function RG5 = RG5(q)
%RG5
% RG5 = RG5(RX3,RY3,RZ3,BET,GAM,PHI,PSI,R4X,R4Z,R5X,R5Z,TET)
global Parametr
Rx3=q(1);
Ry3=q(2);
Rz3=q(3);
phi=q(4);
psi=q(5);
tet=q(6);
gam=q(7);
x3=Parametr(5);
z3=Parametr(6);
x4=Parametr(7);
z4=Parametr(8);
bet=-Parametr(31);
r4x=Parametr(34);
r4z=Parametr(35);
r5x=Parametr(36);
r5z=Parametr(37);
% This function was generated by the Symbolic Math Toolbox version 5.6.
% 09-Apr-2014 00:20:38
t507 = cos(phi);
t508 = sin(tet);
t509 = cos(tet);
t510 = sin(phi);
t511 = sin(psi);
t512 = t507.*t508;
t513 = t509.*t510.*t511;
t514 = t512+t513;
t515 = t507.*t509;
t518 = t508.*t510.*t511;
t516 = t515-t518;
t517 = cos(bet);
t519 = sin(bet);
t520 = t508.*t510;
t526 = t507.*t509.*t511;
t521 = t520-t526;
t522 = t509.*t510;
t523 = t507.*t508.*t511;
t524 = t522+t523;
t525 = cos(gam);
t527 = cos(psi);
t528 = sin(gam);
RG5 = [Rx3+r4x.*t516+r4z.*t514-r5x.*(t525.*(t514.*t519-t516.*t517)+t510.*t527.*t528)+r5z.*(t514.*t517+t516.*t519);Ry3+r4x.*t524+r4z.*t521-r5x.*(t525.*(t519.*t521-t517.*t524)-t507.*t527.*t528)+r5z.*(t517.*t521+t519.*t524);Rz3+r5x.*(t511.*t528-t525.*(t508.*t517.*t527+t509.*t519.*t527))+r5z.*(t509.*t517.*t527-t508.*t519.*t527)-r4x.*t508.*t527+r4z.*t509.*t527];
e-REdING. Biblioteca de la Escuela Superior de Ingenieros de Sevilla.
