function G2 = G2(q)
%G2
% G2 = G2(NU,PHI,PSI,TET)
% p=[Rx3;Ry3;Rz3;phi;psi;tet;gam;eps;nu];
nu=q(9);
phi=q(4);
psi=q(5);
tet=q(6);
% This function was generated by the Symbolic Math Toolbox version 5.6.
% 09-Apr-2014 00:20:43
t640 = cos(phi);
t641 = cos(tet);
t642 = sin(phi);
t643 = sin(psi);
t644 = sin(tet);
t645 = cos(psi);
t646 = cos(nu);
t647 = sin(nu);
t648 = t641.*t642;
t649 = t640.*t643.*t644;
t650 = t648+t649;
t651 = t642.*t644;
t663 = t640.*t641.*t643;
t652 = t651-t663;
t653 = t640.*t641;
t665 = t642.*t643.*t644;
t654 = t653-t665;
t655 = t640.*t644;
t656 = t641.*t642.*t643;
t657 = t655+t656;
t658 = t644.*t645.*t646;
t659 = t641.*t645.*t647;
t660 = t658+t659;
t661 = t643.*t660;
t662 = t646.*t650;
t673 = t647.*t652;
t664 = t662-t673;
t666 = t646.*t654;
t677 = t647.*t657;
t667 = t666-t677;
t668 = t642.*t645.*t667;
t669 = t661+t668-t640.*t645.*t664;
t670 = t646.*t657;
t671 = t647.*t654;
t672 = t670+t671;
t674 = t646.*t652;
t675 = t647.*t650;
t676 = t674+t675;
t678 = t640.*t641.*t645.*t646;
t679 = t678-t640.*t644.*t645.*t647;
t680 = t641.*t642.*t645.*t646;
t681 = t680-t642.*t644.*t645.*t647;
t682 = t641.*t643.*t646;
t683 = t664.^2;
t684 = t667.^2;
t685 = t660.^2;
t686 = t683+t684+t685;
G2 = reshape([0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-t640.*t645.*t672-t642.*t645.*t676,t664.*t672-t667.*t676,t642.*t645.*t664+t640.*t645.*t667,t643.*(t682-t643.*t644.*t647)+t640.*t645.*t679+t642.*t645.*t681,-t664.*t679+t667.*t681+t660.*(t682-t643.*t644.*t647),t645.*t660+t640.*t643.*t664-t642.*t643.*t667,t669,t686,0.0,0.0,0.0,0.0,0.0,0.0,0.0,t669,t686,0.0],[3, 9]);
e-REdING. Biblioteca de la Escuela Superior de Ingenieros de Sevilla.
