File: _coder_calculateTransformations_info.c

    1   /*
    2    * Academic License - for use in teaching, academic research, and meeting
    3    * course requirements at degree granting institutions only.  Not for
    4    * government, commercial, or other organizational use.
    5    *
    6    * _coder_calculateTransformations_info.c
    7    *
    8    * Code generation for function '_coder_calculateTransformations_info'
    9    *
   10    */
   11   
   12   /* Include files */
   13   #include "rt_nonfinite.h"
   14   #include "calculateTransformations.h"
   15   #include "_coder_calculateTransformations_info.h"
   16   
   17   /* Function Declarations */
   18   static const mxArray *b_emlrt_marshallOut(const uint32_T u);
   19   static void b_info_helper(const mxArray **info);
   20   static const mxArray *emlrt_marshallOut(const char * u);
   21   static void info_helper(const mxArray **info);
   22   
   23   /* Function Definitions */
   24   static const mxArray *b_emlrt_marshallOut(const uint32_T u)
   25   {
   26     const mxArray *y;
   27     const mxArray *m1;
   28     y = NULL;
   29     m1 = emlrtCreateNumericMatrix(1, 1, mxUINT32_CLASS, mxREAL);
   30     *(uint32_T *)mxGetData(m1) = u;
   31     emlrtAssign(&y, m1);
   32     return y;
   33   }
   34   
   35   static void b_info_helper(const mxArray **info)
   36   {
   37     const mxArray *rhs64 = NULL;
   38     const mxArray *lhs64 = NULL;
   39     const mxArray *rhs65 = NULL;
   40     const mxArray *lhs65 = NULL;
   41     const mxArray *rhs66 = NULL;
   42     const mxArray *lhs66 = NULL;
   43     const mxArray *rhs67 = NULL;
   44     const mxArray *lhs67 = NULL;
   45     const mxArray *rhs68 = NULL;
   46     const mxArray *lhs68 = NULL;
   47     const mxArray *rhs69 = NULL;
   48     const mxArray *lhs69 = NULL;
   49     const mxArray *rhs70 = NULL;
   50     const mxArray *lhs70 = NULL;
   51     const mxArray *rhs71 = NULL;
   52     const mxArray *lhs71 = NULL;
   53     const mxArray *rhs72 = NULL;
   54     const mxArray *lhs72 = NULL;
   55     const mxArray *rhs73 = NULL;
   56     const mxArray *lhs73 = NULL;
   57     const mxArray *rhs74 = NULL;
   58     const mxArray *lhs74 = NULL;
   59     const mxArray *rhs75 = NULL;
   60     const mxArray *lhs75 = NULL;
   61     const mxArray *rhs76 = NULL;
   62     const mxArray *lhs76 = NULL;
   63     const mxArray *rhs77 = NULL;
   64     const mxArray *lhs77 = NULL;
   65     const mxArray *rhs78 = NULL;
   66     const mxArray *lhs78 = NULL;
   67     const mxArray *rhs79 = NULL;
   68     const mxArray *lhs79 = NULL;
   69     const mxArray *rhs80 = NULL;
   70     const mxArray *lhs80 = NULL;
   71     const mxArray *rhs81 = NULL;
   72     const mxArray *lhs81 = NULL;
   73     const mxArray *rhs82 = NULL;
   74     const mxArray *lhs82 = NULL;
   75     const mxArray *rhs83 = NULL;
   76     const mxArray *lhs83 = NULL;
   77     const mxArray *rhs84 = NULL;
   78     const mxArray *lhs84 = NULL;
   79     const mxArray *rhs85 = NULL;
   80     const mxArray *lhs85 = NULL;
   81     const mxArray *rhs86 = NULL;
   82     const mxArray *lhs86 = NULL;
   83     const mxArray *rhs87 = NULL;
   84     const mxArray *lhs87 = NULL;
   85     const mxArray *rhs88 = NULL;
   86     const mxArray *lhs88 = NULL;
   87     const mxArray *rhs89 = NULL;
   88     const mxArray *lhs89 = NULL;
   89     const mxArray *rhs90 = NULL;
   90     const mxArray *lhs90 = NULL;
   91     const mxArray *rhs91 = NULL;
   92     const mxArray *lhs91 = NULL;
   93     const mxArray *rhs92 = NULL;
   94     const mxArray *lhs92 = NULL;
   95     const mxArray *rhs93 = NULL;
   96     const mxArray *lhs93 = NULL;
   97     const mxArray *rhs94 = NULL;
   98     const mxArray *lhs94 = NULL;
   99     emlrtAddField(*info, emlrt_marshallOut(
  100       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elmat/eye.m"),
  101                   "context", 64);
  102     emlrtAddField(*info, emlrt_marshallOut("coder.internal.narginchk"), "name", 64);
  103     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 64);
  104     emlrtAddField(*info, emlrt_marshallOut(
  105       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/shared/coder/coder/+coder/+internal/narginchk.m"),
  106                   "resolved", 64);
  107     emlrtAddField(*info, b_emlrt_marshallOut(1363714558U), "fileTimeLo", 64);
  108     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 64);
  109     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 64);
  110     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 64);
  111     emlrtAssign(&rhs64, emlrtCreateCellMatrix(0, 1));
  112     emlrtAssign(&lhs64, emlrtCreateCellMatrix(0, 1));
  113     emlrtAddField(*info, emlrtAliasP(rhs64), "rhs", 64);
  114     emlrtAddField(*info, emlrtAliasP(lhs64), "lhs", 64);
  115     emlrtAddField(*info, emlrt_marshallOut(
  116       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elmat/eye.m"),
  117                   "context", 65);
  118     emlrtAddField(*info, emlrt_marshallOut("coder.internal.assertValidSizeArg"),
  119                   "name", 65);
  120     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 65);
  121     emlrtAddField(*info, emlrt_marshallOut(
  122       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/assertValidSizeArg.m"),
  123                   "resolved", 65);
  124     emlrtAddField(*info, b_emlrt_marshallOut(1427209022U), "fileTimeLo", 65);
  125     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 65);
  126     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 65);
  127     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 65);
  128     emlrtAssign(&rhs65, emlrtCreateCellMatrix(0, 1));
  129     emlrtAssign(&lhs65, emlrtCreateCellMatrix(0, 1));
  130     emlrtAddField(*info, emlrtAliasP(rhs65), "rhs", 65);
  131     emlrtAddField(*info, emlrtAliasP(lhs65), "lhs", 65);
  132     emlrtAddField(*info, emlrt_marshallOut(
  133       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/assertValidSizeArg.m"),
  134                   "context", 66);
  135     emlrtAddField(*info, emlrt_marshallOut("coder.internal.isBuiltInNumeric"),
  136                   "name", 66);
  137     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 66);
  138     emlrtAddField(*info, emlrt_marshallOut(
  139       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/isBuiltInNumeric.m"),
  140                   "resolved", 66);
  141     emlrtAddField(*info, b_emlrt_marshallOut(1395931856U), "fileTimeLo", 66);
  142     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 66);
  143     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 66);
  144     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 66);
  145     emlrtAssign(&rhs66, emlrtCreateCellMatrix(0, 1));
  146     emlrtAssign(&lhs66, emlrtCreateCellMatrix(0, 1));
  147     emlrtAddField(*info, emlrtAliasP(rhs66), "rhs", 66);
  148     emlrtAddField(*info, emlrtAliasP(lhs66), "lhs", 66);
  149     emlrtAddField(*info, emlrt_marshallOut(
  150       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/assertValidSizeArg.m!isintegral"),
  151                   "context", 67);
  152     emlrtAddField(*info, emlrt_marshallOut("isinf"), "name", 67);
  153     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 67);
  154     emlrtAddField(*info, emlrt_marshallOut(
  155       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elmat/isinf.m"),
  156                   "resolved", 67);
  157     emlrtAddField(*info, b_emlrt_marshallOut(1415907932U), "fileTimeLo", 67);
  158     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 67);
  159     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 67);
  160     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 67);
  161     emlrtAssign(&rhs67, emlrtCreateCellMatrix(0, 1));
  162     emlrtAssign(&lhs67, emlrtCreateCellMatrix(0, 1));
  163     emlrtAddField(*info, emlrtAliasP(rhs67), "rhs", 67);
  164     emlrtAddField(*info, emlrtAliasP(lhs67), "lhs", 67);
  165     emlrtAddField(*info, emlrt_marshallOut(
  166       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elmat/isinf.m"),
  167                   "context", 68);
  168     emlrtAddField(*info, emlrt_marshallOut("coder.internal.isBuiltInNumeric"),
  169                   "name", 68);
  170     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 68);
  171     emlrtAddField(*info, emlrt_marshallOut(
  172       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/isBuiltInNumeric.m"),
  173                   "resolved", 68);
  174     emlrtAddField(*info, b_emlrt_marshallOut(1395931856U), "fileTimeLo", 68);
  175     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 68);
  176     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 68);
  177     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 68);
  178     emlrtAssign(&rhs68, emlrtCreateCellMatrix(0, 1));
  179     emlrtAssign(&lhs68, emlrtCreateCellMatrix(0, 1));
  180     emlrtAddField(*info, emlrtAliasP(rhs68), "rhs", 68);
  181     emlrtAddField(*info, emlrtAliasP(lhs68), "lhs", 68);
  182     emlrtAddField(*info, emlrt_marshallOut(
  183       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/assertValidSizeArg.m!isinbounds"),
  184                   "context", 69);
  185     emlrtAddField(*info, emlrt_marshallOut("coder.internal.isIntegerClass"),
  186                   "name", 69);
  187     emlrtAddField(*info, emlrt_marshallOut("char"), "dominantType", 69);
  188     emlrtAddField(*info, emlrt_marshallOut(
  189       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/isIntegerClass.m"),
  190                   "resolved", 69);
  191     emlrtAddField(*info, b_emlrt_marshallOut(1415907914U), "fileTimeLo", 69);
  192     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 69);
  193     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 69);
  194     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 69);
  195     emlrtAssign(&rhs69, emlrtCreateCellMatrix(0, 1));
  196     emlrtAssign(&lhs69, emlrtCreateCellMatrix(0, 1));
  197     emlrtAddField(*info, emlrtAliasP(rhs69), "rhs", 69);
  198     emlrtAddField(*info, emlrtAliasP(lhs69), "lhs", 69);
  199     emlrtAddField(*info, emlrt_marshallOut(
  200       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/assertValidSizeArg.m!isinbounds"),
  201                   "context", 70);
  202     emlrtAddField(*info, emlrt_marshallOut("intmax"), "name", 70);
  203     emlrtAddField(*info, emlrt_marshallOut("char"), "dominantType", 70);
  204     emlrtAddField(*info, emlrt_marshallOut(
  205       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elmat/intmax.m"),
  206                   "resolved", 70);
  207     emlrtAddField(*info, b_emlrt_marshallOut(1415907932U), "fileTimeLo", 70);
  208     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 70);
  209     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 70);
  210     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 70);
  211     emlrtAssign(&rhs70, emlrtCreateCellMatrix(0, 1));
  212     emlrtAssign(&lhs70, emlrtCreateCellMatrix(0, 1));
  213     emlrtAddField(*info, emlrtAliasP(rhs70), "rhs", 70);
  214     emlrtAddField(*info, emlrtAliasP(lhs70), "lhs", 70);
  215     emlrtAddField(*info, emlrt_marshallOut(
  216       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/assertValidSizeArg.m!isinbounds"),
  217                   "context", 71);
  218     emlrtAddField(*info, emlrt_marshallOut("intmin"), "name", 71);
  219     emlrtAddField(*info, emlrt_marshallOut("char"), "dominantType", 71);
  220     emlrtAddField(*info, emlrt_marshallOut(
  221       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elmat/intmin.m"),
  222                   "resolved", 71);
  223     emlrtAddField(*info, b_emlrt_marshallOut(1415907932U), "fileTimeLo", 71);
  224     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 71);
  225     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 71);
  226     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 71);
  227     emlrtAssign(&rhs71, emlrtCreateCellMatrix(0, 1));
  228     emlrtAssign(&lhs71, emlrtCreateCellMatrix(0, 1));
  229     emlrtAddField(*info, emlrtAliasP(rhs71), "rhs", 71);
  230     emlrtAddField(*info, emlrtAliasP(lhs71), "lhs", 71);
  231     emlrtAddField(*info, emlrt_marshallOut(
  232       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/assertValidSizeArg.m!isinbounds"),
  233                   "context", 72);
  234     emlrtAddField(*info, emlrt_marshallOut("coder.internal.indexIntRelop"), "name",
  235                   72);
  236     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 72);
  237     emlrtAddField(*info, emlrt_marshallOut(
  238       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/shared/coder/coder/+coder/+internal/indexIntRelop.m"),
  239                   "resolved", 72);
  240     emlrtAddField(*info, b_emlrt_marshallOut(1415907946U), "fileTimeLo", 72);
  241     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 72);
  242     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 72);
  243     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 72);
  244     emlrtAssign(&rhs72, emlrtCreateCellMatrix(0, 1));
  245     emlrtAssign(&lhs72, emlrtCreateCellMatrix(0, 1));
  246     emlrtAddField(*info, emlrtAliasP(rhs72), "rhs", 72);
  247     emlrtAddField(*info, emlrtAliasP(lhs72), "lhs", 72);
  248     emlrtAddField(*info, emlrt_marshallOut(
  249       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/shared/coder/coder/+coder/+internal/indexIntRelop.m!float_class_contains_inde"
  250       "xIntClass"), "context", 73);
  251     emlrtAddField(*info, emlrt_marshallOut("coder.internal.floatModel"), "name",
  252                   73);
  253     emlrtAddField(*info, emlrt_marshallOut("char"), "dominantType", 73);
  254     emlrtAddField(*info, emlrt_marshallOut(
  255       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/floatModel.m"),
  256                   "resolved", 73);
  257     emlrtAddField(*info, b_emlrt_marshallOut(1415907914U), "fileTimeLo", 73);
  258     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 73);
  259     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 73);
  260     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 73);
  261     emlrtAssign(&rhs73, emlrtCreateCellMatrix(0, 1));
  262     emlrtAssign(&lhs73, emlrtCreateCellMatrix(0, 1));
  263     emlrtAddField(*info, emlrtAliasP(rhs73), "rhs", 73);
  264     emlrtAddField(*info, emlrtAliasP(lhs73), "lhs", 73);
  265     emlrtAddField(*info, emlrt_marshallOut(
  266       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/shared/coder/coder/+coder/+internal/indexIntRelop.m!is_signed_indexIntClass"),
  267                   "context", 74);
  268     emlrtAddField(*info, emlrt_marshallOut("intmin"), "name", 74);
  269     emlrtAddField(*info, emlrt_marshallOut("char"), "dominantType", 74);
  270     emlrtAddField(*info, emlrt_marshallOut(
  271       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elmat/intmin.m"),
  272                   "resolved", 74);
  273     emlrtAddField(*info, b_emlrt_marshallOut(1415907932U), "fileTimeLo", 74);
  274     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 74);
  275     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 74);
  276     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 74);
  277     emlrtAssign(&rhs74, emlrtCreateCellMatrix(0, 1));
  278     emlrtAssign(&lhs74, emlrtCreateCellMatrix(0, 1));
  279     emlrtAddField(*info, emlrtAliasP(rhs74), "rhs", 74);
  280     emlrtAddField(*info, emlrtAliasP(lhs74), "lhs", 74);
  281     emlrtAddField(*info, emlrt_marshallOut(
  282       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/assertValidSizeArg.m"),
  283                   "context", 75);
  284     emlrtAddField(*info, emlrt_marshallOut("intmin"), "name", 75);
  285     emlrtAddField(*info, emlrt_marshallOut("char"), "dominantType", 75);
  286     emlrtAddField(*info, emlrt_marshallOut(
  287       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elmat/intmin.m"),
  288                   "resolved", 75);
  289     emlrtAddField(*info, b_emlrt_marshallOut(1415907932U), "fileTimeLo", 75);
  290     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 75);
  291     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 75);
  292     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 75);
  293     emlrtAssign(&rhs75, emlrtCreateCellMatrix(0, 1));
  294     emlrtAssign(&lhs75, emlrtCreateCellMatrix(0, 1));
  295     emlrtAddField(*info, emlrtAliasP(rhs75), "rhs", 75);
  296     emlrtAddField(*info, emlrtAliasP(lhs75), "lhs", 75);
  297     emlrtAddField(*info, emlrt_marshallOut(
  298       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/assertValidSizeArg.m"),
  299                   "context", 76);
  300     emlrtAddField(*info, emlrt_marshallOut("intmax"), "name", 76);
  301     emlrtAddField(*info, emlrt_marshallOut("char"), "dominantType", 76);
  302     emlrtAddField(*info, emlrt_marshallOut(
  303       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elmat/intmax.m"),
  304                   "resolved", 76);
  305     emlrtAddField(*info, b_emlrt_marshallOut(1415907932U), "fileTimeLo", 76);
  306     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 76);
  307     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 76);
  308     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 76);
  309     emlrtAssign(&rhs76, emlrtCreateCellMatrix(0, 1));
  310     emlrtAssign(&lhs76, emlrtCreateCellMatrix(0, 1));
  311     emlrtAddField(*info, emlrtAliasP(rhs76), "rhs", 76);
  312     emlrtAddField(*info, emlrtAliasP(lhs76), "lhs", 76);
  313     emlrtAddField(*info, emlrt_marshallOut(
  314       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elmat/eye.m"),
  315                   "context", 77);
  316     emlrtAddField(*info, emlrt_marshallOut("eml_int_forloop_overflow_check"),
  317                   "name", 77);
  318     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 77);
  319     emlrtAddField(*info, emlrt_marshallOut(
  320       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/eml/eml_int_forloop_overflow_check.m"),
  321                   "resolved", 77);
  322     emlrtAddField(*info, b_emlrt_marshallOut(1415907934U), "fileTimeLo", 77);
  323     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 77);
  324     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 77);
  325     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 77);
  326     emlrtAssign(&rhs77, emlrtCreateCellMatrix(0, 1));
  327     emlrtAssign(&lhs77, emlrtCreateCellMatrix(0, 1));
  328     emlrtAddField(*info, emlrtAliasP(rhs77), "rhs", 77);
  329     emlrtAddField(*info, emlrtAliasP(lhs77), "lhs", 77);
  330     emlrtAddField(*info, emlrt_marshallOut(
  331       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateJointTransformations.m"),
  332                   "context", 78);
  333     emlrtAddField(*info, emlrt_marshallOut("rotationZ"), "name", 78);
  334     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 78);
  335     emlrtAddField(*info, emlrt_marshallOut(
  336       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/rotationZ.m"),
  337                   "resolved", 78);
  338     emlrtAddField(*info, b_emlrt_marshallOut(1510652587U), "fileTimeLo", 78);
  339     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 78);
  340     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 78);
  341     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 78);
  342     emlrtAssign(&rhs78, emlrtCreateCellMatrix(0, 1));
  343     emlrtAssign(&lhs78, emlrtCreateCellMatrix(0, 1));
  344     emlrtAddField(*info, emlrtAliasP(rhs78), "rhs", 78);
  345     emlrtAddField(*info, emlrtAliasP(lhs78), "lhs", 78);
  346     emlrtAddField(*info, emlrt_marshallOut(
  347       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/rotationZ.m"),
  348                   "context", 79);
  349     emlrtAddField(*info, emlrt_marshallOut("cos"), "name", 79);
  350     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 79);
  351     emlrtAddField(*info, emlrt_marshallOut(
  352       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/cos.m"),
  353                   "resolved", 79);
  354     emlrtAddField(*info, b_emlrt_marshallOut(1419313828U), "fileTimeLo", 79);
  355     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 79);
  356     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 79);
  357     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 79);
  358     emlrtAssign(&rhs79, emlrtCreateCellMatrix(0, 1));
  359     emlrtAssign(&lhs79, emlrtCreateCellMatrix(0, 1));
  360     emlrtAddField(*info, emlrtAliasP(rhs79), "rhs", 79);
  361     emlrtAddField(*info, emlrtAliasP(lhs79), "lhs", 79);
  362     emlrtAddField(*info, emlrt_marshallOut(
  363       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/rotationZ.m"),
  364                   "context", 80);
  365     emlrtAddField(*info, emlrt_marshallOut("sin"), "name", 80);
  366     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 80);
  367     emlrtAddField(*info, emlrt_marshallOut(
  368       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/sin.m"),
  369                   "resolved", 80);
  370     emlrtAddField(*info, b_emlrt_marshallOut(1419313828U), "fileTimeLo", 80);
  371     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 80);
  372     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 80);
  373     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 80);
  374     emlrtAssign(&rhs80, emlrtCreateCellMatrix(0, 1));
  375     emlrtAssign(&lhs80, emlrtCreateCellMatrix(0, 1));
  376     emlrtAddField(*info, emlrtAliasP(rhs80), "rhs", 80);
  377     emlrtAddField(*info, emlrtAliasP(lhs80), "lhs", 80);
  378     emlrtAddField(*info, emlrt_marshallOut(
  379       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateJointTransformations.m"),
  380                   "context", 81);
  381     emlrtAddField(*info, emlrt_marshallOut("eml_mtimes_helper"), "name", 81);
  382     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 81);
  383     emlrtAddField(*info, emlrt_marshallOut(
  384       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/ops/eml_mtimes_helper.m"),
  385                   "resolved", 81);
  386     emlrtAddField(*info, b_emlrt_marshallOut(1415907938U), "fileTimeLo", 81);
  387     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 81);
  388     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 81);
  389     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 81);
  390     emlrtAssign(&rhs81, emlrtCreateCellMatrix(0, 1));
  391     emlrtAssign(&lhs81, emlrtCreateCellMatrix(0, 1));
  392     emlrtAddField(*info, emlrtAliasP(rhs81), "rhs", 81);
  393     emlrtAddField(*info, emlrtAliasP(lhs81), "lhs", 81);
  394     emlrtAddField(*info, emlrt_marshallOut(
  395       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateTransformations.m"),
  396                   "context", 82);
  397     emlrtAddField(*info, emlrt_marshallOut("calculateModuleTransformations"),
  398                   "name", 82);
  399     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 82);
  400     emlrtAddField(*info, emlrt_marshallOut(
  401       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateModuleTransformations."
  402       "m"), "resolved", 82);
  403     emlrtAddField(*info, b_emlrt_marshallOut(1511278409U), "fileTimeLo", 82);
  404     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 82);
  405     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 82);
  406     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 82);
  407     emlrtAssign(&rhs82, emlrtCreateCellMatrix(0, 1));
  408     emlrtAssign(&lhs82, emlrtCreateCellMatrix(0, 1));
  409     emlrtAddField(*info, emlrtAliasP(rhs82), "rhs", 82);
  410     emlrtAddField(*info, emlrtAliasP(lhs82), "lhs", 82);
  411     emlrtAddField(*info, emlrt_marshallOut(
  412       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateModuleTransformations."
  413       "m"), "context", 83);
  414     emlrtAddField(*info, emlrt_marshallOut("eye"), "name", 83);
  415     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 83);
  416     emlrtAddField(*info, emlrt_marshallOut(
  417       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elmat/eye.m"),
  418                   "resolved", 83);
  419     emlrtAddField(*info, b_emlrt_marshallOut(1427210806U), "fileTimeLo", 83);
  420     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 83);
  421     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 83);
  422     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 83);
  423     emlrtAssign(&rhs83, emlrtCreateCellMatrix(0, 1));
  424     emlrtAssign(&lhs83, emlrtCreateCellMatrix(0, 1));
  425     emlrtAddField(*info, emlrtAliasP(rhs83), "rhs", 83);
  426     emlrtAddField(*info, emlrtAliasP(lhs83), "lhs", 83);
  427     emlrtAddField(*info, emlrt_marshallOut(
  428       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateModuleTransformations."
  429       "m"), "context", 84);
  430     emlrtAddField(*info, emlrt_marshallOut("eml_mtimes_helper"), "name", 84);
  431     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 84);
  432     emlrtAddField(*info, emlrt_marshallOut(
  433       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/ops/eml_mtimes_helper.m"),
  434                   "resolved", 84);
  435     emlrtAddField(*info, b_emlrt_marshallOut(1415907938U), "fileTimeLo", 84);
  436     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 84);
  437     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 84);
  438     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 84);
  439     emlrtAssign(&rhs84, emlrtCreateCellMatrix(0, 1));
  440     emlrtAssign(&lhs84, emlrtCreateCellMatrix(0, 1));
  441     emlrtAddField(*info, emlrtAliasP(rhs84), "rhs", 84);
  442     emlrtAddField(*info, emlrtAliasP(lhs84), "lhs", 84);
  443     emlrtAddField(*info, emlrt_marshallOut(
  444       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateTransformations.m"),
  445                   "context", 85);
  446     emlrtAddField(*info, emlrt_marshallOut("calculateThrusterTransformations"),
  447                   "name", 85);
  448     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 85);
  449     emlrtAddField(*info, emlrt_marshallOut(
  450       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateThrusterTransformation"
  451       "s.m"), "resolved", 85);
  452     emlrtAddField(*info, b_emlrt_marshallOut(1498776940U), "fileTimeLo", 85);
  453     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 85);
  454     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 85);
  455     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 85);
  456     emlrtAssign(&rhs85, emlrtCreateCellMatrix(0, 1));
  457     emlrtAssign(&lhs85, emlrtCreateCellMatrix(0, 1));
  458     emlrtAddField(*info, emlrtAliasP(rhs85), "rhs", 85);
  459     emlrtAddField(*info, emlrtAliasP(lhs85), "lhs", 85);
  460     emlrtAddField(*info, emlrt_marshallOut(
  461       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateThrusterTransformation"
  462       "s.m"), "context", 86);
  463     emlrtAddField(*info, emlrt_marshallOut("eml_switch_helper"), "name", 86);
  464     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 86);
  465     emlrtAddField(*info, emlrt_marshallOut(
  466       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/eml/eml_switch_helper.m"),
  467                   "resolved", 86);
  468     emlrtAddField(*info, b_emlrt_marshallOut(1415907936U), "fileTimeLo", 86);
  469     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 86);
  470     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 86);
  471     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 86);
  472     emlrtAssign(&rhs86, emlrtCreateCellMatrix(0, 1));
  473     emlrtAssign(&lhs86, emlrtCreateCellMatrix(0, 1));
  474     emlrtAddField(*info, emlrtAliasP(rhs86), "rhs", 86);
  475     emlrtAddField(*info, emlrtAliasP(lhs86), "lhs", 86);
  476     emlrtAddField(*info, emlrt_marshallOut(
  477       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/eml/eml_switch_helper.m"),
  478                   "context", 87);
  479     emlrtAddField(*info, emlrt_marshallOut("coder.internal.strcmp"), "name", 87);
  480     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 87);
  481     emlrtAddField(*info, emlrt_marshallOut(
  482       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/strcmp.m"),
  483                   "resolved", 87);
  484     emlrtAddField(*info, b_emlrt_marshallOut(1428931368U), "fileTimeLo", 87);
  485     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 87);
  486     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 87);
  487     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 87);
  488     emlrtAssign(&rhs87, emlrtCreateCellMatrix(0, 1));
  489     emlrtAssign(&lhs87, emlrtCreateCellMatrix(0, 1));
  490     emlrtAddField(*info, emlrtAliasP(rhs87), "rhs", 87);
  491     emlrtAddField(*info, emlrtAliasP(lhs87), "lhs", 87);
  492     emlrtAddField(*info, emlrt_marshallOut(
  493       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateThrusterTransformation"
  494       "s.m"), "context", 88);
  495     emlrtAddField(*info, emlrt_marshallOut("mrdivide"), "name", 88);
  496     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 88);
  497     emlrtAddField(*info, emlrt_marshallOut(
  498       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/ops/mrdivide.p"),
  499                   "resolved", 88);
  500     emlrtAddField(*info, b_emlrt_marshallOut(1438285820U), "fileTimeLo", 88);
  501     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 88);
  502     emlrtAddField(*info, b_emlrt_marshallOut(1415907940U), "mFileTimeLo", 88);
  503     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 88);
  504     emlrtAssign(&rhs88, emlrtCreateCellMatrix(0, 1));
  505     emlrtAssign(&lhs88, emlrtCreateCellMatrix(0, 1));
  506     emlrtAddField(*info, emlrtAliasP(rhs88), "rhs", 88);
  507     emlrtAddField(*info, emlrtAliasP(lhs88), "lhs", 88);
  508     emlrtAddField(*info, emlrt_marshallOut(
  509       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateThrusterTransformation"
  510       "s.m"), "context", 89);
  511     emlrtAddField(*info, emlrt_marshallOut("rotationY"), "name", 89);
  512     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 89);
  513     emlrtAddField(*info, emlrt_marshallOut(
  514       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/rotationY.m"),
  515                   "resolved", 89);
  516     emlrtAddField(*info, b_emlrt_marshallOut(1510652630U), "fileTimeLo", 89);
  517     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 89);
  518     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 89);
  519     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 89);
  520     emlrtAssign(&rhs89, emlrtCreateCellMatrix(0, 1));
  521     emlrtAssign(&lhs89, emlrtCreateCellMatrix(0, 1));
  522     emlrtAddField(*info, emlrtAliasP(rhs89), "rhs", 89);
  523     emlrtAddField(*info, emlrtAliasP(lhs89), "lhs", 89);
  524     emlrtAddField(*info, emlrt_marshallOut(
  525       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateThrusterTransformation"
  526       "s.m"), "context", 90);
  527     emlrtAddField(*info, emlrt_marshallOut("rotationZ"), "name", 90);
  528     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 90);
  529     emlrtAddField(*info, emlrt_marshallOut(
  530       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/rotationZ.m"),
  531                   "resolved", 90);
  532     emlrtAddField(*info, b_emlrt_marshallOut(1510652587U), "fileTimeLo", 90);
  533     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 90);
  534     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 90);
  535     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 90);
  536     emlrtAssign(&rhs90, emlrtCreateCellMatrix(0, 1));
  537     emlrtAssign(&lhs90, emlrtCreateCellMatrix(0, 1));
  538     emlrtAddField(*info, emlrtAliasP(rhs90), "rhs", 90);
  539     emlrtAddField(*info, emlrtAliasP(lhs90), "lhs", 90);
  540     emlrtAddField(*info, emlrt_marshallOut(
  541       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateThrusterTransformation"
  542       "s.m"), "context", 91);
  543     emlrtAddField(*info, emlrt_marshallOut("eye"), "name", 91);
  544     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 91);
  545     emlrtAddField(*info, emlrt_marshallOut(
  546       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elmat/eye.m"),
  547                   "resolved", 91);
  548     emlrtAddField(*info, b_emlrt_marshallOut(1427210806U), "fileTimeLo", 91);
  549     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 91);
  550     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 91);
  551     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 91);
  552     emlrtAssign(&rhs91, emlrtCreateCellMatrix(0, 1));
  553     emlrtAssign(&lhs91, emlrtCreateCellMatrix(0, 1));
  554     emlrtAddField(*info, emlrtAliasP(rhs91), "rhs", 91);
  555     emlrtAddField(*info, emlrtAliasP(lhs91), "lhs", 91);
  556     emlrtAddField(*info, emlrt_marshallOut(
  557       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateThrusterTransformation"
  558       "s.m"), "context", 92);
  559     emlrtAddField(*info, emlrt_marshallOut("eml_mtimes_helper"), "name", 92);
  560     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 92);
  561     emlrtAddField(*info, emlrt_marshallOut(
  562       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/ops/eml_mtimes_helper.m"),
  563                   "resolved", 92);
  564     emlrtAddField(*info, b_emlrt_marshallOut(1415907938U), "fileTimeLo", 92);
  565     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 92);
  566     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 92);
  567     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 92);
  568     emlrtAssign(&rhs92, emlrtCreateCellMatrix(0, 1));
  569     emlrtAssign(&lhs92, emlrtCreateCellMatrix(0, 1));
  570     emlrtAddField(*info, emlrtAliasP(rhs92), "rhs", 92);
  571     emlrtAddField(*info, emlrtAliasP(lhs92), "lhs", 92);
  572     emlrtAddField(*info, emlrt_marshallOut(
  573       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateTransformations.m"),
  574                   "context", 93);
  575     emlrtAddField(*info, emlrt_marshallOut("calculateTransformationInverse"),
  576                   "name", 93);
  577     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 93);
  578     emlrtAddField(*info, emlrt_marshallOut(
  579       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateTransformationInverse."
  580       "m"), "resolved", 93);
  581     emlrtAddField(*info, b_emlrt_marshallOut(1507662496U), "fileTimeLo", 93);
  582     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 93);
  583     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 93);
  584     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 93);
  585     emlrtAssign(&rhs93, emlrtCreateCellMatrix(0, 1));
  586     emlrtAssign(&lhs93, emlrtCreateCellMatrix(0, 1));
  587     emlrtAddField(*info, emlrtAliasP(rhs93), "rhs", 93);
  588     emlrtAddField(*info, emlrtAliasP(lhs93), "lhs", 93);
  589     emlrtAddField(*info, emlrt_marshallOut(
  590       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateTransformationInverse."
  591       "m"), "context", 94);
  592     emlrtAddField(*info, emlrt_marshallOut("eml_mtimes_helper"), "name", 94);
  593     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 94);
  594     emlrtAddField(*info, emlrt_marshallOut(
  595       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/ops/eml_mtimes_helper.m"),
  596                   "resolved", 94);
  597     emlrtAddField(*info, b_emlrt_marshallOut(1415907938U), "fileTimeLo", 94);
  598     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 94);
  599     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 94);
  600     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 94);
  601     emlrtAssign(&rhs94, emlrtCreateCellMatrix(0, 1));
  602     emlrtAssign(&lhs94, emlrtCreateCellMatrix(0, 1));
  603     emlrtAddField(*info, emlrtAliasP(rhs94), "rhs", 94);
  604     emlrtAddField(*info, emlrtAliasP(lhs94), "lhs", 94);
  605     emlrtDestroyArray(&rhs64);
  606     emlrtDestroyArray(&lhs64);
  607     emlrtDestroyArray(&rhs65);
  608     emlrtDestroyArray(&lhs65);
  609     emlrtDestroyArray(&rhs66);
  610     emlrtDestroyArray(&lhs66);
  611     emlrtDestroyArray(&rhs67);
  612     emlrtDestroyArray(&lhs67);
  613     emlrtDestroyArray(&rhs68);
  614     emlrtDestroyArray(&lhs68);
  615     emlrtDestroyArray(&rhs69);
  616     emlrtDestroyArray(&lhs69);
  617     emlrtDestroyArray(&rhs70);
  618     emlrtDestroyArray(&lhs70);
  619     emlrtDestroyArray(&rhs71);
  620     emlrtDestroyArray(&lhs71);
  621     emlrtDestroyArray(&rhs72);
  622     emlrtDestroyArray(&lhs72);
  623     emlrtDestroyArray(&rhs73);
  624     emlrtDestroyArray(&lhs73);
  625     emlrtDestroyArray(&rhs74);
  626     emlrtDestroyArray(&lhs74);
  627     emlrtDestroyArray(&rhs75);
  628     emlrtDestroyArray(&lhs75);
  629     emlrtDestroyArray(&rhs76);
  630     emlrtDestroyArray(&lhs76);
  631     emlrtDestroyArray(&rhs77);
  632     emlrtDestroyArray(&lhs77);
  633     emlrtDestroyArray(&rhs78);
  634     emlrtDestroyArray(&lhs78);
  635     emlrtDestroyArray(&rhs79);
  636     emlrtDestroyArray(&lhs79);
  637     emlrtDestroyArray(&rhs80);
  638     emlrtDestroyArray(&lhs80);
  639     emlrtDestroyArray(&rhs81);
  640     emlrtDestroyArray(&lhs81);
  641     emlrtDestroyArray(&rhs82);
  642     emlrtDestroyArray(&lhs82);
  643     emlrtDestroyArray(&rhs83);
  644     emlrtDestroyArray(&lhs83);
  645     emlrtDestroyArray(&rhs84);
  646     emlrtDestroyArray(&lhs84);
  647     emlrtDestroyArray(&rhs85);
  648     emlrtDestroyArray(&lhs85);
  649     emlrtDestroyArray(&rhs86);
  650     emlrtDestroyArray(&lhs86);
  651     emlrtDestroyArray(&rhs87);
  652     emlrtDestroyArray(&lhs87);
  653     emlrtDestroyArray(&rhs88);
  654     emlrtDestroyArray(&lhs88);
  655     emlrtDestroyArray(&rhs89);
  656     emlrtDestroyArray(&lhs89);
  657     emlrtDestroyArray(&rhs90);
  658     emlrtDestroyArray(&lhs90);
  659     emlrtDestroyArray(&rhs91);
  660     emlrtDestroyArray(&lhs91);
  661     emlrtDestroyArray(&rhs92);
  662     emlrtDestroyArray(&lhs92);
  663     emlrtDestroyArray(&rhs93);
  664     emlrtDestroyArray(&lhs93);
  665     emlrtDestroyArray(&rhs94);
  666     emlrtDestroyArray(&lhs94);
  667   }
  668   
  669   static const mxArray *emlrt_marshallOut(const char * u)
  670   {
  671     const mxArray *y;
  672     const mxArray *m0;
  673     y = NULL;
  674     m0 = emlrtCreateString(u);
  675     emlrtAssign(&y, m0);
  676     return y;
  677   }
  678   
  679   static void info_helper(const mxArray **info)
  680   {
  681     const mxArray *rhs0 = NULL;
  682     const mxArray *lhs0 = NULL;
  683     const mxArray *rhs1 = NULL;
  684     const mxArray *lhs1 = NULL;
  685     const mxArray *rhs2 = NULL;
  686     const mxArray *lhs2 = NULL;
  687     const mxArray *rhs3 = NULL;
  688     const mxArray *lhs3 = NULL;
  689     const mxArray *rhs4 = NULL;
  690     const mxArray *lhs4 = NULL;
  691     const mxArray *rhs5 = NULL;
  692     const mxArray *lhs5 = NULL;
  693     const mxArray *rhs6 = NULL;
  694     const mxArray *lhs6 = NULL;
  695     const mxArray *rhs7 = NULL;
  696     const mxArray *lhs7 = NULL;
  697     const mxArray *rhs8 = NULL;
  698     const mxArray *lhs8 = NULL;
  699     const mxArray *rhs9 = NULL;
  700     const mxArray *lhs9 = NULL;
  701     const mxArray *rhs10 = NULL;
  702     const mxArray *lhs10 = NULL;
  703     const mxArray *rhs11 = NULL;
  704     const mxArray *lhs11 = NULL;
  705     const mxArray *rhs12 = NULL;
  706     const mxArray *lhs12 = NULL;
  707     const mxArray *rhs13 = NULL;
  708     const mxArray *lhs13 = NULL;
  709     const mxArray *rhs14 = NULL;
  710     const mxArray *lhs14 = NULL;
  711     const mxArray *rhs15 = NULL;
  712     const mxArray *lhs15 = NULL;
  713     const mxArray *rhs16 = NULL;
  714     const mxArray *lhs16 = NULL;
  715     const mxArray *rhs17 = NULL;
  716     const mxArray *lhs17 = NULL;
  717     const mxArray *rhs18 = NULL;
  718     const mxArray *lhs18 = NULL;
  719     const mxArray *rhs19 = NULL;
  720     const mxArray *lhs19 = NULL;
  721     const mxArray *rhs20 = NULL;
  722     const mxArray *lhs20 = NULL;
  723     const mxArray *rhs21 = NULL;
  724     const mxArray *lhs21 = NULL;
  725     const mxArray *rhs22 = NULL;
  726     const mxArray *lhs22 = NULL;
  727     const mxArray *rhs23 = NULL;
  728     const mxArray *lhs23 = NULL;
  729     const mxArray *rhs24 = NULL;
  730     const mxArray *lhs24 = NULL;
  731     const mxArray *rhs25 = NULL;
  732     const mxArray *lhs25 = NULL;
  733     const mxArray *rhs26 = NULL;
  734     const mxArray *lhs26 = NULL;
  735     const mxArray *rhs27 = NULL;
  736     const mxArray *lhs27 = NULL;
  737     const mxArray *rhs28 = NULL;
  738     const mxArray *lhs28 = NULL;
  739     const mxArray *rhs29 = NULL;
  740     const mxArray *lhs29 = NULL;
  741     const mxArray *rhs30 = NULL;
  742     const mxArray *lhs30 = NULL;
  743     const mxArray *rhs31 = NULL;
  744     const mxArray *lhs31 = NULL;
  745     const mxArray *rhs32 = NULL;
  746     const mxArray *lhs32 = NULL;
  747     const mxArray *rhs33 = NULL;
  748     const mxArray *lhs33 = NULL;
  749     const mxArray *rhs34 = NULL;
  750     const mxArray *lhs34 = NULL;
  751     const mxArray *rhs35 = NULL;
  752     const mxArray *lhs35 = NULL;
  753     const mxArray *rhs36 = NULL;
  754     const mxArray *lhs36 = NULL;
  755     const mxArray *rhs37 = NULL;
  756     const mxArray *lhs37 = NULL;
  757     const mxArray *rhs38 = NULL;
  758     const mxArray *lhs38 = NULL;
  759     const mxArray *rhs39 = NULL;
  760     const mxArray *lhs39 = NULL;
  761     const mxArray *rhs40 = NULL;
  762     const mxArray *lhs40 = NULL;
  763     const mxArray *rhs41 = NULL;
  764     const mxArray *lhs41 = NULL;
  765     const mxArray *rhs42 = NULL;
  766     const mxArray *lhs42 = NULL;
  767     const mxArray *rhs43 = NULL;
  768     const mxArray *lhs43 = NULL;
  769     const mxArray *rhs44 = NULL;
  770     const mxArray *lhs44 = NULL;
  771     const mxArray *rhs45 = NULL;
  772     const mxArray *lhs45 = NULL;
  773     const mxArray *rhs46 = NULL;
  774     const mxArray *lhs46 = NULL;
  775     const mxArray *rhs47 = NULL;
  776     const mxArray *lhs47 = NULL;
  777     const mxArray *rhs48 = NULL;
  778     const mxArray *lhs48 = NULL;
  779     const mxArray *rhs49 = NULL;
  780     const mxArray *lhs49 = NULL;
  781     const mxArray *rhs50 = NULL;
  782     const mxArray *lhs50 = NULL;
  783     const mxArray *rhs51 = NULL;
  784     const mxArray *lhs51 = NULL;
  785     const mxArray *rhs52 = NULL;
  786     const mxArray *lhs52 = NULL;
  787     const mxArray *rhs53 = NULL;
  788     const mxArray *lhs53 = NULL;
  789     const mxArray *rhs54 = NULL;
  790     const mxArray *lhs54 = NULL;
  791     const mxArray *rhs55 = NULL;
  792     const mxArray *lhs55 = NULL;
  793     const mxArray *rhs56 = NULL;
  794     const mxArray *lhs56 = NULL;
  795     const mxArray *rhs57 = NULL;
  796     const mxArray *lhs57 = NULL;
  797     const mxArray *rhs58 = NULL;
  798     const mxArray *lhs58 = NULL;
  799     const mxArray *rhs59 = NULL;
  800     const mxArray *lhs59 = NULL;
  801     const mxArray *rhs60 = NULL;
  802     const mxArray *lhs60 = NULL;
  803     const mxArray *rhs61 = NULL;
  804     const mxArray *lhs61 = NULL;
  805     const mxArray *rhs62 = NULL;
  806     const mxArray *lhs62 = NULL;
  807     const mxArray *rhs63 = NULL;
  808     const mxArray *lhs63 = NULL;
  809     emlrtAddField(*info, emlrt_marshallOut(""), "context", 0);
  810     emlrtAddField(*info, emlrt_marshallOut(""), "name", 0);
  811     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 0);
  812     emlrtAddField(*info, emlrt_marshallOut(
  813       "[U]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/eely_params.mat"),
  814                   "resolved", 0);
  815     emlrtAddField(*info, b_emlrt_marshallOut(1511789509U), "fileTimeLo", 0);
  816     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 0);
  817     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 0);
  818     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 0);
  819     emlrtAssign(&rhs0, emlrtCreateCellMatrix(0, 1));
  820     emlrtAssign(&lhs0, emlrtCreateCellMatrix(0, 1));
  821     emlrtAddField(*info, emlrtAliasP(rhs0), "rhs", 0);
  822     emlrtAddField(*info, emlrtAliasP(lhs0), "lhs", 0);
  823     emlrtAddField(*info, emlrt_marshallOut(
  824       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateTransformations.m"),
  825                   "context", 1);
  826     emlrtAddField(*info, emlrt_marshallOut("Rzyx"), "name", 1);
  827     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 1);
  828     emlrtAddField(*info, emlrt_marshallOut(
  829       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/Rzyx.m"),
  830                   "resolved", 1);
  831     emlrtAddField(*info, b_emlrt_marshallOut(1507979773U), "fileTimeLo", 1);
  832     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 1);
  833     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 1);
  834     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 1);
  835     emlrtAssign(&rhs1, emlrtCreateCellMatrix(0, 1));
  836     emlrtAssign(&lhs1, emlrtCreateCellMatrix(0, 1));
  837     emlrtAddField(*info, emlrtAliasP(rhs1), "rhs", 1);
  838     emlrtAddField(*info, emlrtAliasP(lhs1), "lhs", 1);
  839     emlrtAddField(*info, emlrt_marshallOut(
  840       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/Rzyx.m"),
  841                   "context", 2);
  842     emlrtAddField(*info, emlrt_marshallOut("cos"), "name", 2);
  843     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 2);
  844     emlrtAddField(*info, emlrt_marshallOut(
  845       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/cos.m"),
  846                   "resolved", 2);
  847     emlrtAddField(*info, b_emlrt_marshallOut(1419313828U), "fileTimeLo", 2);
  848     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 2);
  849     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 2);
  850     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 2);
  851     emlrtAssign(&rhs2, emlrtCreateCellMatrix(0, 1));
  852     emlrtAssign(&lhs2, emlrtCreateCellMatrix(0, 1));
  853     emlrtAddField(*info, emlrtAliasP(rhs2), "rhs", 2);
  854     emlrtAddField(*info, emlrtAliasP(lhs2), "lhs", 2);
  855     emlrtAddField(*info, emlrt_marshallOut(
  856       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/cos.m"),
  857                   "context", 3);
  858     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalar.cos"), "name", 3);
  859     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 3);
  860     emlrtAddField(*info, emlrt_marshallOut(
  861       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+scalar/cos.m"),
  862                   "resolved", 3);
  863     emlrtAddField(*info, b_emlrt_marshallOut(1415907914U), "fileTimeLo", 3);
  864     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 3);
  865     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 3);
  866     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 3);
  867     emlrtAssign(&rhs3, emlrtCreateCellMatrix(0, 1));
  868     emlrtAssign(&lhs3, emlrtCreateCellMatrix(0, 1));
  869     emlrtAddField(*info, emlrtAliasP(rhs3), "rhs", 3);
  870     emlrtAddField(*info, emlrtAliasP(lhs3), "lhs", 3);
  871     emlrtAddField(*info, emlrt_marshallOut(
  872       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/cos.m"),
  873                   "context", 4);
  874     emlrtAddField(*info, emlrt_marshallOut(
  875       "coder.internal.applyScalarFunctionInPlace"), "name", 4);
  876     emlrtAddField(*info, emlrt_marshallOut("function_handle"), "dominantType", 4);
  877     emlrtAddField(*info, emlrt_marshallOut(
  878       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/applyScalarFunctionInPlace.m"),
  879                   "resolved", 4);
  880     emlrtAddField(*info, b_emlrt_marshallOut(1422884200U), "fileTimeLo", 4);
  881     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 4);
  882     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 4);
  883     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 4);
  884     emlrtAssign(&rhs4, emlrtCreateCellMatrix(0, 1));
  885     emlrtAssign(&lhs4, emlrtCreateCellMatrix(0, 1));
  886     emlrtAddField(*info, emlrtAliasP(rhs4), "rhs", 4);
  887     emlrtAddField(*info, emlrtAliasP(lhs4), "lhs", 4);
  888     emlrtAddField(*info, emlrt_marshallOut(
  889       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/applyScalarFunctionInPlace.m"),
  890                   "context", 5);
  891     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalar.cos"), "name", 5);
  892     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 5);
  893     emlrtAddField(*info, emlrt_marshallOut(
  894       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+scalar/cos.m"),
  895                   "resolved", 5);
  896     emlrtAddField(*info, b_emlrt_marshallOut(1415907914U), "fileTimeLo", 5);
  897     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 5);
  898     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 5);
  899     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 5);
  900     emlrtAssign(&rhs5, emlrtCreateCellMatrix(0, 1));
  901     emlrtAssign(&lhs5, emlrtCreateCellMatrix(0, 1));
  902     emlrtAddField(*info, emlrtAliasP(rhs5), "rhs", 5);
  903     emlrtAddField(*info, emlrtAliasP(lhs5), "lhs", 5);
  904     emlrtAddField(*info, emlrt_marshallOut(
  905       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/Rzyx.m"),
  906                   "context", 6);
  907     emlrtAddField(*info, emlrt_marshallOut("sin"), "name", 6);
  908     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 6);
  909     emlrtAddField(*info, emlrt_marshallOut(
  910       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/sin.m"),
  911                   "resolved", 6);
  912     emlrtAddField(*info, b_emlrt_marshallOut(1419313828U), "fileTimeLo", 6);
  913     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 6);
  914     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 6);
  915     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 6);
  916     emlrtAssign(&rhs6, emlrtCreateCellMatrix(0, 1));
  917     emlrtAssign(&lhs6, emlrtCreateCellMatrix(0, 1));
  918     emlrtAddField(*info, emlrtAliasP(rhs6), "rhs", 6);
  919     emlrtAddField(*info, emlrtAliasP(lhs6), "lhs", 6);
  920     emlrtAddField(*info, emlrt_marshallOut(
  921       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/sin.m"),
  922                   "context", 7);
  923     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalar.sin"), "name", 7);
  924     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 7);
  925     emlrtAddField(*info, emlrt_marshallOut(
  926       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+scalar/sin.m"),
  927                   "resolved", 7);
  928     emlrtAddField(*info, b_emlrt_marshallOut(1415907914U), "fileTimeLo", 7);
  929     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 7);
  930     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 7);
  931     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 7);
  932     emlrtAssign(&rhs7, emlrtCreateCellMatrix(0, 1));
  933     emlrtAssign(&lhs7, emlrtCreateCellMatrix(0, 1));
  934     emlrtAddField(*info, emlrtAliasP(rhs7), "rhs", 7);
  935     emlrtAddField(*info, emlrtAliasP(lhs7), "lhs", 7);
  936     emlrtAddField(*info, emlrt_marshallOut(
  937       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/sin.m"),
  938                   "context", 8);
  939     emlrtAddField(*info, emlrt_marshallOut(
  940       "coder.internal.applyScalarFunctionInPlace"), "name", 8);
  941     emlrtAddField(*info, emlrt_marshallOut("function_handle"), "dominantType", 8);
  942     emlrtAddField(*info, emlrt_marshallOut(
  943       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/applyScalarFunctionInPlace.m"),
  944                   "resolved", 8);
  945     emlrtAddField(*info, b_emlrt_marshallOut(1422884200U), "fileTimeLo", 8);
  946     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 8);
  947     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 8);
  948     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 8);
  949     emlrtAssign(&rhs8, emlrtCreateCellMatrix(0, 1));
  950     emlrtAssign(&lhs8, emlrtCreateCellMatrix(0, 1));
  951     emlrtAddField(*info, emlrtAliasP(rhs8), "rhs", 8);
  952     emlrtAddField(*info, emlrtAliasP(lhs8), "lhs", 8);
  953     emlrtAddField(*info, emlrt_marshallOut(
  954       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/applyScalarFunctionInPlace.m"),
  955                   "context", 9);
  956     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalar.sin"), "name", 9);
  957     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 9);
  958     emlrtAddField(*info, emlrt_marshallOut(
  959       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+scalar/sin.m"),
  960                   "resolved", 9);
  961     emlrtAddField(*info, b_emlrt_marshallOut(1415907914U), "fileTimeLo", 9);
  962     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 9);
  963     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 9);
  964     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 9);
  965     emlrtAssign(&rhs9, emlrtCreateCellMatrix(0, 1));
  966     emlrtAssign(&lhs9, emlrtCreateCellMatrix(0, 1));
  967     emlrtAddField(*info, emlrtAliasP(rhs9), "rhs", 9);
  968     emlrtAddField(*info, emlrtAliasP(lhs9), "lhs", 9);
  969     emlrtAddField(*info, emlrt_marshallOut(
  970       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateTransformations.m"),
  971                   "context", 10);
  972     emlrtAddField(*info, emlrt_marshallOut("eml_mtimes_helper"), "name", 10);
  973     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 10);
  974     emlrtAddField(*info, emlrt_marshallOut(
  975       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/ops/eml_mtimes_helper.m"),
  976                   "resolved", 10);
  977     emlrtAddField(*info, b_emlrt_marshallOut(1415907938U), "fileTimeLo", 10);
  978     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 10);
  979     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 10);
  980     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 10);
  981     emlrtAssign(&rhs10, emlrtCreateCellMatrix(0, 1));
  982     emlrtAssign(&lhs10, emlrtCreateCellMatrix(0, 1));
  983     emlrtAddField(*info, emlrtAliasP(rhs10), "rhs", 10);
  984     emlrtAddField(*info, emlrtAliasP(lhs10), "lhs", 10);
  985     emlrtAddField(*info, emlrt_marshallOut(
  986       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/ops/eml_mtimes_helper.m!common_checks"),
  987                   "context", 11);
  988     emlrtAddField(*info, emlrt_marshallOut("coder.internal.isBuiltInNumeric"),
  989                   "name", 11);
  990     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 11);
  991     emlrtAddField(*info, emlrt_marshallOut(
  992       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/isBuiltInNumeric.m"),
  993                   "resolved", 11);
  994     emlrtAddField(*info, b_emlrt_marshallOut(1395931856U), "fileTimeLo", 11);
  995     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 11);
  996     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 11);
  997     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 11);
  998     emlrtAssign(&rhs11, emlrtCreateCellMatrix(0, 1));
  999     emlrtAssign(&lhs11, emlrtCreateCellMatrix(0, 1));
 1000     emlrtAddField(*info, emlrtAliasP(rhs11), "rhs", 11);
 1001     emlrtAddField(*info, emlrtAliasP(lhs11), "lhs", 11);
 1002     emlrtAddField(*info, emlrt_marshallOut(
 1003       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/ops/eml_mtimes_helper.m"),
 1004                   "context", 12);
 1005     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalarEg"), "name", 12);
 1006     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 12);
 1007     emlrtAddField(*info, emlrt_marshallOut(
 1008       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/scalarEg.m"),
 1009                   "resolved", 12);
 1010     emlrtAddField(*info, b_emlrt_marshallOut(1430216768U), "fileTimeLo", 12);
 1011     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 12);
 1012     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 12);
 1013     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 12);
 1014     emlrtAssign(&rhs12, emlrtCreateCellMatrix(0, 1));
 1015     emlrtAssign(&lhs12, emlrtCreateCellMatrix(0, 1));
 1016     emlrtAddField(*info, emlrtAliasP(rhs12), "rhs", 12);
 1017     emlrtAddField(*info, emlrtAliasP(lhs12), "lhs", 12);
 1018     emlrtAddField(*info, emlrt_marshallOut(
 1019       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/scalarEg.m"),
 1020                   "context", 13);
 1021     emlrtAddField(*info, emlrt_marshallOut("isnumerictype"), "name", 13);
 1022     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 13);
 1023     emlrtAddField(*info, emlrt_marshallOut(
 1024       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/fixedpoint/isnumerictype.m"),
 1025                   "resolved", 13);
 1026     emlrtAddField(*info, b_emlrt_marshallOut(1415907924U), "fileTimeLo", 13);
 1027     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 13);
 1028     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 13);
 1029     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 13);
 1030     emlrtAssign(&rhs13, emlrtCreateCellMatrix(0, 1));
 1031     emlrtAssign(&lhs13, emlrtCreateCellMatrix(0, 1));
 1032     emlrtAddField(*info, emlrtAliasP(rhs13), "rhs", 13);
 1033     emlrtAddField(*info, emlrtAliasP(lhs13), "lhs", 13);
 1034     emlrtAddField(*info, emlrt_marshallOut(
 1035       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/scalarEg.m"),
 1036                   "context", 14);
 1037     emlrtAddField(*info, emlrt_marshallOut("isfimath"), "name", 14);
 1038     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 14);
 1039     emlrtAddField(*info, emlrt_marshallOut(
 1040       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/fixedpoint/isfimath.m"),
 1041                   "resolved", 14);
 1042     emlrtAddField(*info, b_emlrt_marshallOut(1415907924U), "fileTimeLo", 14);
 1043     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 14);
 1044     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 14);
 1045     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 14);
 1046     emlrtAssign(&rhs14, emlrtCreateCellMatrix(0, 1));
 1047     emlrtAssign(&lhs14, emlrtCreateCellMatrix(0, 1));
 1048     emlrtAddField(*info, emlrtAliasP(rhs14), "rhs", 14);
 1049     emlrtAddField(*info, emlrtAliasP(lhs14), "lhs", 14);
 1050     emlrtAddField(*info, emlrt_marshallOut(
 1051       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/scalarEg.m!firstfi"),
 1052                   "context", 15);
 1053     emlrtAddField(*info, emlrt_marshallOut("eml_int_forloop_overflow_check"),
 1054                   "name", 15);
 1055     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 15);
 1056     emlrtAddField(*info, emlrt_marshallOut(
 1057       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/eml/eml_int_forloop_overflow_check.m"),
 1058                   "resolved", 15);
 1059     emlrtAddField(*info, b_emlrt_marshallOut(1415907934U), "fileTimeLo", 15);
 1060     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 15);
 1061     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 15);
 1062     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 15);
 1063     emlrtAssign(&rhs15, emlrtCreateCellMatrix(0, 1));
 1064     emlrtAssign(&lhs15, emlrtCreateCellMatrix(0, 1));
 1065     emlrtAddField(*info, emlrtAliasP(rhs15), "rhs", 15);
 1066     emlrtAddField(*info, emlrtAliasP(lhs15), "lhs", 15);
 1067     emlrtAddField(*info, emlrt_marshallOut(
 1068       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/eml/eml_int_forloop_overflow_check.m!eml_int_forloop_overflow_"
 1069       "check_helper"), "context", 16);
 1070     emlrtAddField(*info, emlrt_marshallOut("isfi"), "name", 16);
 1071     emlrtAddField(*info, emlrt_marshallOut("coder.internal.indexInt"),
 1072                   "dominantType", 16);
 1073     emlrtAddField(*info, emlrt_marshallOut(
 1074       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/fixedpoint/isfi.m"),
 1075                   "resolved", 16);
 1076     emlrtAddField(*info, b_emlrt_marshallOut(1415907924U), "fileTimeLo", 16);
 1077     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 16);
 1078     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 16);
 1079     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 16);
 1080     emlrtAssign(&rhs16, emlrtCreateCellMatrix(0, 1));
 1081     emlrtAssign(&lhs16, emlrtCreateCellMatrix(0, 1));
 1082     emlrtAddField(*info, emlrtAliasP(rhs16), "rhs", 16);
 1083     emlrtAddField(*info, emlrtAliasP(lhs16), "lhs", 16);
 1084     emlrtAddField(*info, emlrt_marshallOut(
 1085       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/fixedpoint/isfi.m"),
 1086                   "context", 17);
 1087     emlrtAddField(*info, emlrt_marshallOut("isnumerictype"), "name", 17);
 1088     emlrtAddField(*info, emlrt_marshallOut("char"), "dominantType", 17);
 1089     emlrtAddField(*info, emlrt_marshallOut(
 1090       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/fixedpoint/isnumerictype.m"),
 1091                   "resolved", 17);
 1092     emlrtAddField(*info, b_emlrt_marshallOut(1415907924U), "fileTimeLo", 17);
 1093     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 17);
 1094     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 17);
 1095     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 17);
 1096     emlrtAssign(&rhs17, emlrtCreateCellMatrix(0, 1));
 1097     emlrtAssign(&lhs17, emlrtCreateCellMatrix(0, 1));
 1098     emlrtAddField(*info, emlrtAliasP(rhs17), "rhs", 17);
 1099     emlrtAddField(*info, emlrtAliasP(lhs17), "lhs", 17);
 1100     emlrtAddField(*info, emlrt_marshallOut(
 1101       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/eml/eml_int_forloop_overflow_check.m!eml_int_forloop_overflow_"
 1102       "check_helper"), "context", 18);
 1103     emlrtAddField(*info, emlrt_marshallOut("intmax"), "name", 18);
 1104     emlrtAddField(*info, emlrt_marshallOut("char"), "dominantType", 18);
 1105     emlrtAddField(*info, emlrt_marshallOut(
 1106       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elmat/intmax.m"),
 1107                   "resolved", 18);
 1108     emlrtAddField(*info, b_emlrt_marshallOut(1415907932U), "fileTimeLo", 18);
 1109     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 18);
 1110     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 18);
 1111     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 18);
 1112     emlrtAssign(&rhs18, emlrtCreateCellMatrix(0, 1));
 1113     emlrtAssign(&lhs18, emlrtCreateCellMatrix(0, 1));
 1114     emlrtAddField(*info, emlrtAliasP(rhs18), "rhs", 18);
 1115     emlrtAddField(*info, emlrtAliasP(lhs18), "lhs", 18);
 1116     emlrtAddField(*info, emlrt_marshallOut(
 1117       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/eml/eml_int_forloop_overflow_check.m!eml_int_forloop_overflow_"
 1118       "check_helper"), "context", 19);
 1119     emlrtAddField(*info, emlrt_marshallOut("intmin"), "name", 19);
 1120     emlrtAddField(*info, emlrt_marshallOut("char"), "dominantType", 19);
 1121     emlrtAddField(*info, emlrt_marshallOut(
 1122       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elmat/intmin.m"),
 1123                   "resolved", 19);
 1124     emlrtAddField(*info, b_emlrt_marshallOut(1415907932U), "fileTimeLo", 19);
 1125     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 19);
 1126     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 19);
 1127     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 19);
 1128     emlrtAssign(&rhs19, emlrtCreateCellMatrix(0, 1));
 1129     emlrtAssign(&lhs19, emlrtCreateCellMatrix(0, 1));
 1130     emlrtAddField(*info, emlrtAliasP(rhs19), "rhs", 19);
 1131     emlrtAddField(*info, emlrtAliasP(lhs19), "lhs", 19);
 1132     emlrtAddField(*info, emlrt_marshallOut(
 1133       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/scalarEg.m!firstfi"),
 1134                   "context", 20);
 1135     emlrtAddField(*info, emlrt_marshallOut("isfi"), "name", 20);
 1136     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 20);
 1137     emlrtAddField(*info, emlrt_marshallOut(
 1138       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/fixedpoint/isfi.m"),
 1139                   "resolved", 20);
 1140     emlrtAddField(*info, b_emlrt_marshallOut(1415907924U), "fileTimeLo", 20);
 1141     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 20);
 1142     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 20);
 1143     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 20);
 1144     emlrtAssign(&rhs20, emlrtCreateCellMatrix(0, 1));
 1145     emlrtAssign(&lhs20, emlrtCreateCellMatrix(0, 1));
 1146     emlrtAddField(*info, emlrtAliasP(rhs20), "rhs", 20);
 1147     emlrtAddField(*info, emlrtAliasP(lhs20), "lhs", 20);
 1148     emlrtAddField(*info, emlrt_marshallOut(
 1149       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/ops/eml_mtimes_helper.m"),
 1150                   "context", 21);
 1151     emlrtAddField(*info, emlrt_marshallOut("coder.internal.blas.xgemm"), "name",
 1152                   21);
 1153     emlrtAddField(*info, emlrt_marshallOut("char"), "dominantType", 21);
 1154     emlrtAddField(*info, emlrt_marshallOut(
 1155       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+blas/xgemm.m"),
 1156                   "resolved", 21);
 1157     emlrtAddField(*info, b_emlrt_marshallOut(1415907912U), "fileTimeLo", 21);
 1158     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 21);
 1159     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 21);
 1160     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 21);
 1161     emlrtAssign(&rhs21, emlrtCreateCellMatrix(0, 1));
 1162     emlrtAssign(&lhs21, emlrtCreateCellMatrix(0, 1));
 1163     emlrtAddField(*info, emlrtAliasP(rhs21), "rhs", 21);
 1164     emlrtAddField(*info, emlrtAliasP(lhs21), "lhs", 21);
 1165     emlrtAddField(*info, emlrt_marshallOut(
 1166       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+blas/xgemm.m"),
 1167                   "context", 22);
 1168     emlrtAddField(*info, emlrt_marshallOut("coder.internal.blas.inline"), "name",
 1169                   22);
 1170     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 22);
 1171     emlrtAddField(*info, emlrt_marshallOut(
 1172       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+blas/inline.m"),
 1173                   "resolved", 22);
 1174     emlrtAddField(*info, b_emlrt_marshallOut(1375980664U), "fileTimeLo", 22);
 1175     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 22);
 1176     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 22);
 1177     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 22);
 1178     emlrtAssign(&rhs22, emlrtCreateCellMatrix(0, 1));
 1179     emlrtAssign(&lhs22, emlrtCreateCellMatrix(0, 1));
 1180     emlrtAddField(*info, emlrtAliasP(rhs22), "rhs", 22);
 1181     emlrtAddField(*info, emlrtAliasP(lhs22), "lhs", 22);
 1182     emlrtAddField(*info, emlrt_marshallOut(
 1183       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+blas/xgemm.m"),
 1184                   "context", 23);
 1185     emlrtAddField(*info, emlrt_marshallOut("coder.internal.blas.use_refblas"),
 1186                   "name", 23);
 1187     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 23);
 1188     emlrtAddField(*info, emlrt_marshallOut(
 1189       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+blas/use_refblas.m"),
 1190                   "resolved", 23);
 1191     emlrtAddField(*info, b_emlrt_marshallOut(1375980664U), "fileTimeLo", 23);
 1192     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 23);
 1193     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 23);
 1194     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 23);
 1195     emlrtAssign(&rhs23, emlrtCreateCellMatrix(0, 1));
 1196     emlrtAssign(&lhs23, emlrtCreateCellMatrix(0, 1));
 1197     emlrtAddField(*info, emlrtAliasP(rhs23), "rhs", 23);
 1198     emlrtAddField(*info, emlrtAliasP(lhs23), "lhs", 23);
 1199     emlrtAddField(*info, emlrt_marshallOut(
 1200       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+blas/xgemm.m!below_threshold"),
 1201                   "context", 24);
 1202     emlrtAddField(*info, emlrt_marshallOut("coder.internal.blas.threshold"),
 1203                   "name", 24);
 1204     emlrtAddField(*info, emlrt_marshallOut("char"), "dominantType", 24);
 1205     emlrtAddField(*info, emlrt_marshallOut(
 1206       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+blas/threshold.m"),
 1207                   "resolved", 24);
 1208     emlrtAddField(*info, b_emlrt_marshallOut(1375980664U), "fileTimeLo", 24);
 1209     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 24);
 1210     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 24);
 1211     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 24);
 1212     emlrtAssign(&rhs24, emlrtCreateCellMatrix(0, 1));
 1213     emlrtAssign(&lhs24, emlrtCreateCellMatrix(0, 1));
 1214     emlrtAddField(*info, emlrtAliasP(rhs24), "rhs", 24);
 1215     emlrtAddField(*info, emlrtAliasP(lhs24), "lhs", 24);
 1216     emlrtAddField(*info, emlrt_marshallOut(
 1217       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+blas/xgemm.m"),
 1218                   "context", 25);
 1219     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalarEg"), "name", 25);
 1220     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 25);
 1221     emlrtAddField(*info, emlrt_marshallOut(
 1222       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/scalarEg.m"),
 1223                   "resolved", 25);
 1224     emlrtAddField(*info, b_emlrt_marshallOut(1430216768U), "fileTimeLo", 25);
 1225     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 25);
 1226     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 25);
 1227     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 25);
 1228     emlrtAssign(&rhs25, emlrtCreateCellMatrix(0, 1));
 1229     emlrtAssign(&lhs25, emlrtCreateCellMatrix(0, 1));
 1230     emlrtAddField(*info, emlrtAliasP(rhs25), "rhs", 25);
 1231     emlrtAddField(*info, emlrtAliasP(lhs25), "lhs", 25);
 1232     emlrtAddField(*info, emlrt_marshallOut(
 1233       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+blas/xgemm.m"),
 1234                   "context", 26);
 1235     emlrtAddField(*info, emlrt_marshallOut("coder.internal.refblas.xgemm"), "name",
 1236                   26);
 1237     emlrtAddField(*info, emlrt_marshallOut("char"), "dominantType", 26);
 1238     emlrtAddField(*info, emlrt_marshallOut(
 1239       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+refblas/xgemm.m"),
 1240                   "resolved", 26);
 1241     emlrtAddField(*info, b_emlrt_marshallOut(1415907912U), "fileTimeLo", 26);
 1242     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 26);
 1243     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 26);
 1244     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 26);
 1245     emlrtAssign(&rhs26, emlrtCreateCellMatrix(0, 1));
 1246     emlrtAssign(&lhs26, emlrtCreateCellMatrix(0, 1));
 1247     emlrtAddField(*info, emlrtAliasP(rhs26), "rhs", 26);
 1248     emlrtAddField(*info, emlrtAliasP(lhs26), "lhs", 26);
 1249     emlrtAddField(*info, emlrt_marshallOut(
 1250       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateTransformations.m"),
 1251                   "context", 27);
 1252     emlrtAddField(*info, emlrt_marshallOut("rot2euler"), "name", 27);
 1253     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 27);
 1254     emlrtAddField(*info, emlrt_marshallOut(
 1255       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/rot2euler.m"),
 1256                   "resolved", 27);
 1257     emlrtAddField(*info, b_emlrt_marshallOut(1511692985U), "fileTimeLo", 27);
 1258     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 27);
 1259     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 27);
 1260     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 27);
 1261     emlrtAssign(&rhs27, emlrtCreateCellMatrix(0, 1));
 1262     emlrtAssign(&lhs27, emlrtCreateCellMatrix(0, 1));
 1263     emlrtAddField(*info, emlrtAliasP(rhs27), "rhs", 27);
 1264     emlrtAddField(*info, emlrtAliasP(lhs27), "lhs", 27);
 1265     emlrtAddField(*info, emlrt_marshallOut(
 1266       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/rot2euler.m"),
 1267                   "context", 28);
 1268     emlrtAddField(*info, emlrt_marshallOut("atan2"), "name", 28);
 1269     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 28);
 1270     emlrtAddField(*info, emlrt_marshallOut(
 1271       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/atan2.m"),
 1272                   "resolved", 28);
 1273     emlrtAddField(*info, b_emlrt_marshallOut(1419313828U), "fileTimeLo", 28);
 1274     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 28);
 1275     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 28);
 1276     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 28);
 1277     emlrtAssign(&rhs28, emlrtCreateCellMatrix(0, 1));
 1278     emlrtAssign(&lhs28, emlrtCreateCellMatrix(0, 1));
 1279     emlrtAddField(*info, emlrtAliasP(rhs28), "rhs", 28);
 1280     emlrtAddField(*info, emlrtAliasP(lhs28), "lhs", 28);
 1281     emlrtAddField(*info, emlrt_marshallOut(
 1282       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/atan2.m"),
 1283                   "context", 29);
 1284     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalarEg"), "name", 29);
 1285     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 29);
 1286     emlrtAddField(*info, emlrt_marshallOut(
 1287       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/scalarEg.m"),
 1288                   "resolved", 29);
 1289     emlrtAddField(*info, b_emlrt_marshallOut(1430216768U), "fileTimeLo", 29);
 1290     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 29);
 1291     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 29);
 1292     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 29);
 1293     emlrtAssign(&rhs29, emlrtCreateCellMatrix(0, 1));
 1294     emlrtAssign(&lhs29, emlrtCreateCellMatrix(0, 1));
 1295     emlrtAddField(*info, emlrtAliasP(rhs29), "rhs", 29);
 1296     emlrtAddField(*info, emlrtAliasP(lhs29), "lhs", 29);
 1297     emlrtAddField(*info, emlrt_marshallOut(
 1298       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/atan2.m"),
 1299                   "context", 30);
 1300     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalar.atan2"), "name",
 1301                   30);
 1302     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 30);
 1303     emlrtAddField(*info, emlrt_marshallOut(
 1304       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+scalar/atan2.m"),
 1305                   "resolved", 30);
 1306     emlrtAddField(*info, b_emlrt_marshallOut(1415907914U), "fileTimeLo", 30);
 1307     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 30);
 1308     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 30);
 1309     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 30);
 1310     emlrtAssign(&rhs30, emlrtCreateCellMatrix(0, 1));
 1311     emlrtAssign(&lhs30, emlrtCreateCellMatrix(0, 1));
 1312     emlrtAddField(*info, emlrtAliasP(rhs30), "rhs", 30);
 1313     emlrtAddField(*info, emlrtAliasP(lhs30), "lhs", 30);
 1314     emlrtAddField(*info, emlrt_marshallOut(
 1315       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/atan2.m"),
 1316                   "context", 31);
 1317     emlrtAddField(*info, emlrt_marshallOut("coder.internal.applyScalarFunction"),
 1318                   "name", 31);
 1319     emlrtAddField(*info, emlrt_marshallOut("function_handle"), "dominantType", 31);
 1320     emlrtAddField(*info, emlrt_marshallOut(
 1321       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/applyScalarFunction.m"),
 1322                   "resolved", 31);
 1323     emlrtAddField(*info, b_emlrt_marshallOut(1422884302U), "fileTimeLo", 31);
 1324     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 31);
 1325     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 31);
 1326     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 31);
 1327     emlrtAssign(&rhs31, emlrtCreateCellMatrix(0, 1));
 1328     emlrtAssign(&lhs31, emlrtCreateCellMatrix(0, 1));
 1329     emlrtAddField(*info, emlrtAliasP(rhs31), "rhs", 31);
 1330     emlrtAddField(*info, emlrtAliasP(lhs31), "lhs", 31);
 1331     emlrtAddField(*info, emlrt_marshallOut(
 1332       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/applyScalarFunction.m"),
 1333                   "context", 32);
 1334     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalexpAlloc"), "name",
 1335                   32);
 1336     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 32);
 1337     emlrtAddField(*info, emlrt_marshallOut(
 1338       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/scalexpAlloc.m"),
 1339                   "resolved", 32);
 1340     emlrtAddField(*info, b_emlrt_marshallOut(1415907916U), "fileTimeLo", 32);
 1341     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 32);
 1342     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 32);
 1343     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 32);
 1344     emlrtAssign(&rhs32, emlrtCreateCellMatrix(0, 1));
 1345     emlrtAssign(&lhs32, emlrtCreateCellMatrix(0, 1));
 1346     emlrtAddField(*info, emlrtAliasP(rhs32), "rhs", 32);
 1347     emlrtAddField(*info, emlrtAliasP(lhs32), "lhs", 32);
 1348     emlrtAddField(*info, emlrt_marshallOut(
 1349       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/scalexpAlloc.m"),
 1350                   "context", 33);
 1351     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalexpAllocNoCheck"),
 1352                   "name", 33);
 1353     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 33);
 1354     emlrtAddField(*info, emlrt_marshallOut(
 1355       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/scalexpAllocNoCheck.m"),
 1356                   "resolved", 33);
 1357     emlrtAddField(*info, b_emlrt_marshallOut(1410437090U), "fileTimeLo", 33);
 1358     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 33);
 1359     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 33);
 1360     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 33);
 1361     emlrtAssign(&rhs33, emlrtCreateCellMatrix(0, 1));
 1362     emlrtAssign(&lhs33, emlrtCreateCellMatrix(0, 1));
 1363     emlrtAddField(*info, emlrtAliasP(rhs33), "rhs", 33);
 1364     emlrtAddField(*info, emlrtAliasP(lhs33), "lhs", 33);
 1365     emlrtAddField(*info, emlrt_marshallOut(
 1366       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/applyScalarFunction.m"),
 1367                   "context", 34);
 1368     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalar.atan2"), "name",
 1369                   34);
 1370     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 34);
 1371     emlrtAddField(*info, emlrt_marshallOut(
 1372       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+scalar/atan2.m"),
 1373                   "resolved", 34);
 1374     emlrtAddField(*info, b_emlrt_marshallOut(1415907914U), "fileTimeLo", 34);
 1375     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 34);
 1376     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 34);
 1377     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 34);
 1378     emlrtAssign(&rhs34, emlrtCreateCellMatrix(0, 1));
 1379     emlrtAssign(&lhs34, emlrtCreateCellMatrix(0, 1));
 1380     emlrtAddField(*info, emlrtAliasP(rhs34), "rhs", 34);
 1381     emlrtAddField(*info, emlrtAliasP(lhs34), "lhs", 34);
 1382     emlrtAddField(*info, emlrt_marshallOut(
 1383       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/rot2euler.m"),
 1384                   "context", 35);
 1385     emlrtAddField(*info, emlrt_marshallOut("asin"), "name", 35);
 1386     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 35);
 1387     emlrtAddField(*info, emlrt_marshallOut(
 1388       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/asin.m"),
 1389                   "resolved", 35);
 1390     emlrtAddField(*info, b_emlrt_marshallOut(1419313828U), "fileTimeLo", 35);
 1391     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 35);
 1392     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 35);
 1393     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 35);
 1394     emlrtAssign(&rhs35, emlrtCreateCellMatrix(0, 1));
 1395     emlrtAssign(&lhs35, emlrtCreateCellMatrix(0, 1));
 1396     emlrtAddField(*info, emlrtAliasP(rhs35), "rhs", 35);
 1397     emlrtAddField(*info, emlrtAliasP(lhs35), "lhs", 35);
 1398     emlrtAddField(*info, emlrt_marshallOut(
 1399       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/asin.m"),
 1400                   "context", 36);
 1401     emlrtAddField(*info, emlrt_marshallOut("coder.internal.isDomainError"), "name",
 1402                   36);
 1403     emlrtAddField(*info, emlrt_marshallOut("function_handle"), "dominantType", 36);
 1404     emlrtAddField(*info, emlrt_marshallOut(
 1405       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/isDomainError.m"),
 1406                   "resolved", 36);
 1407     emlrtAddField(*info, b_emlrt_marshallOut(1419333384U), "fileTimeLo", 36);
 1408     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 36);
 1409     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 36);
 1410     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 36);
 1411     emlrtAssign(&rhs36, emlrtCreateCellMatrix(0, 1));
 1412     emlrtAssign(&lhs36, emlrtCreateCellMatrix(0, 1));
 1413     emlrtAddField(*info, emlrtAliasP(rhs36), "rhs", 36);
 1414     emlrtAddField(*info, emlrtAliasP(lhs36), "lhs", 36);
 1415     emlrtAddField(*info, emlrt_marshallOut(
 1416       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/asin.m"),
 1417                   "context", 37);
 1418     emlrtAddField(*info, emlrt_marshallOut("coder.internal.error"), "name", 37);
 1419     emlrtAddField(*info, emlrt_marshallOut("char"), "dominantType", 37);
 1420     emlrtAddField(*info, emlrt_marshallOut(
 1421       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/error.m"),
 1422                   "resolved", 37);
 1423     emlrtAddField(*info, b_emlrt_marshallOut(1435845494U), "fileTimeLo", 37);
 1424     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 37);
 1425     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 37);
 1426     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 37);
 1427     emlrtAssign(&rhs37, emlrtCreateCellMatrix(0, 1));
 1428     emlrtAssign(&lhs37, emlrtCreateCellMatrix(0, 1));
 1429     emlrtAddField(*info, emlrtAliasP(rhs37), "rhs", 37);
 1430     emlrtAddField(*info, emlrtAliasP(lhs37), "lhs", 37);
 1431     emlrtAddField(*info, emlrt_marshallOut(
 1432       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/asin.m"),
 1433                   "context", 38);
 1434     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalar.asin"), "name",
 1435                   38);
 1436     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 38);
 1437     emlrtAddField(*info, emlrt_marshallOut(
 1438       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+scalar/asin.m"),
 1439                   "resolved", 38);
 1440     emlrtAddField(*info, b_emlrt_marshallOut(1419313826U), "fileTimeLo", 38);
 1441     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 38);
 1442     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 38);
 1443     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 38);
 1444     emlrtAssign(&rhs38, emlrtCreateCellMatrix(0, 1));
 1445     emlrtAssign(&lhs38, emlrtCreateCellMatrix(0, 1));
 1446     emlrtAddField(*info, emlrtAliasP(rhs38), "rhs", 38);
 1447     emlrtAddField(*info, emlrtAliasP(lhs38), "lhs", 38);
 1448     emlrtAddField(*info, emlrt_marshallOut(
 1449       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/asin.m"),
 1450                   "context", 39);
 1451     emlrtAddField(*info, emlrt_marshallOut(
 1452       "coder.internal.applyScalarFunctionInPlace"), "name", 39);
 1453     emlrtAddField(*info, emlrt_marshallOut("function_handle"), "dominantType", 39);
 1454     emlrtAddField(*info, emlrt_marshallOut(
 1455       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/applyScalarFunctionInPlace.m"),
 1456                   "resolved", 39);
 1457     emlrtAddField(*info, b_emlrt_marshallOut(1422884200U), "fileTimeLo", 39);
 1458     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 39);
 1459     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 39);
 1460     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 39);
 1461     emlrtAssign(&rhs39, emlrtCreateCellMatrix(0, 1));
 1462     emlrtAssign(&lhs39, emlrtCreateCellMatrix(0, 1));
 1463     emlrtAddField(*info, emlrtAliasP(rhs39), "rhs", 39);
 1464     emlrtAddField(*info, emlrtAliasP(lhs39), "lhs", 39);
 1465     emlrtAddField(*info, emlrt_marshallOut(
 1466       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/applyScalarFunctionInPlace.m"),
 1467                   "context", 40);
 1468     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalar.asin"), "name",
 1469                   40);
 1470     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 40);
 1471     emlrtAddField(*info, emlrt_marshallOut(
 1472       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+scalar/asin.m"),
 1473                   "resolved", 40);
 1474     emlrtAddField(*info, b_emlrt_marshallOut(1419313826U), "fileTimeLo", 40);
 1475     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 40);
 1476     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 40);
 1477     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 40);
 1478     emlrtAssign(&rhs40, emlrtCreateCellMatrix(0, 1));
 1479     emlrtAssign(&lhs40, emlrtCreateCellMatrix(0, 1));
 1480     emlrtAddField(*info, emlrtAliasP(rhs40), "rhs", 40);
 1481     emlrtAddField(*info, emlrtAliasP(lhs40), "lhs", 40);
 1482     emlrtAddField(*info, emlrt_marshallOut(
 1483       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateTransformations.m"),
 1484                   "context", 41);
 1485     emlrtAddField(*info, emlrt_marshallOut("mrdivide"), "name", 41);
 1486     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 41);
 1487     emlrtAddField(*info, emlrt_marshallOut(
 1488       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/ops/mrdivide.p"),
 1489                   "resolved", 41);
 1490     emlrtAddField(*info, b_emlrt_marshallOut(1438285820U), "fileTimeLo", 41);
 1491     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 41);
 1492     emlrtAddField(*info, b_emlrt_marshallOut(1415907940U), "mFileTimeLo", 41);
 1493     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 41);
 1494     emlrtAssign(&rhs41, emlrtCreateCellMatrix(0, 1));
 1495     emlrtAssign(&lhs41, emlrtCreateCellMatrix(0, 1));
 1496     emlrtAddField(*info, emlrtAliasP(rhs41), "rhs", 41);
 1497     emlrtAddField(*info, emlrtAliasP(lhs41), "lhs", 41);
 1498     emlrtAddField(*info, emlrt_marshallOut(
 1499       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/ops/mrdivide.p"),
 1500                   "context", 42);
 1501     emlrtAddField(*info, emlrt_marshallOut("rdivide"), "name", 42);
 1502     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 42);
 1503     emlrtAddField(*info, emlrt_marshallOut(
 1504       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/ops/rdivide.m"),
 1505                   "resolved", 42);
 1506     emlrtAddField(*info, b_emlrt_marshallOut(1415907940U), "fileTimeLo", 42);
 1507     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 42);
 1508     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 42);
 1509     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 42);
 1510     emlrtAssign(&rhs42, emlrtCreateCellMatrix(0, 1));
 1511     emlrtAssign(&lhs42, emlrtCreateCellMatrix(0, 1));
 1512     emlrtAddField(*info, emlrtAliasP(rhs42), "rhs", 42);
 1513     emlrtAddField(*info, emlrtAliasP(lhs42), "lhs", 42);
 1514     emlrtAddField(*info, emlrt_marshallOut(
 1515       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/ops/rdivide.m"),
 1516                   "context", 43);
 1517     emlrtAddField(*info, emlrt_marshallOut("coder.internal.isBuiltInNumeric"),
 1518                   "name", 43);
 1519     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 43);
 1520     emlrtAddField(*info, emlrt_marshallOut(
 1521       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/isBuiltInNumeric.m"),
 1522                   "resolved", 43);
 1523     emlrtAddField(*info, b_emlrt_marshallOut(1395931856U), "fileTimeLo", 43);
 1524     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 43);
 1525     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 43);
 1526     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 43);
 1527     emlrtAssign(&rhs43, emlrtCreateCellMatrix(0, 1));
 1528     emlrtAssign(&lhs43, emlrtCreateCellMatrix(0, 1));
 1529     emlrtAddField(*info, emlrtAliasP(rhs43), "rhs", 43);
 1530     emlrtAddField(*info, emlrtAliasP(lhs43), "lhs", 43);
 1531     emlrtAddField(*info, emlrt_marshallOut(
 1532       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/ops/rdivide.m"),
 1533                   "context", 44);
 1534     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalexpCompatible"),
 1535                   "name", 44);
 1536     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 44);
 1537     emlrtAddField(*info, emlrt_marshallOut(
 1538       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/scalexpCompatible.m"),
 1539                   "resolved", 44);
 1540     emlrtAddField(*info, b_emlrt_marshallOut(1415907916U), "fileTimeLo", 44);
 1541     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 44);
 1542     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 44);
 1543     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 44);
 1544     emlrtAssign(&rhs44, emlrtCreateCellMatrix(0, 1));
 1545     emlrtAssign(&lhs44, emlrtCreateCellMatrix(0, 1));
 1546     emlrtAddField(*info, emlrtAliasP(rhs44), "rhs", 44);
 1547     emlrtAddField(*info, emlrtAliasP(lhs44), "lhs", 44);
 1548     emlrtAddField(*info, emlrt_marshallOut(
 1549       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/ops/rdivide.m"),
 1550                   "context", 45);
 1551     emlrtAddField(*info, emlrt_marshallOut("coder.internal.div"), "name", 45);
 1552     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 45);
 1553     emlrtAddField(*info, emlrt_marshallOut(
 1554       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/div.m"),
 1555                   "resolved", 45);
 1556     emlrtAddField(*info, b_emlrt_marshallOut(1415907914U), "fileTimeLo", 45);
 1557     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 45);
 1558     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 45);
 1559     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 45);
 1560     emlrtAssign(&rhs45, emlrtCreateCellMatrix(0, 1));
 1561     emlrtAssign(&lhs45, emlrtCreateCellMatrix(0, 1));
 1562     emlrtAddField(*info, emlrtAliasP(rhs45), "rhs", 45);
 1563     emlrtAddField(*info, emlrtAliasP(lhs45), "lhs", 45);
 1564     emlrtAddField(*info, emlrt_marshallOut(
 1565       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateTransformations.m"),
 1566                   "context", 46);
 1567     emlrtAddField(*info, emlrt_marshallOut("calculateJointTransformations"),
 1568                   "name", 46);
 1569     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 46);
 1570     emlrtAddField(*info, emlrt_marshallOut(
 1571       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateJointTransformations.m"),
 1572                   "resolved", 46);
 1573     emlrtAddField(*info, b_emlrt_marshallOut(1498776974U), "fileTimeLo", 46);
 1574     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 46);
 1575     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 46);
 1576     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 46);
 1577     emlrtAssign(&rhs46, emlrtCreateCellMatrix(0, 1));
 1578     emlrtAssign(&lhs46, emlrtCreateCellMatrix(0, 1));
 1579     emlrtAddField(*info, emlrtAliasP(rhs46), "rhs", 46);
 1580     emlrtAddField(*info, emlrtAliasP(lhs46), "lhs", 46);
 1581     emlrtAddField(*info, emlrt_marshallOut(
 1582       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateJointTransformations.m"),
 1583                   "context", 47);
 1584     emlrtAddField(*info, emlrt_marshallOut("coder.internal.strcmp"), "name", 47);
 1585     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 47);
 1586     emlrtAddField(*info, emlrt_marshallOut(
 1587       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/strcmp.m"),
 1588                   "resolved", 47);
 1589     emlrtAddField(*info, b_emlrt_marshallOut(1428931368U), "fileTimeLo", 47);
 1590     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 47);
 1591     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 47);
 1592     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 47);
 1593     emlrtAssign(&rhs47, emlrtCreateCellMatrix(0, 1));
 1594     emlrtAssign(&lhs47, emlrtCreateCellMatrix(0, 1));
 1595     emlrtAddField(*info, emlrtAliasP(rhs47), "rhs", 47);
 1596     emlrtAddField(*info, emlrtAliasP(lhs47), "lhs", 47);
 1597     emlrtAddField(*info, emlrt_marshallOut(
 1598       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/strcmp.m"),
 1599                   "context", 48);
 1600     emlrtAddField(*info, emlrt_marshallOut("coder.internal.narginchk"), "name", 48);
 1601     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 48);
 1602     emlrtAddField(*info, emlrt_marshallOut(
 1603       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/shared/coder/coder/+coder/+internal/narginchk.m"),
 1604                   "resolved", 48);
 1605     emlrtAddField(*info, b_emlrt_marshallOut(1363714558U), "fileTimeLo", 48);
 1606     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 48);
 1607     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 48);
 1608     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 48);
 1609     emlrtAssign(&rhs48, emlrtCreateCellMatrix(0, 1));
 1610     emlrtAssign(&lhs48, emlrtCreateCellMatrix(0, 1));
 1611     emlrtAddField(*info, emlrtAliasP(rhs48), "rhs", 48);
 1612     emlrtAddField(*info, emlrtAliasP(lhs48), "lhs", 48);
 1613     emlrtAddField(*info, emlrt_marshallOut(
 1614       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/shared/coder/coder/+coder/+internal/narginchk.m"),
 1615                   "context", 49);
 1616     emlrtAddField(*info, emlrt_marshallOut("floor"), "name", 49);
 1617     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 49);
 1618     emlrtAddField(*info, emlrt_marshallOut(
 1619       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/floor.m"),
 1620                   "resolved", 49);
 1621     emlrtAddField(*info, b_emlrt_marshallOut(1419313828U), "fileTimeLo", 49);
 1622     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 49);
 1623     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 49);
 1624     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 49);
 1625     emlrtAssign(&rhs49, emlrtCreateCellMatrix(0, 1));
 1626     emlrtAssign(&lhs49, emlrtCreateCellMatrix(0, 1));
 1627     emlrtAddField(*info, emlrtAliasP(rhs49), "rhs", 49);
 1628     emlrtAddField(*info, emlrtAliasP(lhs49), "lhs", 49);
 1629     emlrtAddField(*info, emlrt_marshallOut(
 1630       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/floor.m"),
 1631                   "context", 50);
 1632     emlrtAddField(*info, emlrt_marshallOut("coder.internal.isBuiltInNumeric"),
 1633                   "name", 50);
 1634     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 50);
 1635     emlrtAddField(*info, emlrt_marshallOut(
 1636       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/isBuiltInNumeric.m"),
 1637                   "resolved", 50);
 1638     emlrtAddField(*info, b_emlrt_marshallOut(1395931856U), "fileTimeLo", 50);
 1639     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 50);
 1640     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 50);
 1641     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 50);
 1642     emlrtAssign(&rhs50, emlrtCreateCellMatrix(0, 1));
 1643     emlrtAssign(&lhs50, emlrtCreateCellMatrix(0, 1));
 1644     emlrtAddField(*info, emlrtAliasP(rhs50), "rhs", 50);
 1645     emlrtAddField(*info, emlrtAliasP(lhs50), "lhs", 50);
 1646     emlrtAddField(*info, emlrt_marshallOut(
 1647       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/floor.m"),
 1648                   "context", 51);
 1649     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalar.floor"), "name",
 1650                   51);
 1651     emlrtAddField(*info, emlrt_marshallOut(""), "dominantType", 51);
 1652     emlrtAddField(*info, emlrt_marshallOut(
 1653       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+scalar/floor.m"),
 1654                   "resolved", 51);
 1655     emlrtAddField(*info, b_emlrt_marshallOut(1415907914U), "fileTimeLo", 51);
 1656     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 51);
 1657     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 51);
 1658     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 51);
 1659     emlrtAssign(&rhs51, emlrtCreateCellMatrix(0, 1));
 1660     emlrtAssign(&lhs51, emlrtCreateCellMatrix(0, 1));
 1661     emlrtAddField(*info, emlrtAliasP(rhs51), "rhs", 51);
 1662     emlrtAddField(*info, emlrtAliasP(lhs51), "lhs", 51);
 1663     emlrtAddField(*info, emlrt_marshallOut(
 1664       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/floor.m"),
 1665                   "context", 52);
 1666     emlrtAddField(*info, emlrt_marshallOut(
 1667       "coder.internal.applyScalarFunctionInPlace"), "name", 52);
 1668     emlrtAddField(*info, emlrt_marshallOut("function_handle"), "dominantType", 52);
 1669     emlrtAddField(*info, emlrt_marshallOut(
 1670       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/applyScalarFunctionInPlace.m"),
 1671                   "resolved", 52);
 1672     emlrtAddField(*info, b_emlrt_marshallOut(1422884200U), "fileTimeLo", 52);
 1673     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 52);
 1674     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 52);
 1675     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 52);
 1676     emlrtAssign(&rhs52, emlrtCreateCellMatrix(0, 1));
 1677     emlrtAssign(&lhs52, emlrtCreateCellMatrix(0, 1));
 1678     emlrtAddField(*info, emlrtAliasP(rhs52), "rhs", 52);
 1679     emlrtAddField(*info, emlrtAliasP(lhs52), "lhs", 52);
 1680     emlrtAddField(*info, emlrt_marshallOut(
 1681       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/applyScalarFunctionInPlace.m"),
 1682                   "context", 53);
 1683     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalar.floor"), "name",
 1684                   53);
 1685     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 53);
 1686     emlrtAddField(*info, emlrt_marshallOut(
 1687       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/+scalar/floor.m"),
 1688                   "resolved", 53);
 1689     emlrtAddField(*info, b_emlrt_marshallOut(1415907914U), "fileTimeLo", 53);
 1690     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 53);
 1691     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 53);
 1692     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 53);
 1693     emlrtAssign(&rhs53, emlrtCreateCellMatrix(0, 1));
 1694     emlrtAssign(&lhs53, emlrtCreateCellMatrix(0, 1));
 1695     emlrtAddField(*info, emlrtAliasP(rhs53), "rhs", 53);
 1696     emlrtAddField(*info, emlrtAliasP(lhs53), "lhs", 53);
 1697     emlrtAddField(*info, emlrt_marshallOut(
 1698       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/strcmp.m!charcmp"),
 1699                   "context", 54);
 1700     emlrtAddField(*info, emlrt_marshallOut("max"), "name", 54);
 1701     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 54);
 1702     emlrtAddField(*info, emlrt_marshallOut(
 1703       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/datafun/max.m"),
 1704                   "resolved", 54);
 1705     emlrtAddField(*info, b_emlrt_marshallOut(1415907926U), "fileTimeLo", 54);
 1706     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 54);
 1707     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 54);
 1708     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 54);
 1709     emlrtAssign(&rhs54, emlrtCreateCellMatrix(0, 1));
 1710     emlrtAssign(&lhs54, emlrtCreateCellMatrix(0, 1));
 1711     emlrtAddField(*info, emlrtAliasP(rhs54), "rhs", 54);
 1712     emlrtAddField(*info, emlrtAliasP(lhs54), "lhs", 54);
 1713     emlrtAddField(*info, emlrt_marshallOut(
 1714       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/datafun/max.m"),
 1715                   "context", 55);
 1716     emlrtAddField(*info, emlrt_marshallOut("coder.internal.minOrMax"), "name", 55);
 1717     emlrtAddField(*info, emlrt_marshallOut("char"), "dominantType", 55);
 1718     emlrtAddField(*info, emlrt_marshallOut(
 1719       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/minOrMax.m"),
 1720                   "resolved", 55);
 1721     emlrtAddField(*info, b_emlrt_marshallOut(1426776442U), "fileTimeLo", 55);
 1722     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 55);
 1723     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 55);
 1724     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 55);
 1725     emlrtAssign(&rhs55, emlrtCreateCellMatrix(0, 1));
 1726     emlrtAssign(&lhs55, emlrtCreateCellMatrix(0, 1));
 1727     emlrtAddField(*info, emlrtAliasP(rhs55), "rhs", 55);
 1728     emlrtAddField(*info, emlrtAliasP(lhs55), "lhs", 55);
 1729     emlrtAddField(*info, emlrt_marshallOut(
 1730       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/minOrMax.m!eml_bin_extremum"),
 1731                   "context", 56);
 1732     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalarEg"), "name", 56);
 1733     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 56);
 1734     emlrtAddField(*info, emlrt_marshallOut(
 1735       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/scalarEg.m"),
 1736                   "resolved", 56);
 1737     emlrtAddField(*info, b_emlrt_marshallOut(1430216768U), "fileTimeLo", 56);
 1738     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 56);
 1739     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 56);
 1740     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 56);
 1741     emlrtAssign(&rhs56, emlrtCreateCellMatrix(0, 1));
 1742     emlrtAssign(&lhs56, emlrtCreateCellMatrix(0, 1));
 1743     emlrtAddField(*info, emlrtAliasP(rhs56), "rhs", 56);
 1744     emlrtAddField(*info, emlrtAliasP(lhs56), "lhs", 56);
 1745     emlrtAddField(*info, emlrt_marshallOut(
 1746       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/minOrMax.m!eml_bin_extremum"),
 1747                   "context", 57);
 1748     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalexpAlloc"), "name",
 1749                   57);
 1750     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 57);
 1751     emlrtAddField(*info, emlrt_marshallOut(
 1752       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/scalexpAlloc.m"),
 1753                   "resolved", 57);
 1754     emlrtAddField(*info, b_emlrt_marshallOut(1415907916U), "fileTimeLo", 57);
 1755     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 57);
 1756     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 57);
 1757     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 57);
 1758     emlrtAssign(&rhs57, emlrtCreateCellMatrix(0, 1));
 1759     emlrtAssign(&lhs57, emlrtCreateCellMatrix(0, 1));
 1760     emlrtAddField(*info, emlrtAliasP(rhs57), "rhs", 57);
 1761     emlrtAddField(*info, emlrtAliasP(lhs57), "lhs", 57);
 1762     emlrtAddField(*info, emlrt_marshallOut(
 1763       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/minOrMax.m!eml_scalar_bin_extremum"),
 1764                   "context", 58);
 1765     emlrtAddField(*info, emlrt_marshallOut("coder.internal.scalarEg"), "name", 58);
 1766     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 58);
 1767     emlrtAddField(*info, emlrt_marshallOut(
 1768       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/scalarEg.m"),
 1769                   "resolved", 58);
 1770     emlrtAddField(*info, b_emlrt_marshallOut(1430216768U), "fileTimeLo", 58);
 1771     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 58);
 1772     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 58);
 1773     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 58);
 1774     emlrtAssign(&rhs58, emlrtCreateCellMatrix(0, 1));
 1775     emlrtAssign(&lhs58, emlrtCreateCellMatrix(0, 1));
 1776     emlrtAddField(*info, emlrtAliasP(rhs58), "rhs", 58);
 1777     emlrtAddField(*info, emlrtAliasP(lhs58), "lhs", 58);
 1778     emlrtAddField(*info, emlrt_marshallOut(
 1779       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/minOrMax.m!eml_scalar_bin_extremum"),
 1780                   "context", 59);
 1781     emlrtAddField(*info, emlrt_marshallOut("coder.internal.isBuiltInNumeric"),
 1782                   "name", 59);
 1783     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 59);
 1784     emlrtAddField(*info, emlrt_marshallOut(
 1785       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/eml/+coder/+internal/isBuiltInNumeric.m"),
 1786                   "resolved", 59);
 1787     emlrtAddField(*info, b_emlrt_marshallOut(1395931856U), "fileTimeLo", 59);
 1788     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 59);
 1789     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 59);
 1790     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 59);
 1791     emlrtAssign(&rhs59, emlrtCreateCellMatrix(0, 1));
 1792     emlrtAssign(&lhs59, emlrtCreateCellMatrix(0, 1));
 1793     emlrtAddField(*info, emlrtAliasP(rhs59), "rhs", 59);
 1794     emlrtAddField(*info, emlrtAliasP(lhs59), "lhs", 59);
 1795     emlrtAddField(*info, emlrt_marshallOut(
 1796       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateJointTransformations.m"),
 1797                   "context", 60);
 1798     emlrtAddField(*info, emlrt_marshallOut("rotationY"), "name", 60);
 1799     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 60);
 1800     emlrtAddField(*info, emlrt_marshallOut(
 1801       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/rotationY.m"),
 1802                   "resolved", 60);
 1803     emlrtAddField(*info, b_emlrt_marshallOut(1510652630U), "fileTimeLo", 60);
 1804     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 60);
 1805     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 60);
 1806     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 60);
 1807     emlrtAssign(&rhs60, emlrtCreateCellMatrix(0, 1));
 1808     emlrtAssign(&lhs60, emlrtCreateCellMatrix(0, 1));
 1809     emlrtAddField(*info, emlrtAliasP(rhs60), "rhs", 60);
 1810     emlrtAddField(*info, emlrtAliasP(lhs60), "lhs", 60);
 1811     emlrtAddField(*info, emlrt_marshallOut(
 1812       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/rotationY.m"),
 1813                   "context", 61);
 1814     emlrtAddField(*info, emlrt_marshallOut("cos"), "name", 61);
 1815     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 61);
 1816     emlrtAddField(*info, emlrt_marshallOut(
 1817       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/cos.m"),
 1818                   "resolved", 61);
 1819     emlrtAddField(*info, b_emlrt_marshallOut(1419313828U), "fileTimeLo", 61);
 1820     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 61);
 1821     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 61);
 1822     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 61);
 1823     emlrtAssign(&rhs61, emlrtCreateCellMatrix(0, 1));
 1824     emlrtAssign(&lhs61, emlrtCreateCellMatrix(0, 1));
 1825     emlrtAddField(*info, emlrtAliasP(rhs61), "rhs", 61);
 1826     emlrtAddField(*info, emlrtAliasP(lhs61), "lhs", 61);
 1827     emlrtAddField(*info, emlrt_marshallOut(
 1828       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/rotationY.m"),
 1829                   "context", 62);
 1830     emlrtAddField(*info, emlrt_marshallOut("sin"), "name", 62);
 1831     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 62);
 1832     emlrtAddField(*info, emlrt_marshallOut(
 1833       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elfun/sin.m"),
 1834                   "resolved", 62);
 1835     emlrtAddField(*info, b_emlrt_marshallOut(1419313828U), "fileTimeLo", 62);
 1836     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 62);
 1837     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 62);
 1838     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 62);
 1839     emlrtAssign(&rhs62, emlrtCreateCellMatrix(0, 1));
 1840     emlrtAssign(&lhs62, emlrtCreateCellMatrix(0, 1));
 1841     emlrtAddField(*info, emlrtAliasP(rhs62), "rhs", 62);
 1842     emlrtAddField(*info, emlrtAliasP(lhs62), "lhs", 62);
 1843     emlrtAddField(*info, emlrt_marshallOut(
 1844       "[E]C:/Users/jorgesv/Dropbox/PhD documents/Matlab code/underwater swimming manipulators/Utilities/calculateJointTransformations.m"),
 1845                   "context", 63);
 1846     emlrtAddField(*info, emlrt_marshallOut("eye"), "name", 63);
 1847     emlrtAddField(*info, emlrt_marshallOut("double"), "dominantType", 63);
 1848     emlrtAddField(*info, emlrt_marshallOut(
 1849       "[ILXE]C:/Program Files (x86)/MATLAB/R2015b/toolbox/eml/lib/matlab/elmat/eye.m"),
 1850                   "resolved", 63);
 1851     emlrtAddField(*info, b_emlrt_marshallOut(1427210806U), "fileTimeLo", 63);
 1852     emlrtAddField(*info, b_emlrt_marshallOut(0U), "fileTimeHi", 63);
 1853     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeLo", 63);
 1854     emlrtAddField(*info, b_emlrt_marshallOut(0U), "mFileTimeHi", 63);
 1855     emlrtAssign(&rhs63, emlrtCreateCellMatrix(0, 1));
 1856     emlrtAssign(&lhs63, emlrtCreateCellMatrix(0, 1));
 1857     emlrtAddField(*info, emlrtAliasP(rhs63), "rhs", 63);
 1858     emlrtAddField(*info, emlrtAliasP(lhs63), "lhs", 63);
 1859     emlrtDestroyArray(&rhs0);
 1860     emlrtDestroyArray(&lhs0);
 1861     emlrtDestroyArray(&rhs1);
 1862     emlrtDestroyArray(&lhs1);
 1863     emlrtDestroyArray(&rhs2);
 1864     emlrtDestroyArray(&lhs2);
 1865     emlrtDestroyArray(&rhs3);
 1866     emlrtDestroyArray(&lhs3);
 1867     emlrtDestroyArray(&rhs4);
 1868     emlrtDestroyArray(&lhs4);
 1869     emlrtDestroyArray(&rhs5);
 1870     emlrtDestroyArray(&lhs5);
 1871     emlrtDestroyArray(&rhs6);
 1872     emlrtDestroyArray(&lhs6);
 1873     emlrtDestroyArray(&rhs7);
 1874     emlrtDestroyArray(&lhs7);
 1875     emlrtDestroyArray(&rhs8);
 1876     emlrtDestroyArray(&lhs8);
 1877     emlrtDestroyArray(&rhs9);
 1878     emlrtDestroyArray(&lhs9);
 1879     emlrtDestroyArray(&rhs10);
 1880     emlrtDestroyArray(&lhs10);
 1881     emlrtDestroyArray(&rhs11);
 1882     emlrtDestroyArray(&lhs11);
 1883     emlrtDestroyArray(&rhs12);
 1884     emlrtDestroyArray(&lhs12);
 1885     emlrtDestroyArray(&rhs13);
 1886     emlrtDestroyArray(&lhs13);
 1887     emlrtDestroyArray(&rhs14);
 1888     emlrtDestroyArray(&lhs14);
 1889     emlrtDestroyArray(&rhs15);
 1890     emlrtDestroyArray(&lhs15);
 1891     emlrtDestroyArray(&rhs16);
 1892     emlrtDestroyArray(&lhs16);
 1893     emlrtDestroyArray(&rhs17);
 1894     emlrtDestroyArray(&lhs17);
 1895     emlrtDestroyArray(&rhs18);
 1896     emlrtDestroyArray(&lhs18);
 1897     emlrtDestroyArray(&rhs19);
 1898     emlrtDestroyArray(&lhs19);
 1899     emlrtDestroyArray(&rhs20);
 1900     emlrtDestroyArray(&lhs20);
 1901     emlrtDestroyArray(&rhs21);
 1902     emlrtDestroyArray(&lhs21);
 1903     emlrtDestroyArray(&rhs22);
 1904     emlrtDestroyArray(&lhs22);
 1905     emlrtDestroyArray(&rhs23);
 1906     emlrtDestroyArray(&lhs23);
 1907     emlrtDestroyArray(&rhs24);
 1908     emlrtDestroyArray(&lhs24);
 1909     emlrtDestroyArray(&rhs25);
 1910     emlrtDestroyArray(&lhs25);
 1911     emlrtDestroyArray(&rhs26);
 1912     emlrtDestroyArray(&lhs26);
 1913     emlrtDestroyArray(&rhs27);
 1914     emlrtDestroyArray(&lhs27);
 1915     emlrtDestroyArray(&rhs28);
 1916     emlrtDestroyArray(&lhs28);
 1917     emlrtDestroyArray(&rhs29);
 1918     emlrtDestroyArray(&lhs29);
 1919     emlrtDestroyArray(&rhs30);
 1920     emlrtDestroyArray(&lhs30);
 1921     emlrtDestroyArray(&rhs31);
 1922     emlrtDestroyArray(&lhs31);
 1923     emlrtDestroyArray(&rhs32);
 1924     emlrtDestroyArray(&lhs32);
 1925     emlrtDestroyArray(&rhs33);
 1926     emlrtDestroyArray(&lhs33);
 1927     emlrtDestroyArray(&rhs34);
 1928     emlrtDestroyArray(&lhs34);
 1929     emlrtDestroyArray(&rhs35);
 1930     emlrtDestroyArray(&lhs35);
 1931     emlrtDestroyArray(&rhs36);
 1932     emlrtDestroyArray(&lhs36);
 1933     emlrtDestroyArray(&rhs37);
 1934     emlrtDestroyArray(&lhs37);
 1935     emlrtDestroyArray(&rhs38);
 1936     emlrtDestroyArray(&lhs38);
 1937     emlrtDestroyArray(&rhs39);
 1938     emlrtDestroyArray(&lhs39);
 1939     emlrtDestroyArray(&rhs40);
 1940     emlrtDestroyArray(&lhs40);
 1941     emlrtDestroyArray(&rhs41);
 1942     emlrtDestroyArray(&lhs41);
 1943     emlrtDestroyArray(&rhs42);
 1944     emlrtDestroyArray(&lhs42);
 1945     emlrtDestroyArray(&rhs43);
 1946     emlrtDestroyArray(&lhs43);
 1947     emlrtDestroyArray(&rhs44);
 1948     emlrtDestroyArray(&lhs44);
 1949     emlrtDestroyArray(&rhs45);
 1950     emlrtDestroyArray(&lhs45);
 1951     emlrtDestroyArray(&rhs46);
 1952     emlrtDestroyArray(&lhs46);
 1953     emlrtDestroyArray(&rhs47);
 1954     emlrtDestroyArray(&lhs47);
 1955     emlrtDestroyArray(&rhs48);
 1956     emlrtDestroyArray(&lhs48);
 1957     emlrtDestroyArray(&rhs49);
 1958     emlrtDestroyArray(&lhs49);
 1959     emlrtDestroyArray(&rhs50);
 1960     emlrtDestroyArray(&lhs50);
 1961     emlrtDestroyArray(&rhs51);
 1962     emlrtDestroyArray(&lhs51);
 1963     emlrtDestroyArray(&rhs52);
 1964     emlrtDestroyArray(&lhs52);
 1965     emlrtDestroyArray(&rhs53);
 1966     emlrtDestroyArray(&lhs53);
 1967     emlrtDestroyArray(&rhs54);
 1968     emlrtDestroyArray(&lhs54);
 1969     emlrtDestroyArray(&rhs55);
 1970     emlrtDestroyArray(&lhs55);
 1971     emlrtDestroyArray(&rhs56);
 1972     emlrtDestroyArray(&lhs56);
 1973     emlrtDestroyArray(&rhs57);
 1974     emlrtDestroyArray(&lhs57);
 1975     emlrtDestroyArray(&rhs58);
 1976     emlrtDestroyArray(&lhs58);
 1977     emlrtDestroyArray(&rhs59);
 1978     emlrtDestroyArray(&lhs59);
 1979     emlrtDestroyArray(&rhs60);
 1980     emlrtDestroyArray(&lhs60);
 1981     emlrtDestroyArray(&rhs61);
 1982     emlrtDestroyArray(&lhs61);
 1983     emlrtDestroyArray(&rhs62);
 1984     emlrtDestroyArray(&lhs62);
 1985     emlrtDestroyArray(&rhs63);
 1986     emlrtDestroyArray(&lhs63);
 1987   }
 1988   
 1989   mxArray *emlrtMexFcnProperties(void)
 1990   {
 1991     mxArray *xResult;
 1992     const char * fldNames[4] = { "Name", "NumberOfInputs", "NumberOfOutputs",
 1993       "ConstantInputs" };
 1994   
 1995     mxArray *xEntryPoints;
 1996     mxArray *xInputs;
 1997     const char * b_fldNames[4] = { "Version", "ResolvedFunctions", "EntryPoints",
 1998       "CoverageInfo" };
 1999   
 2000     xEntryPoints = emlrtCreateStructMatrix(1, 1, 4, fldNames);
 2001     xInputs = emlrtCreateLogicalMatrix(1, 5);
 2002     emlrtSetField(xEntryPoints, 0, "Name", mxCreateString(
 2003       "calculateTransformations"));
 2004     emlrtSetField(xEntryPoints, 0, "NumberOfInputs", mxCreateDoubleScalar(5.0));
 2005     emlrtSetField(xEntryPoints, 0, "NumberOfOutputs", mxCreateDoubleScalar(10.0));
 2006     emlrtSetField(xEntryPoints, 0, "ConstantInputs", xInputs);
 2007     xResult = emlrtCreateStructMatrix(1, 1, 4, b_fldNames);
 2008     emlrtSetField(xResult, 0, "Version", mxCreateString("8.6.0.267246 (R2015b)"));
 2009     emlrtSetField(xResult, 0, "ResolvedFunctions", (mxArray *)
 2010                   emlrtMexFcnResolvedFunctionsInfo());
 2011     emlrtSetField(xResult, 0, "EntryPoints", xEntryPoints);
 2012     return xResult;
 2013   }
 2014   
 2015   const mxArray *emlrtMexFcnResolvedFunctionsInfo(void)
 2016   {
 2017     const mxArray *nameCaptureInfo;
 2018     nameCaptureInfo = NULL;
 2019     emlrtAssign(&nameCaptureInfo, emlrtCreateStructMatrix(95, 1, 0, NULL));
 2020     info_helper(&nameCaptureInfo);
 2021     b_info_helper(&nameCaptureInfo);
 2022     emlrtNameCapturePostProcessR2013b(&nameCaptureInfo);
 2023     return nameCaptureInfo;
 2024   }
 2025   
 2026   /* End of code generation (_coder_calculateTransformations_info.c) */
 2027