function G4g = G4g(q)
%G4G
% G4G = G4G(BET,GAM,PHI,PSI,TET)
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.
% 10-Apr-2014 11:44:31
t2 = cos(psi);
t3 = cos(bet);
t4 = sin(tet);
t5 = cos(tet);
t6 = sin(bet);
t7 = cos(phi);
t8 = sin(phi);
t9 = sin(psi);
t10 = t5.*t7;
t17 = t4.*t8.*t9;
t11 = t10-t17;
t12 = t4.*t7;
t13 = t5.*t8.*t9;
t14 = t12+t13;
t15 = cos(gam);
t16 = sin(gam);
t18 = t11.*t3;
t55 = t14.*t6;
t19 = t18-t55;
t20 = t2.*t3.*t4;
t21 = t2.*t5.*t6;
t22 = t20+t21;
t23 = t2.*t3.*t5;
t32 = t2.*t4.*t6;
t24 = t23-t32;
t25 = t15.*t9;
t26 = t16.*t22;
t27 = t25+t26;
t28 = t2.*t3.*t4.*t7;
t29 = t2.*t5.*t6.*t7;
t30 = t28+t29;
t31 = t15.*t22;
t33 = t4.*t8;
t39 = t5.*t7.*t9;
t34 = t33-t39;
t35 = t5.*t8;
t36 = t4.*t7.*t9;
t37 = t35+t36;
t46 = t16.*t9;
t38 = t31-t46;
t40 = t3.*t34;
t41 = t37.*t6;
t42 = t40+t41;
t43 = t3.*t37;
t45 = t34.*t6;
t44 = t43-t45;
t47 = t15.*t44;
t48 = t16.*t2.*t7;
t49 = t47+t48;
t50 = t16.*t44;
t64 = t15.*t2.*t7;
t51 = t50-t64;
t52 = t2.*t3.*t4.*t8;
t53 = t2.*t5.*t6.*t8;
t54 = t52+t53;
t56 = t14.*t3;
t57 = t11.*t6;
t58 = t56+t57;
t59 = t16.*t19;
t60 = t15.*t2.*t8;
t61 = t59+t60;
t62 = t15.*t19;
t72 = t16.*t2.*t8;
t63 = t62-t72;
t65 = t15.*t54;
t66 = t65-t16.*t8.*t9;
t67 = t16.*t54;
t68 = t15.*t8.*t9;
t69 = t67+t68;
t70 = t2.*t3.*t5.*t8;
t71 = t70-t2.*t4.*t6.*t8;
G4g = reshape([0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,-t24.*t58+t27.*t61+t38.*t63,-t24.*t42+t27.*t51+t49.*(t31-t46),t42.^2+t49.^2+t51.^2,t27.*(t16.*t30+t15.*t7.*t9)+t38.*(t15.*t30-t16.*t7.*t9)+t24.*(t2.*t3.*t5.*t7-t2.*t4.*t6.*t7),t27.*t69+t24.*t71+t66.*(t31-t46),t49.*t66-t42.*t71+t51.*t69,-t24.*t44-t16.*t27.*t42-t15.*t38.*t42,t19.*t24+t16.*t27.*t58+t15.*t58.*(t31-t46),-t19.*t42+t15.*t49.*t58+t16.*t51.*t58,t27.*t49-t38.*t51,-t27.*t63+t61.*(t31-t46),t49.*t61-t51.*t63,0.0,0.0,0.0,0.0,0.0,0.0],[3, 9]);
e-REdING. Biblioteca de la Escuela Superior de Ingenieros de Sevilla.
