function H2p = H2p(q,rp2x,rp2y,rp2z)
%H2P
% H2P = H2P(NU,PHI,PSI,R2X,R2Z,RP2X,RP2Y,RP2Z,TET)
global Parametr
phi=q(4);
psi=q(5);
tet=q(6);
nu=q(9);
Rx3=q(1);
Ry3=q(2);
Rz3=q(3);
phi=q(4);
psi=q(5);
tet=q(6);
r2x=Parametr(32);
r2z=Parametr(33);
% This function was generated by the Symbolic Math Toolbox version 5.6.
% 09-Apr-2014 00:21:00
t1137 = sin(phi);
t1138 = sin(tet);
t1139 = cos(phi);
t1140 = cos(tet);
t1141 = sin(psi);
t1142 = t1140.*t1137;
t1143 = t1141.*t1138.*t1139;
t1144 = t1142+t1143;
t1145 = t1137.*t1138;
t1148 = t1140.*t1141.*t1139;
t1146 = t1145-t1148;
t1147 = cos(nu);
t1149 = sin(nu);
t1150 = cos(psi);
t1151 = t1138.*t1139;
t1152 = t1140.*t1141.*t1137;
t1153 = t1151+t1152;
t1154 = t1140.*t1139;
t1156 = t1141.*t1137.*t1138;
t1155 = t1154-t1156;
t1157 = t1153.*t1147;
t1158 = t1155.*t1149;
t1159 = t1157+t1158;
t1160 = t1153.*t1149;
t1162 = t1155.*t1147;
t1161 = t1160-t1162;
t1163 = t1146.*t1147;
t1164 = t1144.*t1149;
t1165 = t1163+t1164;
t1166 = t1144.*t1147;
t1168 = t1146.*t1149;
t1167 = t1166-t1168;
t1169 = rp2z.*t1167;
t1170 = t1140.*t1150.*t1147;
t1171 = t1170-t1150.*t1138.*t1149;
t1172 = t1150.*t1138.*t1147;
t1173 = t1140.*t1150.*t1149;
t1174 = t1172+t1173;
H2p = reshape([1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0,-r2x.*t1144-r2z.*t1146-rp2x.*t1167-rp2z.*t1165-rp2y.*t1150.*t1139,r2x.*t1155+r2z.*t1153-rp2x.*t1161+rp2z.*t1159-rp2y.*t1150.*t1137,0.0,-rp2x.*(t1140.*t1150.*t1137.*t1149+t1150.*t1137.*t1138.*t1147)+rp2z.*(t1140.*t1150.*t1137.*t1147-t1150.*t1137.*t1138.*t1149)+rp2y.*t1141.*t1137-r2x.*t1150.*t1137.*t1138+r2z.*t1140.*t1150.*t1137,rp2x.*(t1140.*t1150.*t1139.*t1149+t1150.*t1138.*t1147.*t1139)-rp2z.*(t1140.*t1150.*t1147.*t1139-t1150.*t1138.*t1139.*t1149)-rp2y.*t1141.*t1139+r2x.*t1150.*t1138.*t1139-r2z.*t1140.*t1150.*t1139,rp2y.*t1150+rp2x.*(t1140.*t1141.*t1149+t1141.*t1138.*t1147)-rp2z.*(t1140.*t1141.*t1147-t1141.*t1138.*t1149)+r2x.*t1141.*t1138-r2z.*t1140.*t1141,-r2x.*t1153+r2z.*t1155-rp2z.*t1161-rp2x.*t1159,t1169-r2x.*t1146+r2z.*t1144-rp2x.*t1165,-rp2x.*t1171-rp2z.*t1174-r2x.*t1140.*t1150-r2z.*t1150.*t1138,0.0,0.0,0.0,0.0,0.0,0.0,-rp2z.*t1161-rp2x.*t1159,t1169-rp2x.*t1165,-rp2x.*t1171-rp2z.*t1174],[3, 9]);
e-REdING. Biblioteca de la Escuela Superior de Ingenieros de Sevilla.
