function F = myfun(x)

L1_zf = x(1);
p1_zf = x(2);
q1_zf = x(3);
d1_zf = x(4);

load 'measured_length_finger.mat'
load 'Winkel_theta.mat'

t = 1:size(zf,1)

F = L1_zf - sqrt(((sum(zf(t,2,1) - zf(t,1,1))) + 0 -....
    (cosd(asind(((sind(p1_zf*theta1_zf + q1_zf))*d1_zf)/l1_zf) -....
    (p1_zf*theta1_zf + q1_zf)))*(l1_zf*d1_zf)/(sum((zf(t,2,1) -....
    zf(t,1,1))))).^2 + ((sum(zf(t,2,2) - zf(t,1,2))) + 0 -....
    (cosd(asind(((sind(p1_zf*theta1_zf + q1_zf))*d1_zf)/l1_zf) -....
    (p1_zf*theta1_zf + q1_zf)))*(l1_zf*d1_zf)/(sum((zf(t,2,2) -....
    zf(t,1,2))))).^2 + ((sum(zf(t,2,3) - zf(t,1,3))) + 0 -....
    (cosd(asind(((sind(p1_zf*theta1_zf + q1_zf))*d1_zf)/l1_zf) -....
    (p1_zf*theta1_zf + q1_zf)))*(l1_zf*d1_zf)/(sum((zf(t,2,3) -....
    zf(t,1,3))))).^2);