user: 下面的汇编指令对应的C源代码是什么:

```asm
<target_theta>:
  endbr64
  push   %rbx
  pxor   %xmm0,%xmm0
  mov    %rsi,%rbx
  sub    $0xf0,%rsp
  movss  D229(%rip),%xmm1
  movss  D60(%rip),%xmm4
  mov    %fs:0x28,%rax
  mov    %rax,0xe8(%rsp)
  xor    %eax,%eax
  movaps %xmm0,0xc0(%rsp)
  movabs $0xc1902f1bc1900000,%rax
  mov    %rax,0x68(%rsp)
  movabs $0x418fd4fe41900000,%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    L60
  sub    $0x1,%edx
  movss  D55(%rip),%xmm2
  xor    %eax,%eax
  movaps %xmm4,%xmm0
  shl    $0x2,%rdx
  lea    0x64(%rsp),%rsi
  lea    0x94(%rsp),%rcx
  jmp    L73
  nop
L8:
  movss  (%rsi,%rax,1),%xmm1
  movss  (%rcx,%rax,1),%xmm0
  add    $0x4,%rax
L73:
  ucomiss %xmm0,%xmm1
  jp     L25
  je     L9
L25:
  subss  %xmm1,%xmm0
  movaps %xmm2,%xmm1
  divss  %xmm0,%xmm1
  movss  %xmm1,0xc0(%rsp,%rax,1)
L9:
  cmp    %rdx,%rax
  jne    L8
  movss  0xc0(%rsp),%xmm7
  pxor   %xmm6,%xmm6
  movss  0xc4(%rsp),%xmm5
  movss  0xc8(%rsp),%xmm1
  movss  0xcc(%rsp),%xmm0
L27:
  movss  (%rdi),%xmm3
  movss  0x4(%rdi),%xmm2
  movss  D233(%rip),%xmm8
  movss  D91(%rip),%xmm10
  subss  %xmm4,%xmm3
  subss  %xmm4,%xmm2
  movss  0x8(%rdi),%xmm4
  movss  D277(%rip),%xmm15
  subss  D128(%rip),%xmm4
  movss  D232(%rip),%xmm13
  mulss  %xmm7,%xmm3
  mulss  %xmm1,%xmm4
  mulss  0x8(%rbx),%xmm1
  mulss  %xmm5,%xmm2
  mulss  (%rbx),%xmm7
  addss  %xmm8,%xmm3
  mulss  0x4(%rbx),%xmm5
  addss  %xmm8,%xmm4
  movss  %xmm1,0x10(%rsp)
  movss  0xc(%rdi),%xmm1
  subss  D136(%rip),%xmm1
  addss  %xmm8,%xmm2
  mulss  %xmm3,%xmm13
  movaps %xmm3,%xmm9
  mulss  %xmm3,%xmm9
  mulss  %xmm0,%xmm1
  mulss  0xc(%rbx),%xmm0
  movaps %xmm2,%xmm12
  mulss  %xmm2,%xmm12
  mulss  %xmm2,%xmm15
  movss  %xmm13,0x1c(%rsp)
  mulss  %xmm4,%xmm13
  addss  %xmm8,%xmm1
  movaps %xmm4,%xmm8
  mulss  %xmm4,%xmm8
  movaps %xmm0,%xmm14
  movss  D357(%rip),%xmm0
  mulss  %xmm3,%xmm0
  movss  %xmm15,0x4(%rsp)
  movaps %xmm1,%xmm11
  movss  D329(%rip),%xmm15
  movss  %xmm13,0x20(%rsp)
  mulss  %xmm1,%xmm11
  mulss  %xmm3,%xmm15
  mulss  %xmm1,%xmm13
  movss  %xmm0,(%rsp)
  movss  D97(%rip),%xmm0
  mulss  %xmm2,%xmm0
  movss  %xmm15,0x14(%rsp)
  mulss  %xmm2,%xmm15
  mulss  %xmm8,%xmm0
  movss  %xmm15,0x18(%rsp)
  mulss  %xmm4,%xmm15
  movss  %xmm0,0x8(%rsp)
  movss  D302(%rip),%xmm0
  mulss  %xmm2,%xmm0
  addss  %xmm0,%xmm10
  movss  D104(%rip),%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm10,%xmm0
  movss  D139(%rip),%xmm10
  mulss  %xmm9,%xmm10
  addss  %xmm0,%xmm10
  movss  D247(%rip),%xmm0
  mulss  %xmm12,%xmm0
  addss  %xmm10,%xmm0
  movss  (%rsp),%xmm10
  mulss  %xmm4,%xmm10
  addss  %xmm0,%xmm10
  movss  D393(%rip),%xmm0
  mulss  %xmm8,%xmm0
  addss  %xmm10,%xmm0
  movss  0x4(%rsp),%xmm10
  mulss  %xmm1,%xmm10
  addss  %xmm0,%xmm10
  movss  D144(%rip),%xmm0
  mulss  %xmm3,%xmm0
  addss  %xmm10,%xmm0
  movss  D429(%rip),%xmm10
  mulss  %xmm4,%xmm10
  addss  %xmm0,%xmm10
  movss  D440(%rip),%xmm0
  mulss  %xmm11,%xmm0
  addss  %xmm10,%xmm0
  movss  0x8(%rsp),%xmm10
  mulss  %xmm1,%xmm10
  addss  %xmm0,%xmm10
  movss  D86(%rip),%xmm0
  mulss  %xmm8,%xmm0
  mulss  %xmm11,%xmm0
  addss  %xmm10,%xmm0
  movaps %xmm15,%xmm10
  addss  %xmm0,%xmm10
  movss  D64(%rip),%xmm0
  mulss  %xmm2,%xmm0
  mulss  %xmm8,%xmm0
  addss  %xmm10,%xmm0
  movss  D461(%rip),%xmm10
  mulss  %xmm9,%xmm10
  addss  %xmm13,%xmm0
  movss  D256(%rip),%xmm13
  mulss  %xmm9,%xmm13
  movaps %xmm10,%xmm15
  mulss  %xmm2,%xmm15
  movss  %xmm13,0xc(%rsp)
  movss  D310(%rip),%xmm13
  mulss  %xmm9,%xmm13
  movss  %xmm15,0x24(%rsp)
  mulss  %xmm12,%xmm13
  addss  %xmm0,%xmm13
  movaps %xmm15,%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm13,%xmm0
  movss  0xc(%rsp),%xmm13
  mulss  %xmm1,%xmm13
  addss  %xmm13,%xmm0
  movss  D52(%rip),%xmm13
  mulss  %xmm3,%xmm13
  movaps %xmm13,%xmm15
  mulss  %xmm2,%xmm15
  movss  %xmm15,0x28(%rsp)
  mulss  %xmm1,%xmm15
  addss  %xmm0,%xmm15
  movaps %xmm7,%xmm0
  addss  %xmm6,%xmm0
  addss  %xmm5,%xmm0
  addss  0x10(%rsp),%xmm0
  addss  %xmm14,%xmm0
  ucomiss %xmm6,%xmm0
  jp     L49
  movaps %xmm6,%xmm0
  jne    L49
L10:
  movss  %xmm0,(%rbx)
  mov    0xe8(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L91
  add    $0xf0,%rsp
  movaps %xmm15,%xmm0
  pop    %rbx
  ret
  cs nopw 0x0(%rax,%rax,1)
L49:
  movss  %xmm5,0x30(%rsp)
  mulss  %xmm7,%xmm7
  mov    $0x2,%edi
  movss  D68(%rip),%xmm5
  movss  D357(%rip),%xmm0
  movss  %xmm6,0x44(%rsp)
  mulss  %xmm3,%xmm5
  movss  %xmm15,0x5c(%rsp)
  mulss  %xmm4,%xmm0
  movss  %xmm14,0x50(%rsp)
  movss  %xmm11,0x58(%rsp)
  movss  %xmm7,0x2c(%rsp)
  movss  %xmm8,0x40(%rsp)
  movaps %xmm5,%xmm7
  movss  %xmm9,0x54(%rsp)
  addss  %xmm6,%xmm7
  movss  D329(%rip),%xmm6
  movss  %xmm13,0x4c(%rsp)
  movss  %xmm10,0x48(%rsp)
  mulss  %xmm2,%xmm6
  movss  %xmm4,0x3c(%rsp)
  addss  %xmm7,%xmm0
  addss  D144(%rip),%xmm0
  movss  %xmm2,0x38(%rsp)
  movss  %xmm1,0x34(%rsp)
  movaps %xmm6,%xmm7
  movss  D102(%rip),%xmm6
  mulss  %xmm4,%xmm7
  mulss  %xmm3,%xmm6
  addss  %xmm0,%xmm7
  movss  D232(%rip),%xmm0
  mulss  %xmm4,%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm7,%xmm0
  movaps %xmm6,%xmm7
  mulss  %xmm12,%xmm7
  addss  %xmm0,%xmm7
  movss  D101(%rip),%xmm0
  mulss  %xmm3,%xmm0
  mulss  D365(%rip),%xmm3
  mulss  %xmm2,%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm0,%xmm7
  movaps %xmm3,%xmm0
  movss  D52(%rip),%xmm3
  mulss  %xmm1,%xmm0
  mulss  %xmm2,%xmm3
  addss  %xmm7,%xmm0
  mulss  %xmm1,%xmm3
  addss  %xmm3,%xmm0
  call   <pow@plt>
  movss  0x38(%rsp),%xmm2
  movss  D385(%rip),%xmm7
  mov    $0x2,%edi
  mulss  0x2c(%rsp),%xmm0
  movss  0x40(%rsp),%xmm8
  mulss  %xmm2,%xmm7
  movss  0x34(%rsp),%xmm1
  movss  D277(%rip),%xmm3
  movss  0x3c(%rsp),%xmm4
  movss  0x54(%rsp),%xmm9
  movss  %xmm8,0x3c(%rsp)
  mulss  %xmm1,%xmm3
  movss  0x48(%rsp),%xmm10
  movss  0x4c(%rsp),%xmm13
  movss  0x30(%rsp),%xmm5
  movss  %xmm4,0x40(%rsp)
  movss  %xmm0,0x2c(%rsp)
  mulss  %xmm1,%xmm10
  mulss  %xmm1,%xmm13
  movaps %xmm7,%xmm0
  movss  D97(%rip),%xmm7
  subss  D282(%rip),%xmm0
  mulss  %xmm5,%xmm5
  mulss  %xmm8,%xmm7
  addss  %xmm0,%xmm3
  movss  %xmm5,0x30(%rsp)
  movaps %xmm7,%xmm0
  movss  D64(%rip),%xmm7
  mulss  %xmm1,%xmm0
  mulss  %xmm8,%xmm7
  addss  %xmm3,%xmm0
  movss  0x14(%rsp),%xmm3
  mulss  %xmm4,%xmm3
  addss  %xmm0,%xmm3
  movaps %xmm7,%xmm0
  addss  %xmm3,%xmm0
  movss  D102(%rip),%xmm3
  mulss  %xmm2,%xmm3
  mulss  %xmm9,%xmm3
  addss  %xmm0,%xmm3
  addss  %xmm3,%xmm10
  addss  %xmm13,%xmm10
  movaps %xmm10,%xmm0
  call   <pow@plt>
  mulss  0x30(%rsp),%xmm0
  mov    $0x2,%edi
  movss  0x2c(%rsp),%xmm5
  movss  0x40(%rsp),%xmm4
  movss  0x44(%rsp),%xmm6
  addss  (%rsp),%xmm6
  movss  0x38(%rsp),%xmm2
  movss  D455(%rip),%xmm3
  movss  0x34(%rsp),%xmm1
  movss  0x58(%rsp),%xmm11
  addss  %xmm0,%xmm5
  movss  D141(%rip),%xmm0
  mulss  %xmm4,%xmm3
  mulss  %xmm4,%xmm0
  movss  %xmm5,0x14(%rsp)
  movss  0x10(%rsp),%xmm5
  mulss  %xmm11,%xmm3
  mulss  %xmm5,%xmm5
  addss  %xmm0,%xmm6
  movss  D137(%rip),%xmm0
  subss  D158(%rip),%xmm6
  mulss  %xmm4,%xmm0
  mulss  D130(%rip),%xmm4
  movss  %xmm5,0x10(%rsp)
  mulss  %xmm2,%xmm0
  mulss  %xmm2,%xmm4
  movss  0x1c(%rsp),%xmm2
  mulss  %xmm1,%xmm2
  mulss  %xmm1,%xmm0
  addss  %xmm6,%xmm0
  addss  %xmm3,%xmm0
  addss  0x18(%rsp),%xmm0
  movss  %xmm1,0x18(%rsp)
  addss  %xmm4,%xmm0
  addss  %xmm2,%xmm0
  call   <pow@plt>
  movss  0x18(%rsp),%xmm1
  movss  D460(%rip),%xmm2
  mov    $0x2,%edi
  mulss  0x10(%rsp),%xmm0
  movss  0x3c(%rsp),%xmm8
  mulss  %xmm1,%xmm2
  addss  0x14(%rsp),%xmm0
  movss  D104(%rip),%xmm5
  mulss  D455(%rip),%xmm1
  addss  0x4(%rsp),%xmm5
  movss  0x50(%rsp),%xmm14
  movss  %xmm0,(%rsp)
  mulss  %xmm14,%xmm14
  movaps %xmm5,%xmm0
  addss  %xmm2,%xmm0
  addss  0x8(%rsp),%xmm0
  mulss  %xmm8,%xmm1
  movss  %xmm14,0x10(%rsp)
  addss  %xmm1,%xmm0
  addss  0x20(%rsp),%xmm0
  addss  0x24(%rsp),%xmm0
  addss  0xc(%rsp),%xmm0
  addss  0x28(%rsp),%xmm0
  call   <pow@plt>
  mulss  0x10(%rsp),%xmm0
  addss  (%rsp),%xmm0
  call   <sqrt@plt>
  movss  0x5c(%rsp),%xmm15
  jmp    L10
  nopl   0x0(%rax)
L60:
  pxor   %xmm6,%xmm6
  movaps %xmm6,%xmm0
  movaps %xmm6,%xmm1
  movaps %xmm6,%xmm5
  movaps %xmm6,%xmm7
  jmp    L27
L91:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: extract_symbolic_data
arguments: label: D229
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D60
type_infered: f32
name: extract_symbolic_data
arguments: label: D55
type_infered: f32
name: extract_symbolic_data
arguments: label: D233
type_infered: f32
name: extract_symbolic_data
arguments: label: D91
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D277
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D128
type_infered: f32
name: extract_symbolic_data
arguments: label: D232
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D136
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D357
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D329
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D97
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D302
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D104
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D139
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D247
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D393
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D144
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D429
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D440
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D86
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D64
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D461
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D256
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D310
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D52
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D68
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D102
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D101
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D365
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D385
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D282
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D455
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D141
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D137
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D158
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D130
type_infered: byte[4]
name: extract_symbolic_data
arguments: label: D460
type_infered: byte[4]

tool: {"D229": [0x00,0x00,0x70,0xc1]}

tool: D60: 15

tool: D55: 2

tool: D233: 1

tool: {"D91": [0x32,0xca,0xf5,0x3d]}

tool: {"D277": [0xe7,0xe3,0xd8,0xbb]}

tool: D128: 18

tool: {"D232": [0xb9,0x37,0x26,0xb9]}

tool: {"D136": [0xfe,0xd4,0x8f,0x41]}

tool: {"D357": [0xb2,0xb7,0x84,0x3c]}

tool: {"D329": [0x54,0x3e,0xca,0xb7]}

tool: {"D97": [0x6f,0xee,0xd2,0x39]}

tool: {"D302": [0x3f,0xdd,0x4f,0xbd]}

tool: {"D104": [0x47,0xa7,0x70,0x3d]}

tool: {"D139": [0x12,0x9d,0xa4,0xbb]}

tool: {"D247": [0x4f,0xe7,0xdb,0x3a]}

tool: {"D393": [0x69,0x3b,0x54,0xbc]}

tool: {"D144": [0x08,0x9f,0xd5,0x39]}

tool: {"D429": [0xa6,0xd0,0x28,0xba]}

tool: {"D440": [0x96,0x70,0xcc,0x3b]}

tool: {"D86": [0x73,0x64,0x16,0xba]}

tool: {"D64": [0x75,0xd5,0x84,0x38]}

tool: {"D461": [0xe9,0x32,0x94,0x39]}

tool: {"D256": [0xa6,0x0a,0xc8,0x38]}

tool: {"D310": [0x30,0xc8,0x54,0xb9]}

tool: {"D52": [0x2a,0x2e,0x8c,0xb6]}

tool: {"D68": [0x12,0x9d,0x24,0xbc]}

tool: {"D102": [0x30,0xc8,0xd4,0xb9]}

tool: {"D101": [0xe9,0x32,0x14,0x3a]}

tool: {"D365": [0xa6,0x0a,0x48,0x39]}

tool: {"D385": [0x4f,0xe7,0x5b,0x3b]}

tool: {"D282": [0x3f,0xdd,0x4f,0x3d]}

tool: {"D455": [0x73,0x64,0x96,0xba]}

tool: {"D141": [0x69,0x3b,0xd4,0xbc]}

tool: {"D137": [0x6f,0xee,0x52,0x3a]}

tool: {"D158": [0xa6,0xd0,0x28,0x3a]}

tool: {"D130": [0x75,0xd5,0x04,0x39]}

tool: {"D460": [0x96,0x70,0x4c,0x3c]}

assistant: ```c
float target_theta(float *x, float *dx, int m) {
  int ncoeff = 20;
  float avdat = 0.1199161E+00;
  float xmin[10] = {-0.15000E+02, -0.15000E+02, -0.18000E+02, -0.18023E+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, 0.17979E+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] = {0.98469784E-04, -0.50748106E-01, 0.58753278E-01, -0.50236071E-02, 0.16777309E-02, 0.16200874E-01, -0.12953618E-01, -0.66189650E-02, 0.40745013E-03, -0.64397824E-03, 0.62390072E-02, 0.40231968E-03, -0.57370140E-03, -0.24109300E-04, 0.63340100E-04, -0.15851752E-03, -0.20292471E-03, 0.28266691E-03, 0.95387266E-04, -0.41776993E-05, 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 x21 = x2;
  float x22 = x21 * x2;
  float x31 = x3;
  float x32 = x31 * x3;
  float x41 = x4;
  float x42 = x41 * x4;
  float v_target_theta = avdat + coeff[0] + coeff[1] * x21 + coeff[2] * x41 + coeff[3] * x12 + coeff[4] * x22 + coeff[5] * x11 * x31 + coeff[6] * x32 + coeff[7] * x21 * x41;
  v_target_theta = v_target_theta + coeff[8] * x11 + coeff[9] * x31 + coeff[10] * x42 + coeff[11] * x21 * x32 * x41 + coeff[12] * x32 * x42 + coeff[13] * x11 * x21 * x31 + coeff[14] * x21 * x32 + coeff[15] * x11 * x31 * x41 + coeff[16] * x12 * x22;
  v_target_theta = v_target_theta + coeff[17] * x12 * x21 * x41 + coeff[18] * x12 * x41 + coeff[19] * x11 * x21 * x41;
  float dxall = 0 + dx1 + dx2 + dx3 + dx4;
  float dv_target_theta = dxall == 0 ? 0 : sqrt(+dx1 * dx1 * pow(0 + 2 * coeff[3] * x11 + coeff[5] * x31 + coeff[8] + coeff[13] * x21 * x31 + coeff[15] * x31 * x41 + 2 * coeff[16] * x11 * x22 + 2 * coeff[17] * x11 * x21 * x41 + 2 * coeff[18] * x11 * x41 + coeff[19] * x21 * x41, 2) + dx2 * dx2 * pow(0 + coeff[1] + 2 * coeff[4] * x21 + coeff[7] * x41 + coeff[11] * x32 * x41 + coeff[13] * x11 * x31 + coeff[14] * x32 + 2 * coeff[16] * x21 * x12 + coeff[17] * x12 * x41 + coeff[19] * x11 * x41, 2) + dx3 * dx3 * pow(0 + coeff[5] * x11 + 2 * coeff[6] * x31 + coeff[9] + 2 * coeff[11] * x31 * x21 * x41 + 2 * coeff[12] * x31 * x42 + coeff[13] * x11 * x21 + 2 * coeff[14] * x31 * x21 + coeff[15] * x11 * x41, 2) + dx4 * dx4 * pow(0 + coeff[2] + coeff[7] * x21 + 2 * coeff[10] * x41 + coeff[11] * x21 * x32 + 2 * coeff[12] * x41 * x32 + coeff[15] * x11 * x31 + coeff[17] * x12 * x21 + coeff[18] * x12 + coeff[19] * x11 * x21, 2));
  dx[0] = dv_target_theta;
  return v_target_theta;
}
```