function [ out,N1,N2,D ] = f4( theta )
    x1=5;
    x2=0;
    y2=6;
    L1=3;
    L3=3;
    L2=3*sqrt(2);
    gamma=pi/4;
    p1=5;
    p2=4;
    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