Untitled

 H = [[0, 0, 0,                                                0,                                                0,                                                0,                                                                                  0,                                                               0,                                                                                                     0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
        [0, 0, 0,                                                0,                                                0,                                                0,                                                                                  0,                                                               0,                                                                                                     0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
        [0, 0, 0,                                                0,                                                0,                                                0,                                                                                  0,                                                               0,                                                                                                     0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
        [0, 0, 0,                              cos(psi)*cos(theta), cos(psi)*sin(phi)*sin(theta) - cos(phi)*sin(psi), sin(phi)*sin(psi) + cos(phi)*cos(psi)*sin(theta), sin(psi)*(w*cos(phi) + v*sin(phi)) + cos(psi)*sin(theta)*(v*cos(phi) - w*sin(phi)), -cos(psi)*(u*sin(theta) - cos(theta)*(w*cos(phi) + v*sin(phi))), - sin(psi)*(sin(theta)*(w*cos(phi) + v*sin(phi)) + u*cos(theta)) - cos(psi)*(v*cos(phi) - w*sin(phi)), 0, 0, 0, 0, 0, 0, 1, 0, 0]
        [0, 0, 0,                              cos(theta)*sin(psi), cos(phi)*cos(psi) + sin(phi)*sin(psi)*sin(theta), cos(phi)*sin(psi)*sin(theta) - cos(psi)*sin(phi), sin(psi)*sin(theta)*(v*cos(phi) - w*sin(phi)) - cos(psi)*(w*cos(phi) + v*sin(phi)), -sin(psi)*(u*sin(theta) - cos(theta)*(w*cos(phi) + v*sin(phi))),   cos(psi)*(sin(theta)*(w*cos(phi) + v*sin(phi)) + u*cos(theta)) - sin(psi)*(v*cos(phi) - w*sin(phi)), 0, 0, 0, 0, 0, 0, 0, 1, 0]
        [0, 0, 0,                                      -sin(theta),                              cos(theta)*sin(phi),                              cos(phi)*cos(theta),                                               cos(theta)*(v*cos(phi) - w*sin(phi)),           - sin(theta)*(w*cos(phi) + v*sin(phi)) - u*cos(theta),                                                                                                     0, 0, 0, 0, 0, 0, 0, 0, 0, 1]
        [0, 0, 0,                                                0,                                                0,                                                0,                                                                                  1,                                                               0,                                                                                                     0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
        [0, 0, 0,                                                0,                                                0,                                                0,                                                                                  0,                                                               1,                                                                                                     0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
        [0, 0, 0,                                                0,                                                0,                                                0,                                                                                  0,                                                               0,                                                                                                     1, 0, 0, 0, 0, 0, 0, 0, 0, 0]
        [0, 0, 0,                        u/(u^2 + v^2 + w^2)^(1/2),                        v/(u^2 + v^2 + w^2)^(1/2),                        w/(u^2 + v^2 + w^2)^(1/2),                                                                                  0,                                                               0,                                                                                                     0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
        [0, 0, 0,                           -w/(u^2*(w^2/u^2 + 1)),                                                0,                              1/(u*(w^2/u^2 + 1)),                                                                                  0,                                                               0,                                                                                                     0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
        [0, 0, 0, -(u*v)/((u^2 + w^2)^(3/2)*(v^2/(u^2 + w^2) + 1)),      1/((u^2 + w^2)^(1/2)*(v^2/(u^2 + w^2) + 1)), -(v*w)/((u^2 + w^2)^(3/2)*(v^2/(u^2 + w^2) + 1)),                                                                                  0,                                                               0,                                                                                                     0, 0, 0, 0, 0, 0, 0, 0, 0, 0]];