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a100a105a115a116a97a110a99a101a46 h = (hA +hB +hC +hD)=4 a40a51a46a52a41 a84a104a105a115 a104a101a105a103a104a116 a118a97a108a117a101 a105a115 a111a110a108a121 a99a97a108a99a117a108a97a116a101a100 a97a116 a105a110a105a116a105a97a108a105a122a97a116a105a111a110 a97a110a100 a105a115 a97a115a115a117a109a101a100 a116a111 a115a116a97a121 a99a111a110a115a116a97a110a116 a116a104a114a111a117a103a104a111a117a116 a116a104a101 a116a101a115a116a46 a87a105a116a104 a116a104a101 a104a101a105a103a104a116 a97a110a100 a112a105a116a99a104 a111a102 a116a104a101 a108a105a100a97a114 a102a111a117a110a100a44 a97a110 a101a115a116a105a109a97a116a101 a111a102 a116a104a101 a109a101a97a45 a115a117a114a101a109a101a110a116 a114a101a115a111a108a117a116a105a111a110 a97a116 a116a104a101 a108a97a110a101 a109a97a114a107a105a110a103a115 a99a97a110 a110a111a119 a98a101 a100a101a116a101a114a109a105a110a101a100 a97a115 a115a104a111a119a110 a105a110 a69a113a117a97a116a105a111a110a40a51a46a53a41a44 a97a115 a119a101a108a108 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i) cos( i) zi = sin( i) a40a52a46a49a41 a84a104a101 a101a113a117a97a116a105a111a110a115 a100a101a115a99a114a105a98a105a110a103 a116a104a101 a109a111a117a110a116a105a110a103 a101a114a114a111a114 a111a102 a116a104a101 a108a105a100a97a114 a114a101a108a97a116a105a118a101 a116a111 a116a104a101 a118a101a104a105a99a108a101a44 a116a104a101 a108a105a100a97a114 a112a105a116a99a104a44 a114a111a108a108a44 a97a110a100 a121a97a119a44 a119a105a108a108 a98a101 a114a101a112a114a101a115a101a110a116a101a100 a97a115 a98a111a100a121 a28a120a101a100 a114a111a116a97a116a105a111a110a115 a117a115a105a110a103 a69a117a108a101a114 a97a110a103a108a101a115a44 a119a104a101a114a101 a97 a114a105a103a104a116 a104a97a110a100a101a100 a99a111a111a114a100a105a110a97a116a101 a115a121a115a116a101a109 a105a115 a97a115a115a117a109a101a100a46 a84a104a101a114a101a102a111a114a101 a116a104a101 a111a114a100a101a114 a105a110 a119a104a105a99a104 a116a104a101a115a101 a114a111a116a97a116a105a111a110a115 a97a114a101 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66 66 4 cos( ) sin( ) 0 sin( ) cos( ) 0 0 0 1 3 77 77 5 1 CC CC A |2 66 66 4 xi yi zi 3 77 77 5 a40a52a46a51a41 a53a52 a78a111a116a101 a116a104a105a115 a119a105a108a108 a109a111a115a116 a108a105a107a101a108a121 a98a101 a97 a110a101a103a97a116a105a118a101 a110a117a109a98a101a114 a98a101a99a97a117a115a101 a116a104a101 a108a105a100a97a114 a105a115 a102a111a114a119a97a114a100 a102a97a99a105a110a103 a97a110a100 a110a101a101a100a115 a116a111 a98a101 a102a97a99a105a110a103 a116a104a101 a114a111a97a100a39a115 a115a117a114a102a97a99a101a46 a84a104a101 a108a105a100a97a114 a105a115 a116a104a101a110 a109a111a100a101a108a101a100 a97a115 a117a110a100a101a114a103a111a105a110a103 a115a111a109a101 a114a111a108a108 a97a115 a115a104a111a119a110 a105a110 a70a105a103a117a114a101 a52a46a51 a97a110a100 a69a113a117a97a116a105a111a110a40a52a46a52a41a46 2 66 66 4 Ni Ei Di 3 77 77 5 = 0 BB BB @ 2 66 66 4 1 0 0 0 cos( ) sin( ) 0 sin( ) cos( ) 3 77 77 5 2 66 66 4 cos( ) 0 sin( ) 0 1 0 sin( ) 0 cos( ) 3 77 77 5 2 66 66 4 cos( ) sin( ) 0 sin( ) cos( ) 0 0 0 1 3 77 77 5 1 CC CC A |2 66 66 4 xi yi zi 3 77 77 5 a40a52a46a52a41 a84a104a101a115a101 a101a113a117a97a116a105a111a110a115 a100a101a115a99a114a105a98a101 a116a104a101 a109a111a117a110a116a105a110a103 a111a102 a116a104a101 a108a105a100a97a114a44 a119a104a101a114a101 a116a104a101 a112a105a116a99a104 a97a110a100 a114a111a108a108 a105a115 a114a101a108a97a116a105a118a101 a116a111 a97 a112a108a97a110a101a44 a97a110a100 a116a104a101 a121a97a119 a114a101a108a97a116a105a118a101 a116a111 a116a104a101 a118a101a104a105a99a108a101a39a115 a97a120a101a115a46 a72a111a119a101a118a101a114a44 a97a115 a115a104a111a119a110 a105a110 a65a112a112a101a110a100a105a99a101 a65a44 a116a104a101a115a101 a101a113a117a97a116a105a111a110 a99a97a110 a98a101 a117a115a101a100 a116a111 a115a111a108a118a101 a102a111a114 a116a104a101 a108a105a100a97a114 a112a105a116a99a104 a97a110a100 a114a111a108a108 a103a105a118a101a110 a97a110a121 a116a104a114a101a101 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77 5 2 66 66 4 cos( ) 0 sin( ) 0 1 0 sin( ) 0 cos( ) 3 77 77 5 2 66 66 4 cos( ) sin( ) 0 sin( ) cos( ) 0 0 0 1 3 77 77 5 1 CC CC A | a40a52a46a53a41 a53a54 Rbg = 0 BB BB @ 2 66 66 4 1 0 0 0 cos( ) sin( ) 0 sin( ) cos( ) 3 77 77 5 2 66 66 4 cos( ) 0 sin( ) 0 1 0 sin( ) 0 cos( ) 3 77 77 5 2 66 66 4 cos( ) sin( ) 0 sin( ) cos( ) 0 0 0 1 3 77 77 5 1 CC CC A a40a52a46a54a41 R = 2 66 66 4 cos( ) 0 sin( ) 0 1 0 sin( ) 0 cos( ) 3 77 77 5 a40a52a46a55a41 R = 2 66 66 4 1 0 0 0 cos( ) sin( ) 0 sin( ) cos( ) 3 77 77 5 a40a52a46a56a41 a84a104a101 a102a117a108a108 a101a113a117a97a116a105a111a110 a102a111a114 a99a111a109a112a101a110a115a97a116a105a110a103 a102a111a114 a98a111a116a104 a108a105a100a97a114 a121a97a119a44 a112a105a116a99a104a44 a97a110a100 a114a111a108a108 a100a117a101 a116a111 a97 a109a111a117a110a116a105a110a103 a101a114a114a111a114 a97a115 a119a101a108a108 a97a115 a118a101a104a105a99a108a101 a112a105a116a99a104 a97a110a100 a114a111a108a108a44 a105a115 a103a105a118a101a110 a105a110 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a71a108a111a98a97a108 a80a111a115a105a116a105a111a110a105a110a103 a83a121a115a116a101a109 a82a101a99a105a101a118a101a114a115a46 a87a105a108a101a121a45 a73a110a116a101a114a115a99a105a101a110a99a101a44 a50a48a48a48a46 a91a51a55a93 a84a111a115a104a105a104a105a114a111 a84a115a117a109a117a114a97a44 a72a105a114a111a115a104a105 a79a107a117a98a111a44 a97a110a100 a78a111a98a117a111 a75a111a109a97a116a115a117a46 a65 a51a45a100 a112a111a115a105a116a105a111a110 a97a110a100 a97a116a116a105a116a117a100a101 a109a101a97a115a117a114a101a109a101a110a116 a115a121a115a116a101a109 a117a115a105a110a103 a108a97a115a101a114 a115a99a97a110a110a101a114a115 a97a110a100 a99a111a114a110a101a114 a99a117a98a101a115a46 a73a69a69a69a47a82a83a74 a73a110a116a101a114a110a97a116a105a111a110a97a108 a67a111a110a102a101a114a101a110a99a101 a111a110 a73a110a116a101a108a108a105a103a101a110a116 a82a111a98a111a116a115 a97a110a100 a83a121a115a116a101a109a115a44 a112a97a103a101a115 a54a48a52a21a54a49a49a44 a49a57a57a51a46 a91a51a56a93 a90a104a101a110a113a105 a90a104a117a44 a81a105a110a103 a84a97a110a103a44 a74a105a110a115a111a110a103 a76a105a44 a97a110a100 a90a104a111a110a103a120a117a101 a71a97a110a46 a67a97a108a105a98a114a97a116a105a111a110 a111a102 a108a97a115a101a114 a100a105a115a112a108a97a99a101a45 a109a101a110a116 a115a101a110a115a111a114 a117a115a101a100 a98a121 a105a110a100a117a115a116a114a105a97a108 a114a111a98a111a116a115a46 a79a112a116a105a99a97a108 a69a110a103a105a110a101a101a114a105a110a103a44 a52a51a40a49a41a58a49a50a21a49a51a44 a50a48a48a52a46 a56a51 a65a112a112a101a110a100a105a99a101a115 a56a52 a65a112a112a101a110a100a105a120 a65 a82a111a116a97a116a105a111a110 a77a97a116a114a105a120 a69a120a112a97a110a115a105a111a110a115 2 66 66 4 Ni Ei Di 3 77 77 5 = 2 66 66 4 cos( ) 0 sin( ) 0 1 0 sin( ) 0 cos( ) 3 77 77 5 2 66 66 4 1 0 0 0 cos( ) sin( ) 0 sin( ) cos( ) 3 77 77 5 0 BB BB @ 2 66 66 4 1 0 0 0 cos( ) sin( ) 0 sin( ) cos( ) 3 77 77 5 2 66 66 4 cos( ) 0 sin( ) 0 1 0 sin( ) 0 cos( ) 3 77 77 5 2 66 66 4 cos( ) sin( ) 0 sin( ) cos( ) 0 0 0 1 3 77 77 5 1 CC CC A |2 66 66 4 xi yi zi 3 77 77 5 a40a65a46a49a41 a69a120a112a97a110a100a105a110a103 Di : Di = sin( )((sin( ) ( zi sin( ) +yi cos( )) + cos( ) ( xi cos( ) yi sin( ) sin( ) zi cos( ) sin( ))) + cos( )(sin( )(yi sin( )sin( ) sin( ) +xi cos( ) sin( ) +yicos( ) cos( ) +zi cos( ) sin( ) sin( ) zi sin( )cos( )) + cos( ) (yi sin( )cos( ) xi sin( ) +zi cos( ) cos( ))) a40a65a46a50a41 a83a111a108a118a105a110a103 a102a111a114 a116a104a101 a115a99a97a110 a99a111a111a114a100a105a110a97a116a101a115 a105a110 a116a104a101 a108a105a100a97a114 a102a114a97a109a101a58 NEDlidarframe =0 BB BB @ 2 66 66 4 1 0 0 0 cos( ) sin( ) 0 sin( ) cos( ) 3 77 77 5 2 66 66 4 cos( ) 0 sin( ) 0 1 0 sin( ) 0 cos( ) 3 77 77 5 2 66 66 4 cos( ) sin( ) 0 sin( ) cos( ) 0 0 0 1 3 77 77 5 1 CC CC A |2 66 66 4 xi yi zi 3 77 77 5 a40a65a46a51a41 a56a53 Dlidarframea101a120a112a97a110a100a101a100a58 hj = sin( )xj + sin( ) cos( )yj + cos( ) cos( )zj a40a65a46a52a41 a66a101a103a105a110a110a105a110a103 a119a105a116a104 a97a116 a108a101a97a115a116 a116a104a114a101a101 a105a110a115a116a97a110a99a101a115 a111a102 a101a113a117a97a116a105a111a110 a65a46a52a58 h1 = sin( )x1 + sin( ) cos( )y1 + cos( ) cos( )z1 a40a65a46a53a41 h2 = sin( )x2 + sin( ) cos( )y2 + cos( ) cos( )z2 a40a65a46a54a41 h3 = sin( )x3 + sin( ) cos( )y3 + cos( ) cos( )z3 a40a65a46a55a41 a83a101a116a116a105a110a103 a101a113a117a97a116a105a111a110a115 a65a46a53 a97a110a100 a65a46a54 a101a113a117a97a108 a116a111 a111a110a101 a97a110a111a116a104a101a114 a121a105a101a108a100a115a58 sin( )x1 + sin( ) cos( )y1 + cos( ) cos( )z1 = sin( )x2 + sin( ) cos( )y2 + cos( ) cos( )z2 a40a65a46a56a41 a80a117a116a116a105a110a103 a115a105a109a105a108a97a114 a116a114a105a103 a105a100a101a110a116a105a116a105a101a115 a105a110a118a111a108a118a105a110a103 a116a101a114a109a115 a111a110 a115a97a109a101 a115a105a100a101 a111a102 a116a104a101 a101a113a117a97a108a115 a115a105a103a110 a121a105a101a108a100a115a58 sin( )x2 sin( )x1 = sin( ) cos( )y2 + cos( ) cos( )z2 + sin( ) cos( )y1 + cos( ) cos( )z1 a40a65a46a57a41 a67a111a108a108a101a99a116a105a110a103 a108a105a107a101 a116a114a105a103 a116a101a114a109a115 a105a110a118a111a108a118a105a110a103 a58 sin( )(x2 x1) = cos( ) (sin( )y2 + cos( )z2 + sin( )y1 + cos( )z1) a40a65a46a49a48a41 a68a105a118a105a100a105a110a103 a116a104a114a111a117a103a104 a98a121 cos( ) a97a110a100 a115a111a108a118a105a110a103 a102a111a114 a116a104a101a116a97 a121a105a101a108a100a115a58 a56a54 12 = arctan sin( )y 2 + cos( )z2 sin( )y1 cos( )z1 (x2 x1) a40a65a46a49a49a41 a67a111a108a108a101a99a116a105a110a103 a108a105a107a101 a116a101a114a109a115a58 12 = arctan sin( )(y 2 y1) + cos( )(z2 z1) (x2 x1) a40a65a46a49a50a41 a72a101a110a99a101a58 13 = arctan sin( )(y 3 y1) + cos( )(z3 z1) (x3 x1) a40a65a46a49a51a41 32 = arctan sin( )(y 2 y3) + cos( )(z2 z3) (x2 x3) a40a65a46a49a52a41 a82a111a108a108 a99a97a110 a98a101 a102a111a117a110a100 a98a121 a115a101a116a116a105a110a103 a101a113a117a97a116a105a111a110a115 a65a46a49a50 a97a110a100 a65a46a49a51 a101a113a117a97a108 a116a111 a111a110a101 a97a110a111a116a104a101a114a58 arctan sin( )(y2 y1)+cos( )(z2 z1) (x2 x1) = arctan sin( )(y3 y1)+cos( )(z3 z1) (x3 x1) a40a65a46a49a53a41 a67a97a110a99a101a108a105a110a103 a111a117a116 arctan a116a101a114a109a115 a97a110a100 a99a114a111a115a115a45a109a117a108a116a105a112a108a121a105a110a103a58 (sin( )(y2 y1) + cos( )(z2 z1)) (x3 x1) = (sin( )(y3 y1) + cos( )(z3 z1)) (x2 x1) a40a65a46a49a54a41 a69a120a112a97a110a100a105a110a103a58 sin( )(y2 y1)(x3 x1) + cos( )(z2 z1)(x3 x1) = sin( )(y3 y1)(x2 x1) + cos( )(z3 z1)(x2 x1) a40a65a46a49a55a41 a80a117a116a116a105a110a103 a115a105a109a105a108a97a114 a116a114a105a103 a116a101a114a109a115 a111a110 a115a97a109a101 a115a105a100a101 a111a102 a101a113a117a97a108a115 a115a105a103a110 a97a110a100 a103a114a111a117a112a105a110a103 a108a105a107a101 a116a101a114a109a115a58 sin( ) ((y2 y1)(x3 x1) (y3 y1)(x2 x1)) = cos( ) ((z3 z1)(x2 x1) (z2 z1)(x3 x1)) a40a65a46a49a56a41 a56a55 a68a105a118a105a100a105a110a103 a116a104a114a111a117a103a104 a98a121 cos( ) a97a110a100 a115a111a108a118a105a110a103 a102a111a114 a46 = arctan ((z 3 z1)(x2 x1) (z2 z1)(x3 x1)) ((y2 y1)(x3 x1) (y3 y1)(x2 x1)) a40a65a46a49a57a41 a56a56 a65a112a112a101a110a100a105a120 a66 a68a101a116a101a114a109a105a110a105a110a103 a86a101a104a105a99a108a101 a70a114a97a109a101 a80a105a116a99a104 a67a97a108a99a117a108a97a116a105a111a110a115 a66a101a103a105a110a110a105a110a103 a119a105a116a104 a116a104a114a101a101 a105a110a115a116a97a110a99a101a115 a111a102 a101a113a117a97a116a105a111a110 a65a46a50a46 D1 = sin( )((sin( ) ( z1 sin( ) +y1 cos( )) + cos( ) ( x1 cos( ) y1 sin( ) sin( ) z1 cos( ) sin( ))) + cos( )(sin( )(y1 sin( )sin( ) sin( ) +x1 cos( ) sin( ) +y1cos( ) cos( ) +z1 cos( ) sin( ) sin( ) z1 sin( )cos( )) + cos( ) (y1 sin( )cos( ) x1 sin( ) +z1 cos( ) cos( ))) a40a66a46a49a41 D2 = sin( )((sin( ) ( z2 sin( ) +y2 cos( )) + cos( ) ( x2 cos( ) y2 sin( ) sin( ) z2 cos( ) sin( ))) + cos( )(sin( )(y2 sin( )sin( ) sin( ) +x2 cos( ) sin( ) +y2cos( ) cos( ) +z2 cos( ) sin( ) sin( ) z2 sin( )cos( )) + cos( ) (y2 sin( )cos( ) x2 sin( ) +z2 cos( ) cos( ))) a40a66a46a50a41 D3 = sin( )((sin( ) ( z3 sin( ) +yi cos( )) + cos( ) ( x3 cos( ) y3 sin( ) sin( ) z3 cos( ) sin( ))) + cos( )(sin( )(y3 sin( )sin( ) sin( ) +x3 cos( ) sin( ) +y3cos( ) cos( ) +z3 cos( ) sin( ) sin( ) z3 sin( )cos( )) + cos( ) (y3 sin( )cos( ) x3 sin( ) +z3 cos( ) cos( ))) a40a66a46a51a41 a84a104a101 a102a111a108a108a111a119a105a110a103 a99a111a110a115a116a97a110a116a115 a97a114a101 a100a101a28a110a101a100 a116a111 a115a105a109a112a108a105a102a121 a116a104a101 a97a98a111a118a101 a101a113a117a97a116a105a111a110a115a46 A1 = y1 sin( ) cos( ) +x1 sin( ) z1 cos( ) cos( ) +z2 cos( ) cos( ) +y2 sin( ) cos( ) x2 sin( ) a40a66a46a52a41 a56a57 B1 = y3 sin( ) cos( ) x3 sin( ) +z3 cos( ) cos( ) y1 sin( ) cos( ) +x1 sin( ) z1 cos( ) cos( ) a40a66a46a53a41 C1 = y2 sin( ) cos( ) +x2 sin( ) z2 cos( ) cos( ) +z3 cos( ) cos( ) +y3 sin( ) cos( ) x3 sin( ) a40a66a46a54a41 D1 = z2 sin( ) +y2 cos( ) +z1 sin( ) y1 cos( ) a40a66a46a55a41 E1 = ( z3 sin( ) +z1 sin( ) +y3 cos( ) y1 cos( )) a40a66a46a56a41 F1 = ( z3 sin( ) +z2 sin( ) +y3 cos( ) y2 cos( )) a40a66a46a57a41 G1 = ( x1 cos( ) +z2 cos( ) sin( ) y1 sin( ) sin( ) +y2 sin( ) sin( ) +x2 cos( ) z1 cos( ) sin( )) a40a66a46a49a48a41 H1 = (z3 cos( ) sin( ) +y3 sin( ) sin( ) +x3 cos( ) z1 cos( ) sin( ) y1 sin( ) sin( ) x1 cos( )) a40a66a46a49a49a41 I1 = (y3 sin( ) sin( ) +x3 cos( ) x2 cos( ) +z3 cos( ) sin( ) z2 cos( ) sin( ) y2 sin( ) sin( )) a40a66a46a49a50a41 a83a101a116a116a105a110a103 a101a113a117a97a116a105a111a110a115 a66a46a49 a97a110a100 a66a46a50 a101a113a117a97a108 a116a111 a111a110a101 a97a110a111a116a104a101a114 a97a110a100 a115a105a109a112a108a105a102a121a105a110a103 a121a105a101a108a100a115a58 12 = arctan cos( )A 1 + sin( ) (cos( )D1 + sin( )G1) cos( )G1 sin( )D1 a40a66a46a49a51a41 a83a101a116a116a105a110a103 a101a113a117a97a116a105a111a110a115 a66a46a49 a97a110a100 a66a46a51 a101a113a117a97a108 a116a111 a111a110a101 a97a110a111a116a104a101a114 a97a110a100 a115a105a109a112a108a105a102a121a105a110a103 a121a105a101a108a100a115a58 13 = arctan cos( )B 1 + sin( ) (cos( )E1 + sin( )H1) cos( )H1 sin( )E1 a40a66a46a49a52a41 a57a48 a65a112a112a101a110a100a105a120 a67 a68a101a116a101a114a109a105a110a105a110a103 a86a101a104a105a99a108a101 a70a114a97a109a101 a80a105a116a99a104 a68a121a110a97a109a105a99 a67a97a108a99a117a108a97a116a105a111a110a115 a84a104a101 a102a111a108a108a111a119a105a110a103 a99a111a110a115a116a97a110a116a115 a97a114a101 a100a101a28a110a101a100 a116a111 a115a105a109a112a108a105a102a121 a116a104a101 a97a98a111a118a101 a101a113a117a97a116a105a111a110a115a46 A11 = y11 sin( ) cos( ) +x11 sin( ) z11 cos( ) cos( ) +z22 cos( ) cos( ) +y22 sin( ) cos( ) x22 sin( ) a40a67a46a49a41 B11 = y33 sin( ) cos( ) x33 sin( ) +z33 cos( ) cos( ) y11 sin( ) cos( ) +x11 sin( ) z11 cos( ) cos( ) a40a67a46a50a41 C11 = y22 sin( ) cos( ) +x22 sin( ) z22 cos( ) cos( ) +z33 cos( ) cos( ) +y33 sin( ) cos( ) x33 sin( ) a40a67a46a51a41 D11 = z22 sin( ) +y22 cos( ) +z11 sin( ) y11 cos( ) a40a67a46a52a41 E11 = ( z33 sin( ) +z11 sin( ) +y33 cos( ) y11 cos( )) a40a67a46a53a41 F11 = ( z33 sin( ) +z22 sin( ) +y33 cos( ) y22 cos( )) a40a67a46a54a41 G11 = ( x11 cos( ) +z22 cos( ) sin( ) y11 sin( ) sin( ) +y22 sin( ) sin( ) +x22 cos( ) z11 cos( ) sin( )) a40a67a46a55a41 H11 = (z33 cos( ) sin( ) +y33 sin( ) sin( ) +x33 cos( ) z11 cos( ) sin( ) y11 sin( ) sin( ) x11 cos( )) a40a67a46a56a41 a57a49 I11 = (y33 sin( ) sin( ) +x33 cos( ) x22 cos( ) +z33 cos( ) sin( ) z22 cos( ) sin( ) y22 sin( ) sin( )) a40a67a46a57a41 a83a101a116a116a105a110a103 a101a113a117a97a116a105a111a110a115 a66a46a49 a97a110a100 a66a46a50 a101a113a117a97a108 a116a111 a111a110a101 a97a110a111a116a104a101a114 a97a110a100 a115a105a109a112a108a105a102a121a105a110a103 a121a105a101a108a100a115a58 1122 = arctan cos( )A 11 + sin( ) (cos( )D11 + sin( )G11) cos( )G11 sin( )D11 a40a67a46a49a48a41 a83a101a116a116a105a110a103 a101a113a117a97a116a105a111a110a115 a66a46a49 a97a110a100 a66a46a51 a101a113a117a97a108 a116a111 a111a110a101 a97a110a111a116a104a101a114 a97a110a100 a115a105a109a112a108a105a102a121a105a110a103 a121a105a101a108a100a115a58 1133 = arctan cos( )B 11 + sin( ) (cos( )E11 + sin( )H11) cos( )H11 sin( )E11 a40a67a46a49a49a41 a57a50 a65a112a112a101a110a100a105a120 a68 a68a101a116a101a114a109a105a110a105a110a103 a86a101a104a105a99a108a101 a70a114a97a109a101 a82a111a108a108 a68a121a110a97a109a105a99 a67a97a108a99a117a108a97a116a105a111a110a115 a83a101a116a116a105a110a103 a101a113a117a97a116a105a111a110 a66a46a49a51 a97a110a100 a66a46a49a52 a101a113a117a97a108 a116a111 a111a110a101 a97a110a111a116a104a101a114 a121a105a101a108a100a115a58 arctan cos( )A1+sin( )(cos( )D1+sin( )G1) cos( )G1 sin( )D1 = arctan cos( )B1+sin( )(cos( )E1+sin( )H1) cos( )H1 sin( )E1 a40a68a46a49a41 a83a105a109a112a108a105a102a121a105a110a103 a69a113a117a97a116a105a111a110 a68a46a51 a121a105a101a108a100a115a58 1213 = arctan cos( )(B 1G1 A1H1) + sin( )( B1D1 +A1E1) D1H1 E1G1 a40a68a46a50a41 a83a101a116a116a105a110a103 a101a113a117a97a116a105a111a110 a67a46a49a48 a97a110a100 a67a46a49a49 a101a113a117a97a108 a116a111 a111a110a101 a97a110a111a116a104a101a114 a121a105a101a108a100a115a58 arctan cos( )A11+sin( )(cos( )D11+sin( )G11) cos( )G11 sin( )D11 = arctan cos( )B11+sin( )(cos( )E11+sin( )H11) cos( )H11 sin( )E11 a40a68a46a51a41 a83a105a109a112a108a105a102a121a105a110a103 a69a113a117a97a116a105a111a110 a68a46a51 a121a105a101a108a100a115a58 11221133 = arctan cos( )(B 11G11 A11H11) + sin( )( B11D11 +A11E11) D11H11 E11G11 a40a68a46a52a41 a57a51 a65a112a112a101a110a100a105a120 a69 a89a97a119 a79a27a115a101a116 a67a97a108a99a117a108a97a116a105a111a110a115 a83a101a116a116a105a110a103 a101a113a117a97a116a105a111a110a115 a68a46a50a97a110a100 a68a46a52 a101a113a117a97a108 a116a111 a111a110a101 a97a110a111a116a104a101a114 a121a105a101a108a100a115a58 arctan cos( )(B1G1 A1H1)+sin( )( B1D1+A1E1) D1H1 E1G1 = arctan cos( )(B11G11 A11H11)+sin( )( B11D11+A11E11) D11H11 E11G11 a40a69a46a49a41 a83a105a109a112a108a105a102a121a105a110a103 a101a113a117a97a116a105a111a110 a69a46a49 a121a105a101a108a100a115a58 = arctan (B 11G11 A11H11)(D1H1 E1G1) (B1G1 A1H1)(D11H11 E11G11) ( B1D1 +A1E1)(D11H11 E11G11) ( B11D11 +A11E11)(D1H1 E1G1) a40a69a46a50a41 a57a52