function out=f_6(theta)

L1=3;L2=3*sqrt(2);L3=L1;
p1=5;p2=4;p3=3;

x=1;y=2;
x1=5;
x2=0;y2=6;

gamma=pi/4;
A2=L3*cos(theta)-x1;
B2=L3*sin(theta);
A3=L2*cos(theta+gamma)-x2;
B3=L2*sin(theta+gamma)-y2;

D=2*(A2*B3-B2*A3);
N1=B3*(p2^2-p1^2-A2^2-B2^2)-B2*(p3^2-p1^2-A3^2-B3^2);
N2=-A3*(p2^2-p1^2-A2^2-B2^2)+A2*(p3^2-p1^2-A3^2-B3^2);

out=N1^2+N2^2-p1^2*D^2;

Published with MATLAB® R2017a