function state_space_generator_6DOF(DYDATA)
%{
Function for constructing the state-space form.
--------------------------------------------------------------------------
Syntax :
[du] = state_space_generator(DYDATA)
--------------------------------------------------------------------------
Function Description :
This function build on the equations of motion derived already will
generate the state-space form of the equations of motion.
--------------------------------------------------------------------------
%}

% Define the states and the generalized forces
syms q1 q2 q3 q4 q5 q6 real;          % generalized coordinates
syms dq1 dq2 dq3 dq4 dq5 dq6 real;    % generalized velocities
syms Q1 Q2 Q3 Q4 Q5 Q6 real;          % generalized forces

Tau = [Q1 Q2 Q3 Q4 Q5 Q6]';           % generalized force vector

% Quantify the constants
M = DYDATA.Parameters_6DOF(1,1);     Ixx = DYDATA.Parameters_6DOF(2,1);
g = DYDATA.Parameters_6DOF(1,2);     Iyy = DYDATA.Parameters_6DOF(2,2);
CG = DYDATA.Parameters_6DOF(1,3);    Izz = DYDATA.Parameters_6DOF(2,3);

% Re-write the equations of motion introducing the values above
EquationsofMotion_6DOF

% Define the generalized accelerations
DDq = inv(MDYN)*(RHS + Tau);

% Saving algorithm
List_of_variables = {'DDq'};

CurrentPath = pwd;

File_name = [CurrentPath, '/GeneralizedAccelerations_6DOF.m'];

fid = fopen(File_name,'wt');
index_equ = 1;
for k = 1:length(List_of_variables)
    Var_name = List_of_variables{k};
    size_var = size(eval(Var_name));
    for i = 1:size_var(1)
            Var_name_i = strcat(Var_name,'(',num2str(i),')');
            Equation = strcat(Var_name_i,' = ',char(eval(Var_name_i)),';');
            fprintf(fid,'%s \n',Equation);
    end
end
fclose(fid);

return;