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Copy pathfcn_extended_D_E.m
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fcn_extended_D_E.m
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function [De,E] = fcn_extended_D_E(q)
De(1,1)=(5386*cos(q(4)))/625 - (384*cos(q(2) - q(3) + q(4) - q(5)))/625 - (1014*cos(q(2) - q(3) +...
q(4)))/625 - (288*cos(q(2) + q(4)))/125 - (288*cos(q(2)))/125 - (1014*cos(q(2) - q(3)))/625 + (384*...
cos(q(5)))/625 - (384*cos(q(2) - q(3) - q(5)))/625 + 8076/625;
De(1,2)=(5386*cos(q(4)))/625 - (192*cos(q(2) - q(3) + q(4) - q(5)))/625 - (507*cos(q(2) - q(3) +...
q(4)))/625 - (144*cos(q(2) + q(4)))/125 - (144*cos(q(2)))/125 - (507*cos(q(2) - q(3)))/625 - (192*...
cos(q(2) - q(3) - q(5)))/625 + 47259/5000;
De(1,3)=(384*cos(q(5)))/625 - (192*cos(q(2) - q(3) + q(4) - q(5)))/625 - (507*cos(q(2) - q(3) +...
q(4)))/625 - (507*cos(q(2) - q(3)))/625 - (192*cos(q(2) - q(3) - q(5)))/625 + 7243/5000;
De(1,4)=(2693*cos(q(4)))/625 - (507*cos(q(2) - q(3) + q(4)))/625 - (144*cos(q(2) +...
q(4)))/125 - (192*cos(q(2) - q(3) + q(4) - q(5)))/625 + 15281/3125;
De(1,5)=(192*cos(q(5)))/625 - (192*cos(q(2) - q(3) + q(4) - q(5)))/625 - (192*...
cos(q(2) - q(3) - q(5)))/625 + 1201/3125;
De(1,6)=(96*cos(q(1) + q(3) + q(5)))/125 - (1504*cos(q(1) + q(2) + q(4)))/125 - (2693*cos(q(1) +...
q(2)))/250 + (507*cos(q(1) + q(3)))/250 + (72*cos(q(1)))/25;
De(1,7)=(1504*sin(q(1) + q(2) + q(4)))/125 - (96*sin(q(1) + q(3) + q(5)))/125 + (2693*sin(q(1) +...
q(2)))/250 - (507*sin(q(1) + q(3)))/250 - (72*sin(q(1)))/25;
De(2,1)=(5386*cos(q(4)))/625 - (192*cos(q(2) - q(3) + q(4) - q(5)))/625 - (507*cos(q(2) - q(3) +...
q(4)))/625 - (144*cos(q(2) + q(4)))/125 - (144*cos(q(2)))/125 - (507*cos(q(2) - q(3)))/625 - (192*...
cos(q(2) - q(3) - q(5)))/625 + 47259/5000;
De(2,2)=(5386*cos(q(4)))/625 + 47259/5000;
De(2,3)=- (507*cos(q(2) - q(3)))/625 - (192*cos(q(2) - q(3) + q(4) - q(5)))/625 - (507*...
cos(q(2) - q(3) + q(4)))/625 - (192*cos(q(2) - q(3) - q(5)))/625;
De(2,4)=(2693*cos(q(4)))/625 + 15281/3125;
De(2,5)=- (192*cos(q(2) - q(3) + q(4) - q(5)))/625 - (192*cos(q(2) - q(3) - q(5)))/625;
De(2,6)=- (1504*cos(q(1) + q(2) + q(4)))/125 - (2693*cos(q(1) + q(2)))/250;
De(2,7)=(1504*sin(q(1) + q(2) + q(4)))/125 + (2693*sin(q(1) + q(2)))/250;
De(3,1)=(384*cos(q(5)))/625 - (192*cos(q(2) - q(3) + q(4) - q(5)))/625 - (507*cos(q(2) - q(3) +...
q(4)))/625 - (507*cos(q(2) - q(3)))/625 - (192*cos(q(2) - q(3) - q(5)))/625 + 7243/5000;
De(3,2)=- (507*cos(q(2) - q(3)))/625 - (192*cos(q(2) - q(3) + q(4) - q(5)))/625 - (507*...
cos(q(2) - q(3) + q(4)))/625 - (192*cos(q(2) - q(3) - q(5)))/625;
De(3,3)=(384*cos(q(5)))/625 + 7243/5000;
De(3,4)=- (192*cos(q(2) - q(3) + q(4) - q(5)))/625 - (507*cos(q(2) - q(3) + q(4)))/625;
De(3,5)=(192*cos(q(5)))/625 + 1201/3125;
De(3,6)=(96*cos(q(1) + q(3) + q(5)))/125 + (507*cos(q(1) + q(3)))/250;
De(3,7)=- (96*sin(q(1) + q(3) + q(5)))/125 - (507*sin(q(1) + q(3)))/250;
De(4,1)=(2693*cos(q(4)))/625 - (507*cos(q(2) - q(3) + q(4)))/625 - (144*cos(q(2) +...
q(4)))/125 - (192*cos(q(2) - q(3) + q(4) - q(5)))/625 + 15281/3125;
De(4,2)=(2693*cos(q(4)))/625 + 15281/3125;
De(4,3)=- (192*cos(q(2) - q(3) + q(4) - q(5)))/625 - (507*cos(q(2) - q(3) + q(4)))/625;
De(4,4)=15281/3125;
De(4,5)=-(192*cos(q(2) - q(3) + q(4) - q(5)))/625;
De(4,6)=-(1504*cos(q(1) + q(2) + q(4)))/125;
De(4,7)=(1504*sin(q(1) + q(2) + q(4)))/125;
De(5,1)=(192*cos(q(5)))/625 - (192*cos(q(2) - q(3) + q(4) - q(5)))/625 - (192*...
cos(q(2) - q(3) - q(5)))/625 + 1201/3125;
De(5,2)=- (192*cos(q(2) - q(3) + q(4) - q(5)))/625 - (192*cos(q(2) - q(3) - q(5)))/625;
De(5,3)=(192*cos(q(5)))/625 + 1201/3125;
De(5,4)=-(192*cos(q(2) - q(3) + q(4) - q(5)))/625;
De(5,5)=1201/3125;
De(5,6)=(96*cos(q(1) + q(3) + q(5)))/125;
De(5,7)=-(96*sin(q(1) + q(3) + q(5)))/125;
De(6,1)=(96*cos(q(1) + q(3) + q(5)))/125 - (1504*cos(q(1) + q(2) + q(4)))/125 - (2693*cos(q(1) +...
q(2)))/250 + (507*cos(q(1) + q(3)))/250 + (72*cos(q(1)))/25;
De(6,2)=- (1504*cos(q(1) + q(2) + q(4)))/125 - (2693*cos(q(1) + q(2)))/250;
De(6,3)=(96*cos(q(1) + q(3) + q(5)))/125 + (507*cos(q(1) + q(3)))/250;
De(6,4)=-(1504*cos(q(1) + q(2) + q(4)))/125;
De(6,5)=(96*cos(q(1) + q(3) + q(5)))/125;
De(6,6)=32;
De(6,7)=0;
De(7,1)=(1504*sin(q(1) + q(2) + q(4)))/125 - (96*sin(q(1) + q(3) + q(5)))/125 + (2693*sin(q(1) +...
q(2)))/250 - (507*sin(q(1) + q(3)))/250 - (72*sin(q(1)))/25;
De(7,2)=(1504*sin(q(1) + q(2) + q(4)))/125 + (2693*sin(q(1) + q(2)))/250;
De(7,3)=- (96*sin(q(1) + q(3) + q(5)))/125 - (507*sin(q(1) + q(3)))/250;
De(7,4)=(1504*sin(q(1) + q(2) + q(4)))/125;
De(7,5)=-(96*sin(q(1) + q(3) + q(5)))/125;
De(7,6)=0;
De(7,7)=32;
E(1,1)=(2*cos(q(1) + q(3) + q(5)))/5 - (2*cos(q(1) + q(2) + q(4)))/5 - (2*cos(q(1) + q(2)))/5 +...
(2*cos(q(1) + q(3)))/5;
E(1,2)=- (2*cos(q(1) + q(2) + q(4)))/5 - (2*cos(q(1) + q(2)))/5;
E(1,3)=(2*cos(q(1) + q(3) + q(5)))/5 + (2*cos(q(1) + q(3)))/5;
E(1,4)=-(2*cos(q(1) + q(2) + q(4)))/5;
E(1,5)=(2*cos(q(1) + q(3) + q(5)))/5;
E(1,6)=1;
E(1,7)=0;
E(2,1)=(2*sin(q(1) + q(2) + q(4)))/5 - (2*sin(q(1) + q(3) + q(5)))/5 + (2*sin(q(1) +...
q(2)))/5 - (2*sin(q(1) + q(3)))/5;
E(2,2)=(2*sin(q(1) + q(2) + q(4)))/5 + (2*sin(q(1) + q(2)))/5;
E(2,3)=- (2*sin(q(1) + q(3) + q(5)))/5 - (2*sin(q(1) + q(3)))/5;
E(2,4)=(2*sin(q(1) + q(2) + q(4)))/5;
E(2,5)=-(2*sin(q(1) + q(3) + q(5)))/5;
E(2,6)=0;
E(2,7)=1;
end