RLcp0_242 + RLcp0_257);
562 JTcp0_257_6 = RLcp0_157 * ROcp0_95 - RLcp0_342 * S5 - RLcp0_357 * S5 + ROcp0_95 * (RLcp0_112 + RLcp0_116 + RLcp0_119 + RLcp0_120 + RLcp0_123
563 + RLcp0_124 + RLcp0_126 + RLcp0_142 + RLcp0_18) - S5 * (RLcp0_312 + RLcp0_38) - S5 * (RLcp0_316 + RLcp0_319) - S5 * (RLcp0_320 + RLcp0_323) - S5 * (
564 RLcp0_324 + RLcp0_326);
565 JTcp0_357_6 = RLcp0_242 * S5 - ROcp0_85 * (RLcp0_112 + RLcp0_116 + RLcp0_119 + RLcp0_120 + RLcp0_123 + RLcp0_124 + RLcp0_126 + RLcp0_142 +
566 RLcp0_18) + S5 * (RLcp0_212 + RLcp0_28) + S5 * (RLcp0_216 + RLcp0_219) + S5 * (RLcp0_220 + RLcp0_223) + S5 * (RLcp0_224 + RLcp0_226) - RLcp0_157 *
567 ROcp0_85 + RLcp0_257 * S5;
568 JTcp0_157_7 = ROcp0_26 * (RLcp0_312 + RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342 + RLcp0_357 +
569 RLcp0_38) - ROcp0_36 * (RLcp0_212 + RLcp0_28) - ROcp0_36 * (RLcp0_216 + RLcp0_219) - ROcp0_36 * (RLcp0_220 + RLcp0_223) - ROcp0_36 * (RLcp0_224 +
570 RLcp0_226) - ROcp0_36 * (RLcp0_242 + RLcp0_257);
571 JTcp0_257_7 = -(ROcp0_16 * (RLcp0_312 + RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342 + RLcp0_357 +
572 RLcp0_38) - ROcp0_36 * (RLcp0_112 + RLcp0_18) - ROcp0_36 * (RLcp0_116 + RLcp0_119) - ROcp0_36 * (RLcp0_120 + RLcp0_123) - ROcp0_36 * (RLcp0_124 +
573 RLcp0_126) - ROcp0_36 * (RLcp0_142 + RLcp0_157));
574 JTcp0_357_7 = ROcp0_16 * (RLcp0_212 + RLcp0_216 + RLcp0_219 + RLcp0_220 + RLcp0_223 + RLcp0_224 + RLcp0_226 + RLcp0_242 + RLcp0_257 +
575 RLcp0_28) - ROcp0_26 * (RLcp0_112 + RLcp0_18) - ROcp0_26 * (RLcp0_116 + RLcp0_119) - ROcp0_26 * (RLcp0_120 + RLcp0_123) - ROcp0_26 * (RLcp0_124 +
576 RLcp0_126) - ROcp0_26 * (RLcp0_142 + RLcp0_157);
577 JTcp0_157_9 = ROcp0_26 * (RLcp0_312 + RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342) - ROcp0_36 * (
578 RLcp0_212 + RLcp0_216) - ROcp0_36 * (RLcp0_219 + RLcp0_220) - ROcp0_36 * (RLcp0_223 + RLcp0_224) - ROcp0_36 * (RLcp0_226 + RLcp0_242) - RLcp0_257 *
579 ROcp0_36 + RLcp0_357 * ROcp0_26;
580 JTcp0_257_9 = RLcp0_157 * ROcp0_36 - RLcp0_357 * ROcp0_16 - ROcp0_16 * (RLcp0_312 + RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 +
581 RLcp0_324 + RLcp0_326 + RLcp0_342) + ROcp0_36 * (RLcp0_112 + RLcp0_116) + ROcp0_36 * (RLcp0_119 + RLcp0_120) + ROcp0_36 * (RLcp0_123 + RLcp0_124) +
582 ROcp0_36 * (RLcp0_126 + RLcp0_142);
583 JTcp0_357_9 = ROcp0_16 * (RLcp0_212 + RLcp0_216 + RLcp0_219 + RLcp0_220 + RLcp0_223 + RLcp0_224 + RLcp0_226 + RLcp0_242) - ROcp0_26 * (
584 RLcp0_112 + RLcp0_116) - ROcp0_26 * (RLcp0_119 + RLcp0_120) - ROcp0_26 * (RLcp0_123 + RLcp0_124) - ROcp0_26 * (RLcp0_126 + RLcp0_142) - RLcp0_157 *
585 ROcp0_26 + RLcp0_257 * ROcp0_16;
586 JTcp0_157_10 = ROcp0_59 * (RLcp0_312 + RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342) - ROcp0_69 * (
587 RLcp0_212 + RLcp0_216) - ROcp0_69 * (RLcp0_219 + RLcp0_220) - ROcp0_69 * (RLcp0_223 + RLcp0_224) - ROcp0_69 * (RLcp0_226 + RLcp0_242) - RLcp0_257 *
588 ROcp0_69 + RLcp0_357 * ROcp0_59;
589 JTcp0_257_10 = RLcp0_157 * ROcp0_69 - RLcp0_357 * ROcp0_49 - ROcp0_49 * (RLcp0_312 + RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 +
590 RLcp0_324 + RLcp0_326 + RLcp0_342) + ROcp0_69 * (RLcp0_112 + RLcp0_116) + ROcp0_69 * (RLcp0_119 + RLcp0_120) + ROcp0_69 * (RLcp0_123 + RLcp0_124) +
591 ROcp0_69 * (RLcp0_126 + RLcp0_142);
592 JTcp0_357_10 = ROcp0_49 * (RLcp0_212 + RLcp0_216 + RLcp0_219 + RLcp0_220 + RLcp0_223 + RLcp0_224 + RLcp0_226 + RLcp0_242) - ROcp0_59 * (
593 RLcp0_112 + RLcp0_116) - ROcp0_59 * (RLcp0_119 + RLcp0_120) - ROcp0_59 * (RLcp0_123 + RLcp0_124) - ROcp0_59 * (RLcp0_126 + RLcp0_142) - RLcp0_157 *
594 ROcp0_59 + RLcp0_257 * ROcp0_49;
595 JTcp0_157_11 = ROcp0_810 * (RLcp0_312 + RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342) - ROcp0_910 * (
596 RLcp0_212 + RLcp0_216) - ROcp0_910 * (RLcp0_219 + RLcp0_220) - ROcp0_910 * (RLcp0_223 + RLcp0_224) - ROcp0_910 * (RLcp0_226 + RLcp0_242) -
597 RLcp0_257 * ROcp0_910 + RLcp0_357 * ROcp0_810;
598 JTcp0_257_11 = RLcp0_157 * ROcp0_910 - RLcp0_357 * ROcp0_710 - ROcp0_710 * (RLcp0_312 + RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 +
599 RLcp0_324 + RLcp0_326 + RLcp0_342) + ROcp0_910 * (RLcp0_112 + RLcp0_116) + ROcp0_910 * (RLcp0_119 + RLcp0_120) + ROcp0_910 * (RLcp0_123 +
600 RLcp0_124) + ROcp0_910 * (RLcp0_126 + RLcp0_142);
601 JTcp0_357_11 = ROcp0_710 * (RLcp0_212 + RLcp0_216 + RLcp0_219 + RLcp0_220 + RLcp0_223 + RLcp0_224 + RLcp0_226 + RLcp0_242) - ROcp0_810 * (
602 RLcp0_112 + RLcp0_116) - ROcp0_810 * (RLcp0_119 + RLcp0_120) - ROcp0_810 * (RLcp0_123 + RLcp0_124) - ROcp0_810 * (RLcp0_126 + RLcp0_142) -
603 RLcp0_157 * ROcp0_810 + RLcp0_257 * ROcp0_710;
604 JTcp0_157_13 = ROcp0_211 * (RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342 + RLcp0_357) - ROcp0_311 * (
605 RLcp0_216 + RLcp0_219) - ROcp0_311 * (RLcp0_220 + RLcp0_223) - ROcp0_311 * (RLcp0_224 + RLcp0_226) - ROcp0_311 * (RLcp0_242 + RLcp0_257);
606 JTcp0_257_13 = -(ROcp0_111 * (RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342 + RLcp0_357) - ROcp0_311
607 * (RLcp0_116 + RLcp0_119) - ROcp0_311 * (RLcp0_120 + RLcp0_123) - ROcp0_311 * (RLcp0_124 + RLcp0_126) - ROcp0_311 * (RLcp0_142 + RLcp0_157));
608 JTcp0_357_13 = ROcp0_111 * (RLcp0_216 + RLcp0_219 + RLcp0_220 + RLcp0_223 + RLcp0_224 + RLcp0_226 + RLcp0_242 + RLcp0_257) - ROcp0_211 * (
609 RLcp0_116 + RLcp0_119) - ROcp0_211 * (RLcp0_120 + RLcp0_123) - ROcp0_211 * (RLcp0_124 + RLcp0_126) - ROcp0_211 * (RLcp0_142 + RLcp0_157);
610 JTcp0_157_14 = ROcp0_513 * (RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342 + RLcp0_357) - ROcp0_613 * (
611 RLcp0_216 + RLcp0_219) - ROcp0_613 * (RLcp0_220 + RLcp0_223) - ROcp0_613 * (RLcp0_224 + RLcp0_226) - ROcp0_613 * (RLcp0_242 + RLcp0_257);
612 JTcp0_257_14 = -(ROcp0_413 * (RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342 + RLcp0_357) - ROcp0_613
613 * (RLcp0_116 + RLcp0_119) - ROcp0_613 * (RLcp0_120 + RLcp0_123) - ROcp0_613 * (RLcp0_124 + RLcp0_126) - ROcp0_613 * (RLcp0_142 + RLcp0_157));
614 JTcp0_357_14 = ROcp0_413 * (RLcp0_216 + RLcp0_219 + RLcp0_220 + RLcp0_223 + RLcp0_224 + RLcp0_226 + RLcp0_242 + RLcp0_257) - ROcp0_513 * (
615 RLcp0_116 + RLcp0_119) - ROcp0_513 * (RLcp0_120 + RLcp0_123) - ROcp0_513 * (RLcp0_124 + RLcp0_126) - ROcp0_513 * (RLcp0_142 + RLcp0_157);
616 JTcp0_157_15 = ROcp0_814 * (RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342 + RLcp0_357) - ROcp0_914 * (
617 RLcp0_216 + RLcp0_219) - ROcp0_914 * (RLcp0_220 + RLcp0_223) - ROcp0_914 * (RLcp0_224 + RLcp0_226) - ROcp0_914 * (RLcp0_242 + RLcp0_257);
618 JTcp0_257_15 = -(ROcp0_714 * (RLcp0_316 + RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342 + RLcp0_357) - ROcp0_914
619 * (RLcp0_116 + RLcp0_119) - ROcp0_914 * (RLcp0_120 + RLcp0_123) - ROcp0_914 * (RLcp0_124 + RLcp0_126) - ROcp0_914 * (RLcp0_142 + RLcp0_157));
620 JTcp0_357_15 = ROcp0_714 * (RLcp0_216 + RLcp0_219 + RLcp0_220 + RLcp0_223 + RLcp0_224 + RLcp0_226 + RLcp0_242 + RLcp0_257) - ROcp0_814 * (
621 RLcp0_116 + RLcp0_119) - ROcp0_814 * (RLcp0_120 + RLcp0_123) - ROcp0_814 * (RLcp0_124 + RLcp0_126) - ROcp0_814 * (RLcp0_142 + RLcp0_157);
622 JTcp0_157_17 = ROcp0_814 * (RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342) - ROcp0_914 * (RLcp0_219 + RLcp0_220)
623 - ROcp0_914 * (RLcp0_223 + RLcp0_224) - ROcp0_914 * (RLcp0_226 + RLcp0_242) - RLcp0_257 * ROcp0_914 + RLcp0_357 * ROcp0_814;
624 JTcp0_257_17 = RLcp0_157 * ROcp0_914 - RLcp0_357 * ROcp0_714 - ROcp0_714 * (RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 +
625 RLcp0_342) + ROcp0_914 * (RLcp0_119 + RLcp0_120) + ROcp0_914 * (RLcp0_123 + RLcp0_124) + ROcp0_914 * (RLcp0_126 + RLcp0_142);
626 JTcp0_357_17 = ROcp0_714 * (RLcp0_219 + RLcp0_220 + RLcp0_223 + RLcp0_224 + RLcp0_226 + RLcp0_242) - ROcp0_814 * (RLcp0_119 + RLcp0_120)
627 - ROcp0_814 * (RLcp0_123 + RLcp0_124) - ROcp0_814 * (RLcp0_126 + RLcp0_142) - RLcp0_157 * ROcp0_814 + RLcp0_257 * ROcp0_714;
628 JTcp0_157_18 = ROcp0_814 * (RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342) - ROcp0_914 * (RLcp0_219 + RLcp0_220)
629 - ROcp0_914 * (RLcp0_223 + RLcp0_224) - ROcp0_914 * (RLcp0_226 + RLcp0_242) - RLcp0_257 * ROcp0_914 + RLcp0_357 * ROcp0_814;
630 JTcp0_257_18 = RLcp0_157 * ROcp0_914 - RLcp0_357 * ROcp0_714 - ROcp0_714 * (RLcp0_319 + RLcp0_320 + RLcp0_323 + RLcp0_324 + RLcp0_326 +
631 RLcp0_342) + ROcp0_914 * (RLcp0_119 + RLcp0_120) + ROcp0_914 * (RLcp0_123 + RLcp0_124) + ROcp0_914 * (RLcp0_126 + RLcp0_142);
632 JTcp0_357_18 = ROcp0_714 * (RLcp0_219 + RLcp0_220 + RLcp0_223 + RLcp0_224 + RLcp0_226 + RLcp0_242) - ROcp0_814 * (RLcp0_119 + RLcp0_120)
633 - ROcp0_814 * (RLcp0_123 + RLcp0_124) - ROcp0_814 * (RLcp0_126 + RLcp0_142) - RLcp0_157 * ROcp0_814 + RLcp0_257 * ROcp0_714;
634 JTcp0_157_20 = ROcp0_218 * (RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342) - ROcp0_318 * (RLcp0_223 + RLcp0_224) - ROcp0_318 * (
635 RLcp0_226 + RLcp0_242) - RLcp0_257 * ROcp0_318 + RLcp0_357 * ROcp0_218;
636 JTcp0_257_20 = RLcp0_157 * ROcp0_318 - RLcp0_357 * ROcp0_118 - ROcp0_118 * (RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342) + ROcp0_318 * (
637 RLcp0_123 + RLcp0_124) + ROcp0_318 * (RLcp0_126 + RLcp0_142);
638 JTcp0_357_20 = ROcp0_118 * (RLcp0_223 + RLcp0_224 + RLcp0_226 + RLcp0_242) - ROcp0_218 * (RLcp0_123 + RLcp0_124) - ROcp0_218 * (
639 RLcp0_126 + RLcp0_142) - RLcp0_157 * ROcp0_218 + RLcp0_257 * ROcp0_118;
640 JTcp0_157_21 = ROcp0_520 * (RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342) - ROcp0_620 * (RLcp0_223 + RLcp0_224) - ROcp0_620 * (
641 RLcp0_226 + RLcp0_242) - RLcp0_257 * ROcp0_620 + RLcp0_357 * ROcp0_520;
642 JTcp0_257_21 = RLcp0_157 * ROcp0_620 - RLcp0_357 * ROcp0_420 - ROcp0_420 * (RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342) + ROcp0_620 * (
643 RLcp0_123 + RLcp0_124) + ROcp0_620 * (RLcp0_126 + RLcp0_142);
644 JTcp0_357_21 = ROcp0_420 * (RLcp0_223 + RLcp0_224 + RLcp0_226 + RLcp0_242) - ROcp0_520 * (RLcp0_123 + RLcp0_124) - ROcp0_520 * (
645 RLcp0_126 + RLcp0_142) - RLcp0_157 * ROcp0_520 + RLcp0_257 * ROcp0_420;
646 JTcp0_157_22 = ROcp0_821 * (RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342) - ROcp0_921 * (RLcp0_223 + RLcp0_224) - ROcp0_921 * (
647 RLcp0_226 + RLcp0_242) - RLcp0_257 * ROcp0_921 + RLcp0_357 * ROcp0_821;
648 JTcp0_257_22 = RLcp0_157 * ROcp0_921 - RLcp0_357 * ROcp0_721 - ROcp0_721 * (RLcp0_323 + RLcp0_324 + RLcp0_326 + RLcp0_342) + ROcp0_921 * (
649 RLcp0_123 + RLcp0_124) + ROcp0_921 * (RLcp0_126 + RLcp0_142);
650 JTcp0_357_22 = ROcp0_721 * (RLcp0_223 + RLcp0_224 + RLcp0_226 + RLcp0_242) - ROcp0_821 * (RLcp0_123 + RLcp0_124) - ROcp0_821 * (
651 RLcp0_126 + RLcp0_142) - RLcp0_157 * ROcp0_821 + RLcp0_257 * ROcp0_721;
652 JTcp0_157_25 = ROcp0_821 * (RLcp0_326 + RLcp0_342) - ROcp0_921 * (RLcp0_226 + RLcp0_242) - RLcp0_257 * ROcp0_921 + RLcp0_357 * ROcp0_821;
653 JTcp0_257_25 = RLcp0_157 * ROcp0_921 - RLcp0_357 * ROcp0_721 - ROcp0_721 * (RLcp0_326 + RLcp0_342) + ROcp0_921 * (RLcp0_126 + RLcp0_142);
654 JTcp0_357_25 = ROcp0_721 * (RLcp0_226 + RLcp0_242) - ROcp0_821 * (RLcp0_126 + RLcp0_142) - RLcp0_157 * ROcp0_821 + RLcp0_257 * ROcp0_721;
655 JTcp0_157_27 = ROcp0_225 * (RLcp0_342 + RLcp0_357) - ROcp0_325 * (RLcp0_242 + RLcp0_257);
656 JTcp0_257_27 = -(ROcp0_125 * (RLcp0_342 + RLcp0_357) - ROcp0_325 * (RLcp0_142 + RLcp0_157));
657 JTcp0_357_27 = ROcp0_125 * (RLcp0_242 + RLcp0_257) - ROcp0_225 * (RLcp0_142 + RLcp0_157);
658 JTcp0_157_28 = ROcp0_827 * (RLcp0_342 + RLcp0_357) - ROcp0_927 * (RLcp0_242 + RLcp0_257);
659 JTcp0_257_28 = -(ROcp0_727 * (RLcp0_342 + RLcp0_357) - ROcp0_927 * (RLcp0_142 + RLcp0_157));
660 JTcp0_357_28 = ROcp0_727 * (RLcp0_242 + RLcp0_257) - ROcp0_827 * (RLcp0_142 + RLcp0_157);
661 JTcp0_157_29 = ROcp0_228 * (RLcp0_342 + RLcp0_357) - ROcp0_328 * (RLcp0_242 + RLcp0_257);
662 JTcp0_257_29 = -(ROcp0_128 * (RLcp0_342 + RLcp0_357) - ROcp0_328 * (RLcp0_142 + RLcp0_157));
663 JTcp0_357_29 = ROcp0_128 * (RLcp0_242 + RLcp0_257) - ROcp0_228 * (RLcp0_142 + RLcp0_157);
664 JTcp0_157_30 = ROcp0_829 * (RLcp0_342 + RLcp0_357) - ROcp0_929 * (RLcp0_242 + RLcp0_257);
665 JTcp0_257_30 = -(ROcp0_729 * (RLcp0_342 + RLcp0_357) - ROcp0_929 * (RLcp0_142 + RLcp0_157));
666 JTcp0_357_30 = ROcp0_729 * (RLcp0_242 + RLcp0_257) - ROcp0_829 * (RLcp0_142 + RLcp0_157);
667 JTcp0_157_31 = ROcp0_230 * (RLcp0_342 + RLcp0_357) - ROcp0_330 * (RLcp0_242 + RLcp0_257);
668 JTcp0_257_31 = -(ROcp0_130 * (RLcp0_342 + RLcp0_357) - ROcp0_330 * (RLcp0_142 + RLcp0_157));
669 JTcp0_357_31 = ROcp0_130 * (RLcp0_242 + RLcp0_257) - ROcp0_230 * (RLcp0_142 + RLcp0_157);
670 JTcp0_157_32 = ROcp0_230 * (RLcp0_342 + RLcp0_357) - ROcp0_330 * (RLcp0_242 + RLcp0_257);
671 JTcp0_257_32 = -(ROcp0_130 * (RLcp0_342 + RLcp0_357) - ROcp0_330 * (RLcp0_142 + RLcp0_157));
672 JTcp0_357_32 = ROcp0_130 * (RLcp0_242 + RLcp0_257) - ROcp0_230 * (RLcp0_142 + RLcp0_157);
673 JTcp0_157_33 = ROcp0_532 * (RLcp0_342 + RLcp0_357) - ROcp0_632 * (RLcp0_242 + RLcp0_257);
674 JTcp0_257_33 = -(ROcp0_432 * (RLcp0_342 + RLcp0_357) - ROcp0_632 * (RLcp0_142 + RLcp0_157));
675 JTcp0_357_33 = ROcp0_432 * (RLcp0_242 + RLcp0_257) - ROcp0_532 * (RLcp0_142 + RLcp0_157);
676 JTcp0_157_34 = ROcp0_833 * (RLcp0_342 + RLcp0_357) - ROcp0_933 * (RLcp0_242 + RLcp0_257);
677 JTcp0_257_34 = -(ROcp0_733 * (RLcp0_342 + RLcp0_357) - ROcp0_933 * (RLcp0_142 + RLcp0_157));
678 JTcp0_357_34 = ROcp0_733 * (RLcp0_242 + RLcp0_257) - ROcp0_833 * (RLcp0_142 + RLcp0_157);
679 JTcp0_157_35 = ROcp0_833 * (RLcp0_342 + RLcp0_357) - ROcp0_933 * (RLcp0_242 + RLcp0_257);
680 JTcp0_257_35 = -(ROcp0_733 * (RLcp0_342 + RLcp0_357) - ROcp0_933 * (RLcp0_142 + RLcp0_157));
681 JTcp0_357_35 = ROcp0_733 * (RLcp0_242 + RLcp0_257) - ROcp0_833 * (RLcp0_142 + RLcp0_157);
682 JTcp0_157_36 = ROcp0_235 * (RLcp0_342 + RLcp0_357) - ROcp0_335 * (RLcp0_242 + RLcp0_257);
683 JTcp0_257_36 = -(ROcp0_135 * (RLcp0_342 + RLcp0_357) - ROcp0_335 * (RLcp0_142 + RLcp0_157));
684 JTcp0_357_36 = ROcp0_135 * (RLcp0_242 + RLcp0_257) - ROcp0_235 * (RLcp0_142 + RLcp0_157);
685 JTcp0_157_37 = ROcp0_536 * (RLcp0_342 + RLcp0_357) - ROcp0_636 * (RLcp0_242 + RLcp0_257);
686 JTcp0_257_37 = -(ROcp0_436 * (RLcp0_342 + RLcp0_357) - ROcp0_636 * (RLcp0_142 + RLcp0_157));
687 JTcp0_357_37 = ROcp0_436 * (RLcp0_242 + RLcp0_257) - ROcp0_536 * (RLcp0_142 + RLcp0_157);
688 JTcp0_157_38 = ROcp0_837 * (RLcp0_342 + RLcp0_357) - ROcp0_937 * (RLcp0_242 + RLcp0_257);
689 JTcp0_257_38 = -(ROcp0_737 * (RLcp0_342 + RLcp0_357) - ROcp0_937 * (RLcp0_142 + RLcp0_157));
690 JTcp0_357_38 = ROcp0_737 * (RLcp0_242 + RLcp0_257) - ROcp0_837 * (RLcp0_142 + RLcp0_157);
691 JTcp0_157_39 = ROcp0_238 * (RLcp0_342 + RLcp0_357) - ROcp0_338 * (RLcp0_242 + RLcp0_257);
692 JTcp0_257_39 = -(ROcp0_138 * (RLcp0_342 + RLcp0_357) - ROcp0_338 * (RLcp0_142 + RLcp0_157));
693 JTcp0_357_39 = ROcp0_138 * (RLcp0_242 + RLcp0_257) - ROcp0_238 * (RLcp0_142 + RLcp0_157);
694 JTcp0_157_40 = ROcp0_839 * (RLcp0_342 + RLcp0_357) - ROcp0_939 * (RLcp0_242 + RLcp0_257);
695 JTcp0_257_40 = -(ROcp0_739 * (RLcp0_342 + RLcp0_357) - ROcp0_939 * (RLcp0_142 + RLcp0_157));
696 JTcp0_357_40 = ROcp0_739 * (RLcp0_242 + RLcp0_257) - ROcp0_839 * (RLcp0_142 + RLcp0_157);
697 JTcp0_157_41 = ROcp0_240 * (RLcp0_342 + RLcp0_357) - ROcp0_340 * (RLcp0_242 + RLcp0_257);
698 JTcp0_257_41 = -(ROcp0_140 * (RLcp0_342 + RLcp0_357) - ROcp0_340 * (RLcp0_142 + RLcp0_157));
699 JTcp0_357_41 = ROcp0_140 * (RLcp0_242 + RLcp0_257) - ROcp0_240 * (RLcp0_142 + RLcp0_157);
700 JTcp0_157_42 = -(RLcp0_257 * ROcp0_340 - RLcp0_357 * ROcp0_240);
701 JTcp0_257_42 = RLcp0_157 * ROcp0_340 - RLcp0_357 * ROcp0_140;
702 JTcp0_357_42 = -(RLcp0_157 * ROcp0_240 - RLcp0_257 * ROcp0_140);
703 JTcp0_157_43 = -(RLcp0_257 * ROcp0_942 - RLcp0_357 * ROcp0_842);
704 JTcp0_257_43 = RLcp0_157 * ROcp0_942 - RLcp0_357 * ROcp0_742;
705 JTcp0_357_43 = -(RLcp0_157 * ROcp0_842 - RLcp0_257 * ROcp0_742);
706 ORcp0_157 = OMcp0_243 * RLcp0_357 - OMcp0_343 * RLcp0_257;
707 ORcp0_257 = -(OMcp0_143 * RLcp0_357 - OMcp0_343 * RLcp0_157);
708 ORcp0_357 = OMcp0_143 * RLcp0_257 - OMcp0_243 * RLcp0_157;
709 VIcp0_157 = ORcp0_112 + ORcp0_116 + ORcp0_119 + ORcp0_120 + ORcp0_123 + ORcp0_124 + ORcp0_126 + ORcp0_142 + ORcp0_157 + ORcp0_18 + qd[1];
710 VIcp0_257 = ORcp0_212 + ORcp0_216 + ORcp0_219 + ORcp0_220 + ORcp0_223 + ORcp0_224 + ORcp0_226 + ORcp0_242 + ORcp0_257 + ORcp0_28 + qd[2];
711 VIcp0_357 = ORcp0_312 + ORcp0_316 + ORcp0_319 + ORcp0_320 + ORcp0_323 + ORcp0_324 + ORcp0_326 + ORcp0_342 + ORcp0_357 + ORcp0_38 + qd[3];
712 ACcp0_157 = qdd[1] + OMcp0_218 * ORcp0_319 + OMcp0_218 * ORcp0_320 + OMcp0_222 * ORcp0_323 + OMcp0_222 * ORcp0_324 + OMcp0_222 * ORcp0_326
713 + OMcp0_240 * ORcp0_342 + OMcp0_243 * ORcp0_357 + OMcp0_26 * ORcp0_312 + OMcp0_26 * ORcp0_316 + OMcp0_26 * ORcp0_38 - OMcp0_318 * ORcp0_219 -
714 OMcp0_318 * ORcp0_220 - OMcp0_322 * ORcp0_223 - OMcp0_322 * ORcp0_224 - OMcp0_322 * ORcp0_226 - OMcp0_340 * ORcp0_242 - OMcp0_343 * ORcp0_257 -
715 OMcp0_36 * ORcp0_212 - OMcp0_36 * ORcp0_216 - OMcp0_36 * ORcp0_28 + OPcp0_218 * RLcp0_319 + OPcp0_218 * RLcp0_320 + OPcp0_222 * RLcp0_323 +
716 OPcp0_222 * RLcp0_324 + OPcp0_222 * RLcp0_326 + OPcp0_240 * RLcp0_342 + OPcp0_243 * RLcp0_357 + OPcp0_26 * RLcp0_312 + OPcp0_26 * RLcp0_316 +
717 OPcp0_26 * RLcp0_38 - OPcp0_318 * RLcp0_219 - OPcp0_318 * RLcp0_220 - OPcp0_322 * RLcp0_223 - OPcp0_322 * RLcp0_224 - OPcp0_322 * RLcp0_226 -
718 OPcp0_340 * RLcp0_242 - OPcp0_343 * RLcp0_257 - OPcp0_36 * RLcp0_212 - OPcp0_36 * RLcp0_216 - OPcp0_36 * RLcp0_28;
719 ACcp0_257 = qdd[2] - OMcp0_118 * ORcp0_319 - OMcp0_118 * ORcp0_320 - OMcp0_122 * ORcp0_323 - OMcp0_122 * ORcp0_324 - OMcp0_122 * ORcp0_326
720 - OMcp0_140 * ORcp0_342 - OMcp0_143 * ORcp0_357 - OMcp0_16 * ORcp0_312 - OMcp0_16 * ORcp0_316 - OMcp0_16 * ORcp0_38 + OMcp0_318 * ORcp0_119 +
721 OMcp0_318 * ORcp0_120 + OMcp0_322 * ORcp0_123 + OMcp0_322 * ORcp0_124 + OMcp0_322 * ORcp0_126 + OMcp0_340 * ORcp0_142 + OMcp0_343 * ORcp0_157 +
722 OMcp0_36 * ORcp0_112 + OMcp0_36 * ORcp0_116 + OMcp0_36 * ORcp0_18 - OPcp0_118 * RLcp0_319 - OPcp0_118 * RLcp0_320 - OPcp0_122 * RLcp0_323 -
723 OPcp0_122 * RLcp0_324 - OPcp0_122 * RLcp0_326 - OPcp0_140 * RLcp0_342 - OPcp0_143 * RLcp0_357 - OPcp0_16 * RLcp0_312 - OPcp0_16 * RLcp0_316 -
724 OPcp0_16 * RLcp0_38 + OPcp0_318 * RLcp0_119 + OPcp0_318 * RLcp0_120 + OPcp0_322 * RLcp0_123 + OPcp0_322 * RLcp0_124 + OPcp0_322 * RLcp0_126 +
725 OPcp0_340 * RLcp0_142 + OPcp0_343 * RLcp0_157 + OPcp0_36 * RLcp0_112 + OPcp0_36 * RLcp0_116 + OPcp0_36 * RLcp0_18;
726 ACcp0_357 = qdd[3] + OMcp0_118 * ORcp0_219 + OMcp0_118 * ORcp0_220 + OMcp0_122 * ORcp0_223 + OMcp0_122 * ORcp0_224 + OMcp0_122 * ORcp0_226
727 + OMcp0_140 * ORcp0_242 + OMcp0_143 * ORcp0_257 + OMcp0_16 * ORcp0_212 + OMcp0_16 * ORcp0_216 + OMcp0_16 * ORcp0_28 - OMcp0_218 * ORcp0_119 -
728 OMcp0_218 * ORcp0_120 - OMcp0_222 * ORcp0_123 - OMcp0_222 * ORcp0_124 - OMcp0_222 * ORcp0_126 - OMcp0_240 * ORcp0_142 - OMcp0_243 * ORcp0_157 -
729 OMcp0_26 * ORcp0_112 - OMcp0_26 * ORcp0_116 - OMcp0_26 * ORcp0_18 + OPcp0_118 * RLcp0_219 + OPcp0_118 * RLcp0_220 + OPcp0_122 * RLcp0_223 +
730 OPcp0_122 * RLcp0_224 + OPcp0_122 * RLcp0_226 + OPcp0_140 * RLcp0_242 + OPcp0_143 * RLcp0_257 + OPcp0_16 * RLcp0_212 + OPcp0_16 * RLcp0_216 +
731 OPcp0_16 * RLcp0_28 - OPcp0_218 * RLcp0_119 - OPcp0_218 * RLcp0_120 - OPcp0_222 * RLcp0_123 - OPcp0_222 * RLcp0_124 - OPcp0_222 * RLcp0_126 -
732 OPcp0_240 * RLcp0_142 - OPcp0_243 * RLcp0_157 - OPcp0_26 * RLcp0_112 - OPcp0_26 * RLcp0_116 - OPcp0_26 * RLcp0_18;
733
734 // = = Block_1_0_0_1_1_0 = =
735
736 // Symbolic Outputs
737
738 sens->P[1] = POcp0_157;
739 sens->P[2] = POcp0_257;
740 sens->P[3] = POcp0_357;
741 sens->R[1][1] = ROcp0_143;
742 sens->R[1][2] = ROcp0_243;
743 sens->R[1][3] = ROcp0_343;
744 sens->R[2][1] = ROcp0_443;
745 sens->R[2][2] = ROcp0_543;
746 sens->R[2][3] = ROcp0_643;
747 sens->R[3][1] = ROcp0_742;
748 sens->R[3][2] = ROcp0_842;
749 sens->R[3][3] = ROcp0_942;
750 sens->V[1] = VIcp0_157;
751 sens->V[2] = VIcp0_257;
752 sens->V[3] = VIcp0_357;
753 sens->OM[1] = OMcp0_143;
754 sens->OM[2] = OMcp0_243;
755 sens->OM[3] = OMcp0_343;
756 sens->J[1][1] = (1.0);
757 sens->J[1][5] = JTcp0_157_5;
758 sens->J[1][6] = JTcp0_157_6;
759 sens->J[1][7] = JTcp0_157_7;
760 sens->J[1][8] = ROcp0_77;
761 sens->J[1][9] = JTcp0_157_9;
762 sens->J[1][10] = JTcp0_157_10;
763 sens->J[1][11] = JTcp0_157_11;
764 sens->J[1][12] = ROcp0_710;
765 sens->J[1][13] = JTcp0_157_13;
766 sens->J[1][14] = JTcp0_157_14;
767 sens->J[1][15] = JTcp0_157_15;
768 sens->J[1][16] = ROcp0_714;
769 sens->J[1][17] = JTcp0_157_17;
770 sens->J[1][18] = JTcp0_157_18;
771 sens->J[1][19] = ROcp0_714;
772 sens->J[1][20] = JTcp0_157_20;
773 sens->J[1][21] = JTcp0_157_21;
774 sens->J[1][22] = JTcp0_157_22;
775 sens->J[1][23] = ROcp0_721;
776 sens->J[1][24] = ROcp0_721;
777 sens->J[1][25] = JTcp0_157_25;
778 sens->J[1][26] = ROcp0_721;
779 sens->J[1][27] = JTcp0_157_27;
780 sens->J[1][28] = JTcp0_157_28;
781 sens->J[1][29] = JTcp0_157_29;
782 sens->J[1][30] = JTcp0_157_30;
783 sens->J[1][31] = JTcp0_157_31;
784 sens->J[1][32] = JTcp0_157_32;
785 sens->J[1][33] = JTcp0_157_33;
786 sens->J[1][34] = JTcp0_157_34;
787 sens->J[1][35] = JTcp0_157_35;
788 sens->J[1][36] = JTcp0_157_36;
789 sens->J[1][37] = JTcp0_157_37;
790 sens->J[1][38] = JTcp0_157_38;
791 sens->J[1][39] = JTcp0_157_39;
792 sens->J[1][40] = JTcp0_157_40;
793 sens->J[1][41] = JTcp0_157_41;
794 sens->J[1][42] = JTcp0_157_42;
795 sens->J[1][43] = JTcp0_157_43;
796 sens->J[2][2] = (1.0);
797 sens->J[2][4] = JTcp0_257_4;
798 sens->J[2][5] = JTcp0_257_5;
799 sens->J[2][6] = JTcp0_257_6;
800 sens->J[2][7] = JTcp0_257_7;
801 sens->J[2][8] = ROcp0_87;
802 sens->J[2][9] = JTcp0_257_9;
803 sens->J[2][10] = JTcp0_257_10;
804 sens->J[2][11] = JTcp0_257_11;
805 sens->J[2][12] = ROcp0_810;
806 sens->J[2][13] = JTcp0_257_13;
807 sens->J[2][14] = JTcp0_257_14;
808 sens->J[2][15] = JTcp0_257_15;
809 sens->J[2][16] = ROcp0_814;
810 sens->J[2][17] = JTcp0_257_17;
811 sens->J[2][18] = JTcp0_257_18;
812 sens->J[2][19] = ROcp0_814;
813 sens->J[2][20] = JTcp0_257_20;
814 sens->J[2][21] = JTcp0_257_21;
815 sens->J[2][22] = JTcp0_257_22;
816 sens->J[2][23] = ROcp0_821;
817 sens->J[2][24] = ROcp0_821;
818 sens->J[2][25] = JTcp0_257_25;
819 sens->J[2][26] = ROcp0_821;
820 sens->J[2][27] = JTcp0_257_27;
821 sens->J[2][28] = JTcp0_257_28;
822 sens->J[2][29] = JTcp0_257_29;
823 sens->J[2][30] = JTcp0_257_30;
824 sens->J[2][31] = JTcp0_257_31;
825 sens->J[2][32] = JTcp0_257_32;
826 sens->J[2][33] = JTcp0_257_33;
827 sens->J[2][34] = JTcp0_257_34;
828 sens->J[2][35] = JTcp0_257_35;
829 sens->J[2][36] = JTcp0_257_36;
830 sens->J[2][37] = JTcp0_257_37;
831 sens->J[2][38] = JTcp0_257_38;
832 sens->J[2][39] = JTcp0_257_39;
833 sens->J[2][40] = JTcp0_257_40;
834 sens->J[2][41] = JTcp0_257_41;
835 sens->J[2][42] = JTcp0_257_42;
836 sens->J[2][43] = JTcp0_257_43;
837 sens->J[3][3] = (1.0);
838 sens->J[3][4] = JTcp0_357_4;
839 sens->J[3][5] = JTcp0_357_5;
840 sens->J[3][6] = JTcp0_357_6;
841 sens->J[3][7] = JTcp0_357_7;
842 sens->J[3][8] = ROcp0_97;
843 sens->J[3][9] = JTcp0_357_9;
844 sens->J[3][10] = JTcp0_357_10;
845 sens->J[3][11] = JTcp0_357_11;
846 sens->J[3][12] = ROcp0_910;
847 sens->J[3][13] = JTcp0_357_13;
848 sens->J[3][14] = JTcp0_357_14;
849 sens->J[3][15] = JTcp0_357_15;
850 sens->J[3][16] = ROcp0_914;
851 sens->J[3][17] = JTcp0_357_17;
852 sens->J[3][18] = JTcp0_357_18;
853 sens->J[3][19] = ROcp0_914;
854 sens->J[3][20] = JTcp0_357_20;
855 sens->J[3][21] = JTcp0_357_21;
856 sens->J[3][22] = JTcp0_357_22;
857 sens->J[3][23] = ROcp0_921;
858 sens->J[3][24] = ROcp0_921;
859 sens->J[3][25] = JTcp0_357_25;
860 sens->J[3][26] = ROcp0_921;
861 sens->J[3][27] = JTcp0_357_27;
862 sens->J[3][28] = JTcp0_357_28;
863 sens->J[3][29] = JTcp0_357_29;
864 sens->J[3][30] = JTcp0_357_30;
865 sens->J[3][31] = JTcp0_357_31;
866 sens->J[3][32] = JTcp0_357_32;
867 sens->J[3][33] = JTcp0_357_33;
868 sens->J[3][34] = JTcp0_357_34;
869 sens->J[3][35] = JTcp0_357_35;
870 sens->J[3][36] = JTcp0_357_36;
871 sens->J[3][37] = JTcp0_357_37;
872 sens->J[3][38] = JTcp0_357_38;
873 sens->J[3][39] = JTcp0_357_39;
874 sens->J[3][40] = JTcp0_357_40;
875 sens->J[3][41] = JTcp0_357_41;
876 sens->J[3][42] = JTcp0_357_42;
877 sens->J[3][43] = JTcp0_357_43;
878 sens->J[4][4] = (1.0);
879 sens->J[4][6] = S5;
880 sens->J[4][7] = ROcp0_16;
881 sens->J[4][9] = ROcp0_16;
882 sens->J[4][10] = ROcp0_49;
883 sens->J[4][11] = ROcp0_710;
884 sens->J[4][13] = ROcp0_111;
885 sens->J[4][14] = ROcp0_413;
886 sens->J[4][15] = ROcp0_714;
887 sens->J[4][17] = ROcp0_714;
888 sens->J[4][18] = ROcp0_714;
889 sens->J[4][20] = ROcp0_118;
890 sens->J[4][21] = ROcp0_420;
891 sens->J[4][22] = ROcp0_721;
892 sens->J[4][25] = ROcp0_721;
893 sens->J[4][27] = ROcp0_125;
894 sens->J[4][28] = ROcp0_727;
895 sens->J[4][29] = ROcp0_128;
896 sens->J[4][30] = ROcp0_729;
897 sens->J[4][31] = ROcp0_130;
898 sens->J[4][32] = ROcp0_130;
899 sens->J[4][33] = ROcp0_432;
900 sens->J[4][34] = ROcp0_733;
901 sens->J[4][35] = ROcp0_733;
902 sens->J[4][36] = ROcp0_135;
903 sens->J[4][37] = ROcp0_436;
904 sens->J[4][38] = ROcp0_737;
905 sens->J[4][39] = ROcp0_138;
906 sens->J[4][40] = ROcp0_739;
907 sens->J[4][41] = ROcp0_140;
908 sens->J[4][42] = ROcp0_140;
909 sens->J[4][43] = ROcp0_742;
910 sens->J[5][5] = C4;
911 sens->J[5][6] = ROcp0_85;
912 sens->J[5][7] = ROcp0_26;
913 sens->J[5][9] = ROcp0_26;
914 sens->J[5][10] = ROcp0_59;
915 sens->J[5][11] = ROcp0_810;
916 sens->J[5][13] = ROcp0_211;
917 sens->J[5][14] = ROcp0_513;
918 sens->J[5][15] = ROcp0_814;
919 sens->J[5][17] = ROcp0_814;
920 sens->J[5][18] = ROcp0_814;
921 sens->J[5][20] = ROcp0_218;
922 sens->J[5][21] = ROcp0_520;
923 sens->J[5][22] = ROcp0_821;
924 sens->J[5][25] = ROcp0_821;
925 sens->J[5][27] = ROcp0_225;
926 sens->J[5][28] = ROcp0_827;
927 sens->J[5][29] = ROcp0_228;
928 sens->J[5][30] = ROcp0_829;
929 sens->J[5][31] = ROcp0_230;
930 sens->J[5][32] = ROcp0_230;
931 sens->J[5][33] = ROcp0_532;
932 sens->J[5][34] = ROcp0_833;
933 sens->J[5][35] = ROcp0_833;
934 sens->J[5][36] = ROcp0_235;
935 sens->J[5][37] = ROcp0_536;
936 sens->J[5][38] = ROcp0_837;
937 sens->J[5][39] = ROcp0_238;
938 sens->J[5][40] = ROcp0_839;
939 sens->J[5][41] = ROcp0_240;
940 sens->J[5][42] = ROcp0_240;
941 sens->J[5][43] = ROcp0_842;
942 sens->J[6][5] = S4;
943 sens->J[6][6] = ROcp0_95;
944 sens->J[6][7] = ROcp0_36;
945 sens->J[6][9] = ROcp0_36;
946 sens->J[6][10] = ROcp0_69;
947 sens->J[6][11] = ROcp0_910;
948 sens->J[6][13] = ROcp0_311;
949 sens->J[6][14] = ROcp0_613;
950 sens->J[6][15] = ROcp0_914;
951 sens->J[6][17] = ROcp0_914;
952 sens->J[6][18] = ROcp0_914;
953 sens->J[6][20] = ROcp0_318;
954 sens->J[6][21] = ROcp0_620;
955 sens->J[6][22] = ROcp0_921;
956 sens->J[6][25] = ROcp0_921;
957 sens->J[6][27] = ROcp0_325;
958 sens->J[6][28] = ROcp0_927;
959 sens->J[6][29] = ROcp0_328;
960 sens->J[6][30] = ROcp0_929;
961 sens->J[6][31] = ROcp0_330;
962 sens->J[6][32] = ROcp0_330;
963 sens->J[6][33] = ROcp0_632;
964 sens->J[6][34] = ROcp0_933;
965 sens->J[6][35] = ROcp0_933;
966 sens->J[6][36] = ROcp0_335;
967 sens->J[6][37] = ROcp0_636;
968 sens->J[6][38] = ROcp0_937;
969 sens->J[6][39] = ROcp0_338;
970 sens->J[6][40] = ROcp0_939;
971 sens->J[6][41] = ROcp0_340;
972 sens->J[6][42] = ROcp0_340;
973 sens->J[6][43] = ROcp0_942;
974 sens->A[1] = ACcp0_157;
975 sens->A[2] = ACcp0_257;
976 sens->A[3] = ACcp0_357;
977 sens->OMP[1] = OPcp0_143;
978 sens->OMP[2] = OPcp0_243;
979 sens->OMP[3] = OPcp0_343;
980
981 //
982 break;
983 case 2:
984
985
986
987 // = = Block_1_0_0_2_0_1 = =
988
989 // Sensor Kinematics
990
991
992 ROcp1_25 = S4 * S5;
993 ROcp1_35 = -C4 * S5;
994 ROcp1_85 = -S4 * C5;
995 ROcp1_95 = C4 * C5;
996 ROcp1_16 = C5 * C6;
997 ROcp1_26 = ROcp1_25 * C6 + C4 * S6;
998 ROcp1_36 = ROcp1_35 * C6 + S4 * S6;
999 ROcp1_46 = -C5 * S6;
1000 ROcp1_56 = -(ROcp1_25 * S6 - C4 * C6);
1001 ROcp1_66 = -(ROcp1_35 * S6 - S4 * C6);
1002 ROcp1_47 = ROcp1_46 * C7 + S5 * S7;
1003 ROcp1_57 = ROcp1_56 * C7 + ROcp1_85 * S7;
1004 ROcp1_67 = ROcp1_66 * C7 + ROcp1_95 * S7;
1005 ROcp1_77 = -(ROcp1_46 * S7 - S5 * C7);
1006 ROcp1_87 = -(ROcp1_56 * S7 - ROcp1_85 * C7);
1007 ROcp1_97 = -(ROcp1_66 * S7 - ROcp1_95 * C7);
1008 ROcp1_49 = ROcp1_47 * C9 + ROcp1_77 * S9;
1009 ROcp1_59 = ROcp1_57 * C9 + ROcp1_87 * S9;
1010 ROcp1_69 = ROcp1_67 * C9 + ROcp1_97 * S9;
1011 ROcp1_79 = -(ROcp1_47 * S9 - ROcp1_77 * C9);
1012 ROcp1_89 = -(ROcp1_57 * S9 - ROcp1_87 * C9);
1013 ROcp1_99 = -(ROcp1_67 * S9 - ROcp1_97 * C9);
1014 ROcp1_110 = ROcp1_16 * C10 - ROcp1_79 * S10;
1015 ROcp1_210 = ROcp1_26 * C10 - ROcp1_89 * S10;
1016 ROcp1_310 = ROcp1_36 * C10 - ROcp1_99 * S10;
1017 ROcp1_710 = ROcp1_16 * S10 + ROcp1_79 * C10;
1018 ROcp1_810 = ROcp1_26 * S10 + ROcp1_89 * C10;
1019 ROcp1_910 = ROcp1_36 * S10 + ROcp1_99 * C10;
1020 ROcp1_111 = ROcp1_110 * C11 + ROcp1_49 * S11;
1021 ROcp1_211 = ROcp1_210 * C11 + ROcp1_59 * S11;
1022 ROcp1_311 = ROcp1_310 * C11 + ROcp1_69 * S11;
1023 ROcp1_411 = -(ROcp1_110 * S11 - ROcp1_49 * C11);
1024 ROcp1_511 = -(ROcp1_210 * S11 - ROcp1_59 * C11);
1025 ROcp1_611 = -(ROcp1_310 * S11 - ROcp1_69 * C11);
1026 ROcp1_413 = ROcp1_411 * C13 + ROcp1_710 * S13;
1027 ROcp1_513 = ROcp1_511 * C13 + ROcp1_810 * S13;
1028 ROcp1_613 = ROcp1_611 * C13 + ROcp1_910 * S13;
1029 ROcp1_713 = -(ROcp1_411 * S13 - ROcp1_710 * C13);
1030 ROcp1_813 = -(ROcp1_511 * S13 - ROcp1_810 * C13);
1031 ROcp1_913 = -(ROcp1_611 * S13 - ROcp1_910 * C13);
1032 ROcp1_114 = ROcp1_111 * C14 - ROcp1_713 * S14;
1033 ROcp1_214 = ROcp1_211 * C14 - ROcp1_813 * S14;
1034 ROcp1_314 = ROcp1_311 * C14 - ROcp1_913 * S14;
1035 ROcp1_714 = ROcp1_111 * S14 + ROcp1_713 * C14;
1036 ROcp1_814 = ROcp1_211 * S14 + ROcp1_813 * C14;
1037 ROcp1_914 = ROcp1_311 * S14 + ROcp1_913 * C14;
1038 ROcp1_115 = ROcp1_114 * C15 + ROcp1_413 * S15;
1039 ROcp1_215 = ROcp1_214 * C15 + ROcp1_513 * S15;
1040 ROcp1_315 = ROcp1_314 * C15 + ROcp1_613 * S15;
1041 ROcp1_415 = -(ROcp1_114 * S15 - ROcp1_413 * C15);
1042 ROcp1_515 = -(ROcp1_214 * S15 - ROcp1_513 * C15);
1043 ROcp1_615 = -(ROcp1_314 * S15 - ROcp1_613 * C15);
1044 ROcp1_117 = ROcp1_115 * C17 + ROcp1_415 * S17;
1045 ROcp1_217 = ROcp1_215 * C17 + ROcp1_515 * S17;
1046 ROcp1_317 = ROcp1_315 * C17 + ROcp1_615 * S17;
1047 ROcp1_417 = -(ROcp1_115 * S17 - ROcp1_415 * C17);
1048 ROcp1_517 = -(ROcp1_215 * S17 - ROcp1_515 * C17);
1049 ROcp1_617 = -(ROcp1_315 * S17 - ROcp1_615 * C17);
1050 ROcp1_118 = ROcp1_117 * C18 + ROcp1_417 * S18;
1051 ROcp1_218 = ROcp1_217 * C18 + ROcp1_517 * S18;
1052 ROcp1_318 = ROcp1_317 * C18 + ROcp1_617 * S18;
1053 ROcp1_418 = -(ROcp1_117 * S18 - ROcp1_417 * C18);
1054 ROcp1_518 = -(ROcp1_217 * S18 - ROcp1_517 * C18);
1055 ROcp1_618 = -(ROcp1_317 * S18 - ROcp1_617 * C18);
1056 ROcp1_420 = ROcp1_418 * C20 + ROcp1_714 * S20;
1057 ROcp1_520 = ROcp1_518 * C20 + ROcp1_814 * S20;
1058 ROcp1_620 = ROcp1_618 * C20 + ROcp1_914 * S20;
1059 ROcp1_720 = -(ROcp1_418 * S20 - ROcp1_714 * C20);
1060 ROcp1_820 = -(ROcp1_518 * S20 - ROcp1_814 * C20);
1061 ROcp1_920 = -(ROcp1_618 * S20 - ROcp1_914 * C20);
1062 ROcp1_121 = ROcp1_118 * C21 - ROcp1_720 * S21;
1063 ROcp1_221 = ROcp1_218 * C21 - ROcp1_820 * S21;
1064 ROcp1_321 = ROcp1_318 * C21 - ROcp1_920 * S21;
1065 ROcp1_721 = ROcp1_118 * S21 + ROcp1_720 * C21;
1066 ROcp1_821 = ROcp1_218 * S21 + ROcp1_820 * C21;
1067 ROcp1_921 = ROcp1_318 * S21 + ROcp1_920 * C21;
1068 ROcp1_122 = ROcp1_121 * C22 + ROcp1_420 * S22;
1069 ROcp1_222 = ROcp1_221 * C22 + ROcp1_520 * S22;
1070 ROcp1_322 = ROcp1_321 * C22 + ROcp1_620 * S22;
1071 ROcp1_422 = -(ROcp1_121 * S22 - ROcp1_420 * C22);
1072 ROcp1_522 = -(ROcp1_221 * S22 - ROcp1_520 * C22);
1073 ROcp1_622 = -(ROcp1_321 * S22 - ROcp1_620 * C22);
1074 ROcp1_125 = ROcp1_122 * C25 + ROcp1_422 * S25;
1075 ROcp1_225 = ROcp1_222 * C25 + ROcp1_522 * S25;
1076 ROcp1_325 = ROcp1_322 * C25 + ROcp1_622 * S25;
1077 ROcp1_425 = -(ROcp1_122 * S25 - ROcp1_422 * C25);
1078 ROcp1_525 = -(ROcp1_222 * S25 - ROcp1_522 * C25);
1079 ROcp1_625 = -(ROcp1_322 * S25 - ROcp1_622 * C25);
1080 ROcp1_427 = ROcp1_425 * C27 + ROcp1_721 * S27;
1081 ROcp1_527 = ROcp1_525 * C27 + ROcp1_821 * S27;
1082 ROcp1_627 = ROcp1_625 * C27 + ROcp1_921 * S27;
1083 ROcp1_727 = -(ROcp1_425 * S27 - ROcp1_721 * C27);
1084 ROcp1_827 = -(ROcp1_525 * S27 - ROcp1_821 * C27);
1085 ROcp1_927 = -(ROcp1_625 * S27 - ROcp1_921 * C27);
1086 ROcp1_128 = ROcp1_125 * C28 + ROcp1_427 * S28;
1087 ROcp1_228 = ROcp1_225 * C28 + ROcp1_527 * S28;
1088 ROcp1_328 = ROcp1_325 * C28 + ROcp1_627 * S28;
1089 ROcp1_428 = -(ROcp1_125 * S28 - ROcp1_427 * C28);
1090 ROcp1_528 = -(ROcp1_225 * S28 - ROcp1_527 * C28);
1091 ROcp1_628 = -(ROcp1_325 * S28 - ROcp1_627 * C28);
1092 ROcp1_429 = ROcp1_428 * C29 + ROcp1_727 * S29;
1093 ROcp1_529 = ROcp1_528 * C29 + ROcp1_827 * S29;
1094 ROcp1_629 = ROcp1_628 * C29 + ROcp1_927 * S29;
1095 ROcp1_729 = -(ROcp1_428 * S29 - ROcp1_727 * C29);
1096 ROcp1_829 = -(ROcp1_528 * S29 - ROcp1_827 * C29);
1097 ROcp1_929 = -(ROcp1_628 * S29 - ROcp1_927 * C29);
1098 ROcp1_130 = ROcp1_128 * C30 + ROcp1_429 * S30;
1099 ROcp1_230 = ROcp1_228 * C30 + ROcp1_529 * S30;
1100 ROcp1_330 = ROcp1_328 * C30 + ROcp1_629 * S30;
1101 ROcp1_430 = -(ROcp1_128 * S30 - ROcp1_429 * C30);
1102 ROcp1_530 = -(ROcp1_228 * S30 - ROcp1_529 * C30);
1103 ROcp1_630 = -(ROcp1_328 * S30 - ROcp1_629 * C30);
1104 ROcp1_431 = ROcp1_430 * C31 + ROcp1_729 * S31;
1105 ROcp1_531 = ROcp1_530 * C31 + ROcp1_829 * S31;
1106 ROcp1_631 = ROcp1_630 * C31 + ROcp1_929 * S31;
1107 ROcp1_731 = -(ROcp1_430 * S31 - ROcp1_729 * C31);
1108 ROcp1_831 = -(ROcp1_530 * S31 - ROcp1_829 * C31);
1109 ROcp1_931 = -(ROcp1_630 * S31 - ROcp1_929 * C31);
1110 ROcp1_432 = ROcp1_431 * C32 + ROcp1_731 * S32;
1111 ROcp1_532 = ROcp1_531 * C32 + ROcp1_831 * S32;
1112 ROcp1_632 = ROcp1_631 * C32 + ROcp1_931 * S32;
1113 ROcp1_732 = -(ROcp1_431 * S32 - ROcp1_731 * C32);
1114 ROcp1_832 = -(ROcp1_531 * S32 - ROcp1_831 * C32);
1115 ROcp1_932 = -(ROcp1_631 * S32 - ROcp1_931 * C32);
1116 ROcp1_133 = ROcp1_130 * C33 - ROcp1_732 * S33;
1117 ROcp1_233 = ROcp1_230 * C33 - ROcp1_832 * S33;
1118 ROcp1_333 = ROcp1_330 * C33 - ROcp1_932 * S33;
1119 ROcp1_733 = ROcp1_130 * S33 + ROcp1_732 * C33;
1120 ROcp1_833 = ROcp1_230 * S33 + ROcp1_832 * C33;
1121 ROcp1_933 = ROcp1_330 * S33 + ROcp1_932 * C33;
1122 ROcp1_134 = ROcp1_133 * C34 + ROcp1_432 * S34;
1123 ROcp1_234 = ROcp1_233 * C34 + ROcp1_532 * S34;
1124 ROcp1_334 = ROcp1_333 * C34 + ROcp1_632 * S34;
1125 ROcp1_434 = -(ROcp1_133 * S34 - ROcp1_432 * C34);
1126 ROcp1_534 = -(ROcp1_233 * S34 - ROcp1_532 * C34);
1127 ROcp1_634 = -(ROcp1_333 * S34 - ROcp1_632 * C34);
1128 ROcp1_135 = ROcp1_134 * C35 + ROcp1_434 * S35;
1129 ROcp1_235 = ROcp1_234 * C35 + ROcp1_534 * S35;
1130 ROcp1_335 = ROcp1_334 * C35 + ROcp1_634 * S35;
1131 ROcp1_435 = -(ROcp1_134 * S35 - ROcp1_434 * C35);
1132 ROcp1_535 = -(ROcp1_234 * S35 - ROcp1_534 * C35);
1133 ROcp1_635 = -(ROcp1_334 * S35 - ROcp1_634 * C35);
1134 ROcp1_436 = ROcp1_435 * C36 + ROcp1_733 * S36;
1135 ROcp1_536 = ROcp1_535 * C36 + ROcp1_833 * S36;
1136 ROcp1_636 = ROcp1_635 * C36 + ROcp1_933 * S36;
1137 ROcp1_736 = -(ROcp1_435 * S36 - ROcp1_733 * C36);
1138 ROcp1_836 = -(ROcp1_535 * S36 - ROcp1_833 * C36);
1139 ROcp1_936 = -(ROcp1_635 * S36 - ROcp1_933 * C36);
1140 ROcp1_137 = ROcp1_135 * C37 - ROcp1_736 * S37;
1141 ROcp1_237 = ROcp1_235 * C37 - ROcp1_836 * S37;
1142 ROcp1_337 = ROcp1_335 * C37 - ROcp1_936 * S37;
1143 ROcp1_737 = ROcp1_135 * S37 + ROcp1_736 * C37;
1144 ROcp1_837 = ROcp1_235 * S37 + ROcp1_836 * C37;
1145 ROcp1_937 = ROcp1_335 * S37 + ROcp1_936 * C37;
1146 ROcp1_138 = ROcp1_137 * C38 + ROcp1_436 * S38;
1147 ROcp1_238 = ROcp1_237 * C38 + ROcp1_536 * S38;
1148 ROcp1_338 = ROcp1_337 * C38 + ROcp1_636 * S38;
1149 ROcp1_438 = -(ROcp1_137 * S38 - ROcp1_436 * C38);
1150 ROcp1_538 = -(ROcp1_237 * S38 - ROcp1_536 * C38);
1151 ROcp1_638 = -(ROcp1_337 * S38 - ROcp1_636 * C38);
1152 ROcp1_439 = ROcp1_438 * C39 + ROcp1_737 * S39;
1153 ROcp1_539 = ROcp1_538 * C39 + ROcp1_837 * S39;
1154 ROcp1_639 = ROcp1_638 * C39 + ROcp1_937 * S39;
1155 ROcp1_739 = -(ROcp1_438 * S39 - ROcp1_737 * C39);
1156 ROcp1_839 = -(ROcp1_538 * S39 - ROcp1_837 * C39);
1157 ROcp1_939 = -(ROcp1_638 * S39 - ROcp1_937 * C39);
1158 ROcp1_140 = ROcp1_138 * C40 + ROcp1_439 * S40;
1159 ROcp1_240 = ROcp1_238 * C40 + ROcp1_539 * S40;
1160 ROcp1_340 = ROcp1_338 * C40 + ROcp1_639 * S40;
1161 ROcp1_440 = -(ROcp1_138 * S40 - ROcp1_439 * C40);
1162 ROcp1_540 = -(ROcp1_238 * S40 - ROcp1_539 * C40);
1163 ROcp1_640 = -(ROcp1_338 * S40 - ROcp1_639 * C40);
1164 ROcp1_441 = ROcp1_440 * C41 + ROcp1_739 * S41;
1165 ROcp1_541 = ROcp1_540 * C41 + ROcp1_839 * S41;
1166 ROcp1_641 = ROcp1_640 * C41 + ROcp1_939 * S41;
1167 ROcp1_741 = -(ROcp1_440 * S41 - ROcp1_739 * C41);
1168 ROcp1_841 = -(ROcp1_540 * S41 - ROcp1_839 * C41);
1169 ROcp1_941 = -(ROcp1_640 * S41 - ROcp1_939 * C41);
1170 ROcp1_442 = ROcp1_441 * C42 + ROcp1_741 * S42;
1171 ROcp1_542 = ROcp1_541 * C42 + ROcp1_841 * S42;
1172 ROcp1_642 = ROcp1_641 * C42 + ROcp1_941 * S42;
1173 ROcp1_742 = -(ROcp1_441 * S42 - ROcp1_741 * C42);
1174 ROcp1_842 = -(ROcp1_541 * S42 - ROcp1_841 * C42);
1175 ROcp1_942 = -(ROcp1_641 * S42 - ROcp1_941 * C42);
1176 ROcp1_143 = ROcp1_140 * C43 + ROcp1_442 * S43;
1177 ROcp1_243 = ROcp1_240 * C43 + ROcp1_542 * S43;
1178 ROcp1_343 = ROcp1_340 * C43 + ROcp1_642 * S43;
1179 ROcp1_443 = -(ROcp1_140 * S43 - ROcp1_442 * C43);
1180 ROcp1_543 = -(ROcp1_240 * S43 - ROcp1_542 * C43);
1181 ROcp1_643 = -(ROcp1_340 * S43 - ROcp1_642 * C43);
1182 ROcp1_444 = ROcp1_443 * C44 + ROcp1_742 * S44;
1183 ROcp1_544 = ROcp1_543 * C44 + ROcp1_842 * S44;
1184 ROcp1_644 = ROcp1_643 * C44 + ROcp1_942 * S44;
1185 ROcp1_744 = -(ROcp1_443 * S44 - ROcp1_742 * C44);
1186 ROcp1_844 = -(ROcp1_543 * S44 - ROcp1_842 * C44);
1187 ROcp1_944 = -(ROcp1_643 * S44 - ROcp1_942 * C44);
1188 ROcp1_446 = ROcp1_444 * C46 + ROcp1_744 * S46;
1189 ROcp1_546 = ROcp1_544 * C46 + ROcp1_844 * S46;
1190 ROcp1_646 = ROcp1_644 * C46 + ROcp1_944 * S46;
1191 ROcp1_746 = -(ROcp1_444 * S46 - ROcp1_744 * C46);
1192 ROcp1_846 = -(ROcp1_544 * S46 - ROcp1_844 * C46);
1193 ROcp1_946 = -(ROcp1_644 * S46 - ROcp1_944 * C46);
1194 ROcp1_448 = ROcp1_446 * C48 + ROcp1_746 * S48;
1195 ROcp1_548 = ROcp1_546 * C48 + ROcp1_846 * S48;
1196 ROcp1_648 = ROcp1_646 * C48 + ROcp1_946 * S48;
1197 ROcp1_748 = -(ROcp1_446 * S48 - ROcp1_746 * C48);
1198 ROcp1_848 = -(ROcp1_546 * S48 - ROcp1_846 * C48);
1199 ROcp1_948 = -(ROcp1_646 * S48 - ROcp1_946 * C48);
1200 ROcp1_149 = ROcp1_143 * C49 + ROcp1_448 * S49;
1201 ROcp1_249 = ROcp1_243 * C49 + ROcp1_548 * S49;
1202 ROcp1_349 = ROcp1_343 * C49 + ROcp1_648 * S49;
1203 ROcp1_449 = -(ROcp1_143 * S49 - ROcp1_448 * C49);
1204 ROcp1_549 = -(ROcp1_243 * S49 - ROcp1_548 * C49);
1205 ROcp1_649 = -(ROcp1_343 * S49 - ROcp1_648 * C49);
1206 ROcp1_450 = ROcp1_449 * C50 + ROcp1_748 * S50;
1207 ROcp1_550 = ROcp1_549 * C50 + ROcp1_848 * S50;
1208 ROcp1_650 = ROcp1_649 * C50 + ROcp1_948 * S50;
1209 ROcp1_750 = -(ROcp1_449 * S50 - ROcp1_748 * C50);
1210 ROcp1_850 = -(ROcp1_549 * S50 - ROcp1_848 * C50);
1211 ROcp1_950 = -(ROcp1_649 * S50 - ROcp1_948 * C50);
1212 ROcp1_451 = ROcp1_450 * C51 + ROcp1_750 * S51;
1213 ROcp1_551 = ROcp1_550 * C51 + ROcp1_850 * S51;
1214 ROcp1_651 = ROcp1_650 * C51 + ROcp1_950 * S51;
1215 ROcp1_751 = -(ROcp1_450 * S51 - ROcp1_750 * C51);
1216 ROcp1_851 = -(ROcp1_550 * S51 - ROcp1_850 * C51);
1217 ROcp1_951 = -(ROcp1_650 * S51 - ROcp1_950 * C51);
1218 ROcp1_153 = ROcp1_149 * C53 + ROcp1_451 * S53;
1219 ROcp1_253 = ROcp1_249 * C53 + ROcp1_551 * S53;
1220 ROcp1_353 = ROcp1_349 * C53 + ROcp1_651 * S53;
1221 ROcp1_453 = -(ROcp1_149 * S53 - ROcp1_451 * C53);
1222 ROcp1_553 = -(ROcp1_249 * S53 - ROcp1_551 * C53);
1223 ROcp1_653 = -(ROcp1_349 * S53 - ROcp1_651 * C53);
1224 OMcp1_25 = qd[5] * C4;
1225 OMcp1_35 = qd[5] * S4;
1226 OMcp1_16 = qd[4] + qd[6] * S5;
1227 OMcp1_26 = OMcp1_25 + ROcp1_85 * qd[6];
1228 OMcp1_36 = OMcp1_35 + ROcp1_95 * qd[6];
1229 OPcp1_16 = qdd[4] + qdd[6] * S5 + qd[5] * qd[6] * C5;
1230 OPcp1_26 = ROcp1_85 * qdd[6] + qdd[5] * C4 - qd[4] * qd[5] * S4 + qd[6] * (OMcp1_35 * S5 - ROcp1_95 * qd[4]);
1231 OPcp1_36 = ROcp1_95 * qdd[6] + qdd[5] * S4 + qd[4] * qd[5] * C4 - qd[6] * (OMcp1_25 * S5 - ROcp1_85 * qd[4]);
1232 RLcp1_18 = ROcp1_77 * q[8];
1233 RLcp1_28 = ROcp1_87 * q[8];
1234 RLcp1_38 = ROcp1_97 * q[8];
1235 ORcp1_18 = OMcp1_26 * RLcp1_38 - OMcp1_36 * RLcp1_28;
1236 ORcp1_28 = -(OMcp1_16 * RLcp1_38 - OMcp1_36 * RLcp1_18);
1237 ORcp1_38 = OMcp1_16 * RLcp1_28 - OMcp1_26 * RLcp1_18;
1238 RLcp1_112 = ROcp1_710 * q[12];
1239 RLcp1_212 = ROcp1_810 * q[12];
1240 RLcp1_312 = ROcp1_910 * q[12];
1241 ORcp1_112 = OMcp1_26 * RLcp1_312 - OMcp1_36 * RLcp1_212;
1242 ORcp1_212 = -(OMcp1_16 * RLcp1_312 - OMcp1_36 * RLcp1_112);
1243 ORcp1_312 = OMcp1_16 * RLcp1_212 - OMcp1_26 * RLcp1_112;
1244 RLcp1_116 = ROcp1_714 * q[16];
1245 RLcp1_216 = ROcp1_814 * q[16];
1246 RLcp1_316 = ROcp1_914 * q[16];
1247 ORcp1_116 = OMcp1_26 * RLcp1_316 - OMcp1_36 * RLcp1_216;
1248 ORcp1_216 = -(OMcp1_16 * RLcp1_316 - OMcp1_36 * RLcp1_116);
1249 ORcp1_316 = OMcp1_16 * RLcp1_216 - OMcp1_26 * RLcp1_116;
1250 OMcp1_118 = OMcp1_16 + ROcp1_714 * qd[18];
1251 OMcp1_218 = OMcp1_26 + ROcp1_814 * qd[18];
1252 OMcp1_318 = OMcp1_36 + ROcp1_914 * qd[18];
1253 OPcp1_118 = OPcp1_16 + ROcp1_714 * qdd[18] + qd[18] * (OMcp1_26 * ROcp1_914 - OMcp1_36 * ROcp1_814);
1254 OPcp1_218 = OPcp1_26 + ROcp1_814 * qdd[18] - qd[18] * (OMcp1_16 * ROcp1_914 - OMcp1_36 * ROcp1_714);
1255 OPcp1_318 = OPcp1_36 + ROcp1_914 * qdd[18] + qd[18] * (OMcp1_16 * ROcp1_814 - OMcp1_26 * ROcp1_714);
1256 RLcp1_119 = ROcp1_714 * q[19];
1257 RLcp1_219 = ROcp1_814 * q[19];
1258 RLcp1_319 = ROcp1_914 * q[19];
1259 ORcp1_119 = OMcp1_218 * RLcp1_319 - OMcp1_318 * RLcp1_219;
1260 ORcp1_219 = -(OMcp1_118 * RLcp1_319 - OMcp1_318 * RLcp1_119);
1261 ORcp1_319 = OMcp1_118 * RLcp1_219 - OMcp1_218 * RLcp1_119;
1262 RLcp1_120 = ROcp1_418 * DPT_2_6 + ROcp1_714 * DPT_3_6;
1263 RLcp1_220 = ROcp1_518 * DPT_2_6 + ROcp1_814 * DPT_3_6;
1264 RLcp1_320 = ROcp1_618 * DPT_2_6 + ROcp1_914 * DPT_3_6;
1265 OMcp1_120 = OMcp1_118 + ROcp1_118 * qd[20];
1266 OMcp1_220 = OMcp1_218 + ROcp1_218 * qd[20];
1267 OMcp1_320 = OMcp1_318 + ROcp1_318 * qd[20];
1268 ORcp1_120 = OMcp1_218 * RLcp1_320 - OMcp1_318 * RLcp1_220;
1269 ORcp1_220 = -(OMcp1_118 * RLcp1_320 - OMcp1_318 * RLcp1_120);
1270 ORcp1_320 = OMcp1_118 * RLcp1_220 - OMcp1_218 * RLcp1_120;
1271 OMcp1_121 = OMcp1_120 + ROcp1_420 * qd[21];
1272 OMcp1_221 = OMcp1_220 + ROcp1_520 * qd[21];
1273 OMcp1_321 = OMcp1_320 + ROcp1_620 * qd[21];
1274 OMcp1_122 = OMcp1_121 + ROcp1_721 * qd[22];
1275 OMcp1_222 = OMcp1_221 + ROcp1_821 * qd[22];
1276 OMcp1_322 = OMcp1_321 + ROcp1_921 * qd[22];
1277 OPcp1_122 = OPcp1_118 + ROcp1_118 * qdd[20] + ROcp1_420 * qdd[21] + ROcp1_721 * qdd[22] + qd[20] * (OMcp1_218 * ROcp1_318 - OMcp1_318 *
1278 ROcp1_218) + qd[21] * (OMcp1_220 * ROcp1_620 - OMcp1_320 * ROcp1_520) + qd[22] * (OMcp1_221 * ROcp1_921 - OMcp1_321 * ROcp1_821);
1279 OPcp1_222 = OPcp1_218 + ROcp1_218 * qdd[20] + ROcp1_520 * qdd[21] + ROcp1_821 * qdd[22] - qd[20] * (OMcp1_118 * ROcp1_318 - OMcp1_318 *
1280 ROcp1_118) - qd[21] * (OMcp1_120 * ROcp1_620 - OMcp1_320 * ROcp1_420) - qd[22] * (OMcp1_121 * ROcp1_921 - OMcp1_321 * ROcp1_721);
1281 OPcp1_322 = OPcp1_318 + ROcp1_318 * qdd[20] + ROcp1_620 * qdd[21] + ROcp1_921 * qdd[22] + qd[20] * (OMcp1_118 * ROcp1_218 - OMcp1_218 *
1282 ROcp1_118) + qd[21] * (OMcp1_120 * ROcp1_520 - OMcp1_220 * ROcp1_420) + qd[22] * (OMcp1_121 * ROcp1_821 - OMcp1_221 * ROcp1_721);
1283 RLcp1_123 = Dz233 * ROcp1_721 + ROcp1_422 * DPT_2_9;
1284 RLcp1_223 = Dz233 * ROcp1_821 + ROcp1_522 * DPT_2_9;
1285 RLcp1_323 = Dz233 * ROcp1_921 + ROcp1_622 * DPT_2_9;
1286 ORcp1_123 = OMcp1_222 * RLcp1_323 - OMcp1_322 * RLcp1_223;
1287 ORcp1_223 = -(OMcp1_122 * RLcp1_323 - OMcp1_322 * RLcp1_123);
1288 ORcp1_323 = OMcp1_122 * RLcp1_223 - OMcp1_222 * RLcp1_123;
1289 RLcp1_124 = Dz243 * ROcp1_721;
1290 RLcp1_224 = Dz243 * ROcp1_821;
1291 RLcp1_324 = Dz243 * ROcp1_921;
1292 ORcp1_124 = OMcp1_222 * RLcp1_324 - OMcp1_322 * RLcp1_224;
1293 ORcp1_224 = -(OMcp1_122 * RLcp1_324 - OMcp1_322 * RLcp1_124);
1294 ORcp1_324 = OMcp1_122 * RLcp1_224 - OMcp1_222 * RLcp1_124;
1295 RLcp1_126 = ROcp1_721 * q[26];
1296 RLcp1_226 = ROcp1_821 * q[26];
1297 RLcp1_326 = ROcp1_921 * q[26];
1298 ORcp1_126 = OMcp1_222 * RLcp1_326 - OMcp1_322 * RLcp1_226;
1299 ORcp1_226 = -(OMcp1_122 * RLcp1_326 - OMcp1_322 * RLcp1_126);
1300 ORcp1_326 = OMcp1_122 * RLcp1_226 - OMcp1_222 * RLcp1_126;
1301 OMcp1_130 = OMcp1_122 + ROcp1_729 * qd[30];
1302 OMcp1_230 = OMcp1_222 + ROcp1_829 * qd[30];
1303 OMcp1_330 = OMcp1_322 + ROcp1_929 * qd[30];
1304 OMcp1_135 = OMcp1_130 + ROcp1_733 * qd[35];
1305 OMcp1_235 = OMcp1_230 + ROcp1_833 * qd[35];
1306 OMcp1_335 = OMcp1_330 + ROcp1_933 * qd[35];
1307 OMcp1_140 = OMcp1_135 + ROcp1_739 * qd[40];
1308 OMcp1_240 = OMcp1_235 + ROcp1_839 * qd[40];
1309 OMcp1_340 = OMcp1_335 + ROcp1_939 * qd[40];
1310 OPcp1_140 = OPcp1_122 + ROcp1_729 * qdd[30] + ROcp1_733 * qdd[35] + ROcp1_739 * qdd[40] + qd[30] * (OMcp1_222 * ROcp1_929 - OMcp1_322 *
1311 ROcp1_829) + qd[35] * (OMcp1_230 * ROcp1_933 - OMcp1_330 * ROcp1_833) + qd[40] * (OMcp1_235 * ROcp1_939 - OMcp1_335 * ROcp1_839);
1312 OPcp1_240 = OPcp1_222 + ROcp1_829 * qdd[30] + ROcp1_833 * qdd[35] + ROcp1_839 * qdd[40] - qd[30] * (OMcp1_122 * ROcp1_929 - OMcp1_322 *
1313 ROcp1_729) - qd[35] * (OMcp1_130 * ROcp1_933 - OMcp1_330 * ROcp1_733) - qd[40] * (OMcp1_135 * ROcp1_939 - OMcp1_335 * ROcp1_739);
1314 OPcp1_340 = OPcp1_322 + ROcp1_929 * qdd[30] + ROcp1_933 * qdd[35] + ROcp1_939 * qdd[40] + qd[30] * (OMcp1_122 * ROcp1_829 - OMcp1_222 *
1315 ROcp1_729) + qd[35] * (OMcp1_130 * ROcp1_833 - OMcp1_230 * ROcp1_733) + qd[40] * (OMcp1_135 * ROcp1_839 - OMcp1_235 * ROcp1_739);
1316 RLcp1_142 = ROcp1_741 * DPT_3_15;
1317 RLcp1_242 = ROcp1_841 * DPT_3_15;
1318 RLcp1_342 = ROcp1_941 * DPT_3_15;
1319 ORcp1_142 = OMcp1_240 * RLcp1_342 - OMcp1_340 * RLcp1_242;
1320 ORcp1_242 = -(OMcp1_140 * RLcp1_342 - OMcp1_340 * RLcp1_142);
1321 ORcp1_342 = OMcp1_140 * RLcp1_242 - OMcp1_240 * RLcp1_142;
1322 OMcp1_143 = OMcp1_140 + ROcp1_742 * qd[43];
1323 OMcp1_243 = OMcp1_240 + ROcp1_842 * qd[43];
1324 OMcp1_343 = OMcp1_340 + ROcp1_942 * qd[43];
1325 OPcp1_143 = OPcp1_140 + ROcp1_742 * qdd[43] + qd[43] * (OMcp1_240 * ROcp1_942 - OMcp1_340 * ROcp1_842);
1326 OPcp1_243 = OPcp1_240 + ROcp1_842 * qdd[43] - qd[43] * (OMcp1_140 * ROcp1_942 - OMcp1_340 * ROcp1_742);
1327 OPcp1_343 = OPcp1_340 + ROcp1_942 * qdd[43] + qd[43] * (OMcp1_140 * ROcp1_842 - OMcp1_240 * ROcp1_742);
1328 RLcp1_145 = ROcp1_744 * q[45];
1329 RLcp1_245 = ROcp1_844 * q[45];
1330 RLcp1_345 = ROcp1_944 * q[45];
1331 ORcp1_145 = OMcp1_243 * RLcp1_345 - OMcp1_343 * RLcp1_245;
1332 ORcp1_245 = -(OMcp1_143 * RLcp1_345 - OMcp1_343 * RLcp1_145);
1333 ORcp1_345 = OMcp1_143 * RLcp1_245 - OMcp1_243 * RLcp1_145;
1334 RLcp1_146 = ROcp1_744 * DPT_3_18;
1335 RLcp1_246 = ROcp1_844 * DPT_3_18;
1336 RLcp1_346 = ROcp1_944 * DPT_3_18;
1337 ORcp1_146 = OMcp1_243 * RLcp1_346 - OMcp1_343 * RLcp1_246;
1338 ORcp1_246 = -(OMcp1_143 * RLcp1_346 - OMcp1_343 * RLcp1_146);
1339 ORcp1_346 = OMcp1_143 * RLcp1_246 - OMcp1_243 * RLcp1_146;
1340 RLcp1_147 = ROcp1_746 * q[47];
1341 RLcp1_247 = ROcp1_846 * q[47];
1342 RLcp1_347 = ROcp1_946 * q[47];
1343 ORcp1_147 = OMcp1_243 * RLcp1_347 - OMcp1_343 * RLcp1_247;
1344 ORcp1_247 = -(OMcp1_143 * RLcp1_347 - OMcp1_343 * RLcp1_147);
1345 ORcp1_347 = OMcp1_143 * RLcp1_247 - OMcp1_243 * RLcp1_147;
1346 RLcp1_148 = ROcp1_143 * DPT_1_19;
1347 RLcp1_248 = ROcp1_243 * DPT_1_19;
1348 RLcp1_348 = ROcp1_343 * DPT_1_19;
1349 ORcp1_148 = OMcp1_243 * RLcp1_348 - OMcp1_343 * RLcp1_248;
1350 ORcp1_248 = -(OMcp1_143 * RLcp1_348 - OMcp1_343 * RLcp1_148);
1351 ORcp1_348 = OMcp1_143 * RLcp1_248 - OMcp1_243 * RLcp1_148;
1352 OMcp1_149 = OMcp1_143 + ROcp1_748 * qd[49];
1353 OMcp1_249 = OMcp1_243 + ROcp1_848 * qd[49];
1354 OMcp1_349 = OMcp1_343 + ROcp1_948 * qd[49];
1355 OPcp1_149 = OPcp1_143 + ROcp1_748 * qdd[49] + qd[49] * (OMcp1_243 * ROcp1_948 - OMcp1_343 * ROcp1_848);
1356 OPcp1_249 = OPcp1_243 + ROcp1_848 * qdd[49] - qd[49] * (OMcp1_143 * ROcp1_948 - OMcp1_343 * ROcp1_748);
1357 OPcp1_349 = OPcp1_343 + ROcp1_948 * qdd[49] + qd[49] * (OMcp1_143 * ROcp1_848 - OMcp1_243 * ROcp1_748);
1358 RLcp1_151 = ROcp1_750 * DPT_3_20;
1359 RLcp1_251 = ROcp1_850 * DPT_3_20;
1360 RLcp1_351 = ROcp1_950 * DPT_3_20;
1361 ORcp1_151 = OMcp1_249 * RLcp1_351 - OMcp1_349 * RLcp1_251;
1362 ORcp1_251 = -(OMcp1_149 * RLcp1_351 - OMcp1_349 * RLcp1_151);
1363 ORcp1_351 = OMcp1_149 * RLcp1_251 - OMcp1_249 * RLcp1_151;
1364 RLcp1_152 = ROcp1_751 * q[52];
1365 RLcp1_252 = ROcp1_851 * q[52];
1366 RLcp1_352 = ROcp1_951 * q[52];
1367 POcp1_152 = RLcp1_112 + RLcp1_116 + RLcp1_119 + RLcp1_120 + RLcp1_123 + RLcp1_124 + RLcp1_126 + RLcp1_142 + RLcp1_145 + RLcp1_146 +
1368 RLcp1_147 + RLcp1_148 + RLcp1_151 + RLcp1_152 + RLcp1_18 + q[1];
1369 POcp1_252 = RLcp1_212 + RLcp1_216 + RLcp1_219 + RLcp1_220 + RLcp1_223 + RLcp1_224 + RLcp1_226 + RLcp1_242 + RLcp1_245 + RLcp1_246 +
1370 RLcp1_247 + RLcp1_248 + RLcp1_251 + RLcp1_252 + RLcp1_28 + q[2];
1371 POcp1_352 = RLcp1_312 + RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 +
1372 RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352 + RLcp1_38 + q[3];
1373 JTcp1_252_4 = -(RLcp1_312 + RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 +
1374 RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352 + RLcp1_38);
1375 JTcp1_352_4 = RLcp1_212 + RLcp1_216 + RLcp1_219 + RLcp1_220 + RLcp1_223 + RLcp1_224 + RLcp1_226 + RLcp1_242 + RLcp1_245 + RLcp1_246 +
1376 RLcp1_247 + RLcp1_248 + RLcp1_251 + RLcp1_252 + RLcp1_28;
1377 JTcp1_152_5 = C4 * (RLcp1_312 + RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 +
1378 RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_38) - S4 * (RLcp1_212 + RLcp1_28) - S4 * (RLcp1_216 + RLcp1_219) - S4 * (RLcp1_220 + RLcp1_223) - S4 * (
1379 RLcp1_224 + RLcp1_226) - S4 * (RLcp1_242 + RLcp1_245) - S4 * (RLcp1_246 + RLcp1_247) - S4 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * S4 + RLcp1_352 * C4;
1380 JTcp1_252_5 = S4 * (RLcp1_112 + RLcp1_116 + RLcp1_119 + RLcp1_120 + RLcp1_123 + RLcp1_124 + RLcp1_126 + RLcp1_142 + RLcp1_145 + RLcp1_146 +
1381 RLcp1_147 + RLcp1_148 + RLcp1_151 + RLcp1_152 + RLcp1_18);
1382 JTcp1_352_5 = -C4 * (RLcp1_112 + RLcp1_116 + RLcp1_119 + RLcp1_120 + RLcp1_123 + RLcp1_124 + RLcp1_126 + RLcp1_142 + RLcp1_145 + RLcp1_146
1383 + RLcp1_147 + RLcp1_148 + RLcp1_151 + RLcp1_152 + RLcp1_18);
1384 JTcp1_152_6 = ROcp1_85 * (RLcp1_312 + RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 +
1385 RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_38) - ROcp1_95 * (RLcp1_212 + RLcp1_28) - ROcp1_95 * (RLcp1_216 + RLcp1_219) - ROcp1_95 * (
1386 RLcp1_220 + RLcp1_223) - ROcp1_95 * (RLcp1_224 + RLcp1_226) - ROcp1_95 * (RLcp1_242 + RLcp1_245) - ROcp1_95 * (RLcp1_246 + RLcp1_247) - ROcp1_95 * (
1387 RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_95 + RLcp1_352 * ROcp1_85;
1388 JTcp1_252_6 = -(RLcp1_352 * S5 - ROcp1_95 * (RLcp1_112 + RLcp1_116 + RLcp1_119 + RLcp1_120 + RLcp1_123 + RLcp1_124 + RLcp1_126 + RLcp1_142
1389 + RLcp1_145 + RLcp1_146 + RLcp1_147 + RLcp1_148 + RLcp1_151 + RLcp1_152 + RLcp1_18) + S5 * (RLcp1_312 + RLcp1_38) + S5 * (RLcp1_316 + RLcp1_319) + S5 * (
1390 RLcp1_320 + RLcp1_323) + S5 * (RLcp1_324 + RLcp1_326) + S5 * (RLcp1_342 + RLcp1_345) + S5 * (RLcp1_346 + RLcp1_347) + S5 * (RLcp1_348 + RLcp1_351));
1391 JTcp1_352_6 = RLcp1_252 * S5 - ROcp1_85 * (RLcp1_112 + RLcp1_116 + RLcp1_119 + RLcp1_120 + RLcp1_123 + RLcp1_124 + RLcp1_126 + RLcp1_142 +
1392 RLcp1_145 + RLcp1_146 + RLcp1_147 + RLcp1_148 + RLcp1_151 + RLcp1_152 + RLcp1_18) + S5 * (RLcp1_212 + RLcp1_28) + S5 * (RLcp1_216 + RLcp1_219) + S5 * (
1393 RLcp1_220 + RLcp1_223) + S5 * (RLcp1_224 + RLcp1_226) + S5 * (RLcp1_242 + RLcp1_245) + S5 * (RLcp1_246 + RLcp1_247) + S5 * (RLcp1_248 + RLcp1_251);
1394 JTcp1_152_7 = ROcp1_26 * (RLcp1_312 + RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 +
1395 RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_38) - ROcp1_36 * (RLcp1_212 + RLcp1_28) - ROcp1_36 * (RLcp1_216 + RLcp1_219) - ROcp1_36 * (
1396 RLcp1_220 + RLcp1_223) - ROcp1_36 * (RLcp1_224 + RLcp1_226) - ROcp1_36 * (RLcp1_242 + RLcp1_245) - ROcp1_36 * (RLcp1_246 + RLcp1_247) - ROcp1_36 * (
1397 RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_36 + RLcp1_352 * ROcp1_26;
1398 JTcp1_252_7 = RLcp1_152 * ROcp1_36 - RLcp1_352 * ROcp1_16 - ROcp1_16 * (RLcp1_312 + RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 +
1399 RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_38) + ROcp1_36 * (RLcp1_112 + RLcp1_18) +
1400 ROcp1_36 * (RLcp1_116 + RLcp1_119) + ROcp1_36 * (RLcp1_120 + RLcp1_123) + ROcp1_36 * (RLcp1_124 + RLcp1_126) + ROcp1_36 * (RLcp1_142 + RLcp1_145) +
1401 ROcp1_36 * (RLcp1_146 + RLcp1_147) + ROcp1_36 * (RLcp1_148 + RLcp1_151);
1402 JTcp1_352_7 = ROcp1_16 * (RLcp1_212 + RLcp1_216 + RLcp1_219 + RLcp1_220 + RLcp1_223 + RLcp1_224 + RLcp1_226 + RLcp1_242 + RLcp1_245 +
1403 RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251 + RLcp1_28) - ROcp1_26 * (RLcp1_112 + RLcp1_18) - ROcp1_26 * (RLcp1_116 + RLcp1_119) - ROcp1_26 * (
1404 RLcp1_120 + RLcp1_123) - ROcp1_26 * (RLcp1_124 + RLcp1_126) - ROcp1_26 * (RLcp1_142 + RLcp1_145) - ROcp1_26 * (RLcp1_146 + RLcp1_147) - ROcp1_26 * (
1405 RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_26 + RLcp1_252 * ROcp1_16;
1406 JTcp1_152_9 = ROcp1_26 * (RLcp1_312 + RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 +
1407 RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_36 * (RLcp1_212 + RLcp1_216) - ROcp1_36 * (RLcp1_219 + RLcp1_220) - ROcp1_36 * (
1408 RLcp1_223 + RLcp1_224) - ROcp1_36 * (RLcp1_226 + RLcp1_242) - ROcp1_36 * (RLcp1_245 + RLcp1_246) - ROcp1_36 * (RLcp1_247 + RLcp1_248) - ROcp1_36 * (
1409 RLcp1_251 + RLcp1_252);
1410 JTcp1_252_9 = -(ROcp1_16 * (RLcp1_312 + RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 +
1411 RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_36 * (RLcp1_112 + RLcp1_116) - ROcp1_36 * (RLcp1_119 + RLcp1_120) - ROcp1_36 * (
1412 RLcp1_123 + RLcp1_124) - ROcp1_36 * (RLcp1_126 + RLcp1_142) - ROcp1_36 * (RLcp1_145 + RLcp1_146) - ROcp1_36 * (RLcp1_147 + RLcp1_148) - ROcp1_36 * (
1413 RLcp1_151 + RLcp1_152));
1414 JTcp1_352_9 = ROcp1_16 * (RLcp1_212 + RLcp1_216 + RLcp1_219 + RLcp1_220 + RLcp1_223 + RLcp1_224 + RLcp1_226 + RLcp1_242 + RLcp1_245 +
1415 RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251 + RLcp1_252) - ROcp1_26 * (RLcp1_112 + RLcp1_116) - ROcp1_26 * (RLcp1_119 + RLcp1_120) - ROcp1_26 * (
1416 RLcp1_123 + RLcp1_124) - ROcp1_26 * (RLcp1_126 + RLcp1_142) - ROcp1_26 * (RLcp1_145 + RLcp1_146) - ROcp1_26 * (RLcp1_147 + RLcp1_148) - ROcp1_26 * (
1417 RLcp1_151 + RLcp1_152);
1418 JTcp1_152_10 = ROcp1_59 * (RLcp1_312 + RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 +
1419 RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_69 * (RLcp1_212 + RLcp1_216) - ROcp1_69 * (RLcp1_219 + RLcp1_220) - ROcp1_69 * (
1420 RLcp1_223 + RLcp1_224) - ROcp1_69 * (RLcp1_226 + RLcp1_242) - ROcp1_69 * (RLcp1_245 + RLcp1_246) - ROcp1_69 * (RLcp1_247 + RLcp1_248) - ROcp1_69 * (
1421 RLcp1_251 + RLcp1_252);
1422 JTcp1_252_10 = -(ROcp1_49 * (RLcp1_312 + RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 +
1423 RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_69 * (RLcp1_112 + RLcp1_116) - ROcp1_69 * (RLcp1_119 + RLcp1_120) - ROcp1_69 * (
1424 RLcp1_123 + RLcp1_124) - ROcp1_69 * (RLcp1_126 + RLcp1_142) - ROcp1_69 * (RLcp1_145 + RLcp1_146) - ROcp1_69 * (RLcp1_147 + RLcp1_148) - ROcp1_69 * (
1425 RLcp1_151 + RLcp1_152));
1426 JTcp1_352_10 = ROcp1_49 * (RLcp1_212 + RLcp1_216 + RLcp1_219 + RLcp1_220 + RLcp1_223 + RLcp1_224 + RLcp1_226 + RLcp1_242 + RLcp1_245 +
1427 RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251 + RLcp1_252) - ROcp1_59 * (RLcp1_112 + RLcp1_116) - ROcp1_59 * (RLcp1_119 + RLcp1_120) - ROcp1_59 * (
1428 RLcp1_123 + RLcp1_124) - ROcp1_59 * (RLcp1_126 + RLcp1_142) - ROcp1_59 * (RLcp1_145 + RLcp1_146) - ROcp1_59 * (RLcp1_147 + RLcp1_148) - ROcp1_59 * (
1429 RLcp1_151 + RLcp1_152);
1430 JTcp1_152_11 = ROcp1_810 * (RLcp1_312 + RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 +
1431 RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_910 * (RLcp1_212 + RLcp1_216) - ROcp1_910 * (RLcp1_219 + RLcp1_220) - ROcp1_910
1432 * (RLcp1_223 + RLcp1_224) - ROcp1_910 * (RLcp1_226 + RLcp1_242) - ROcp1_910 * (RLcp1_245 + RLcp1_246) - ROcp1_910 * (RLcp1_247 + RLcp1_248) -
1433 ROcp1_910 * (RLcp1_251 + RLcp1_252);
1434 JTcp1_252_11 = -(ROcp1_710 * (RLcp1_312 + RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 +
1435 RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_910 * (RLcp1_112 + RLcp1_116) - ROcp1_910 * (RLcp1_119 + RLcp1_120) - ROcp1_910
1436 * (RLcp1_123 + RLcp1_124) - ROcp1_910 * (RLcp1_126 + RLcp1_142) - ROcp1_910 * (RLcp1_145 + RLcp1_146) - ROcp1_910 * (RLcp1_147 + RLcp1_148) -
1437 ROcp1_910 * (RLcp1_151 + RLcp1_152));
1438 JTcp1_352_11 = ROcp1_710 * (RLcp1_212 + RLcp1_216 + RLcp1_219 + RLcp1_220 + RLcp1_223 + RLcp1_224 + RLcp1_226 + RLcp1_242 + RLcp1_245 +
1439 RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251 + RLcp1_252) - ROcp1_810 * (RLcp1_112 + RLcp1_116) - ROcp1_810 * (RLcp1_119 + RLcp1_120) - ROcp1_810
1440 * (RLcp1_123 + RLcp1_124) - ROcp1_810 * (RLcp1_126 + RLcp1_142) - ROcp1_810 * (RLcp1_145 + RLcp1_146) - ROcp1_810 * (RLcp1_147 + RLcp1_148) -
1441 ROcp1_810 * (RLcp1_151 + RLcp1_152);
1442 JTcp1_152_13 = ROcp1_211 * (RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 +
1443 RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_311 * (RLcp1_216 + RLcp1_219) - ROcp1_311 * (RLcp1_220 + RLcp1_223) - ROcp1_311 * (RLcp1_224 +
1444 RLcp1_226) - ROcp1_311 * (RLcp1_242 + RLcp1_245) - ROcp1_311 * (RLcp1_246 + RLcp1_247) - ROcp1_311 * (RLcp1_248 + RLcp1_251) - RLcp1_252 *
1445 ROcp1_311 + RLcp1_352 * ROcp1_211;
1446 JTcp1_252_13 = RLcp1_152 * ROcp1_311 - RLcp1_352 * ROcp1_111 - ROcp1_111 * (RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 +
1447 RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) + ROcp1_311 * (RLcp1_116 + RLcp1_119) + ROcp1_311 * (RLcp1_120 +
1448 RLcp1_123) + ROcp1_311 * (RLcp1_124 + RLcp1_126) + ROcp1_311 * (RLcp1_142 + RLcp1_145) + ROcp1_311 * (RLcp1_146 + RLcp1_147) + ROcp1_311 * (
1449 RLcp1_148 + RLcp1_151);
1450 JTcp1_352_13 = ROcp1_111 * (RLcp1_216 + RLcp1_219 + RLcp1_220 + RLcp1_223 + RLcp1_224 + RLcp1_226 + RLcp1_242 + RLcp1_245 + RLcp1_246 +
1451 RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_211 * (RLcp1_116 + RLcp1_119) - ROcp1_211 * (RLcp1_120 + RLcp1_123) - ROcp1_211 * (RLcp1_124 +
1452 RLcp1_126) - ROcp1_211 * (RLcp1_142 + RLcp1_145) - ROcp1_211 * (RLcp1_146 + RLcp1_147) - ROcp1_211 * (RLcp1_148 + RLcp1_151) - RLcp1_152 *
1453 ROcp1_211 + RLcp1_252 * ROcp1_111;
1454 JTcp1_152_14 = ROcp1_513 * (RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 +
1455 RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_613 * (RLcp1_216 + RLcp1_219) - ROcp1_613 * (RLcp1_220 + RLcp1_223) - ROcp1_613 * (RLcp1_224 +
1456 RLcp1_226) - ROcp1_613 * (RLcp1_242 + RLcp1_245) - ROcp1_613 * (RLcp1_246 + RLcp1_247) - ROcp1_613 * (RLcp1_248 + RLcp1_251) - RLcp1_252 *
1457 ROcp1_613 + RLcp1_352 * ROcp1_513;
1458 JTcp1_252_14 = RLcp1_152 * ROcp1_613 - RLcp1_352 * ROcp1_413 - ROcp1_413 * (RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 +
1459 RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) + ROcp1_613 * (RLcp1_116 + RLcp1_119) + ROcp1_613 * (RLcp1_120 +
1460 RLcp1_123) + ROcp1_613 * (RLcp1_124 + RLcp1_126) + ROcp1_613 * (RLcp1_142 + RLcp1_145) + ROcp1_613 * (RLcp1_146 + RLcp1_147) + ROcp1_613 * (
1461 RLcp1_148 + RLcp1_151);
1462 JTcp1_352_14 = ROcp1_413 * (RLcp1_216 + RLcp1_219 + RLcp1_220 + RLcp1_223 + RLcp1_224 + RLcp1_226 + RLcp1_242 + RLcp1_245 + RLcp1_246 +
1463 RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_513 * (RLcp1_116 + RLcp1_119) - ROcp1_513 * (RLcp1_120 + RLcp1_123) - ROcp1_513 * (RLcp1_124 +
1464 RLcp1_126) - ROcp1_513 * (RLcp1_142 + RLcp1_145) - ROcp1_513 * (RLcp1_146 + RLcp1_147) - ROcp1_513 * (RLcp1_148 + RLcp1_151) - RLcp1_152 *
1465 ROcp1_513 + RLcp1_252 * ROcp1_413;
1466 JTcp1_152_15 = ROcp1_814 * (RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 +
1467 RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_914 * (RLcp1_216 + RLcp1_219) - ROcp1_914 * (RLcp1_220 + RLcp1_223) - ROcp1_914 * (RLcp1_224 +
1468 RLcp1_226) - ROcp1_914 * (RLcp1_242 + RLcp1_245) - ROcp1_914 * (RLcp1_246 + RLcp1_247) - ROcp1_914 * (RLcp1_248 + RLcp1_251) - RLcp1_252 *
1469 ROcp1_914 + RLcp1_352 * ROcp1_814;
1470 JTcp1_252_15 = RLcp1_152 * ROcp1_914 - RLcp1_352 * ROcp1_714 - ROcp1_714 * (RLcp1_316 + RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 +
1471 RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) + ROcp1_914 * (RLcp1_116 + RLcp1_119) + ROcp1_914 * (RLcp1_120 +
1472 RLcp1_123) + ROcp1_914 * (RLcp1_124 + RLcp1_126) + ROcp1_914 * (RLcp1_142 + RLcp1_145) + ROcp1_914 * (RLcp1_146 + RLcp1_147) + ROcp1_914 * (
1473 RLcp1_148 + RLcp1_151);
1474 JTcp1_352_15 = ROcp1_714 * (RLcp1_216 + RLcp1_219 + RLcp1_220 + RLcp1_223 + RLcp1_224 + RLcp1_226 + RLcp1_242 + RLcp1_245 + RLcp1_246 +
1475 RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_814 * (RLcp1_116 + RLcp1_119) - ROcp1_814 * (RLcp1_120 + RLcp1_123) - ROcp1_814 * (RLcp1_124 +
1476 RLcp1_126) - ROcp1_814 * (RLcp1_142 + RLcp1_145) - ROcp1_814 * (RLcp1_146 + RLcp1_147) - ROcp1_814 * (RLcp1_148 + RLcp1_151) - RLcp1_152 *
1477 ROcp1_814 + RLcp1_252 * ROcp1_714;
1478 JTcp1_152_17 = ROcp1_814 * (RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 +
1479 RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_914 * (RLcp1_219 + RLcp1_220) - ROcp1_914 * (RLcp1_223 + RLcp1_224) - ROcp1_914 * (RLcp1_226 +
1480 RLcp1_242) - ROcp1_914 * (RLcp1_245 + RLcp1_246) - ROcp1_914 * (RLcp1_247 + RLcp1_248) - ROcp1_914 * (RLcp1_251 + RLcp1_252);
1481 JTcp1_252_17 = -(ROcp1_714 * (RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 +
1482 RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_914 * (RLcp1_119 + RLcp1_120) - ROcp1_914 * (RLcp1_123 + RLcp1_124) - ROcp1_914 * (RLcp1_126 +
1483 RLcp1_142) - ROcp1_914 * (RLcp1_145 + RLcp1_146) - ROcp1_914 * (RLcp1_147 + RLcp1_148) - ROcp1_914 * (RLcp1_151 + RLcp1_152));
1484 JTcp1_352_17 = ROcp1_714 * (RLcp1_219 + RLcp1_220 + RLcp1_223 + RLcp1_224 + RLcp1_226 + RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 +
1485 RLcp1_248 + RLcp1_251 + RLcp1_252) - ROcp1_814 * (RLcp1_119 + RLcp1_120) - ROcp1_814 * (RLcp1_123 + RLcp1_124) - ROcp1_814 * (RLcp1_126 +
1486 RLcp1_142) - ROcp1_814 * (RLcp1_145 + RLcp1_146) - ROcp1_814 * (RLcp1_147 + RLcp1_148) - ROcp1_814 * (RLcp1_151 + RLcp1_152);
1487 JTcp1_152_18 = ROcp1_814 * (RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 +
1488 RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_914 * (RLcp1_219 + RLcp1_220) - ROcp1_914 * (RLcp1_223 + RLcp1_224) - ROcp1_914 * (RLcp1_226 +
1489 RLcp1_242) - ROcp1_914 * (RLcp1_245 + RLcp1_246) - ROcp1_914 * (RLcp1_247 + RLcp1_248) - ROcp1_914 * (RLcp1_251 + RLcp1_252);
1490 JTcp1_252_18 = -(ROcp1_714 * (RLcp1_319 + RLcp1_320 + RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 +
1491 RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_914 * (RLcp1_119 + RLcp1_120) - ROcp1_914 * (RLcp1_123 + RLcp1_124) - ROcp1_914 * (RLcp1_126 +
1492 RLcp1_142) - ROcp1_914 * (RLcp1_145 + RLcp1_146) - ROcp1_914 * (RLcp1_147 + RLcp1_148) - ROcp1_914 * (RLcp1_151 + RLcp1_152));
1493 JTcp1_352_18 = ROcp1_714 * (RLcp1_219 + RLcp1_220 + RLcp1_223 + RLcp1_224 + RLcp1_226 + RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 +
1494 RLcp1_248 + RLcp1_251 + RLcp1_252) - ROcp1_814 * (RLcp1_119 + RLcp1_120) - ROcp1_814 * (RLcp1_123 + RLcp1_124) - ROcp1_814 * (RLcp1_126 +
1495 RLcp1_142) - ROcp1_814 * (RLcp1_145 + RLcp1_146) - ROcp1_814 * (RLcp1_147 + RLcp1_148) - ROcp1_814 * (RLcp1_151 + RLcp1_152);
1496 JTcp1_152_20 = ROcp1_218 * (RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 +
1497 RLcp1_352) - ROcp1_318 * (RLcp1_223 + RLcp1_224) - ROcp1_318 * (RLcp1_226 + RLcp1_242) - ROcp1_318 * (RLcp1_245 + RLcp1_246) - ROcp1_318 * (
1498 RLcp1_247 + RLcp1_248) - ROcp1_318 * (RLcp1_251 + RLcp1_252);
1499 JTcp1_252_20 = -(ROcp1_118 * (RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 +
1500 RLcp1_352) - ROcp1_318 * (RLcp1_123 + RLcp1_124) - ROcp1_318 * (RLcp1_126 + RLcp1_142) - ROcp1_318 * (RLcp1_145 + RLcp1_146) - ROcp1_318 * (
1501 RLcp1_147 + RLcp1_148) - ROcp1_318 * (RLcp1_151 + RLcp1_152));
1502 JTcp1_352_20 = ROcp1_118 * (RLcp1_223 + RLcp1_224 + RLcp1_226 + RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251 +
1503 RLcp1_252) - ROcp1_218 * (RLcp1_123 + RLcp1_124) - ROcp1_218 * (RLcp1_126 + RLcp1_142) - ROcp1_218 * (RLcp1_145 + RLcp1_146) - ROcp1_218 * (
1504 RLcp1_147 + RLcp1_148) - ROcp1_218 * (RLcp1_151 + RLcp1_152);
1505 JTcp1_152_21 = ROcp1_520 * (RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 +
1506 RLcp1_352) - ROcp1_620 * (RLcp1_223 + RLcp1_224) - ROcp1_620 * (RLcp1_226 + RLcp1_242) - ROcp1_620 * (RLcp1_245 + RLcp1_246) - ROcp1_620 * (
1507 RLcp1_247 + RLcp1_248) - ROcp1_620 * (RLcp1_251 + RLcp1_252);
1508 JTcp1_252_21 = -(ROcp1_420 * (RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 +
1509 RLcp1_352) - ROcp1_620 * (RLcp1_123 + RLcp1_124) - ROcp1_620 * (RLcp1_126 + RLcp1_142) - ROcp1_620 * (RLcp1_145 + RLcp1_146) - ROcp1_620 * (
1510 RLcp1_147 + RLcp1_148) - ROcp1_620 * (RLcp1_151 + RLcp1_152));
1511 JTcp1_352_21 = ROcp1_420 * (RLcp1_223 + RLcp1_224 + RLcp1_226 + RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251 +
1512 RLcp1_252) - ROcp1_520 * (RLcp1_123 + RLcp1_124) - ROcp1_520 * (RLcp1_126 + RLcp1_142) - ROcp1_520 * (RLcp1_145 + RLcp1_146) - ROcp1_520 * (
1513 RLcp1_147 + RLcp1_148) - ROcp1_520 * (RLcp1_151 + RLcp1_152);
1514 JTcp1_152_22 = ROcp1_821 * (RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 +
1515 RLcp1_352) - ROcp1_921 * (RLcp1_223 + RLcp1_224) - ROcp1_921 * (RLcp1_226 + RLcp1_242) - ROcp1_921 * (RLcp1_245 + RLcp1_246) - ROcp1_921 * (
1516 RLcp1_247 + RLcp1_248) - ROcp1_921 * (RLcp1_251 + RLcp1_252);
1517 JTcp1_252_22 = -(ROcp1_721 * (RLcp1_323 + RLcp1_324 + RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 +
1518 RLcp1_352) - ROcp1_921 * (RLcp1_123 + RLcp1_124) - ROcp1_921 * (RLcp1_126 + RLcp1_142) - ROcp1_921 * (RLcp1_145 + RLcp1_146) - ROcp1_921 * (
1519 RLcp1_147 + RLcp1_148) - ROcp1_921 * (RLcp1_151 + RLcp1_152));
1520 JTcp1_352_22 = ROcp1_721 * (RLcp1_223 + RLcp1_224 + RLcp1_226 + RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251 +
1521 RLcp1_252) - ROcp1_821 * (RLcp1_123 + RLcp1_124) - ROcp1_821 * (RLcp1_126 + RLcp1_142) - ROcp1_821 * (RLcp1_145 + RLcp1_146) - ROcp1_821 * (
1522 RLcp1_147 + RLcp1_148) - ROcp1_821 * (RLcp1_151 + RLcp1_152);
1523 JTcp1_152_25 = ROcp1_821 * (RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_921 * (
1524 RLcp1_226 + RLcp1_242) - ROcp1_921 * (RLcp1_245 + RLcp1_246) - ROcp1_921 * (RLcp1_247 + RLcp1_248) - ROcp1_921 * (RLcp1_251 + RLcp1_252);
1525 JTcp1_252_25 = -(ROcp1_721 * (RLcp1_326 + RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_921
1526 * (RLcp1_126 + RLcp1_142) - ROcp1_921 * (RLcp1_145 + RLcp1_146) - ROcp1_921 * (RLcp1_147 + RLcp1_148) - ROcp1_921 * (RLcp1_151 + RLcp1_152));
1527 JTcp1_352_25 = ROcp1_721 * (RLcp1_226 + RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251 + RLcp1_252) - ROcp1_821 * (
1528 RLcp1_126 + RLcp1_142) - ROcp1_821 * (RLcp1_145 + RLcp1_146) - ROcp1_821 * (RLcp1_147 + RLcp1_148) - ROcp1_821 * (RLcp1_151 + RLcp1_152);
1529 JTcp1_152_27 = ROcp1_225 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_325 * (RLcp1_242 + RLcp1_245)
1530 - ROcp1_325 * (RLcp1_246 + RLcp1_247) - ROcp1_325 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_325 + RLcp1_352 * ROcp1_225;
1531 JTcp1_252_27 = RLcp1_152 * ROcp1_325 - RLcp1_352 * ROcp1_125 - ROcp1_125 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 +
1532 RLcp1_351) + ROcp1_325 * (RLcp1_142 + RLcp1_145) + ROcp1_325 * (RLcp1_146 + RLcp1_147) + ROcp1_325 * (RLcp1_148 + RLcp1_151);
1533 JTcp1_352_27 = ROcp1_125 * (RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_225 * (RLcp1_142 + RLcp1_145)
1534 - ROcp1_225 * (RLcp1_146 + RLcp1_147) - ROcp1_225 * (RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_225 + RLcp1_252 * ROcp1_125;
1535 JTcp1_152_28 = ROcp1_827 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_927 * (RLcp1_242 + RLcp1_245)
1536 - ROcp1_927 * (RLcp1_246 + RLcp1_247) - ROcp1_927 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_927 + RLcp1_352 * ROcp1_827;
1537 JTcp1_252_28 = RLcp1_152 * ROcp1_927 - RLcp1_352 * ROcp1_727 - ROcp1_727 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 +
1538 RLcp1_351) + ROcp1_927 * (RLcp1_142 + RLcp1_145) + ROcp1_927 * (RLcp1_146 + RLcp1_147) + ROcp1_927 * (RLcp1_148 + RLcp1_151);
1539 JTcp1_352_28 = ROcp1_727 * (RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_827 * (RLcp1_142 + RLcp1_145)
1540 - ROcp1_827 * (RLcp1_146 + RLcp1_147) - ROcp1_827 * (RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_827 + RLcp1_252 * ROcp1_727;
1541 JTcp1_152_29 = ROcp1_228 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_328 * (RLcp1_242 + RLcp1_245)
1542 - ROcp1_328 * (RLcp1_246 + RLcp1_247) - ROcp1_328 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_328 + RLcp1_352 * ROcp1_228;
1543 JTcp1_252_29 = RLcp1_152 * ROcp1_328 - RLcp1_352 * ROcp1_128 - ROcp1_128 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 +
1544 RLcp1_351) + ROcp1_328 * (RLcp1_142 + RLcp1_145) + ROcp1_328 * (RLcp1_146 + RLcp1_147) + ROcp1_328 * (RLcp1_148 + RLcp1_151);
1545 JTcp1_352_29 = ROcp1_128 * (RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_228 * (RLcp1_142 + RLcp1_145)
1546 - ROcp1_228 * (RLcp1_146 + RLcp1_147) - ROcp1_228 * (RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_228 + RLcp1_252 * ROcp1_128;
1547 JTcp1_152_30 = ROcp1_829 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_929 * (RLcp1_242 + RLcp1_245)
1548 - ROcp1_929 * (RLcp1_246 + RLcp1_247) - ROcp1_929 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_929 + RLcp1_352 * ROcp1_829;
1549 JTcp1_252_30 = RLcp1_152 * ROcp1_929 - RLcp1_352 * ROcp1_729 - ROcp1_729 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 +
1550 RLcp1_351) + ROcp1_929 * (RLcp1_142 + RLcp1_145) + ROcp1_929 * (RLcp1_146 + RLcp1_147) + ROcp1_929 * (RLcp1_148 + RLcp1_151);
1551 JTcp1_352_30 = ROcp1_729 * (RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_829 * (RLcp1_142 + RLcp1_145)
1552 - ROcp1_829 * (RLcp1_146 + RLcp1_147) - ROcp1_829 * (RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_829 + RLcp1_252 * ROcp1_729;
1553 JTcp1_152_31 = ROcp1_230 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_330 * (RLcp1_242 + RLcp1_245)
1554 - ROcp1_330 * (RLcp1_246 + RLcp1_247) - ROcp1_330 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_330 + RLcp1_352 * ROcp1_230;
1555 JTcp1_252_31 = RLcp1_152 * ROcp1_330 - RLcp1_352 * ROcp1_130 - ROcp1_130 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 +
1556 RLcp1_351) + ROcp1_330 * (RLcp1_142 + RLcp1_145) + ROcp1_330 * (RLcp1_146 + RLcp1_147) + ROcp1_330 * (RLcp1_148 + RLcp1_151);
1557 JTcp1_352_31 = ROcp1_130 * (RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_230 * (RLcp1_142 + RLcp1_145)
1558 - ROcp1_230 * (RLcp1_146 + RLcp1_147) - ROcp1_230 * (RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_230 + RLcp1_252 * ROcp1_130;
1559 JTcp1_152_32 = ROcp1_230 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_330 * (RLcp1_242 + RLcp1_245)
1560 - ROcp1_330 * (RLcp1_246 + RLcp1_247) - ROcp1_330 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_330 + RLcp1_352 * ROcp1_230;
1561 JTcp1_252_32 = RLcp1_152 * ROcp1_330 - RLcp1_352 * ROcp1_130 - ROcp1_130 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 +
1562 RLcp1_351) + ROcp1_330 * (RLcp1_142 + RLcp1_145) + ROcp1_330 * (RLcp1_146 + RLcp1_147) + ROcp1_330 * (RLcp1_148 + RLcp1_151);
1563 JTcp1_352_32 = ROcp1_130 * (RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_230 * (RLcp1_142 + RLcp1_145)
1564 - ROcp1_230 * (RLcp1_146 + RLcp1_147) - ROcp1_230 * (RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_230 + RLcp1_252 * ROcp1_130;
1565 JTcp1_152_33 = ROcp1_532 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_632 * (RLcp1_242 + RLcp1_245)
1566 - ROcp1_632 * (RLcp1_246 + RLcp1_247) - ROcp1_632 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_632 + RLcp1_352 * ROcp1_532;
1567 JTcp1_252_33 = RLcp1_152 * ROcp1_632 - RLcp1_352 * ROcp1_432 - ROcp1_432 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 +
1568 RLcp1_351) + ROcp1_632 * (RLcp1_142 + RLcp1_145) + ROcp1_632 * (RLcp1_146 + RLcp1_147) + ROcp1_632 * (RLcp1_148 + RLcp1_151);
1569 JTcp1_352_33 = ROcp1_432 * (RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_532 * (RLcp1_142 + RLcp1_145)
1570 - ROcp1_532 * (RLcp1_146 + RLcp1_147) - ROcp1_532 * (RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_532 + RLcp1_252 * ROcp1_432;
1571 JTcp1_152_34 = ROcp1_833 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_933 * (RLcp1_242 + RLcp1_245)
1572 - ROcp1_933 * (RLcp1_246 + RLcp1_247) - ROcp1_933 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_933 + RLcp1_352 * ROcp1_833;
1573 JTcp1_252_34 = RLcp1_152 * ROcp1_933 - RLcp1_352 * ROcp1_733 - ROcp1_733 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 +
1574 RLcp1_351) + ROcp1_933 * (RLcp1_142 + RLcp1_145) + ROcp1_933 * (RLcp1_146 + RLcp1_147) + ROcp1_933 * (RLcp1_148 + RLcp1_151);
1575 JTcp1_352_34 = ROcp1_733 * (RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_833 * (RLcp1_142 + RLcp1_145)
1576 - ROcp1_833 * (RLcp1_146 + RLcp1_147) - ROcp1_833 * (RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_833 + RLcp1_252 * ROcp1_733;
1577 JTcp1_152_35 = ROcp1_833 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_933 * (RLcp1_242 + RLcp1_245)
1578 - ROcp1_933 * (RLcp1_246 + RLcp1_247) - ROcp1_933 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_933 + RLcp1_352 * ROcp1_833;
1579 JTcp1_252_35 = RLcp1_152 * ROcp1_933 - RLcp1_352 * ROcp1_733 - ROcp1_733 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 +
1580 RLcp1_351) + ROcp1_933 * (RLcp1_142 + RLcp1_145) + ROcp1_933 * (RLcp1_146 + RLcp1_147) + ROcp1_933 * (RLcp1_148 + RLcp1_151);
1581 JTcp1_352_35 = ROcp1_733 * (RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_833 * (RLcp1_142 + RLcp1_145)
1582 - ROcp1_833 * (RLcp1_146 + RLcp1_147) - ROcp1_833 * (RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_833 + RLcp1_252 * ROcp1_733;
1583 JTcp1_152_36 = ROcp1_235 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_335 * (RLcp1_242 + RLcp1_245)
1584 - ROcp1_335 * (RLcp1_246 + RLcp1_247) - ROcp1_335 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_335 + RLcp1_352 * ROcp1_235;
1585 JTcp1_252_36 = RLcp1_152 * ROcp1_335 - RLcp1_352 * ROcp1_135 - ROcp1_135 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 +
1586 RLcp1_351) + ROcp1_335 * (RLcp1_142 + RLcp1_145) + ROcp1_335 * (RLcp1_146 + RLcp1_147) + ROcp1_335 * (RLcp1_148 + RLcp1_151);
1587 JTcp1_352_36 = ROcp1_135 * (RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_235 * (RLcp1_142 + RLcp1_145)
1588 - ROcp1_235 * (RLcp1_146 + RLcp1_147) - ROcp1_235 * (RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_235 + RLcp1_252 * ROcp1_135;
1589 JTcp1_152_37 = ROcp1_536 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_636 * (RLcp1_242 + RLcp1_245)
1590 - ROcp1_636 * (RLcp1_246 + RLcp1_247) - ROcp1_636 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_636 + RLcp1_352 * ROcp1_536;
1591 JTcp1_252_37 = RLcp1_152 * ROcp1_636 - RLcp1_352 * ROcp1_436 - ROcp1_436 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 +
1592 RLcp1_351) + ROcp1_636 * (RLcp1_142 + RLcp1_145) + ROcp1_636 * (RLcp1_146 + RLcp1_147) + ROcp1_636 * (RLcp1_148 + RLcp1_151);
1593 JTcp1_352_37 = ROcp1_436 * (RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_536 * (RLcp1_142 + RLcp1_145)
1594 - ROcp1_536 * (RLcp1_146 + RLcp1_147) - ROcp1_536 * (RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_536 + RLcp1_252 * ROcp1_436;
1595 JTcp1_152_38 = ROcp1_837 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_937 * (RLcp1_242 + RLcp1_245)
1596 - ROcp1_937 * (RLcp1_246 + RLcp1_247) - ROcp1_937 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_937 + RLcp1_352 * ROcp1_837;
1597 JTcp1_252_38 = RLcp1_152 * ROcp1_937 - RLcp1_352 * ROcp1_737 - ROcp1_737 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 +
1598 RLcp1_351) + ROcp1_937 * (RLcp1_142 + RLcp1_145) + ROcp1_937 * (RLcp1_146 + RLcp1_147) + ROcp1_937 * (RLcp1_148 + RLcp1_151);
1599 JTcp1_352_38 = ROcp1_737 * (RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_837 * (RLcp1_142 + RLcp1_145)
1600 - ROcp1_837 * (RLcp1_146 + RLcp1_147) - ROcp1_837 * (RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_837 + RLcp1_252 * ROcp1_737;
1601 JTcp1_152_39 = ROcp1_238 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_338 * (RLcp1_242 + RLcp1_245)
1602 - ROcp1_338 * (RLcp1_246 + RLcp1_247) - ROcp1_338 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_338 + RLcp1_352 * ROcp1_238;
1603 JTcp1_252_39 = RLcp1_152 * ROcp1_338 - RLcp1_352 * ROcp1_138 - ROcp1_138 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 +
1604 RLcp1_351) + ROcp1_338 * (RLcp1_142 + RLcp1_145) + ROcp1_338 * (RLcp1_146 + RLcp1_147) + ROcp1_338 * (RLcp1_148 + RLcp1_151);
1605 JTcp1_352_39 = ROcp1_138 * (RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_238 * (RLcp1_142 + RLcp1_145)
1606 - ROcp1_238 * (RLcp1_146 + RLcp1_147) - ROcp1_238 * (RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_238 + RLcp1_252 * ROcp1_138;
1607 JTcp1_152_40 = ROcp1_839 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_939 * (RLcp1_242 + RLcp1_245)
1608 - ROcp1_939 * (RLcp1_246 + RLcp1_247) - ROcp1_939 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_939 + RLcp1_352 * ROcp1_839;
1609 JTcp1_252_40 = RLcp1_152 * ROcp1_939 - RLcp1_352 * ROcp1_739 - ROcp1_739 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 +
1610 RLcp1_351) + ROcp1_939 * (RLcp1_142 + RLcp1_145) + ROcp1_939 * (RLcp1_146 + RLcp1_147) + ROcp1_939 * (RLcp1_148 + RLcp1_151);
1611 JTcp1_352_40 = ROcp1_739 * (RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_839 * (RLcp1_142 + RLcp1_145)
1612 - ROcp1_839 * (RLcp1_146 + RLcp1_147) - ROcp1_839 * (RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_839 + RLcp1_252 * ROcp1_739;
1613 JTcp1_152_41 = ROcp1_240 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351) - ROcp1_340 * (RLcp1_242 + RLcp1_245)
1614 - ROcp1_340 * (RLcp1_246 + RLcp1_247) - ROcp1_340 * (RLcp1_248 + RLcp1_251) - RLcp1_252 * ROcp1_340 + RLcp1_352 * ROcp1_240;
1615 JTcp1_252_41 = RLcp1_152 * ROcp1_340 - RLcp1_352 * ROcp1_140 - ROcp1_140 * (RLcp1_342 + RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 +
1616 RLcp1_351) + ROcp1_340 * (RLcp1_142 + RLcp1_145) + ROcp1_340 * (RLcp1_146 + RLcp1_147) + ROcp1_340 * (RLcp1_148 + RLcp1_151);
1617 JTcp1_352_41 = ROcp1_140 * (RLcp1_242 + RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251) - ROcp1_240 * (RLcp1_142 + RLcp1_145)
1618 - ROcp1_240 * (RLcp1_146 + RLcp1_147) - ROcp1_240 * (RLcp1_148 + RLcp1_151) - RLcp1_152 * ROcp1_240 + RLcp1_252 * ROcp1_140;
1619 JTcp1_152_42 = ROcp1_240 * (RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_340 * (RLcp1_245 + RLcp1_246)
1620 - ROcp1_340 * (RLcp1_247 + RLcp1_248) - ROcp1_340 * (RLcp1_251 + RLcp1_252);
1621 JTcp1_252_42 = -(ROcp1_140 * (RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_340 * (RLcp1_145 +
1622 RLcp1_146) - ROcp1_340 * (RLcp1_147 + RLcp1_148) - ROcp1_340 * (RLcp1_151 + RLcp1_152));
1623 JTcp1_352_42 = ROcp1_140 * (RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251 + RLcp1_252) - ROcp1_240 * (RLcp1_145 + RLcp1_146)
1624 - ROcp1_240 * (RLcp1_147 + RLcp1_148) - ROcp1_240 * (RLcp1_151 + RLcp1_152);
1625 JTcp1_152_43 = ROcp1_842 * (RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_942 * (RLcp1_245 + RLcp1_246)
1626 - ROcp1_942 * (RLcp1_247 + RLcp1_248) - ROcp1_942 * (RLcp1_251 + RLcp1_252);
1627 JTcp1_252_43 = -(ROcp1_742 * (RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_942 * (RLcp1_145 +
1628 RLcp1_146) - ROcp1_942 * (RLcp1_147 + RLcp1_148) - ROcp1_942 * (RLcp1_151 + RLcp1_152));
1629 JTcp1_352_43 = ROcp1_742 * (RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251 + RLcp1_252) - ROcp1_842 * (RLcp1_145 + RLcp1_146)
1630 - ROcp1_842 * (RLcp1_147 + RLcp1_148) - ROcp1_842 * (RLcp1_151 + RLcp1_152);
1631 JTcp1_152_44 = ROcp1_243 * (RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_343 * (RLcp1_245 + RLcp1_246)
1632 - ROcp1_343 * (RLcp1_247 + RLcp1_248) - ROcp1_343 * (RLcp1_251 + RLcp1_252);
1633 JTcp1_252_44 = -(ROcp1_143 * (RLcp1_345 + RLcp1_346 + RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_343 * (RLcp1_145 +
1634 RLcp1_146) - ROcp1_343 * (RLcp1_147 + RLcp1_148) - ROcp1_343 * (RLcp1_151 + RLcp1_152));
1635 JTcp1_352_44 = ROcp1_143 * (RLcp1_245 + RLcp1_246 + RLcp1_247 + RLcp1_248 + RLcp1_251 + RLcp1_252) - ROcp1_243 * (RLcp1_145 + RLcp1_146)
1636 - ROcp1_243 * (RLcp1_147 + RLcp1_148) - ROcp1_243 * (RLcp1_151 + RLcp1_152);
1637 JTcp1_152_46 = ROcp1_243 * (RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_343 * (RLcp1_247 + RLcp1_248) - ROcp1_343 * (
1638 RLcp1_251 + RLcp1_252);
1639 JTcp1_252_46 = -(ROcp1_143 * (RLcp1_347 + RLcp1_348 + RLcp1_351 + RLcp1_352) - ROcp1_343 * (RLcp1_147 + RLcp1_148) - ROcp1_343 * (
1640 RLcp1_151 + RLcp1_152));
1641 JTcp1_352_46 = ROcp1_143 * (RLcp1_247 + RLcp1_248 + RLcp1_251 + RLcp1_252) - ROcp1_243 * (RLcp1_147 + RLcp1_148) - ROcp1_243 * (
1642 RLcp1_151 + RLcp1_152);
1643 JTcp1_152_48 = ROcp1_243 * (RLcp1_351 + RLcp1_352) - ROcp1_343 * (RLcp1_251 + RLcp1_252);
1644 JTcp1_252_48 = -(ROcp1_143 * (RLcp1_351 + RLcp1_352) - ROcp1_343 * (RLcp1_151 + RLcp1_152));
1645 JTcp1_352_48 = ROcp1_143 * (RLcp1_251 + RLcp1_252) - ROcp1_243 * (RLcp1_151 + RLcp1_152);
1646 JTcp1_152_49 = ROcp1_848 * (RLcp1_351 + RLcp1_352) - ROcp1_948 * (RLcp1_251 + RLcp1_252);
1647 JTcp1_252_49 = -(ROcp1_748 * (RLcp1_351 + RLcp1_352) - ROcp1_948 * (RLcp1_151 + RLcp1_152));
1648 JTcp1_352_49 = ROcp1_748 * (RLcp1_251 + RLcp1_252) - ROcp1_848 * (RLcp1_151 + RLcp1_152);
1649 JTcp1_152_50 = ROcp1_249 * (RLcp1_351 + RLcp1_352) - ROcp1_349 * (RLcp1_251 + RLcp1_252);
1650 JTcp1_252_50 = -(ROcp1_149 * (RLcp1_351 + RLcp1_352) - ROcp1_349 * (RLcp1_151 + RLcp1_152));
1651 JTcp1_352_50 = ROcp1_149 * (RLcp1_251 + RLcp1_252) - ROcp1_249 * (RLcp1_151 + RLcp1_152);
1652 JTcp1_152_51 = -(RLcp1_252 * ROcp1_349 - RLcp1_352 * ROcp1_249);
1653 JTcp1_252_51 = RLcp1_152 * ROcp1_349 - RLcp1_352 * ROcp1_149;
1654 JTcp1_352_51 = -(RLcp1_152 * ROcp1_249 - RLcp1_252 * ROcp1_149);
1655 ORcp1_152 = OMcp1_249 * RLcp1_352 - OMcp1_349 * RLcp1_252;
1656 ORcp1_252 = -(OMcp1_149 * RLcp1_352 - OMcp1_349 * RLcp1_152);
1657 ORcp1_352 = OMcp1_149 * RLcp1_252 - OMcp1_249 * RLcp1_152;
1658 VIcp1_152 = ORcp1_112 + ORcp1_116 + ORcp1_119 + ORcp1_120 + ORcp1_123 + ORcp1_124 + ORcp1_126 + ORcp1_142 + ORcp1_145 + ORcp1_146 +
1659 ORcp1_147 + ORcp1_148 + ORcp1_151 + ORcp1_152 + ORcp1_18 + qd[1];
1660 VIcp1_252 = ORcp1_212 + ORcp1_216 + ORcp1_219 + ORcp1_220 + ORcp1_223 + ORcp1_224 + ORcp1_226 + ORcp1_242 + ORcp1_245 + ORcp1_246 +
1661 ORcp1_247 + ORcp1_248 + ORcp1_251 + ORcp1_252 + ORcp1_28 + qd[2];
1662 VIcp1_352 = ORcp1_312 + ORcp1_316 + ORcp1_319 + ORcp1_320 + ORcp1_323 + ORcp1_324 + ORcp1_326 + ORcp1_342 + ORcp1_345 + ORcp1_346 +
1663 ORcp1_347 + ORcp1_348 + ORcp1_351 + ORcp1_352 + ORcp1_38 + qd[3];
1664 ACcp1_152 = qdd[1] + OMcp1_218 * ORcp1_319 + OMcp1_218 * ORcp1_320 + OMcp1_222 * ORcp1_323 + OMcp1_222 * ORcp1_324 + OMcp1_222 * ORcp1_326
1665 + OMcp1_240 * ORcp1_342 + OMcp1_243 * ORcp1_345 + OMcp1_243 * ORcp1_346 + OMcp1_243 * ORcp1_347 + OMcp1_243 * ORcp1_348 + OMcp1_249 * ORcp1_351 +
1666 OMcp1_249 * ORcp1_352 + OMcp1_26 * ORcp1_312 + OMcp1_26 * ORcp1_316 + OMcp1_26 * ORcp1_38 - OMcp1_318 * ORcp1_219 - OMcp1_318 * ORcp1_220 -
1667 OMcp1_322 * ORcp1_223 - OMcp1_322 * ORcp1_224 - OMcp1_322 * ORcp1_226 - OMcp1_340 * ORcp1_242 - OMcp1_343 * ORcp1_245 - OMcp1_343 * ORcp1_246 -
1668 OMcp1_343 * ORcp1_247 - OMcp1_343 * ORcp1_248 - OMcp1_349 * ORcp1_251 - OMcp1_349 * ORcp1_252 - OMcp1_36 * ORcp1_212 - OMcp1_36 * ORcp1_216 -
1669 OMcp1_36 * ORcp1_28 + OPcp1_218 * RLcp1_319 + OPcp1_218 * RLcp1_320 + OPcp1_222 * RLcp1_323 + OPcp1_222 * RLcp1_324 + OPcp1_222 * RLcp1_326 +
1670 OPcp1_240 * RLcp1_342 + OPcp1_243 * RLcp1_345 + OPcp1_243 * RLcp1_346 + OPcp1_243 * RLcp1_347 + OPcp1_243 * RLcp1_348 + OPcp1_249 * RLcp1_351 +
1671 OPcp1_249 * RLcp1_352 + OPcp1_26 * RLcp1_312 + OPcp1_26 * RLcp1_316 + OPcp1_26 * RLcp1_38 - OPcp1_318 * RLcp1_219 - OPcp1_318 * RLcp1_220 -
1672 OPcp1_322 * RLcp1_223 - OPcp1_322 * RLcp1_224 - OPcp1_322 * RLcp1_226 - OPcp1_340 * RLcp1_242 - OPcp1_343 * RLcp1_245 - OPcp1_343 * RLcp1_246 -
1673 OPcp1_343 * RLcp1_247 - OPcp1_343 * RLcp1_248 - OPcp1_349 * RLcp1_251 - OPcp1_349 * RLcp1_252 - OPcp1_36 * RLcp1_212 - OPcp1_36 * RLcp1_216 -
1674 OPcp1_36 * RLcp1_28;
1675 ACcp1_252 = qdd[2] - OMcp1_118 * ORcp1_319 - OMcp1_118 * ORcp1_320 - OMcp1_122 * ORcp1_323 - OMcp1_122 * ORcp1_324 - OMcp1_122 * ORcp1_326
1676 - OMcp1_140 * ORcp1_342 - OMcp1_143 * ORcp1_345 - OMcp1_143 * ORcp1_346 - OMcp1_143 * ORcp1_347 - OMcp1_143 * ORcp1_348 - OMcp1_149 * ORcp1_351 -
1677 OMcp1_149 * ORcp1_352 - OMcp1_16 * ORcp1_312 - OMcp1_16 * ORcp1_316 - OMcp1_16 * ORcp1_38 + OMcp1_318 * ORcp1_119 + OMcp1_318 * ORcp1_120 +
1678 OMcp1_322 * ORcp1_123 + OMcp1_322 * ORcp1_124 + OMcp1_322 * ORcp1_126 + OMcp1_340 * ORcp1_142 + OMcp1_343 * ORcp1_145 + OMcp1_343 * ORcp1_146 +
1679 OMcp1_343 * ORcp1_147 + OMcp1_343 * ORcp1_148 + OMcp1_349 * ORcp1_151 + OMcp1_349 * ORcp1_152 + OMcp1_36 * ORcp1_112 + OMcp1_36 * ORcp1_116 +
1680 OMcp1_36 * ORcp1_18 - OPcp1_118 * RLcp1_319 - OPcp1_118 * RLcp1_320 - OPcp1_122 * RLcp1_323 - OPcp1_122 * RLcp1_324 - OPcp1_122 * RLcp1_326 -
1681 OPcp1_140 * RLcp1_342 - OPcp1_143 * RLcp1_345 - OPcp1_143 * RLcp1_346 - OPcp1_143 * RLcp1_347 - OPcp1_143 * RLcp1_348 - OPcp1_149 * RLcp1_351 -
1682 OPcp1_149 * RLcp1_352 - OPcp1_16 * RLcp1_312 - OPcp1_16 * RLcp1_316 - OPcp1_16 * RLcp1_38 + OPcp1_318 * RLcp1_119 + OPcp1_318 * RLcp1_120 +
1683 OPcp1_322 * RLcp1_123 + OPcp1_322 * RLcp1_124 + OPcp1_322 * RLcp1_126 + OPcp1_340 * RLcp1_142 + OPcp1_343 * RLcp1_145 + OPcp1_343 * RLcp1_146 +
1684 OPcp1_343 * RLcp1_147 + OPcp1_343 * RLcp1_148 + OPcp1_349 * RLcp1_151 + OPcp1_349 * RLcp1_152 + OPcp1_36 * RLcp1_112 + OPcp1_36 * RLcp1_116 +
1685 OPcp1_36 * RLcp1_18;
1686 ACcp1_352 = qdd[3] + OMcp1_118 * ORcp1_219 + OMcp1_118 * ORcp1_220 + OMcp1_122 * ORcp1_223 + OMcp1_122 * ORcp1_224 + OMcp1_122 * ORcp1_226
1687 + OMcp1_140 * ORcp1_242 + OMcp1_143 * ORcp1_245 + OMcp1_143 * ORcp1_246 + OMcp1_143 * ORcp1_247 + OMcp1_143 * ORcp1_248 + OMcp1_149 * ORcp1_251 +
1688 OMcp1_149 * ORcp1_252 + OMcp1_16 * ORcp1_212 + OMcp1_16 * ORcp1_216 + OMcp1_16 * ORcp1_28 - OMcp1_218 * ORcp1_119 - OMcp1_218 * ORcp1_120 -
1689 OMcp1_222 * ORcp1_123 - OMcp1_222 * ORcp1_124 - OMcp1_222 * ORcp1_126 - OMcp1_240 * ORcp1_142 - OMcp1_243 * ORcp1_145 - OMcp1_243 * ORcp1_146 -
1690 OMcp1_243 * ORcp1_147 - OMcp1_243 * ORcp1_148 - OMcp1_249 * ORcp1_151 - OMcp1_249 * ORcp1_152 - OMcp1_26 * ORcp1_112 - OMcp1_26 * ORcp1_116 -
1691 OMcp1_26 * ORcp1_18 + OPcp1_118 * RLcp1_219 + OPcp1_118 * RLcp1_220 + OPcp1_122 * RLcp1_223 + OPcp1_122 * RLcp1_224 + OPcp1_122 * RLcp1_226 +
1692 OPcp1_140 * RLcp1_242 + OPcp1_143 * RLcp1_245 + OPcp1_143 * RLcp1_246 + OPcp1_143 * RLcp1_247 + OPcp1_143 * RLcp1_248 + OPcp1_149 * RLcp1_251 +
1693 OPcp1_149 * RLcp1_252 + OPcp1_16 * RLcp1_212 + OPcp1_16 * RLcp1_216 + OPcp1_16 * RLcp1_28 - OPcp1_218 * RLcp1_119 - OPcp1_218 * RLcp1_120 -
1694 OPcp1_222 * RLcp1_123 - OPcp1_222 * RLcp1_124 - OPcp1_222 * RLcp1_126 - OPcp1_240 * RLcp1_142 - OPcp1_243 * RLcp1_145 - OPcp1_243 * RLcp1_146 -
1695 OPcp1_243 * RLcp1_147 - OPcp1_243 * RLcp1_148 - OPcp1_249 * RLcp1_151 - OPcp1_249 * RLcp1_152 - OPcp1_26 * RLcp1_112 - OPcp1_26 * RLcp1_116 -
1696 OPcp1_26 * RLcp1_18;
1697 OMcp1_153 = OMcp1_149 + ROcp1_751 * qd[53];
1698 OMcp1_253 = OMcp1_249 + ROcp1_851 * qd[53];
1699 OMcp1_353 = OMcp1_349 + ROcp1_951 * qd[53];
1700 OPcp1_153 = OPcp1_149 + ROcp1_751 * qdd[53] + qd[53] * (OMcp1_249 * ROcp1_951 - OMcp1_349 * ROcp1_851);
1701 OPcp1_253 = OPcp1_249 + ROcp1_851 * qdd[53] - qd[53] * (OMcp1_149 * ROcp1_951 - OMcp1_349 * ROcp1_751);
1702 OPcp1_353 = OPcp1_349 + ROcp1_951 * qdd[53] + qd[53] * (OMcp1_149 * ROcp1_851 - OMcp1_249 * ROcp1_751);
1703
1704 // = = Block_1_0_0_2_1_0 = =
1705
1706 // Symbolic Outputs
1707
1708 sens->P[1] = POcp1_152;
1709 sens->P[2] = POcp1_252;
1710 sens->P[3] = POcp1_352;
1711 sens->R[1][1] = ROcp1_153;
1712 sens->R[1][2] = ROcp1_253;
1713 sens->R[1][3] = ROcp1_353;
1714 sens->R[2][1] = ROcp1_453;
1715 sens->R[2][2] = ROcp1_553;
1716 sens->R[2][3] = ROcp1_653;
1717 sens->R[3][1] = ROcp1_751;
1718 sens->R[3][2] = ROcp1_851;
1719 sens->R[3][3] = ROcp1_951;
1720 sens->V[1] = VIcp1_152;
1721 sens->V[2] = VIcp1_252;
1722 sens->V[3] = VIcp1_352;
1723 sens->OM[1] = OMcp1_153;
1724 sens->OM[2] = OMcp1_253;
1725 sens->OM[3] = OMcp1_353;
1726 sens->J[1][1] = (1.0);
1727 sens->J[1][5] = JTcp1_152_5;
1728 sens->J[1][6] = JTcp1_152_6;
1729 sens->J[1][7] = JTcp1_152_7;
1730 sens->J[1][8] = ROcp1_77;
1731 sens->J[1][9] = JTcp1_152_9;
1732 sens->J[1][10] = JTcp1_152_10;
1733 sens->J[1][11] = JTcp1_152_11;
1734 sens->J[1][12] = ROcp1_710;
1735 sens->J[1][13] = JTcp1_152_13;
1736 sens->J[1][14] = JTcp1_152_14;
1737 sens->J[1][15] = JTcp1_152_15;
1738 sens->J[1][16] = ROcp1_714;
1739 sens->J[1][17] = JTcp1_152_17;
1740 sens->J[1][18] = JTcp1_152_18;
1741 sens->J[1][19] = ROcp1_714;
1742 sens->J[1][20] = JTcp1_152_20;
1743 sens->J[1][21] = JTcp1_152_21;
1744 sens->J[1][22] = JTcp1_152_22;
1745 sens->J[1][23] = ROcp1_721;
1746 sens->J[1][24] = ROcp1_721;
1747 sens->J[1][25] = JTcp1_152_25;
1748 sens->J[1][26] = ROcp1_721;
1749 sens->J[1][27] = JTcp1_152_27;
1750 sens->J[1][28] = JTcp1_152_28;
1751 sens->J[1][29] = JTcp1_152_29;
1752 sens->J[1][30] = JTcp1_152_30;
1753 sens->J[1][31] = JTcp1_152_31;
1754 sens->J[1][32] = JTcp1_152_32;
1755 sens->J[1][33] = JTcp1_152_33;
1756 sens->J[1][34] = JTcp1_152_34;
1757 sens->J[1][35] = JTcp1_152_35;
1758 sens->J[1][36] = JTcp1_152_36;
1759 sens->J[1][37] = JTcp1_152_37;
1760 sens->J[1][38] = JTcp1_152_38;
1761 sens->J[1][39] = JTcp1_152_39;
1762 sens->J[1][40] = JTcp1_152_40;
1763 sens->J[1][41] = JTcp1_152_41;
1764 sens->J[1][42] = JTcp1_152_42;
1765 sens->J[1][43] = JTcp1_152_43;
1766 sens->J[1][44] = JTcp1_152_44;
1767 sens->J[1][45] = ROcp1_744;
1768 sens->J[1][46] = JTcp1_152_46;
1769 sens->J[1][47] = ROcp1_746;
1770 sens->J[1][48] = JTcp1_152_48;
1771 sens->J[1][49] = JTcp1_152_49;
1772 sens->J[1][50] = JTcp1_152_50;
1773 sens->J[1][51] = JTcp1_152_51;
1774 sens->J[1][52] = ROcp1_751;
1775 sens->J[2][2] = (1.0);
1776 sens->J[2][4] = JTcp1_252_4;
1777 sens->J[2][5] = JTcp1_252_5;
1778 sens->J[2][6] = JTcp1_252_6;
1779 sens->J[2][7] = JTcp1_252_7;
1780 sens->J[2][8] = ROcp1_87;
1781 sens->J[2][9] = JTcp1_252_9;
1782 sens->J[2][10] = JTcp1_252_10;
1783 sens->J[2][11] = JTcp1_252_11;
1784 sens->J[2][12] = ROcp1_810;
1785 sens->J[2][13] = JTcp1_252_13;
1786 sens->J[2][14] = JTcp1_252_14;
1787 sens->J[2][15] = JTcp1_252_15;
1788 sens->J[2][16] = ROcp1_814;
1789 sens->J[2][17] = JTcp1_252_17;
1790 sens->J[2][18] = JTcp1_252_18;
1791 sens->J[2][19] = ROcp1_814;
1792 sens->J[2][20] = JTcp1_252_20;
1793 sens->J[2][21] = JTcp1_252_21;
1794 sens->J[2][22] = JTcp1_252_22;
1795 sens->J[2][23] = ROcp1_821;
1796 sens->J[2][24] = ROcp1_821;
1797 sens->J[2][25] = JTcp1_252_25;
1798 sens->J[2][26] = ROcp1_821;
1799 sens->J[2][27] = JTcp1_252_27;
1800 sens->J[2][28] = JTcp1_252_28;
1801 sens->J[2][29] = JTcp1_252_29;
1802 sens->J[2][30] = JTcp1_252_30;
1803 sens->J[2][31] = JTcp1_252_31;
1804 sens->J[2][32] = JTcp1_252_32;
1805 sens->J[2][33] = JTcp1_252_33;
1806 sens->J[2][34] = JTcp1_252_34;
1807 sens->J[2][35] = JTcp1_252_35;
1808 sens->J[2][36] = JTcp1_252_36;
1809 sens->J[2][37] = JTcp1_252_37;
1810 sens->J[2][38] = JTcp1_252_38;
1811 sens->J[2][39] = JTcp1_252_39;
1812 sens->J[2][40] = JTcp1_252_40;
1813 sens->J[2][41] = JTcp1_252_41;
1814 sens->J[2][42] = JTcp1_252_42;
1815 sens->J[2][43] = JTcp1_252_43;
1816 sens->J[2][44] = JTcp1_252_44;
1817 sens->J[2][45] = ROcp1_844;
1818 sens->J[2][46] = JTcp1_252_46;
1819 sens->J[2][47] = ROcp1_846;
1820 sens->J[2][48] = JTcp1_252_48;
1821 sens->J[2][49] = JTcp1_252_49;
1822 sens->J[2][50] = JTcp1_252_50;
1823 sens->J[2][51] = JTcp1_252_51;
1824 sens->J[2][52] = ROcp1_851;
1825 sens->J[3][3] = (1.0);
1826 sens->J[3][4] = JTcp1_352_4;
1827 sens->J[3][5] = JTcp1_352_5;
1828 sens->J[3][6] = JTcp1_352_6;
1829 sens->J[3][7] = JTcp1_352_7;
1830 sens->J[3][8] = ROcp1_97;
1831 sens->J[3][9] = JTcp1_352_9;
1832 sens->J[3][10] = JTcp1_352_10;
1833 sens->J[3][11] = JTcp1_352_11;
1834 sens->J[3][12] = ROcp1_910;
1835 sens->J[3][13] = JTcp1_352_13;
1836 sens->J[3][14] = JTcp1_352_14;
1837 sens->J[3][15] = JTcp1_352_15;
1838 sens->J[3][16] = ROcp1_914;
1839 sens->J[3][17] = JTcp1_352_17;
1840 sens->J[3][18] = JTcp1_352_18;
1841 sens->J[3][19] = ROcp1_914;
1842 sens->J[3][20] = JTcp1_352_20;
1843 sens->J[3][21] = JTcp1_352_21;
1844 sens->J[3][22] = JTcp1_352_22;
1845 sens->J[3][23] = ROcp1_921;
1846 sens->J[3][24] = ROcp1_921;
1847 sens->J[3][25] = JTcp1_352_25;
1848 sens->J[3][26] = ROcp1_921;
1849 sens->J[3][27] = JTcp1_352_27;
1850 sens->J[3][28] = JTcp1_352_28;
1851 sens->J[3][29] = JTcp1_352_29;
1852 sens->J[3][30] = JTcp1_352_30;
1853 sens->J[3][31] = JTcp1_352_31;
1854 sens->J[3][32] = JTcp1_352_32;
1855 sens->J[3][33] = JTcp1_352_33;
1856 sens->J[3][34] = JTcp1_352_34;
1857 sens->J[3][35] = JTcp1_352_35;
1858 sens->J[3][36] = JTcp1_352_36;
1859 sens->J[3][37] = JTcp1_352_37;
1860 sens->J[3][38] = JTcp1_352_38;
1861 sens->J[3][39] = JTcp1_352_39;
1862 sens->J[3][40] = JTcp1_352_40;
1863 sens->J[3][41] = JTcp1_352_41;
1864 sens->J[3][42] = JTcp1_352_42;
1865 sens->J[3][43] = JTcp1_352_43;
1866 sens->J[3][44] = JTcp1_352_44;
1867 sens->J[3][45] = ROcp1_944;
1868 sens->J[3][46] = JTcp1_352_46;
1869 sens->J[3][47] = ROcp1_946;
1870 sens->J[3][48] = JTcp1_352_48;
1871 sens->J[3][49] = JTcp1_352_49;
1872 sens->J[3][50] = JTcp1_352_50;
1873 sens->J[3][51] = JTcp1_352_51;
1874 sens->J[3][52] = ROcp1_951;
1875 sens->J[4][4] = (1.0);
1876 sens->J[4][6] = S5;
1877 sens->J[4][7] = ROcp1_16;
1878 sens->J[4][9] = ROcp1_16;
1879 sens->J[4][10] = ROcp1_49;
1880 sens->J[4][11] = ROcp1_710;
1881 sens->J[4][13] = ROcp1_111;
1882 sens->J[4][14] = ROcp1_413;
1883 sens->J[4][15] = ROcp1_714;
1884 sens->J[4][17] = ROcp1_714;
1885 sens->J[4][18] = ROcp1_714;
1886 sens->J[4][20] = ROcp1_118;
1887 sens->J[4][21] = ROcp1_420;
1888 sens->J[4][22] = ROcp1_721;
1889 sens->J[4][25] = ROcp1_721;
1890 sens->J[4][27] = ROcp1_125;
1891 sens->J[4][28] = ROcp1_727;
1892 sens->J[4][29] = ROcp1_128;
1893 sens->J[4][30] = ROcp1_729;
1894 sens->J[4][31] = ROcp1_130;
1895 sens->J[4][32] = ROcp1_130;
1896 sens->J[4][33] = ROcp1_432;
1897 sens->J[4][34] = ROcp1_733;
1898 sens->J[4][35] = ROcp1_733;
1899 sens->J[4][36] = ROcp1_135;
1900 sens->J[4][37] = ROcp1_436;
1901 sens->J[4][38] = ROcp1_737;
1902 sens->J[4][39] = ROcp1_138;
1903 sens->J[4][40] = ROcp1_739;
1904 sens->J[4][41] = ROcp1_140;
1905 sens->J[4][42] = ROcp1_140;
1906 sens->J[4][43] = ROcp1_742;
1907 sens->J[4][44] = ROcp1_143;
1908 sens->J[4][46] = ROcp1_143;
1909 sens->J[4][48] = ROcp1_143;
1910 sens->J[4][49] = ROcp1_748;
1911 sens->J[4][50] = ROcp1_149;
1912 sens->J[4][51] = ROcp1_149;
1913 sens->J[4][53] = ROcp1_751;
1914 sens->J[5][5] = C4;
1915 sens->J[5][6] = ROcp1_85;
1916 sens->J[5][7] = ROcp1_26;
1917 sens->J[5][9] = ROcp1_26;
1918 sens->J[5][10] = ROcp1_59;
1919 sens->J[5][11] = ROcp1_810;
1920 sens->J[5][13] = ROcp1_211;
1921 sens->J[5][14] = ROcp1_513;
1922 sens->J[5][15] = ROcp1_814;
1923 sens->J[5][17] = ROcp1_814;
1924 sens->J[5][18] = ROcp1_814;
1925 sens->J[5][20] = ROcp1_218;
1926 sens->J[5][21] = ROcp1_520;
1927 sens->J[5][22] = ROcp1_821;
1928 sens->J[5][25] = ROcp1_821;
1929 sens->J[5][27] = ROcp1_225;
1930 sens->J[5][28] = ROcp1_827;
1931 sens->J[5][29] = ROcp1_228;
1932 sens->J[5][30] = ROcp1_829;
1933 sens->J[5][31] = ROcp1_230;
1934 sens->J[5][32] = ROcp1_230;
1935 sens->J[5][33] = ROcp1_532;
1936 sens->J[5][34] = ROcp1_833;
1937 sens->J[5][35] = ROcp1_833;
1938 sens->J[5][36] = ROcp1_235;
1939 sens->J[5][37] = ROcp1_536;
1940 sens->J[5][38] = ROcp1_837;
1941 sens->J[5][39] = ROcp1_238;
1942 sens->J[5][40] = ROcp1_839;
1943 sens->J[5][41] = ROcp1_240;
1944 sens->J[5][42] = ROcp1_240;
1945 sens->J[5][43] = ROcp1_842;
1946 sens->J[5][44] = ROcp1_243;
1947 sens->J[5][46] = ROcp1_243;
1948 sens->J[5][48] = ROcp1_243;
1949 sens->J[5][49] = ROcp1_848;
1950 sens->J[5][50] = ROcp1_249;
1951 sens->J[5][51] = ROcp1_249;
1952 sens->J[5][53] = ROcp1_851;
1953 sens->J[6][5] = S4;
1954 sens->J[6][6] = ROcp1_95;
1955 sens->J[6][7] = ROcp1_36;
1956 sens->J[6][9] = ROcp1_36;
1957 sens->J[6][10] = ROcp1_69;
1958 sens->J[6][11] = ROcp1_910;
1959 sens->J[6][13] = ROcp1_311;
1960 sens->J[6][14] = ROcp1_613;
1961 sens->J[6][15] = ROcp1_914;
1962 sens->J[6][17] = ROcp1_914;
1963 sens->J[6][18] = ROcp1_914;
1964 sens->J[6][20] = ROcp1_318;
1965 sens->J[6][21] = ROcp1_620;
1966 sens->J[6][22] = ROcp1_921;
1967 sens->J[6][25] = ROcp1_921;
1968 sens->J[6][27] = ROcp1_325;
1969 sens->J[6][28] = ROcp1_927;
1970 sens->J[6][29] = ROcp1_328;
1971 sens->J[6][30] = ROcp1_929;
1972 sens->J[6][31] = ROcp1_330;
1973 sens->J[6][32] = ROcp1_330;
1974 sens->J[6][33] = ROcp1_632;
1975 sens->J[6][34] = ROcp1_933;
1976 sens->J[6][35] = ROcp1_933;
1977 sens->J[6][36] = ROcp1_335;
1978 sens->J[6][37] = ROcp1_636;
1979 sens->J[6][38] = ROcp1_937;
1980 sens->J[6][39] = ROcp1_338;
1981 sens->J[6][40] = ROcp1_939;
1982 sens->J[6][41] = ROcp1_340;
1983 sens->J[6][42] = ROcp1_340;
1984 sens->J[6][43] = ROcp1_942;
1985 sens->J[6][44] = ROcp1_343;
1986 sens->J[6][46] = ROcp1_343;
1987 sens->J[6][48] = ROcp1_343;
1988 sens->J[6][49] = ROcp1_948;
1989 sens->J[6][50] = ROcp1_349;
1990 sens->J[6][51] = ROcp1_349;
1991 sens->J[6][53] = ROcp1_951;
1992 sens->A[1] = ACcp1_152;
1993 sens->A[2] = ACcp1_252;
1994 sens->A[3] = ACcp1_352;
1995 sens->OMP[1] = OPcp1_153;
1996 sens->OMP[2] = OPcp1_253;
1997 sens->OMP[3] = OPcp1_353;
1998
1999 //
2000 break;
2001 case 3:
2002
2003
2004
2005 // = = Block_1_0_0_3_0_1 = =
2006
2007 // Sensor Kinematics
2008
2009
2010 ROcp2_25 = S4 * S5;
2011 ROcp2_35 = -C4 * S5;
2012 ROcp2_85 = -S4 * C5;
2013 ROcp2_95 = C4 * C5;
2014 ROcp2_16 = C5 * C6;
2015 ROcp2_26 = ROcp2_25 * C6 + C4 * S6;
2016 ROcp2_36 = ROcp2_35 * C6 + S4 * S6;
2017 ROcp2_46 = -C5 * S6;
2018 ROcp2_56 = -(ROcp2_25 * S6 - C4 * C6);
2019 ROcp2_66 = -(ROcp2_35 * S6 - S4 * C6);
2020 ROcp2_47 = ROcp2_46 * C7 + S5 * S7;
2021 ROcp2_57 = ROcp2_56 * C7 + ROcp2_85 * S7;
2022 ROcp2_67 = ROcp2_66 * C7 + ROcp2_95 * S7;
2023 ROcp2_77 = -(ROcp2_46 * S7 - S5 * C7);
2024 ROcp2_87 = -(ROcp2_56 * S7 - ROcp2_85 * C7);
2025 ROcp2_97 = -(ROcp2_66 * S7 - ROcp2_95 * C7);
2026 ROcp2_49 = ROcp2_47 * C9 + ROcp2_77 * S9;
2027 ROcp2_59 = ROcp2_57 * C9 + ROcp2_87 * S9;
2028 ROcp2_69 = ROcp2_67 * C9 + ROcp2_97 * S9;
2029 ROcp2_79 = -(ROcp2_47 * S9 - ROcp2_77 * C9);
2030 ROcp2_89 = -(ROcp2_57 * S9 - ROcp2_87 * C9);
2031 ROcp2_99 = -(ROcp2_67 * S9 - ROcp2_97 * C9);
2032 ROcp2_110 = ROcp2_16 * C10 - ROcp2_79 * S10;
2033 ROcp2_210 = ROcp2_26 * C10 - ROcp2_89 * S10;
2034 ROcp2_310 = ROcp2_36 * C10 - ROcp2_99 * S10;
2035 ROcp2_710 = ROcp2_16 * S10 + ROcp2_79 * C10;
2036 ROcp2_810 = ROcp2_26 * S10 + ROcp2_89 * C10;
2037 ROcp2_910 = ROcp2_36 * S10 + ROcp2_99 * C10;
2038 ROcp2_111 = ROcp2_110 * C11 + ROcp2_49 * S11;
2039 ROcp2_211 = ROcp2_210 * C11 + ROcp2_59 * S11;
2040 ROcp2_311 = ROcp2_310 * C11 + ROcp2_69 * S11;
2041 ROcp2_411 = -(ROcp2_110 * S11 - ROcp2_49 * C11);
2042 ROcp2_511 = -(ROcp2_210 * S11 - ROcp2_59 * C11);
2043 ROcp2_611 = -(ROcp2_310 * S11 - ROcp2_69 * C11);
2044 ROcp2_413 = ROcp2_411 * C13 + ROcp2_710 * S13;
2045 ROcp2_513 = ROcp2_511 * C13 + ROcp2_810 * S13;
2046 ROcp2_613 = ROcp2_611 * C13 + ROcp2_910 * S13;
2047 ROcp2_713 = -(ROcp2_411 * S13 - ROcp2_710 * C13);
2048 ROcp2_813 = -(ROcp2_511 * S13 - ROcp2_810 * C13);
2049 ROcp2_913 = -(ROcp2_611 * S13 - ROcp2_910 * C13);
2050 ROcp2_114 = ROcp2_111 * C14 - ROcp2_713 * S14;
2051 ROcp2_214 = ROcp2_211 * C14 - ROcp2_813 * S14;
2052 ROcp2_314 = ROcp2_311 * C14 - ROcp2_913 * S14;
2053 ROcp2_714 = ROcp2_111 * S14 + ROcp2_713 * C14;
2054 ROcp2_814 = ROcp2_211 * S14 + ROcp2_813 * C14;
2055 ROcp2_914 = ROcp2_311 * S14 + ROcp2_913 * C14;
2056 ROcp2_115 = ROcp2_114 * C15 + ROcp2_413 * S15;
2057 ROcp2_215 = ROcp2_214 * C15 + ROcp2_513 * S15;
2058 ROcp2_315 = ROcp2_314 * C15 + ROcp2_613 * S15;
2059 ROcp2_415 = -(ROcp2_114 * S15 - ROcp2_413 * C15);
2060 ROcp2_515 = -(ROcp2_214 * S15 - ROcp2_513 * C15);
2061 ROcp2_615 = -(ROcp2_314 * S15 - ROcp2_613 * C15);
2062 ROcp2_117 = ROcp2_115 * C17 + ROcp2_415 * S17;
2063 ROcp2_217 = ROcp2_215 * C17 + ROcp2_515 * S17;
2064 ROcp2_317 = ROcp2_315 * C17 + ROcp2_615 * S17;
2065 ROcp2_417 = -(ROcp2_115 * S17 - ROcp2_415 * C17);
2066 ROcp2_517 = -(ROcp2_215 * S17 - ROcp2_515 * C17);
2067 ROcp2_617 = -(ROcp2_315 * S17 - ROcp2_615 * C17);
2068 ROcp2_118 = ROcp2_117 * C18 + ROcp2_417 * S18;
2069 ROcp2_218 = ROcp2_217 * C18 + ROcp2_517 * S18;
2070 ROcp2_318 = ROcp2_317 * C18 + ROcp2_617 * S18;
2071 ROcp2_418 = -(ROcp2_117 * S18 - ROcp2_417 * C18);
2072 ROcp2_518 = -(ROcp2_217 * S18 - ROcp2_517 * C18);
2073 ROcp2_618 = -(ROcp2_317 * S18 - ROcp2_617 * C18);
2074 ROcp2_420 = ROcp2_418 * C20 + ROcp2_714 * S20;
2075 ROcp2_520 = ROcp2_518 * C20 + ROcp2_814 * S20;
2076 ROcp2_620 = ROcp2_618 * C20 + ROcp2_914 * S20;
2077 ROcp2_720 = -(ROcp2_418 * S20 - ROcp2_714 * C20);
2078 ROcp2_820 = -(ROcp2_518 * S20 - ROcp2_814 * C20);
2079 ROcp2_920 = -(ROcp2_618 * S20 - ROcp2_914 * C20);
2080 ROcp2_121 = ROcp2_118 * C21 - ROcp2_720 * S21;
2081 ROcp2_221 = ROcp2_218 * C21 - ROcp2_820 * S21;
2082 ROcp2_321 = ROcp2_318 * C21 - ROcp2_920 * S21;
2083 ROcp2_721 = ROcp2_118 * S21 + ROcp2_720 * C21;
2084 ROcp2_821 = ROcp2_218 * S21 + ROcp2_820 * C21;
2085 ROcp2_921 = ROcp2_318 * S21 + ROcp2_920 * C21;
2086 ROcp2_122 = ROcp2_121 * C22 + ROcp2_420 * S22;
2087 ROcp2_222 = ROcp2_221 * C22 + ROcp2_520 * S22;
2088 ROcp2_322 = ROcp2_321 * C22 + ROcp2_620 * S22;
2089 ROcp2_422 = -(ROcp2_121 * S22 - ROcp2_420 * C22);
2090 ROcp2_522 = -(ROcp2_221 * S22 - ROcp2_520 * C22);
2091 ROcp2_622 = -(ROcp2_321 * S22 - ROcp2_620 * C22);
2092 ROcp2_125 = ROcp2_122 * C25 + ROcp2_422 * S25;
2093 ROcp2_225 = ROcp2_222 * C25 + ROcp2_522 * S25;
2094 ROcp2_325 = ROcp2_322 * C25 + ROcp2_622 * S25;
2095 ROcp2_425 = -(ROcp2_122 * S25 - ROcp2_422 * C25);
2096 ROcp2_525 = -(ROcp2_222 * S25 - ROcp2_522 * C25);
2097 ROcp2_625 = -(ROcp2_322 * S25 - ROcp2_622 * C25);
2098 ROcp2_427 = ROcp2_425 * C27 + ROcp2_721 * S27;
2099 ROcp2_527 = ROcp2_525 * C27 + ROcp2_821 * S27;
2100 ROcp2_627 = ROcp2_625 * C27 + ROcp2_921 * S27;
2101 ROcp2_727 = -(ROcp2_425 * S27 - ROcp2_721 * C27);
2102 ROcp2_827 = -(ROcp2_525 * S27 - ROcp2_821 * C27);
2103 ROcp2_927 = -(ROcp2_625 * S27 - ROcp2_921 * C27);
2104 ROcp2_128 = ROcp2_125 * C28 + ROcp2_427 * S28;
2105 ROcp2_228 = ROcp2_225 * C28 + ROcp2_527 * S28;
2106 ROcp2_328 = ROcp2_325 * C28 + ROcp2_627 * S28;
2107 ROcp2_428 = -(ROcp2_125 * S28 - ROcp2_427 * C28);
2108 ROcp2_528 = -(ROcp2_225 * S28 - ROcp2_527 * C28);
2109 ROcp2_628 = -(ROcp2_325 * S28 - ROcp2_627 * C28);
2110 ROcp2_429 = ROcp2_428 * C29 + ROcp2_727 * S29;
2111 ROcp2_529 = ROcp2_528 * C29 + ROcp2_827 * S29;
2112 ROcp2_629 = ROcp2_628 * C29 + ROcp2_927 * S29;
2113 ROcp2_729 = -(ROcp2_428 * S29 - ROcp2_727 * C29);
2114 ROcp2_829 = -(ROcp2_528 * S29 - ROcp2_827 * C29);
2115 ROcp2_929 = -(ROcp2_628 * S29 - ROcp2_927 * C29);
2116 ROcp2_130 = ROcp2_128 * C30 + ROcp2_429 * S30;
2117 ROcp2_230 = ROcp2_228 * C30 + ROcp2_529 * S30;
2118 ROcp2_330 = ROcp2_328 * C30 + ROcp2_629 * S30;
2119 ROcp2_430 = -(ROcp2_128 * S30 - ROcp2_429 * C30);
2120 ROcp2_530 = -(ROcp2_228 * S30 - ROcp2_529 * C30);
2121 ROcp2_630 = -(ROcp2_328 * S30 - ROcp2_629 * C30);
2122 ROcp2_431 = ROcp2_430 * C31 + ROcp2_729 * S31;
2123 ROcp2_531 = ROcp2_530 * C31 + ROcp2_829 * S31;
2124 ROcp2_631 = ROcp2_630 * C31 + ROcp2_929 * S31;
2125 ROcp2_731 = -(ROcp2_430 * S31 - ROcp2_729 * C31);
2126 ROcp2_831 = -(ROcp2_530 * S31 - ROcp2_829 * C31);
2127 ROcp2_931 = -(ROcp2_630 * S31 - ROcp2_929 * C31);
2128 ROcp2_432 = ROcp2_431 * C32 + ROcp2_731 * S32;
2129 ROcp2_532 = ROcp2_531 * C32 + ROcp2_831 * S32;
2130 ROcp2_632 = ROcp2_631 * C32 + ROcp2_931 * S32;
2131 ROcp2_732 = -(ROcp2_431 * S32 - ROcp2_731 * C32);
2132 ROcp2_832 = -(ROcp2_531 * S32 - ROcp2_831 * C32);
2133 ROcp2_932 = -(ROcp2_631 * S32 - ROcp2_931 * C32);
2134 ROcp2_133 = ROcp2_130 * C33 - ROcp2_732 * S33;
2135 ROcp2_233 = ROcp2_230 * C33 - ROcp2_832 * S33;
2136 ROcp2_333 = ROcp2_330 * C33 - ROcp2_932 * S33;
2137 ROcp2_733 = ROcp2_130 * S33 + ROcp2_732 * C33;
2138 ROcp2_833 = ROcp2_230 * S33 + ROcp2_832 * C33;
2139 ROcp2_933 = ROcp2_330 * S33 + ROcp2_932 * C33;
2140 ROcp2_134 = ROcp2_133 * C34 + ROcp2_432 * S34;
2141 ROcp2_234 = ROcp2_233 * C34 + ROcp2_532 * S34;
2142 ROcp2_334 = ROcp2_333 * C34 + ROcp2_632 * S34;
2143 ROcp2_434 = -(ROcp2_133 * S34 - ROcp2_432 * C34);
2144 ROcp2_534 = -(ROcp2_233 * S34 - ROcp2_532 * C34);
2145 ROcp2_634 = -(ROcp2_333 * S34 - ROcp2_632 * C34);
2146 ROcp2_135 = ROcp2_134 * C35 + ROcp2_434 * S35;
2147 ROcp2_235 = ROcp2_234 * C35 + ROcp2_534 * S35;
2148 ROcp2_335 = ROcp2_334 * C35 + ROcp2_634 * S35;
2149 ROcp2_435 = -(ROcp2_134 * S35 - ROcp2_434 * C35);
2150 ROcp2_535 = -(ROcp2_234 * S35 - ROcp2_534 * C35);
2151 ROcp2_635 = -(ROcp2_334 * S35 - ROcp2_634 * C35);
2152 ROcp2_436 = ROcp2_435 * C36 + ROcp2_733 * S36;
2153 ROcp2_536 = ROcp2_535 * C36 + ROcp2_833 * S36;
2154 ROcp2_636 = ROcp2_635 * C36 + ROcp2_933 * S36;
2155 ROcp2_736 = -(ROcp2_435 * S36 - ROcp2_733 * C36);
2156 ROcp2_836 = -(ROcp2_535 * S36 - ROcp2_833 * C36);
2157 ROcp2_936 = -(ROcp2_635 * S36 - ROcp2_933 * C36);
2158 ROcp2_137 = ROcp2_135 * C37 - ROcp2_736 * S37;
2159 ROcp2_237 = ROcp2_235 * C37 - ROcp2_836 * S37;
2160 ROcp2_337 = ROcp2_335 * C37 - ROcp2_936 * S37;
2161 ROcp2_737 = ROcp2_135 * S37 + ROcp2_736 * C37;
2162 ROcp2_837 = ROcp2_235 * S37 + ROcp2_836 * C37;
2163 ROcp2_937 = ROcp2_335 * S37 + ROcp2_936 * C37;
2164 ROcp2_138 = ROcp2_137 * C38 + ROcp2_436 * S38;
2165 ROcp2_238 = ROcp2_237 * C38 + ROcp2_536 * S38;
2166 ROcp2_338 = ROcp2_337 * C38 + ROcp2_636 * S38;
2167 ROcp2_438 = -(ROcp2_137 * S38 - ROcp2_436 * C38);
2168 ROcp2_538 = -(ROcp2_237 * S38 - ROcp2_536 * C38);
2169 ROcp2_638 = -(ROcp2_337 * S38 - ROcp2_636 * C38);
2170 ROcp2_439 = ROcp2_438 * C39 + ROcp2_737 * S39;
2171 ROcp2_539 = ROcp2_538 * C39 + ROcp2_837 * S39;
2172 ROcp2_639 = ROcp2_638 * C39 + ROcp2_937 * S39;
2173 ROcp2_739 = -(ROcp2_438 * S39 - ROcp2_737 * C39);
2174 ROcp2_839 = -(ROcp2_538 * S39 - ROcp2_837 * C39);
2175 ROcp2_939 = -(ROcp2_638 * S39 - ROcp2_937 * C39);
2176 ROcp2_140 = ROcp2_138 * C40 + ROcp2_439 * S40;
2177 ROcp2_240 = ROcp2_238 * C40 + ROcp2_539 * S40;
2178 ROcp2_340 = ROcp2_338 * C40 + ROcp2_639 * S40;
2179 ROcp2_440 = -(ROcp2_138 * S40 - ROcp2_439 * C40);
2180 ROcp2_540 = -(ROcp2_238 * S40 - ROcp2_539 * C40);
2181 ROcp2_640 = -(ROcp2_338 * S40 - ROcp2_639 * C40);
2182 ROcp2_441 = ROcp2_440 * C41 + ROcp2_739 * S41;
2183 ROcp2_541 = ROcp2_540 * C41 + ROcp2_839 * S41;
2184 ROcp2_641 = ROcp2_640 * C41 + ROcp2_939 * S41;
2185 ROcp2_741 = -(ROcp2_440 * S41 - ROcp2_739 * C41);
2186 ROcp2_841 = -(ROcp2_540 * S41 - ROcp2_839 * C41);
2187 ROcp2_941 = -(ROcp2_640 * S41 - ROcp2_939 * C41);
2188 ROcp2_442 = ROcp2_441 * C42 + ROcp2_741 * S42;
2189 ROcp2_542 = ROcp2_541 * C42 + ROcp2_841 * S42;
2190 ROcp2_642 = ROcp2_641 * C42 + ROcp2_941 * S42;
2191 ROcp2_742 = -(ROcp2_441 * S42 - ROcp2_741 * C42);
2192 ROcp2_842 = -(ROcp2_541 * S42 - ROcp2_841 * C42);
2193 ROcp2_942 = -(ROcp2_641 * S42 - ROcp2_941 * C42);
2194 ROcp2_143 = ROcp2_140 * C43 + ROcp2_442 * S43;
2195 ROcp2_243 = ROcp2_240 * C43 + ROcp2_542 * S43;
2196 ROcp2_343 = ROcp2_340 * C43 + ROcp2_642 * S43;
2197 ROcp2_443 = -(ROcp2_140 * S43 - ROcp2_442 * C43);
2198 ROcp2_543 = -(ROcp2_240 * S43 - ROcp2_542 * C43);
2199 ROcp2_643 = -(ROcp2_340 * S43 - ROcp2_642 * C43);
2200 ROcp2_444 = ROcp2_443 * C44 + ROcp2_742 * S44;
2201 ROcp2_544 = ROcp2_543 * C44 + ROcp2_842 * S44;
2202 ROcp2_644 = ROcp2_643 * C44 + ROcp2_942 * S44;
2203 ROcp2_744 = -(ROcp2_443 * S44 - ROcp2_742 * C44);
2204 ROcp2_844 = -(ROcp2_543 * S44 - ROcp2_842 * C44);
2205 ROcp2_944 = -(ROcp2_643 * S44 - ROcp2_942 * C44);
2206 ROcp2_446 = ROcp2_444 * C46 + ROcp2_744 * S46;
2207 ROcp2_546 = ROcp2_544 * C46 + ROcp2_844 * S46;
2208 ROcp2_646 = ROcp2_644 * C46 + ROcp2_944 * S46;
2209 ROcp2_746 = -(ROcp2_444 * S46 - ROcp2_744 * C46);
2210 ROcp2_846 = -(ROcp2_544 * S46 - ROcp2_844 * C46);
2211 ROcp2_946 = -(ROcp2_644 * S46 - ROcp2_944 * C46);
2212 ROcp2_448 = ROcp2_446 * C48 + ROcp2_746 * S48;
2213 ROcp2_548 = ROcp2_546 * C48 + ROcp2_846 * S48;
2214 ROcp2_648 = ROcp2_646 * C48 + ROcp2_946 * S48;
2215 ROcp2_748 = -(ROcp2_446 * S48 - ROcp2_746 * C48);
2216 ROcp2_848 = -(ROcp2_546 * S48 - ROcp2_846 * C48);
2217 ROcp2_948 = -(ROcp2_646 * S48 - ROcp2_946 * C48);
2218 ROcp2_149 = ROcp2_143 * C49 + ROcp2_448 * S49;
2219 ROcp2_249 = ROcp2_243 * C49 + ROcp2_548 * S49;
2220 ROcp2_349 = ROcp2_343 * C49 + ROcp2_648 * S49;
2221 ROcp2_449 = -(ROcp2_143 * S49 - ROcp2_448 * C49);
2222 ROcp2_549 = -(ROcp2_243 * S49 - ROcp2_548 * C49);
2223 ROcp2_649 = -(ROcp2_343 * S49 - ROcp2_648 * C49);
2224 ROcp2_450 = ROcp2_449 * C50 + ROcp2_748 * S50;
2225 ROcp2_550 = ROcp2_549 * C50 + ROcp2_848 * S50;
2226 ROcp2_650 = ROcp2_649 * C50 + ROcp2_948 * S50;
2227 ROcp2_750 = -(ROcp2_449 * S50 - ROcp2_748 * C50);
2228 ROcp2_850 = -(ROcp2_549 * S50 - ROcp2_848 * C50);
2229 ROcp2_950 = -(ROcp2_649 * S50 - ROcp2_948 * C50);
2230 ROcp2_451 = ROcp2_450 * C51 + ROcp2_750 * S51;
2231 ROcp2_551 = ROcp2_550 * C51 + ROcp2_850 * S51;
2232 ROcp2_651 = ROcp2_650 * C51 + ROcp2_950 * S51;
2233 ROcp2_751 = -(ROcp2_450 * S51 - ROcp2_750 * C51);
2234 ROcp2_851 = -(ROcp2_550 * S51 - ROcp2_850 * C51);
2235 ROcp2_951 = -(ROcp2_650 * S51 - ROcp2_950 * C51);
2236 ROcp2_153 = ROcp2_149 * C53 + ROcp2_451 * S53;
2237 ROcp2_253 = ROcp2_249 * C53 + ROcp2_551 * S53;
2238 ROcp2_353 = ROcp2_349 * C53 + ROcp2_651 * S53;
2239 ROcp2_453 = -(ROcp2_149 * S53 - ROcp2_451 * C53);
2240 ROcp2_553 = -(ROcp2_249 * S53 - ROcp2_551 * C53);
2241 ROcp2_653 = -(ROcp2_349 * S53 - ROcp2_651 * C53);
2242 ROcp2_155 = ROcp2_153 * C55 - ROcp2_751 * S55;
2243 ROcp2_255 = ROcp2_253 * C55 - ROcp2_851 * S55;
2244 ROcp2_355 = ROcp2_353 * C55 - ROcp2_951 * S55;
2245 ROcp2_755 = ROcp2_153 * S55 + ROcp2_751 * C55;
2246 ROcp2_855 = ROcp2_253 * S55 + ROcp2_851 * C55;
2247 ROcp2_955 = ROcp2_353 * S55 + ROcp2_951 * C55;
2248 ROcp2_156 = ROcp2_155 * C56 + ROcp2_453 * S56;
2249 ROcp2_256 = ROcp2_255 * C56 + ROcp2_553 * S56;
2250 ROcp2_356 = ROcp2_355 * C56 + ROcp2_653 * S56;
2251 ROcp2_456 = -(ROcp2_155 * S56 - ROcp2_453 * C56);
2252 ROcp2_556 = -(ROcp2_255 * S56 - ROcp2_553 * C56);
2253 ROcp2_656 = -(ROcp2_355 * S56 - ROcp2_653 * C56);
2254 OMcp2_25 = qd[5] * C4;
2255 OMcp2_35 = qd[5] * S4;
2256 OMcp2_16 = qd[4] + qd[6] * S5;
2257 OMcp2_26 = OMcp2_25 + ROcp2_85 * qd[6];
2258 OMcp2_36 = OMcp2_35 + ROcp2_95 * qd[6];
2259 OPcp2_16 = qdd[4] + qdd[6] * S5 + qd[5] * qd[6] * C5;
2260 OPcp2_26 = ROcp2_85 * qdd[6] + qdd[5] * C4 - qd[4] * qd[5] * S4 + qd[6] * (OMcp2_35 * S5 - ROcp2_95 * qd[4]);
2261 OPcp2_36 = ROcp2_95 * qdd[6] + qdd[5] * S4 + qd[4] * qd[5] * C4 - qd[6] * (OMcp2_25 * S5 - ROcp2_85 * qd[4]);
2262 RLcp2_18 = ROcp2_77 * q[8];
2263 RLcp2_28 = ROcp2_87 * q[8];
2264 RLcp2_38 = ROcp2_97 * q[8];
2265 ORcp2_18 = OMcp2_26 * RLcp2_38 - OMcp2_36 * RLcp2_28;
2266 ORcp2_28 = -(OMcp2_16 * RLcp2_38 - OMcp2_36 * RLcp2_18);
2267 ORcp2_38 = OMcp2_16 * RLcp2_28 - OMcp2_26 * RLcp2_18;
2268 RLcp2_112 = ROcp2_710 * q[12];
2269 RLcp2_212 = ROcp2_810 * q[12];
2270 RLcp2_312 = ROcp2_910 * q[12];
2271 ORcp2_112 = OMcp2_26 * RLcp2_312 - OMcp2_36 * RLcp2_212;
2272 ORcp2_212 = -(OMcp2_16 * RLcp2_312 - OMcp2_36 * RLcp2_112);
2273 ORcp2_312 = OMcp2_16 * RLcp2_212 - OMcp2_26 * RLcp2_112;
2274 RLcp2_116 = ROcp2_714 * q[16];
2275 RLcp2_216 = ROcp2_814 * q[16];
2276 RLcp2_316 = ROcp2_914 * q[16];
2277 ORcp2_116 = OMcp2_26 * RLcp2_316 - OMcp2_36 * RLcp2_216;
2278 ORcp2_216 = -(OMcp2_16 * RLcp2_316 - OMcp2_36 * RLcp2_116);
2279 ORcp2_316 = OMcp2_16 * RLcp2_216 - OMcp2_26 * RLcp2_116;
2280 OMcp2_118 = OMcp2_16 + ROcp2_714 * qd[18];
2281 OMcp2_218 = OMcp2_26 + ROcp2_814 * qd[18];
2282 OMcp2_318 = OMcp2_36 + ROcp2_914 * qd[18];
2283 OPcp2_118 = OPcp2_16 + ROcp2_714 * qdd[18] + qd[18] * (OMcp2_26 * ROcp2_914 - OMcp2_36 * ROcp2_814);
2284 OPcp2_218 = OPcp2_26 + ROcp2_814 * qdd[18] - qd[18] * (OMcp2_16 * ROcp2_914 - OMcp2_36 * ROcp2_714);
2285 OPcp2_318 = OPcp2_36 + ROcp2_914 * qdd[18] + qd[18] * (OMcp2_16 * ROcp2_814 - OMcp2_26 * ROcp2_714);
2286 RLcp2_119 = ROcp2_714 * q[19];
2287 RLcp2_219 = ROcp2_814 * q[19];
2288 RLcp2_319 = ROcp2_914 * q[19];
2289 ORcp2_119 = OMcp2_218 * RLcp2_319 - OMcp2_318 * RLcp2_219;
2290 ORcp2_219 = -(OMcp2_118 * RLcp2_319 - OMcp2_318 * RLcp2_119);
2291 ORcp2_319 = OMcp2_118 * RLcp2_219 - OMcp2_218 * RLcp2_119;
2292 RLcp2_120 = ROcp2_418 * DPT_2_6 + ROcp2_714 * DPT_3_6;
2293 RLcp2_220 = ROcp2_518 * DPT_2_6 + ROcp2_814 * DPT_3_6;
2294 RLcp2_320 = ROcp2_618 * DPT_2_6 + ROcp2_914 * DPT_3_6;
2295 OMcp2_120 = OMcp2_118 + ROcp2_118 * qd[20];
2296 OMcp2_220 = OMcp2_218 + ROcp2_218 * qd[20];
2297 OMcp2_320 = OMcp2_318 + ROcp2_318 * qd[20];
2298 ORcp2_120 = OMcp2_218 * RLcp2_320 - OMcp2_318 * RLcp2_220;
2299 ORcp2_220 = -(OMcp2_118 * RLcp2_320 - OMcp2_318 * RLcp2_120);
2300 ORcp2_320 = OMcp2_118 * RLcp2_220 - OMcp2_218 * RLcp2_120;
2301 OMcp2_121 = OMcp2_120 + ROcp2_420 * qd[21];
2302 OMcp2_221 = OMcp2_220 + ROcp2_520 * qd[21];
2303 OMcp2_321 = OMcp2_320 + ROcp2_620 * qd[21];
2304 OMcp2_122 = OMcp2_121 + ROcp2_721 * qd[22];
2305 OMcp2_222 = OMcp2_221 + ROcp2_821 * qd[22];
2306 OMcp2_322 = OMcp2_321 + ROcp2_921 * qd[22];
2307 OPcp2_122 = OPcp2_118 + ROcp2_118 * qdd[20] + ROcp2_420 * qdd[21] + ROcp2_721 * qdd[22] + qd[20] * (OMcp2_218 * ROcp2_318 - OMcp2_318 *
2308 ROcp2_218) + qd[21] * (OMcp2_220 * ROcp2_620 - OMcp2_320 * ROcp2_520) + qd[22] * (OMcp2_221 * ROcp2_921 - OMcp2_321 * ROcp2_821);
2309 OPcp2_222 = OPcp2_218 + ROcp2_218 * qdd[20] + ROcp2_520 * qdd[21] + ROcp2_821 * qdd[22] - qd[20] * (OMcp2_118 * ROcp2_318 - OMcp2_318 *
2310 ROcp2_118) - qd[21] * (OMcp2_120 * ROcp2_620 - OMcp2_320 * ROcp2_420) - qd[22] * (OMcp2_121 * ROcp2_921 - OMcp2_321 * ROcp2_721);
2311 OPcp2_322 = OPcp2_318 + ROcp2_318 * qdd[20] + ROcp2_620 * qdd[21] + ROcp2_921 * qdd[22] + qd[20] * (OMcp2_118 * ROcp2_218 - OMcp2_218 *
2312 ROcp2_118) + qd[21] * (OMcp2_120 * ROcp2_520 - OMcp2_220 * ROcp2_420) + qd[22] * (OMcp2_121 * ROcp2_821 - OMcp2_221 * ROcp2_721);
2313 RLcp2_123 = Dz233 * ROcp2_721 + ROcp2_422 * DPT_2_9;
2314 RLcp2_223 = Dz233 * ROcp2_821 + ROcp2_522 * DPT_2_9;
2315 RLcp2_323 = Dz233 * ROcp2_921 + ROcp2_622 * DPT_2_9;
2316 ORcp2_123 = OMcp2_222 * RLcp2_323 - OMcp2_322 * RLcp2_223;
2317 ORcp2_223 = -(OMcp2_122 * RLcp2_323 - OMcp2_322 * RLcp2_123);
2318 ORcp2_323 = OMcp2_122 * RLcp2_223 - OMcp2_222 * RLcp2_123;
2319 RLcp2_124 = Dz243 * ROcp2_721;
2320 RLcp2_224 = Dz243 * ROcp2_821;
2321 RLcp2_324 = Dz243 * ROcp2_921;
2322 ORcp2_124 = OMcp2_222 * RLcp2_324 - OMcp2_322 * RLcp2_224;
2323 ORcp2_224 = -(OMcp2_122 * RLcp2_324 - OMcp2_322 * RLcp2_124);
2324 ORcp2_324 = OMcp2_122 * RLcp2_224 - OMcp2_222 * RLcp2_124;
2325 RLcp2_126 = ROcp2_721 * q[26];
2326 RLcp2_226 = ROcp2_821 * q[26];
2327 RLcp2_326 = ROcp2_921 * q[26];
2328 ORcp2_126 = OMcp2_222 * RLcp2_326 - OMcp2_322 * RLcp2_226;
2329 ORcp2_226 = -(OMcp2_122 * RLcp2_326 - OMcp2_322 * RLcp2_126);
2330 ORcp2_326 = OMcp2_122 * RLcp2_226 - OMcp2_222 * RLcp2_126;
2331 OMcp2_130 = OMcp2_122 + ROcp2_729 * qd[30];
2332 OMcp2_230 = OMcp2_222 + ROcp2_829 * qd[30];
2333 OMcp2_330 = OMcp2_322 + ROcp2_929 * qd[30];
2334 OMcp2_135 = OMcp2_130 + ROcp2_733 * qd[35];
2335 OMcp2_235 = OMcp2_230 + ROcp2_833 * qd[35];
2336 OMcp2_335 = OMcp2_330 + ROcp2_933 * qd[35];
2337 OMcp2_140 = OMcp2_135 + ROcp2_739 * qd[40];
2338 OMcp2_240 = OMcp2_235 + ROcp2_839 * qd[40];
2339 OMcp2_340 = OMcp2_335 + ROcp2_939 * qd[40];
2340 OPcp2_140 = OPcp2_122 + ROcp2_729 * qdd[30] + ROcp2_733 * qdd[35] + ROcp2_739 * qdd[40] + qd[30] * (OMcp2_222 * ROcp2_929 - OMcp2_322 *
2341 ROcp2_829) + qd[35] * (OMcp2_230 * ROcp2_933 - OMcp2_330 * ROcp2_833) + qd[40] * (OMcp2_235 * ROcp2_939 - OMcp2_335 * ROcp2_839);
2342 OPcp2_240 = OPcp2_222 + ROcp2_829 * qdd[30] + ROcp2_833 * qdd[35] + ROcp2_839 * qdd[40] - qd[30] * (OMcp2_122 * ROcp2_929 - OMcp2_322 *
2343 ROcp2_729) - qd[35] * (OMcp2_130 * ROcp2_933 - OMcp2_330 * ROcp2_733) - qd[40] * (OMcp2_135 * ROcp2_939 - OMcp2_335 * ROcp2_739);
2344 OPcp2_340 = OPcp2_322 + ROcp2_929 * qdd[30] + ROcp2_933 * qdd[35] + ROcp2_939 * qdd[40] + qd[30] * (OMcp2_122 * ROcp2_829 - OMcp2_222 *
2345 ROcp2_729) + qd[35] * (OMcp2_130 * ROcp2_833 - OMcp2_230 * ROcp2_733) + qd[40] * (OMcp2_135 * ROcp2_839 - OMcp2_235 * ROcp2_739);
2346 RLcp2_142 = ROcp2_741 * DPT_3_15;
2347 RLcp2_242 = ROcp2_841 * DPT_3_15;
2348 RLcp2_342 = ROcp2_941 * DPT_3_15;
2349 ORcp2_142 = OMcp2_240 * RLcp2_342 - OMcp2_340 * RLcp2_242;
2350 ORcp2_242 = -(OMcp2_140 * RLcp2_342 - OMcp2_340 * RLcp2_142);
2351 ORcp2_342 = OMcp2_140 * RLcp2_242 - OMcp2_240 * RLcp2_142;
2352 OMcp2_143 = OMcp2_140 + ROcp2_742 * qd[43];
2353 OMcp2_243 = OMcp2_240 + ROcp2_842 * qd[43];
2354 OMcp2_343 = OMcp2_340 + ROcp2_942 * qd[43];
2355 OPcp2_143 = OPcp2_140 + ROcp2_742 * qdd[43] + qd[43] * (OMcp2_240 * ROcp2_942 - OMcp2_340 * ROcp2_842);
2356 OPcp2_243 = OPcp2_240 + ROcp2_842 * qdd[43] - qd[43] * (OMcp2_140 * ROcp2_942 - OMcp2_340 * ROcp2_742);
2357 OPcp2_343 = OPcp2_340 + ROcp2_942 * qdd[43] + qd[43] * (OMcp2_140 * ROcp2_842 - OMcp2_240 * ROcp2_742);
2358 RLcp2_145 = ROcp2_744 * q[45];
2359 RLcp2_245 = ROcp2_844 * q[45];
2360 RLcp2_345 = ROcp2_944 * q[45];
2361 ORcp2_145 = OMcp2_243 * RLcp2_345 - OMcp2_343 * RLcp2_245;
2362 ORcp2_245 = -(OMcp2_143 * RLcp2_345 - OMcp2_343 * RLcp2_145);
2363 ORcp2_345 = OMcp2_143 * RLcp2_245 - OMcp2_243 * RLcp2_145;
2364 RLcp2_146 = ROcp2_744 * DPT_3_18;
2365 RLcp2_246 = ROcp2_844 * DPT_3_18;
2366 RLcp2_346 = ROcp2_944 * DPT_3_18;
2367 ORcp2_146 = OMcp2_243 * RLcp2_346 - OMcp2_343 * RLcp2_246;
2368 ORcp2_246 = -(OMcp2_143 * RLcp2_346 - OMcp2_343 * RLcp2_146);
2369 ORcp2_346 = OMcp2_143 * RLcp2_246 - OMcp2_243 * RLcp2_146;
2370 RLcp2_147 = ROcp2_746 * q[47];
2371 RLcp2_247 = ROcp2_846 * q[47];
2372 RLcp2_347 = ROcp2_946 * q[47];
2373 ORcp2_147 = OMcp2_243 * RLcp2_347 - OMcp2_343 * RLcp2_247;
2374 ORcp2_247 = -(OMcp2_143 * RLcp2_347 - OMcp2_343 * RLcp2_147);
2375 ORcp2_347 = OMcp2_143 * RLcp2_247 - OMcp2_243 * RLcp2_147;
2376 RLcp2_148 = ROcp2_143 * DPT_1_19;
2377 RLcp2_248 = ROcp2_243 * DPT_1_19;
2378 RLcp2_348 = ROcp2_343 * DPT_1_19;
2379 ORcp2_148 = OMcp2_243 * RLcp2_348 - OMcp2_343 * RLcp2_248;
2380 ORcp2_248 = -(OMcp2_143 * RLcp2_348 - OMcp2_343 * RLcp2_148);
2381 ORcp2_348 = OMcp2_143 * RLcp2_248 - OMcp2_243 * RLcp2_148;
2382 OMcp2_149 = OMcp2_143 + ROcp2_748 * qd[49];
2383 OMcp2_249 = OMcp2_243 + ROcp2_848 * qd[49];
2384 OMcp2_349 = OMcp2_343 + ROcp2_948 * qd[49];
2385 OPcp2_149 = OPcp2_143 + ROcp2_748 * qdd[49] + qd[49] * (OMcp2_243 * ROcp2_948 - OMcp2_343 * ROcp2_848);
2386 OPcp2_249 = OPcp2_243 + ROcp2_848 * qdd[49] - qd[49] * (OMcp2_143 * ROcp2_948 - OMcp2_343 * ROcp2_748);
2387 OPcp2_349 = OPcp2_343 + ROcp2_948 * qdd[49] + qd[49] * (OMcp2_143 * ROcp2_848 - OMcp2_243 * ROcp2_748);
2388 RLcp2_151 = ROcp2_750 * DPT_3_20;
2389 RLcp2_251 = ROcp2_850 * DPT_3_20;
2390 RLcp2_351 = ROcp2_950 * DPT_3_20;
2391 ORcp2_151 = OMcp2_249 * RLcp2_351 - OMcp2_349 * RLcp2_251;
2392 ORcp2_251 = -(OMcp2_149 * RLcp2_351 - OMcp2_349 * RLcp2_151);
2393 ORcp2_351 = OMcp2_149 * RLcp2_251 - OMcp2_249 * RLcp2_151;
2394 RLcp2_152 = ROcp2_751 * q[52];
2395 RLcp2_252 = ROcp2_851 * q[52];
2396 RLcp2_352 = ROcp2_951 * q[52];
2397 ORcp2_152 = OMcp2_249 * RLcp2_352 - OMcp2_349 * RLcp2_252;
2398 ORcp2_252 = -(OMcp2_149 * RLcp2_352 - OMcp2_349 * RLcp2_152);
2399 ORcp2_352 = OMcp2_149 * RLcp2_252 - OMcp2_249 * RLcp2_152;
2400 OMcp2_153 = OMcp2_149 + ROcp2_751 * qd[53];
2401 OMcp2_253 = OMcp2_249 + ROcp2_851 * qd[53];
2402 OMcp2_353 = OMcp2_349 + ROcp2_951 * qd[53];
2403 OPcp2_153 = OPcp2_149 + ROcp2_751 * qdd[53] + qd[53] * (OMcp2_249 * ROcp2_951 - OMcp2_349 * ROcp2_851);
2404 OPcp2_253 = OPcp2_249 + ROcp2_851 * qdd[53] - qd[53] * (OMcp2_149 * ROcp2_951 - OMcp2_349 * ROcp2_751);
2405 OPcp2_353 = OPcp2_349 + ROcp2_951 * qdd[53] + qd[53] * (OMcp2_149 * ROcp2_851 - OMcp2_249 * ROcp2_751);
2406 RLcp2_154 = ROcp2_153 * q[54];
2407 RLcp2_254 = ROcp2_253 * q[54];
2408 RLcp2_354 = ROcp2_353 * q[54];
2409 POcp2_154 = RLcp2_112 + RLcp2_116 + RLcp2_119 + RLcp2_120 + RLcp2_123 + RLcp2_124 + RLcp2_126 + RLcp2_142 + RLcp2_145 + RLcp2_146 +
2410 RLcp2_147 + RLcp2_148 + RLcp2_151 + RLcp2_152 + RLcp2_154 + RLcp2_18 + q[1];
2411 POcp2_254 = RLcp2_212 + RLcp2_216 + RLcp2_219 + RLcp2_220 + RLcp2_223 + RLcp2_224 + RLcp2_226 + RLcp2_242 + RLcp2_245 + RLcp2_246 +
2412 RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254 + RLcp2_28 + q[2];
2413 POcp2_354 = RLcp2_312 + RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 +
2414 RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354 + RLcp2_38 + q[3];
2415 JTcp2_254_4 = -(RLcp2_312 + RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 +
2416 RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354 + RLcp2_38);
2417 JTcp2_354_4 = RLcp2_212 + RLcp2_216 + RLcp2_219 + RLcp2_220 + RLcp2_223 + RLcp2_224 + RLcp2_226 + RLcp2_242 + RLcp2_245 + RLcp2_246 +
2418 RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254 + RLcp2_28;
2419 JTcp2_154_5 = C4 * (RLcp2_312 + RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 +
2420 RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354 + RLcp2_38) - S4 * (RLcp2_212 + RLcp2_28) - S4 * (RLcp2_216 + RLcp2_219) - S4 * (RLcp2_220 +
2421 RLcp2_223) - S4 * (RLcp2_224 + RLcp2_226) - S4 * (RLcp2_242 + RLcp2_245) - S4 * (RLcp2_246 + RLcp2_247) - S4 * (RLcp2_248 + RLcp2_251) - S4 * (RLcp2_252
2422 + RLcp2_254);
2423 JTcp2_254_5 = S4 * (RLcp2_112 + RLcp2_116 + RLcp2_119 + RLcp2_120 + RLcp2_123 + RLcp2_124 + RLcp2_126 + RLcp2_142 + RLcp2_145 + RLcp2_146 +
2424 RLcp2_147 + RLcp2_148 + RLcp2_151 + RLcp2_152 + RLcp2_154 + RLcp2_18);
2425 JTcp2_354_5 = -C4 * (RLcp2_112 + RLcp2_116 + RLcp2_119 + RLcp2_120 + RLcp2_123 + RLcp2_124 + RLcp2_126 + RLcp2_142 + RLcp2_145 + RLcp2_146
2426 + RLcp2_147 + RLcp2_148 + RLcp2_151 + RLcp2_152 + RLcp2_154 + RLcp2_18);
2427 JTcp2_154_6 = ROcp2_85 * (RLcp2_312 + RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 +
2428 RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354 + RLcp2_38) - ROcp2_95 * (RLcp2_212 + RLcp2_28) - ROcp2_95 * (RLcp2_216 +
2429 RLcp2_219) - ROcp2_95 * (RLcp2_220 + RLcp2_223) - ROcp2_95 * (RLcp2_224 + RLcp2_226) - ROcp2_95 * (RLcp2_242 + RLcp2_245) - ROcp2_95 * (RLcp2_246 +
2430 RLcp2_247) - ROcp2_95 * (RLcp2_248 + RLcp2_251) - ROcp2_95 * (RLcp2_252 + RLcp2_254);
2431 JTcp2_254_6 = RLcp2_154 * ROcp2_95 - RLcp2_352 * S5 - RLcp2_354 * S5 + ROcp2_95 * (RLcp2_112 + RLcp2_116 + RLcp2_119 + RLcp2_120 + RLcp2_123
2432 + RLcp2_124 + RLcp2_126 + RLcp2_142 + RLcp2_145 + RLcp2_146 + RLcp2_147 + RLcp2_148 + RLcp2_151 + RLcp2_152 + RLcp2_18) - S5 * (RLcp2_312 + RLcp2_38)
2433 - S5 * (RLcp2_316 + RLcp2_319) - S5 * (RLcp2_320 + RLcp2_323) - S5 * (RLcp2_324 + RLcp2_326) - S5 * (RLcp2_342 + RLcp2_345) - S5 * (RLcp2_346 + RLcp2_347
2434 ) - S5 * (RLcp2_348 + RLcp2_351);
2435 JTcp2_354_6 = RLcp2_252 * S5 - ROcp2_85 * (RLcp2_112 + RLcp2_116 + RLcp2_119 + RLcp2_120 + RLcp2_123 + RLcp2_124 + RLcp2_126 + RLcp2_142 +
2436 RLcp2_145 + RLcp2_146 + RLcp2_147 + RLcp2_148 + RLcp2_151 + RLcp2_152 + RLcp2_18) + S5 * (RLcp2_212 + RLcp2_28) + S5 * (RLcp2_216 + RLcp2_219) + S5 * (
2437 RLcp2_220 + RLcp2_223) + S5 * (RLcp2_224 + RLcp2_226) + S5 * (RLcp2_242 + RLcp2_245) + S5 * (RLcp2_246 + RLcp2_247) + S5 * (RLcp2_248 + RLcp2_251) -
2438 RLcp2_154 * ROcp2_85 + RLcp2_254 * S5;
2439 //JTcp2_154_7 = ROcp2_26 * (RLcp2_312 + RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 +
2440 // RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354 + RLcp2_38) - ROcp2_36 * (RLcp2_212 + RLcp2_28) - ROcp2_36 * (RLcp2_216 +
2441 // RLcp2_219) - ROcp2_36 * (RLcp2_220 + RLcp2_223) - ROcp2_36 * (RLcp2_224 + RLcp2_226) - ROcp2_36 * (RLcp2_242 + RLcp2_245) - ROcp2_36 * (RLcp2_246 +
2442 // RLcp2_247) - ROcp2_36 * (RLcp2_248 + RLcp2_251) - ROcp2_36 * (RLcp2_252 + RLcp2_254);
2443 //JTcp2_254_7 = -(ROcp2_16 * (RLcp2_312 + RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 +
2444 // RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354 + RLcp2_38) - ROcp2_36 * (RLcp2_112 + RLcp2_18) - ROcp2_36 * (RLcp2_116 +
2445 // RLcp2_119) - ROcp2_36 * (RLcp2_120 + RLcp2_123) - ROcp2_36 * (RLcp2_124 + RLcp2_126) - ROcp2_36 * (RLcp2_142 + RLcp2_145) - ROcp2_36 * (RLcp2_146 +
2446 // RLcp2_147) - ROcp2_36 * (RLcp2_148 + RLcp2_151) - ROcp2_36 * (RLcp2_152 + RLcp2_154));
2447 //JTcp2_354_7 = ROcp2_16 * (RLcp2_212 + RLcp2_216 + RLcp2_219 + RLcp2_220 + RLcp2_223 + RLcp2_224 + RLcp2_226 + RLcp2_242 + RLcp2_245 +
2448 // RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254 + RLcp2_28) - ROcp2_26 * (RLcp2_112 + RLcp2_18) - ROcp2_26 * (RLcp2_116 +
2449 // RLcp2_119) - ROcp2_26 * (RLcp2_120 + RLcp2_123) - ROcp2_26 * (RLcp2_124 + RLcp2_126) - ROcp2_26 * (RLcp2_142 + RLcp2_145) - ROcp2_26 * (RLcp2_146 +
2450 // RLcp2_147) - ROcp2_26 * (RLcp2_148 + RLcp2_151) - ROcp2_26 * (RLcp2_152 + RLcp2_154);
2451 //JTcp2_154_9 = ROcp2_26 * (RLcp2_312 + RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 +
2452 // RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) - ROcp2_36 * (RLcp2_212 + RLcp2_216) - ROcp2_36 * (RLcp2_219 + RLcp2_220) - ROcp2_36 * (
2453 // RLcp2_223 + RLcp2_224) - ROcp2_36 * (RLcp2_226 + RLcp2_242) - ROcp2_36 * (RLcp2_245 + RLcp2_246) - ROcp2_36 * (RLcp2_247 + RLcp2_248) - ROcp2_36 * (
2454 // RLcp2_251 + RLcp2_252) - RLcp2_254 * ROcp2_36 + RLcp2_354 * ROcp2_26;
2455 //JTcp2_254_9 = RLcp2_154 * ROcp2_36 - RLcp2_354 * ROcp2_16 - ROcp2_16 * (RLcp2_312 + RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 +
2456 // RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) + ROcp2_36 * (RLcp2_112 + RLcp2_116) +
2457 // ROcp2_36 * (RLcp2_119 + RLcp2_120) + ROcp2_36 * (RLcp2_123 + RLcp2_124) + ROcp2_36 * (RLcp2_126 + RLcp2_142) + ROcp2_36 * (RLcp2_145 + RLcp2_146) +
2458 // ROcp2_36 * (RLcp2_147 + RLcp2_148) + ROcp2_36 * (RLcp2_151 + RLcp2_152);
2459 //JTcp2_354_9 = ROcp2_16 * (RLcp2_212 + RLcp2_216 + RLcp2_219 + RLcp2_220 + RLcp2_223 + RLcp2_224 + RLcp2_226 + RLcp2_242 + RLcp2_245 +
2460 // RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252) - ROcp2_26 * (RLcp2_112 + RLcp2_116) - ROcp2_26 * (RLcp2_119 + RLcp2_120) - ROcp2_26 * (
2461 // RLcp2_123 + RLcp2_124) - ROcp2_26 * (RLcp2_126 + RLcp2_142) - ROcp2_26 * (RLcp2_145 + RLcp2_146) - ROcp2_26 * (RLcp2_147 + RLcp2_148) - ROcp2_26 * (
2462 // RLcp2_151 + RLcp2_152) - RLcp2_154 * ROcp2_26 + RLcp2_254 * ROcp2_16;
2463 //JTcp2_154_10 = ROcp2_59 * (RLcp2_312 + RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 +
2464 // RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) - ROcp2_69 * (RLcp2_212 + RLcp2_216) - ROcp2_69 * (RLcp2_219 + RLcp2_220) - ROcp2_69 * (
2465 // RLcp2_223 + RLcp2_224) - ROcp2_69 * (RLcp2_226 + RLcp2_242) - ROcp2_69 * (RLcp2_245 + RLcp2_246) - ROcp2_69 * (RLcp2_247 + RLcp2_248) - ROcp2_69 * (
2466 // RLcp2_251 + RLcp2_252) - RLcp2_254 * ROcp2_69 + RLcp2_354 * ROcp2_59;
2467 //JTcp2_254_10 = RLcp2_154 * ROcp2_69 - RLcp2_354 * ROcp2_49 - ROcp2_49 * (RLcp2_312 + RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 +
2468 // RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) + ROcp2_69 * (RLcp2_112 + RLcp2_116) +
2469 // ROcp2_69 * (RLcp2_119 + RLcp2_120) + ROcp2_69 * (RLcp2_123 + RLcp2_124) + ROcp2_69 * (RLcp2_126 + RLcp2_142) + ROcp2_69 * (RLcp2_145 + RLcp2_146) +
2470 // ROcp2_69 * (RLcp2_147 + RLcp2_148) + ROcp2_69 * (RLcp2_151 + RLcp2_152);
2471 //JTcp2_354_10 = ROcp2_49 * (RLcp2_212 + RLcp2_216 + RLcp2_219 + RLcp2_220 + RLcp2_223 + RLcp2_224 + RLcp2_226 + RLcp2_242 + RLcp2_245 +
2472 // RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252) - ROcp2_59 * (RLcp2_112 + RLcp2_116) - ROcp2_59 * (RLcp2_119 + RLcp2_120) - ROcp2_59 * (
2473 // RLcp2_123 + RLcp2_124) - ROcp2_59 * (RLcp2_126 + RLcp2_142) - ROcp2_59 * (RLcp2_145 + RLcp2_146) - ROcp2_59 * (RLcp2_147 + RLcp2_148) - ROcp2_59 * (
2474 // RLcp2_151 + RLcp2_152) - RLcp2_154 * ROcp2_59 + RLcp2_254 * ROcp2_49;
2475 //JTcp2_154_11 = ROcp2_810 * (RLcp2_312 + RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 +
2476 // RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) - ROcp2_910 * (RLcp2_212 + RLcp2_216) - ROcp2_910 * (RLcp2_219 + RLcp2_220) - ROcp2_910
2477 // * (RLcp2_223 + RLcp2_224) - ROcp2_910 * (RLcp2_226 + RLcp2_242) - ROcp2_910 * (RLcp2_245 + RLcp2_246) - ROcp2_910 * (RLcp2_247 + RLcp2_248) -
2478 // ROcp2_910 * (RLcp2_251 + RLcp2_252) - RLcp2_254 * ROcp2_910 + RLcp2_354 * ROcp2_810;
2479 //JTcp2_254_11 = RLcp2_154 * ROcp2_910 - RLcp2_354 * ROcp2_710 - ROcp2_710 * (RLcp2_312 + RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 +
2480 // RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) + ROcp2_910 * (RLcp2_112 + RLcp2_116) +
2481 // ROcp2_910 * (RLcp2_119 + RLcp2_120) + ROcp2_910 * (RLcp2_123 + RLcp2_124) + ROcp2_910 * (RLcp2_126 + RLcp2_142) + ROcp2_910 * (RLcp2_145 +
2482 // RLcp2_146) + ROcp2_910 * (RLcp2_147 + RLcp2_148) + ROcp2_910 * (RLcp2_151 + RLcp2_152);
2483 //JTcp2_354_11 = ROcp2_710 * (RLcp2_212 + RLcp2_216 + RLcp2_219 + RLcp2_220 + RLcp2_223 + RLcp2_224 + RLcp2_226 + RLcp2_242 + RLcp2_245 +
2484 // RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252) - ROcp2_810 * (RLcp2_112 + RLcp2_116) - ROcp2_810 * (RLcp2_119 + RLcp2_120) - ROcp2_810
2485 // * (RLcp2_123 + RLcp2_124) - ROcp2_810 * (RLcp2_126 + RLcp2_142) - ROcp2_810 * (RLcp2_145 + RLcp2_146) - ROcp2_810 * (RLcp2_147 + RLcp2_148) -
2486 // ROcp2_810 * (RLcp2_151 + RLcp2_152) - RLcp2_154 * ROcp2_810 + RLcp2_254 * ROcp2_710;
2487 //JTcp2_154_13 = ROcp2_211 * (RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 +
2488 // RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_311 * (RLcp2_216 + RLcp2_219) - ROcp2_311 * (RLcp2_220 + RLcp2_223) - ROcp2_311
2489 // * (RLcp2_224 + RLcp2_226) - ROcp2_311 * (RLcp2_242 + RLcp2_245) - ROcp2_311 * (RLcp2_246 + RLcp2_247) - ROcp2_311 * (RLcp2_248 + RLcp2_251) -
2490 // ROcp2_311 * (RLcp2_252 + RLcp2_254);
2491 //JTcp2_254_13 = -(ROcp2_111 * (RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 +
2492 // RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_311 * (RLcp2_116 + RLcp2_119) - ROcp2_311 * (RLcp2_120 + RLcp2_123) - ROcp2_311
2493 // * (RLcp2_124 + RLcp2_126) - ROcp2_311 * (RLcp2_142 + RLcp2_145) - ROcp2_311 * (RLcp2_146 + RLcp2_147) - ROcp2_311 * (RLcp2_148 + RLcp2_151) -
2494 // ROcp2_311 * (RLcp2_152 + RLcp2_154));
2495 //JTcp2_354_13 = ROcp2_111 * (RLcp2_216 + RLcp2_219 + RLcp2_220 + RLcp2_223 + RLcp2_224 + RLcp2_226 + RLcp2_242 + RLcp2_245 + RLcp2_246 +
2496 // RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_211 * (RLcp2_116 + RLcp2_119) - ROcp2_211 * (RLcp2_120 + RLcp2_123) - ROcp2_211
2497 // * (RLcp2_124 + RLcp2_126) - ROcp2_211 * (RLcp2_142 + RLcp2_145) - ROcp2_211 * (RLcp2_146 + RLcp2_147) - ROcp2_211 * (RLcp2_148 + RLcp2_151) -
2498 // ROcp2_211 * (RLcp2_152 + RLcp2_154);
2499 //JTcp2_154_14 = ROcp2_513 * (RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 +
2500 // RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_613 * (RLcp2_216 + RLcp2_219) - ROcp2_613 * (RLcp2_220 + RLcp2_223) - ROcp2_613
2501 // * (RLcp2_224 + RLcp2_226) - ROcp2_613 * (RLcp2_242 + RLcp2_245) - ROcp2_613 * (RLcp2_246 + RLcp2_247) - ROcp2_613 * (RLcp2_248 + RLcp2_251) -
2502 // ROcp2_613 * (RLcp2_252 + RLcp2_254);
2503 //JTcp2_254_14 = -(ROcp2_413 * (RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 +
2504 // RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_613 * (RLcp2_116 + RLcp2_119) - ROcp2_613 * (RLcp2_120 + RLcp2_123) - ROcp2_613
2505 // * (RLcp2_124 + RLcp2_126) - ROcp2_613 * (RLcp2_142 + RLcp2_145) - ROcp2_613 * (RLcp2_146 + RLcp2_147) - ROcp2_613 * (RLcp2_148 + RLcp2_151) -
2506 // ROcp2_613 * (RLcp2_152 + RLcp2_154));
2507 //JTcp2_354_14 = ROcp2_413 * (RLcp2_216 + RLcp2_219 + RLcp2_220 + RLcp2_223 + RLcp2_224 + RLcp2_226 + RLcp2_242 + RLcp2_245 + RLcp2_246 +
2508 // RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_513 * (RLcp2_116 + RLcp2_119) - ROcp2_513 * (RLcp2_120 + RLcp2_123) - ROcp2_513
2509 // * (RLcp2_124 + RLcp2_126) - ROcp2_513 * (RLcp2_142 + RLcp2_145) - ROcp2_513 * (RLcp2_146 + RLcp2_147) - ROcp2_513 * (RLcp2_148 + RLcp2_151) -
2510 // ROcp2_513 * (RLcp2_152 + RLcp2_154);
2511 //JTcp2_154_15 = ROcp2_814 * (RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 +
2512 // RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_914 * (RLcp2_216 + RLcp2_219) - ROcp2_914 * (RLcp2_220 + RLcp2_223) - ROcp2_914
2513 // * (RLcp2_224 + RLcp2_226) - ROcp2_914 * (RLcp2_242 + RLcp2_245) - ROcp2_914 * (RLcp2_246 + RLcp2_247) - ROcp2_914 * (RLcp2_248 + RLcp2_251) -
2514 // ROcp2_914 * (RLcp2_252 + RLcp2_254);
2515 //JTcp2_254_15 = -(ROcp2_714 * (RLcp2_316 + RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 +
2516 // RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_914 * (RLcp2_116 + RLcp2_119) - ROcp2_914 * (RLcp2_120 + RLcp2_123) - ROcp2_914
2517 // * (RLcp2_124 + RLcp2_126) - ROcp2_914 * (RLcp2_142 + RLcp2_145) - ROcp2_914 * (RLcp2_146 + RLcp2_147) - ROcp2_914 * (RLcp2_148 + RLcp2_151) -
2518 // ROcp2_914 * (RLcp2_152 + RLcp2_154));
2519 //JTcp2_354_15 = ROcp2_714 * (RLcp2_216 + RLcp2_219 + RLcp2_220 + RLcp2_223 + RLcp2_224 + RLcp2_226 + RLcp2_242 + RLcp2_245 + RLcp2_246 +
2520 // RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_814 * (RLcp2_116 + RLcp2_119) - ROcp2_814 * (RLcp2_120 + RLcp2_123) - ROcp2_814
2521 // * (RLcp2_124 + RLcp2_126) - ROcp2_814 * (RLcp2_142 + RLcp2_145) - ROcp2_814 * (RLcp2_146 + RLcp2_147) - ROcp2_814 * (RLcp2_148 + RLcp2_151) -
2522 // ROcp2_814 * (RLcp2_152 + RLcp2_154);
2523 //JTcp2_154_17 = ROcp2_814 * (RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 +
2524 // RLcp2_348 + RLcp2_351 + RLcp2_352) - ROcp2_914 * (RLcp2_219 + RLcp2_220) - ROcp2_914 * (RLcp2_223 + RLcp2_224) - ROcp2_914 * (RLcp2_226 +
2525 // RLcp2_242) - ROcp2_914 * (RLcp2_245 + RLcp2_246) - ROcp2_914 * (RLcp2_247 + RLcp2_248) - ROcp2_914 * (RLcp2_251 + RLcp2_252) - RLcp2_254 *
2526 // ROcp2_914 + RLcp2_354 * ROcp2_814;
2527 //JTcp2_254_17 = RLcp2_154 * ROcp2_914 - RLcp2_354 * ROcp2_714 - ROcp2_714 * (RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 +
2528 // RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) + ROcp2_914 * (RLcp2_119 + RLcp2_120) + ROcp2_914 * (RLcp2_123 +
2529 // RLcp2_124) + ROcp2_914 * (RLcp2_126 + RLcp2_142) + ROcp2_914 * (RLcp2_145 + RLcp2_146) + ROcp2_914 * (RLcp2_147 + RLcp2_148) + ROcp2_914 * (
2530 // RLcp2_151 + RLcp2_152);
2531 //JTcp2_354_17 = ROcp2_714 * (RLcp2_219 + RLcp2_220 + RLcp2_223 + RLcp2_224 + RLcp2_226 + RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 +
2532 // RLcp2_248 + RLcp2_251 + RLcp2_252) - ROcp2_814 * (RLcp2_119 + RLcp2_120) - ROcp2_814 * (RLcp2_123 + RLcp2_124) - ROcp2_814 * (RLcp2_126 +
2533 // RLcp2_142) - ROcp2_814 * (RLcp2_145 + RLcp2_146) - ROcp2_814 * (RLcp2_147 + RLcp2_148) - ROcp2_814 * (RLcp2_151 + RLcp2_152) - RLcp2_154 *
2534 // ROcp2_814 + RLcp2_254 * ROcp2_714;
2535 JTcp2_154_18 = ROcp2_814 * (RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 +
2536 RLcp2_348 + RLcp2_351 + RLcp2_352) - ROcp2_914 * (RLcp2_219 + RLcp2_220) - ROcp2_914 * (RLcp2_223 + RLcp2_224) - ROcp2_914 * (RLcp2_226 +
2537 RLcp2_242) - ROcp2_914 * (RLcp2_245 + RLcp2_246) - ROcp2_914 * (RLcp2_247 + RLcp2_248) - ROcp2_914 * (RLcp2_251 + RLcp2_252) - RLcp2_254 *
2538 ROcp2_914 + RLcp2_354 * ROcp2_814;
2539 JTcp2_254_18 = RLcp2_154 * ROcp2_914 - RLcp2_354 * ROcp2_714 - ROcp2_714 * (RLcp2_319 + RLcp2_320 + RLcp2_323 + RLcp2_324 + RLcp2_326 +
2540 RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) + ROcp2_914 * (RLcp2_119 + RLcp2_120) + ROcp2_914 * (RLcp2_123 +
2541 RLcp2_124) + ROcp2_914 * (RLcp2_126 + RLcp2_142) + ROcp2_914 * (RLcp2_145 + RLcp2_146) + ROcp2_914 * (RLcp2_147 + RLcp2_148) + ROcp2_914 * (
2542 RLcp2_151 + RLcp2_152);
2543 JTcp2_354_18 = ROcp2_714 * (RLcp2_219 + RLcp2_220 + RLcp2_223 + RLcp2_224 + RLcp2_226 + RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 +
2544 RLcp2_248 + RLcp2_251 + RLcp2_252) - ROcp2_814 * (RLcp2_119 + RLcp2_120) - ROcp2_814 * (RLcp2_123 + RLcp2_124) - ROcp2_814 * (RLcp2_126 +
2545 RLcp2_142) - ROcp2_814 * (RLcp2_145 + RLcp2_146) - ROcp2_814 * (RLcp2_147 + RLcp2_148) - ROcp2_814 * (RLcp2_151 + RLcp2_152) - RLcp2_154 *
2546 ROcp2_814 + RLcp2_254 * ROcp2_714;
2547 JTcp2_154_20 = ROcp2_218 * (RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 +
2548 RLcp2_352) - ROcp2_318 * (RLcp2_223 + RLcp2_224) - ROcp2_318 * (RLcp2_226 + RLcp2_242) - ROcp2_318 * (RLcp2_245 + RLcp2_246) - ROcp2_318 * (
2549 RLcp2_247 + RLcp2_248) - ROcp2_318 * (RLcp2_251 + RLcp2_252) - RLcp2_254 * ROcp2_318 + RLcp2_354 * ROcp2_218;
2550 JTcp2_254_20 = RLcp2_154 * ROcp2_318 - RLcp2_354 * ROcp2_118 - ROcp2_118 * (RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 +
2551 RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) + ROcp2_318 * (RLcp2_123 + RLcp2_124) + ROcp2_318 * (RLcp2_126 + RLcp2_142) + ROcp2_318
2552 * (RLcp2_145 + RLcp2_146) + ROcp2_318 * (RLcp2_147 + RLcp2_148) + ROcp2_318 * (RLcp2_151 + RLcp2_152);
2553 JTcp2_354_20 = ROcp2_118 * (RLcp2_223 + RLcp2_224 + RLcp2_226 + RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 +
2554 RLcp2_252) - ROcp2_218 * (RLcp2_123 + RLcp2_124) - ROcp2_218 * (RLcp2_126 + RLcp2_142) - ROcp2_218 * (RLcp2_145 + RLcp2_146) - ROcp2_218 * (
2555 RLcp2_147 + RLcp2_148) - ROcp2_218 * (RLcp2_151 + RLcp2_152) - RLcp2_154 * ROcp2_218 + RLcp2_254 * ROcp2_118;
2556 JTcp2_154_21 = ROcp2_520 * (RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 +
2557 RLcp2_352) - ROcp2_620 * (RLcp2_223 + RLcp2_224) - ROcp2_620 * (RLcp2_226 + RLcp2_242) - ROcp2_620 * (RLcp2_245 + RLcp2_246) - ROcp2_620 * (
2558 RLcp2_247 + RLcp2_248) - ROcp2_620 * (RLcp2_251 + RLcp2_252) - RLcp2_254 * ROcp2_620 + RLcp2_354 * ROcp2_520;
2559 JTcp2_254_21 = RLcp2_154 * ROcp2_620 - RLcp2_354 * ROcp2_420 - ROcp2_420 * (RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 +
2560 RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) + ROcp2_620 * (RLcp2_123 + RLcp2_124) + ROcp2_620 * (RLcp2_126 + RLcp2_142) + ROcp2_620
2561 * (RLcp2_145 + RLcp2_146) + ROcp2_620 * (RLcp2_147 + RLcp2_148) + ROcp2_620 * (RLcp2_151 + RLcp2_152);
2562 JTcp2_354_21 = ROcp2_420 * (RLcp2_223 + RLcp2_224 + RLcp2_226 + RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 +
2563 RLcp2_252) - ROcp2_520 * (RLcp2_123 + RLcp2_124) - ROcp2_520 * (RLcp2_126 + RLcp2_142) - ROcp2_520 * (RLcp2_145 + RLcp2_146) - ROcp2_520 * (
2564 RLcp2_147 + RLcp2_148) - ROcp2_520 * (RLcp2_151 + RLcp2_152) - RLcp2_154 * ROcp2_520 + RLcp2_254 * ROcp2_420;
2565 JTcp2_154_22 = ROcp2_821 * (RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 +
2566 RLcp2_352) - ROcp2_921 * (RLcp2_223 + RLcp2_224) - ROcp2_921 * (RLcp2_226 + RLcp2_242) - ROcp2_921 * (RLcp2_245 + RLcp2_246) - ROcp2_921 * (
2567 RLcp2_247 + RLcp2_248) - ROcp2_921 * (RLcp2_251 + RLcp2_252) - RLcp2_254 * ROcp2_921 + RLcp2_354 * ROcp2_821;
2568 JTcp2_254_22 = RLcp2_154 * ROcp2_921 - RLcp2_354 * ROcp2_721 - ROcp2_721 * (RLcp2_323 + RLcp2_324 + RLcp2_326 + RLcp2_342 + RLcp2_345 +
2569 RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) + ROcp2_921 * (RLcp2_123 + RLcp2_124) + ROcp2_921 * (RLcp2_126 + RLcp2_142) + ROcp2_921
2570 * (RLcp2_145 + RLcp2_146) + ROcp2_921 * (RLcp2_147 + RLcp2_148) + ROcp2_921 * (RLcp2_151 + RLcp2_152);
2571 JTcp2_354_22 = ROcp2_721 * (RLcp2_223 + RLcp2_224 + RLcp2_226 + RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 +
2572 RLcp2_252) - ROcp2_821 * (RLcp2_123 + RLcp2_124) - ROcp2_821 * (RLcp2_126 + RLcp2_142) - ROcp2_821 * (RLcp2_145 + RLcp2_146) - ROcp2_821 * (
2573 RLcp2_147 + RLcp2_148) - ROcp2_821 * (RLcp2_151 + RLcp2_152) - RLcp2_154 * ROcp2_821 + RLcp2_254 * ROcp2_721;
2574 //JTcp2_154_25 = ROcp2_821 * (RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) - ROcp2_921 * (
2575 // RLcp2_226 + RLcp2_242) - ROcp2_921 * (RLcp2_245 + RLcp2_246) - ROcp2_921 * (RLcp2_247 + RLcp2_248) - ROcp2_921 * (RLcp2_251 + RLcp2_252) -
2576 // RLcp2_254 * ROcp2_921 + RLcp2_354 * ROcp2_821;
2577 //JTcp2_254_25 = RLcp2_154 * ROcp2_921 - RLcp2_354 * ROcp2_721 - ROcp2_721 * (RLcp2_326 + RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 +
2578 // RLcp2_348 + RLcp2_351 + RLcp2_352) + ROcp2_921 * (RLcp2_126 + RLcp2_142) + ROcp2_921 * (RLcp2_145 + RLcp2_146) + ROcp2_921 * (RLcp2_147 +
2579 // RLcp2_148) + ROcp2_921 * (RLcp2_151 + RLcp2_152);
2580 //JTcp2_354_25 = ROcp2_721 * (RLcp2_226 + RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252) - ROcp2_821 * (
2581 // RLcp2_126 + RLcp2_142) - ROcp2_821 * (RLcp2_145 + RLcp2_146) - ROcp2_821 * (RLcp2_147 + RLcp2_148) - ROcp2_821 * (RLcp2_151 + RLcp2_152) -
2582 // RLcp2_154 * ROcp2_821 + RLcp2_254 * ROcp2_721;
2583 //JTcp2_154_27 = ROcp2_225 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_325 * (
2584 // RLcp2_242 + RLcp2_245) - ROcp2_325 * (RLcp2_246 + RLcp2_247) - ROcp2_325 * (RLcp2_248 + RLcp2_251) - ROcp2_325 * (RLcp2_252 + RLcp2_254);
2585 //JTcp2_254_27 = -(ROcp2_125 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_325
2586 // * (RLcp2_142 + RLcp2_145) - ROcp2_325 * (RLcp2_146 + RLcp2_147) - ROcp2_325 * (RLcp2_148 + RLcp2_151) - ROcp2_325 * (RLcp2_152 + RLcp2_154));
2587 //JTcp2_354_27 = ROcp2_125 * (RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_225 * (
2588 // RLcp2_142 + RLcp2_145) - ROcp2_225 * (RLcp2_146 + RLcp2_147) - ROcp2_225 * (RLcp2_148 + RLcp2_151) - ROcp2_225 * (RLcp2_152 + RLcp2_154);
2589 //JTcp2_154_28 = ROcp2_827 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_927 * (
2590 // RLcp2_242 + RLcp2_245) - ROcp2_927 * (RLcp2_246 + RLcp2_247) - ROcp2_927 * (RLcp2_248 + RLcp2_251) - ROcp2_927 * (RLcp2_252 + RLcp2_254);
2591 //JTcp2_254_28 = -(ROcp2_727 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_927
2592 // * (RLcp2_142 + RLcp2_145) - ROcp2_927 * (RLcp2_146 + RLcp2_147) - ROcp2_927 * (RLcp2_148 + RLcp2_151) - ROcp2_927 * (RLcp2_152 + RLcp2_154));
2593 //JTcp2_354_28 = ROcp2_727 * (RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_827 * (
2594 // RLcp2_142 + RLcp2_145) - ROcp2_827 * (RLcp2_146 + RLcp2_147) - ROcp2_827 * (RLcp2_148 + RLcp2_151) - ROcp2_827 * (RLcp2_152 + RLcp2_154);
2595 //JTcp2_154_29 = ROcp2_228 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_328 * (
2596 // RLcp2_242 + RLcp2_245) - ROcp2_328 * (RLcp2_246 + RLcp2_247) - ROcp2_328 * (RLcp2_248 + RLcp2_251) - ROcp2_328 * (RLcp2_252 + RLcp2_254);
2597 //JTcp2_254_29 = -(ROcp2_128 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_328
2598 // * (RLcp2_142 + RLcp2_145) - ROcp2_328 * (RLcp2_146 + RLcp2_147) - ROcp2_328 * (RLcp2_148 + RLcp2_151) - ROcp2_328 * (RLcp2_152 + RLcp2_154));
2599 //JTcp2_354_29 = ROcp2_128 * (RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_228 * (
2600 // RLcp2_142 + RLcp2_145) - ROcp2_228 * (RLcp2_146 + RLcp2_147) - ROcp2_228 * (RLcp2_148 + RLcp2_151) - ROcp2_228 * (RLcp2_152 + RLcp2_154);
2601 JTcp2_154_30 = ROcp2_829 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_929 * (
2602 RLcp2_242 + RLcp2_245) - ROcp2_929 * (RLcp2_246 + RLcp2_247) - ROcp2_929 * (RLcp2_248 + RLcp2_251) - ROcp2_929 * (RLcp2_252 + RLcp2_254);
2603 JTcp2_254_30 = -(ROcp2_729 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_929
2604 * (RLcp2_142 + RLcp2_145) - ROcp2_929 * (RLcp2_146 + RLcp2_147) - ROcp2_929 * (RLcp2_148 + RLcp2_151) - ROcp2_929 * (RLcp2_152 + RLcp2_154));
2605 JTcp2_354_30 = ROcp2_729 * (RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_829 * (
2606 RLcp2_142 + RLcp2_145) - ROcp2_829 * (RLcp2_146 + RLcp2_147) - ROcp2_829 * (RLcp2_148 + RLcp2_151) - ROcp2_829 * (RLcp2_152 + RLcp2_154);
2607 //JTcp2_154_31 = ROcp2_230 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_330 * (
2608 // RLcp2_242 + RLcp2_245) - ROcp2_330 * (RLcp2_246 + RLcp2_247) - ROcp2_330 * (RLcp2_248 + RLcp2_251) - ROcp2_330 * (RLcp2_252 + RLcp2_254);
2609 //JTcp2_254_31 = -(ROcp2_130 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_330
2610 // * (RLcp2_142 + RLcp2_145) - ROcp2_330 * (RLcp2_146 + RLcp2_147) - ROcp2_330 * (RLcp2_148 + RLcp2_151) - ROcp2_330 * (RLcp2_152 + RLcp2_154));
2611 //JTcp2_354_31 = ROcp2_130 * (RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_230 * (
2612 // RLcp2_142 + RLcp2_145) - ROcp2_230 * (RLcp2_146 + RLcp2_147) - ROcp2_230 * (RLcp2_148 + RLcp2_151) - ROcp2_230 * (RLcp2_152 + RLcp2_154);
2613 //JTcp2_154_32 = ROcp2_230 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_330 * (
2614 // RLcp2_242 + RLcp2_245) - ROcp2_330 * (RLcp2_246 + RLcp2_247) - ROcp2_330 * (RLcp2_248 + RLcp2_251) - ROcp2_330 * (RLcp2_252 + RLcp2_254);
2615 //JTcp2_254_32 = -(ROcp2_130 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_330
2616 // * (RLcp2_142 + RLcp2_145) - ROcp2_330 * (RLcp2_146 + RLcp2_147) - ROcp2_330 * (RLcp2_148 + RLcp2_151) - ROcp2_330 * (RLcp2_152 + RLcp2_154));
2617 //JTcp2_354_32 = ROcp2_130 * (RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_230 * (
2618 // RLcp2_142 + RLcp2_145) - ROcp2_230 * (RLcp2_146 + RLcp2_147) - ROcp2_230 * (RLcp2_148 + RLcp2_151) - ROcp2_230 * (RLcp2_152 + RLcp2_154);
2619 //JTcp2_154_33 = ROcp2_532 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_632 * (
2620 // RLcp2_242 + RLcp2_245) - ROcp2_632 * (RLcp2_246 + RLcp2_247) - ROcp2_632 * (RLcp2_248 + RLcp2_251) - ROcp2_632 * (RLcp2_252 + RLcp2_254);
2621 //JTcp2_254_33 = -(ROcp2_432 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_632
2622 // * (RLcp2_142 + RLcp2_145) - ROcp2_632 * (RLcp2_146 + RLcp2_147) - ROcp2_632 * (RLcp2_148 + RLcp2_151) - ROcp2_632 * (RLcp2_152 + RLcp2_154));
2623 //JTcp2_354_33 = ROcp2_432 * (RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_532 * (
2624 // RLcp2_142 + RLcp2_145) - ROcp2_532 * (RLcp2_146 + RLcp2_147) - ROcp2_532 * (RLcp2_148 + RLcp2_151) - ROcp2_532 * (RLcp2_152 + RLcp2_154);
2625 //JTcp2_154_34 = ROcp2_833 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_933 * (
2626 // RLcp2_242 + RLcp2_245) - ROcp2_933 * (RLcp2_246 + RLcp2_247) - ROcp2_933 * (RLcp2_248 + RLcp2_251) - ROcp2_933 * (RLcp2_252 + RLcp2_254);
2627 //JTcp2_254_34 = -(ROcp2_733 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_933
2628 // * (RLcp2_142 + RLcp2_145) - ROcp2_933 * (RLcp2_146 + RLcp2_147) - ROcp2_933 * (RLcp2_148 + RLcp2_151) - ROcp2_933 * (RLcp2_152 + RLcp2_154));
2629 //JTcp2_354_34 = ROcp2_733 * (RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_833 * (
2630 // RLcp2_142 + RLcp2_145) - ROcp2_833 * (RLcp2_146 + RLcp2_147) - ROcp2_833 * (RLcp2_148 + RLcp2_151) - ROcp2_833 * (RLcp2_152 + RLcp2_154);
2631 JTcp2_154_35 = ROcp2_833 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_933 * (
2632 RLcp2_242 + RLcp2_245) - ROcp2_933 * (RLcp2_246 + RLcp2_247) - ROcp2_933 * (RLcp2_248 + RLcp2_251) - ROcp2_933 * (RLcp2_252 + RLcp2_254);
2633 JTcp2_254_35 = -(ROcp2_733 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_933
2634 * (RLcp2_142 + RLcp2_145) - ROcp2_933 * (RLcp2_146 + RLcp2_147) - ROcp2_933 * (RLcp2_148 + RLcp2_151) - ROcp2_933 * (RLcp2_152 + RLcp2_154));
2635 JTcp2_354_35 = ROcp2_733 * (RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_833 * (
2636 RLcp2_142 + RLcp2_145) - ROcp2_833 * (RLcp2_146 + RLcp2_147) - ROcp2_833 * (RLcp2_148 + RLcp2_151) - ROcp2_833 * (RLcp2_152 + RLcp2_154);
2637 //JTcp2_154_36 = ROcp2_235 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_335 * (
2638 // RLcp2_242 + RLcp2_245) - ROcp2_335 * (RLcp2_246 + RLcp2_247) - ROcp2_335 * (RLcp2_248 + RLcp2_251) - ROcp2_335 * (RLcp2_252 + RLcp2_254);
2639 //JTcp2_254_36 = -(ROcp2_135 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_335
2640 // * (RLcp2_142 + RLcp2_145) - ROcp2_335 * (RLcp2_146 + RLcp2_147) - ROcp2_335 * (RLcp2_148 + RLcp2_151) - ROcp2_335 * (RLcp2_152 + RLcp2_154));
2641 //JTcp2_354_36 = ROcp2_135 * (RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_235 * (
2642 // RLcp2_142 + RLcp2_145) - ROcp2_235 * (RLcp2_146 + RLcp2_147) - ROcp2_235 * (RLcp2_148 + RLcp2_151) - ROcp2_235 * (RLcp2_152 + RLcp2_154);
2643 //JTcp2_154_37 = ROcp2_536 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_636 * (
2644 // RLcp2_242 + RLcp2_245) - ROcp2_636 * (RLcp2_246 + RLcp2_247) - ROcp2_636 * (RLcp2_248 + RLcp2_251) - ROcp2_636 * (RLcp2_252 + RLcp2_254);
2645 //JTcp2_254_37 = -(ROcp2_436 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_636
2646 // * (RLcp2_142 + RLcp2_145) - ROcp2_636 * (RLcp2_146 + RLcp2_147) - ROcp2_636 * (RLcp2_148 + RLcp2_151) - ROcp2_636 * (RLcp2_152 + RLcp2_154));
2647 //JTcp2_354_37 = ROcp2_436 * (RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_536 * (
2648 // RLcp2_142 + RLcp2_145) - ROcp2_536 * (RLcp2_146 + RLcp2_147) - ROcp2_536 * (RLcp2_148 + RLcp2_151) - ROcp2_536 * (RLcp2_152 + RLcp2_154);
2649 //JTcp2_154_38 = ROcp2_837 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_937 * (
2650 // RLcp2_242 + RLcp2_245) - ROcp2_937 * (RLcp2_246 + RLcp2_247) - ROcp2_937 * (RLcp2_248 + RLcp2_251) - ROcp2_937 * (RLcp2_252 + RLcp2_254);
2651 //JTcp2_254_38 = -(ROcp2_737 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_937
2652 // * (RLcp2_142 + RLcp2_145) - ROcp2_937 * (RLcp2_146 + RLcp2_147) - ROcp2_937 * (RLcp2_148 + RLcp2_151) - ROcp2_937 * (RLcp2_152 + RLcp2_154));
2653 //JTcp2_354_38 = ROcp2_737 * (RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_837 * (
2654 // RLcp2_142 + RLcp2_145) - ROcp2_837 * (RLcp2_146 + RLcp2_147) - ROcp2_837 * (RLcp2_148 + RLcp2_151) - ROcp2_837 * (RLcp2_152 + RLcp2_154);
2655 //JTcp2_154_39 = ROcp2_238 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_338 * (
2656 // RLcp2_242 + RLcp2_245) - ROcp2_338 * (RLcp2_246 + RLcp2_247) - ROcp2_338 * (RLcp2_248 + RLcp2_251) - ROcp2_338 * (RLcp2_252 + RLcp2_254);
2657 //JTcp2_254_39 = -(ROcp2_138 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_338
2658 // * (RLcp2_142 + RLcp2_145) - ROcp2_338 * (RLcp2_146 + RLcp2_147) - ROcp2_338 * (RLcp2_148 + RLcp2_151) - ROcp2_338 * (RLcp2_152 + RLcp2_154));
2659 //JTcp2_354_39 = ROcp2_138 * (RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_238 * (
2660 // RLcp2_142 + RLcp2_145) - ROcp2_238 * (RLcp2_146 + RLcp2_147) - ROcp2_238 * (RLcp2_148 + RLcp2_151) - ROcp2_238 * (RLcp2_152 + RLcp2_154);
2661 JTcp2_154_40 = ROcp2_839 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_939 * (
2662 RLcp2_242 + RLcp2_245) - ROcp2_939 * (RLcp2_246 + RLcp2_247) - ROcp2_939 * (RLcp2_248 + RLcp2_251) - ROcp2_939 * (RLcp2_252 + RLcp2_254);
2663 JTcp2_254_40 = -(ROcp2_739 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_939
2664 * (RLcp2_142 + RLcp2_145) - ROcp2_939 * (RLcp2_146 + RLcp2_147) - ROcp2_939 * (RLcp2_148 + RLcp2_151) - ROcp2_939 * (RLcp2_152 + RLcp2_154));
2665 JTcp2_354_40 = ROcp2_739 * (RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_839 * (
2666 RLcp2_142 + RLcp2_145) - ROcp2_839 * (RLcp2_146 + RLcp2_147) - ROcp2_839 * (RLcp2_148 + RLcp2_151) - ROcp2_839 * (RLcp2_152 + RLcp2_154);
2667 //JTcp2_154_41 = ROcp2_240 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_340 * (
2668 // RLcp2_242 + RLcp2_245) - ROcp2_340 * (RLcp2_246 + RLcp2_247) - ROcp2_340 * (RLcp2_248 + RLcp2_251) - ROcp2_340 * (RLcp2_252 + RLcp2_254);
2669 //JTcp2_254_41 = -(ROcp2_140 * (RLcp2_342 + RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352 + RLcp2_354) - ROcp2_340
2670 // * (RLcp2_142 + RLcp2_145) - ROcp2_340 * (RLcp2_146 + RLcp2_147) - ROcp2_340 * (RLcp2_148 + RLcp2_151) - ROcp2_340 * (RLcp2_152 + RLcp2_154));
2671 //JTcp2_354_41 = ROcp2_140 * (RLcp2_242 + RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252 + RLcp2_254) - ROcp2_240 * (
2672 // RLcp2_142 + RLcp2_145) - ROcp2_240 * (RLcp2_146 + RLcp2_147) - ROcp2_240 * (RLcp2_148 + RLcp2_151) - ROcp2_240 * (RLcp2_152 + RLcp2_154);
2673 //JTcp2_154_42 = ROcp2_240 * (RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) - ROcp2_340 * (RLcp2_245 + RLcp2_246)
2674 // - ROcp2_340 * (RLcp2_247 + RLcp2_248) - ROcp2_340 * (RLcp2_251 + RLcp2_252) - RLcp2_254 * ROcp2_340 + RLcp2_354 * ROcp2_240;
2675 //JTcp2_254_42 = RLcp2_154 * ROcp2_340 - RLcp2_354 * ROcp2_140 - ROcp2_140 * (RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 +
2676 // RLcp2_352) + ROcp2_340 * (RLcp2_145 + RLcp2_146) + ROcp2_340 * (RLcp2_147 + RLcp2_148) + ROcp2_340 * (RLcp2_151 + RLcp2_152);
2677 //JTcp2_354_42 = ROcp2_140 * (RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252) - ROcp2_240 * (RLcp2_145 + RLcp2_146)
2678 // - ROcp2_240 * (RLcp2_147 + RLcp2_148) - ROcp2_240 * (RLcp2_151 + RLcp2_152) - RLcp2_154 * ROcp2_240 + RLcp2_254 * ROcp2_140;
2679 //JTcp2_154_43 = ROcp2_842 * (RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) - ROcp2_942 * (RLcp2_245 + RLcp2_246)
2680 // - ROcp2_942 * (RLcp2_247 + RLcp2_248) - ROcp2_942 * (RLcp2_251 + RLcp2_252) - RLcp2_254 * ROcp2_942 + RLcp2_354 * ROcp2_842;
2681 //JTcp2_254_43 = RLcp2_154 * ROcp2_942 - RLcp2_354 * ROcp2_742 - ROcp2_742 * (RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 +
2682 // RLcp2_352) + ROcp2_942 * (RLcp2_145 + RLcp2_146) + ROcp2_942 * (RLcp2_147 + RLcp2_148) + ROcp2_942 * (RLcp2_151 + RLcp2_152);
2683 //JTcp2_354_43 = ROcp2_742 * (RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252) - ROcp2_842 * (RLcp2_145 + RLcp2_146)
2684 // - ROcp2_842 * (RLcp2_147 + RLcp2_148) - ROcp2_842 * (RLcp2_151 + RLcp2_152) - RLcp2_154 * ROcp2_842 + RLcp2_254 * ROcp2_742;
2685 //JTcp2_154_44 = ROcp2_243 * (RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) - ROcp2_343 * (RLcp2_245 + RLcp2_246)
2686 // - ROcp2_343 * (RLcp2_247 + RLcp2_248) - ROcp2_343 * (RLcp2_251 + RLcp2_252) - RLcp2_254 * ROcp2_343 + RLcp2_354 * ROcp2_243;
2687 //JTcp2_254_44 = RLcp2_154 * ROcp2_343 - RLcp2_354 * ROcp2_143 - ROcp2_143 * (RLcp2_345 + RLcp2_346 + RLcp2_347 + RLcp2_348 + RLcp2_351 +
2688 // RLcp2_352) + ROcp2_343 * (RLcp2_145 + RLcp2_146) + ROcp2_343 * (RLcp2_147 + RLcp2_148) + ROcp2_343 * (RLcp2_151 + RLcp2_152);
2689 //JTcp2_354_44 = ROcp2_143 * (RLcp2_245 + RLcp2_246 + RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252) - ROcp2_243 * (RLcp2_145 + RLcp2_146)
2690 // - ROcp2_243 * (RLcp2_147 + RLcp2_148) - ROcp2_243 * (RLcp2_151 + RLcp2_152) - RLcp2_154 * ROcp2_243 + RLcp2_254 * ROcp2_143;
2691 //JTcp2_154_46 = ROcp2_243 * (RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) - ROcp2_343 * (RLcp2_247 + RLcp2_248) - ROcp2_343 * (
2692 // RLcp2_251 + RLcp2_252) - RLcp2_254 * ROcp2_343 + RLcp2_354 * ROcp2_243;
2693 //JTcp2_254_46 = RLcp2_154 * ROcp2_343 - RLcp2_354 * ROcp2_143 - ROcp2_143 * (RLcp2_347 + RLcp2_348 + RLcp2_351 + RLcp2_352) + ROcp2_343 * (
2694 // RLcp2_147 + RLcp2_148) + ROcp2_343 * (RLcp2_151 + RLcp2_152);
2695 //JTcp2_354_46 = ROcp2_143 * (RLcp2_247 + RLcp2_248 + RLcp2_251 + RLcp2_252) - ROcp2_243 * (RLcp2_147 + RLcp2_148) - ROcp2_243 * (
2696 // RLcp2_151 + RLcp2_152) - RLcp2_154 * ROcp2_243 + RLcp2_254 * ROcp2_143;
2697 //JTcp2_154_48 = ROcp2_243 * (RLcp2_351 + RLcp2_352) - ROcp2_343 * (RLcp2_251 + RLcp2_252) - RLcp2_254 * ROcp2_343 + RLcp2_354 * ROcp2_243;
2698 //JTcp2_254_48 = RLcp2_154 * ROcp2_343 - RLcp2_354 * ROcp2_143 - ROcp2_143 * (RLcp2_351 + RLcp2_352) + ROcp2_343 * (RLcp2_151 + RLcp2_152);
2699 //JTcp2_354_48 = ROcp2_143 * (RLcp2_251 + RLcp2_252) - ROcp2_243 * (RLcp2_151 + RLcp2_152) - RLcp2_154 * ROcp2_243 + RLcp2_254 * ROcp2_143;
2700 JTcp2_154_49 = ROcp2_848 * (RLcp2_351 + RLcp2_352) - ROcp2_948 * (RLcp2_251 + RLcp2_252) - RLcp2_254 * ROcp2_948 + RLcp2_354 * ROcp2_848;
2701 JTcp2_254_49 = RLcp2_154 * ROcp2_948 - RLcp2_354 * ROcp2_748 - ROcp2_748 * (RLcp2_351 + RLcp2_352) + ROcp2_948 * (RLcp2_151 + RLcp2_152);
2702 JTcp2_354_49 = ROcp2_748 * (RLcp2_251 + RLcp2_252) - ROcp2_848 * (RLcp2_151 + RLcp2_152) - RLcp2_154 * ROcp2_848 + RLcp2_254 * ROcp2_748;
2703 //JTcp2_154_50 = ROcp2_249 * (RLcp2_351 + RLcp2_352) - ROcp2_349 * (RLcp2_251 + RLcp2_252) - RLcp2_254 * ROcp2_349 + RLcp2_354 * ROcp2_249;
2704 //JTcp2_254_50 = RLcp2_154 * ROcp2_349 - RLcp2_354 * ROcp2_149 - ROcp2_149 * (RLcp2_351 + RLcp2_352) + ROcp2_349 * (RLcp2_151 + RLcp2_152);
2705 //JTcp2_354_50 = ROcp2_149 * (RLcp2_251 + RLcp2_252) - ROcp2_249 * (RLcp2_151 + RLcp2_152) - RLcp2_154 * ROcp2_249 + RLcp2_254 * ROcp2_149;
2706 //JTcp2_154_51 = ROcp2_249 * (RLcp2_352 + RLcp2_354) - ROcp2_349 * (RLcp2_252 + RLcp2_254);
2707 //JTcp2_254_51 = -(ROcp2_149 * (RLcp2_352 + RLcp2_354) - ROcp2_349 * (RLcp2_152 + RLcp2_154));
2708 //JTcp2_354_51 = ROcp2_149 * (RLcp2_252 + RLcp2_254) - ROcp2_249 * (RLcp2_152 + RLcp2_154);
2709 JTcp2_154_53 = -(RLcp2_254 * ROcp2_951 - RLcp2_354 * ROcp2_851);
2710 JTcp2_254_53 = RLcp2_154 * ROcp2_951 - RLcp2_354 * ROcp2_751;
2711 JTcp2_354_53 = -(RLcp2_154 * ROcp2_851 - RLcp2_254 * ROcp2_751);
2712 ORcp2_154 = OMcp2_253 * RLcp2_354 - OMcp2_353 * RLcp2_254;
2713 ORcp2_254 = -(OMcp2_153 * RLcp2_354 - OMcp2_353 * RLcp2_154);
2714 ORcp2_354 = OMcp2_153 * RLcp2_254 - OMcp2_253 * RLcp2_154;
2715 VIcp2_154 = ORcp2_112 + ORcp2_116 + ORcp2_119 + ORcp2_120 + ORcp2_123 + ORcp2_124 + ORcp2_126 + ORcp2_142 + ORcp2_145 + ORcp2_146 +
2716 ORcp2_147 + ORcp2_148 + ORcp2_151 + ORcp2_152 + ORcp2_154 + ORcp2_18 + qd[1] + ROcp2_153 * qd[54];
2717 VIcp2_254 = ORcp2_212 + ORcp2_216 + ORcp2_219 + ORcp2_220 + ORcp2_223 + ORcp2_224 + ORcp2_226 + ORcp2_242 + ORcp2_245 + ORcp2_246 +
2718 ORcp2_247 + ORcp2_248 + ORcp2_251 + ORcp2_252 + ORcp2_254 + ORcp2_28 + qd[2] + ROcp2_253 * qd[54];
2719 VIcp2_354 = ORcp2_312 + ORcp2_316 + ORcp2_319 + ORcp2_320 + ORcp2_323 + ORcp2_324 + ORcp2_326 + ORcp2_342 + ORcp2_345 + ORcp2_346 +
2720 ORcp2_347 + ORcp2_348 + ORcp2_351 + ORcp2_352 + ORcp2_354 + ORcp2_38 + qd[3] + ROcp2_353 * qd[54];
2721 ACcp2_154 = qdd[1] + OMcp2_218 * ORcp2_319 + OMcp2_218 * ORcp2_320 + OMcp2_222 * ORcp2_323 + OMcp2_222 * ORcp2_324 + OMcp2_222 * ORcp2_326
2722 + OMcp2_240 * ORcp2_342 + OMcp2_243 * ORcp2_345 + OMcp2_243 * ORcp2_346 + OMcp2_243 * ORcp2_347 + OMcp2_243 * ORcp2_348 + OMcp2_249 * ORcp2_351 +
2723 OMcp2_249 * ORcp2_352 + OMcp2_253 * ORcp2_354 + OMcp2_26 * ORcp2_312 + OMcp2_26 * ORcp2_316 + OMcp2_26 * ORcp2_38 - OMcp2_318 * ORcp2_219 -
2724 OMcp2_318 * ORcp2_220 - OMcp2_322 * ORcp2_223 - OMcp2_322 * ORcp2_224 - OMcp2_322 * ORcp2_226 - OMcp2_340 * ORcp2_242 - OMcp2_343 * ORcp2_245 -
2725 OMcp2_343 * ORcp2_246 - OMcp2_343 * ORcp2_247 - OMcp2_343 * ORcp2_248 - OMcp2_349 * ORcp2_251 - OMcp2_349 * ORcp2_252 - OMcp2_353 * ORcp2_254 -
2726 OMcp2_36 * ORcp2_212 - OMcp2_36 * ORcp2_216 - OMcp2_36 * ORcp2_28 + OPcp2_218 * RLcp2_319 + OPcp2_218 * RLcp2_320 + OPcp2_222 * RLcp2_323 +
2727 OPcp2_222 * RLcp2_324 + OPcp2_222 * RLcp2_326 + OPcp2_240 * RLcp2_342 + OPcp2_243 * RLcp2_345 + OPcp2_243 * RLcp2_346 + OPcp2_243 * RLcp2_347 +
2728 OPcp2_243 * RLcp2_348 + OPcp2_249 * RLcp2_351 + OPcp2_249 * RLcp2_352 + OPcp2_253 * RLcp2_354 + OPcp2_26 * RLcp2_312 + OPcp2_26 * RLcp2_316 +
2729 OPcp2_26 * RLcp2_38 - OPcp2_318 * RLcp2_219 - OPcp2_318 * RLcp2_220 - OPcp2_322 * RLcp2_223 - OPcp2_322 * RLcp2_224 - OPcp2_322 * RLcp2_226 -
2730 OPcp2_340 * RLcp2_242 - OPcp2_343 * RLcp2_245 - OPcp2_343 * RLcp2_246 - OPcp2_343 * RLcp2_247 - OPcp2_343 * RLcp2_248 - OPcp2_349 * RLcp2_251 -
2731 OPcp2_349 * RLcp2_252 - OPcp2_353 * RLcp2_254 - OPcp2_36 * RLcp2_212 - OPcp2_36 * RLcp2_216 - OPcp2_36 * RLcp2_28 + ROcp2_153 * qdd[54] + (2.0) * qd[54] * (
2732 OMcp2_253 * ROcp2_353 - OMcp2_353 * ROcp2_253);
2733 ACcp2_254 = qdd[2] - OMcp2_118 * ORcp2_319 - OMcp2_118 * ORcp2_320 - OMcp2_122 * ORcp2_323 - OMcp2_122 * ORcp2_324 - OMcp2_122 * ORcp2_326
2734 - OMcp2_140 * ORcp2_342 - OMcp2_143 * ORcp2_345 - OMcp2_143 * ORcp2_346 - OMcp2_143 * ORcp2_347 - OMcp2_143 * ORcp2_348 - OMcp2_149 * ORcp2_351 -
2735 OMcp2_149 * ORcp2_352 - OMcp2_153 * ORcp2_354 - OMcp2_16 * ORcp2_312 - OMcp2_16 * ORcp2_316 - OMcp2_16 * ORcp2_38 + OMcp2_318 * ORcp2_119 +
2736 OMcp2_318 * ORcp2_120 + OMcp2_322 * ORcp2_123 + OMcp2_322 * ORcp2_124 + OMcp2_322 * ORcp2_126 + OMcp2_340 * ORcp2_142 + OMcp2_343 * ORcp2_145 +
2737 OMcp2_343 * ORcp2_146 + OMcp2_343 * ORcp2_147 + OMcp2_343 * ORcp2_148 + OMcp2_349 * ORcp2_151 + OMcp2_349 * ORcp2_152 + OMcp2_353 * ORcp2_154 +
2738 OMcp2_36 * ORcp2_112 + OMcp2_36 * ORcp2_116 + OMcp2_36 * ORcp2_18 - OPcp2_118 * RLcp2_319 - OPcp2_118 * RLcp2_320 - OPcp2_122 * RLcp2_323 -
2739 OPcp2_122 * RLcp2_324 - OPcp2_122 * RLcp2_326 - OPcp2_140 * RLcp2_342 - OPcp2_143 * RLcp2_345 - OPcp2_143 * RLcp2_346 - OPcp2_143 * RLcp2_347 -
2740 OPcp2_143 * RLcp2_348 - OPcp2_149 * RLcp2_351 - OPcp2_149 * RLcp2_352 - OPcp2_153 * RLcp2_354 - OPcp2_16 * RLcp2_312 - OPcp2_16 * RLcp2_316 -
2741 OPcp2_16 * RLcp2_38 + OPcp2_318 * RLcp2_119 + OPcp2_318 * RLcp2_120 + OPcp2_322 * RLcp2_123 + OPcp2_322 * RLcp2_124 + OPcp2_322 * RLcp2_126 +
2742 OPcp2_340 * RLcp2_142 + OPcp2_343 * RLcp2_145 + OPcp2_343 * RLcp2_146 + OPcp2_343 * RLcp2_147 + OPcp2_343 * RLcp2_148 + OPcp2_349 * RLcp2_151 +
2743 OPcp2_349 * RLcp2_152 + OPcp2_353 * RLcp2_154 + OPcp2_36 * RLcp2_112 + OPcp2_36 * RLcp2_116 + OPcp2_36 * RLcp2_18 + ROcp2_253 * qdd[54] - (2.0) * qd[54] * (
2744 OMcp2_153 * ROcp2_353 - OMcp2_353 * ROcp2_153);
2745 ACcp2_354 = qdd[3] + OMcp2_118 * ORcp2_219 + OMcp2_118 * ORcp2_220 + OMcp2_122 * ORcp2_223 + OMcp2_122 * ORcp2_224 + OMcp2_122 * ORcp2_226
2746 + OMcp2_140 * ORcp2_242 + OMcp2_143 * ORcp2_245 + OMcp2_143 * ORcp2_246 + OMcp2_143 * ORcp2_247 + OMcp2_143 * ORcp2_248 + OMcp2_149 * ORcp2_251 +
2747 OMcp2_149 * ORcp2_252 + OMcp2_153 * ORcp2_254 + OMcp2_16 * ORcp2_212 + OMcp2_16 * ORcp2_216 + OMcp2_16 * ORcp2_28 - OMcp2_218 * ORcp2_119 -
2748 OMcp2_218 * ORcp2_120 - OMcp2_222 * ORcp2_123 - OMcp2_222 * ORcp2_124 - OMcp2_222 * ORcp2_126 - OMcp2_240 * ORcp2_142 - OMcp2_243 * ORcp2_145 -
2749 OMcp2_243 * ORcp2_146 - OMcp2_243 * ORcp2_147 - OMcp2_243 * ORcp2_148 - OMcp2_249 * ORcp2_151 - OMcp2_249 * ORcp2_152 - OMcp2_253 * ORcp2_154 -
2750 OMcp2_26 * ORcp2_112 - OMcp2_26 * ORcp2_116 - OMcp2_26 * ORcp2_18 + OPcp2_118 * RLcp2_219 + OPcp2_118 * RLcp2_220 + OPcp2_122 * RLcp2_223 +
2751 OPcp2_122 * RLcp2_224 + OPcp2_122 * RLcp2_226 + OPcp2_140 * RLcp2_242 + OPcp2_143 * RLcp2_245 + OPcp2_143 * RLcp2_246 + OPcp2_143 * RLcp2_247 +
2752 OPcp2_143 * RLcp2_248 + OPcp2_149 * RLcp2_251 + OPcp2_149 * RLcp2_252 + OPcp2_153 * RLcp2_254 + OPcp2_16 * RLcp2_212 + OPcp2_16 * RLcp2_216 +
2753 OPcp2_16 * RLcp2_28 - OPcp2_218 * RLcp2_119 - OPcp2_218 * RLcp2_120 - OPcp2_222 * RLcp2_123 - OPcp2_222 * RLcp2_124 - OPcp2_222 * RLcp2_126 -
2754 OPcp2_240 * RLcp2_142 - OPcp2_243 * RLcp2_145 - OPcp2_243 * RLcp2_146 - OPcp2_243 * RLcp2_147 - OPcp2_243 * RLcp2_148 - OPcp2_249 * RLcp2_151 -
2755 OPcp2_249 * RLcp2_152 - OPcp2_253 * RLcp2_154 - OPcp2_26 * RLcp2_112 - OPcp2_26 * RLcp2_116 - OPcp2_26 * RLcp2_18 + ROcp2_353 * qdd[54] + (2.0) * qd[54] * (
2756 OMcp2_153 * ROcp2_253 - OMcp2_253 * ROcp2_153);
2757 OMcp2_155 = OMcp2_153 + ROcp2_453 * qd[55];
2758 OMcp2_255 = OMcp2_253 + ROcp2_553 * qd[55];
2759 OMcp2_355 = OMcp2_353 + ROcp2_653 * qd[55];
2760 OMcp2_156 = OMcp2_155 + ROcp2_755 * qd[56];
2761 OMcp2_256 = OMcp2_255 + ROcp2_855 * qd[56];
2762 OMcp2_356 = OMcp2_355 + ROcp2_955 * qd[56];
2763 OPcp2_156 = OPcp2_153 + ROcp2_453 * qdd[55] + ROcp2_755 * qdd[56] + qd[55] * (OMcp2_253 * ROcp2_653 - OMcp2_353 * ROcp2_553) + qd[56] * (
2764 OMcp2_255 * ROcp2_955 - OMcp2_355 * ROcp2_855);
2765 OPcp2_256 = OPcp2_253 + ROcp2_553 * qdd[55] + ROcp2_855 * qdd[56] - qd[55] * (OMcp2_153 * ROcp2_653 - OMcp2_353 * ROcp2_453) - qd[56] * (
2766 OMcp2_155 * ROcp2_955 - OMcp2_355 * ROcp2_755);
2767 OPcp2_356 = OPcp2_353 + ROcp2_653 * qdd[55] + ROcp2_955 * qdd[56] + qd[55] * (OMcp2_153 * ROcp2_553 - OMcp2_253 * ROcp2_453) + qd[56] * (
2768 OMcp2_155 * ROcp2_855 - OMcp2_255 * ROcp2_755);
2769
2770 // = = Block_1_0_0_3_1_0 = =
2771
2772 // Symbolic Outputs
2773
2774 sens->P[1] = POcp2_154;
2775 sens->P[2] = POcp2_254;
2776 sens->P[3] = POcp2_354;
2777 sens->R[1][1] = ROcp2_156;
2778 sens->R[1][2] = ROcp2_256;
2779 sens->R[1][3] = ROcp2_356;
2780 sens->R[2][1] = ROcp2_456;
2781 sens->R[2][2] = ROcp2_556;
2782 sens->R[2][3] = ROcp2_656;
2783 sens->R[3][1] = ROcp2_755;
2784 sens->R[3][2] = ROcp2_855;
2785 sens->R[3][3] = ROcp2_955;
2786 sens->V[1] = VIcp2_154;
2787 sens->V[2] = VIcp2_254;
2788 sens->V[3] = VIcp2_354;
2789 sens->OM[1] = OMcp2_156;
2790 sens->OM[2] = OMcp2_256;
2791 sens->OM[3] = OMcp2_356;
2792 sens->J[1][1] = (1.0);
2793 sens->J[1][5] = JTcp2_154_5;
2794 sens->J[1][6] = JTcp2_154_6;
2795 // sens->J[1][7] = JTcp2_154_7;
2796 // sens->J[1][8] = ROcp2_77;
2797 // sens->J[1][9] = JTcp2_154_9;
2798 // sens->J[1][10] = JTcp2_154_10;
2799 // sens->J[1][11] = JTcp2_154_11;
2800 // sens->J[1][12] = ROcp2_710;
2801 // sens->J[1][13] = JTcp2_154_13;
2802 // sens->J[1][14] = JTcp2_154_14;
2803 // sens->J[1][15] = JTcp2_154_15;
2804 // sens->J[1][16] = ROcp2_714;
2805 // sens->J[1][17] = JTcp2_154_17;
2806 sens->J[1][18 - 11] = JTcp2_154_18;
2807 // sens->J[1][19] = ROcp2_714;
2808 sens->J[1][20 - 12] = JTcp2_154_20;
2809 sens->J[1][21 - 12] = JTcp2_154_21;
2810 sens->J[1][22 - 12] = JTcp2_154_22;
2811 // sens->J[1][23] = ROcp2_721;
2812 // sens->J[1][24] = ROcp2_721;
2813 // sens->J[1][25] = JTcp2_154_25;
2814 // sens->J[1][26] = ROcp2_721;
2815 // sens->J[1][27] = JTcp2_154_27;
2816 // sens->J[1][28] = JTcp2_154_28;
2817 // sens->J[1][29] = JTcp2_154_29;
2818 sens->J[1][30 - 19] = JTcp2_154_30;
2819 // sens->J[1][31] = JTcp2_154_31;
2820 // sens->J[1][32] = JTcp2_154_32;
2821 // sens->J[1][33] = JTcp2_154_33;
2822 // sens->J[1][34] = JTcp2_154_34;
2823 sens->J[1][35 - 23] = JTcp2_154_35;
2824 // sens->J[1][36] = JTcp2_154_36;
2825 // sens->J[1][37] = JTcp2_154_37;
2826 // sens->J[1][38] = JTcp2_154_38;
2827 // sens->J[1][39] = JTcp2_154_39;
2828 sens->J[1][40 - 27] = JTcp2_154_40;
2829 // sens->J[1][41] = JTcp2_154_41;
2830 // sens->J[1][42] = JTcp2_154_42;
2831 // sens->J[1][43-29] = JTcp2_154_43;
2832 // sens->J[1][44] = JTcp2_154_44;
2833 // sens->J[1][45] = ROcp2_744;
2834 // sens->J[1][46] = JTcp2_154_46;
2835 // sens->J[1][47] = ROcp2_746;
2836 // sens->J[1][48] = JTcp2_154_48;
2837 sens->J[1][49 - 35] = JTcp2_154_49;
2838 // sens->J[1][50] = JTcp2_154_50;
2839 // sens->J[1][51] = JTcp2_154_51;
2840 // sens->J[1][52] = ROcp2_751;
2841 sens->J[1][53 - 38] = JTcp2_154_53;
2842 sens->J[1][54 - 38] = ROcp2_153;
2843 sens->J[2][2] = (1.0);
2844 sens->J[2][4] = JTcp2_254_4;
2845 sens->J[2][5] = JTcp2_254_5;
2846 sens->J[2][6] = JTcp2_254_6;
2847 // sens->J[2][7] = JTcp2_254_7;
2848 // sens->J[2][8] = ROcp2_87;
2849 // sens->J[2][9] = JTcp2_254_9;
2850 // sens->J[2][10] = JTcp2_254_10;
2851 // sens->J[2][11] = JTcp2_254_11;
2852 // sens->J[2][12] = ROcp2_810;
2853 // sens->J[2][13] = JTcp2_254_13;
2854 // sens->J[2][14] = JTcp2_254_14;
2855 // sens->J[2][15] = JTcp2_254_15;
2856 // sens->J[2][16] = ROcp2_814;
2857 // sens->J[2][17] = JTcp2_254_17;
2858 sens->J[2][18 - 11] = JTcp2_254_18;
2859 // sens->J[2][19] = ROcp2_814;
2860 sens->J[2][20 - 12] = JTcp2_254_20;
2861 sens->J[2][21 - 12] = JTcp2_254_21;
2862 sens->J[2][22 - 12] = JTcp2_254_22;
2863 // sens->J[2][23] = ROcp2_821;
2864 // sens->J[2][24] = ROcp2_821;
2865 // sens->J[2][25] = JTcp2_254_25;
2866 // sens->J[2][26] = ROcp2_821;
2867 // sens->J[2][27] = JTcp2_254_27;
2868 // sens->J[2][28] = JTcp2_254_28;
2869 // sens->J[2][29] = JTcp2_254_29;
2870 sens->J[2][30 - 19] = JTcp2_254_30;
2871 // sens->J[2][31] = JTcp2_254_31;
2872 // sens->J[2][32] = JTcp2_254_32;
2873 // sens->J[2][33] = JTcp2_254_33;
2874 // sens->J[2][34] = JTcp2_254_34;
2875 sens->J[2][35 - 23] = JTcp2_254_35;
2876 // sens->J[2][36] = JTcp2_254_36;
2877 // sens->J[2][37] = JTcp2_254_37;
2878 // sens->J[2][38] = JTcp2_254_38;
2879 // sens->J[2][39] = JTcp2_254_39;
2880 sens->J[2][40 - 27] = JTcp2_254_40;
2881 // sens->J[2][41] = JTcp2_254_41;
2882 // sens->J[2][42] = JTcp2_254_42;
2883 // sens->J[2][43-29]= JTcp2_254_43;
2884 // sens->J[2][44] = JTcp2_254_44;
2885 // sens->J[2][45] = ROcp2_844;
2886 // sens->J[2][46] = JTcp2_254_46;
2887 // sens->J[2][47] = ROcp2_846;
2888 // sens->J[2][48] = JTcp2_254_48;
2889 sens->J[2][49 - 35] = JTcp2_254_49;
2890 // sens->J[2][50] = JTcp2_254_50;
2891 // sens->J[2][51] = JTcp2_254_51;
2892 // sens->J[2][52] = ROcp2_851;
2893 sens->J[2][53 - 38] = JTcp2_254_53;
2894 sens->J[2][54 - 38] = ROcp2_253;
2895 sens->J[3][3] = (1.0);
2896 sens->J[3][4] = JTcp2_354_4;
2897 sens->J[3][5] = JTcp2_354_5;
2898 sens->J[3][6] = JTcp2_354_6;
2899 // sens->J[3][7] = JTcp2_354_7;
2900 // sens->J[3][8] = ROcp2_97;
2901 // sens->J[3][9] = JTcp2_354_9;
2902 // sens->J[3][10] = JTcp2_354_10;
2903 // sens->J[3][11] = JTcp2_354_11;
2904 // sens->J[3][12] = ROcp2_910;
2905 // sens->J[3][13] = JTcp2_354_13;
2906 // sens->J[3][14] = JTcp2_354_14;
2907 // sens->J[3][15] = JTcp2_354_15;
2908 // sens->J[3][16] = ROcp2_914;
2909 // sens->J[3][17] = JTcp2_354_17;
2910 sens->J[3][18 - 11] = JTcp2_354_18;
2911 // sens->J[3][19] = ROcp2_914;
2912 sens->J[3][20 - 12] = JTcp2_354_20;
2913 sens->J[3][21 - 12] = JTcp2_354_21;
2914 sens->J[3][22 - 12] = JTcp2_354_22;
2915 // sens->J[3][23] = ROcp2_921;
2916 // sens->J[3][24] = ROcp2_921;
2917 // sens->J[3][25] = JTcp2_354_25;
2918 // sens->J[3][26] = ROcp2_921;
2919 // sens->J[3][27] = JTcp2_354_27;
2920 // sens->J[3][28] = JTcp2_354_28;
2921 // sens->J[3][29] = JTcp2_354_29;
2922 sens->J[3][30 - 19] = JTcp2_354_30;
2923 // sens->J[3][31] = JTcp2_354_31;
2924 // sens->J[3][32] = JTcp2_354_32;
2925 // sens->J[3][33] = JTcp2_354_33;
2926 // sens->J[3][34] = JTcp2_354_34;
2927 sens->J[3][35 - 23] = JTcp2_354_35;
2928 // sens->J[3][36] = JTcp2_354_36;
2929 // sens->J[3][37] = JTcp2_354_37;
2930 // sens->J[3][38] = JTcp2_354_38;
2931 // sens->J[3][39] = JTcp2_354_39;
2932 sens->J[3][40 - 27] = JTcp2_354_40;
2933 // sens->J[3][41] = JTcp2_354_41;
2934 // sens->J[3][42] = JTcp2_354_42;
2935 // sens->J[3][43-29] = JTcp2_354_43;
2936 // sens->J[3][44] = JTcp2_354_44;
2937 // sens->J[3][45] = ROcp2_944;
2938 // sens->J[3][46] = JTcp2_354_46;
2939 // sens->J[3][47] = ROcp2_946;
2940 // sens->J[3][48] = JTcp2_354_48;
2941 sens->J[3][49 - 35] = JTcp2_354_49;
2942 // sens->J[3][50] = JTcp2_354_50;
2943 // sens->J[3][51] = JTcp2_354_51;
2944 // sens->J[3][52] = ROcp2_951;
2945 sens->J[3][53 - 38] = JTcp2_354_53;
2946 sens->J[3][54 - 38] = ROcp2_353;
2947 sens->J[4][4] = (1.0);
2948 sens->J[4][6] = S5;
2949 // sens->J[4][7] = ROcp2_16;
2950 // sens->J[4][9] = ROcp2_16;
2951 // sens->J[4][10] = ROcp2_49;
2952 // sens->J[4][11] = ROcp2_710;
2953 // sens->J[4][13] = ROcp2_111;
2954 // sens->J[4][14] = ROcp2_413;
2955 // sens->J[4][15] = ROcp2_714;
2956 // sens->J[4][17] = ROcp2_714;
2957 sens->J[4][18 - 11] = ROcp2_714;
2958 sens->J[4][20 - 12] = ROcp2_118;
2959 sens->J[4][21 - 12] = ROcp2_420;
2960 sens->J[4][22 - 12] = ROcp2_721;
2961 // sens->J[4][25] = ROcp2_721;
2962 // sens->J[4][27] = ROcp2_125;
2963 // sens->J[4][28] = ROcp2_727;
2964 // sens->J[4][29] = ROcp2_128;
2965 sens->J[4][30 - 19] = ROcp2_729;
2966 // sens->J[4][31] = ROcp2_130;
2967 // sens->J[4][32] = ROcp2_130;
2968 // sens->J[4][33] = ROcp2_432;
2969 // sens->J[4][34] = ROcp2_733;
2970 sens->J[4][35 - 23] = ROcp2_733;
2971 // sens->J[4][36] = ROcp2_135;
2972 // sens->J[4][37] = ROcp2_436;
2973 // sens->J[4][38] = ROcp2_737;
2974 // sens->J[4][39] = ROcp2_138;
2975 sens->J[4][40 - 27] = ROcp2_739;
2976 // sens->J[4][41] = ROcp2_140;
2977 // sens->J[4][42] = ROcp2_140;
2978 // sens->J[4][43-29] = ROcp2_742;
2979 // sens->J[4][44] = ROcp2_143;
2980 // sens->J[4][46] = ROcp2_143;
2981 // sens->J[4][48] = ROcp2_143;
2982 sens->J[4][49 - 35] = ROcp2_748;
2983 // sens->J[4][50] = ROcp2_149;
2984 // sens->J[4][51] = ROcp2_149;
2985 sens->J[4][53 - 38] = ROcp2_751;
2986 sens->J[4][55 - 38] = ROcp2_453;
2987 sens->J[4][56 - 38] = ROcp2_755;
2988 sens->J[5][5] = C4;
2989 sens->J[5][6] = ROcp2_85;
2990 // sens->J[5][7] = ROcp2_26;
2991 // sens->J[5][9] = ROcp2_26;
2992 // sens->J[5][10] = ROcp2_59;
2993 // sens->J[5][11] = ROcp2_810;
2994 // sens->J[5][13] = ROcp2_211;
2995 // sens->J[5][14] = ROcp2_513;
2996 // sens->J[5][15] = ROcp2_814;
2997 // sens->J[5][17] = ROcp2_814;
2998 sens->J[5][18 - 11] = ROcp2_814;
2999 sens->J[5][20 - 12] = ROcp2_218;
3000 sens->J[5][21 - 12] = ROcp2_520;
3001 sens->J[5][22 - 12] = ROcp2_821;
3002 // sens->J[5][25] = ROcp2_821;
3003 // sens->J[5][27] = ROcp2_225;
3004 // sens->J[5][28] = ROcp2_827;
3005 // sens->J[5][29] = ROcp2_228;
3006 sens->J[5][30 - 19] = ROcp2_829;
3007 // sens->J[5][31] = ROcp2_230;
3008 // sens->J[5][32] = ROcp2_230;
3009 // sens->J[5][33] = ROcp2_532;
3010 // sens->J[5][34] = ROcp2_833;
3011 sens->J[5][35 - 23] = ROcp2_833;
3012 // sens->J[5][36] = ROcp2_235;
3013 // sens->J[5][37] = ROcp2_536;
3014 // sens->J[5][38] = ROcp2_837;
3015 // sens->J[5][39] = ROcp2_238;
3016 sens->J[5][40 - 27] = ROcp2_839;
3017 // sens->J[5][41] = ROcp2_240;
3018 // sens->J[5][42] = ROcp2_240;
3019 // sens->J[5][43-29] = ROcp2_842;
3020 // sens->J[5][44] = ROcp2_243;
3021 // sens->J[5][46] = ROcp2_243;
3022 // sens->J[5][48] = ROcp2_243;
3023 sens->J[5][49 - 35] = ROcp2_848;
3024 // sens->J[5][50] = ROcp2_249;
3025 // sens->J[5][51] = ROcp2_249;
3026 sens->J[5][53 - 38] = ROcp2_851;
3027 sens->J[5][55 - 38] = ROcp2_553;
3028 sens->J[5][56 - 38] = ROcp2_855;
3029 sens->J[6][5] = S4;
3030 sens->J[6][6] = ROcp2_95;
3031 // sens->J[6][7] = ROcp2_36;
3032 // sens->J[6][9] = ROcp2_36;
3033 // sens->J[6][10] = ROcp2_69;
3034 // sens->J[6][11] = ROcp2_910;
3035 // sens->J[6][13] = ROcp2_311;
3036 // sens->J[6][14] = ROcp2_613;
3037 // sens->J[6][15] = ROcp2_914;
3038 // sens->J[6][17] = ROcp2_914;
3039 sens->J[6][18 - 11] = ROcp2_914;
3040 sens->J[6][20 - 12] = ROcp2_318;
3041 sens->J[6][21 - 12] = ROcp2_620;
3042 sens->J[6][22 - 12] = ROcp2_921;
3043 // sens->J[6][25] = ROcp2_921;
3044 // sens->J[6][27] = ROcp2_325;
3045 // sens->J[6][28] = ROcp2_927;
3046 // sens->J[6][29] = ROcp2_328;
3047 sens->J[6][30 - 19] = ROcp2_929;
3048 // sens->J[6][31] = ROcp2_330;
3049 // sens->J[6][32] = ROcp2_330;
3050 // sens->J[6][33] = ROcp2_632;
3051 // sens->J[6][34] = ROcp2_933;
3052 sens->J[6][35 - 23] = ROcp2_933;
3053 // sens->J[6][36] = ROcp2_335;
3054 // sens->J[6][37] = ROcp2_636;
3055 // sens->J[6][38] = ROcp2_937;
3056 // sens->J[6][39] = ROcp2_338;
3057 sens->J[6][40 - 27] = ROcp2_939;
3058 // sens->J[6][41] = ROcp2_340;
3059 // sens->J[6][42] = ROcp2_340;
3060 // sens->J[6][43-29] = ROcp2_942;
3061 // sens->J[6][44] = ROcp2_343;
3062 // sens->J[6][46] = ROcp2_343;
3063 // sens->J[6][48] = ROcp2_343;
3064 sens->J[6][49 - 35] = ROcp2_948;
3065 // sens->J[6][50] = ROcp2_349;
3066 // sens->J[6][51] = ROcp2_349;
3067 sens->J[6][53 - 38] = ROcp2_951;
3068 sens->J[6][55 - 38] = ROcp2_653;
3069 sens->J[6][56 - 38] = ROcp2_955;
3070 sens->A[1] = ACcp2_154;
3071 sens->A[2] = ACcp2_254;
3072 sens->A[3] = ACcp2_354;
3073 sens->OMP[1] = OPcp2_156;
3074 sens->OMP[2] = OPcp2_256;
3075 sens->OMP[3] = OPcp2_356;
3076
3077 break;
3078 default:
3079 break;
3080 }
3081
3082
3083 // ====== END Task 1 ======
3084
3085
3086}
3087
3088
M_PI
#define M_PI
Definition MathTools.h:17
mbs_sensor2.h
mbs_sensor_ArmarIII_simplified_virt.h
ROcp0_325
double ROcp0_325
Definition mbs_sensor_ArmarIII_simplified_virt.h:171
RLcp2_316
double RLcp2_316
Definition mbs_sensor_ArmarIII_simplified_virt.h:1257
RLcp0_319
double RLcp0_319
Definition mbs_sensor_ArmarIII_simplified_virt.h:311
JTcp1_152_48
double JTcp1_152_48
Definition mbs_sensor_ArmarIII_simplified_virt.h:964
JTcp0_357_35
double JTcp0_357_35
Definition mbs_sensor_ArmarIII_simplified_virt.h:454
ORcp2_220
double ORcp2_220
Definition mbs_sensor_ArmarIII_simplified_virt.h:1280
ROcp2_97
double ROcp2_97
Definition mbs_sensor_ArmarIII_simplified_virt.h:1006
ROcp1_741
double ROcp1_741
Definition mbs_sensor_ArmarIII_simplified_virt.h:663
JTcp1_352_4
double JTcp1_352_4
Definition mbs_sensor_ArmarIII_simplified_virt.h:861
JTcp1_152_51
double JTcp1_152_51
Definition mbs_sensor_ArmarIII_simplified_virt.h:973
C5
double C5
Definition mbs_sensor_ArmarIII_simplified_virt.h:5
ORcp2_146
double ORcp2_146
Definition mbs_sensor_ArmarIII_simplified_virt.h:1342
POcp2_254
double POcp2_254
Definition mbs_sensor_ArmarIII_simplified_virt.h:1385
ROcp2_310
double ROcp2_310
Definition mbs_sensor_ArmarIII_simplified_virt.h:1015
ROcp2_66
double ROcp2_66
Definition mbs_sensor_ArmarIII_simplified_virt.h:1000
JTcp1_252_15
double JTcp1_252_15
Definition mbs_sensor_ArmarIII_simplified_virt.h:887
ROcp1_149
double ROcp1_149
Definition mbs_sensor_ArmarIII_simplified_virt.h:696
ROcp1_310
double ROcp1_310
Definition mbs_sensor_ArmarIII_simplified_virt.h:512
ROcp0_318
double ROcp0_318
Definition mbs_sensor_ArmarIII_simplified_virt.h:147
JTcp1_352_20
double JTcp1_352_20
Definition mbs_sensor_ArmarIII_simplified_virt.h:897
OMcp1_25
double OMcp1_25
Definition mbs_sensor_ArmarIII_simplified_virt.h:720
JTcp1_152_35
double JTcp1_152_35
Definition mbs_sensor_ArmarIII_simplified_virt.h:931
ORcp1_342
double ORcp1_342
Definition mbs_sensor_ArmarIII_simplified_virt.h:811
ROcp0_642
double ROcp0_642
Definition mbs_sensor_ArmarIII_simplified_virt.h:267
JTcp1_352_34
double JTcp1_352_34
Definition mbs_sensor_ArmarIII_simplified_virt.h:930
JTcp1_152_17
double JTcp1_152_17
Definition mbs_sensor_ArmarIII_simplified_virt.h:889
VIcp0_157
double VIcp0_157
Definition mbs_sensor_ArmarIII_simplified_virt.h:482
JTcp0_157_27
double JTcp0_157_27
Definition mbs_sensor_ArmarIII_simplified_virt.h:428
OMcp2_230
double OMcp2_230
Definition mbs_sensor_ArmarIII_simplified_virt.h:1310
C14
double C14
Definition mbs_sensor_ArmarIII_simplified_virt.h:19
ROcp0_820
double ROcp0_820
Definition mbs_sensor_ArmarIII_simplified_virt.h:155
ROcp2_827
double ROcp2_827
Definition mbs_sensor_ArmarIII_simplified_virt.h:1083
OPcp1_140
double OPcp1_140
Definition mbs_sensor_ArmarIII_simplified_virt.h:803
ROcp0_839
double ROcp0_839
Definition mbs_sensor_ArmarIII_simplified_virt.h:251
ROcp1_453
double ROcp1_453
Definition mbs_sensor_ArmarIII_simplified_virt.h:717
RLcp2_223
double RLcp2_223
Definition mbs_sensor_ArmarIII_simplified_virt.h:1292
ROcp0_635
double ROcp0_635
Definition mbs_sensor_ArmarIII_simplified_virt.h:228
JTcp1_252_32
double JTcp1_252_32
Definition mbs_sensor_ArmarIII_simplified_virt.h:923
S35
double S35
Definition mbs_sensor_ArmarIII_simplified_virt.h:52
JTcp0_357_42
double JTcp0_357_42
Definition mbs_sensor_ArmarIII_simplified_virt.h:475
JTcp1_352_38
double JTcp1_352_38
Definition mbs_sensor_ArmarIII_simplified_virt.h:942
ROcp2_833
double ROcp2_833
Definition mbs_sensor_ArmarIII_simplified_virt.h:1119
OPcp0_222
double OPcp0_222
Definition mbs_sensor_ArmarIII_simplified_virt.h:331
RLcp2_38
double RLcp2_38
Definition mbs_sensor_ArmarIII_simplified_virt.h:1245
ORcp1_251
double ORcp1_251
Definition mbs_sensor_ArmarIII_simplified_virt.h:852
ROcp0_733
double ROcp0_733
Definition mbs_sensor_ArmarIII_simplified_virt.h:214
ROcp2_49
double ROcp2_49
Definition mbs_sensor_ArmarIII_simplified_virt.h:1007
OMcp2_153
double OMcp2_153
Definition mbs_sensor_ArmarIII_simplified_virt.h:1375
ROcp1_218
double ROcp1_218
Definition mbs_sensor_ArmarIII_simplified_virt.h:547
VIcp1_152
double VIcp1_152
Definition mbs_sensor_ArmarIII_simplified_virt.h:979
RLcp1_252
double RLcp1_252
Definition mbs_sensor_ArmarIII_simplified_virt.h:855
S17
double S17
Definition mbs_sensor_ArmarIII_simplified_virt.h:24
OMcp0_122
double OMcp0_122
Definition mbs_sensor_ArmarIII_simplified_virt.h:327
JTcp1_152_32
double JTcp1_152_32
Definition mbs_sensor_ArmarIII_simplified_virt.h:922
ROcp2_47
double ROcp2_47
Definition mbs_sensor_ArmarIII_simplified_virt.h:1001
OPcp1_318
double OPcp1_318
Definition mbs_sensor_ArmarIII_simplified_virt.h:751
ORcp0_38
double ORcp0_38
Definition mbs_sensor_ArmarIII_simplified_virt.h:290
ROcp1_636
double ROcp1_636
Definition mbs_sensor_ArmarIII_simplified_virt.h:632
ROcp2_741
double ROcp2_741
Definition mbs_sensor_ArmarIII_simplified_virt.h:1166
ROcp2_338
double ROcp2_338
Definition mbs_sensor_ArmarIII_simplified_virt.h:1147
ROcp0_525
double ROcp0_525
Definition mbs_sensor_ArmarIII_simplified_virt.h:173
ROcp2_328
double ROcp2_328
Definition mbs_sensor_ArmarIII_simplified_virt.h:1087
JTcp1_152_33
double JTcp1_152_33
Definition mbs_sensor_ArmarIII_simplified_virt.h:925
C56
double C56
Definition mbs_sensor_ArmarIII_simplified_virt.h:85
OMcp1_240
double OMcp1_240
Definition mbs_sensor_ArmarIII_simplified_virt.h:801
RLcp0_124
double RLcp0_124
Definition mbs_sensor_ArmarIII_simplified_virt.h:339
ROcp1_832
double ROcp1_832
Definition mbs_sensor_ArmarIII_simplified_virt.h:610
JTcp0_157_5
double JTcp0_157_5
Definition mbs_sensor_ArmarIII_simplified_virt.h:383
JTcp1_152_28
double JTcp1_152_28
Definition mbs_sensor_ArmarIII_simplified_virt.h:910
ROcp0_99
double ROcp0_99
Definition mbs_sensor_ArmarIII_simplified_virt.h:108
ROcp1_225
double ROcp1_225
Definition mbs_sensor_ArmarIII_simplified_virt.h:571
ROcp1_634
double ROcp1_634
Definition mbs_sensor_ArmarIII_simplified_virt.h:623
ROcp1_449
double ROcp1_449
Definition mbs_sensor_ArmarIII_simplified_virt.h:699
ROcp2_640
double ROcp2_640
Definition mbs_sensor_ArmarIII_simplified_virt.h:1162
C28
double C28
Definition mbs_sensor_ArmarIII_simplified_virt.h:37
OMcp1_220
double OMcp1_220
Definition mbs_sensor_ArmarIII_simplified_virt.h:762
OPcp0_343
double OPcp0_343
Definition mbs_sensor_ArmarIII_simplified_virt.h:374
ROcp1_531
double ROcp1_531
Definition mbs_sensor_ArmarIII_simplified_virt.h:601
ROcp1_330
double ROcp1_330
Definition mbs_sensor_ArmarIII_simplified_virt.h:596
ROcp2_230
double ROcp2_230
Definition mbs_sensor_ArmarIII_simplified_virt.h:1098
OMcp1_135
double OMcp1_135
Definition mbs_sensor_ArmarIII_simplified_virt.h:797
RLcp0_126
double RLcp0_126
Definition mbs_sensor_ArmarIII_simplified_virt.h:345
ROcp2_35
double ROcp2_35
Definition mbs_sensor_ArmarIII_simplified_virt.h:992
ROcp0_538
double ROcp0_538
Definition mbs_sensor_ArmarIII_simplified_virt.h:245
JTcp0_257_7
double JTcp0_257_7
Definition mbs_sensor_ArmarIII_simplified_virt.h:390
ROcp0_432
double ROcp0_432
Definition mbs_sensor_ArmarIII_simplified_virt.h:205
RLcp1_312
double RLcp1_312
Definition mbs_sensor_ArmarIII_simplified_virt.h:736
OPcp2_322
double OPcp2_322
Definition mbs_sensor_ArmarIII_simplified_virt.h:1290
RLcp0_342
double RLcp0_342
Definition mbs_sensor_ArmarIII_simplified_virt.h:365
ROcp0_518
double ROcp0_518
Definition mbs_sensor_ArmarIII_simplified_virt.h:149
ROcp0_837
double ROcp0_837
Definition mbs_sensor_ArmarIII_simplified_virt.h:239
ROcp2_855
double ROcp2_855
Definition mbs_sensor_ArmarIII_simplified_virt.h:1227
ROcp2_335
double ROcp2_335
Definition mbs_sensor_ArmarIII_simplified_virt.h:1129
ROcp2_427
double ROcp2_427
Definition mbs_sensor_ArmarIII_simplified_virt.h:1079
ROcp0_841
double ROcp0_841
Definition mbs_sensor_ArmarIII_simplified_virt.h:263
ROcp2_448
double ROcp2_448
Definition mbs_sensor_ArmarIII_simplified_virt.h:1193
JTcp1_152_14
double JTcp1_152_14
Definition mbs_sensor_ArmarIII_simplified_virt.h:883
ROcp2_714
double ROcp2_714
Definition mbs_sensor_ArmarIII_simplified_virt.h:1034
S36
double S36
Definition mbs_sensor_ArmarIII_simplified_virt.h:54
ROcp2_644
double ROcp2_644
Definition mbs_sensor_ArmarIII_simplified_virt.h:1183
ROcp2_155
double ROcp2_155
Definition mbs_sensor_ArmarIII_simplified_virt.h:1223
ROcp1_253
double ROcp1_253
Definition mbs_sensor_ArmarIII_simplified_virt.h:715
ROcp2_643
double ROcp2_643
Definition mbs_sensor_ArmarIII_simplified_virt.h:1180
ROcp2_556
double ROcp2_556
Definition mbs_sensor_ArmarIII_simplified_virt.h:1233
JTcp1_252_40
double JTcp1_252_40
Definition mbs_sensor_ArmarIII_simplified_virt.h:947
ROcp1_529
double ROcp1_529
Definition mbs_sensor_ArmarIII_simplified_virt.h:589
ROcp1_97
double ROcp1_97
Definition mbs_sensor_ArmarIII_simplified_virt.h:503
POcp0_357
double POcp0_357
Definition mbs_sensor_ArmarIII_simplified_virt.h:380
ROcp1_651
double ROcp1_651
Definition mbs_sensor_ArmarIII_simplified_virt.h:710
RLcp1_142
double RLcp1_142
Definition mbs_sensor_ArmarIII_simplified_virt.h:806
ORcp2_345
double ORcp2_345
Definition mbs_sensor_ArmarIII_simplified_virt.h:1338
ROcp2_444
double ROcp2_444
Definition mbs_sensor_ArmarIII_simplified_virt.h:1181
RLcp1_246
double RLcp1_246
Definition mbs_sensor_ArmarIII_simplified_virt.h:825
ROcp0_429
double ROcp0_429
Definition mbs_sensor_ArmarIII_simplified_virt.h:187
C48
double C48
Definition mbs_sensor_ArmarIII_simplified_virt.h:73
JTcp2_254_5
double JTcp2_254_5
Definition mbs_sensor_ArmarIII_simplified_virt.h:1390
ROcp0_732
double ROcp0_732
Definition mbs_sensor_ArmarIII_simplified_virt.h:208
ORcp2_123
double ORcp2_123
Definition mbs_sensor_ArmarIII_simplified_virt.h:1294
RLcp1_152
double RLcp1_152
Definition mbs_sensor_ArmarIII_simplified_virt.h:854
ROcp0_35
double ROcp0_35
Definition mbs_sensor_ArmarIII_simplified_virt.h:88
RLcp1_346
double RLcp1_346
Definition mbs_sensor_ArmarIII_simplified_virt.h:826
JTcp0_157_28
double JTcp0_157_28
Definition mbs_sensor_ArmarIII_simplified_virt.h:431
S18
double S18
Definition mbs_sensor_ArmarIII_simplified_virt.h:26
ROcp1_67
double ROcp1_67
Definition mbs_sensor_ArmarIII_simplified_virt.h:500
JTcp1_352_32
double JTcp1_352_32
Definition mbs_sensor_ArmarIII_simplified_virt.h:924
ORcp2_28
double ORcp2_28
Definition mbs_sensor_ArmarIII_simplified_virt.h:1247
ACcp2_154
double ACcp2_154
Definition mbs_sensor_ArmarIII_simplified_virt.h:1512
OMcp2_120
double OMcp2_120
Definition mbs_sensor_ArmarIII_simplified_virt.h:1276
ROcp2_544
double ROcp2_544
Definition mbs_sensor_ArmarIII_simplified_virt.h:1182
JTcp0_357_39
double JTcp0_357_39
Definition mbs_sensor_ArmarIII_simplified_virt.h:466
ROcp0_910
double ROcp0_910
Definition mbs_sensor_ArmarIII_simplified_virt.h:114
ROcp2_832
double ROcp2_832
Definition mbs_sensor_ArmarIII_simplified_virt.h:1113
ROcp2_215
double ROcp2_215
Definition mbs_sensor_ArmarIII_simplified_virt.h:1038
ROcp2_531
double ROcp2_531
Definition mbs_sensor_ArmarIII_simplified_virt.h:1104
JTcp1_252_21
double JTcp1_252_21
Definition mbs_sensor_ArmarIII_simplified_virt.h:899
RLcp1_348
double RLcp1_348
Definition mbs_sensor_ArmarIII_simplified_virt.h:838
RLcp2_348
double RLcp2_348
Definition mbs_sensor_ArmarIII_simplified_virt.h:1353
ROcp0_434
double ROcp0_434
Definition mbs_sensor_ArmarIII_simplified_virt.h:220
ROcp2_534
double ROcp2_534
Definition mbs_sensor_ArmarIII_simplified_virt.h:1125
JTcp0_357_41
double JTcp0_357_41
Definition mbs_sensor_ArmarIII_simplified_virt.h:472
ROcp1_736
double ROcp1_736
Definition mbs_sensor_ArmarIII_simplified_virt.h:633
C42
double C42
Definition mbs_sensor_ArmarIII_simplified_virt.h:65
ROcp2_721
double ROcp2_721
Definition mbs_sensor_ArmarIII_simplified_virt.h:1064
JTcp1_152_22
double JTcp1_152_22
Definition mbs_sensor_ArmarIII_simplified_virt.h:901
ROcp1_49
double ROcp1_49
Definition mbs_sensor_ArmarIII_simplified_virt.h:504
OMcp2_335
double OMcp2_335
Definition mbs_sensor_ArmarIII_simplified_virt.h:1314
JTcp0_357_29
double JTcp0_357_29
Definition mbs_sensor_ArmarIII_simplified_virt.h:436
POcp0_157
double POcp0_157
Definition mbs_sensor_ArmarIII_simplified_virt.h:378
ROcp2_631
double ROcp2_631
Definition mbs_sensor_ArmarIII_simplified_virt.h:1105
ROcp2_613
double ROcp2_613
Definition mbs_sensor_ArmarIII_simplified_virt.h:1027
ROcp1_941
double ROcp1_941
Definition mbs_sensor_ArmarIII_simplified_virt.h:665
JTcp1_352_15
double JTcp1_352_15
Definition mbs_sensor_ArmarIII_simplified_virt.h:888
ROcp2_156
double ROcp2_156
Definition mbs_sensor_ArmarIII_simplified_virt.h:1229
OMcp2_35
double OMcp2_35
Definition mbs_sensor_ArmarIII_simplified_virt.h:1236
ROcp2_829
double ROcp2_829
Definition mbs_sensor_ArmarIII_simplified_virt.h:1095
ORcp1_242
double ORcp1_242
Definition mbs_sensor_ArmarIII_simplified_virt.h:810
ROcp2_642
double ROcp2_642
Definition mbs_sensor_ArmarIII_simplified_virt.h:1171
ROcp0_16
double ROcp0_16
Definition mbs_sensor_ArmarIII_simplified_virt.h:91
JTcp1_152_21
double JTcp1_152_21
Definition mbs_sensor_ArmarIII_simplified_virt.h:898
ROcp0_833
double ROcp0_833
Definition mbs_sensor_ArmarIII_simplified_virt.h:215
ROcp2_87
double ROcp2_87
Definition mbs_sensor_ArmarIII_simplified_virt.h:1005
ROcp2_325
double ROcp2_325
Definition mbs_sensor_ArmarIII_simplified_virt.h:1075
JTcp0_257_13
double JTcp0_257_13
Definition mbs_sensor_ArmarIII_simplified_virt.h:402
OMcp1_122
double OMcp1_122
Definition mbs_sensor_ArmarIII_simplified_virt.h:770
ROcp2_121
double ROcp2_121
Definition mbs_sensor_ArmarIII_simplified_virt.h:1061
OPcp1_253
double OPcp1_253
Definition mbs_sensor_ArmarIII_simplified_virt.h:989
ROcp1_527
double ROcp1_527
Definition mbs_sensor_ArmarIII_simplified_virt.h:577
JTcp0_157_6
double JTcp0_157_6
Definition mbs_sensor_ArmarIII_simplified_virt.h:386
ROcp0_543
double ROcp0_543
Definition mbs_sensor_ArmarIII_simplified_virt.h:275
RLcp2_354
double RLcp2_354
Definition mbs_sensor_ArmarIII_simplified_virt.h:1383
ROcp1_751
double ROcp1_751
Definition mbs_sensor_ArmarIII_simplified_virt.h:711
OPcp1_143
double OPcp1_143
Definition mbs_sensor_ArmarIII_simplified_virt.h:815
ROcp2_720
double ROcp2_720
Definition mbs_sensor_ArmarIII_simplified_virt.h:1058
ROcp1_315
double ROcp1_315
Definition mbs_sensor_ArmarIII_simplified_virt.h:536
OMcp0_243
double OMcp0_243
Definition mbs_sensor_ArmarIII_simplified_virt.h:370
ROcp0_427
double ROcp0_427
Definition mbs_sensor_ArmarIII_simplified_virt.h:175
ROcp2_311
double ROcp2_311
Definition mbs_sensor_ArmarIII_simplified_virt.h:1021
ROcp0_932
double ROcp0_932
Definition mbs_sensor_ArmarIII_simplified_virt.h:210
ROcp2_57
double ROcp2_57
Definition mbs_sensor_ArmarIII_simplified_virt.h:1002
RLcp1_345
double RLcp1_345
Definition mbs_sensor_ArmarIII_simplified_virt.h:820
JTcp1_252_11
double JTcp1_252_11
Definition mbs_sensor_ArmarIII_simplified_virt.h:878
JTcp1_352_35
double JTcp1_352_35
Definition mbs_sensor_ArmarIII_simplified_virt.h:933
JTcp0_157_31
double JTcp0_157_31
Definition mbs_sensor_ArmarIII_simplified_virt.h:440
ROcp1_842
double ROcp1_842
Definition mbs_sensor_ArmarIII_simplified_virt.h:670
ROcp0_542
double ROcp0_542
Definition mbs_sensor_ArmarIII_simplified_virt.h:266
RLcp1_242
double RLcp1_242
Definition mbs_sensor_ArmarIII_simplified_virt.h:807
OPcp1_349
double OPcp1_349
Definition mbs_sensor_ArmarIII_simplified_virt.h:847
JTcp0_357_38
double JTcp0_357_38
Definition mbs_sensor_ArmarIII_simplified_virt.h:463
ROcp2_755
double ROcp2_755
Definition mbs_sensor_ArmarIII_simplified_virt.h:1226
ROcp0_831
double ROcp0_831
Definition mbs_sensor_ArmarIII_simplified_virt.h:203
ORcp2_320
double ORcp2_320
Definition mbs_sensor_ArmarIII_simplified_virt.h:1281
OMcp1_218
double OMcp1_218
Definition mbs_sensor_ArmarIII_simplified_virt.h:747
JTcp1_252_39
double JTcp1_252_39
Definition mbs_sensor_ArmarIII_simplified_virt.h:944
ORcp0_112
double ORcp0_112
Definition mbs_sensor_ArmarIII_simplified_virt.h:294
ROcp2_420
double ROcp2_420
Definition mbs_sensor_ArmarIII_simplified_virt.h:1055
ORcp1_123
double ORcp1_123
Definition mbs_sensor_ArmarIII_simplified_virt.h:779
RLcp2_248
double RLcp2_248
Definition mbs_sensor_ArmarIII_simplified_virt.h:1352
ROcp2_225
double ROcp2_225
Definition mbs_sensor_ArmarIII_simplified_virt.h:1074
RLcp2_345
double RLcp2_345
Definition mbs_sensor_ArmarIII_simplified_virt.h:1335
ROcp2_529
double ROcp2_529
Definition mbs_sensor_ArmarIII_simplified_virt.h:1092
OPcp1_343
double OPcp1_343
Definition mbs_sensor_ArmarIII_simplified_virt.h:817
ROcp0_631
double ROcp0_631
Definition mbs_sensor_ArmarIII_simplified_virt.h:201
JTcp2_154_5
double JTcp2_154_5
Definition mbs_sensor_ArmarIII_simplified_virt.h:1389
ROcp2_632
double ROcp2_632
Definition mbs_sensor_ArmarIII_simplified_virt.h:1111
ROcp1_340
double ROcp1_340
Definition mbs_sensor_ArmarIII_simplified_virt.h:656
ROcp2_639
double ROcp2_639
Definition mbs_sensor_ArmarIII_simplified_virt.h:1153
JTcp1_252_14
double JTcp1_252_14
Definition mbs_sensor_ArmarIII_simplified_virt.h:884
RLcp2_152
double RLcp2_152
Definition mbs_sensor_ArmarIII_simplified_virt.h:1369
ROcp2_117
double ROcp2_117
Definition mbs_sensor_ArmarIII_simplified_virt.h:1043
JTcp0_357_43
double JTcp0_357_43
Definition mbs_sensor_ArmarIII_simplified_virt.h:478
OMcp2_322
double OMcp2_322
Definition mbs_sensor_ArmarIII_simplified_virt.h:1287
JTcp0_357_32
double JTcp0_357_32
Definition mbs_sensor_ArmarIII_simplified_virt.h:445
ROcp1_442
double ROcp1_442
Definition mbs_sensor_ArmarIII_simplified_virt.h:666
OMcp0_35
double OMcp0_35
Definition mbs_sensor_ArmarIII_simplified_virt.h:278
ROcp1_335
double ROcp1_335
Definition mbs_sensor_ArmarIII_simplified_virt.h:626
RLcp0_142
double RLcp0_142
Definition mbs_sensor_ArmarIII_simplified_virt.h:363
JTcp1_152_46
double JTcp1_152_46
Definition mbs_sensor_ArmarIII_simplified_virt.h:961
JTcp1_152_11
double JTcp1_152_11
Definition mbs_sensor_ArmarIII_simplified_virt.h:877
C33
double C33
Definition mbs_sensor_ArmarIII_simplified_virt.h:47
ROcp0_69
double ROcp0_69
Definition mbs_sensor_ArmarIII_simplified_virt.h:105
OPcp0_143
double OPcp0_143
Definition mbs_sensor_ArmarIII_simplified_virt.h:372
ROcp1_210
double ROcp1_210
Definition mbs_sensor_ArmarIII_simplified_virt.h:511
ORcp1_347
double ORcp1_347
Definition mbs_sensor_ArmarIII_simplified_virt.h:835
ROcp2_525
double ROcp2_525
Definition mbs_sensor_ArmarIII_simplified_virt.h:1077
ROcp0_736
double ROcp0_736
Definition mbs_sensor_ArmarIII_simplified_virt.h:232
ROcp2_143
double ROcp2_143
Definition mbs_sensor_ArmarIII_simplified_virt.h:1175
RLcp2_112
double RLcp2_112
Definition mbs_sensor_ArmarIII_simplified_virt.h:1249
S7
double S7
Definition mbs_sensor_ArmarIII_simplified_virt.h:10
ORcp2_316
double ORcp2_316
Definition mbs_sensor_ArmarIII_simplified_virt.h:1260
ORcp0_126
double ORcp0_126
Definition mbs_sensor_ArmarIII_simplified_virt.h:348
ROcp0_230
double ROcp0_230
Definition mbs_sensor_ArmarIII_simplified_virt.h:194
OMcp1_335
double OMcp1_335
Definition mbs_sensor_ArmarIII_simplified_virt.h:799
C55
double C55
Definition mbs_sensor_ArmarIII_simplified_virt.h:83
RLcp2_219
double RLcp2_219
Definition mbs_sensor_ArmarIII_simplified_virt.h:1268
ROcp2_315
double ROcp2_315
Definition mbs_sensor_ArmarIII_simplified_virt.h:1039
JTcp1_352_41
double JTcp1_352_41
Definition mbs_sensor_ArmarIII_simplified_virt.h:951
ORcp2_254
double ORcp2_254
Definition mbs_sensor_ArmarIII_simplified_virt.h:1507
OMcp2_353
double OMcp2_353
Definition mbs_sensor_ArmarIII_simplified_virt.h:1377
OPcp0_36
double OPcp0_36
Definition mbs_sensor_ArmarIII_simplified_virt.h:284
C18
double C18
Definition mbs_sensor_ArmarIII_simplified_virt.h:25
JTcp0_357_20
double JTcp0_357_20
Definition mbs_sensor_ArmarIII_simplified_virt.h:418
ROcp1_549
double ROcp1_549
Definition mbs_sensor_ArmarIII_simplified_virt.h:700
ROcp0_317
double ROcp0_317
Definition mbs_sensor_ArmarIII_simplified_virt.h:141
RLcp1_38
double RLcp1_38
Definition mbs_sensor_ArmarIII_simplified_virt.h:730
ROcp0_134
double ROcp0_134
Definition mbs_sensor_ArmarIII_simplified_virt.h:217
RLcp1_223
double RLcp1_223
Definition mbs_sensor_ArmarIII_simplified_virt.h:777
OPcp1_340
double OPcp1_340
Definition mbs_sensor_ArmarIII_simplified_virt.h:805
ORcp1_112
double ORcp1_112
Definition mbs_sensor_ArmarIII_simplified_virt.h:737
OMcp0_335
double OMcp0_335
Definition mbs_sensor_ArmarIII_simplified_virt.h:356
ROcp0_813
double ROcp0_813
Definition mbs_sensor_ArmarIII_simplified_virt.h:125
ROcp1_642
double ROcp1_642
Definition mbs_sensor_ArmarIII_simplified_virt.h:668
ROcp0_335
double ROcp0_335
Definition mbs_sensor_ArmarIII_simplified_virt.h:225
ROcp0_442
double ROcp0_442
Definition mbs_sensor_ArmarIII_simplified_virt.h:265
RLcp0_38
double RLcp0_38
Definition mbs_sensor_ArmarIII_simplified_virt.h:287
JTcp1_352_25
double JTcp1_352_25
Definition mbs_sensor_ArmarIII_simplified_virt.h:906
ORcp0_326
double ORcp0_326
Definition mbs_sensor_ArmarIII_simplified_virt.h:350
ROcp2_130
double ROcp2_130
Definition mbs_sensor_ArmarIII_simplified_virt.h:1097
ROcp0_920
double ROcp0_920
Definition mbs_sensor_ArmarIII_simplified_virt.h:156
ROcp2_932
double ROcp2_932
Definition mbs_sensor_ArmarIII_simplified_virt.h:1114
ROcp2_337
double ROcp2_337
Definition mbs_sensor_ArmarIII_simplified_virt.h:1141
ROcp1_99
double ROcp1_99
Definition mbs_sensor_ArmarIII_simplified_virt.h:509
ROcp0_821
double ROcp0_821
Definition mbs_sensor_ArmarIII_simplified_virt.h:161
S46
double S46
Definition mbs_sensor_ArmarIII_simplified_virt.h:72
ORcp0_119
double ORcp0_119
Definition mbs_sensor_ArmarIII_simplified_virt.h:312
JTcp1_252_6
double JTcp1_252_6
Definition mbs_sensor_ArmarIII_simplified_virt.h:866
JTcp0_357_34
double JTcp0_357_34
Definition mbs_sensor_ArmarIII_simplified_virt.h:451
RLcp1_319
double RLcp1_319
Definition mbs_sensor_ArmarIII_simplified_virt.h:754
ROcp2_527
double ROcp2_527
Definition mbs_sensor_ArmarIII_simplified_virt.h:1080
ROcp1_450
double ROcp1_450
Definition mbs_sensor_ArmarIII_simplified_virt.h:702
ROcp2_228
double ROcp2_228
Definition mbs_sensor_ArmarIII_simplified_virt.h:1086
ROcp0_632
double ROcp0_632
Definition mbs_sensor_ArmarIII_simplified_virt.h:207
ROcp0_85
double ROcp0_85
Definition mbs_sensor_ArmarIII_simplified_virt.h:89
ORcp0_219
double ORcp0_219
Definition mbs_sensor_ArmarIII_simplified_virt.h:313
ROcp1_948
double ROcp1_948
Definition mbs_sensor_ArmarIII_simplified_virt.h:695
RLcp0_120
double RLcp0_120
Definition mbs_sensor_ArmarIII_simplified_virt.h:315
ORcp1_245
double ORcp1_245
Definition mbs_sensor_ArmarIII_simplified_virt.h:822
ROcp0_539
double ROcp0_539
Definition mbs_sensor_ArmarIII_simplified_virt.h:248
VIcp2_254
double VIcp2_254
Definition mbs_sensor_ArmarIII_simplified_virt.h:1510
ROcp2_615
double ROcp2_615
Definition mbs_sensor_ArmarIII_simplified_virt.h:1042
JTcp0_257_38
double JTcp0_257_38
Definition mbs_sensor_ArmarIII_simplified_virt.h:462
ORcp2_226
double ORcp2_226
Definition mbs_sensor_ArmarIII_simplified_virt.h:1307
ACcp1_152
double ACcp1_152
Definition mbs_sensor_ArmarIII_simplified_virt.h:982
JTcp1_352_9
double JTcp1_352_9
Definition mbs_sensor_ArmarIII_simplified_virt.h:873
ROcp0_420
double ROcp0_420
Definition mbs_sensor_ArmarIII_simplified_virt.h:151
ORcp0_142
double ORcp0_142
Definition mbs_sensor_ArmarIII_simplified_virt.h:366
JTcp1_152_13
double JTcp1_152_13
Definition mbs_sensor_ArmarIII_simplified_virt.h:880
OMcp2_222
double OMcp2_222
Definition mbs_sensor_ArmarIII_simplified_virt.h:1286
ORcp1_18
double ORcp1_18
Definition mbs_sensor_ArmarIII_simplified_virt.h:731
ROcp0_721
double ROcp0_721
Definition mbs_sensor_ArmarIII_simplified_virt.h:160
ROcp1_714
double ROcp1_714
Definition mbs_sensor_ArmarIII_simplified_virt.h:531
C21
double C21
Definition mbs_sensor_ArmarIII_simplified_virt.h:29
ROcp1_631
double ROcp1_631
Definition mbs_sensor_ArmarIII_simplified_virt.h:602
OMcp1_140
double OMcp1_140
Definition mbs_sensor_ArmarIII_simplified_virt.h:800
ROcp1_615
double ROcp1_615
Definition mbs_sensor_ArmarIII_simplified_virt.h:539
ROcp0_641
double ROcp0_641
Definition mbs_sensor_ArmarIII_simplified_virt.h:261
ROcp1_46
double ROcp1_46
Definition mbs_sensor_ArmarIII_simplified_virt.h:495
OPcp2_143
double OPcp2_143
Definition mbs_sensor_ArmarIII_simplified_virt.h:1330
ROcp1_553
double ROcp1_553
Definition mbs_sensor_ArmarIII_simplified_virt.h:718
POcp0_257
double POcp0_257
Definition mbs_sensor_ArmarIII_simplified_virt.h:379
ROcp2_750
double ROcp2_750
Definition mbs_sensor_ArmarIII_simplified_virt.h:1208
OPcp2_122
double OPcp2_122
Definition mbs_sensor_ArmarIII_simplified_virt.h:1288
JTcp0_157_41
double JTcp0_157_41
Definition mbs_sensor_ArmarIII_simplified_virt.h:470
OMcp1_349
double OMcp1_349
Definition mbs_sensor_ArmarIII_simplified_virt.h:844
OPcp0_118
double OPcp0_118
Definition mbs_sensor_ArmarIII_simplified_virt.h:306
ORcp2_342
double ORcp2_342
Definition mbs_sensor_ArmarIII_simplified_virt.h:1326
ROcp1_525
double ROcp1_525
Definition mbs_sensor_ArmarIII_simplified_virt.h:574
ROcp1_841
double ROcp1_841
Definition mbs_sensor_ArmarIII_simplified_virt.h:664
ORcp2_352
double ORcp2_352
Definition mbs_sensor_ArmarIII_simplified_virt.h:1374
RLcp0_112
double RLcp0_112
Definition mbs_sensor_ArmarIII_simplified_virt.h:291
ROcp2_140
double ROcp2_140
Definition mbs_sensor_ArmarIII_simplified_virt.h:1157
RLcp0_324
double RLcp0_324
Definition mbs_sensor_ArmarIII_simplified_virt.h:341
JTcp0_157_22
double JTcp0_157_22
Definition mbs_sensor_ArmarIII_simplified_virt.h:422
JTcp0_357_28
double JTcp0_357_28
Definition mbs_sensor_ArmarIII_simplified_virt.h:433
OMcp1_222
double OMcp1_222
Definition mbs_sensor_ArmarIII_simplified_virt.h:771
ROcp0_814
double ROcp0_814
Definition mbs_sensor_ArmarIII_simplified_virt.h:131
ROcp0_535
double ROcp0_535
Definition mbs_sensor_ArmarIII_simplified_virt.h:227
C32
double C32
Definition mbs_sensor_ArmarIII_simplified_virt.h:45
JTcp1_352_46
double JTcp1_352_46
Definition mbs_sensor_ArmarIII_simplified_virt.h:963
JTcp2_154_6
double JTcp2_154_6
Definition mbs_sensor_ArmarIII_simplified_virt.h:1392
ROcp1_125
double ROcp1_125
Definition mbs_sensor_ArmarIII_simplified_virt.h:570
JTcp2_154_21
double JTcp2_154_21
Definition mbs_sensor_ArmarIII_simplified_virt.h:1425
ROcp1_643
double ROcp1_643
Definition mbs_sensor_ArmarIII_simplified_virt.h:677
OPcp0_322
double OPcp0_322
Definition mbs_sensor_ArmarIII_simplified_virt.h:332
S42
double S42
Definition mbs_sensor_ArmarIII_simplified_virt.h:66
ROcp2_322
double ROcp2_322
Definition mbs_sensor_ArmarIII_simplified_virt.h:1069
ROcp2_451
double ROcp2_451
Definition mbs_sensor_ArmarIII_simplified_virt.h:1211
OMcp1_26
double OMcp1_26
Definition mbs_sensor_ArmarIII_simplified_virt.h:723
ROcp0_135
double ROcp0_135
Definition mbs_sensor_ArmarIII_simplified_virt.h:223
ROcp1_625
double ROcp1_625
Definition mbs_sensor_ArmarIII_simplified_virt.h:575
JTcp0_257_34
double JTcp0_257_34
Definition mbs_sensor_ArmarIII_simplified_virt.h:450
ROcp0_439
double ROcp0_439
Definition mbs_sensor_ArmarIII_simplified_virt.h:247
JTcp0_357_11
double JTcp0_357_11
Definition mbs_sensor_ArmarIII_simplified_virt.h:400
ROcp1_814
double ROcp1_814
Definition mbs_sensor_ArmarIII_simplified_virt.h:532
JTcp1_152_37
double JTcp1_152_37
Definition mbs_sensor_ArmarIII_simplified_virt.h:937
OPcp0_122
double OPcp0_122
Definition mbs_sensor_ArmarIII_simplified_virt.h:330
ROcp2_253
double ROcp2_253
Definition mbs_sensor_ArmarIII_simplified_virt.h:1218
S41
double S41
Definition mbs_sensor_ArmarIII_simplified_virt.h:64
ROcp1_85
double ROcp1_85
Definition mbs_sensor_ArmarIII_simplified_virt.h:490
ROcp0_622
double ROcp0_622
Definition mbs_sensor_ArmarIII_simplified_virt.h:168
ROcp0_215
double ROcp0_215
Definition mbs_sensor_ArmarIII_simplified_virt.h:134
OMcp0_230
double OMcp0_230
Definition mbs_sensor_ArmarIII_simplified_virt.h:352
ROcp1_35
double ROcp1_35
Definition mbs_sensor_ArmarIII_simplified_virt.h:489
OPcp1_249
double OPcp1_249
Definition mbs_sensor_ArmarIII_simplified_virt.h:846
JTcp1_152_49
double JTcp1_152_49
Definition mbs_sensor_ArmarIII_simplified_virt.h:967
ROcp2_425
double ROcp2_425
Definition mbs_sensor_ArmarIII_simplified_virt.h:1076
RLcp0_220
double RLcp0_220
Definition mbs_sensor_ArmarIII_simplified_virt.h:316
ORcp1_345
double ORcp1_345
Definition mbs_sensor_ArmarIII_simplified_virt.h:823
OPcp2_253
double OPcp2_253
Definition mbs_sensor_ArmarIII_simplified_virt.h:1379
ROcp2_511
double ROcp2_511
Definition mbs_sensor_ArmarIII_simplified_virt.h:1023
ROcp1_733
double ROcp1_733
Definition mbs_sensor_ArmarIII_simplified_virt.h:615
OMcp0_240
double OMcp0_240
Definition mbs_sensor_ArmarIII_simplified_virt.h:358
JTcp1_352_6
double JTcp1_352_6
Definition mbs_sensor_ArmarIII_simplified_virt.h:867
OMcp2_320
double OMcp2_320
Definition mbs_sensor_ArmarIII_simplified_virt.h:1278
ROcp0_222
double ROcp0_222
Definition mbs_sensor_ArmarIII_simplified_virt.h:164
ROcp1_950
double ROcp1_950
Definition mbs_sensor_ArmarIII_simplified_virt.h:707
RLcp0_323
double RLcp0_323
Definition mbs_sensor_ArmarIII_simplified_virt.h:335
RLcp1_123
double RLcp1_123
Definition mbs_sensor_ArmarIII_simplified_virt.h:776
ORcp2_246
double ORcp2_246
Definition mbs_sensor_ArmarIII_simplified_virt.h:1343
OMcp2_256
double OMcp2_256
Definition mbs_sensor_ArmarIII_simplified_virt.h:1519
ROcp2_515
double ROcp2_515
Definition mbs_sensor_ArmarIII_simplified_virt.h:1041
ROcp0_739
double ROcp0_739
Definition mbs_sensor_ArmarIII_simplified_virt.h:250
ROcp1_222
double ROcp1_222
Definition mbs_sensor_ArmarIII_simplified_virt.h:565
ROcp0_25
double ROcp0_25
Definition mbs_sensor_ArmarIII_simplified_virt.h:87
ROcp1_534
double ROcp1_534
Definition mbs_sensor_ArmarIII_simplified_virt.h:622
ROcp0_536
double ROcp0_536
Definition mbs_sensor_ArmarIII_simplified_virt.h:230
ORcp1_219
double ORcp1_219
Definition mbs_sensor_ArmarIII_simplified_virt.h:756
ROcp0_338
double ROcp0_338
Definition mbs_sensor_ArmarIII_simplified_virt.h:243
S31
double S31
Definition mbs_sensor_ArmarIII_simplified_virt.h:44
RLcp0_28
double RLcp0_28
Definition mbs_sensor_ArmarIII_simplified_virt.h:286
RLcp2_351
double RLcp2_351
Definition mbs_sensor_ArmarIII_simplified_virt.h:1365
JTcp0_357_22
double JTcp0_357_22
Definition mbs_sensor_ArmarIII_simplified_virt.h:424
ROcp1_349
double ROcp1_349
Definition mbs_sensor_ArmarIII_simplified_virt.h:698
JTcp2_154_18
double JTcp2_154_18
Definition mbs_sensor_ArmarIII_simplified_virt.h:1419
ROcp2_434
double ROcp2_434
Definition mbs_sensor_ArmarIII_simplified_virt.h:1124
ROcp2_622
double ROcp2_622
Definition mbs_sensor_ArmarIII_simplified_virt.h:1072
RLcp2_212
double RLcp2_212
Definition mbs_sensor_ArmarIII_simplified_virt.h:1250
ROcp2_846
double ROcp2_846
Definition mbs_sensor_ArmarIII_simplified_virt.h:1191
ROcp1_153
double ROcp1_153
Definition mbs_sensor_ArmarIII_simplified_virt.h:714
OPcp0_218
double OPcp0_218
Definition mbs_sensor_ArmarIII_simplified_virt.h:307
RLcp2_319
double RLcp2_319
Definition mbs_sensor_ArmarIII_simplified_virt.h:1269
JTcp1_152_44
double JTcp1_152_44
Definition mbs_sensor_ArmarIII_simplified_virt.h:958
ORcp1_124
double ORcp1_124
Definition mbs_sensor_ArmarIII_simplified_virt.h:785
ROcp0_628
double ROcp0_628
Definition mbs_sensor_ArmarIII_simplified_virt.h:186
ROcp1_228
double ROcp1_228
Definition mbs_sensor_ArmarIII_simplified_virt.h:583
OMcp1_153
double OMcp1_153
Definition mbs_sensor_ArmarIII_simplified_virt.h:985
OMcp1_221
double OMcp1_221
Definition mbs_sensor_ArmarIII_simplified_virt.h:768
ROcp2_950
double ROcp2_950
Definition mbs_sensor_ArmarIII_simplified_virt.h:1210
JTcp1_152_50
double JTcp1_152_50
Definition mbs_sensor_ArmarIII_simplified_virt.h:970
ROcp0_710
double ROcp0_710
Definition mbs_sensor_ArmarIII_simplified_virt.h:112
RLcp0_312
double RLcp0_312
Definition mbs_sensor_ArmarIII_simplified_virt.h:293
ROcp0_46
double ROcp0_46
Definition mbs_sensor_ArmarIII_simplified_virt.h:94
OMcp1_243
double OMcp1_243
Definition mbs_sensor_ArmarIII_simplified_virt.h:813
RLcp1_147
double RLcp1_147
Definition mbs_sensor_ArmarIII_simplified_virt.h:830
OMcp0_330
double OMcp0_330
Definition mbs_sensor_ArmarIII_simplified_virt.h:353
ROcp2_540
double ROcp2_540
Definition mbs_sensor_ArmarIII_simplified_virt.h:1161
ROcp2_733
double ROcp2_733
Definition mbs_sensor_ArmarIII_simplified_virt.h:1118
ROcp2_535
double ROcp2_535
Definition mbs_sensor_ArmarIII_simplified_virt.h:1131
ORcp0_357
double ORcp0_357
Definition mbs_sensor_ArmarIII_simplified_virt.h:481
ROcp1_648
double ROcp1_648
Definition mbs_sensor_ArmarIII_simplified_virt.h:692
ROcp1_439
double ROcp1_439
Definition mbs_sensor_ArmarIII_simplified_virt.h:648
ROcp0_234
double ROcp0_234
Definition mbs_sensor_ArmarIII_simplified_virt.h:218
JTcp1_252_51
double JTcp1_252_51
Definition mbs_sensor_ArmarIII_simplified_virt.h:974
ROcp1_942
double ROcp1_942
Definition mbs_sensor_ArmarIII_simplified_virt.h:671
ROcp1_632
double ROcp1_632
Definition mbs_sensor_ArmarIII_simplified_virt.h:608
JTcp1_252_36
double JTcp1_252_36
Definition mbs_sensor_ArmarIII_simplified_virt.h:935
ROcp0_436
double ROcp0_436
Definition mbs_sensor_ArmarIII_simplified_virt.h:229
ROcp0_125
double ROcp0_125
Definition mbs_sensor_ArmarIII_simplified_virt.h:169
ROcp0_128
double ROcp0_128
Definition mbs_sensor_ArmarIII_simplified_virt.h:181
ROcp1_311
double ROcp1_311
Definition mbs_sensor_ArmarIII_simplified_virt.h:518
ORcp1_326
double ORcp1_326
Definition mbs_sensor_ArmarIII_simplified_virt.h:793
ROcp1_518
double ROcp1_518
Definition mbs_sensor_ArmarIII_simplified_virt.h:550
JTcp0_257_5
double JTcp0_257_5
Definition mbs_sensor_ArmarIII_simplified_virt.h:384
ROcp1_920
double ROcp1_920
Definition mbs_sensor_ArmarIII_simplified_virt.h:557
ORcp2_319
double ORcp2_319
Definition mbs_sensor_ArmarIII_simplified_virt.h:1272
ROcp2_450
double ROcp2_450
Definition mbs_sensor_ArmarIII_simplified_virt.h:1205
OPcp1_16
double OPcp1_16
Definition mbs_sensor_ArmarIII_simplified_virt.h:725
ROcp1_737
double ROcp1_737
Definition mbs_sensor_ArmarIII_simplified_virt.h:639
ROcp1_451
double ROcp1_451
Definition mbs_sensor_ArmarIII_simplified_virt.h:708
ROcp1_833
double ROcp1_833
Definition mbs_sensor_ArmarIII_simplified_virt.h:616
ROcp2_625
double ROcp2_625
Definition mbs_sensor_ArmarIII_simplified_virt.h:1078
ORcp1_323
double ORcp1_323
Definition mbs_sensor_ArmarIII_simplified_virt.h:781
JTcp2_254_35
double JTcp2_254_35
Definition mbs_sensor_ArmarIII_simplified_virt.h:1459
JTcp1_352_33
double JTcp1_352_33
Definition mbs_sensor_ArmarIII_simplified_virt.h:927
ROcp0_121
double ROcp0_121
Definition mbs_sensor_ArmarIII_simplified_virt.h:157
ROcp0_243
double ROcp0_243
Definition mbs_sensor_ArmarIII_simplified_virt.h:272
ROcp2_135
double ROcp2_135
Definition mbs_sensor_ArmarIII_simplified_virt.h:1127
ROcp2_431
double ROcp2_431
Definition mbs_sensor_ArmarIII_simplified_virt.h:1103
ROcp1_515
double ROcp1_515
Definition mbs_sensor_ArmarIII_simplified_virt.h:538
ROcp2_69
double ROcp2_69
Definition mbs_sensor_ArmarIII_simplified_virt.h:1009
RLcp2_326
double RLcp2_326
Definition mbs_sensor_ArmarIII_simplified_virt.h:1305
OMcp0_235
double OMcp0_235
Definition mbs_sensor_ArmarIII_simplified_virt.h:355
ORcp1_148
double ORcp1_148
Definition mbs_sensor_ArmarIII_simplified_virt.h:839
ROcp0_57
double ROcp0_57
Definition mbs_sensor_ArmarIII_simplified_virt.h:98
JTcp0_157_40
double JTcp0_157_40
Definition mbs_sensor_ArmarIII_simplified_virt.h:467
ROcp0_415
double ROcp0_415
Definition mbs_sensor_ArmarIII_simplified_virt.h:136
ROcp2_122
double ROcp2_122
Definition mbs_sensor_ArmarIII_simplified_virt.h:1067
OMcp2_318
double OMcp2_318
Definition mbs_sensor_ArmarIII_simplified_virt.h:1263
OMcp1_235
double OMcp1_235
Definition mbs_sensor_ArmarIII_simplified_virt.h:798
ORcp1_351
double ORcp1_351
Definition mbs_sensor_ArmarIII_simplified_virt.h:853
ROcp0_541
double ROcp0_541
Definition mbs_sensor_ArmarIII_simplified_virt.h:260
ROcp1_444
double ROcp1_444
Definition mbs_sensor_ArmarIII_simplified_virt.h:678
ORcp2_247
double ORcp2_247
Definition mbs_sensor_ArmarIII_simplified_virt.h:1349
S39
double S39
Definition mbs_sensor_ArmarIII_simplified_virt.h:60
OPcp1_149
double OPcp1_149
Definition mbs_sensor_ArmarIII_simplified_virt.h:845
ROcp2_651
double ROcp2_651
Definition mbs_sensor_ArmarIII_simplified_virt.h:1213
ORcp2_351
double ORcp2_351
Definition mbs_sensor_ArmarIII_simplified_virt.h:1368
ROcp0_89
double ROcp0_89
Definition mbs_sensor_ArmarIII_simplified_virt.h:107
ROcp1_110
double ROcp1_110
Definition mbs_sensor_ArmarIII_simplified_virt.h:510
RLcp1_245
double RLcp1_245
Definition mbs_sensor_ArmarIII_simplified_virt.h:819
JTcp1_252_4
double JTcp1_252_4
Definition mbs_sensor_ArmarIII_simplified_virt.h:860
JTcp0_357_4
double JTcp0_357_4
Definition mbs_sensor_ArmarIII_simplified_virt.h:382
ROcp1_111
double ROcp1_111
Definition mbs_sensor_ArmarIII_simplified_virt.h:516
ROcp1_744
double ROcp1_744
Definition mbs_sensor_ArmarIII_simplified_virt.h:681
OMcp2_16
double OMcp2_16
Definition mbs_sensor_ArmarIII_simplified_virt.h:1237
OMcp0_143
double OMcp0_143
Definition mbs_sensor_ArmarIII_simplified_virt.h:369
ROcp1_929
double ROcp1_929
Definition mbs_sensor_ArmarIII_simplified_virt.h:593
ROcp2_520
double ROcp2_520
Definition mbs_sensor_ArmarIII_simplified_virt.h:1056
ROcp0_441
double ROcp0_441
Definition mbs_sensor_ArmarIII_simplified_virt.h:259
ROcp1_810
double ROcp1_810
Definition mbs_sensor_ArmarIII_simplified_virt.h:514
ROcp0_440
double ROcp0_440
Definition mbs_sensor_ArmarIII_simplified_virt.h:256
ROcp0_714
double ROcp0_714
Definition mbs_sensor_ArmarIII_simplified_virt.h:130
ROcp1_517
double ROcp1_517
Definition mbs_sensor_ArmarIII_simplified_virt.h:544
RLcp2_119
double RLcp2_119
Definition mbs_sensor_ArmarIII_simplified_virt.h:1267
ROcp2_214
double ROcp2_214
Definition mbs_sensor_ArmarIII_simplified_virt.h:1032
RLcp1_116
double RLcp1_116
Definition mbs_sensor_ArmarIII_simplified_virt.h:740
ROcp1_837
double ROcp1_837
Definition mbs_sensor_ArmarIII_simplified_virt.h:640
C25
double C25
Definition mbs_sensor_ArmarIII_simplified_virt.h:33
ROcp1_77
double ROcp1_77
Definition mbs_sensor_ArmarIII_simplified_virt.h:501
RLcp1_148
double RLcp1_148
Definition mbs_sensor_ArmarIII_simplified_virt.h:836
JTcp0_157_38
double JTcp0_157_38
Definition mbs_sensor_ArmarIII_simplified_virt.h:461
ROcp2_548
double ROcp2_548
Definition mbs_sensor_ArmarIII_simplified_virt.h:1194
RLcp1_119
double RLcp1_119
Definition mbs_sensor_ArmarIII_simplified_virt.h:752
ROcp0_522
double ROcp0_522
Definition mbs_sensor_ArmarIII_simplified_virt.h:167
JTcp1_252_34
double JTcp1_252_34
Definition mbs_sensor_ArmarIII_simplified_virt.h:929
ORcp2_224
double ORcp2_224
Definition mbs_sensor_ArmarIII_simplified_virt.h:1301
ROcp2_95
double ROcp2_95
Definition mbs_sensor_ArmarIII_simplified_virt.h:994
JTcp0_357_14
double JTcp0_357_14
Definition mbs_sensor_ArmarIII_simplified_virt.h:406
RLcp0_257
double RLcp0_257
Definition mbs_sensor_ArmarIII_simplified_virt.h:376
ROcp1_720
double ROcp1_720
Definition mbs_sensor_ArmarIII_simplified_virt.h:555
ROcp1_134
double ROcp1_134
Definition mbs_sensor_ArmarIII_simplified_virt.h:618
ROcp0_921
double ROcp0_921
Definition mbs_sensor_ArmarIII_simplified_virt.h:162
ROcp2_321
double ROcp2_321
Definition mbs_sensor_ArmarIII_simplified_virt.h:1063
JTcp1_352_28
double JTcp1_352_28
Definition mbs_sensor_ArmarIII_simplified_virt.h:912
ROcp2_26
double ROcp2_26
Definition mbs_sensor_ArmarIII_simplified_virt.h:996
ROcp2_942
double ROcp2_942
Definition mbs_sensor_ArmarIII_simplified_virt.h:1174
JTcp1_152_10
double JTcp1_152_10
Definition mbs_sensor_ArmarIII_simplified_virt.h:874
ROcp0_417
double ROcp0_417
Definition mbs_sensor_ArmarIII_simplified_virt.h:142
ROcp2_844
double ROcp2_844
Definition mbs_sensor_ArmarIII_simplified_virt.h:1185
OPcp2_26
double OPcp2_26
Definition mbs_sensor_ArmarIII_simplified_virt.h:1241
ROcp2_349
double ROcp2_349
Definition mbs_sensor_ArmarIII_simplified_virt.h:1201
ACcp0_257
double ACcp0_257
Definition mbs_sensor_ArmarIII_simplified_virt.h:486
OPcp2_240
double OPcp2_240
Definition mbs_sensor_ArmarIII_simplified_virt.h:1319
ROcp1_69
double ROcp1_69
Definition mbs_sensor_ArmarIII_simplified_virt.h:506
RLcp2_146
double RLcp2_146
Definition mbs_sensor_ArmarIII_simplified_virt.h:1339
C40
double C40
Definition mbs_sensor_ArmarIII_simplified_virt.h:61
ROcp1_913
double ROcp1_913
Definition mbs_sensor_ArmarIII_simplified_virt.h:527
POcp1_252
double POcp1_252
Definition mbs_sensor_ArmarIII_simplified_virt.h:858
C53
double C53
Definition mbs_sensor_ArmarIII_simplified_virt.h:81
JTcp2_254_53
double JTcp2_254_53
Definition mbs_sensor_ArmarIII_simplified_virt.h:1504
ORcp1_119
double ORcp1_119
Definition mbs_sensor_ArmarIII_simplified_virt.h:755
JTcp2_354_20
double JTcp2_354_20
Definition mbs_sensor_ArmarIII_simplified_virt.h:1424
ROcp2_628
double ROcp2_628
Definition mbs_sensor_ArmarIII_simplified_virt.h:1090
JTcp1_252_33
double JTcp1_252_33
Definition mbs_sensor_ArmarIII_simplified_virt.h:926
JTcp1_252_38
double JTcp1_252_38
Definition mbs_sensor_ArmarIII_simplified_virt.h:941
JTcp0_257_39
double JTcp0_257_39
Definition mbs_sensor_ArmarIII_simplified_virt.h:465
ROcp0_727
double ROcp0_727
Definition mbs_sensor_ArmarIII_simplified_virt.h:178
OMcp0_140
double OMcp0_140
Definition mbs_sensor_ArmarIII_simplified_virt.h:357
RLcp2_18
double RLcp2_18
Definition mbs_sensor_ArmarIII_simplified_virt.h:1243
ROcp1_829
double ROcp1_829
Definition mbs_sensor_ArmarIII_simplified_virt.h:592
OPcp1_153
double OPcp1_153
Definition mbs_sensor_ArmarIII_simplified_virt.h:988
OPcp0_26
double OPcp0_26
Definition mbs_sensor_ArmarIII_simplified_virt.h:283
OMcp1_353
double OMcp1_353
Definition mbs_sensor_ArmarIII_simplified_virt.h:987
ROcp2_432
double ROcp2_432
Definition mbs_sensor_ArmarIII_simplified_virt.h:1109
ROcp1_337
double ROcp1_337
Definition mbs_sensor_ArmarIII_simplified_virt.h:638
ROcp2_435
double ROcp2_435
Definition mbs_sensor_ArmarIII_simplified_virt.h:1130
ROcp0_311
double ROcp0_311
Definition mbs_sensor_ArmarIII_simplified_virt.h:117
JTcp1_252_48
double JTcp1_252_48
Definition mbs_sensor_ArmarIII_simplified_virt.h:965
OPcp2_340
double OPcp2_340
Definition mbs_sensor_ArmarIII_simplified_virt.h:1320
C39
double C39
Definition mbs_sensor_ArmarIII_simplified_virt.h:59
ROcp1_544
double ROcp1_544
Definition mbs_sensor_ArmarIII_simplified_virt.h:679
ROcp0_634
double ROcp0_634
Definition mbs_sensor_ArmarIII_simplified_virt.h:222
RLcp1_320
double RLcp1_320
Definition mbs_sensor_ArmarIII_simplified_virt.h:760
RLcp2_324
double RLcp2_324
Definition mbs_sensor_ArmarIII_simplified_virt.h:1299
RLcp2_347
double RLcp2_347
Definition mbs_sensor_ArmarIII_simplified_virt.h:1347
JTcp2_354_35
double JTcp2_354_35
Definition mbs_sensor_ArmarIII_simplified_virt.h:1460
JTcp1_252_49
double JTcp1_252_49
Definition mbs_sensor_ArmarIII_simplified_virt.h:968
ROcp0_532
double ROcp0_532
Definition mbs_sensor_ArmarIII_simplified_virt.h:206
OMcp0_222
double OMcp0_222
Definition mbs_sensor_ArmarIII_simplified_virt.h:328
ROcp0_927
double ROcp0_927
Definition mbs_sensor_ArmarIII_simplified_virt.h:180
ROcp1_420
double ROcp1_420
Definition mbs_sensor_ArmarIII_simplified_virt.h:552
ROcp2_737
double ROcp2_737
Definition mbs_sensor_ArmarIII_simplified_virt.h:1142
OPcp2_222
double OPcp2_222
Definition mbs_sensor_ArmarIII_simplified_virt.h:1289
OMcp2_25
double OMcp2_25
Definition mbs_sensor_ArmarIII_simplified_virt.h:1235
ROcp0_638
double ROcp0_638
Definition mbs_sensor_ArmarIII_simplified_virt.h:246
ROcp2_442
double ROcp2_442
Definition mbs_sensor_ArmarIII_simplified_virt.h:1169
ORcp1_116
double ORcp1_116
Definition mbs_sensor_ArmarIII_simplified_virt.h:743
OPcp1_118
double OPcp1_118
Definition mbs_sensor_ArmarIII_simplified_virt.h:749
ORcp2_219
double ORcp2_219
Definition mbs_sensor_ArmarIII_simplified_virt.h:1271
ORcp1_120
double ORcp1_120
Definition mbs_sensor_ArmarIII_simplified_virt.h:764
JTcp0_157_30
double JTcp0_157_30
Definition mbs_sensor_ArmarIII_simplified_virt.h:437
ROcp0_513
double ROcp0_513
Definition mbs_sensor_ArmarIII_simplified_virt.h:122
ROcp2_446
double ROcp2_446
Definition mbs_sensor_ArmarIII_simplified_virt.h:1187
ROcp0_328
double ROcp0_328
Definition mbs_sensor_ArmarIII_simplified_virt.h:183
ROcp0_929
double ROcp0_929
Definition mbs_sensor_ArmarIII_simplified_virt.h:192
ROcp1_95
double ROcp1_95
Definition mbs_sensor_ArmarIII_simplified_virt.h:491
ROcp2_941
double ROcp2_941
Definition mbs_sensor_ArmarIII_simplified_virt.h:1168
OMcp2_149
double OMcp2_149
Definition mbs_sensor_ArmarIII_simplified_virt.h:1357
ROcp1_415
double ROcp1_415
Definition mbs_sensor_ArmarIII_simplified_virt.h:537
RLcp2_312
double RLcp2_312
Definition mbs_sensor_ArmarIII_simplified_virt.h:1251
ROcp2_550
double ROcp2_550
Definition mbs_sensor_ArmarIII_simplified_virt.h:1206
ROcp1_620
double ROcp1_620
Definition mbs_sensor_ArmarIII_simplified_virt.h:554
ROcp0_322
double ROcp0_322
Definition mbs_sensor_ArmarIII_simplified_virt.h:165
ROcp2_837
double ROcp2_837
Definition mbs_sensor_ArmarIII_simplified_virt.h:1143
RLcp2_28
double RLcp2_28
Definition mbs_sensor_ArmarIII_simplified_virt.h:1244
JTcp1_152_29
double JTcp1_152_29
Definition mbs_sensor_ArmarIII_simplified_virt.h:913
JTcp0_157_34
double JTcp0_157_34
Definition mbs_sensor_ArmarIII_simplified_virt.h:449
ROcp0_138
double ROcp0_138
Definition mbs_sensor_ArmarIII_simplified_virt.h:241
ROcp1_417
double ROcp1_417
Definition mbs_sensor_ArmarIII_simplified_virt.h:543
JTcp0_257_20
double JTcp0_257_20
Definition mbs_sensor_ArmarIII_simplified_virt.h:417
ROcp0_218
double ROcp0_218
Definition mbs_sensor_ArmarIII_simplified_virt.h:146
JTcp2_354_6
double JTcp2_354_6
Definition mbs_sensor_ArmarIII_simplified_virt.h:1394
ROcp1_47
double ROcp1_47
Definition mbs_sensor_ArmarIII_simplified_virt.h:498
ROcp1_630
double ROcp1_630
Definition mbs_sensor_ArmarIII_simplified_virt.h:599
JTcp0_257_4
double JTcp0_257_4
Definition mbs_sensor_ArmarIII_simplified_virt.h:381
ROcp1_831
double ROcp1_831
Definition mbs_sensor_ArmarIII_simplified_virt.h:604
ROcp2_751
double ROcp2_751
Definition mbs_sensor_ArmarIII_simplified_virt.h:1214
JTcp0_157_25
double JTcp0_157_25
Definition mbs_sensor_ArmarIII_simplified_virt.h:425
C4
double C4
Definition mbs_sensor_ArmarIII_simplified_virt.h:3
RLcp1_145
double RLcp1_145
Definition mbs_sensor_ArmarIII_simplified_virt.h:818
ROcp2_910
double ROcp2_910
Definition mbs_sensor_ArmarIII_simplified_virt.h:1018
ROcp1_541
double ROcp1_541
Definition mbs_sensor_ArmarIII_simplified_virt.h:661
ROcp1_551
double ROcp1_551
Definition mbs_sensor_ArmarIII_simplified_virt.h:709
ORcp2_242
double ORcp2_242
Definition mbs_sensor_ArmarIII_simplified_virt.h:1325
OMcp0_343
double OMcp0_343
Definition mbs_sensor_ArmarIII_simplified_virt.h:371
OMcp0_320
double OMcp0_320
Definition mbs_sensor_ArmarIII_simplified_virt.h:320
JTcp0_157_18
double JTcp0_157_18
Definition mbs_sensor_ArmarIII_simplified_virt.h:413
ORcp1_324
double ORcp1_324
Definition mbs_sensor_ArmarIII_simplified_virt.h:787
ROcp0_629
double ROcp0_629
Definition mbs_sensor_ArmarIII_simplified_virt.h:189
ORcp1_247
double ORcp1_247
Definition mbs_sensor_ArmarIII_simplified_virt.h:834
ROcp2_128
double ROcp2_128
Definition mbs_sensor_ArmarIII_simplified_virt.h:1085
RLcp0_242
double RLcp0_242
Definition mbs_sensor_ArmarIII_simplified_virt.h:364
ROcp2_913
double ROcp2_913
Definition mbs_sensor_ArmarIII_simplified_virt.h:1030
C27
double C27
Definition mbs_sensor_ArmarIII_simplified_virt.h:35
JTcp2_254_30
double JTcp2_254_30
Definition mbs_sensor_ArmarIII_simplified_virt.h:1444
RLcp1_126
double RLcp1_126
Definition mbs_sensor_ArmarIII_simplified_virt.h:788
ROcp0_111
double ROcp0_111
Definition mbs_sensor_ArmarIII_simplified_virt.h:115
OPcp0_240
double OPcp0_240
Definition mbs_sensor_ArmarIII_simplified_virt.h:361
C41
double C41
Definition mbs_sensor_ArmarIII_simplified_virt.h:63
ROcp1_411
double ROcp1_411
Definition mbs_sensor_ArmarIII_simplified_virt.h:519
ROcp2_530
double ROcp2_530
Definition mbs_sensor_ArmarIII_simplified_virt.h:1101
ROcp0_540
double ROcp0_540
Definition mbs_sensor_ArmarIII_simplified_virt.h:257
JTcp1_152_31
double JTcp1_152_31
Definition mbs_sensor_ArmarIII_simplified_virt.h:919
ROcp1_638
double ROcp1_638
Definition mbs_sensor_ArmarIII_simplified_virt.h:647
JTcp0_357_31
double JTcp0_357_31
Definition mbs_sensor_ArmarIII_simplified_virt.h:442
S33
double S33
Definition mbs_sensor_ArmarIII_simplified_virt.h:48
RLcp1_351
double RLcp1_351
Definition mbs_sensor_ArmarIII_simplified_virt.h:850
ROcp2_951
double ROcp2_951
Definition mbs_sensor_ArmarIII_simplified_virt.h:1216
C50
double C50
Definition mbs_sensor_ArmarIII_simplified_virt.h:77
OPcp1_353
double OPcp1_353
Definition mbs_sensor_ArmarIII_simplified_virt.h:990
ROcp2_736
double ROcp2_736
Definition mbs_sensor_ArmarIII_simplified_virt.h:1136
RLcp2_323
double RLcp2_323
Definition mbs_sensor_ArmarIII_simplified_virt.h:1293
ORcp0_18
double ORcp0_18
Definition mbs_sensor_ArmarIII_simplified_virt.h:288
C20
double C20
Definition mbs_sensor_ArmarIII_simplified_virt.h:27
ROcp1_536
double ROcp1_536
Definition mbs_sensor_ArmarIII_simplified_virt.h:631
ROcp2_841
double ROcp2_841
Definition mbs_sensor_ArmarIII_simplified_virt.h:1167
ROcp2_153
double ROcp2_153
Definition mbs_sensor_ArmarIII_simplified_virt.h:1217
OMcp0_25
double OMcp0_25
Definition mbs_sensor_ArmarIII_simplified_virt.h:277
C29
double C29
Definition mbs_sensor_ArmarIII_simplified_virt.h:39
ROcp2_318
double ROcp2_318
Definition mbs_sensor_ArmarIII_simplified_virt.h:1051
ROcp2_411
double ROcp2_411
Definition mbs_sensor_ArmarIII_simplified_virt.h:1022
OPcp1_122
double OPcp1_122
Definition mbs_sensor_ArmarIII_simplified_virt.h:773
JTcp1_152_25
double JTcp1_152_25
Definition mbs_sensor_ArmarIII_simplified_virt.h:904
RLcp1_251
double RLcp1_251
Definition mbs_sensor_ArmarIII_simplified_virt.h:849
ROcp1_550
double ROcp1_550
Definition mbs_sensor_ArmarIII_simplified_virt.h:703
ROcp2_842
double ROcp2_842
Definition mbs_sensor_ArmarIII_simplified_virt.h:1173
ORcp0_123
double ORcp0_123
Definition mbs_sensor_ArmarIII_simplified_virt.h:336
ORcp0_212
double ORcp0_212
Definition mbs_sensor_ArmarIII_simplified_virt.h:295
ROcp0_330
double ROcp0_330
Definition mbs_sensor_ArmarIII_simplified_virt.h:195
OMcp1_118
double OMcp1_118
Definition mbs_sensor_ArmarIII_simplified_virt.h:746
S32
double S32
Definition mbs_sensor_ArmarIII_simplified_virt.h:46
ROcp0_737
double ROcp0_737
Definition mbs_sensor_ArmarIII_simplified_virt.h:238
OPcp1_243
double OPcp1_243
Definition mbs_sensor_ArmarIII_simplified_virt.h:816
OMcp1_330
double OMcp1_330
Definition mbs_sensor_ArmarIII_simplified_virt.h:796
ROcp0_630
double ROcp0_630
Definition mbs_sensor_ArmarIII_simplified_virt.h:198
OPcp2_153
double OPcp2_153
Definition mbs_sensor_ArmarIII_simplified_virt.h:1378
C49
double C49
Definition mbs_sensor_ArmarIII_simplified_virt.h:75
RLcp1_28
double RLcp1_28
Definition mbs_sensor_ArmarIII_simplified_virt.h:729
RLcp2_246
double RLcp2_246
Definition mbs_sensor_ArmarIII_simplified_virt.h:1340
ROcp0_333
double ROcp0_333
Definition mbs_sensor_ArmarIII_simplified_virt.h:213
ORcp2_145
double ORcp2_145
Definition mbs_sensor_ArmarIII_simplified_virt.h:1336
ROcp2_211
double ROcp2_211
Definition mbs_sensor_ArmarIII_simplified_virt.h:1020
ROcp2_746
double ROcp2_746
Definition mbs_sensor_ArmarIII_simplified_virt.h:1190
ROcp2_944
double ROcp2_944
Definition mbs_sensor_ArmarIII_simplified_virt.h:1186
ROcp2_355
double ROcp2_355
Definition mbs_sensor_ArmarIII_simplified_virt.h:1225
OPcp2_218
double OPcp2_218
Definition mbs_sensor_ArmarIII_simplified_virt.h:1265
OMcp2_121
double OMcp2_121
Definition mbs_sensor_ArmarIII_simplified_virt.h:1282
ROcp1_334
double ROcp1_334
Definition mbs_sensor_ArmarIII_simplified_virt.h:620
ORcp1_126
double ORcp1_126
Definition mbs_sensor_ArmarIII_simplified_virt.h:791
ROcp2_210
double ROcp2_210
Definition mbs_sensor_ArmarIII_simplified_virt.h:1014
JTcp2_354_49
double JTcp2_354_49
Definition mbs_sensor_ArmarIII_simplified_virt.h:1496
OMcp2_26
double OMcp2_26
Definition mbs_sensor_ArmarIII_simplified_virt.h:1238
ROcp0_315
double ROcp0_315
Definition mbs_sensor_ArmarIII_simplified_virt.h:135
ORcp2_251
double ORcp2_251
Definition mbs_sensor_ArmarIII_simplified_virt.h:1367
JTcp0_257_43
double JTcp0_257_43
Definition mbs_sensor_ArmarIII_simplified_virt.h:477
JTcp0_257_14
double JTcp0_257_14
Definition mbs_sensor_ArmarIII_simplified_virt.h:405
ROcp2_710
double ROcp2_710
Definition mbs_sensor_ArmarIII_simplified_virt.h:1016
JTcp0_357_6
double JTcp0_357_6
Definition mbs_sensor_ArmarIII_simplified_virt.h:388
OPcp1_322
double OPcp1_322
Definition mbs_sensor_ArmarIII_simplified_virt.h:775
ROcp2_538
double ROcp2_538
Definition mbs_sensor_ArmarIII_simplified_virt.h:1149
OMcp0_26
double OMcp0_26
Definition mbs_sensor_ArmarIII_simplified_virt.h:280
ROcp2_650
double ROcp2_650
Definition mbs_sensor_ArmarIII_simplified_virt.h:1207
RLcp1_212
double RLcp1_212
Definition mbs_sensor_ArmarIII_simplified_virt.h:735
ROcp2_240
double ROcp2_240
Definition mbs_sensor_ArmarIII_simplified_virt.h:1158
ROcp2_453
double ROcp2_453
Definition mbs_sensor_ArmarIII_simplified_virt.h:1220
ROcp1_530
double ROcp1_530
Definition mbs_sensor_ArmarIII_simplified_virt.h:598
ROcp2_543
double ROcp2_543
Definition mbs_sensor_ArmarIII_simplified_virt.h:1179
OPcp2_349
double OPcp2_349
Definition mbs_sensor_ArmarIII_simplified_virt.h:1362
OMcp0_118
double OMcp0_118
Definition mbs_sensor_ArmarIII_simplified_virt.h:303
JTcp0_257_33
double JTcp0_257_33
Definition mbs_sensor_ArmarIII_simplified_virt.h:447
ROcp2_16
double ROcp2_16
Definition mbs_sensor_ArmarIII_simplified_virt.h:995
ROcp1_235
double ROcp1_235
Definition mbs_sensor_ArmarIII_simplified_virt.h:625
ROcp1_143
double ROcp1_143
Definition mbs_sensor_ArmarIII_simplified_virt.h:672
ROcp2_317
double ROcp2_317
Definition mbs_sensor_ArmarIII_simplified_virt.h:1045
ROcp2_618
double ROcp2_618
Definition mbs_sensor_ArmarIII_simplified_virt.h:1054
ROcp2_439
double ROcp2_439
Definition mbs_sensor_ArmarIII_simplified_virt.h:1151
ROcp2_430
double ROcp2_430
Definition mbs_sensor_ArmarIII_simplified_virt.h:1100
ROcp1_532
double ROcp1_532
Definition mbs_sensor_ArmarIII_simplified_virt.h:607
ROcp2_611
double ROcp2_611
Definition mbs_sensor_ArmarIII_simplified_virt.h:1024
JTcp0_357_17
double JTcp0_357_17
Definition mbs_sensor_ArmarIII_simplified_virt.h:412
ROcp1_539
double ROcp1_539
Definition mbs_sensor_ArmarIII_simplified_virt.h:649
ROcp2_217
double ROcp2_217
Definition mbs_sensor_ArmarIII_simplified_virt.h:1044
OMcp2_340
double OMcp2_340
Definition mbs_sensor_ArmarIII_simplified_virt.h:1317
ROcp0_827
double ROcp0_827
Definition mbs_sensor_ArmarIII_simplified_virt.h:179
RLcp1_342
double RLcp1_342
Definition mbs_sensor_ArmarIII_simplified_virt.h:808
ROcp1_215
double ROcp1_215
Definition mbs_sensor_ArmarIII_simplified_virt.h:535
OMcp0_218
double OMcp0_218
Definition mbs_sensor_ArmarIII_simplified_virt.h:304
ROcp2_732
double ROcp2_732
Definition mbs_sensor_ArmarIII_simplified_virt.h:1112
RLcp1_326
double RLcp1_326
Definition mbs_sensor_ArmarIII_simplified_virt.h:790
ROcp0_343
double ROcp0_343
Definition mbs_sensor_ArmarIII_simplified_virt.h:273
ROcp0_627
double ROcp0_627
Definition mbs_sensor_ArmarIII_simplified_virt.h:177
RLcp2_252
double RLcp2_252
Definition mbs_sensor_ArmarIII_simplified_virt.h:1370
S20
double S20
Definition mbs_sensor_ArmarIII_simplified_virt.h:28
ORcp2_124
double ORcp2_124
Definition mbs_sensor_ArmarIII_simplified_virt.h:1300
ROcp2_218
double ROcp2_218
Definition mbs_sensor_ArmarIII_simplified_virt.h:1050
ROcp2_727
double ROcp2_727
Definition mbs_sensor_ArmarIII_simplified_virt.h:1082
ROcp2_330
double ROcp2_330
Definition mbs_sensor_ArmarIII_simplified_virt.h:1099
ORcp0_323
double ORcp0_323
Definition mbs_sensor_ArmarIII_simplified_virt.h:338
OPcp1_26
double OPcp1_26
Definition mbs_sensor_ArmarIII_simplified_virt.h:726
JTcp0_157_17
double JTcp0_157_17
Definition mbs_sensor_ArmarIII_simplified_virt.h:410
Dz233
double Dz233
Definition mbs_sensor_ArmarIII_simplified_virt.h:1
S22
double S22
Definition mbs_sensor_ArmarIII_simplified_virt.h:32
ROcp0_515
double ROcp0_515
Definition mbs_sensor_ArmarIII_simplified_virt.h:137
ROcp0_742
double ROcp0_742
Definition mbs_sensor_ArmarIII_simplified_virt.h:268
JTcp1_152_9
double JTcp1_152_9
Definition mbs_sensor_ArmarIII_simplified_virt.h:871
C7
double C7
Definition mbs_sensor_ArmarIII_simplified_virt.h:9
OMcp1_230
double OMcp1_230
Definition mbs_sensor_ArmarIII_simplified_virt.h:795
JTcp0_157_32
double JTcp0_157_32
Definition mbs_sensor_ArmarIII_simplified_virt.h:443
ROcp0_133
double ROcp0_133
Definition mbs_sensor_ArmarIII_simplified_virt.h:211
ORcp1_38
double ORcp1_38
Definition mbs_sensor_ArmarIII_simplified_virt.h:733
OPcp2_353
double OPcp2_353
Definition mbs_sensor_ArmarIII_simplified_virt.h:1380
JTcp1_152_36
double JTcp1_152_36
Definition mbs_sensor_ArmarIII_simplified_virt.h:934
ROcp2_629
double ROcp2_629
Definition mbs_sensor_ArmarIII_simplified_virt.h:1093
ORcp0_257
double ORcp0_257
Definition mbs_sensor_ArmarIII_simplified_virt.h:480
ROcp0_115
double ROcp0_115
Definition mbs_sensor_ArmarIII_simplified_virt.h:133
S21
double S21
Definition mbs_sensor_ArmarIII_simplified_virt.h:30
OPcp2_343
double OPcp2_343
Definition mbs_sensor_ArmarIII_simplified_virt.h:1332
OMcp2_122
double OMcp2_122
Definition mbs_sensor_ArmarIII_simplified_virt.h:1285
ROcp0_517
double ROcp0_517
Definition mbs_sensor_ArmarIII_simplified_virt.h:143
ROcp0_95
double ROcp0_95
Definition mbs_sensor_ArmarIII_simplified_virt.h:90
JTcp0_257_21
double JTcp0_257_21
Definition mbs_sensor_ArmarIII_simplified_virt.h:420
ROcp1_135
double ROcp1_135
Definition mbs_sensor_ArmarIII_simplified_virt.h:624
VIcp0_357
double VIcp0_357
Definition mbs_sensor_ArmarIII_simplified_virt.h:484
RLcp2_320
double RLcp2_320
Definition mbs_sensor_ArmarIII_simplified_virt.h:1275
S40
double S40
Definition mbs_sensor_ArmarIII_simplified_virt.h:62
JTcp0_357_18
double JTcp0_357_18
Definition mbs_sensor_ArmarIII_simplified_virt.h:415
JTcp1_252_29
double JTcp1_252_29
Definition mbs_sensor_ArmarIII_simplified_virt.h:914
JTcp1_352_44
double JTcp1_352_44
Definition mbs_sensor_ArmarIII_simplified_virt.h:960
JTcp2_354_4
double JTcp2_354_4
Definition mbs_sensor_ArmarIII_simplified_virt.h:1388
JTcp0_157_42
double JTcp0_157_42
Definition mbs_sensor_ArmarIII_simplified_virt.h:473
ROcp1_317
double ROcp1_317
Definition mbs_sensor_ArmarIII_simplified_virt.h:542
ROcp1_36
double ROcp1_36
Definition mbs_sensor_ArmarIII_simplified_virt.h:494
ROcp1_249
double ROcp1_249
Definition mbs_sensor_ArmarIII_simplified_virt.h:697
S5
double S5
Definition mbs_sensor_ArmarIII_simplified_virt.h:6
ROcp2_542
double ROcp2_542
Definition mbs_sensor_ArmarIII_simplified_virt.h:1170
JTcp0_157_14
double JTcp0_157_14
Definition mbs_sensor_ArmarIII_simplified_virt.h:404
S53
double S53
Definition mbs_sensor_ArmarIII_simplified_virt.h:82
JTcp2_354_5
double JTcp2_354_5
Definition mbs_sensor_ArmarIII_simplified_virt.h:1391
ROcp2_528
double ROcp2_528
Definition mbs_sensor_ArmarIII_simplified_virt.h:1089
ROcp1_237
double ROcp1_237
Definition mbs_sensor_ArmarIII_simplified_virt.h:637
ROcp2_46
double ROcp2_46
Definition mbs_sensor_ArmarIII_simplified_virt.h:998
S25
double S25
Definition mbs_sensor_ArmarIII_simplified_virt.h:34
ROcp2_620
double ROcp2_620
Definition mbs_sensor_ArmarIII_simplified_virt.h:1057
ROcp0_79
double ROcp0_79
Definition mbs_sensor_ArmarIII_simplified_virt.h:106
JTcp1_252_50
double JTcp1_252_50
Definition mbs_sensor_ArmarIII_simplified_virt.h:971
RLcp2_120
double RLcp2_120
Definition mbs_sensor_ArmarIII_simplified_virt.h:1273
RLcp0_157
double RLcp0_157
Definition mbs_sensor_ArmarIII_simplified_virt.h:375
JTcp1_252_9
double JTcp1_252_9
Definition mbs_sensor_ArmarIII_simplified_virt.h:872
ORcp2_216
double ORcp2_216
Definition mbs_sensor_ArmarIII_simplified_virt.h:1259
S37
double S37
Definition mbs_sensor_ArmarIII_simplified_virt.h:56
ROcp2_137
double ROcp2_137
Definition mbs_sensor_ArmarIII_simplified_virt.h:1139
ROcp1_641
double ROcp1_641
Definition mbs_sensor_ArmarIII_simplified_virt.h:662
C37
double C37
Definition mbs_sensor_ArmarIII_simplified_virt.h:55
ROcp2_449
double ROcp2_449
Definition mbs_sensor_ArmarIII_simplified_virt.h:1202
RLcp2_226
double RLcp2_226
Definition mbs_sensor_ArmarIII_simplified_virt.h:1304
RLcp0_116
double RLcp0_116
Definition mbs_sensor_ArmarIII_simplified_virt.h:297
OMcp1_249
double OMcp1_249
Definition mbs_sensor_ArmarIII_simplified_virt.h:843
JTcp1_152_38
double JTcp1_152_38
Definition mbs_sensor_ArmarIII_simplified_virt.h:940
OMcp2_240
double OMcp2_240
Definition mbs_sensor_ArmarIII_simplified_virt.h:1316
JTcp1_252_27
double JTcp1_252_27
Definition mbs_sensor_ArmarIII_simplified_virt.h:908
ROcp2_343
double ROcp2_343
Definition mbs_sensor_ArmarIII_simplified_virt.h:1177
RLcp0_357
double RLcp0_357
Definition mbs_sensor_ArmarIII_simplified_virt.h:377
ROcp0_59
double ROcp0_59
Definition mbs_sensor_ArmarIII_simplified_virt.h:104
ROcp1_727
double ROcp1_727
Definition mbs_sensor_ArmarIII_simplified_virt.h:579
ROcp2_133
double ROcp2_133
Definition mbs_sensor_ArmarIII_simplified_virt.h:1115
ROcp1_130
double ROcp1_130
Definition mbs_sensor_ArmarIII_simplified_virt.h:594
JTcp0_257_15
double JTcp0_257_15
Definition mbs_sensor_ArmarIII_simplified_virt.h:408
ORcp1_226
double ORcp1_226
Definition mbs_sensor_ArmarIII_simplified_virt.h:792
JTcp1_352_27
double JTcp1_352_27
Definition mbs_sensor_ArmarIII_simplified_virt.h:909
JTcp0_357_37
double JTcp0_357_37
Definition mbs_sensor_ArmarIII_simplified_virt.h:460
C51
double C51
Definition mbs_sensor_ArmarIII_simplified_virt.h:79
ROcp2_99
double ROcp2_99
Definition mbs_sensor_ArmarIII_simplified_virt.h:1012
ROcp0_511
double ROcp0_511
Definition mbs_sensor_ArmarIII_simplified_virt.h:119
ROcp2_539
double ROcp2_539
Definition mbs_sensor_ArmarIII_simplified_virt.h:1152
ROcp1_440
double ROcp1_440
Definition mbs_sensor_ArmarIII_simplified_virt.h:657
ROcp1_851
double ROcp1_851
Definition mbs_sensor_ArmarIII_simplified_virt.h:712
ORcp1_316
double ORcp1_316
Definition mbs_sensor_ArmarIII_simplified_virt.h:745
RLcp0_320
double RLcp0_320
Definition mbs_sensor_ArmarIII_simplified_virt.h:317
ROcp0_310
double ROcp0_310
Definition mbs_sensor_ArmarIII_simplified_virt.h:111
ROcp2_114
double ROcp2_114
Definition mbs_sensor_ArmarIII_simplified_virt.h:1031
ROcp1_240
double ROcp1_240
Definition mbs_sensor_ArmarIII_simplified_virt.h:655
ROcp1_731
double ROcp1_731
Definition mbs_sensor_ArmarIII_simplified_virt.h:603
OMcp0_120
double OMcp0_120
Definition mbs_sensor_ArmarIII_simplified_virt.h:318
ROcp2_428
double ROcp2_428
Definition mbs_sensor_ArmarIII_simplified_virt.h:1088
JTcp0_357_36
double JTcp0_357_36
Definition mbs_sensor_ArmarIII_simplified_virt.h:457
ROcp0_235
double ROcp0_235
Definition mbs_sensor_ArmarIII_simplified_virt.h:224
ROcp1_846
double ROcp1_846
Definition mbs_sensor_ArmarIII_simplified_virt.h:688
S48
double S48
Definition mbs_sensor_ArmarIII_simplified_virt.h:74
ROcp1_128
double ROcp1_128
Definition mbs_sensor_ArmarIII_simplified_virt.h:582
ORcp0_242
double ORcp0_242
Definition mbs_sensor_ArmarIII_simplified_virt.h:367
JTcp0_257_32
double JTcp0_257_32
Definition mbs_sensor_ArmarIII_simplified_virt.h:444
JTcp0_157_29
double JTcp0_157_29
Definition mbs_sensor_ArmarIII_simplified_virt.h:434
RLcp2_346
double RLcp2_346
Definition mbs_sensor_ArmarIII_simplified_virt.h:1341
ROcp2_814
double ROcp2_814
Definition mbs_sensor_ArmarIII_simplified_virt.h:1035
ORcp2_245
double ORcp2_245
Definition mbs_sensor_ArmarIII_simplified_virt.h:1337
ROcp1_535
double ROcp1_535
Definition mbs_sensor_ArmarIII_simplified_virt.h:628
JTcp1_252_41
double JTcp1_252_41
Definition mbs_sensor_ArmarIII_simplified_virt.h:950
ROcp1_821
double ROcp1_821
Definition mbs_sensor_ArmarIII_simplified_virt.h:562
ROcp1_827
double ROcp1_827
Definition mbs_sensor_ArmarIII_simplified_virt.h:580
OPcp2_118
double OPcp2_118
Definition mbs_sensor_ArmarIII_simplified_virt.h:1264
OMcp1_320
double OMcp1_320
Definition mbs_sensor_ArmarIII_simplified_virt.h:763
OMcp2_355
double OMcp2_355
Definition mbs_sensor_ArmarIII_simplified_virt.h:1517
ROcp0_237
double ROcp0_237
Definition mbs_sensor_ArmarIII_simplified_virt.h:236
ROcp0_617
double ROcp0_617
Definition mbs_sensor_ArmarIII_simplified_virt.h:144
ROcp2_731
double ROcp2_731
Definition mbs_sensor_ArmarIII_simplified_virt.h:1106
ROcp2_518
double ROcp2_518
Definition mbs_sensor_ArmarIII_simplified_virt.h:1053
S38
double S38
Definition mbs_sensor_ArmarIII_simplified_virt.h:58
JTcp0_357_30
double JTcp0_357_30
Definition mbs_sensor_ArmarIII_simplified_virt.h:439
JTcp1_352_29
double JTcp1_352_29
Definition mbs_sensor_ArmarIII_simplified_virt.h:915
ROcp2_630
double ROcp2_630
Definition mbs_sensor_ArmarIII_simplified_virt.h:1102
ROcp2_748
double ROcp2_748
Definition mbs_sensor_ArmarIII_simplified_virt.h:1196
JTcp0_157_36
double JTcp0_157_36
Definition mbs_sensor_ArmarIII_simplified_virt.h:455
OMcp1_343
double OMcp1_343
Definition mbs_sensor_ArmarIII_simplified_virt.h:814
ROcp2_79
double ROcp2_79
Definition mbs_sensor_ArmarIII_simplified_virt.h:1010
ROcp1_640
double ROcp1_640
Definition mbs_sensor_ArmarIII_simplified_virt.h:659
ROcp0_49
double ROcp0_49
Definition mbs_sensor_ArmarIII_simplified_virt.h:103
ROcp1_234
double ROcp1_234
Definition mbs_sensor_ArmarIII_simplified_virt.h:619
ROcp2_649
double ROcp2_649
Definition mbs_sensor_ArmarIII_simplified_virt.h:1204
ROcp1_618
double ROcp1_618
Definition mbs_sensor_ArmarIII_simplified_virt.h:551
ROcp0_47
double ROcp0_47
Definition mbs_sensor_ArmarIII_simplified_virt.h:97
ORcp1_212
double ORcp1_212
Definition mbs_sensor_ArmarIII_simplified_virt.h:738
ROcp0_238
double ROcp0_238
Definition mbs_sensor_ArmarIII_simplified_virt.h:242
ROcp0_114
double ROcp0_114
Definition mbs_sensor_ArmarIII_simplified_virt.h:127
ORcp0_324
double ORcp0_324
Definition mbs_sensor_ArmarIII_simplified_virt.h:344
ROcp1_839
double ROcp1_839
Definition mbs_sensor_ArmarIII_simplified_virt.h:652
ROcp1_646
double ROcp1_646
Definition mbs_sensor_ArmarIII_simplified_virt.h:686
ROcp1_611
double ROcp1_611
Definition mbs_sensor_ArmarIII_simplified_virt.h:521
ROcp0_425
double ROcp0_425
Definition mbs_sensor_ArmarIII_simplified_virt.h:172
VIcp2_154
double VIcp2_154
Definition mbs_sensor_ArmarIII_simplified_virt.h:1509
RLcp1_151
double RLcp1_151
Definition mbs_sensor_ArmarIII_simplified_virt.h:848
RLcp1_247
double RLcp1_247
Definition mbs_sensor_ArmarIII_simplified_virt.h:831
ROcp0_67
double ROcp0_67
Definition mbs_sensor_ArmarIII_simplified_virt.h:99
ORcp0_320
double ORcp0_320
Definition mbs_sensor_ArmarIII_simplified_virt.h:323
ORcp2_346
double ORcp2_346
Definition mbs_sensor_ArmarIII_simplified_virt.h:1344
ROcp1_26
double ROcp1_26
Definition mbs_sensor_ArmarIII_simplified_virt.h:493
ROcp2_653
double ROcp2_653
Definition mbs_sensor_ArmarIII_simplified_virt.h:1222
JTcp1_152_30
double JTcp1_152_30
Definition mbs_sensor_ArmarIII_simplified_virt.h:916
ROcp0_428
double ROcp0_428
Definition mbs_sensor_ArmarIII_simplified_virt.h:184
OMcp2_235
double OMcp2_235
Definition mbs_sensor_ArmarIII_simplified_virt.h:1313
JTcp1_152_20
double JTcp1_152_20
Definition mbs_sensor_ArmarIII_simplified_virt.h:895
ROcp0_314
double ROcp0_314
Definition mbs_sensor_ArmarIII_simplified_virt.h:129
ROcp0_729
double ROcp0_729
Definition mbs_sensor_ArmarIII_simplified_virt.h:190
ORcp2_152
double ORcp2_152
Definition mbs_sensor_ArmarIII_simplified_virt.h:1372
JTcp0_157_37
double JTcp0_157_37
Definition mbs_sensor_ArmarIII_simplified_virt.h:458
ROcp0_836
double ROcp0_836
Definition mbs_sensor_ArmarIII_simplified_virt.h:233
ROcp2_314
double ROcp2_314
Definition mbs_sensor_ArmarIII_simplified_virt.h:1033
RLcp2_147
double RLcp2_147
Definition mbs_sensor_ArmarIII_simplified_virt.h:1345
RLcp2_245
double RLcp2_245
Definition mbs_sensor_ArmarIII_simplified_virt.h:1334
JTcp1_352_31
double JTcp1_352_31
Definition mbs_sensor_ArmarIII_simplified_virt.h:921
ROcp1_729
double ROcp1_729
Definition mbs_sensor_ArmarIII_simplified_virt.h:591
JTcp2_354_21
double JTcp2_354_21
Definition mbs_sensor_ArmarIII_simplified_virt.h:1427
ROcp0_527
double ROcp0_527
Definition mbs_sensor_ArmarIII_simplified_virt.h:176
ROcp0_117
double ROcp0_117
Definition mbs_sensor_ArmarIII_simplified_virt.h:139
ROcp2_441
double ROcp2_441
Definition mbs_sensor_ArmarIII_simplified_virt.h:1163
JTcp1_152_18
double JTcp1_152_18
Definition mbs_sensor_ArmarIII_simplified_virt.h:892
JTcp1_352_13
double JTcp1_352_13
Definition mbs_sensor_ArmarIII_simplified_virt.h:882
ROcp2_549
double ROcp2_549
Definition mbs_sensor_ArmarIII_simplified_virt.h:1203
OMcp0_321
double OMcp0_321
Definition mbs_sensor_ArmarIII_simplified_virt.h:326
ROcp1_140
double ROcp1_140
Definition mbs_sensor_ArmarIII_simplified_virt.h:654
S10
double S10
Definition mbs_sensor_ArmarIII_simplified_virt.h:14
ROcp2_955
double ROcp2_955
Definition mbs_sensor_ArmarIII_simplified_virt.h:1228
JTcp1_152_34
double JTcp1_152_34
Definition mbs_sensor_ArmarIII_simplified_virt.h:928
RLcp0_18
double RLcp0_18
Definition mbs_sensor_ArmarIII_simplified_virt.h:285
JTcp1_352_21
double JTcp1_352_21
Definition mbs_sensor_ArmarIII_simplified_virt.h:900
ORcp2_120
double ORcp2_120
Definition mbs_sensor_ArmarIII_simplified_virt.h:1279
OMcp2_140
double OMcp2_140
Definition mbs_sensor_ArmarIII_simplified_virt.h:1315
ROcp1_540
double ROcp1_540
Definition mbs_sensor_ArmarIII_simplified_virt.h:658
ROcp0_210
double ROcp0_210
Definition mbs_sensor_ArmarIII_simplified_virt.h:110
ORcp1_352
double ORcp1_352
Definition mbs_sensor_ArmarIII_simplified_virt.h:978
JTcp2_154_22
double JTcp2_154_22
Definition mbs_sensor_ArmarIII_simplified_virt.h:1428
ROcp2_89
double ROcp2_89
Definition mbs_sensor_ArmarIII_simplified_virt.h:1011
RLcp0_226
double RLcp0_226
Definition mbs_sensor_ArmarIII_simplified_virt.h:346
ORcp2_151
double ORcp2_151
Definition mbs_sensor_ArmarIII_simplified_virt.h:1366
ROcp1_87
double ROcp1_87
Definition mbs_sensor_ArmarIII_simplified_virt.h:502
ROcp0_720
double ROcp0_720
Definition mbs_sensor_ArmarIII_simplified_virt.h:154
JTcp0_257_11
double JTcp0_257_11
Definition mbs_sensor_ArmarIII_simplified_virt.h:399
ROcp1_750
double ROcp1_750
Definition mbs_sensor_ArmarIII_simplified_virt.h:705
ROcp1_946
double ROcp1_946
Definition mbs_sensor_ArmarIII_simplified_virt.h:689
JTcp1_352_43
double JTcp1_352_43
Definition mbs_sensor_ArmarIII_simplified_virt.h:957
OMcp0_220
double OMcp0_220
Definition mbs_sensor_ArmarIII_simplified_virt.h:319
RLcp1_124
double RLcp1_124
Definition mbs_sensor_ArmarIII_simplified_virt.h:782
C15
double C15
Definition mbs_sensor_ArmarIII_simplified_virt.h:21
S27
double S27
Definition mbs_sensor_ArmarIII_simplified_virt.h:36
ROcp1_850
double ROcp1_850
Definition mbs_sensor_ArmarIII_simplified_virt.h:706
C10
double C10
Definition mbs_sensor_ArmarIII_simplified_virt.h:13
OMcp1_120
double OMcp1_120
Definition mbs_sensor_ArmarIII_simplified_virt.h:761
ORcp0_116
double ORcp0_116
Definition mbs_sensor_ArmarIII_simplified_virt.h:300
JTcp1_252_18
double JTcp1_252_18
Definition mbs_sensor_ArmarIII_simplified_virt.h:893
ORcp1_151
double ORcp1_151
Definition mbs_sensor_ArmarIII_simplified_virt.h:851
C22
double C22
Definition mbs_sensor_ArmarIII_simplified_virt.h:31
JTcp1_352_37
double JTcp1_352_37
Definition mbs_sensor_ArmarIII_simplified_virt.h:939
ROcp0_941
double ROcp0_941
Definition mbs_sensor_ArmarIII_simplified_virt.h:264
JTcp1_352_18
double JTcp1_352_18
Definition mbs_sensor_ArmarIII_simplified_virt.h:894
ROcp1_931
double ROcp1_931
Definition mbs_sensor_ArmarIII_simplified_virt.h:605
OMcp1_36
double OMcp1_36
Definition mbs_sensor_ArmarIII_simplified_virt.h:724
ROcp2_920
double ROcp2_920
Definition mbs_sensor_ArmarIII_simplified_virt.h:1060
ROcp2_438
double ROcp2_438
Definition mbs_sensor_ArmarIII_simplified_virt.h:1148
C30
double C30
Definition mbs_sensor_ArmarIII_simplified_virt.h:41
OMcp0_36
double OMcp0_36
Definition mbs_sensor_ArmarIII_simplified_virt.h:281
ROcp0_137
double ROcp0_137
Definition mbs_sensor_ArmarIII_simplified_virt.h:235
ROcp2_233
double ROcp2_233
Definition mbs_sensor_ArmarIII_simplified_virt.h:1116
ORcp2_326
double ORcp2_326
Definition mbs_sensor_ArmarIII_simplified_virt.h:1308
ORcp1_348
double ORcp1_348
Definition mbs_sensor_ArmarIII_simplified_virt.h:841
ROcp0_520
double ROcp0_520
Definition mbs_sensor_ArmarIII_simplified_virt.h:152
ROcp1_427
double ROcp1_427
Definition mbs_sensor_ArmarIII_simplified_virt.h:576
ROcp1_436
double ROcp1_436
Definition mbs_sensor_ArmarIII_simplified_virt.h:630
S29
double S29
Definition mbs_sensor_ArmarIII_simplified_virt.h:40
OPcp2_356
double OPcp2_356
Definition mbs_sensor_ArmarIII_simplified_virt.h:1523
RLcp2_242
double RLcp2_242
Definition mbs_sensor_ArmarIII_simplified_virt.h:1322
ROcp1_649
double ROcp1_649
Definition mbs_sensor_ArmarIII_simplified_virt.h:701
OMcp1_143
double OMcp1_143
Definition mbs_sensor_ArmarIII_simplified_virt.h:812
JTcp0_357_5
double JTcp0_357_5
Definition mbs_sensor_ArmarIII_simplified_virt.h:385
RLcp1_324
double RLcp1_324
Definition mbs_sensor_ArmarIII_simplified_virt.h:784
JTcp1_352_30
double JTcp1_352_30
Definition mbs_sensor_ArmarIII_simplified_virt.h:918
ROcp2_429
double ROcp2_429
Definition mbs_sensor_ArmarIII_simplified_virt.h:1091
ROcp1_748
double ROcp1_748
Definition mbs_sensor_ArmarIII_simplified_virt.h:693
JTcp2_254_21
double JTcp2_254_21
Definition mbs_sensor_ArmarIII_simplified_virt.h:1426
JTcp2_354_18
double JTcp2_354_18
Definition mbs_sensor_ArmarIII_simplified_virt.h:1421
JTcp1_252_28
double JTcp1_252_28
Definition mbs_sensor_ArmarIII_simplified_virt.h:911
ROcp2_931
double ROcp2_931
Definition mbs_sensor_ArmarIII_simplified_virt.h:1108
S15
double S15
Definition mbs_sensor_ArmarIII_simplified_virt.h:22
JTcp2_254_18
double JTcp2_254_18
Definition mbs_sensor_ArmarIII_simplified_virt.h:1420
JTcp0_157_43
double JTcp0_157_43
Definition mbs_sensor_ArmarIII_simplified_virt.h:476
ORcp1_246
double ORcp1_246
Definition mbs_sensor_ArmarIII_simplified_virt.h:828
ROcp1_413
double ROcp1_413
Definition mbs_sensor_ArmarIII_simplified_virt.h:522
ROcp2_443
double ROcp2_443
Definition mbs_sensor_ArmarIII_simplified_virt.h:1178
ROcp1_333
double ROcp1_333
Definition mbs_sensor_ArmarIII_simplified_virt.h:614
ORcp1_312
double ORcp1_312
Definition mbs_sensor_ArmarIII_simplified_virt.h:739
JTcp0_357_10
double JTcp0_357_10
Definition mbs_sensor_ArmarIII_simplified_virt.h:397
JTcp0_257_10
double JTcp0_257_10
Definition mbs_sensor_ArmarIII_simplified_virt.h:396
ROcp1_428
double ROcp1_428
Definition mbs_sensor_ArmarIII_simplified_virt.h:585
ROcp2_821
double ROcp2_821
Definition mbs_sensor_ArmarIII_simplified_virt.h:1065
JTcp1_252_20
double JTcp1_252_20
Definition mbs_sensor_ArmarIII_simplified_virt.h:896
OMcp2_218
double OMcp2_218
Definition mbs_sensor_ArmarIII_simplified_virt.h:1262
ORcp0_120
double ORcp0_120
Definition mbs_sensor_ArmarIII_simplified_virt.h:321
ROcp1_910
double ROcp1_910
Definition mbs_sensor_ArmarIII_simplified_virt.h:515
ROcp0_26
double ROcp0_26
Definition mbs_sensor_ArmarIII_simplified_virt.h:92
OMcp2_130
double OMcp2_130
Definition mbs_sensor_ArmarIII_simplified_virt.h:1309
C44
double C44
Definition mbs_sensor_ArmarIII_simplified_virt.h:69
RLcp0_316
double RLcp0_316
Definition mbs_sensor_ArmarIII_simplified_virt.h:299
ROcp1_721
double ROcp1_721
Definition mbs_sensor_ArmarIII_simplified_virt.h:561
ROcp1_117
double ROcp1_117
Definition mbs_sensor_ArmarIII_simplified_virt.h:540
ORcp1_220
double ORcp1_220
Definition mbs_sensor_ArmarIII_simplified_virt.h:765
ROcp1_328
double ROcp1_328
Definition mbs_sensor_ArmarIII_simplified_virt.h:584
ORcp2_154
double ORcp2_154
Definition mbs_sensor_ArmarIII_simplified_virt.h:1506
ROcp2_517
double ROcp2_517
Definition mbs_sensor_ArmarIII_simplified_virt.h:1047
ROcp0_529
double ROcp0_529
Definition mbs_sensor_ArmarIII_simplified_virt.h:188
ROcp2_627
double ROcp2_627
Definition mbs_sensor_ArmarIII_simplified_virt.h:1081
ROcp2_415
double ROcp2_415
Definition mbs_sensor_ArmarIII_simplified_virt.h:1040
ORcp2_323
double ORcp2_323
Definition mbs_sensor_ArmarIII_simplified_virt.h:1296
RLcp1_226
double RLcp1_226
Definition mbs_sensor_ArmarIII_simplified_virt.h:789
VIcp1_252
double VIcp1_252
Definition mbs_sensor_ArmarIII_simplified_virt.h:980
ROcp2_850
double ROcp2_850
Definition mbs_sensor_ArmarIII_simplified_virt.h:1209
ROcp2_440
double ROcp2_440
Definition mbs_sensor_ArmarIII_simplified_virt.h:1160
ROcp1_57
double ROcp1_57
Definition mbs_sensor_ArmarIII_simplified_virt.h:499
ORcp2_18
double ORcp2_18
Definition mbs_sensor_ArmarIII_simplified_virt.h:1246
ORcp2_252
double ORcp2_252
Definition mbs_sensor_ArmarIII_simplified_virt.h:1373
ROcp1_932
double ROcp1_932
Definition mbs_sensor_ArmarIII_simplified_virt.h:611
ROcp0_625
double ROcp0_625
Definition mbs_sensor_ArmarIII_simplified_virt.h:174
ROcp1_133
double ROcp1_133
Definition mbs_sensor_ArmarIII_simplified_virt.h:612
JTcp1_252_22
double JTcp1_252_22
Definition mbs_sensor_ArmarIII_simplified_virt.h:902
S49
double S49
Definition mbs_sensor_ArmarIII_simplified_virt.h:76
RLcp1_146
double RLcp1_146
Definition mbs_sensor_ArmarIII_simplified_virt.h:824
S9
double S9
Definition mbs_sensor_ArmarIII_simplified_virt.h:12
ROcp2_551
double ROcp2_551
Definition mbs_sensor_ArmarIII_simplified_virt.h:1212
C6
double C6
Definition mbs_sensor_ArmarIII_simplified_virt.h:7
ROcp1_933
double ROcp1_933
Definition mbs_sensor_ArmarIII_simplified_virt.h:617
JTcp0_257_41
double JTcp0_257_41
Definition mbs_sensor_ArmarIII_simplified_virt.h:471
OMcp2_349
double OMcp2_349
Definition mbs_sensor_ArmarIII_simplified_virt.h:1359
S28
double S28
Definition mbs_sensor_ArmarIII_simplified_virt.h:38
ROcp1_936
double ROcp1_936
Definition mbs_sensor_ArmarIII_simplified_virt.h:635
ROcp0_411
double ROcp0_411
Definition mbs_sensor_ArmarIII_simplified_virt.h:118
ROcp0_713
double ROcp0_713
Definition mbs_sensor_ArmarIII_simplified_virt.h:124
ROcp2_553
double ROcp2_553
Definition mbs_sensor_ArmarIII_simplified_virt.h:1221
ROcp1_118
double ROcp1_118
Definition mbs_sensor_ArmarIII_simplified_virt.h:546
RLcp0_326
double RLcp0_326
Definition mbs_sensor_ArmarIII_simplified_virt.h:347
JTcp0_257_29
double JTcp0_257_29
Definition mbs_sensor_ArmarIII_simplified_virt.h:435
RLcp2_154
double RLcp2_154
Definition mbs_sensor_ArmarIII_simplified_virt.h:1381
ROcp1_230
double ROcp1_230
Definition mbs_sensor_ArmarIII_simplified_virt.h:595
S51
double S51
Definition mbs_sensor_ArmarIII_simplified_virt.h:80
ROcp0_810
double ROcp0_810
Definition mbs_sensor_ArmarIII_simplified_virt.h:113
ORcp0_226
double ORcp0_226
Definition mbs_sensor_ArmarIII_simplified_virt.h:349
JTcp1_152_6
double JTcp1_152_6
Definition mbs_sensor_ArmarIII_simplified_virt.h:865
ORcp2_223
double ORcp2_223
Definition mbs_sensor_ArmarIII_simplified_virt.h:1295
OPcp0_318
double OPcp0_318
Definition mbs_sensor_ArmarIII_simplified_virt.h:308
ROcp0_321
double ROcp0_321
Definition mbs_sensor_ArmarIII_simplified_virt.h:159
OMcp2_249
double OMcp2_249
Definition mbs_sensor_ArmarIII_simplified_virt.h:1358
ROcp2_111
double ROcp2_111
Definition mbs_sensor_ArmarIII_simplified_virt.h:1019
JTcp1_252_30
double JTcp1_252_30
Definition mbs_sensor_ArmarIII_simplified_virt.h:917
C34
double C34
Definition mbs_sensor_ArmarIII_simplified_virt.h:49
ROcp1_318
double ROcp1_318
Definition mbs_sensor_ArmarIII_simplified_virt.h:548
S50
double S50
Definition mbs_sensor_ArmarIII_simplified_virt.h:78
ROcp0_431
double ROcp0_431
Definition mbs_sensor_ArmarIII_simplified_virt.h:199
ROcp1_79
double ROcp1_79
Definition mbs_sensor_ArmarIII_simplified_virt.h:507
ROcp1_115
double ROcp1_115
Definition mbs_sensor_ArmarIII_simplified_virt.h:534
OPcp2_256
double OPcp2_256
Definition mbs_sensor_ArmarIII_simplified_virt.h:1522
JTcp1_152_15
double JTcp1_152_15
Definition mbs_sensor_ArmarIII_simplified_virt.h:886
ROcp0_36
double ROcp0_36
Definition mbs_sensor_ArmarIII_simplified_virt.h:93
ROcp1_844
double ROcp1_844
Definition mbs_sensor_ArmarIII_simplified_virt.h:682
OPcp2_249
double OPcp2_249
Definition mbs_sensor_ArmarIII_simplified_virt.h:1361
ROcp1_546
double ROcp1_546
Definition mbs_sensor_ArmarIII_simplified_virt.h:685
ROcp2_36
double ROcp2_36
Definition mbs_sensor_ArmarIII_simplified_virt.h:997
ROcp1_56
double ROcp1_56
Definition mbs_sensor_ArmarIII_simplified_virt.h:496
ROcp0_337
double ROcp0_337
Definition mbs_sensor_ArmarIII_simplified_virt.h:237
ORcp1_252
double ORcp1_252
Definition mbs_sensor_ArmarIII_simplified_virt.h:977
ROcp1_217
double ROcp1_217
Definition mbs_sensor_ArmarIII_simplified_virt.h:541
ROcp1_944
double ROcp1_944
Definition mbs_sensor_ArmarIII_simplified_virt.h:683
JTcp0_257_35
double JTcp0_257_35
Definition mbs_sensor_ArmarIII_simplified_virt.h:453
ROcp0_140
double ROcp0_140
Definition mbs_sensor_ArmarIII_simplified_virt.h:253
JTcp1_352_48
double JTcp1_352_48
Definition mbs_sensor_ArmarIII_simplified_virt.h:966
POcp1_352
double POcp1_352
Definition mbs_sensor_ArmarIII_simplified_virt.h:859
JTcp1_152_41
double JTcp1_152_41
Definition mbs_sensor_ArmarIII_simplified_virt.h:949
RLcp2_224
double RLcp2_224
Definition mbs_sensor_ArmarIII_simplified_virt.h:1298
ROcp1_542
double ROcp1_542
Definition mbs_sensor_ArmarIII_simplified_virt.h:667
ACcp2_354
double ACcp2_354
Definition mbs_sensor_ArmarIII_simplified_virt.h:1514
ORcp0_319
double ORcp0_319
Definition mbs_sensor_ArmarIII_simplified_virt.h:314
JTcp0_257_6
double JTcp0_257_6
Definition mbs_sensor_ArmarIII_simplified_virt.h:387
ROcp2_541
double ROcp2_541
Definition mbs_sensor_ArmarIII_simplified_virt.h:1164
ROcp1_644
double ROcp1_644
Definition mbs_sensor_ArmarIII_simplified_virt.h:680
ROcp2_836
double ROcp2_836
Definition mbs_sensor_ArmarIII_simplified_virt.h:1137
ROcp1_939
double ROcp1_939
Definition mbs_sensor_ArmarIII_simplified_virt.h:653
ROcp1_238
double ROcp1_238
Definition mbs_sensor_ArmarIII_simplified_virt.h:643
RLcp2_126
double RLcp2_126
Definition mbs_sensor_ArmarIII_simplified_virt.h:1303
ROcp1_114
double ROcp1_114
Definition mbs_sensor_ArmarIII_simplified_virt.h:528
ROcp0_639
double ROcp0_639
Definition mbs_sensor_ArmarIII_simplified_virt.h:249
ORcp1_216
double ORcp1_216
Definition mbs_sensor_ArmarIII_simplified_virt.h:744
JTcp1_352_39
double JTcp1_352_39
Definition mbs_sensor_ArmarIII_simplified_virt.h:945
JTcp1_252_35
double JTcp1_252_35
Definition mbs_sensor_ArmarIII_simplified_virt.h:932
POcp1_152
double POcp1_152
Definition mbs_sensor_ArmarIII_simplified_virt.h:857
ROcp0_217
double ROcp0_217
Definition mbs_sensor_ArmarIII_simplified_virt.h:140
ROcp1_122
double ROcp1_122
Definition mbs_sensor_ArmarIII_simplified_virt.h:564
ORcp2_354
double ORcp2_354
Definition mbs_sensor_ArmarIII_simplified_virt.h:1508
ROcp1_739
double ROcp1_739
Definition mbs_sensor_ArmarIII_simplified_virt.h:651
RLcp2_352
double RLcp2_352
Definition mbs_sensor_ArmarIII_simplified_virt.h:1371
ROcp0_340
double ROcp0_340
Definition mbs_sensor_ArmarIII_simplified_virt.h:255
RLcp2_247
double RLcp2_247
Definition mbs_sensor_ArmarIII_simplified_virt.h:1346
ACcp1_252
double ACcp1_252
Definition mbs_sensor_ArmarIII_simplified_virt.h:983
JTcp0_357_15
double JTcp0_357_15
Definition mbs_sensor_ArmarIII_simplified_virt.h:409
ROcp2_729
double ROcp2_729
Definition mbs_sensor_ArmarIII_simplified_virt.h:1094
ROcp1_243
double ROcp1_243
Definition mbs_sensor_ArmarIII_simplified_virt.h:673
ROcp1_343
double ROcp1_343
Definition mbs_sensor_ArmarIII_simplified_virt.h:674
ROcp2_134
double ROcp2_134
Definition mbs_sensor_ArmarIII_simplified_virt.h:1121
JTcp2_154_35
double JTcp2_154_35
Definition mbs_sensor_ArmarIII_simplified_virt.h:1458
JTcp0_257_17
double JTcp0_257_17
Definition mbs_sensor_ArmarIII_simplified_virt.h:411
ROcp1_431
double ROcp1_431
Definition mbs_sensor_ArmarIII_simplified_virt.h:600
JTcp0_357_9
double JTcp0_357_9
Definition mbs_sensor_ArmarIII_simplified_virt.h:394
OMcp2_253
double OMcp2_253
Definition mbs_sensor_ArmarIII_simplified_virt.h:1376
ROcp1_59
double ROcp1_59
Definition mbs_sensor_ArmarIII_simplified_virt.h:505
ROcp1_418
double ROcp1_418
Definition mbs_sensor_ArmarIII_simplified_virt.h:549
ROcp1_425
double ROcp1_425
Definition mbs_sensor_ArmarIII_simplified_virt.h:573
ROcp2_848
double ROcp2_848
Definition mbs_sensor_ArmarIII_simplified_virt.h:1197
ROcp0_435
double ROcp0_435
Definition mbs_sensor_ArmarIII_simplified_virt.h:226
POcp2_154
double POcp2_154
Definition mbs_sensor_ArmarIII_simplified_virt.h:1384
ROcp1_353
double ROcp1_353
Definition mbs_sensor_ArmarIII_simplified_virt.h:716
ROcp1_629
double ROcp1_629
Definition mbs_sensor_ArmarIII_simplified_virt.h:590
ROcp0_118
double ROcp0_118
Definition mbs_sensor_ArmarIII_simplified_virt.h:145
ROcp2_839
double ROcp2_839
Definition mbs_sensor_ArmarIII_simplified_virt.h:1155
ROcp1_937
double ROcp1_937
Definition mbs_sensor_ArmarIII_simplified_virt.h:641
ROcp2_656
double ROcp2_656
Definition mbs_sensor_ArmarIII_simplified_virt.h:1234
ROcp2_641
double ROcp2_641
Definition mbs_sensor_ArmarIII_simplified_virt.h:1165
ROcp2_546
double ROcp2_546
Definition mbs_sensor_ArmarIII_simplified_virt.h:1188
JTcp1_252_37
double JTcp1_252_37
Definition mbs_sensor_ArmarIII_simplified_virt.h:938
ORcp2_142
double ORcp2_142
Definition mbs_sensor_ArmarIII_simplified_virt.h:1324
JTcp1_352_11
double JTcp1_352_11
Definition mbs_sensor_ArmarIII_simplified_virt.h:879
ROcp0_914
double ROcp0_914
Definition mbs_sensor_ArmarIII_simplified_virt.h:132
ROcp1_429
double ROcp1_429
Definition mbs_sensor_ArmarIII_simplified_virt.h:588
ROcp0_122
double ROcp0_122
Definition mbs_sensor_ArmarIII_simplified_virt.h:163
OMcp2_243
double OMcp2_243
Definition mbs_sensor_ArmarIII_simplified_virt.h:1328
OMcp2_330
double OMcp2_330
Definition mbs_sensor_ArmarIII_simplified_virt.h:1311
ROcp1_653
double ROcp1_653
Definition mbs_sensor_ArmarIII_simplified_virt.h:719
JTcp1_152_40
double JTcp1_152_40
Definition mbs_sensor_ArmarIII_simplified_virt.h:946
OMcp0_221
double OMcp0_221
Definition mbs_sensor_ArmarIII_simplified_virt.h:325
ROcp1_921
double ROcp1_921
Definition mbs_sensor_ArmarIII_simplified_virt.h:563
OPcp0_140
double OPcp0_140
Definition mbs_sensor_ArmarIII_simplified_virt.h:360
ORcp0_223
double ORcp0_223
Definition mbs_sensor_ArmarIII_simplified_virt.h:337
ROcp2_334
double ROcp2_334
Definition mbs_sensor_ArmarIII_simplified_virt.h:1123
ROcp1_813
double ROcp1_813
Definition mbs_sensor_ArmarIII_simplified_virt.h:526
ROcp1_233
double ROcp1_233
Definition mbs_sensor_ArmarIII_simplified_virt.h:613
RLcp2_123
double RLcp2_123
Definition mbs_sensor_ArmarIII_simplified_virt.h:1291
ORcp2_324
double ORcp2_324
Definition mbs_sensor_ArmarIII_simplified_virt.h:1302
JTcp0_357_25
double JTcp0_357_25
Definition mbs_sensor_ArmarIII_simplified_virt.h:427
S34
double S34
Definition mbs_sensor_ArmarIII_simplified_virt.h:50
ROcp1_66
double ROcp1_66
Definition mbs_sensor_ArmarIII_simplified_virt.h:497
ROcp0_214
double ROcp0_214
Definition mbs_sensor_ArmarIII_simplified_virt.h:128
JTcp1_252_7
double JTcp1_252_7
Definition mbs_sensor_ArmarIII_simplified_virt.h:869
ROcp2_417
double ROcp2_417
Definition mbs_sensor_ArmarIII_simplified_virt.h:1046
ROcp1_538
double ROcp1_538
Definition mbs_sensor_ArmarIII_simplified_virt.h:646
ORcp1_147
double ORcp1_147
Definition mbs_sensor_ArmarIII_simplified_virt.h:833
ROcp1_511
double ROcp1_511
Definition mbs_sensor_ArmarIII_simplified_virt.h:520
JTcp1_252_46
double JTcp1_252_46
Definition mbs_sensor_ArmarIII_simplified_virt.h:962
JTcp0_157_11
double JTcp0_157_11
Definition mbs_sensor_ArmarIII_simplified_virt.h:398
ROcp2_634
double ROcp2_634
Definition mbs_sensor_ArmarIII_simplified_virt.h:1126
ROcp2_85
double ROcp2_85
Definition mbs_sensor_ArmarIII_simplified_virt.h:993
ROcp0_221
double ROcp0_221
Definition mbs_sensor_ArmarIII_simplified_virt.h:158
JTcp2_354_30
double JTcp2_354_30
Definition mbs_sensor_ArmarIII_simplified_virt.h:1445
JTcp0_157_39
double JTcp0_157_39
Definition mbs_sensor_ArmarIII_simplified_virt.h:464
RLcp2_251
double RLcp2_251
Definition mbs_sensor_ArmarIII_simplified_virt.h:1364
JTcp0_257_42
double JTcp0_257_42
Definition mbs_sensor_ArmarIII_simplified_virt.h:474
ROcp1_432
double ROcp1_432
Definition mbs_sensor_ArmarIII_simplified_virt.h:606
ROcp2_933
double ROcp2_933
Definition mbs_sensor_ArmarIII_simplified_virt.h:1120
ROcp0_66
double ROcp0_66
Definition mbs_sensor_ArmarIII_simplified_virt.h:96
ROcp2_125
double ROcp2_125
Definition mbs_sensor_ArmarIII_simplified_virt.h:1073
JTcp1_352_22
double JTcp1_352_22
Definition mbs_sensor_ArmarIII_simplified_virt.h:903
ROcp1_836
double ROcp1_836
Definition mbs_sensor_ArmarIII_simplified_virt.h:634
OMcp0_318
double OMcp0_318
Definition mbs_sensor_ArmarIII_simplified_virt.h:305
ROcp2_249
double ROcp2_249
Definition mbs_sensor_ArmarIII_simplified_virt.h:1200
ROcp1_138
double ROcp1_138
Definition mbs_sensor_ArmarIII_simplified_virt.h:642
OMcp0_340
double OMcp0_340
Definition mbs_sensor_ArmarIII_simplified_virt.h:359
OMcp0_16
double OMcp0_16
Definition mbs_sensor_ArmarIII_simplified_virt.h:279
JTcp0_257_18
double JTcp0_257_18
Definition mbs_sensor_ArmarIII_simplified_virt.h:414
OMcp1_253
double OMcp1_253
Definition mbs_sensor_ArmarIII_simplified_virt.h:986
JTcp1_152_7
double JTcp1_152_7
Definition mbs_sensor_ArmarIII_simplified_virt.h:868
JTcp0_157_10
double JTcp0_157_10
Definition mbs_sensor_ArmarIII_simplified_virt.h:395
OMcp1_121
double OMcp1_121
Definition mbs_sensor_ArmarIII_simplified_virt.h:767
S13
double S13
Definition mbs_sensor_ArmarIII_simplified_virt.h:18
JTcp0_357_21
double JTcp0_357_21
Definition mbs_sensor_ArmarIII_simplified_virt.h:421
ROcp2_436
double ROcp2_436
Definition mbs_sensor_ArmarIII_simplified_virt.h:1133
ROcp1_710
double ROcp1_710
Definition mbs_sensor_ArmarIII_simplified_virt.h:513
OMcp2_220
double OMcp2_220
Definition mbs_sensor_ArmarIII_simplified_virt.h:1277
ROcp1_528
double ROcp1_528
Definition mbs_sensor_ArmarIII_simplified_virt.h:586
ROcp2_456
double ROcp2_456
Definition mbs_sensor_ArmarIII_simplified_virt.h:1232
ROcp0_731
double ROcp0_731
Definition mbs_sensor_ArmarIII_simplified_virt.h:202
JTcp1_352_49
double JTcp1_352_49
Definition mbs_sensor_ArmarIII_simplified_virt.h:969
ROcp0_936
double ROcp0_936
Definition mbs_sensor_ArmarIII_simplified_virt.h:234
ORcp2_116
double ORcp2_116
Definition mbs_sensor_ArmarIII_simplified_virt.h:1258
JTcp0_257_37
double JTcp0_257_37
Definition mbs_sensor_ArmarIII_simplified_virt.h:459
OPcp0_340
double OPcp0_340
Definition mbs_sensor_ArmarIII_simplified_virt.h:362
ROcp0_942
double ROcp0_942
Definition mbs_sensor_ArmarIII_simplified_virt.h:270
JTcp1_252_42
double JTcp1_252_42
Definition mbs_sensor_ArmarIII_simplified_virt.h:953
ROcp0_228
double ROcp0_228
Definition mbs_sensor_ArmarIII_simplified_virt.h:182
JTcp2_354_40
double JTcp2_354_40
Definition mbs_sensor_ArmarIII_simplified_virt.h:1475
ROcp0_77
double ROcp0_77
Definition mbs_sensor_ArmarIII_simplified_virt.h:100
JTcp2_254_49
double JTcp2_254_49
Definition mbs_sensor_ArmarIII_simplified_virt.h:1495
ROcp1_543
double ROcp1_543
Definition mbs_sensor_ArmarIII_simplified_virt.h:676
ROcp0_87
double ROcp0_87
Definition mbs_sensor_ArmarIII_simplified_virt.h:101
OMcp2_143
double OMcp2_143
Definition mbs_sensor_ArmarIII_simplified_virt.h:1327
ROcp2_646
double ROcp2_646
Definition mbs_sensor_ArmarIII_simplified_virt.h:1189
RLcp0_119
double RLcp0_119
Definition mbs_sensor_ArmarIII_simplified_virt.h:309
JTcp0_257_36
double JTcp0_257_36
Definition mbs_sensor_ArmarIII_simplified_virt.h:456
RLcp1_316
double RLcp1_316
Definition mbs_sensor_ArmarIII_simplified_virt.h:742
ROcp0_240
double ROcp0_240
Definition mbs_sensor_ArmarIII_simplified_virt.h:254
JTcp2_154_49
double JTcp2_154_49
Definition mbs_sensor_ArmarIII_simplified_virt.h:1494
JTcp1_152_42
double JTcp1_152_42
Definition mbs_sensor_ArmarIII_simplified_virt.h:952
JTcp0_357_7
double JTcp0_357_7
Definition mbs_sensor_ArmarIII_simplified_virt.h:391
ORcp2_119
double ORcp2_119
Definition mbs_sensor_ArmarIII_simplified_virt.h:1270
RLcp0_219
double RLcp0_219
Definition mbs_sensor_ArmarIII_simplified_virt.h:310
ROcp0_438
double ROcp0_438
Definition mbs_sensor_ArmarIII_simplified_virt.h:244
ROcp2_56
double ROcp2_56
Definition mbs_sensor_ArmarIII_simplified_virt.h:999
ROcp2_59
double ROcp2_59
Definition mbs_sensor_ArmarIII_simplified_virt.h:1008
RLcp1_220
double RLcp1_220
Definition mbs_sensor_ArmarIII_simplified_virt.h:759
ORcp2_212
double ORcp2_212
Definition mbs_sensor_ArmarIII_simplified_virt.h:1253
ROcp1_325
double ROcp1_325
Definition mbs_sensor_ArmarIII_simplified_virt.h:572
JTcp2_354_53
double JTcp2_354_53
Definition mbs_sensor_ArmarIII_simplified_virt.h:1505
ROcp1_89
double ROcp1_89
Definition mbs_sensor_ArmarIII_simplified_virt.h:508
ROcp1_121
double ROcp1_121
Definition mbs_sensor_ArmarIII_simplified_virt.h:558
ROcp0_334
double ROcp0_334
Definition mbs_sensor_ArmarIII_simplified_virt.h:219
ROcp2_638
double ROcp2_638
Definition mbs_sensor_ArmarIII_simplified_virt.h:1150
ROcp1_314
double ROcp1_314
Definition mbs_sensor_ArmarIII_simplified_virt.h:530
JTcp0_257_28
double JTcp0_257_28
Definition mbs_sensor_ArmarIII_simplified_virt.h:432
JTcp2_254_40
double JTcp2_254_40
Definition mbs_sensor_ArmarIII_simplified_virt.h:1474
JTcp1_152_43
double JTcp1_152_43
Definition mbs_sensor_ArmarIII_simplified_virt.h:955
ROcp0_611
double ROcp0_611
Definition mbs_sensor_ArmarIII_simplified_virt.h:120
ROcp0_528
double ROcp0_528
Definition mbs_sensor_ArmarIII_simplified_virt.h:185
ROcp1_321
double ROcp1_321
Definition mbs_sensor_ArmarIII_simplified_virt.h:560
ROcp2_648
double ROcp2_648
Definition mbs_sensor_ArmarIII_simplified_virt.h:1195
JTcp2_154_30
double JTcp2_154_30
Definition mbs_sensor_ArmarIII_simplified_virt.h:1443
C13
double C13
Definition mbs_sensor_ArmarIII_simplified_virt.h:17
OMcp1_16
double OMcp1_16
Definition mbs_sensor_ArmarIII_simplified_virt.h:722
ROcp1_322
double ROcp1_322
Definition mbs_sensor_ArmarIII_simplified_virt.h:566
ROcp1_221
double ROcp1_221
Definition mbs_sensor_ArmarIII_simplified_virt.h:559
ROcp1_622
double ROcp1_622
Definition mbs_sensor_ArmarIII_simplified_virt.h:569
ORcp2_248
double ORcp2_248
Definition mbs_sensor_ArmarIII_simplified_virt.h:1355
OPcp2_318
double OPcp2_318
Definition mbs_sensor_ArmarIII_simplified_virt.h:1266
ROcp0_615
double ROcp0_615
Definition mbs_sensor_ArmarIII_simplified_virt.h:138
ROcp2_333
double ROcp2_333
Definition mbs_sensor_ArmarIII_simplified_virt.h:1117
ROcp0_130
double ROcp0_130
Definition mbs_sensor_ArmarIII_simplified_virt.h:193
ROcp1_443
double ROcp1_443
Definition mbs_sensor_ArmarIII_simplified_virt.h:675
JTcp2_254_4
double JTcp2_254_4
Definition mbs_sensor_ArmarIII_simplified_virt.h:1387
ORcp0_216
double ORcp0_216
Definition mbs_sensor_ArmarIII_simplified_virt.h:301
ROcp0_110
double ROcp0_110
Definition mbs_sensor_ArmarIII_simplified_virt.h:109
RLcp0_216
double RLcp0_216
Definition mbs_sensor_ArmarIII_simplified_virt.h:298
JTcp1_152_27
double JTcp1_152_27
Definition mbs_sensor_ArmarIII_simplified_virt.h:907
RLcp1_248
double RLcp1_248
Definition mbs_sensor_ArmarIII_simplified_virt.h:837
ROcp2_340
double ROcp2_340
Definition mbs_sensor_ArmarIII_simplified_virt.h:1159
ROcp0_418
double ROcp0_418
Definition mbs_sensor_ArmarIII_simplified_virt.h:148
ROcp0_636
double ROcp0_636
Definition mbs_sensor_ArmarIII_simplified_virt.h:231
JTcp0_257_22
double JTcp0_257_22
Definition mbs_sensor_ArmarIII_simplified_virt.h:423
RLcp2_124
double RLcp2_124
Definition mbs_sensor_ArmarIII_simplified_virt.h:1297
ORcp0_312
double ORcp0_312
Definition mbs_sensor_ArmarIII_simplified_virt.h:296
OPcp1_36
double OPcp1_36
Definition mbs_sensor_ArmarIII_simplified_virt.h:727
ORcp2_38
double ORcp2_38
Definition mbs_sensor_ArmarIII_simplified_virt.h:1248
ROcp1_617
double ROcp1_617
Definition mbs_sensor_ArmarIII_simplified_virt.h:545
ROcp2_813
double ROcp2_813
Definition mbs_sensor_ArmarIII_simplified_virt.h:1029
ROcp0_422
double ROcp0_422
Definition mbs_sensor_ArmarIII_simplified_virt.h:166
JTcp0_257_31
double JTcp0_257_31
Definition mbs_sensor_ArmarIII_simplified_virt.h:441
ROcp2_929
double ROcp2_929
Definition mbs_sensor_ArmarIII_simplified_virt.h:1096
ROcp0_933
double ROcp0_933
Definition mbs_sensor_ArmarIII_simplified_virt.h:216
ROcp1_137
double ROcp1_137
Definition mbs_sensor_ArmarIII_simplified_virt.h:636
ROcp2_820
double ROcp2_820
Definition mbs_sensor_ArmarIII_simplified_virt.h:1059
ORcp2_348
double ORcp2_348
Definition mbs_sensor_ArmarIII_simplified_virt.h:1356
RLcp2_254
double RLcp2_254
Definition mbs_sensor_ArmarIII_simplified_virt.h:1382
JTcp0_157_7
double JTcp0_157_7
Definition mbs_sensor_ArmarIII_simplified_virt.h:389
ROcp2_149
double ROcp2_149
Definition mbs_sensor_ArmarIII_simplified_virt.h:1199
ROcp2_115
double ROcp2_115
Definition mbs_sensor_ArmarIII_simplified_virt.h:1037
C17
double C17
Definition mbs_sensor_ArmarIII_simplified_virt.h:23
JTcp1_252_44
double JTcp1_252_44
Definition mbs_sensor_ArmarIII_simplified_virt.h:959
OMcp2_155
double OMcp2_155
Definition mbs_sensor_ArmarIII_simplified_virt.h:1515
JTcp1_352_14
double JTcp1_352_14
Definition mbs_sensor_ArmarIII_simplified_virt.h:885
RLcp2_116
double RLcp2_116
Definition mbs_sensor_ArmarIII_simplified_virt.h:1255
OPcp2_243
double OPcp2_243
Definition mbs_sensor_ArmarIII_simplified_virt.h:1331
ORcp0_157
double ORcp0_157
Definition mbs_sensor_ArmarIII_simplified_virt.h:479
ORcp2_312
double ORcp2_312
Definition mbs_sensor_ArmarIII_simplified_virt.h:1254
ORcp0_124
double ORcp0_124
Definition mbs_sensor_ArmarIII_simplified_virt.h:342
ROcp0_829
double ROcp0_829
Definition mbs_sensor_ArmarIII_simplified_virt.h:191
ORcp2_147
double ORcp2_147
Definition mbs_sensor_ArmarIII_simplified_virt.h:1348
ORcp0_342
double ORcp0_342
Definition mbs_sensor_ArmarIII_simplified_virt.h:368
ROcp1_613
double ROcp1_613
Definition mbs_sensor_ArmarIII_simplified_virt.h:524
JTcp0_257_25
double JTcp0_257_25
Definition mbs_sensor_ArmarIII_simplified_virt.h:426
ORcp1_248
double ORcp1_248
Definition mbs_sensor_ArmarIII_simplified_virt.h:840
JTcp2_354_22
double JTcp2_354_22
Definition mbs_sensor_ArmarIII_simplified_virt.h:1430
RLcp1_18
double RLcp1_18
Definition mbs_sensor_ArmarIII_simplified_virt.h:728
ROcp2_353
double ROcp2_353
Definition mbs_sensor_ArmarIII_simplified_virt.h:1219
ROcp2_118
double ROcp2_118
Definition mbs_sensor_ArmarIII_simplified_virt.h:1049
JTcp0_157_15
double JTcp0_157_15
Definition mbs_sensor_ArmarIII_simplified_virt.h:407
ROcp2_948
double ROcp2_948
Definition mbs_sensor_ArmarIII_simplified_virt.h:1198
C9
double C9
Definition mbs_sensor_ArmarIII_simplified_virt.h:11
ROcp2_744
double ROcp2_744
Definition mbs_sensor_ArmarIII_simplified_virt.h:1184
VIcp0_257
double VIcp0_257
Definition mbs_sensor_ArmarIII_simplified_virt.h:483
OMcp0_135
double OMcp0_135
Definition mbs_sensor_ArmarIII_simplified_virt.h:354
VIcp2_354
double VIcp2_354
Definition mbs_sensor_ArmarIII_simplified_virt.h:1511
ROcp2_110
double ROcp2_110
Definition mbs_sensor_ArmarIII_simplified_virt.h:1013
RLcp1_323
double RLcp1_323
Definition mbs_sensor_ArmarIII_simplified_virt.h:778
POcp2_354
double POcp2_354
Definition mbs_sensor_ArmarIII_simplified_virt.h:1386
RLcp2_342
double RLcp2_342
Definition mbs_sensor_ArmarIII_simplified_virt.h:1323
RLcp2_145
double RLcp2_145
Definition mbs_sensor_ArmarIII_simplified_virt.h:1333
OMcp2_356
double OMcp2_356
Definition mbs_sensor_ArmarIII_simplified_virt.h:1520
OMcp2_118
double OMcp2_118
Definition mbs_sensor_ArmarIII_simplified_virt.h:1261
ROcp2_635
double ROcp2_635
Definition mbs_sensor_ArmarIII_simplified_virt.h:1132
RLcp2_148
double RLcp2_148
Definition mbs_sensor_ArmarIII_simplified_virt.h:1351
ROcp0_640
double ROcp0_640
Definition mbs_sensor_ArmarIII_simplified_virt.h:258
JTcp1_352_5
double JTcp1_352_5
Definition mbs_sensor_ArmarIII_simplified_virt.h:864
RLcp0_223
double RLcp0_223
Definition mbs_sensor_ArmarIII_simplified_virt.h:334
ACcp0_357
double ACcp0_357
Definition mbs_sensor_ArmarIII_simplified_virt.h:487
ROcp2_532
double ROcp2_532
Definition mbs_sensor_ArmarIII_simplified_virt.h:1110
ROcp0_56
double ROcp0_56
Definition mbs_sensor_ArmarIII_simplified_virt.h:95
ROcp1_435
double ROcp1_435
Definition mbs_sensor_ArmarIII_simplified_virt.h:627
OPcp2_140
double OPcp2_140
Definition mbs_sensor_ArmarIII_simplified_virt.h:1318
OMcp2_255
double OMcp2_255
Definition mbs_sensor_ArmarIII_simplified_virt.h:1516
ROcp0_913
double ROcp0_913
Definition mbs_sensor_ArmarIII_simplified_virt.h:126
ROcp2_810
double ROcp2_810
Definition mbs_sensor_ArmarIII_simplified_virt.h:1017
JTcp1_252_25
double JTcp1_252_25
Definition mbs_sensor_ArmarIII_simplified_virt.h:905
ROcp0_143
double ROcp0_143
Definition mbs_sensor_ArmarIII_simplified_virt.h:271
OMcp1_322
double OMcp1_322
Definition mbs_sensor_ArmarIII_simplified_virt.h:772
ROcp0_531
double ROcp0_531
Definition mbs_sensor_ArmarIII_simplified_virt.h:200
ROcp0_937
double ROcp0_937
Definition mbs_sensor_ArmarIII_simplified_virt.h:240
ROcp2_222
double ROcp2_222
Definition mbs_sensor_ArmarIII_simplified_virt.h:1068
JTcp0_157_20
double JTcp0_157_20
Definition mbs_sensor_ArmarIII_simplified_virt.h:416
C11
double C11
Definition mbs_sensor_ArmarIII_simplified_virt.h:15
OMcp2_343
double OMcp2_343
Definition mbs_sensor_ArmarIII_simplified_virt.h:1329
JTcp1_352_7
double JTcp1_352_7
Definition mbs_sensor_ArmarIII_simplified_virt.h:870
ROcp1_650
double ROcp1_650
Definition mbs_sensor_ArmarIII_simplified_virt.h:704
ROcp1_211
double ROcp1_211
Definition mbs_sensor_ArmarIII_simplified_virt.h:517
ROcp2_939
double ROcp2_939
Definition mbs_sensor_ArmarIII_simplified_virt.h:1156
ORcp1_224
double ORcp1_224
Definition mbs_sensor_ArmarIII_simplified_virt.h:786
ROcp2_138
double ROcp2_138
Definition mbs_sensor_ArmarIII_simplified_virt.h:1145
JTcp1_252_31
double JTcp1_252_31
Definition mbs_sensor_ArmarIII_simplified_virt.h:920
ROcp0_939
double ROcp0_939
Definition mbs_sensor_ArmarIII_simplified_virt.h:252
OMcp2_321
double OMcp2_321
Definition mbs_sensor_ArmarIII_simplified_virt.h:1284
OPcp0_243
double OPcp0_243
Definition mbs_sensor_ArmarIII_simplified_virt.h:373
C43
double C43
Definition mbs_sensor_ArmarIII_simplified_virt.h:67
JTcp1_352_51
double JTcp1_352_51
Definition mbs_sensor_ArmarIII_simplified_virt.h:975
ROcp1_746
double ROcp1_746
Definition mbs_sensor_ArmarIII_simplified_virt.h:687
RLcp0_212
double RLcp0_212
Definition mbs_sensor_ArmarIII_simplified_virt.h:292
JTcp1_252_43
double JTcp1_252_43
Definition mbs_sensor_ArmarIII_simplified_virt.h:956
ROcp1_438
double ROcp1_438
Definition mbs_sensor_ArmarIII_simplified_virt.h:645
ROcp2_25
double ROcp2_25
Definition mbs_sensor_ArmarIII_simplified_virt.h:991
ROcp1_951
double ROcp1_951
Definition mbs_sensor_ArmarIII_simplified_virt.h:713
OPcp2_156
double OPcp2_156
Definition mbs_sensor_ArmarIII_simplified_virt.h:1521
ROcp0_233
double ROcp0_233
Definition mbs_sensor_ArmarIII_simplified_virt.h:212
OMcp1_149
double OMcp1_149
Definition mbs_sensor_ArmarIII_simplified_virt.h:842
JTcp1_352_50
double JTcp1_352_50
Definition mbs_sensor_ArmarIII_simplified_virt.h:972
ROcp2_617
double ROcp2_617
Definition mbs_sensor_ArmarIII_simplified_virt.h:1048
ROcp1_430
double ROcp1_430
Definition mbs_sensor_ArmarIII_simplified_virt.h:597
S6
double S6
Definition mbs_sensor_ArmarIII_simplified_virt.h:8
ROcp1_422
double ROcp1_422
Definition mbs_sensor_ArmarIII_simplified_virt.h:567
JTcp0_157_21
double JTcp0_157_21
Definition mbs_sensor_ArmarIII_simplified_virt.h:419
S11
double S11
Definition mbs_sensor_ArmarIII_simplified_virt.h:16
JTcp1_352_36
double JTcp1_352_36
Definition mbs_sensor_ArmarIII_simplified_virt.h:936
ORcp1_145
double ORcp1_145
Definition mbs_sensor_ArmarIII_simplified_virt.h:821
JTcp1_352_42
double JTcp1_352_42
Definition mbs_sensor_ArmarIII_simplified_virt.h:954
ACcp0_157
double ACcp0_157
Definition mbs_sensor_ArmarIII_simplified_virt.h:485
OPcp2_149
double OPcp2_149
Definition mbs_sensor_ArmarIII_simplified_virt.h:1360
JTcp1_352_10
double JTcp1_352_10
Definition mbs_sensor_ArmarIII_simplified_virt.h:876
ROcp2_536
double ROcp2_536
Definition mbs_sensor_ArmarIII_simplified_virt.h:1134
ROcp2_914
double ROcp2_914
Definition mbs_sensor_ArmarIII_simplified_virt.h:1036
ROcp0_413
double ROcp0_413
Definition mbs_sensor_ArmarIII_simplified_virt.h:121
JTcp0_257_9
double JTcp0_257_9
Definition mbs_sensor_ArmarIII_simplified_virt.h:393
JTcp2_154_53
double JTcp2_154_53
Definition mbs_sensor_ArmarIII_simplified_virt.h:1503
ROcp0_832
double ROcp0_832
Definition mbs_sensor_ArmarIII_simplified_virt.h:209
RLcp0_123
double RLcp0_123
Definition mbs_sensor_ArmarIII_simplified_virt.h:333
S30
double S30
Definition mbs_sensor_ArmarIII_simplified_virt.h:42
OMcp2_156
double OMcp2_156
Definition mbs_sensor_ArmarIII_simplified_virt.h:1518
ROcp2_422
double ROcp2_422
Definition mbs_sensor_ArmarIII_simplified_virt.h:1070
JTcp0_157_9
double JTcp0_157_9
Definition mbs_sensor_ArmarIII_simplified_virt.h:392
ROcp1_441
double ROcp1_441
Definition mbs_sensor_ArmarIII_simplified_virt.h:660
ROcp2_713
double ROcp2_713
Definition mbs_sensor_ArmarIII_simplified_virt.h:1028
JTcp1_252_17
double JTcp1_252_17
Definition mbs_sensor_ArmarIII_simplified_virt.h:890
JTcp1_152_39
double JTcp1_152_39
Definition mbs_sensor_ArmarIII_simplified_virt.h:943
ORcp1_223
double ORcp1_223
Definition mbs_sensor_ArmarIII_simplified_virt.h:780
JTcp0_357_27
double JTcp0_357_27
Definition mbs_sensor_ArmarIII_simplified_virt.h:430
ROcp2_418
double ROcp2_418
Definition mbs_sensor_ArmarIII_simplified_virt.h:1052
OMcp1_130
double OMcp1_130
Definition mbs_sensor_ArmarIII_simplified_virt.h:794
ORcp1_142
double ORcp1_142
Definition mbs_sensor_ArmarIII_simplified_virt.h:809
ORcp1_346
double ORcp1_346
Definition mbs_sensor_ArmarIII_simplified_virt.h:829
ROcp1_214
double ROcp1_214
Definition mbs_sensor_ArmarIII_simplified_virt.h:529
ROcp0_842
double ROcp0_842
Definition mbs_sensor_ArmarIII_simplified_virt.h:269
ROcp1_522
double ROcp1_522
Definition mbs_sensor_ArmarIII_simplified_virt.h:568
RLcp2_151
double RLcp2_151
Definition mbs_sensor_ArmarIII_simplified_virt.h:1363
S55
double S55
Definition mbs_sensor_ArmarIII_simplified_virt.h:84
ROcp0_741
double ROcp0_741
Definition mbs_sensor_ArmarIII_simplified_virt.h:262
C31
double C31
Definition mbs_sensor_ArmarIII_simplified_virt.h:43
ORcp1_320
double ORcp1_320
Definition mbs_sensor_ArmarIII_simplified_virt.h:766
ROcp2_413
double ROcp2_413
Definition mbs_sensor_ArmarIII_simplified_virt.h:1025
ROcp1_848
double ROcp1_848
Definition mbs_sensor_ArmarIII_simplified_virt.h:694
JTcp2_254_22
double JTcp2_254_22
Definition mbs_sensor_ArmarIII_simplified_virt.h:1429
ORcp0_224
double ORcp0_224
Definition mbs_sensor_ArmarIII_simplified_virt.h:343
JTcp2_254_20
double JTcp2_254_20
Definition mbs_sensor_ArmarIII_simplified_virt.h:1423
ROcp0_225
double ROcp0_225
Definition mbs_sensor_ArmarIII_simplified_virt.h:170
OPcp2_16
double OPcp2_16
Definition mbs_sensor_ArmarIII_simplified_virt.h:1240
RLcp2_142
double RLcp2_142
Definition mbs_sensor_ArmarIII_simplified_virt.h:1321
ROcp0_443
double ROcp0_443
Definition mbs_sensor_ArmarIII_simplified_virt.h:274
C46
double C46
Definition mbs_sensor_ArmarIII_simplified_virt.h:71
ROcp2_739
double ROcp2_739
Definition mbs_sensor_ArmarIII_simplified_virt.h:1154
RLcp1_352
double RLcp1_352
Definition mbs_sensor_ArmarIII_simplified_virt.h:856
ROcp1_713
double ROcp1_713
Definition mbs_sensor_ArmarIII_simplified_virt.h:525
JTcp0_157_13
double JTcp0_157_13
Definition mbs_sensor_ArmarIII_simplified_virt.h:401
ROcp2_77
double ROcp2_77
Definition mbs_sensor_ArmarIII_simplified_virt.h:1004
RLcp2_220
double RLcp2_220
Definition mbs_sensor_ArmarIII_simplified_virt.h:1274
ROcp1_628
double ROcp1_628
Definition mbs_sensor_ArmarIII_simplified_virt.h:587
ROcp2_255
double ROcp2_255
Definition mbs_sensor_ArmarIII_simplified_virt.h:1224
ORcp0_316
double ORcp0_316
Definition mbs_sensor_ArmarIII_simplified_virt.h:302
ROcp2_522
double ROcp2_522
Definition mbs_sensor_ArmarIII_simplified_virt.h:1071
ROcp0_430
double ROcp0_430
Definition mbs_sensor_ArmarIII_simplified_virt.h:196
S4
double S4
Definition mbs_sensor_ArmarIII_simplified_virt.h:4
ROcp2_234
double ROcp2_234
Definition mbs_sensor_ArmarIII_simplified_virt.h:1122
ROcp2_237
double ROcp2_237
Definition mbs_sensor_ArmarIII_simplified_virt.h:1140
RLcp1_112
double RLcp1_112
Definition mbs_sensor_ArmarIII_simplified_virt.h:734
ORcp1_319
double ORcp1_319
Definition mbs_sensor_ArmarIII_simplified_virt.h:757
OMcp1_318
double OMcp1_318
Definition mbs_sensor_ArmarIII_simplified_virt.h:748
ROcp2_936
double ROcp2_936
Definition mbs_sensor_ArmarIII_simplified_virt.h:1138
ROcp0_931
double ROcp0_931
Definition mbs_sensor_ArmarIII_simplified_virt.h:204
ROcp1_548
double ROcp1_548
Definition mbs_sensor_ArmarIII_simplified_virt.h:691
ROcp2_235
double ROcp2_235
Definition mbs_sensor_ArmarIII_simplified_virt.h:1128
OMcp2_36
double OMcp2_36
Definition mbs_sensor_ArmarIII_simplified_virt.h:1239
JTcp0_357_33
double JTcp0_357_33
Definition mbs_sensor_ArmarIII_simplified_virt.h:448
ORcp2_112
double ORcp2_112
Definition mbs_sensor_ArmarIII_simplified_virt.h:1252
ROcp1_635
double ROcp1_635
Definition mbs_sensor_ArmarIII_simplified_virt.h:629
ROcp1_520
double ROcp1_520
Definition mbs_sensor_ArmarIII_simplified_virt.h:553
ROcp0_97
double ROcp0_97
Definition mbs_sensor_ArmarIII_simplified_virt.h:102
OPcp0_16
double OPcp0_16
Definition mbs_sensor_ArmarIII_simplified_virt.h:282
JTcp0_357_13
double JTcp0_357_13
Definition mbs_sensor_ArmarIII_simplified_virt.h:403
C35
double C35
Definition mbs_sensor_ArmarIII_simplified_virt.h:51
ROcp1_820
double ROcp1_820
Definition mbs_sensor_ArmarIII_simplified_virt.h:556
RLcp1_120
double RLcp1_120
Definition mbs_sensor_ArmarIII_simplified_virt.h:758
ROcp0_211
double ROcp0_211
Definition mbs_sensor_ArmarIII_simplified_virt.h:116
JTcp2_154_40
double JTcp2_154_40
Definition mbs_sensor_ArmarIII_simplified_virt.h:1473
OMcp0_121
double OMcp0_121
Definition mbs_sensor_ArmarIII_simplified_virt.h:324
JTcp1_252_10
double JTcp1_252_10
Definition mbs_sensor_ArmarIII_simplified_virt.h:875
RLcp1_224
double RLcp1_224
Definition mbs_sensor_ArmarIII_simplified_virt.h:783
ROcp2_921
double ROcp2_921
Definition mbs_sensor_ArmarIII_simplified_virt.h:1066
RLcp0_224
double RLcp0_224
Definition mbs_sensor_ArmarIII_simplified_virt.h:340
ACcp2_254
double ACcp2_254
Definition mbs_sensor_ArmarIII_simplified_virt.h:1513
ROcp0_620
double ROcp0_620
Definition mbs_sensor_ArmarIII_simplified_virt.h:153
ROcp2_742
double ROcp2_742
Definition mbs_sensor_ArmarIII_simplified_virt.h:1172
ROcp0_613
double ROcp0_613
Definition mbs_sensor_ArmarIII_simplified_virt.h:123
JTcp0_357_40
double JTcp0_357_40
Definition mbs_sensor_ArmarIII_simplified_virt.h:469
OMcp1_340
double OMcp1_340
Definition mbs_sensor_ArmarIII_simplified_virt.h:802
ROcp0_534
double ROcp0_534
Definition mbs_sensor_ArmarIII_simplified_virt.h:221
OPcp2_36
double OPcp2_36
Definition mbs_sensor_ArmarIII_simplified_virt.h:1242
OMcp0_322
double OMcp0_322
Definition mbs_sensor_ArmarIII_simplified_virt.h:329
ROcp1_448
double ROcp1_448
Definition mbs_sensor_ArmarIII_simplified_virt.h:690
ROcp2_67
double ROcp2_67
Definition mbs_sensor_ArmarIII_simplified_virt.h:1003
ORcp1_146
double ORcp1_146
Definition mbs_sensor_ArmarIII_simplified_virt.h:827
Dz243
double Dz243
Definition mbs_sensor_ArmarIII_simplified_virt.h:2
ROcp1_25
double ROcp1_25
Definition mbs_sensor_ArmarIII_simplified_virt.h:488
JTcp0_157_35
double JTcp0_157_35
Definition mbs_sensor_ArmarIII_simplified_virt.h:452
ROcp0_618
double ROcp0_618
Definition mbs_sensor_ArmarIII_simplified_virt.h:150
ORcp1_28
double ORcp1_28
Definition mbs_sensor_ArmarIII_simplified_virt.h:732
ROcp1_16
double ROcp1_16
Definition mbs_sensor_ArmarIII_simplified_virt.h:492
ORcp1_152
double ORcp1_152
Definition mbs_sensor_ArmarIII_simplified_virt.h:976
ROcp2_946
double ROcp2_946
Definition mbs_sensor_ArmarIII_simplified_virt.h:1192
OMcp2_135
double OMcp2_135
Definition mbs_sensor_ArmarIII_simplified_virt.h:1312
OMcp1_35
double OMcp1_35
Definition mbs_sensor_ArmarIII_simplified_virt.h:721
ROcp2_238
double ROcp2_238
Definition mbs_sensor_ArmarIII_simplified_virt.h:1146
OPcp1_218
double OPcp1_218
Definition mbs_sensor_ArmarIII_simplified_virt.h:750
ROcp2_513
double ROcp2_513
Definition mbs_sensor_ArmarIII_simplified_virt.h:1026
ROcp1_732
double ROcp1_732
Definition mbs_sensor_ArmarIII_simplified_virt.h:609
JTcp2_254_6
double JTcp2_254_6
Definition mbs_sensor_ArmarIII_simplified_virt.h:1393
JTcp1_352_17
double JTcp1_352_17
Definition mbs_sensor_ArmarIII_simplified_virt.h:891
ROcp2_927
double ROcp2_927
Definition mbs_sensor_ArmarIII_simplified_virt.h:1084
S56
double S56
Definition mbs_sensor_ArmarIII_simplified_virt.h:86
OMcp1_321
double OMcp1_321
Definition mbs_sensor_ArmarIII_simplified_virt.h:769
ROcp2_937
double ROcp2_937
Definition mbs_sensor_ArmarIII_simplified_virt.h:1144
ORcp2_347
double ORcp2_347
Definition mbs_sensor_ArmarIII_simplified_virt.h:1350
RLcp1_219
double RLcp1_219
Definition mbs_sensor_ArmarIII_simplified_virt.h:753
JTcp0_257_30
double JTcp0_257_30
Definition mbs_sensor_ArmarIII_simplified_virt.h:438
S44
double S44
Definition mbs_sensor_ArmarIII_simplified_virt.h:70
JTcp0_257_27
double JTcp0_257_27
Definition mbs_sensor_ArmarIII_simplified_virt.h:429
JTcp0_157_33
double JTcp0_157_33
Definition mbs_sensor_ArmarIII_simplified_virt.h:446
ROcp2_256
double ROcp2_256
Definition mbs_sensor_ArmarIII_simplified_virt.h:1230
C36
double C36
Definition mbs_sensor_ArmarIII_simplified_virt.h:53
JTcp1_252_5
double JTcp1_252_5
Definition mbs_sensor_ArmarIII_simplified_virt.h:863
ORcp0_28
double ORcp0_28
Definition mbs_sensor_ArmarIII_simplified_virt.h:289
JTcp1_152_5
double JTcp1_152_5
Definition mbs_sensor_ArmarIII_simplified_virt.h:862
ROcp1_927
double ROcp1_927
Definition mbs_sensor_ArmarIII_simplified_virt.h:581
OPcp1_222
double OPcp1_222
Definition mbs_sensor_ArmarIII_simplified_virt.h:774
RLcp2_216
double RLcp2_216
Definition mbs_sensor_ArmarIII_simplified_virt.h:1256
JTcp1_352_40
double JTcp1_352_40
Definition mbs_sensor_ArmarIII_simplified_virt.h:948
ROcp2_851
double ROcp2_851
Definition mbs_sensor_ArmarIII_simplified_virt.h:1215
ROcp1_639
double ROcp1_639
Definition mbs_sensor_ArmarIII_simplified_virt.h:650
S14
double S14
Definition mbs_sensor_ArmarIII_simplified_virt.h:20
ROcp2_356
double ROcp2_356
Definition mbs_sensor_ArmarIII_simplified_virt.h:1231
S43
double S43
Definition mbs_sensor_ArmarIII_simplified_virt.h:68
ROcp2_221
double ROcp2_221
Definition mbs_sensor_ArmarIII_simplified_virt.h:1062
ORcp2_148
double ORcp2_148
Definition mbs_sensor_ArmarIII_simplified_virt.h:1354
ORcp2_126
double ORcp2_126
Definition mbs_sensor_ArmarIII_simplified_virt.h:1306
ROcp0_530
double ROcp0_530
Definition mbs_sensor_ArmarIII_simplified_virt.h:197
ROcp1_338
double ROcp1_338
Definition mbs_sensor_ArmarIII_simplified_virt.h:644
VIcp1_352
double VIcp1_352
Definition mbs_sensor_ArmarIII_simplified_virt.h:981
ROcp1_627
double ROcp1_627
Definition mbs_sensor_ArmarIII_simplified_virt.h:578
RLcp1_347
double RLcp1_347
Definition mbs_sensor_ArmarIII_simplified_virt.h:832
OMcp2_221
double OMcp2_221
Definition mbs_sensor_ArmarIII_simplified_virt.h:1283
ORcp0_220
double ORcp0_220
Definition mbs_sensor_ArmarIII_simplified_virt.h:322
ROcp2_831
double ROcp2_831
Definition mbs_sensor_ArmarIII_simplified_virt.h:1107
ROcp1_742
double ROcp1_742
Definition mbs_sensor_ArmarIII_simplified_virt.h:669
JTcp0_257_40
double JTcp0_257_40
Definition mbs_sensor_ArmarIII_simplified_virt.h:468
ROcp0_643
double ROcp0_643
Definition mbs_sensor_ArmarIII_simplified_virt.h:276
ROcp1_914
double ROcp1_914
Definition mbs_sensor_ArmarIII_simplified_virt.h:533
C38
double C38
Definition mbs_sensor_ArmarIII_simplified_virt.h:57
RLcp1_216
double RLcp1_216
Definition mbs_sensor_ArmarIII_simplified_virt.h:741
ROcp2_636
double ROcp2_636
Definition mbs_sensor_ArmarIII_simplified_virt.h:1135
ROcp1_513
double ROcp1_513
Definition mbs_sensor_ArmarIII_simplified_virt.h:523
JTcp1_252_13
double JTcp1_252_13
Definition mbs_sensor_ArmarIII_simplified_virt.h:881
JTcp2_154_20
double JTcp2_154_20
Definition mbs_sensor_ArmarIII_simplified_virt.h:1422
ACcp1_352
double ACcp1_352
Definition mbs_sensor_ArmarIII_simplified_virt.h:984
OPcp1_240
double OPcp1_240
Definition mbs_sensor_ArmarIII_simplified_virt.h:804
ROcp1_434
double ROcp1_434
Definition mbs_sensor_ArmarIII_simplified_virt.h:621
ROcp2_243
double ROcp2_243
Definition mbs_sensor_ArmarIII_simplified_virt.h:1176
OMcp0_130
double OMcp0_130
Definition mbs_sensor_ArmarIII_simplified_virt.h:351
ROcp1_446
double ROcp1_446
Definition mbs_sensor_ArmarIII_simplified_virt.h:684
mbs_sensor_ArmarIII_simplified_virt
void mbs_sensor_ArmarIII_simplified_virt(MbsSensor *sens, double *q_dof, double *qd_dof, int isens)
Definition mbs_sensor_ArmarIII_simplified_virt_new.c:39
q
#define q
qdd
#define qdd
qd
#define qd
MbsSensor::OM
double OM[4]
Angular velocity vector of the sensor expressed in the inertial frame: .
Definition mbs_sensor2.h:28
MbsSensor::V
double V[4]
Velocity vector of the sensor expressed in the inertial frame: .
Definition mbs_sensor2.h:26
MbsSensor::OMP
double OMP[4]
Angular acceleration vector of the sensor expressed in the inertial frame: .
Definition mbs_sensor2.h:32
MbsSensor::P
double P[4]
Position vector of the sensor expressed in the inertial frame: .
Definition mbs_sensor2.h:21
MbsSensor::A
double A[4]
Acceleration vector of the sensor expressed in the inertial frame: .
Definition mbs_sensor2.h:30
MbsSensor::J
double * J[7]
Jacobian matrix of the sensor: .
Definition mbs_sensor2.h:37
MbsSensor::R
double R[4][4]
Rotation matrix from the inertial frame to the sensor frame: .
Definition mbs_sensor2.h:24
user_hard_param_armar3.h
DPT_3_10
#define DPT_3_10
Definition user_hard_param_armar3.h:132
DPT_1_19
#define DPT_1_19
Definition user_hard_param_armar3.h:138
DPT_1_17
#define DPT_1_17
Definition user_hard_param_armar3.h:134
DPT_3_9
#define DPT_3_9
Definition user_hard_param_armar3.h:131
DPT_3_15
#define DPT_3_15
Definition user_hard_param_armar3.h:133
DPT_2_17
#define DPT_2_17
Definition user_hard_param_armar3.h:135
DPT_3_6
#define DPT_3_6
Definition user_hard_param_armar3.h:129
DPT_3_17
#define DPT_3_17
Definition user_hard_param_armar3.h:136
DPT_2_9
#define DPT_2_9
Definition user_hard_param_armar3.h:130
DPT_2_6
#define DPT_2_6
Definition user_hard_param_armar3.h:128
DPT_3_20
#define DPT_3_20
Definition user_hard_param_armar3.h:139
DPT_3_18
#define DPT_3_18
Definition user_hard_param_armar3.h:137