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20 lines (18 loc) · 696 Bytes
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function dynamics = dynamfunc(t,in2,u1)
%DYNAMFUNC
% DYNAMICS = DYNAMFUNC(T,IN2,U1)
% This function was generated by the Symbolic Math Toolbox version 8.6.
% 02-May-2023 10:47:50
q2 = in2(2,:);
q3 = in2(3,:);
q4 = in2(4,:);
t2 = cos(q3);
t3 = sin(q3);
t4 = q4.^2;
t5 = t2.^2;
t6 = t2.*5.012440875e-5;
t7 = t5.*7.5919536225e-4;
t8 = -t7;
t9 = t6+t8+5.57299569888425e-3;
t10 = 1.0./t9;
dynamics = [q2;t10.*(t3.*9.44103263688e-4+u1.*2.133800952e-2-t2.*t3.*2.85991929741024e-2+t3.*t4.*4.71552462057456e-3+t2.*u1.*1.65321e-3).*(2.5e+1./1.2e+1);q4;t10.*(t3.*(-2.0282813078697e-3)+u1.*1.104253125e-4-t3.*t4.*1.5037322625e-6+t2.*u1.*2.0665125e-4+t2.*t3.*t4.*4.5551721735e-5).*(-5.0e+1./3.0)];