function H5p = H5p(q,rp5x,rp5y,rp5z)
%H5P
%    H5P = H5P(BET,EPS,GAM,PHI,PSI,R4X,R4Z,R5X,R5Z,RP5X,RP5Y,RP5Z,TET)


global Parametr




bet=-Parametr(31); 

r4x=Parametr(34);
r4z=Parametr(35);
r5x=Parametr(36);
r5z=Parametr(37);

phi=q(4);
psi=q(5);
tet=q(6);
gam=q(7);
eps=q(8);

%    This function was generated by the Symbolic Math Toolbox version 5.6.
%    09-Apr-2014 00:21:03

t1176 = sin(phi);
t1177 = sin(tet);
t1178 = cos(phi);
t1179 = cos(tet);
t1180 = sin(psi);
t1181 = t1176.*t1179;
t1182 = t1180.*t1177.*t1178;
t1183 = t1181+t1182;
t1184 = t1176.*t1177;
t1187 = t1180.*t1178.*t1179;
t1185 = t1184-t1187;
t1186 = cos(bet);
t1188 = sin(bet);
t1189 = sin(eps);
t1190 = cos(gam);
t1191 = t1183.*t1186;
t1202 = t1185.*t1188;
t1192 = t1191-t1202;
t1193 = t1190.*t1192;
t1194 = cos(psi);
t1195 = sin(gam);
t1196 = t1194.*t1195.*t1178;
t1197 = t1193+t1196;
t1198 = cos(eps);
t1199 = t1185.*t1186;
t1200 = t1183.*t1188;
t1201 = t1199+t1200;
t1203 = t1176.*t1194.*t1177.*t1186;
t1204 = t1176.*t1194.*t1179.*t1188;
t1205 = t1203+t1204;
t1206 = t1176.*t1194.*t1177.*t1188;
t1210 = t1176.*t1194.*t1186.*t1179;
t1207 = -t1210+t1206;
t1208 = t1190.*t1205;
t1211 = t1180.*t1176.*t1195;
t1209 = -t1211+t1208;
t1212 = t1178.*t1179;
t1217 = t1180.*t1176.*t1177;
t1213 = t1212-t1217;
t1214 = t1177.*t1178;
t1215 = t1180.*t1176.*t1179;
t1216 = t1214+t1215;
t1218 = t1186.*t1213;
t1220 = t1188.*t1216;
t1219 = -t1220+t1218;
t1221 = t1186.*t1216;
t1222 = t1188.*t1213;
t1223 = t1221+t1222;
t1224 = t1195.*t1219;
t1225 = t1190.*t1176.*t1194;
t1226 = t1224+t1225;
t1227 = t1190.*t1219;
t1229 = t1176.*t1194.*t1195;
t1228 = t1227-t1229;
t1230 = t1189.*t1223;
t1231 = t1230-t1198.*t1228;
t1232 = t1189.*t1228;
t1233 = t1198.*t1223;
t1234 = t1232+t1233;
t1235 = t1194.*t1177.*t1186.*t1178;
t1236 = t1194.*t1178.*t1179.*t1188;
t1237 = t1235+t1236;
t1238 = t1194.*t1177.*t1178.*t1188;
t1243 = t1194.*t1186.*t1178.*t1179;
t1239 = -t1243+t1238;
t1240 = t1190.*t1237;
t1242 = t1180.*t1195.*t1178;
t1241 = t1240-t1242;
t1244 = t1192.*t1195;
t1246 = t1190.*t1194.*t1178;
t1245 = t1244-t1246;
t1247 = t1197.*t1189;
t1248 = t1198.*t1201;
t1249 = t1247+t1248;
t1250 = t1197.*t1198;
t1251 = t1250-t1189.*t1201;
t1252 = t1180.*t1177.*t1186;
t1253 = t1180.*t1179.*t1188;
t1254 = t1252+t1253;
t1255 = t1194.*t1195;
t1256 = t1190.*t1254;
t1257 = t1255+t1256;
t1258 = t1180.*t1177.*t1188;
t1260 = t1180.*t1186.*t1179;
t1259 = -t1260+t1258;
t1261 = t1194.*t1177.*t1186;
t1262 = t1194.*t1179.*t1188;
t1263 = t1261+t1262;
t1264 = t1194.*t1177.*t1188;
t1266 = t1194.*t1186.*t1179;
t1265 = t1264-t1266;
t1267 = t1180.*t1190;
t1268 = t1195.*t1263;
t1269 = t1267+t1268;
t1270 = t1180.*t1195;
t1272 = t1190.*t1263;
t1271 = t1270-t1272;
H5p = reshape([1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0,-r4x.*t1183-r4z.*t1185-r5x.*t1197-r5z.*t1201-rp5x.*t1251+rp5y.*t1245-rp5z.*t1249,r4x.*t1213+r4z.*t1216+r5x.*t1228+r5z.*t1223-rp5x.*t1231-rp5y.*t1226+rp5z.*t1234,0.0,rp5y.*(t1195.*t1205+t1180.*t1190.*t1176)-r5x.*t1209-r5z.*t1207+rp5x.*(t1189.*t1207-t1198.*t1209)-rp5z.*(t1189.*t1209-t1198.*(t1210-t1206))-r4x.*t1176.*t1194.*t1177+r4z.*t1176.*t1194.*t1179,-rp5y.*(t1195.*t1237+t1180.*t1190.*t1178)+r5x.*t1241+r5z.*t1239+rp5x.*(t1198.*t1241-t1189.*t1239)+rp5z.*(t1189.*t1241-t1198.*(t1243-t1238))+r4x.*t1194.*t1177.*t1178-r4z.*t1194.*t1178.*t1179,r5x.*t1257+r5z.*t1259+rp5y.*(t1190.*t1194-t1195.*t1254)+rp5x.*(t1198.*t1257-t1189.*t1259)+rp5z.*(t1189.*t1257+t1198.*t1259)+r4x.*t1180.*t1177-r4z.*t1180.*t1179,-rp5x.*(t1189.*t1219+t1190.*t1198.*t1223)+rp5z.*(t1198.*t1219-t1190.*t1189.*t1223)-r4x.*t1216+r4z.*t1213+r5z.*t1219-r5x.*t1190.*t1223+rp5y.*t1195.*t1223,-rp5x.*(t1192.*t1189+t1190.*t1198.*t1201)+rp5z.*(t1192.*t1198-t1190.*t1189.*t1201)-r4x.*t1185+r4z.*t1183+r5z.*t1192-r5x.*t1190.*t1201+rp5y.*t1195.*t1201,rp5x.*(t1189.*t1263+t1190.*t1198.*t1265)-rp5z.*(t1198.*t1263-t1190.*t1189.*t1265)-r5z.*t1263-r4x.*t1194.*t1179-r4z.*t1194.*t1177-rp5y.*t1195.*t1265+r5x.*t1190.*(t1264-t1266),-r5x.*t1226-rp5y.*t1228-rp5x.*t1198.*t1226-rp5z.*t1189.*t1226,-r5x.*t1245-rp5y.*t1197-rp5x.*t1198.*t1245-rp5z.*t1189.*t1245,r5x.*t1269-rp5y.*t1271+rp5x.*t1198.*t1269+rp5z.*t1189.*t1269,-rp5z.*t1231-rp5x.*t1234,rp5z.*t1251-rp5x.*t1249,-rp5x.*(t1189.*t1271-t1198.*t1265)+rp5z.*(t1198.*t1271+t1189.*t1265),0.0,0.0,0.0],[3, 9]);
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