function RG3 = RG3(q)
%RG3
% RG3 = RG3(RX3,RY3,RZ3,PHI,PSI,TET,X3,Z3)
global Parametr
x3=Parametr(5);
z3=Parametr(6);
Rx3=q(1);
Ry3=q(2);
Rz3=q(3);
phi=q(4);
psi=q(5);
tet=q(6);
% This function was generated by the Symbolic Math Toolbox version 5.6.
% 09-Apr-2014 00:20:36
t477 = cos(phi);
t478 = sin(tet);
t479 = cos(tet);
t480 = sin(phi);
t481 = sin(psi);
t482 = cos(psi);
RG3 = [Rx3+x3.*(t477.*t479-t478.*t480.*t481)+z3.*(t477.*t478+t479.*t480.*t481);Ry3+x3.*(t479.*t480+t477.*t478.*t481)+z3.*(t478.*t480-t477.*t479.*t481);Rz3-t478.*t482.*x3+t479.*t482.*z3];
e-REdING. Biblioteca de la Escuela Superior de Ingenieros de Sevilla.
