function obj = coef_f_q_sym_pnp_func_new(in1,in2,in3)
coefs_tq1_1 = in2(1);
coefs_tq1_2 = in2(4);
coefs_tq2_1 = in2(2);
coefs_tq1_3 = in2(7);
coefs_tq2_2 = in2(5);
coefs_tq3_1 = in2(3);
coefs_tq1_4 = in2(10);
coefs_tq2_3 = in2(8);
coefs_tq3_2 = in2(6);
coefs_tq1_5 = in2(13);
coefs_tq2_4 = in2(11);
coefs_tq3_3 = in2(9);
coefs_tq1_6 = in2(16);
coefs_tq2_5 = in2(14);
coefs_tq3_4 = in2(12);
coefs_tq1_7 = in2(19);
coefs_tq2_6 = in2(17);
coefs_tq3_5 = in2(15);
coefs_tq1_8 = in2(22);
coefs_tq2_7 = in2(20);
coefs_tq3_6 = in2(18);
coefs_tq1_9 = in2(25);
coefs_tq2_8 = in2(23);
coefs_tq3_7 = in2(21);
coefs_tq2_9 = in2(26);
coefs_tq3_8 = in2(24);
coefs_tq3_9 = in2(27);
coefs_tq1_10 = in2(28);
coefs_tq2_10 = in2(29);
coefs_tq3_10 = in2(30);
coef_Jacob1_qt_syms1 = in3(1);
coef_Jacob1_qt_syms2 = in3(5);
coef_Jacob2_qt_syms1 = in3(2);
coef_Jacob1_qt_syms3 = in3(9);
coef_Jacob2_qt_syms2 = in3(6);
coef_Jacob3_qt_syms1 = in3(3);
coef_Jacob1_qt_syms4 = in3(13);
coef_Jacob2_qt_syms3 = in3(10);
coef_Jacob3_qt_syms2 = in3(7);
coef_Jacob4_qt_syms1 = in3(4);
coef_Jacob1_qt_syms5 = in3(17);
coef_Jacob2_qt_syms4 = in3(14);
coef_Jacob3_qt_syms3 = in3(11);
coef_Jacob4_qt_syms2 = in3(8);
coef_Jacob1_qt_syms6 = in3(21);
coef_Jacob2_qt_syms5 = in3(18);
coef_Jacob3_qt_syms4 = in3(15);
coef_Jacob4_qt_syms3 = in3(12);
coef_Jacob1_qt_syms7 = in3(25);
coef_Jacob2_qt_syms6 = in3(22);
coef_Jacob3_qt_syms5 = in3(19);
coef_Jacob4_qt_syms4 = in3(16);
coef_Jacob1_qt_syms8 = in3(29);
coef_Jacob2_qt_syms7 = in3(26);
coef_Jacob3_qt_syms6 = in3(23);
coef_Jacob4_qt_syms5 = in3(20);
coef_Jacob1_qt_syms9 = in3(33);
coef_Jacob2_qt_syms8 = in3(30);
coef_Jacob3_qt_syms7 = in3(27);
coef_Jacob4_qt_syms6 = in3(24);
coef_Jacob2_qt_syms9 = in3(34);
coef_Jacob3_qt_syms8 = in3(31);
coef_Jacob4_qt_syms7 = in3(28);
coef_Jacob3_qt_syms9 = in3(35);
coef_Jacob4_qt_syms8 = in3(32);
coef_Jacob4_qt_syms9 = in3(36);
coef_Jacob1_qt_syms10 = in3(37);
coef_Jacob1_qt_syms11 = in3(41);
coef_Jacob1_qt_syms20 = in3(77);
coef_Jacob2_qt_syms10 = in3(38);
coef_Jacob1_qt_syms12 = in3(45);
coef_Jacob1_qt_syms21 = in3(81);
coef_Jacob1_qt_syms30 = in3(117);
coef_Jacob2_qt_syms11 = in3(42);
coef_Jacob2_qt_syms20 = in3(78);
coef_Jacob3_qt_syms10 = in3(39);
coef_Jacob1_qt_syms13 = in3(49);
coef_Jacob1_qt_syms22 = in3(85);
coef_Jacob1_qt_syms31 = in3(121);
coef_Jacob2_qt_syms12 = in3(46);
coef_Jacob2_qt_syms21 = in3(82);
coef_Jacob2_qt_syms30 = in3(118);
coef_Jacob3_qt_syms11 = in3(43);
coef_Jacob3_qt_syms20 = in3(79);
coef_Jacob4_qt_syms10 = in3(40);
coef_Jacob1_qt_syms14 = in3(53);
coef_Jacob1_qt_syms23 = in3(89);
coef_Jacob1_qt_syms32 = in3(125);
coef_Jacob2_qt_syms13 = in3(50);
coef_Jacob2_qt_syms22 = in3(86);
coef_Jacob2_qt_syms31 = in3(122);
coef_Jacob3_qt_syms12 = in3(47);
coef_Jacob3_qt_syms21 = in3(83);
coef_Jacob3_qt_syms30 = in3(119);
coef_Jacob4_qt_syms11 = in3(44);
coef_Jacob4_qt_syms20 = in3(80);
coef_Jacob1_qt_syms15 = in3(57);
coef_Jacob1_qt_syms24 = in3(93);
coef_Jacob2_qt_syms14 = in3(54);
coef_Jacob2_qt_syms23 = in3(90);
coef_Jacob2_qt_syms32 = in3(126);
coef_Jacob3_qt_syms13 = in3(51);
coef_Jacob3_qt_syms22 = in3(87);
coef_Jacob3_qt_syms31 = in3(123);
coef_Jacob4_qt_syms12 = in3(48);
coef_Jacob4_qt_syms21 = in3(84);
coef_Jacob4_qt_syms30 = in3(120);
coef_Jacob1_qt_syms16 = in3(61);
coef_Jacob1_qt_syms25 = in3(97);
coef_Jacob2_qt_syms15 = in3(58);
coef_Jacob2_qt_syms24 = in3(94);
coef_Jacob3_qt_syms14 = in3(55);
coef_Jacob3_qt_syms23 = in3(91);
coef_Jacob3_qt_syms32 = in3(127);
coef_Jacob4_qt_syms13 = in3(52);
coef_Jacob4_qt_syms22 = in3(88);
coef_Jacob4_qt_syms31 = in3(124);
coef_Jacob1_qt_syms17 = in3(65);
coef_Jacob1_qt_syms26 = in3(101);
coef_Jacob2_qt_syms16 = in3(62);
coef_Jacob2_qt_syms25 = in3(98);
coef_Jacob3_qt_syms15 = in3(59);
coef_Jacob3_qt_syms24 = in3(95);
coef_Jacob4_qt_syms14 = in3(56);
coef_Jacob4_qt_syms23 = in3(92);
coef_Jacob4_qt_syms32 = in3(128);
coef_Jacob1_qt_syms18 = in3(69);
coef_Jacob1_qt_syms27 = in3(105);
coef_Jacob2_qt_syms17 = in3(66);
coef_Jacob2_qt_syms26 = in3(102);
coef_Jacob3_qt_syms16 = in3(63);
coef_Jacob3_qt_syms25 = in3(99);
coef_Jacob4_qt_syms15 = in3(60);
coef_Jacob4_qt_syms24 = in3(96);
coef_Jacob1_qt_syms19 = in3(73);
coef_Jacob1_qt_syms28 = in3(109);
coef_Jacob2_qt_syms18 = in3(70);
coef_Jacob2_qt_syms27 = in3(106);
coef_Jacob3_qt_syms17 = in3(67);
coef_Jacob3_qt_syms26 = in3(103);
coef_Jacob4_qt_syms16 = in3(64);
coef_Jacob4_qt_syms25 = in3(100);
coef_Jacob1_qt_syms29 = in3(113);
coef_Jacob2_qt_syms19 = in3(74);
coef_Jacob2_qt_syms28 = in3(110);
coef_Jacob3_qt_syms18 = in3(71);
coef_Jacob3_qt_syms27 = in3(107);
coef_Jacob4_qt_syms17 = in3(68);
coef_Jacob4_qt_syms26 = in3(104);
coef_Jacob2_qt_syms29 = in3(114);
coef_Jacob3_qt_syms19 = in3(75);
coef_Jacob3_qt_syms28 = in3(111);
coef_Jacob4_qt_syms18 = in3(72);
coef_Jacob4_qt_syms27 = in3(108);
coef_Jacob3_qt_syms29 = in3(115);
coef_Jacob4_qt_syms19 = in3(76);
coef_Jacob4_qt_syms28 = in3(112);
coef_Jacob4_qt_syms29 = in3(116);
pinvG1_1 = in1(1);
pinvG1_2 = in1(4);
pinvG2_1 = in1(2);
pinvG1_3 = in1(7);
pinvG2_2 = in1(5);
pinvG3_1 = in1(3);
pinvG2_3 = in1(8);
pinvG3_2 = in1(6);
pinvG3_3 = in1(9);
obj = 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