function RG4 = RG4(q)
%RG4
% RG4 = RG4(RX3,RY3,RZ3,BET,GAM,PHI,PSI,R4X,R4Z,TET,X4,Z4)
global Parametr
x3=Parametr(5);
z3=Parametr(6);
bet=-Parametr(31);
x4=Parametr(7);
z4=Parametr(8);
Rx3=q(1);
Ry3=q(2);
Rz3=q(3);
phi=q(4);
psi=q(5);
tet=q(6);
gam=q(7);
r4x=Parametr(34);
r4z=Parametr(35);
% This function was generated by the Symbolic Math Toolbox version 5.6.
% 09-Apr-2014 00:20:37
t484 = cos(phi);
t485 = sin(tet);
t486 = cos(tet);
t487 = sin(phi);
t488 = sin(psi);
t489 = t484.*t486;
t496 = t485.*t487.*t488;
t490 = t489-t496;
t491 = t484.*t485;
t492 = t486.*t487.*t488;
t493 = t491+t492;
t494 = cos(bet);
t495 = sin(bet);
t497 = t485.*t487;
t503 = t484.*t486.*t488;
t498 = t497-t503;
t499 = t486.*t487;
t500 = t484.*t485.*t488;
t501 = t499+t500;
t502 = cos(gam);
t504 = cos(psi);
t505 = sin(gam);
RG4 = [Rx3+r4x.*t490+r4z.*t493+x4.*(t502.*(t490.*t494-t493.*t495)-t487.*t504.*t505)+z4.*(t490.*t495+t493.*t494);Ry3+r4z.*t498+r4x.*t501-x4.*(t502.*(t495.*t498-t494.*t501)-t484.*t504.*t505)+z4.*(t494.*t498+t495.*t501);Rz3+x4.*(t488.*t505-t502.*(t485.*t494.*t504+t486.*t495.*t504))-z4.*(t485.*t495.*t504-t486.*t494.*t504)-r4x.*t485.*t504+r4z.*t486.*t504];
e-REdING. Biblioteca de la Escuela Superior de Ingenieros de Sevilla.
