<reponame>YoshimitsuMatsutaIe/ctrlab2021_soudan
import numpy
def f(q, q_dot, xi):
    l1, l2, l3 = q[0,0], q[1,0], q[2,0]
    l1_dot, l2_dot, l3_dot = q_dot[0,0], q_dot[1,0], q_dot[2,0]

    return -3.53674108537383e-11*l1**2 + 7.19493382490823e-12*l1*l2 + 6.38787038845961e-11*l1*l3 - 5.19058379413529e-14*l1 + 8.86717956244728e-12*l2**2 - 2.4932305151384e-11*l2*l3 + 7.55074773517067e-16*l2 - 1.96418867892903e-11*l3**2 + 5.13914262466604e-14*l3 - 1.85095554911322e-17
import numpy
def f(q, q_dot, xi):
    l1, l2, l3 = q[0,0], q[1,0], q[2,0]
    l1_dot, l2_dot, l3_dot = q_dot[0,0], q_dot[1,0], q_dot[2,0]

    return -3.53674108537383e-11*l1**2 + 7.19493382490823e-12*l1*l2 + 6.38787038845961e-11*l1*l3 - 5.19058379413529e-14*l1 + 8.86717956244728e-12*l2**2 - 2.4932305151384e-11*l2*l3 + 7.55074773517067e-16*l2 - 1.96418867892903e-11*l3**2 + 5.13914262466604e-14*l3 - 1.85095554911322e-17