function obj = coef_Jacob3_qt_hand_eye_func_new(in1)
coef_J3 = in1(:,3);
coef_J6 = in1(:,6);
coef_J8 = in1(:,8);
coef_J9 = in1(:,9);
coef_J16 = in1(:,16);
coef_J18 = in1(:,18);
coef_J19 = in1(:,19);
coef_J25 = in1(:,25);
coef_J26 = in1(:,26);
coef_J27 = in1(:,27);
coef_J28 = in1(:,28);
coef_J29 = in1(:,29);
coef_J30 = in1(:,30);
coef_J31 = in1(:,31);
coef_J38 = in1(:,38);
coef_J40 = in1(:,40);
coef_J41 = in1(:,41);
coef_J47 = in1(:,47);
coef_J48 = in1(:,48);
coef_J49 = in1(:,49);
coef_J50 = in1(:,50);
coef_J51 = in1(:,51);
coef_J52 = in1(:,52);
coef_J53 = in1(:,53);
coef_J59 = in1(:,59);
coef_J60 = in1(:,60);
coef_J61 = in1(:,61);
coef_J62 = in1(:,62);
coef_J63 = in1(:,63);
coef_J64 = in1(:,64);
coef_J65 = in1(:,65);
coef_J66 = in1(:,66);
coef_J67 = in1(:,67);
coef_J68 = in1(:,68);
coef_J69 = in1(:,69);
coef_J70 = in1(:,70);
obj = [coef_J3,coef_J6,coef_J8.*2.0,coef_J9,coef_J16,coef_J18.*2.0,coef_J19,coef_J25.*3.0,coef_J26.*2.0,coef_J27,coef_J28,coef_J29,coef_J30,coef_J31,coef_J38,coef_J40.*2.0,coef_J41,coef_J47.*3.0,coef_J48.*2.0,coef_J49,coef_J50,coef_J51,coef_J52,coef_J53,coef_J59.*4.0,coef_J60.*3.0,coef_J61.*2.0,coef_J62.*2.0,coef_J63.*2.0,coef_J64.*2.0,coef_J65.*2.0,coef_J66,coef_J67,coef_J68,coef_J69,coef_J70];
