5
subroutine npend(neq,t,th,ydot)
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implicit doubleprecision (t)
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doubleprecision t,th(2*n),ydot(2*n),r(n),j(n),m(n)
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doubleprecision me3s(n,n),cc3s(n,n),const(n,1)
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doubleprecision w(3*n),rcond
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t9 = 2*r(7)*r(9)*cos(th(7)+t1)*t5
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t15 = 2*r(3)*r(9)*cos(th(3)+t1)*t5
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t24 = 2*r(7)*r(8)*cos(th(7)+t16)*t20
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t49 = m(6)+t19+t4+t47+t48
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t53 = 2*r(5)*r(6)*cos(th(5)+t44)*t49
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t59 = 2*r(6)*r(9)*cos(th(6)+t1)*t5
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t66 = 2*r(5)*m(10)*r(10)*cos(th(5)+t60)
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t72 = 2*r(1)*r(8)*cos(th(1)+t16)*t20
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t78 = t48+m(4)+t19+t76+t47+t4+t77
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t82 = 2*r(3)*r(4)*cos(th(3)+t73)*t78
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t88 = 2*r(8)*r(9)*cos(th(8)+t1)*t5
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t105 = t4+m(7)+t48+t19
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t109 = 2*r(6)*r(7)*cos(th(6)+t102)*t105
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t115 = 2*r(9)*m(10)*r(10)*cos(th(9)+t60)
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t138 = 2*r(4)*r(9)*cos(th(4)+t1)*t5
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t144 = 2*r(3)*m(10)*r(10)*cos(th(3)+t60)
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t150 = 2*r(4)*m(10)*r(10)*cos(th(4)+t60)
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t155 = t76+t154+t4+t48+t47+m(3)+t19+t77
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t159 = 2*r(1)*r(3)*cos(th(1)+t151)*t155
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t183 = 2*r(6)*m(10)*r(10)*cos(th(6)+t60)
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t192 = 2*r(2)*r(4)*cos(th(2)+t73)*t78
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t212 = 2*r(3)*r(6)*cos(th(3)+t44)*t49
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t218 = 2*r(2)*r(3)*cos(th(2)+t151)*t155
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t224 = 2*r(5)*r(9)*cos(th(5)+t1)*t5
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t230 = 2*r(5)*r(7)*cos(th(5)+t102)*t105
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t236 = 2*r(7)*m(10)*r(10)*cos(th(7)+t60)
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t242 = 2*r(1)*r(4)*cos(th(1)+t73)*t78
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t248 = 2*r(1)*r(6)*cos(th(1)+t44)*t49
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t254 = 2*r(2)*r(6)*cos(th(2)+t44)*t49
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t260 = 2*r(2)*m(10)*r(10)*cos(th(2)+t60)
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t266 = 2*r(8)*m(10)*r(10)*cos(th(8)+t60)
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t270 = t77+t48+t19+t47+m(5)+t4
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t274 = 2*r(1)*r(5)*cos(th(1)+t267)*t270
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t280 = 2*r(4)*r(5)*cos(th(4)+t267)*t270
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t286 = 2*r(4)*r(7)*cos(th(4)+t102)*t105
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t292 = 2*r(6)*r(8)*cos(th(6)+t16)*t20
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t298 = 2*r(1)*r(9)*cos(th(1)+t1)*t5
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t304 = 2*r(5)*r(8)*cos(th(5)+t16)*t20
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t310 = 2*r(3)*r(5)*cos(th(3)+t267)*t270
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t316 = 2*r(3)*r(7)*cos(th(3)+t102)*t105
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t322 = 2*r(2)*r(7)*cos(th(2)+t102)*t105
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t331 = 2*r(1)*r(2)*cos(th(1)-th(2))*(2*m(3)+m(2)+t154+t47+t4+t76+t
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t352 = 2*r(4)*r(8)*cos(th(4)+t16)*t20
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t358 = 2*r(2)*r(5)*cos(th(2)+t267)*t270
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t364 = 2*r(2)*r(9)*cos(th(2)+t1)*t5
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t370 = 2*r(2)*r(8)*cos(th(2)+t16)*t20
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t376 = 2*r(1)*r(7)*cos(th(1)+t102)*t105
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t382 = 2*r(3)*r(8)*cos(th(3)+t16)*t20
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t388 = 2*r(4)*r(6)*cos(th(4)+t44)*t49
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t417 = 2*r(1)*m(10)*r(10)*cos(th(1)+t60)
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me3s(2,2) = J(2)+4*t25*m(3)+4*t25*m(4)+4*t25*m(7)+4*t25*m(8)+m(
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+2)*t25+4*t25*m(9)+4*t25*m(5)+4*t25*m(10)+4*t25*m(6)
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me3s(5,5) = 4*t89*m(8)+4*t89*m(10)+4*t89*m(7)+4*t89*m(9)+4*t89*
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me3s(3,3) = 4*t116*m(4)+4*t116*m(10)+4*t116*m(9)+4*t116*m(5)+4*
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+t116*m(6)+m(3)*t116+J(3)+4*t116*m(7)+4*t116*m(8)
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me3s(8,8) = 4*t160*m(9)+J(8)+m(8)*t160+4*t160*m(10)
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me3s(6,6) = m(6)*t167+4*t167*m(7)+4*t167*m(8)+J(6)+4*t167*m(9)+
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me3s(10,10) = m(10)*t184+J(10)
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me3s(9,9) = 4*t193*m(10)+J(9)+m(9)*t193
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me3s(7,7) = 4*t198*m(9)+4*t198*m(10)+4*t198*m(8)+J(7)+m(7)*t198
158
me3s(4,4) = 4*t332*m(10)+4*t332*m(9)+4*t332*m(6)+4*t332*m(5)+4*
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+t332*m(7)+J(4)+m(4)*t332+4*t332*m(8)
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me3s(1,1) = 4*t389*m(8)+4*t389*m(10)+m(1)*t389+4*t389*m(6)+4*t3
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+89*m(9)+4*t389*m(7)+4*t389*m(2)+J(1)+4*t389*m(5)+4*t389*m(4)+4*t38
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t8 = r(7)*r(9)*sin(th(7)+t1)*t5
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t14 = r(3)*r(9)*sin(th(3)+t1)*t5
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t23 = r(7)*r(8)*sin(th(7)+t16)*t20
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t30 = m(6)+t19+t4+t28+t29
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t33 = r(5)*r(6)*sin(th(5)+t25)*t30
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t39 = r(6)*r(9)*sin(th(6)+t1)*t5
218
t46 = r(5)*m(10)*r(10)*sin(th(5)+t41)
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t52 = r(1)*r(8)*sin(th(1)+t16)*t20
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t59 = t29+m(4)+t19+t57+t28+t4+t58
224
t62 = r(3)*r(4)*sin(th(3)+t54)*t59
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t68 = r(8)*r(9)*sin(th(8)+t1)*t5
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t73 = t4+m(7)+t29+t19
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t76 = r(6)*r(7)*sin(th(6)+t70)*t73
229
t82 = r(9)*m(10)*r(10)*sin(th(9)+t41)
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t88 = r(4)*r(9)*sin(th(4)+t1)*t5
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t94 = r(3)*m(10)*r(10)*sin(th(3)+t41)
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t100 = r(4)*m(10)*r(10)*sin(th(4)+t41)
235
t106 = t57+t105+t4+t29+t28+m(3)+t19+t58
236
t109 = r(1)*r(3)*sin(th(1)+t102)*t106
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t115 = r(6)*m(10)*r(10)*sin(th(6)+t41)
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t121 = r(2)*r(4)*sin(th(2)+t54)*t59
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t127 = r(3)*r(6)*sin(th(3)+t25)*t30
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t133 = r(2)*r(3)*sin(th(2)+t102)*t106
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t140 = r(5)*r(9)*sin(th(5)+t1)*t5
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t146 = r(5)*r(7)*sin(th(5)+t70)*t73
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t152 = r(7)*m(10)*r(10)*sin(th(7)+t41)
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t158 = r(1)*r(4)*sin(th(1)+t54)*t59
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t166 = r(1)*r(6)*sin(th(1)+t25)*t30
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t172 = r(2)*r(6)*sin(th(2)+t25)*t30
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t178 = r(2)*m(10)*r(10)*sin(th(2)+t41)
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t186 = r(8)*m(10)*r(10)*sin(th(8)+t41)
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t191 = t58+t29+t19+t28+m(5)+t4
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t194 = r(1)*r(5)*sin(th(1)+t188)*t191
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t202 = r(4)*r(5)*sin(th(4)+t188)*t191
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t209 = r(4)*r(7)*sin(th(4)+t70)*t73
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t218 = r(6)*r(8)*sin(th(6)+t16)*t20
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t224 = r(1)*r(9)*sin(th(1)+t1)*t5
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t231 = r(5)*r(8)*sin(th(5)+t16)*t20
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t237 = r(3)*r(5)*sin(th(3)+t188)*t191
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t244 = r(3)*r(7)*sin(th(3)+t70)*t73
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t251 = r(2)*r(7)*sin(th(2)+t70)*t73
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t260 = r(1)*r(2)*sin(th(1)-th(2))*(2*m(3)+m(2)+t105+t28+t4+t57+t58
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t268 = r(4)*r(8)*sin(th(4)+t16)*t20
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t277 = r(2)*r(5)*sin(th(2)+t188)*t191
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t285 = r(2)*r(9)*sin(th(2)+t1)*t5
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t291 = r(2)*r(8)*sin(th(2)+t16)*t20
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t297 = r(1)*r(7)*sin(th(1)+t70)*t73
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t304 = r(3)*r(8)*sin(th(3)+t16)*t20
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t310 = r(4)*r(6)*sin(th(4)+t25)*t30
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t328 = r(1)*m(10)*r(10)*sin(th(1)+t41)
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const(8,1) = g*cos(th(8))*r(8)*(m(8)+t2+t3)
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const(3,1) = g*r(3)*cos(th(3))*(t9+t10+t2+t11+t12+m(3)+t3+t13)
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const(6,1) = g*r(6)*cos(th(6))*(m(6)+t3+t2+t12+t11)
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const(9,1) = g*r(9)*cos(th(9))*(m(9)+t2)
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const(4,1) = g*r(4)*cos(th(4))*(t11+m(4)+t3+t9+t12+t2+t13)
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const(7,1) = g*r(7)*cos(th(7))*(t2+m(7)+t11+t3)
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const(2,1) = g*r(2)*cos(th(2))*(t39+m(2)+t10+t12+t2+t9+t13+t3+t
386
const(1,1) = g*r(1)*cos(th(1))*(m(1)+t3+2*m(2)+t10+t39+t11+t12+
388
const(10,1) = m(10)*g*r(10)*cos(th(10))
389
const(5,1) = g*r(5)*cos(th(5))*(t13+t11+t3+t12+m(5)+t2)
399
Const(i,1) = Const(i,1)+CC3S(i,k)*(th(k+n)**2)
402
Const(i,1) = -Const(i,1)
405
c we must solve M z =const
406
c which gives ydot((n+1)..2*n)
407
call dlslv(me3s,n,n,Const,n,1,w, rcond,ierr,1)
410
2000 format('Matrice mal conditionnee')
414
ydot(n+i) = const(i,1)