Diff: main.cpp

Revision:

24:e166f8119dbb

Parent:

21:73e1cc927968

--- a/main.cpp	Thu Nov 01 08:42:44 2018 +0000
+++ b/main.cpp	Thu Nov 01 08:46:57 2018 +0000
@@ -263,93 +263,89 @@
 
 //Hieronder rekenen we eerst de aparte dingen van de jacobiaan uit. (sla maar over)
 
-    jacobiana = (500*(-100*(sin(theta1) - sin(0.001 - theta4)) - ((-1.7 + cos(theta1) + cos(0.001 - theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2))))/
-        sqrt(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)) + 
-       ((-340 + 200*(cos(theta1) + cos(0.001 + theta4)))*sqrt(340*(cos(theta1) + cos(0.001 + theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
-        (20.*sqrt(pow(-1.7 + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2))) + 100*(sin(theta1) + sin(0.001 + theta4))))/
-   (250000*((350 + 200*(cos(0.001 + theta1) - cos(theta4)) + (20*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4)))*(-sin(0.001 + theta1) + sin(theta4)))/
-            sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2)))/2. + 
-        (-350 - 200*(cos(0.001 - theta1) - cos(theta4)) - (2*(sin(0.001 - theta1) + sin(theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
-            sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/2.)*
-      (-100*(sin(theta1) - sin(0.001 - theta4)) - ((-1.7 + cos(theta1) + cos(0.001 - theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2))))/
-         sqrt(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)) + 
-        ((-340 + 200*(cos(theta1) + cos(0.001 + theta4)))*sqrt(340*(cos(theta1) + cos(0.001 + theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
-         (20.*sqrt(pow(-1.7 + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2))) + 100*(sin(theta1) + sin(0.001 + theta4))) - 
-     250000*(((-340 + 200*(cos(0.001 + theta1) + cos(theta4)))*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
-         (20.*sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2))) - 100*(-sin(0.001 - theta1) + sin(theta4)) + 100*(sin(0.001 + theta1) + sin(theta4)) - 
-        ((-340 + 200*(cos(0.001 - theta1) + cos(theta4)))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
-         (200.*sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))*
-      ((-350 - 200*(cos(theta1) - cos(0.001 - theta4)) + (2*(sin(theta1) + sin(0.001 - theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2))))/
-            sqrt(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/2. + 
-        (350 + 200*(cos(theta1) - cos(0.001 + theta4)) + (20*sqrt(340*(cos(theta1) + cos(0.001 + theta4)) - 200*(1 + cos(0.001 + theta1 + theta4)))*(-sin(theta1) + sin(0.001 + theta4)))/
-            sqrt(pow(-1.7 + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2)))/2.));
+    jacobiana = (500*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
+          sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. + 
+       ((-xbase + ll*(cos(theta1) + cos(0.002 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.002 + theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
+        (ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) + (ll*(sin(theta1) + sin(0.002 + theta4)))/2.))/
+   (-125000*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
+           sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) + 
+        ((-xbase + ll*(cos(0.002 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.002 + theta1) + cos(theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
+         (ll*sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. + (ll*(sin(0.002 + theta1) + sin(theta4)))/2.)*
+      (ll*(-cos(theta1) + cos(theta4)) + ll*(cos(theta1) - cos(0.002 + theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
+           (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) + 
+        (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(0.002 + theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(theta1) + sin(0.002 + theta4)))/
+         sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) + 
+     125000*(ll*(cos(0.002 + theta1) - cos(theta4)) + ll*(-cos(theta1) + cos(theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
+           (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) + 
+        (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(0.002 + theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(0.002 + theta1) + sin(theta4)))/
+         sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2)))*
+      (-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
+           sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. + 
+        ((-xbase + ll*(cos(theta1) + cos(0.002 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.002 + theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
+         (ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) + (ll*(sin(theta1) + sin(0.002 + theta4)))/2.));
+
+    jacobianb = (-250*(ll*(-cos(theta1) + cos(theta4)) + ll*(cos(theta1) - cos(0.002 + theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
+          (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) + 
+       (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(0.002 + theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(theta1) + sin(0.002 + theta4)))/
+        sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))))/
+   (-125000*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
+           sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) + 
+        ((-xbase + ll*(cos(0.002 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.002 + theta1) + cos(theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
+         (ll*sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. + (ll*(sin(0.002 + theta1) + sin(theta4)))/2.)*
+      (ll*(-cos(theta1) + cos(theta4)) + ll*(cos(theta1) - cos(0.002 + theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
+           (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) + 
+        (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(0.002 + theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(theta1) + sin(0.002 + theta4)))/
+         sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) + 
+     125000*(ll*(cos(0.002 + theta1) - cos(theta4)) + ll*(-cos(theta1) + cos(theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
+           (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) + 
+        (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(0.002 + theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(0.002 + theta1) + sin(theta4)))/
+         sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2)))*
+      (-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
+           sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. + 
+        ((-xbase + ll*(cos(theta1) + cos(0.002 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.002 + theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
+         (ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) + (ll*(sin(theta1) + sin(0.002 + theta4)))/2.));
 
-    jacobianb = (-500*((-lb - xbase - ll*(cos(theta1) - cos(0.001 - theta4)) + (2*(sin(theta1) + sin(0.001 - theta4))*
-             sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
-           sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/2. + 
-       (lb + xbase + ll*(cos(theta1) - cos(0.001 + theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*(-sin(theta1) + sin(0.001 + theta4)))/
-           sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2)))/2.))/
-   (250000*((lb + xbase + ll*(cos(0.001 + theta1) - cos(theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.001 + theta1) + cos(theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*
-              (-sin(0.001 + theta1) + sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2)))/2. + 
-        (-lb - xbase - ll*(cos(0.001 - theta1) - cos(theta4)) - (2*(sin(0.001 - theta1) + sin(theta4))*
-              sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/4.))/
-            sqrt(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/2.)*
-      (-(ll*(sin(theta1) - sin(0.001 - theta4)))/2. - ((-(xbase/ll) + cos(theta1) + cos(0.001 - theta4))*
-           sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
-         sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)) + 
-        ((-xbase + ll*(cos(theta1) + cos(0.001 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.))/
-         (ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2))) + (ll*(sin(theta1) + sin(0.001 + theta4)))/2.) - 
-     250000*(((-xbase + ll*(cos(0.001 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.001 + theta1) + cos(theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.))/
-         (ll*sqrt(pow(-(xbase/ll) + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2))) - (ll*(-sin(0.001 - theta1) + sin(theta4)))/2. + (ll*(sin(0.001 + theta1) + sin(theta4)))/2. - 
-        ((-xbase + ll*(cos(0.001 - theta1) + cos(theta4)))*sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/4.))/
-         (ll*sqrt(pow(-(xbase/ll) + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))*
-      ((-lb - xbase - ll*(cos(theta1) - cos(0.001 - theta4)) + (2*(sin(theta1) + sin(0.001 - theta4))*
-              sqrt(pow(lu,2) - (pow(ll,2)*(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/4.))/
-            sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/2. + 
-        (lb + xbase + ll*(cos(theta1) - cos(0.001 + theta4)) + (2*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.001 + theta4)) - ll*(1 + cos(0.001 + theta1 + theta4))))/2.)*(-sin(theta1) + sin(0.001 + theta4)))/
-            sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2)))/2.));
+    jacobianc = (-500*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
+          sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) + 
+       ((-xbase + ll*(cos(0.002 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.002 + theta1) + cos(theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
+        (ll*sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. + (ll*(sin(0.002 + theta1) + sin(theta4)))/2.))/
+   (-125000*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
+           sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) + 
+        ((-xbase + ll*(cos(0.002 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.002 + theta1) + cos(theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
+         (ll*sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. + (ll*(sin(0.002 + theta1) + sin(theta4)))/2.)*
+      (ll*(-cos(theta1) + cos(theta4)) + ll*(cos(theta1) - cos(0.002 + theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
+           (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) + 
+        (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(0.002 + theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(theta1) + sin(0.002 + theta4)))/
+         sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) + 
+     125000*(ll*(cos(0.002 + theta1) - cos(theta4)) + ll*(-cos(theta1) + cos(theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
+           (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) + 
+        (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(0.002 + theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(0.002 + theta1) + sin(theta4)))/
+         sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2)))*
+      (-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
+           sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. + 
+        ((-xbase + ll*(cos(theta1) + cos(0.002 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.002 + theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
+         (ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) + (ll*(sin(theta1) + sin(0.002 + theta4)))/2.));
 
-    jacobianc = (-500*(((-340 + 200*(cos(0.001 + theta1) + cos(theta4)))*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
-        (20.*sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2))) - 100*(-sin(0.001 - theta1) + sin(theta4)) + 100*(sin(0.001 + theta1) + sin(theta4)) - 
-       ((-340 + 200*(cos(0.001 - theta1) + cos(theta4)))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
-        (200.*sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))))/
-   (250000*((350 + 200*(cos(0.001 + theta1) - cos(theta4)) + (20*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4)))*(-sin(0.001 + theta1) + sin(theta4)))/
-            sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2)))/2. + 
-        (-350 - 200*(cos(0.001 - theta1) - cos(theta4)) - (2*(sin(0.001 - theta1) + sin(theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
-            sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/2.)*
-      (-100*(sin(theta1) - sin(0.001 - theta4)) - ((-1.7 + cos(theta1) + cos(0.001 - theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2))))/
-         sqrt(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)) + 
-        ((-340 + 200*(cos(theta1) + cos(0.001 + theta4)))*sqrt(340*(cos(theta1) + cos(0.001 + theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
-         (20.*sqrt(pow(-1.7 + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2))) + 100*(sin(theta1) + sin(0.001 + theta4))) - 
-     250000*(((-340 + 200*(cos(0.001 + theta1) + cos(theta4)))*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
-         (20.*sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2))) - 100*(-sin(0.001 - theta1) + sin(theta4)) + 100*(sin(0.001 + theta1) + sin(theta4)) - 
-        ((-340 + 200*(cos(0.001 - theta1) + cos(theta4)))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
-         (200.*sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))*
-      ((-350 - 200*(cos(theta1) - cos(0.001 - theta4)) + (2*(sin(theta1) + sin(0.001 - theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2))))/
-            sqrt(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/2. + 
-        (350 + 200*(cos(theta1) - cos(0.001 + theta4)) + (20*sqrt(340*(cos(theta1) + cos(0.001 + theta4)) - 200*(1 + cos(0.001 + theta1 + theta4)))*(-sin(theta1) + sin(0.001 + theta4)))/
-            sqrt(pow(-1.7 + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2)))/2.));
-
-    jacobiand = (500*((350 + 200*(cos(0.001 + theta1) - cos(theta4)) + (20*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4)))*(-sin(0.001 + theta1) + sin(theta4)))/
-           sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2)))/2. + 
-       (-350 - 200*(cos(0.001 - theta1) - cos(theta4)) - (2*(sin(0.001 - theta1) + sin(theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
-           sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/2.))/
-   (250000*((350 + 200*(cos(0.001 + theta1) - cos(theta4)) + (20*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4)))*(-sin(0.001 + theta1) + sin(theta4)))/
-            sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2)))/2. + 
-        (-350 - 200*(cos(0.001 - theta1) - cos(theta4)) - (2*(sin(0.001 - theta1) + sin(theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
-            sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2)))/2.)*
-      (-100*(sin(theta1) - sin(0.001 - theta4)) - ((-1.7 + cos(theta1) + cos(0.001 - theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2))))/
-         sqrt(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)) + 
-        ((-340 + 200*(cos(theta1) + cos(0.001 + theta4)))*sqrt(340*(cos(theta1) + cos(0.001 + theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
-         (20.*sqrt(pow(-1.7 + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2))) + 100*(sin(theta1) + sin(0.001 + theta4))) - 
-     250000*(((-340 + 200*(cos(0.001 + theta1) + cos(theta4)))*sqrt(340*(cos(0.001 + theta1) + cos(theta4)) - 200*(1 + cos(0.001 + theta1 + theta4))))/
-         (20.*sqrt(pow(-1.7 + cos(0.001 + theta1) + cos(theta4),2) + pow(sin(0.001 + theta1) - sin(theta4),2))) - 100*(-sin(0.001 - theta1) + sin(theta4)) + 100*(sin(0.001 + theta1) + sin(theta4)) - 
-        ((-340 + 200*(cos(0.001 - theta1) + cos(theta4)))*sqrt(28900 - 10000*(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))/
-         (200.*sqrt(pow(-1.7 + cos(0.001 - theta1) + cos(theta4),2) + pow(sin(0.001 - theta1) + sin(theta4),2))))*
-      ((-350 - 200*(cos(theta1) - cos(0.001 - theta4)) + (2*(sin(theta1) + sin(0.001 - theta4))*sqrt(28900 - 10000*(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2))))/
-            sqrt(pow(-1.7 + cos(theta1) + cos(0.001 - theta4),2) + pow(sin(theta1) + sin(0.001 - theta4),2)))/2. + 
-        (350 + 200*(cos(theta1) - cos(0.001 + theta4)) + (20*sqrt(340*(cos(theta1) + cos(0.001 + theta4)) - 200*(1 + cos(0.001 + theta1 + theta4)))*(-sin(theta1) + sin(0.001 + theta4)))/
-            sqrt(pow(-1.7 + cos(theta1) + cos(0.001 + theta4),2) + pow(sin(theta1) - sin(0.001 + theta4),2)))/2.));
+    jacobiand = (250*(ll*(cos(0.002 + theta1) - cos(theta4)) + ll*(-cos(theta1) + cos(theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
+          (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) + 
+       (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(0.002 + theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(0.002 + theta1) + sin(theta4)))/
+        sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2))))/
+   (-125000*(-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
+           sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) + 
+        ((-xbase + ll*(cos(0.002 + theta1) + cos(theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(0.002 + theta1) + cos(theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
+         (ll*sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. + (ll*(sin(0.002 + theta1) + sin(theta4)))/2.)*
+      (ll*(-cos(theta1) + cos(theta4)) + ll*(cos(theta1) - cos(0.002 + theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
+           (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) + 
+        (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(0.002 + theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(theta1) + sin(0.002 + theta4)))/
+         sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) + 
+     125000*(ll*(cos(0.002 + theta1) - cos(theta4)) + ll*(-cos(theta1) + cos(theta4)) + (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(theta1 + theta4))*
+           (sin(theta1) - sin(theta4)))/sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2)) + 
+        (sqrt(-pow(xbase,2) - 2*pow(ll,2) + 4*pow(lu,2) + 2*xbase*ll*cos(0.002 + theta1) + 2*xbase*ll*cos(theta4) - 2*pow(ll,2)*cos(0.002 + theta1 + theta4))*(-sin(0.002 + theta1) + sin(theta4)))/
+         sqrt(pow(-(xbase/ll) + cos(0.002 + theta1) + cos(theta4),2) + pow(sin(0.002 + theta1) - sin(theta4),2)))*
+      (-(((-(xbase/ll) + cos(theta1) + cos(theta4))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(theta4)) - ll*(1 + cos(theta1 + theta4))))/2.))/
+           sqrt(pow(-(xbase/ll) + cos(theta1) + cos(theta4),2) + pow(sin(theta1) - sin(theta4),2))) - (ll*(sin(theta1) + sin(theta4)))/2. + 
+        ((-xbase + ll*(cos(theta1) + cos(0.002 + theta4)))*sqrt(-pow(xbase,2)/4. + pow(lu,2) + (ll*(xbase*(cos(theta1) + cos(0.002 + theta4)) - ll*(1 + cos(0.002 + theta1 + theta4))))/2.))/
+         (ll*sqrt(pow(-(xbase/ll) + cos(theta1) + cos(0.002 + theta4),2) + pow(sin(theta1) - sin(0.002 + theta4),2))) + (ll*(sin(theta1) + sin(0.002 + theta4)))/2.));
             //vanaf hier weer door met lezen!
     prefx = 1*xMove; //sw3, dit is belangrijk! prefx staat voor P_(reference) en het is de snelheid van de endeffector als 
                         // de button ingedrukt wordt (als emg = boven treshold) is de prefx 1 (da's de rode 1)