function A=makeA(c,t)
 A=[
  sin(c(2)+c(4)*sin(c(6)*t+c(5))+c(3)*t);
  c(1)*cos(c(2)+c(4)*sin(c(6)*t+c(5))+c(3)*t);
  c(1)*t.*cos(c(2)+c(4)*sin(c(6)*t+c(5))+c(3)*t);
  c(1)*sin(c(6)*t+c(5)).*cos(c(2)+c(4)*sin(c(6)*t+c(5))+c(3)*t);
  c(1)*c(4)*cos(c(6)*t+c(5)).*cos(c(2)+c(4)*sin(c(6)*t+c(5))+c(3)*t);
  c(1)*c(4)*t.*cos(c(6)*t+c(5)).*cos(c(2)+c(4)*sin(c(6)*t+c(5))+c(3)*t)]';
end
