function A4 = A4(q)
%A4
% A4 = A4(BET,GAM,PHI,PSI,TET)
% p=[Rx3;Ry3;Rz3;phi;psi;tet;gam;eps;nu];
global Parametr
bet=-Parametr(31);
phi=q(4);
psi=q(5);
tet=q(6);
gam=q(7);
% This function was generated by the Symbolic Math Toolbox version 5.6.
% 09-Apr-2014 00:20:23
t47 = cos(phi);
t48 = sin(tet);
t49 = cos(tet);
t50 = sin(phi);
t51 = sin(psi);
t52 = sin(gam);
t53 = cos(bet);
t54 = t47.*t49;
t64 = t48.*t50.*t51;
t55 = t54-t64;
t56 = t53.*t55;
t57 = sin(bet);
t58 = t47.*t48;
t59 = t49.*t50.*t51;
t60 = t58+t59;
t61 = t56-t57.*t60;
t62 = cos(gam);
t63 = cos(psi);
t65 = t49.*t50;
t66 = t47.*t48.*t51;
t67 = t65+t66;
t68 = t48.*t50;
t71 = t47.*t49.*t51;
t69 = t68-t71;
t70 = t53.*t67-t57.*t69;
t72 = t48.*t53.*t63;
t73 = t49.*t57.*t63;
t74 = t72+t73;
A4 = reshape([t61.*t62-t50.*t52.*t63,t62.*t70+t47.*t52.*t63,t51.*t52-t62.*t74,-t52.*t61-t50.*t62.*t63,-t52.*t70+t47.*t62.*t63,t51.*t62+t52.*t74,t55.*t57+t53.*t60,t53.*t69+t57.*t67,t49.*t53.*t63-t48.*t57.*t63],[3, 3]);
e-REdING. Biblioteca de la Escuela Superior de Ingenieros de Sevilla.
