% x(1) = TCP_x
% x(2) = TCP_y
% x(3) = TCP_z

function F = Direct_Leg_Calc(x, r_11, r_21, r_31, bc_1, bc_2, bc_3, ed_1, ed_2, ed_3, l_1, l_2, l_3)
F = [   (x(1) - (r_11(1,1) + bc_1(1,1) - ed_1(1,1)))^2 + (x(2) - (r_11(2,1) + bc_1(2,1) - ed_1(2,1)))^2 + (x(3) - (r_11(3,1) + bc_1(3,1) - ed_1(3,1)))^2 - l_1^2;
        (x(1) - (r_21(1,1) + bc_2(1,1) - ed_2(1,1)))^2 + (x(2) - (r_21(2,1) + bc_2(2,1) - ed_2(2,1)))^2 + (x(3) - (r_21(3,1) + bc_2(3,1) - ed_2(3,1)))^2 - l_2^2;
        (x(1) - (r_31(1,1) + bc_3(1,1) - ed_3(1,1)))^2 + (x(2) - (r_31(2,1) + bc_3(2,1) - ed_3(2,1)))^2 + (x(3) - (r_31(3,1) + bc_3(3,1) - ed_3(3,1)))^2 - l_3^2;];