function [ out,N1,N2,D ] = f2( theta )

	x1=5;
	x2=0;
	y2=6;
	L1=3;
	L3=3;
	L2=3*sqrt(2);
	gamma=pi/4;
	p1=5;
	p2=5;
	p3=3;


    	A2=L3*cos(theta)-x1;
    	B2=L3*sin(theta);
   	 A3=L2*cos(theta+gamma)-x2;
    	B3=L2*sin(theta+gamma)-y2;
   	 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);
   	 D=2*(A2*B3-B2*A3);
   	 out=N1^2+N2^2-p1^2*D^2;
    
    
end