function out=f(theta)
L1=3;
L2=3*2^(1/2);
L3=3;
gamma=pi/4;
p1=5;
p2=p1;
p3=3;
x1=5;
x2=0;
y2=6;
A2=L3*cos(theta)-x1;
B2=L3*sin(theta);
A3=L2*(cos(theta)*cos(gamma)-sin(theta)*sin(gamma))-x2;
B3=L2*(cos(theta)*sin(gamma)+sin(theta)*cos(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;


function out=g(theta)
L1=3;
L2=3*2^(1/2);
L3=3;
gamma=pi/4;
p1=5;
p2=p1;
p3=3;
x1=5;
x2=0;
y2=6;
A2=L3*cos(theta)-x1;
B2=L3*sin(theta);
A3=L2*(cos(theta)*cos(gamma)-sin(theta)*sin(gamma))-x2;
B3=L2*(cos(theta)*sin(gamma)+sin(theta)*cos(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/D;


function out=h(theta)
L1=3;
L2=3*2^(1/2);
L3=3;
gamma=pi/4;
p1=5;
p2=p1;
p3=3;
x1=5;
x2=0;
y2=6;
A2=L3*cos(theta)-x1;
B2=L3*sin(theta);
A3=L2*(cos(theta)*cos(gamma)-sin(theta)*sin(gamma))-x2;
B3=L2*(cos(theta)*sin(gamma)+sin(theta)*cos(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=N2/D;