function fk_body = autoGen_fk_body(q1,q2,q3)
%AUTOGEN_FK_BODY
%    FK_BODY = AUTOGEN_FK_BODY(Q1,Q2,Q3)

%    This function was generated by the Symbolic Math Toolbox version 8.4.
%    01-Jun-2020 11:59:03

t2 = cos(q1);
t3 = cos(q2);
t4 = sin(q1);
t5 = q2+q3;
t6 = cos(t5);
t7 = sin(t5);
t8 = t3.*3.2e+1;
t9 = t6.*5.7e+1;
t10 = t8+t9;
fk_body = reshape([t2.*t6,t4.*t6,-t7,0.0,-t4,t2,0.0,0.0,t2.*t7,t4.*t7,t6,0.0,(t2.*t10)./2.0e+2,(t4.*t10)./2.0e+2,t7.*(-5.7e+1./2.0e+2)-sin(q2).*(4.0./2.5e+1),1.0],[4,4]);
