function H5 = H5(q)
%H5
% H5 = H5(BET,GAM,PHI,PSI,TET,X3,X4,Z3,Z4)
global Parametr
x3=Parametr(5);
z3=Parametr(6);
bet=-Parametr(31);
x4=Parametr(7);
z4=Parametr(8);
r4x=Parametr(34);
r4z=Parametr(35);
r5x=Parametr(36);
r5z=Parametr(37);
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 00:20:42
t602 = sin(phi);
t603 = sin(tet);
t604 = cos(phi);
t605 = cos(tet);
t606 = sin(psi);
t607 = t602.*t603;
t614 = t604.*t605.*t606;
t608 = t607-t614;
t609 = t602.*t605;
t610 = t603.*t604.*t606;
t611 = t609+t610;
t612 = cos(bet);
t613 = sin(bet);
t615 = cos(gam);
t616 = cos(psi);
t617 = sin(gam);
t618 = t604.*t605;
t623 = t602.*t603.*t606;
t619 = t618-t623;
t620 = t603.*t604;
t621 = t602.*t605.*t606;
t622 = t620+t621;
t624 = t612.*t619;
t629 = t613.*t622;
t625 = t624-t629;
t626 = t612.*t622;
t627 = t613.*t619;
t628 = t626+t627;
t630 = t608.*t613;
t635 = t611.*t612;
t631 = t630-t635;
t632 = t608.*t612;
t633 = t611.*t613;
t634 = t632+t633;
t636 = t603.*t612.*t616;
t637 = t605.*t613.*t616;
t638 = t636+t637;
H5 = reshape([1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0,r5x.*(t615.*t631-t604.*t616.*t617)-r4x.*t611-r4z.*t608-r5z.*t634,r5x.*(t615.*t625-t602.*t616.*t617)+r4x.*t619+r4z.*t622+r5z.*t628,0.0,-r5x.*(t615.*(t602.*t603.*t612.*t616+t602.*t605.*t613.*t616)-t602.*t606.*t617)-r5z.*(t602.*t603.*t613.*t616-t602.*t605.*t612.*t616)-r4x.*t602.*t603.*t616+r4z.*t602.*t605.*t616,r5x.*(t615.*(t603.*t604.*t612.*t616+t604.*t605.*t613.*t616)-t604.*t606.*t617)+r5z.*(t603.*t604.*t613.*t616-t604.*t605.*t612.*t616)+r4x.*t603.*t604.*t616-r4z.*t604.*t605.*t616,r5x.*(t616.*t617+t615.*(t603.*t606.*t612+t605.*t606.*t613))+r5z.*(t603.*t606.*t613-t605.*t606.*t612)+r4x.*t603.*t606-r4z.*t605.*t606,-r4x.*t622+r4z.*t619+r5z.*t625-r5x.*t615.*t628,-r4x.*t608+r4z.*t611-r5z.*t631-r5x.*t615.*t634,-r5z.*t638+r5x.*t615.*(t603.*t613.*t616-t605.*t612.*t616)-r4x.*t605.*t616-r4z.*t603.*t616,-r5x.*(t617.*t625+t602.*t615.*t616),r5x.*(t617.*t631+t604.*t615.*t616),r5x.*(t606.*t615+t617.*t638),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.
