📄 drawing.m
字号:
%% Right Arm
JPs(7,1) = real(JPs(4,1)+H(2)*cos(fai));
JPs(7,2) = real(JPs(4,2)+H(2)*sin(fai));
if (JPs(9,1) > JPs(7,1))&(S==1)
elseif (JPs(9,1)<JPs(7,1))&(S==1)
S = 2;
elseif (JPs(9,1)>JPs(7,1))&(S==2)
elseif (JPs(9,1)<JPs(7,1))&(S==2)
S = 1;
end
Temp = real([-1/2*(-1/(-8*JPs(9,2)*JPs(7,2)-8*JPs(7,1)*JPs(9,1)+4*JPs(9,2)^2+4*JPs(7,2)^2+4*JPs(9,1)^2+4*JPs(7,1)^2)*(-8*JPs(7,1)*JPs(9,1)*JPs(7,2)+4*JPs(9,2)^3+4*JPs(7,1)^2*JPs(7,2)+4*JPs(7,2)^3+4*JPs(9,2)*JPs(7,1)^2+4*JPs(9,1)^2*JPs(9,2)-8*JPs(7,1)*JPs(9,1)*JPs(9,2)+4*JPs(9,2)*L(2)^2+4*JPs(9,1)^2*JPs(7,2)-4*JPs(9,2)*JPs(7,2)^2+4*L(1)^2*JPs(7,2)-4*JPs(7,2)*L(2)^2-4*JPs(9,2)*L(1)^2-4*JPs(9,2)^2*JPs(7,2)+4*(-8*JPs(7,1)^3*JPs(9,1)*L(1)^2-8*JPs(7,1)^3*JPs(9,1)*L(2)^2-4*JPs(7,1)*JPs(9,1)*L(2)^2*L(1)^2+20*JPs(7,1)^3*JPs(9,1)^3-15*JPs(7,1)^2*JPs(9,1)^4+2*JPs(9,1)^2*JPs(7,2)^2*L(1)^2+2*JPs(9,1)^2*JPs(7,2)^2*L(2)^2-4*JPs(9,1)^2*JPs(9,2)*L(1)^2*JPs(7,2)-4*JPs(9,1)^2*JPs(9,2)*JPs(7,2)*L(2)^2-4*JPs(7,1)*JPs(9,1)*JPs(9,2)^2*L(2)^2-4*JPs(7,1)*JPs(9,1)*JPs(9,2)^2*L(1)^2+2*JPs(9,2)^2*JPs(7,1)^2*L(2)^2+2*JPs(9,2)^2*JPs(7,1)^2*L(1)^2+8*JPs(9,1)^3*JPs(9,2)^2*JPs(7,1)+2*JPs(9,1)^2*JPs(9,2)^2*L(2)^2+4*JPs(9,1)^4*JPs(9,2)*JPs(7,2)-6*JPs(9,1)^2*JPs(9,2)^2*JPs(7,2)^2+2*JPs(9,1)^2*JPs(9,2)^2*L(1)^2-2*JPs(9,2)^2*JPs(7,1)^4-2*JPs(9,1)^4*JPs(9,2)^2-2*JPs(9,1)^4*JPs(7,2)^2+4*JPs(7,1)^2*JPs(7,2)^3*JPs(9,2)+2*JPs(7,1)^2*JPs(7,2)^2*L(1)^2+2*JPs(7,1)^2*JPs(7,2)^2*L(2)^2-6*JPs(7,1)^2*JPs(7,2)^2*JPs(9,2)^2+4*JPs(7,2)^3*JPs(9,1)^2*JPs(9,2)-12*JPs(9,2)^2*JPs(7,1)^2*JPs(9,1)^2+8*JPs(9,2)^2*JPs(7,1)^3*JPs(9,1)-4*JPs(7,1)^2*JPs(7,2)*JPs(9,2)*L(2)^2-4*JPs(7,1)^2*JPs(7,2)*JPs(9,2)*L(1)^2-2*JPs(7,1)^4*JPs(7,2)^2-JPs(7,1)^2*JPs(7,2)^4-JPs(7,2)^4*JPs(9,1)^2+2*JPs(9,2)^4*JPs(7,1)*JPs(9,1)+4*JPs(9,2)^3*JPs(9,1)^2*JPs(7,2)+4*JPs(7,1)^4*JPs(7,2)*JPs(9,2)+24*JPs(7,1)^2*JPs(9,1)^2*JPs(7,2)*JPs(9,2)-JPs(9,2)^4*JPs(9,1)^2+8*JPs(7,1)*JPs(9,1)*JPs(7,2)*JPs(9,2)*L(2)^2-8*JPs(7,1)*JPs(9,1)*JPs(7,2)^3*JPs(9,2)+8*JPs(7,1)*JPs(9,1)*JPs(7,2)*JPs(9,2)*L(1)^2-4*JPs(7,1)*JPs(9,1)*JPs(7,2)^2*L(1)^2-4*JPs(7,1)*JPs(9,1)*JPs(7,2)^2*L(2)^2+12*JPs(7,1)*JPs(9,1)*JPs(7,2)^2*JPs(9,2)^2-16*JPs(7,1)*JPs(9,1)^3*JPs(7,2)*JPs(9,2)-JPs(7,1)^6-12*JPs(7,1)^2*JPs(9,1)^2*JPs(7,2)^2+8*JPs(7,1)^3*JPs(9,1)*JPs(7,2)^2+2*JPs(7,1)*JPs(9,1)*JPs(7,2)^4+8*JPs(7,1)*JPs(9,1)^3*JPs(7,2)^2+4*JPs(9,2)^3*JPs(7,1)^2*JPs(7,2)-JPs(9,1)^6-JPs(9,2)^4*JPs(7,1)^2-8*JPs(7,1)*JPs(9,1)*JPs(7,2)*JPs(9,2)^3-16*JPs(7,1)^3*JPs(9,1)*JPs(7,2)*JPs(9,2)+2*JPs(7,1)^4*L(2)^2+2*JPs(7,1)^2*L(2)^2*L(1)^2+2*JPs(9,1)^4*L(1)^2+2*JPs(9,1)^4*L(2)^2-JPs(7,1)^2*L(2)^4-JPs(7,1)^2*L(1)^4+2*JPs(7,1)^4*L(1)^2-JPs(9,1)^2*L(2)^4-JPs(9,1)^2*L(1)^4+2*JPs(9,1)^2*L(2)^2*L(1)^2-15*JPs(7,1)^4*JPs(9,1)^2+6*JPs(7,1)*JPs(9,1)^5+6*JPs(7,1)^5*JPs(9,1)+12*JPs(7,1)^2*JPs(9,1)^2*L(2)^2+12*JPs(7,1)^2*JPs(9,1)^2*L(1)^2+2*JPs(7,1)*JPs(9,1)*L(2)^4+2*JPs(7,1)*JPs(9,1)*L(1)^4-8*JPs(7,1)*JPs(9,1)^3*L(1)^2-8*JPs(7,1)*JPs(9,1)^3*L(2)^2)^(1/2))*JPs(9,2)+1/(-8*JPs(9,2)*JPs(7,2)-8*JPs(7,1)*JPs(9,1)+4*JPs(9,2)^2+4*JPs(7,2)^2+4*JPs(9,1)^2+4*JPs(7,1)^2)*(-8*JPs(7,1)*JPs(9,1)*JPs(7,2)+4*JPs(9,2)^3+4*JPs(7,1)^2*JPs(7,2)+4*JPs(7,2)^3+4*JPs(9,2)*JPs(7,1)^2+4*JPs(9,1)^2*JPs(9,2)-8*JPs(7,1)*JPs(9,1)*JPs(9,2)+4*JPs(9,2)*L(2)^2+4*JPs(9,1)^2*JPs(7,2)-4*JPs(9,2)*JPs(7,2)^2+4*L(1)^2*JPs(7,2)-4*JPs(7,2)*L(2)^2-4*JPs(9,2)*L(1)^2-4*JPs(9,2)^2*JPs(7,2)+4*(-8*JPs(7,1)^3*JPs(9,1)*L(1)^2-8*JPs(7,1)^3*JPs(9,1)*L(2)^2-4*JPs(7,1)*JPs(9,1)*L(2)^2*L(1)^2+20*JPs(7,1)^3*JPs(9,1)^3-15*JPs(7,1)^2*JPs(9,1)^4+2*JPs(9,1)^2*JPs(7,2)^2*L(1)^2+2*JPs(9,1)^2*JPs(7,2)^2*L(2)^2-4*JPs(9,1)^2*JPs(9,2)*L(1)^2*JPs(7,2)-4*JPs(9,1)^2*JPs(9,2)*JPs(7,2)*L(2)^2-4*JPs(7,1)*JPs(9,1)*JPs(9,2)^2*L(2)^2-4*JPs(7,1)*JPs(9,1)*JPs(9,2)^2*L(1)^2+2*JPs(9,2)^2*JPs(7,1)^2*L(2)^2+2*JPs(9,2)^2*JPs(7,1)^2*L(1)^2+8*JPs(9,1)^3*JPs(9,2)^2*JPs(7,1)+2*JPs(9,1)^2*JPs(9,2)^2*L(2)^2+4*JPs(9,1)^4*JPs(9,2)*JPs(7,2)-6*JPs(9,1)^2*JPs(9,2)^2*JPs(7,2)^2+2*JPs(9,1)^2*JPs(9,2)^2*L(1)^2-2*JPs(9,2)^2*JPs(7,1)^4-2*JPs(9,1)^4*JPs(9,2)^2-2*JPs(9,1)^4*JPs(7,2)^2+4*JPs(7,1)^2*JPs(7,2)^3*JPs(9,2)+2*JPs(7,1)^2*JPs(7,2)^2*L(1)^2+2*JPs(7,1)^2*JPs(7,2)^2*L(2)^2-6*JPs(7,1)^2*JPs(7,2)^2*JPs(9,2)^2+4*JPs(7,2)^3*JPs(9,1)^2*JPs(9,2)-12*JPs(9,2)^2*JPs(7,1)^2*JPs(9,1)^2+8*JPs(9,2)^2*JPs(7,1)^3*JPs(9,1)-4*JPs(7,1)^2*JPs(7,2)*JPs(9,2)*L(2)^2-4*JPs(7,1)^2*JPs(7,2)*JPs(9,2)*L(1)^2-2*JPs(7,1)^4*JPs(7,2)^2-JPs(7,1)^2*JPs(7,2)^4-JPs(7,2)^4*JPs(9,1)^2+2*JPs(9,2)^4*JPs(7,1)*JPs(9,1)+4*JPs(9,2)^3*JPs(9,1)^2*JPs(7,2)+4*JPs(7,1)^4*JPs(7,2)*JPs(9,2)+24*JPs(7,1)^2*JPs(9,1)^2*JPs(7,2)*JPs(9,2)-JPs(9,2)^4*JPs(9,1)^2+8*JPs(7,1)*JPs(9,1)*JPs(7,2)*JPs(9,2)*L(2)^2-8*JPs(7,1)*JPs(9,1)*JPs(7,2)^3*JPs(9,2)+8*JPs(7,1)*JPs(9,1)*JPs(7,2)*JPs(9,2)*L(1)^2-4*JPs(7,1)*JPs(9,1)*JPs(7,2)^2*L(1)^2-4*JPs(7,1)*JPs(9,1)*JPs(7,2)^2*L(2)^2+12*JPs(7,1)*JPs(9,1)*JPs(7,2)^2*JPs(9,2)^2-16*JPs(7,1)*JPs(9,1)^3*JPs(7,2)*JPs(9,2)-JPs(7,1)^6-12*JPs(7,1)^2*JPs(9,1)^2*JPs(7,2)^2+8*JPs(7,1)^3*JPs(9,1)*JPs(7,2)^2+2*JPs(7,1)*JPs(9,1)*JPs(7,2)^4+8*JPs(7,1)*JPs(9,1)^3*JPs(7,2)^2+4*JPs(9,2)^3*JPs(7,1)^2*JPs(7,2)-JPs(9,1)^6-JPs(9,2)^4*JPs(7,1)^2-8*JPs(7,1)*JPs(9,1)*JPs(7,2)*JPs(9,2)^3-16*JPs(7,1)^3*JPs(9,1)*JPs(7,2)*JPs(9,2)+2*JPs(7,1)^4*L(2)^2+2*JPs(7,1)^2*L(2)^2*L(1)^2+2*JPs(9,1)^4*L(1)^2+2*JPs(9,1)^4*L(2)^2-JPs(7,1)^2*L(2)^4-JPs(7,1)^2*L(1)^4+2*JPs(7,1)^4*L(1)^2-JPs(9,1)^2*L(2)^4-JPs(9,1)^2*L(1)^4+2*JPs(9,1)^2*L(2)^2*L(1)^2-15*JPs(7,1)^4*JPs(9,1)^2+6*JPs(7,1)*JPs(9,1)^5+6*JPs(7,1)^5*JPs(9,1)+12*JPs(7,1)^2*JPs(9,1)^2*L(2)^2+12*JPs(7,1)^2*JPs(9,1)^2*L(1)^2+2*JPs(7,1)*JPs(9,1)*L(2)^4+2*JPs(7,1)*JPs(9,1)*L(1)^4-8*JPs(7,1)*JPs(9,1)^3*L(1)^2-8*JPs(7,1)*JPs(9,1)^3*L(2)^2)^(1/2))*JPs(7,2)+JPs(9,1)^2+JPs(9,2)^2-L(1)^2-JPs(7,1)^2-JPs(7,2)^2+L(2)^2)/(-JPs(9,1)+JPs(7,1));
-1/2*(-1/(-8*JPs(9,2)*JPs(7,2)-8*JPs(7,1)*JPs(9,1)+4*JPs(9,2)^2+4*JPs(7,2)^2+4*JPs(9,1)^2+4*JPs(7,1)^2)*(-8*JPs(7,1)*JPs(9,1)*JPs(7,2)+4*JPs(9,2)^3+4*JPs(7,1)^2*JPs(7,2)+4*JPs(7,2)^3+4*JPs(9,2)*JPs(7,1)^2+4*JPs(9,1)^2*JPs(9,2)-8*JPs(7,1)*JPs(9,1)*JPs(9,2)+4*JPs(9,2)*L(2)^2+4*JPs(9,1)^2*JPs(7,2)-4*JPs(9,2)*JPs(7,2)^2+4*L(1)^2*JPs(7,2)-4*JPs(7,2)*L(2)^2-4*JPs(9,2)*L(1)^2-4*JPs(9,2)^2*JPs(7,2)-4*(-8*JPs(7,1)^3*JPs(9,1)*L(1)^2-8*JPs(7,1)^3*JPs(9,1)*L(2)^2-4*JPs(7,1)*JPs(9,1)*L(2)^2*L(1)^2+20*JPs(7,1)^3*JPs(9,1)^3-15*JPs(7,1)^2*JPs(9,1)^4+2*JPs(9,1)^2*JPs(7,2)^2*L(1)^2+2*JPs(9,1)^2*JPs(7,2)^2*L(2)^2-4*JPs(9,1)^2*JPs(9,2)*L(1)^2*JPs(7,2)-4*JPs(9,1)^2*JPs(9,2)*JPs(7,2)*L(2)^2-4*JPs(7,1)*JPs(9,1)*JPs(9,2)^2*L(2)^2-4*JPs(7,1)*JPs(9,1)*JPs(9,2)^2*L(1)^2+2*JPs(9,2)^2*JPs(7,1)^2*L(2)^2+2*JPs(9,2)^2*JPs(7,1)^2*L(1)^2+8*JPs(9,1)^3*JPs(9,2)^2*JPs(7,1)+2*JPs(9,1)^2*JPs(9,2)^2*L(2)^2+4*JPs(9,1)^4*JPs(9,2)*JPs(7,2)-6*JPs(9,1)^2*JPs(9,2)^2*JPs(7,2)^2+2*JPs(9,1)^2*JPs(9,2)^2*L(1)^2-2*JPs(9,2)^2*JPs(7,1)^4-2*JPs(9,1)^4*JPs(9,2)^2-2*JPs(9,1)^4*JPs(7,2)^2+4*JPs(7,1)^2*JPs(7,2)^3*JPs(9,2)+2*JPs(7,1)^2*JPs(7,2)^2*L(1)^2+2*JPs(7,1)^2*JPs(7,2)^2*L(2)^2-6*JPs(7,1)^2*JPs(7,2)^2*JPs(9,2)^2+4*JPs(7,2)^3*JPs(9,1)^2*JPs(9,2)-12*JPs(9,2)^2*JPs(7,1)^2*JPs(9,1)^2+8*JPs(9,2)^2*JPs(7,1)^3*JPs(9,1)-4*JPs(7,1)^2*JPs(7,2)*JPs(9,2)*L(2)^2-4*JPs(7,1)^2*JPs(7,2)*JPs(9,2)*L(1)^2-2*JPs(7,1)^4*JPs(7,2)^2-JPs(7,1)^2*JPs(7,2)^4-JPs(7,2)^4*JPs(9,1)^2+2*JPs(9,2)^4*JPs(7,1)*JPs(9,1)+4*JPs(9,2)^3*JPs(9,1)^2*JPs(7,2)+4*JPs(7,1)^4*JPs(7,2)*JPs(9,2)+24*JPs(7,1)^2*JPs(9,1)^2*JPs(7,2)*JPs(9,2)-JPs(9,2)^4*JPs(9,1)^2+8*JPs(7,1)*JPs(9,1)*JPs(7,2)*JPs(9,2)*L(2)^2-8*JPs(7,1)*JPs(9,1)*JPs(7,2)^3*JPs(9,2)+8*JPs(7,1)*JPs(9,1)*JPs(7,2)*JPs(9,2)*L(1)^2-4*JPs(7,1)*JPs(9,1)*JPs(7,2)^2*L(1)^2-4*JPs(7,1)*JPs(9,1)*JPs(7,2)^2*L(2)^2+12*JPs(7,1)*JPs(9,1)*JPs(7,2)^2*JPs(9,2)^2-16*JPs(7,1)*JPs(9,1)^3*JPs(7,2)*JPs(9,2)-JPs(7,1)^6-12*JPs(7,1)^2*JPs(9,1)^2*JPs(7,2)^2+8*JPs(7,1)^3*JPs(9,1)*JPs(7,2)^2+2*JPs(7,1)*JPs(9,1)*JPs(7,2)^4+8*JPs(7,1)*JPs(9,1)^3*JPs(7,2)^2+4*JPs(9,2)^3*JPs(7,1)^2*JPs(7,2)-JPs(9,1)^6-JPs(9,2)^4*JPs(7,1)^2-8*JPs(7,1)*JPs(9,1)*JPs(7,2)*JPs(9,2)^3-16*JPs(7,1)^3*JPs(9,1)*JPs(7,2)*JPs(9,2)+2*JPs(7,1)^4*L(2)^2+2*JPs(7,1)^2*L(2)^2*L(1)^2+2*JPs(9,1)^4*L(1)^2+2*JPs(9,1)^4*L(2)^2-JPs(7,1)^2*L(2)^4-JPs(7,1)^2*L(1)^4+2*JPs(7,1)^4*L(1)^2-JPs(9,1)^2*L(2)^4-JPs(9,1)^2*L(1)^4+2*JPs(9,1)^2*L(2)^2*L(1)^2-15*JPs(7,1)^4*JPs(9,1)^2+6*JPs(7,1)*JPs(9,1)^5+6*JPs(7,1)^5*JPs(9,1)+12*JPs(7,1)^2*JPs(9,1)^2*L(2)^2+12*JPs(7,1)^2*JPs(9,1)^2*L(1)^2+2*JPs(7,1)*JPs(9,1)*L(2)^4+2*JPs(7,1)*JPs(9,1)*L(1)^4-8*JPs(7,1)*JPs(9,1)^3*L(1)^2-8*JPs(7,1)*JPs(9,1)^3*L(2)^2)^(1/2))*JPs(9,2)+1/(-8*JPs(9,2)*JPs(7,2)-8*JPs(7,1)*JPs(9,1)+4*JPs(9,2)^2+4*JPs(7,2)^2+4*JPs(9,1)^2+4*JPs(7,1)^2)*(-8*JPs(7,1)*JPs(9,1)*JPs(7,2)+4*JPs(9,2)^3+4*JPs(7,1)^2*JPs(7,2)+4*JPs(7,2)^3+4*JPs(9,2)*JPs(7,1)^2+4*JPs(9,1)^2*JPs(9,2)-8*JPs(7,1)*JPs(9,1)*JPs(9,2)+4*JPs(9,2)*L(2)^2+4*JPs(9,1)^2*JPs(7,2)-4*JPs(9,2)*JPs(7,2)^2+4*L(1)^2*JPs(7,2)-4*JPs(7,2)*L(2)^2-4*JPs(9,2)*L(1)^2-4*JPs(9,2)^2*JPs(7,2)-4*(-8*JPs(7,1)^3*JPs(9,1)*L(1)^2-8*JPs(7,1)^3*JPs(9,1)*L(2)^2-4*JPs(7,1)*JPs(9,1)*L(2)^2*L(1)^2+20*JPs(7,1)^3*JPs(9,1)^3-15*JPs(7,1)^2*JPs(9,1)^4+2*JPs(9,1)^2*JPs(7,2)^2*L(1)^2+2*JPs(9,1)^2*JPs(7,2)^2*L(2)^2-4*JPs(9,1)^2*JPs(9,2)*L(1)^2*JPs(7,2)-4*JPs(9,1)^2*JPs(9,2)*JPs(7,2)*L(2)^2-4*JPs(7,1)*JPs(9,1)*JPs(9,2)^2*L(2)^2-4*JPs(7,1)*JPs(9,1)*JPs(9,2)^2*L(1)^2+2*JPs(9,2)^2*JPs(7,1)^2*L(2)^2+2*JPs(9,2)^2*JPs(7,1)^2*L(1)^2+8*JPs(9,1)^3*JPs(9,2)^2*JPs(7,1)+2*JPs(9,1)^2*JPs(9,2)^2*L(2)^2+4*JPs(9,1)^4*JPs(9,2)*JPs(7,2)-6*JPs(9,1)^2*JPs(9,2)^2*JPs(7,2)^2+2*JPs(9,1)^2*JPs(9,2)^2*L(1)^2-2*JPs(9,2)^2*JPs(7,1)^4-2*JPs(9,1)^4*JPs(9,2)^2-2*JPs(9,1)^4*JPs(7,2)^2+4*JPs(7,1)^2*JPs(7,2)^3*JPs(9,2)+2*JPs(7,1)^2*JPs(7,2)^2*L(1)^2+2*JPs(7,1)^2*JPs(7,2)^2*L(2)^2-6*JPs(7,1)^2*JPs(7,2)^2*JPs(9,2)^2+4*JPs(7,2)^3*JPs(9,1)^2*JPs(9,2)-12*JPs(9,2)^2*JPs(7,1)^2*JPs(9,1)^2+8*JPs(9,2)^2*JPs(7,1)^3*JPs(9,1)-4*JPs(7,1)^2*JPs(7,2)*JPs(9,2)*L(2)^2-4*JPs(7,1)^2*JPs(7,2)*JPs(9,2)*L(1)^2-2*JPs(7,1)^4*JPs(7,2)^2-JPs(7,1)^2*JPs(7,2)^4-JPs(7,2)^4*JPs(9,1)^2+2*JPs(9,2)^4*JPs(7,1)*JPs(9,1)+4*JPs(9,2)^3*JPs(9,1)^2*JPs(7,2)+4*JPs(7,1)^4*JPs(7,2)*JPs(9,2)+24*JPs(7,1)^2*JPs(9,1)^2*JPs(7,2)*JPs(9,2)-JPs(9,2)^4*JPs(9,1)^2+8*JPs(7,1)*JPs(9,1)*JPs(7,2)*JPs(9,2)*L(2)^2-8*JPs(7,1)*JPs(9,1)*JPs(7,2)^3*JPs(9,2)+8*JPs(7,1)*JPs(9,1)*JPs(7,2)*JPs(9,2)*L(1)^2-4*JPs(7,1)*JPs(9,1)*JPs(7,2)^2*L(1)^2-4*JPs(7,1)*JPs(9,1)*JPs(7,2)^2*L(2)^2+12*JPs(7,1)*JPs(9,1)*JPs(7,2)^2*JPs(9,2)^2-16*JPs(7,1)*JPs(9,1)^3*JPs(7,2)*JPs(9,2)-JPs(7,1)^6-12*JPs(7,1)^2*JPs(9,1)^2*JPs(7,2)^2+8*JPs(7,1)^3*JPs(9,1)*JPs(7,2)^2+2*JPs(7,1)*JPs(9,1)*JPs(7,2)^4+8*JPs(7,1)*JPs(9,1)^3*JPs(7,2)^2+4*JPs(9,2)^3*JPs(7,1)^2*JPs(7,2)-JPs(9,1)^6-JPs(9,2)^4*JPs(7,1)^2-8*JPs(7,1)*JPs(9,1)*JPs(7,2)*JPs(9,2)^3-16*JPs(7,1)^3*JPs(9,1)*JPs(7,2)*JPs(9,2)+2*JPs(7,1)^4*L(2)^2+2*JPs(7,1)^2*L(2)^2*L(1)^2+2*JPs(9,1)^4*L(1)^2+2*JPs(9,1)^4*L(2)^2-JPs(7,1)^2*L(2)^4-JPs(7,1)^2*L(1)^4+2*JPs(7,1)^4*L(1)^2-JPs(9,1)^2*L(2)^4-JPs(9,1)^2*L(1)^4+2*JPs(9,1)^2*L(2)^2*L(1)^2-15*JPs(7,1)^4*JPs(9,1)^2+6*JPs(7,1)*JPs(9,1)^5+6*JPs(7,1)^5*JPs(9,1)+12*JPs(7,1)^2*JPs(9,1)^2*L(2)^2+12*JPs(7,1)^2*JPs(9,1)^2*L(1)^2+2*JPs(7,1)*JPs(9,1)*L(2)^4+2*JPs(7,1)*JPs(9,1)*L(1)^4-8*JPs(7,1)*JPs(9,1)^3*L(1)^2-8*JPs(7,1)*JPs(9,1)^3*L(2)^2)^(1/2))*JPs(7,2)+JPs(9,1)^2+JPs(9,2)^2-L(1)^2-JPs(7,1)^2-JPs(7,2)^2+L(2)^2)/(-JPs(9,1)+JPs(7,1))]);
JPs(8,1) = Temp(S);
Temp = real([1/2/(-8*JPs(9,2)*JPs(7,2)-8*JPs(7,1)*JPs(9,1)+4*JPs(9,2)^2+4*JPs(7,2)^2+4*JPs(9,1)^2+4*JPs(7,1)^2)*(-8*JPs(7,1)*JPs(9,1)*JPs(7,2)+4*JPs(9,2)^3+4*JPs(7,1)^2*JPs(7,2)+4*JPs(7,2)^3+4*JPs(9,2)*JPs(7,1)^2+4*JPs(9,1)^2*JPs(9,2)-8*JPs(7,1)*JPs(9,1)*JPs(9,2)+4*JPs(9,2)*L(2)^2+4*JPs(9,1)^2*JPs(7,2)-4*JPs(9,2)*JPs(7,2)^2+4*L(1)^2*JPs(7,2)-4*JPs(7,2)*L(2)^2-4*JPs(9,2)*L(1)^2-4*JPs(9,2)^2*JPs(7,2)+4*(-8*JPs(7,1)^3*JPs(9,1)*L(1)^2-8*JPs(7,1)^3*JPs(9,1)*L(2)^2-4*JPs(7,1)*JPs(9,1)*L(2)^2*L(1)^2+20*JPs(7,1)^3*JPs(9,1)^3-15*JPs(7,1)^2*JPs(9,1)^4+2*JPs(9,1)^2*JPs(7,2)^2*L(1)^2+2*JPs(9,1)^2*JPs(7,2)^2*L(2)^2-4*JPs(9,1)^2*JPs(9,2)*L(1)^2*JPs(7,2)-4*JPs(9,1)^2*JPs(9,2)*JPs(7,2)*L(2)^2-4*JPs(7,1)*JPs(9,1)*JPs(9,2)^2*L(2)^2-4*JPs(7,1)*JPs(9,1)*JPs(9,2)^2*L(1)^2+2*JPs(9,2)^2*JPs(7,1)^2*L(2)^2+2*JPs(9,2)^2*JPs(7,1)^2*L(1)^2+8*JPs(9,1)^3*JPs(9,2)^2*JPs(7,1)+2*JPs(9,1)^2*JPs(9,2)^2*L(2)^2+4*JPs(9,1)^4*JPs(9,2)*JPs(7,2)-6*JPs(9,1)^2*JPs(9,2)^2*JPs(7,2)^2+2*JPs(9,1)^2*JPs(9,2)^2*L(1)^2-2*JPs(9,2)^2*JPs(7,1)^4-2*JPs(9,1)^4*JPs(9,2)^2-2*JPs(9,1)^4*JPs(7,2)^2+4*JPs(7,1)^2*JPs(7,2)^3*JPs(9,2)+2*JPs(7,1)^2*JPs(7,2)^2*L(1)^2+2*JPs(7,1)^2*JPs(7,2)^2*L(2)^2-6*JPs(7,1)^2*JPs(7,2)^2*JPs(9,2)^2+4*JPs(7,2)^3*JPs(9,1)^2*JPs(9,2)-12*JPs(9,2)^2*JPs(7,1)^2*JPs(9,1)^2+8*JPs(9,2)^2*JPs(7,1)^3*JPs(9,1)-4*JPs(7,1)^2*JPs(7,2)*JPs(9,2)*L(2)^2-4*JPs(7,1)^2*JPs(7,2)*JPs(9,2)*L(1)^2-2*JPs(7,1)^4*JPs(7,2)^2-JPs(7,1)^2*JPs(7,2)^4-JPs(7,2)^4*JPs(9,1)^2+2*JPs(9,2)^4*JPs(7,1)*JPs(9,1)+4*JPs(9,2)^3*JPs(9,1)^2*JPs(7,2)+4*JPs(7,1)^4*JPs(7,2)*JPs(9,2)+24*JPs(7,1)^2*JPs(9,1)^2*JPs(7,2)*JPs(9,2)-JPs(9,2)^4*JPs(9,1)^2+8*JPs(7,1)*JPs(9,1)*JPs(7,2)*JPs(9,2)*L(2)^2-8*JPs(7,1)*JPs(9,1)*JPs(7,2)^3*JPs(9,2)+8*JPs(7,1)*JPs(9,1)*JPs(7,2)*JPs(9,2)*L(1)^2-4*JPs(7,1)*JPs(9,1)*JPs(7,2)^2*L(1)^2-4*JPs(7,1)*JPs(9,1)*JPs(7,2)^2*L(2)^2+12*JPs(7,1)*JPs(9,1)*JPs(7,2)^2*JPs(9,2)^2-16*JPs(7,1)*JPs(9,1)^3*JPs(7,2)*JPs(9,2)-JPs(7,1)^6-12*JPs(7,1)^2*JPs(9,1)^2*JPs(7,2)^2+8*JPs(7,1)^3*JPs(9,1)*JPs(7,2)^2+2*JPs(7,1)*JPs(9,1)*JPs(7,2)^4+8*JPs(7,1)*JPs(9,1)^3*JPs(7,2)^2+4*JPs(9,2)^3*JPs(7,1)^2*JPs(7,2)-JPs(9,1)^6-JPs(9,2)^4*JPs(7,1)^2-8*JPs(7,1)*JPs(9,1)*JPs(7,2)*JPs(9,2)^3-16*JPs(7,1)^3*JPs(9,1)*JPs(7,2)*JPs(9,2)+2*JPs(7,1)^4*L(2)^2+2*JPs(7,1)^2*L(2)^2*L(1)^2+2*JPs(9,1)^4*L(1)^2+2*JPs(9,1)^4*L(2)^2-JPs(7,1)^2*L(2)^4-JPs(7,1)^2*L(1)^4+2*JPs(7,1)^4*L(1)^2-JPs(9,1)^2*L(2)^4-JPs(9,1)^2*L(1)^4+2*JPs(9,1)^2*L(2)^2*L(1)^2-15*JPs(7,1)^4*JPs(9,1)^2+6*JPs(7,1)*JPs(9,1)^5+6*JPs(7,1)^5*JPs(9,1)+12*JPs(7,1)^2*JPs(9,1)^2*L(2)^2+12*JPs(7,1)^2*JPs(9,1)^2*L(1)^2+2*JPs(7,1)*JPs(9,1)*L(2)^4+2*JPs(7,1)*JPs(9,1)*L(1)^4-8*JPs(7,1)*JPs(9
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