user: What is the c source code of the assembly code below:

```asm
<target_theta>:
  endbr64
  push   %rbx
  pxor   %xmm0,%xmm0
  mov    %rsi,%rbx
  sub    $0xf0,%rsp
  movss  D122(%rip),%xmm1
  movss  D271(%rip),%xmm4
  mov    %fs:0x28,%rax
  mov    %rax,0xe8(%rsp)
  xor    %eax,%eax
  movaps %xmm0,0xc0(%rsp)
  movabs $0xc190374cc1900000,%rax
  mov    %rax,0x68(%rsp)
  movabs $0x418fcac141900000,%rax
  movq   $0x0,0x70(%rsp)
  movq   $0x0,0x78(%rsp)
  movq   $0x0,0x80(%rsp)
  mov    %rax,0x98(%rsp)
  movq   $0x0,0xa0(%rsp)
  movq   $0x0,0xa8(%rsp)
  movq   $0x0,0xb0(%rsp)
  movq   $0x0,0xe0(%rsp)
  movss  %xmm1,0x64(%rsp)
  movss  %xmm4,0x94(%rsp)
  movaps %xmm0,0xd0(%rsp)
  test   %edx,%edx
  jle    L81
  sub    $0x1,%edx
  movss  D421(%rip),%xmm2
  xor    %eax,%eax
  movaps %xmm4,%xmm0
  shl    $0x2,%rdx
  lea    0x64(%rsp),%rsi
  lea    0x94(%rsp),%rcx
  jmp    L36
  nop
L3:
  movss  (%rsi,%rax,1),%xmm1
  movss  (%rcx,%rax,1),%xmm0
  add    $0x4,%rax
L36:
  ucomiss %xmm0,%xmm1
  jp     L11
  je     L2
L11:
  subss  %xmm1,%xmm0
  movaps %xmm2,%xmm1
  divss  %xmm0,%xmm1
  movss  %xmm1,0xc0(%rsp,%rax,1)
L2:
  cmp    %rdx,%rax
  jne    L3
  movss  0xc0(%rsp),%xmm11
  pxor   %xmm13,%xmm13
  movss  0xc4(%rsp),%xmm8
  movss  0xc8(%rsp),%xmm10
  movss  0xcc(%rsp),%xmm0
L54:
  movss  (%rdi),%xmm3
  movss  0x4(%rdi),%xmm2
  movss  0xc(%rdi),%xmm1
  subss  D462(%rip),%xmm1
  subss  %xmm4,%xmm3
  subss  %xmm4,%xmm2
  movss  0x8(%rdi),%xmm4
  movss  D150(%rip),%xmm5
  subss  D155(%rip),%xmm4
  movss  D479(%rip),%xmm6
  movss  D111(%rip),%xmm14
  mulss  %xmm0,%xmm1
  mulss  %xmm11,%xmm3
  mulss  %xmm8,%xmm2
  mulss  %xmm10,%xmm4
  mulss  0xc(%rbx),%xmm0
  addss  %xmm5,%xmm1
  mulss  (%rbx),%xmm11
  addss  %xmm5,%xmm3
  mulss  0x4(%rbx),%xmm8
  addss  %xmm5,%xmm2
  mulss  0x8(%rbx),%xmm10
  addss  %xmm5,%xmm4
  movaps %xmm1,%xmm9
  movaps %xmm3,%xmm5
  movaps %xmm3,%xmm15
  movaps %xmm3,%xmm7
  movss  %xmm0,0x20(%rsp)
  mulss  %xmm3,%xmm5
  movaps %xmm2,%xmm12
  mulss  %xmm2,%xmm6
  mulss  %xmm3,%xmm14
  mulss  %xmm1,%xmm9
  mulss  %xmm5,%xmm15
  movss  %xmm6,(%rsp)
  movss  D468(%rip),%xmm6
  movss  %xmm14,0x24(%rsp)
  mulss  %xmm5,%xmm6
  mulss  %xmm15,%xmm7
  movss  %xmm6,0x4(%rsp)
  movss  D80(%rip),%xmm6
  mulss  %xmm5,%xmm6
  movaps %xmm7,%xmm0
  movaps %xmm2,%xmm7
  mulss  %xmm2,%xmm7
  movss  %xmm6,0x8(%rsp)
  movss  D329(%rip),%xmm6
  mulss  %xmm7,%xmm12
  mulss  %xmm7,%xmm6
  movss  %xmm6,0xc(%rsp)
  movss  D39(%rip),%xmm6
  mulss  %xmm0,%xmm6
  mulss  D161(%rip),%xmm0
  movss  %xmm6,0x10(%rsp)
  movss  D374(%rip),%xmm6
  movss  %xmm0,0x14(%rsp)
  movss  D436(%rip),%xmm0
  mulss  %xmm5,%xmm6
  mulss  %xmm1,%xmm0
  addss  D29(%rip),%xmm0
  addss  %xmm0,%xmm6
  movss  D438(%rip),%xmm0
  mulss  %xmm7,%xmm0
  addss  %xmm6,%xmm0
  movaps %xmm14,%xmm6
  movaps %xmm4,%xmm14
  mulss  %xmm4,%xmm6
  mulss  %xmm4,%xmm14
  addss  %xmm0,%xmm6
  movss  D338(%rip),%xmm0
  mulss  %xmm14,%xmm0
  addss  %xmm6,%xmm0
  movss  (%rsp),%xmm6
  mulss  %xmm1,%xmm6
  addss  %xmm6,%xmm0
  movss  0x4(%rsp),%xmm6
  movss  D173(%rip),%xmm14
  mulss  %xmm2,%xmm6
  mulss  %xmm12,%xmm14
  addss  %xmm0,%xmm6
  movaps %xmm14,%xmm0
  movss  D294(%rip),%xmm14
  addss  %xmm6,%xmm0
  movss  0x8(%rsp),%xmm6
  mulss  %xmm2,%xmm14
  mulss  %xmm1,%xmm6
  addss  %xmm0,%xmm6
  movss  0xc(%rsp),%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm6,%xmm0
  movaps %xmm14,%xmm6
  movaps %xmm1,%xmm14
  mulss  %xmm9,%xmm6
  mulss  %xmm9,%xmm14
  addss  %xmm0,%xmm6
  movss  D313(%rip),%xmm0
  mulss  %xmm14,%xmm0
  movaps %xmm2,%xmm14
  mulss  %xmm12,%xmm14
  mulss  D227(%rip),%xmm14
  addss  %xmm6,%xmm0
  movss  0x10(%rsp),%xmm6
  mulss  %xmm2,%xmm6
  movss  %xmm14,0x1c(%rsp)
  movss  D298(%rip),%xmm14
  mulss  %xmm5,%xmm14
  addss  %xmm6,%xmm0
  movss  D380(%rip),%xmm6
  mulss  %xmm5,%xmm6
  mulss  %xmm12,%xmm6
  addss  %xmm0,%xmm6
  movss  0x14(%rsp),%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm0,%xmm6
  movss  D131(%rip),%xmm0
  mulss  %xmm5,%xmm0
  mulss  %xmm7,%xmm0
  movss  %xmm0,0x18(%rsp)
  movss  0x18(%rsp),%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm6,%xmm0
  movss  0x1c(%rsp),%xmm6
  mulss  %xmm1,%xmm6
  addss  %xmm0,%xmm6
  movaps %xmm14,%xmm0
  mulss  %xmm2,%xmm0
  mulss  %xmm9,%xmm0
  addss  %xmm6,%xmm0
  movss  D335(%rip),%xmm6
  mulss  %xmm12,%xmm6
  mulss  %xmm9,%xmm6
  addss  %xmm0,%xmm6
  movaps %xmm11,%xmm0
  addss  %xmm13,%xmm0
  addss  %xmm8,%xmm0
  addss  %xmm10,%xmm0
  addss  0x20(%rsp),%xmm0
  ucomiss %xmm13,%xmm0
  jp     L53
  movaps %xmm13,%xmm0
  jne    L53
L8:
  movss  %xmm0,(%rbx)
  mov    0xe8(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L41
  add    $0xf0,%rsp
  movaps %xmm6,%xmm0
  pop    %rbx
  ret
  nopl   (%rax)
L53:
  movss  %xmm5,0x58(%rsp)
  mulss  %xmm11,%xmm11
  mov    $0x2,%edi
  movss  D67(%rip),%xmm5
  movss  D111(%rip),%xmm0
  movss  %xmm4,0x4c(%rsp)
  mulss  %xmm3,%xmm5
  movss  %xmm6,0x5c(%rsp)
  mulss  %xmm4,%xmm0
  movss  D318(%rip),%xmm4
  movss  %xmm10,0x54(%rsp)
  movss  %xmm8,0x2c(%rsp)
  mulss  %xmm3,%xmm4
  movss  %xmm11,0x28(%rsp)
  movss  %xmm14,0x50(%rsp)
  movaps %xmm5,%xmm11
  movss  %xmm13,0x40(%rsp)
  addss  %xmm13,%xmm11
  movss  %xmm12,0x48(%rsp)
  movss  %xmm7,0x3c(%rsp)
  movss  %xmm1,0x38(%rsp)
  addss  %xmm11,%xmm0
  movaps %xmm4,%xmm11
  movss  D453(%rip),%xmm4
  movss  %xmm2,0x34(%rsp)
  mulss  %xmm2,%xmm11
  movss  %xmm9,0x30(%rsp)
  mulss  %xmm15,%xmm4
  mulss  D466(%rip),%xmm15
  addss  %xmm0,%xmm11
  movss  D492(%rip),%xmm0
  mulss  %xmm3,%xmm0
  mulss  %xmm1,%xmm15
  mulss  %xmm1,%xmm0
  addss  %xmm11,%xmm0
  movaps %xmm4,%xmm11
  mulss  %xmm2,%xmm11
  addss  %xmm0,%xmm11
  movss  D387(%rip),%xmm0
  mulss  %xmm3,%xmm0
  mulss  %xmm12,%xmm0
  addss  %xmm11,%xmm0
  addss  %xmm0,%xmm15
  movss  D228(%rip),%xmm0
  mulss  %xmm3,%xmm0
  mulss  D168(%rip),%xmm3
  mulss  %xmm7,%xmm0
  mulss  %xmm2,%xmm3
  mulss  %xmm1,%xmm0
  mulss  %xmm9,%xmm3
  addss  %xmm15,%xmm0
  addss  %xmm3,%xmm0
  call   <pow@plt>
  movss  0x34(%rsp),%xmm2
  movss  D154(%rip),%xmm3
  mov    $0x2,%edi
  movss  0x38(%rsp),%xmm1
  movss  D479(%rip),%xmm4
  mulss  %xmm2,%xmm3
  movss  0x40(%rsp),%xmm13
  movss  0x3c(%rsp),%xmm7
  movss  %xmm2,0x40(%rsp)
  mulss  %xmm1,%xmm4
  movss  D451(%rip),%xmm5
  movss  0x30(%rsp),%xmm9
  movss  %xmm1,0x34(%rsp)
  mulss  0x28(%rsp),%xmm0
  movss  0x48(%rsp),%xmm12
  movss  %xmm13,0x44(%rsp)
  mulss  %xmm7,%xmm5
  movss  0x50(%rsp),%xmm14
  movss  0x2c(%rsp),%xmm8
  movss  %xmm12,0x38(%rsp)
  addss  %xmm13,%xmm3
  mulss  %xmm9,%xmm14
  mulss  %xmm8,%xmm8
  movss  %xmm0,0x28(%rsp)
  movaps %xmm4,%xmm0
  movss  D294(%rip),%xmm4
  addss  %xmm3,%xmm0
  movss  0x4(%rsp),%xmm3
  mulss  %xmm9,%xmm4
  addss  %xmm0,%xmm3
  movaps %xmm5,%xmm0
  movss  0x58(%rsp),%xmm5
  movss  %xmm8,0x2c(%rsp)
  movss  %xmm5,0x3c(%rsp)
  addss  %xmm3,%xmm0
  movss  D198(%rip),%xmm3
  mulss  %xmm2,%xmm3
  mulss  %xmm1,%xmm3
  addss  %xmm0,%xmm3
  movaps %xmm4,%xmm0
  movss  D228(%rip),%xmm4
  mulss  %xmm2,%xmm4
  addss  %xmm3,%xmm0
  movss  D282(%rip),%xmm3
  addss  0x10(%rsp),%xmm0
  mulss  %xmm7,%xmm3
  mulss  D98(%rip),%xmm7
  mulss  %xmm5,%xmm3
  mulss  %xmm9,%xmm7
  addss  %xmm0,%xmm3
  movaps %xmm4,%xmm0
  mulss  %xmm5,%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm3,%xmm0
  movaps %xmm12,%xmm3
  mulss  D70(%rip),%xmm3
  mulss  %xmm1,%xmm3
  addss  %xmm0,%xmm3
  addss  %xmm3,%xmm14
  addss  %xmm7,%xmm14
  movaps %xmm14,%xmm0
  call   <pow@plt>
  mulss  0x2c(%rsp),%xmm0
  mov    $0x2,%edi
  movss  0x28(%rsp),%xmm5
  movss  0x44(%rsp),%xmm13
  movss  0x4c(%rsp),%xmm4
  mulss  D314(%rip),%xmm4
  movss  0x54(%rsp),%xmm10
  mulss  %xmm10,%xmm10
  addss  %xmm0,%xmm5
  movss  0x24(%rsp),%xmm0
  addss  %xmm13,%xmm0
  movss  %xmm5,0x4(%rsp)
  movss  %xmm10,0x10(%rsp)
  addss  %xmm4,%xmm0
  call   <pow@plt>
  movss  0x34(%rsp),%xmm1
  mov    $0x2,%edi
  movss  D171(%rip),%xmm3
  mulss  0x10(%rsp),%xmm0
  movss  0x40(%rsp),%xmm2
  mulss  %xmm1,%xmm3
  addss  0x4(%rsp),%xmm0
  movss  D436(%rip),%xmm4
  addss  (%rsp),%xmm4
  movss  0x3c(%rsp),%xmm5
  movss  0x30(%rsp),%xmm9
  movss  0x38(%rsp),%xmm12
  movss  %xmm0,0x4(%rsp)
  movss  0x8(%rsp),%xmm0
  mulss  D465(%rip),%xmm9
  movss  0x20(%rsp),%xmm7
  mulss  %xmm2,%xmm3
  addss  %xmm4,%xmm0
  addss  0xc(%rsp),%xmm0
  mulss  %xmm7,%xmm7
  addss  %xmm3,%xmm0
  movss  D168(%rip),%xmm3
  movss  %xmm7,0x10(%rsp)
  mulss  %xmm1,%xmm3
  mulss  D243(%rip),%xmm1
  addss  %xmm9,%xmm0
  addss  0x14(%rsp),%xmm0
  addss  0x18(%rsp),%xmm0
  addss  0x1c(%rsp),%xmm0
  mulss  %xmm5,%xmm3
  mulss  %xmm12,%xmm1
  mulss  %xmm3,%xmm2
  addss  %xmm2,%xmm0
  addss  %xmm1,%xmm0
  call   <pow@plt>
  mulss  0x10(%rsp),%xmm0
  addss  0x4(%rsp),%xmm0
  call   <sqrt@plt>
  movss  0x5c(%rsp),%xmm6
  jmp    L8
  nopl   0x0(%rax,%rax,1)
L81:
  pxor   %xmm13,%xmm13
  movaps %xmm13,%xmm0
  movaps %xmm13,%xmm10
  movaps %xmm13,%xmm8
  movaps %xmm13,%xmm11
  jmp    L54
L41:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: extract_symbolic_data
arguments: data_label: D122
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D271
type: f32
name: extract_symbolic_data
arguments: data_label: D421
type: f32
name: extract_symbolic_data
arguments: data_label: D462
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D150
type: f32
name: extract_symbolic_data
arguments: data_label: D155
type: f32
name: extract_symbolic_data
arguments: data_label: D479
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D111
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D468
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D80
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D329
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D39
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D161
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D374
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D436
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D29
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D438
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D338
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D173
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D294
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D313
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D227
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D298
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D380
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D131
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D335
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D67
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D318
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D453
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D466
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D492
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D387
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D228
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D168
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D154
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D451
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D198
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D282
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D98
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D70
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D314
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D171
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D465
type: byte[4]
name: extract_symbolic_data
arguments: data_label: D243
type: byte[4]

tool: {"D122": [0x00,0x00,0x70,0xc1]}

tool: D271: 15

tool: D421: 2

tool: {"D462": [0xc1,0xca,0x8f,0x41]}

tool: D150: 1

tool: D155: 18

tool: {"D479": [0x97,0xa5,0x7f,0x3b]}

tool: {"D111": [0xce,0x40,0x83,0x3c]}

tool: {"D468": [0xbf,0xa1,0x9a,0xbd]}

tool: {"D80": [0xef,0x42,0xac,0x3d]}

tool: {"D329": [0x35,0x56,0x22,0x40]}

tool: {"D39": [0xa3,0x09,0x3a,0x3d]}

tool: {"D161": [0xca,0xa9,0x56,0xbd]}

tool: {"D374": [0xa3,0xd0,0xa0,0xbb]}

tool: {"D436": [0xa5,0x13,0xd3,0x3b]}

tool: {"D29": [0x81,0x65,0x1b,0x3c]}

tool: {"D438": [0x6a,0x6b,0x32,0xbb]}

tool: {"D338": [0xcd,0x39,0x54,0xbc]}

tool: {"D173": [0x5f,0xd1,0x41,0xbf]}

tool: {"D294": [0x5b,0x3d,0x3e,0xc0]}

tool: {"D313": [0x94,0x22,0x99,0x3f]}

tool: {"D227": [0xc7,0x30,0x8c,0x3d]}

tool: {"D298": [0x6a,0xda,0x33,0x3d]}

tool: {"D380": [0xed,0xbb,0x83,0x3d]}

tool: {"D131": [0x89,0xdc,0xe0,0xbd]}

tool: {"D335": [0x8c,0x8d,0x89,0xbd]}

tool: {"D67": [0xa3,0xd0,0x20,0xbc]}

tool: {"D318": [0xbf,0xa1,0x1a,0xbe]}

tool: {"D453": [0xa3,0x09,0x3a,0x3e]}

tool: {"D466": [0xca,0xa9,0x56,0xbe]}

tool: {"D492": [0xef,0x42,0x2c,0x3e]}

tool: {"D387": [0xed,0xbb,0x03,0x3e]}

tool: {"D228": [0x89,0xdc,0x60,0xbe]}

tool: {"D168": [0x6a,0xda,0xb3,0x3d]}

tool: {"D154": [0x6a,0x6b,0xb2,0xbb]}

tool: {"D451": [0x07,0x5d,0x11,0xc0]}

tool: {"D198": [0x35,0x56,0xa2,0x40]}

tool: {"D282": [0xe4,0x99,0x45,0x3e]}

tool: {"D98": [0x52,0x54,0x4e,0xbe]}

tool: {"D70": [0xc7,0x30,0x8c,0x3e]}

tool: {"D314": [0xcd,0x39,0xd4,0xbc]}

tool: {"D171": [0x5b,0x3d,0xbe,0xc0]}

tool: {"D465": [0xde,0xb3,0x65,0x40]}

tool: {"D243": [0x8c,0x8d,0x09,0xbe]}

assistant: ```c
float target_theta(float *x, float *dx, int m) {
  int ncoeff = 20;
  float avdat = 0.9313676E-02;
  float xmin[10] = {-0.15000E+02, -0.15000E+02, -0.18000E+02, -0.18027E+02, 0.00000E+00, 0.00000E+00, 0.00000E+00, 0.00000E+00, 0.00000E+00, 0.00000E+00};
  float xmax[10] = {0.15000E+02, 0.15000E+02, 0.18000E+02, 0.17974E+02, 0.00000E+00, 0.00000E+00, 0.00000E+00, 0.00000E+00, 0.00000E+00, 0.00000E+00};
  float scale[10] = {0};
  float coeff[21] = {0.17097403E-03, 0.64415508E-02, -0.49076839E-02, -0.27224668E-02, 0.16022112E-01, -0.12953234E-01, 0.39008611E-02, -0.75503819E-01, -0.75710100E+00, 0.84112041E-01, 0.25365117E+01, -0.29724948E+01, 0.11963677E+01, 0.45419347E-01, 0.64323284E-01, -0.52408017E-01, -0.10979564E+00, 0.68452410E-01, 0.43909468E-01, -0.67164510E-01, 0.};
  int ientry = 0;
  int i;
  if (ientry == 0) {
    ientry = 1;
    for (i = 0; i < m; i++) {
      if (xmin[i] == xmax[i])
        continue;
      scale[i] = 2. / (xmax[i] - xmin[i]);
    }
  }
  float x1 = 1. + (x[0] - xmax[0]) * scale[0];
  float dx1 = dx[0] * scale[0];
  float x2 = 1. + (x[1] - xmax[1]) * scale[1];
  float dx2 = dx[1] * scale[1];
  float x3 = 1. + (x[2] - xmax[2]) * scale[2];
  float dx3 = dx[2] * scale[2];
  float x4 = 1. + (x[3] - xmax[3]) * scale[3];
  float dx4 = dx[3] * scale[3];
  float x11 = x1;
  float x12 = x11 * x1;
  float x13 = x12 * x1;
  float x14 = x13 * x1;
  float x21 = x2;
  float x22 = x21 * x2;
  float x23 = x22 * x2;
  float x24 = x23 * x2;
  float x31 = x3;
  float x32 = x31 * x3;
  float x41 = x4;
  float x42 = x41 * x4;
  float x43 = x42 * x4;
  float v_target_theta = avdat + coeff[0] + coeff[1] * x41 + coeff[2] * x12 + coeff[3] * x22 + coeff[4] * x11 * x31 + coeff[5] * x32 + coeff[6] * x21 * x41 + coeff[7] * x12 * x21;
  v_target_theta = v_target_theta + coeff[8] * x23 + coeff[9] * x12 * x41 + coeff[10] * x22 * x41 + coeff[11] * x21 * x42 + coeff[12] * x43 + coeff[13] * x14 * x21 + coeff[14] * x12 * x23 + coeff[15] * x14 * x41 + coeff[16] * x12 * x22 * x41;
  v_target_theta = v_target_theta + coeff[17] * x24 * x41 + coeff[18] * x12 * x21 * x42 + coeff[19] * x23 * x42;
  float dxall = 0 + dx1 + dx2 + dx3 + dx4;
  float dv_target_theta = dxall == 0 ? 0 : sqrt(+dx1 * dx1 * pow(0 + 2 * coeff[2] * x11 + coeff[4] * x31 + 2 * coeff[7] * x11 * x21 + 2 * coeff[9] * x11 * x41 + 4 * coeff[13] * x13 * x21 + 2 * coeff[14] * x11 * x23 + 4 * coeff[15] * x13 * x41 + 2 * coeff[16] * x11 * x22 * x41 + 2 * coeff[18] * x11 * x21 * x42, 2) + dx2 * dx2 * pow(0 + 2 * coeff[3] * x21 + coeff[6] * x41 + coeff[7] * x12 + 3 * coeff[8] * x22 + 2 * coeff[10] * x21 * x41 + coeff[11] * x42 + coeff[13] * x14 + 3 * coeff[14] * x22 * x12 + 2 * coeff[16] * x21 * x12 * x41 + 4 * coeff[17] * x23 * x41 + coeff[18] * x12 * x42 + 3 * coeff[19] * x22 * x42, 2) + dx3 * dx3 * pow(0 + coeff[4] * x11 + 2 * coeff[5] * x31, 2) + dx4 * dx4 * pow(0 + coeff[1] + coeff[6] * x21 + coeff[9] * x12 + coeff[10] * x22 + 2 * coeff[11] * x41 * x21 + 3 * coeff[12] * x42 + coeff[15] * x14 + coeff[16] * x12 * x22 + coeff[17] * x24 + 2 * coeff[18] * x41 * x12 * x21 + 2 * coeff[19] * x41 * x23, 2));
  dx[0] = dv_target_theta;
  return v_target_theta;
}
```