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getFb.m
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function [Fb, Jb] = getFb(q,k)
%%
global EI ne refLen
% Compute bending force
Fb = q * 0;
for c=2:ne
ci = 2*(c-1) + 1 - 2;
cf = 2*(c-1) + 1 + 3;
xkm1 = q(ci);
ykm1 = q(ci+1);
xk = q(ci+2);
yk = q(ci+3);
xkp1 = q(ci+4);
ykp1 = q(ci+5);
gradEnergy = gradEb(xkm1, ykm1, xk, yk, xkp1, ykp1, k(c)); % gradEb returns the gradient of (curvature)^2
Fb( ci: cf) = Fb(ci: cf) - 0.5 * (EI * (gradEnergy)) / refLen(c);
end
% Compute Jacobian of bending force
Jb = zeros(length(q), length(q));
for c=2:ne
ci = 2*(c-1) + 1 - 2;
cf = 2*(c-1) + 1 + 3;
xkm1 = q(ci);
ykm1 = q(ci+1);
xk = q(ci+2);
yk = q(ci+3);
xkp1 = q(ci+4);
ykp1 = q(ci+5);
hessEnergy = hessEb(xkm1, ykm1, xk, yk, xkp1, ykp1, k(c)); % hessEb returns the hessian of (curvature)^2
Jb( ci: cf, ci: cf) = Jb( ci: cf, ci: cf) - 0.5 * EI * hessEnergy / refLen(c);
end
end
function F = gradEb(xkm1, ykm1, xk, yk, xkp1, ykp1, kappa)
%
% This function returns the derivative of (\kappa_k)^2 with respect to
% x_{k-1}, y_{k-1}, x_k, y_k, x_{k+1}, and y_{k+1}.
%
F = zeros(6,1);
%F(1) = 0.4e1 * tan(atan((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk))) / 0.2e1) * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 0.1e1) * (0.1e1 + tan(atan((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk))) / 0.2e1) ^ 2);
%F(2) = 0.4e1 * tan(atan((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk))) / 0.2e1) * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 0.1e1) * (0.1e1 + tan(atan((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk))) / 0.2e1) ^ 2);
%F(3) = 0.4e1 * tan(atan((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk))) / 0.2e1) * ((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 0.2e1 * xk + xkm1)) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 0.1e1) * (0.1e1 + tan(atan((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk))) / 0.2e1) ^ 2);
%F(4) = 0.4e1 * tan(atan((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk))) / 0.2e1) * ((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 0.2e1 * yk + ykm1)) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 0.1e1) * (0.1e1 + tan(atan((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk))) / 0.2e1) ^ 2);
%F(5) = 0.4e1 * tan(atan((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk))) / 0.2e1) * ((yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1)) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 0.1e1) * (0.1e1 + tan(atan((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk))) / 0.2e1) ^ 2);
%F(6) = 0.4e1 * tan(atan((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk))) / 0.2e1) * ((-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1)) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 0.1e1) * (0.1e1 + tan(atan((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk))) / 0.2e1) ^ 2);
F(1) = ...
-(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1);
F(2) =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1);
F(3) = ...
(2*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1);
F(4) = ...
-(2*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1);
F(5) =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1);
F(6) =...
-(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1);
end
function J = hessEb(xkm1, ykm1, xk, yk, xkp1, ykp1, kappa)
%
% This function returns the 6x6 hessian of (\kappa_k)^2 with respect to
% x_{k-1}, y_{k-1}, x_k, y_k, x_{k+1}, and y_{k+1}.
%
% J11 = 0.2e1 * (((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) ^ 2) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-2 * (ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (-xkp1 + xk) ^ 2) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - yk) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (-xkp1 + xk)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * (((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) ^ 2) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J12 = 0.2e1 * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-(ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk) - (-xkp1 + xk) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (-xkp1 + xk) * (-ykp1 + yk)) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (-ykp1 + yk)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J13 = 0.2e1 * ((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-(ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1) - (-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (-xkp1 + xk) * (xkp1 - 2 * xk + xkm1) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + ykm1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (xkp1 - 2 * xk + xkm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * ((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J14 = 0.2e1 * ((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-1 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1) - (-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (-xkp1 + xk) * (ykp1 - 2 * yk + ykm1)) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkm1 + xkp1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (ykp1 - 2 * yk + ykm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * ((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1)) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J15 = 0.2e1 * ((yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-(ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1) - (yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (-xkp1 + xk) * (xk - xkm1) + (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (xk - xkm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * ((yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1)) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J16 = 0.2e1 * ((-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (1 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1) - (-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (-xkp1 + xk) * (yk - ykm1)) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xk + xkm1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (yk - ykm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * ((ykp1 - yk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * ((-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1)) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J22 = 0.2e1 * (((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) ^ 2) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-2 * (-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (-ykp1 + yk) ^ 2) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (-ykp1 + yk)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * (((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) ^ 2) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J23 = 0.2e1 * ((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (1 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1) - (-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (-ykp1 + yk) * (xkp1 - 2 * xk + xkm1)) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + ykm1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (xkp1 - 2 * xk + xkm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * ((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J24 = 0.2e1 * ((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-(-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1) - (-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (-ykp1 + yk) * (ykp1 - 2 * yk + ykm1) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkm1 + xkp1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (ykp1 - 2 * yk + ykm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * ((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1)) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J25 = 0.2e1 * ((yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-1 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1) - (yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (-ykp1 + yk) * (xk - xkm1)) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (xk - xkm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * ((yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1)) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J26 = 0.2e1 * ((-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-(yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkp1 + xk) - (-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (-ykp1 + yk) * (yk - ykm1) + (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xk + xkm1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (yk - ykm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * ((-xkp1 + xk) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + yk)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * ((-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1)) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J33 = 0.2e1 * (((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) ^ 2) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-2 * (-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (xkp1 - 2 * xk + xkm1) ^ 2 + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-ykp1 + ykm1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (xkp1 - 2 * xk + xkm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * (((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) ^ 2) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J34 = 0.2e1 * ((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 * ((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-(-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1) - (-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (xkp1 - 2 * xk + xkm1) * (ykp1 - 2 * yk + ykm1)) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkm1 + xkp1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (ykp1 - 2 * yk + ykm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * ((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * ((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1)) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J35 = 0.2e1 * ((yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 * ((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-(-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1) - (yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (xkp1 - 2 * xk + xkm1) * (xk - xkm1) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (xk - xkm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * ((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * ((yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1)) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J36 = 0.2e1 * ((-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 * ((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-1 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1) - (-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (xkp1 - 2 * xk + xkm1) * (yk - ykm1)) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xk + xkm1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (yk - ykm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * ((-ykp1 + ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xkp1 - 2 * xk + xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * ((-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1)) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J44 = 0.2e1 * (((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1)) ^ 2) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-2 * (-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (ykp1 - 2 * yk + ykm1) ^ 2 + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xkm1 + xkp1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (ykp1 - 2 * yk + ykm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * (((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1)) ^ 2) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J45 = 0.2e1 * ((yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 * ((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (1 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1) - (yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (ykp1 - 2 * yk + ykm1) * (xk - xkm1)) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (xk - xkm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * ((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * ((yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1)) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J46 = 0.2e1 * ((-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 * ((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-(-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1) - (-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (ykp1 - 2 * yk + ykm1) * (yk - ykm1) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xk + xkm1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (yk - ykm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * ((-xkm1 + xkp1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (ykp1 - 2 * yk + ykm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * ((-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1)) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J55 = 0.2e1 * (((yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1)) ^ 2) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-2 * (yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (xk - xkm1) ^ 2) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (xk - xkm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * (((yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1)) ^ 2) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J56 = 0.2e1 * ((-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 * ((yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-(yk - ykm1) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 - (-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (xk - xkm1) * (yk - ykm1)) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xk + xkm1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (yk - ykm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * ((yk - ykm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (xk - xkm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * ((-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1)) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
% J66 = 0.2e1 * (((-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1)) ^ 2) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) ^ 2 + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * (-2 * (-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1) + 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (yk - ykm1) ^ 2) / ((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) - 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) * ((-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1)) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2) * (2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (-xk + xkm1) - 2 * (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 3 * (yk - ykm1)) + 0.4e1 * tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2 * (((-xk + xkm1) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) - (-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 * (yk - ykm1)) ^ 2) / (((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) ^ 2 / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)) ^ 2 + 1) ^ 2) * (0.1e1 + tan(atan(((-(xk - xkm1) * (ykp1 - yk) + (yk - ykm1) * (xkp1 - xk)) / ((xk - xkm1) * (xkp1 - xk) + (yk - ykm1) * (ykp1 - yk)))) / 0.2e1) ^ 2);
J11 =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)^2)/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((2*(xk - xkp1)*(yk - ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (2*(xk - xkp1)^2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) + (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)^2)/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*((2*(yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (2*(xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J12 =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkp1)^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (yk - ykp1)^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(xk - xkp1)*(yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) - (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*((2*(xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J13 =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + ((xk - xkp1)*(ykm1 - ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - ((yk - ykp1)*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) - (2*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*((2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3 + (2*(ykm1 - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J14 =...
(2*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*(1/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + ((xk - xkp1)*(xkm1 - xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (2*(xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) + (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*((2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3 - (2*(xkm1 - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J15 =...
(2*((2*(yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((yk - ykm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + ((xk - xkm1)*(yk - ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - ((xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (2*(xk - xkm1)*(xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) - (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J16 =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((xk - xkm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*(1/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*(yk - ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - ((xk - xkm1)*(xk - xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(xk - xkp1)*(yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) - (2*((2*(xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (2*(yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*((yk - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J22 =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)^2)/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((2*(xk - xkp1)*(yk - ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(yk - ykp1)^2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) + (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)^2)/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*((2*(xk - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J23 =...
(2*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*(1/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*(ykm1 - ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + ((xk - xkp1)*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) - (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*((2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3 + (2*(ykm1 - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J24 =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - ((xkm1 - xkp1)*(yk - ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + ((xk - xkp1)*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) - (2*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*((2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3 - (2*(xkm1 - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J25 =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*(((yk - ykm1)*(yk - ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - 1/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*(xk - xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(xk - xkm1)*(yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) + (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((yk - ykm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*((2*(yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J26 =...
(2*((2*(xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (2*(yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((xk - xkm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + ((xk - xkm1)*(yk - ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - ((xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (2*(yk - ykm1)*(yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) - (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*((xk - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J33 =...
(2*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)^2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2)/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1)^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3 - (2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(ykm1 - ykp1)*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) - (2*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*((2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3 + (2*(ykm1 - ykp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)^2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J34 =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*(((ykm1 - ykp1)*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - ((xkm1 - xkp1)*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1)*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) - (2*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2)/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*((2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3 - (2*(xkm1 - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J35 =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + ((xk - xkm1)*(ykm1 - ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + ((yk - ykm1)*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) + (2*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((yk - ykm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*((2*(yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3)*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J36 =...
(2*((2*(xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (2*(yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3)*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*(1/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*(ykm1 - ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + ((xk - xkm1)*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (2*(yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) - (2*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((xk - xkm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*((ykm1 - ykp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(xkm1 - 2*xk + xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J44 =...
(2*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)^2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2)/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1)^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3 + (2*(xkm1 - xkp1)*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) + (2*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*((2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3 - (2*(xkm1 - xkp1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)^2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J45 =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*(1/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((yk - ykm1)*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - ((xk - xkm1)*(xkm1 - xkp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) - (2*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((yk - ykm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*((2*(yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3)*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J46 =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - ((xkm1 - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - ((xk - xkm1)*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) + (2*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((xk - xkm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*((2*(xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (2*(yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3)*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*((xkm1 - xkp1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - (((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))*(ykm1 - 2*yk + ykp1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J55 =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((yk - ykm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)^2)/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((2*(xk - xkm1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(xk - xkm1)^2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) + (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)^2)/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*((2*(yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J56 =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykm1)^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (xk - xkm1)^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + (2*(xk - xkm1)*(yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) - (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((yk - ykm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*((xk - xkm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 + (2*((2*(xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (2*(yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((yk - ykm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) + ((xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)*((xk - xkm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J66 =...
(2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)^2*((xk - xkm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)^2)/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((2*(xk - xkm1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (2*(yk - ykm1)^2*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1) + (2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2)^2)/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2 - (2*((2*(xk - xkm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 - (2*(yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^3)*(tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2)^2 + 1)*(kappa + 2*tan(atan(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)))/2))*((xk - xkm1)/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1)) - ((yk - ykm1)*((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1)))/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2))/(((xk - xkm1)*(yk - ykp1) - (xk - xkp1)*(yk - ykm1))^2/((xk - xkm1)*(xk - xkp1) + (yk - ykm1)*(yk - ykp1))^2 + 1)^2;
J = [J11 J12 J13 J14 J15 J16;
J12 J22 J23 J24 J25 J26;
J13 J23 J33 J34 J35 J36;
J14 J24 J34 J44 J45 J46;
J15 J25 J35 J45 J55 J56;
J16 J26 J36 J46 J56 J66];
end