user: Please show me the C implementation that matches the assembly code listed below:

```asm
<target_theta>:
  endbr64
  push   %rbx
  pxor   %xmm0,%xmm0
  mov    %rsi,%rbx
  sub    $0xf0,%rsp
  movss  D224(%rip),%xmm1
  movss  D3(%rip),%xmm3
  mov    %fs:0x28,%rax
  mov    %rax,0xe8(%rsp)
  xor    %eax,%eax
  movaps %xmm0,0xc0(%rsp)
  movabs $0xc190147bc1900625,%rax
  mov    %rax,0x68(%rsp)
  movabs $0x419004194190147b,%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  %xmm3,0x94(%rsp)
  movaps %xmm0,0xd0(%rsp)
  test   %edx,%edx
  jle    L20
  sub    $0x1,%edx
  movss  D177(%rip),%xmm2
  xor    %eax,%eax
  movaps %xmm3,%xmm0
  shl    $0x2,%rdx
  lea    0x64(%rsp),%rsi
  lea    0x94(%rsp),%rcx
  jmp    L5
  nop
L88:
  movss  (%rsi,%rax,1),%xmm1
  movss  (%rcx,%rax,1),%xmm0
  add    $0x4,%rax
L5:
  ucomiss %xmm0,%xmm1
  jp     L86
  je     L37
L86:
  subss  %xmm1,%xmm0
  movaps %xmm2,%xmm1
  divss  %xmm0,%xmm1
  movss  %xmm1,0xc0(%rsp,%rax,1)
L37:
  cmp    %rdx,%rax
  jne    L88
  movss  0xc0(%rsp),%xmm6
  pxor   %xmm0,%xmm0
  movss  0xc4(%rsp),%xmm8
  movss  0xc8(%rsp),%xmm1
  movss  0xcc(%rsp),%xmm5
L38:
  movss  (%rdi),%xmm4
  movss  0x4(%rdi),%xmm2
  movss  D84(%rip),%xmm7
  subss  %xmm3,%xmm4
  subss  %xmm3,%xmm2
  movss  0x8(%rdi),%xmm3
  subss  D339(%rip),%xmm3
  mulss  %xmm8,%xmm2
  mulss  %xmm1,%xmm3
  mulss  0x8(%rbx),%xmm1
  mulss  %xmm6,%xmm4
  mulss  0x4(%rbx),%xmm8
  addss  %xmm7,%xmm2
  mulss  (%rbx),%xmm6
  addss  %xmm7,%xmm3
  movss  %xmm1,0x1c(%rsp)
  movss  0xc(%rdi),%xmm1
  subss  D120(%rip),%xmm1
  addss  %xmm7,%xmm4
  movaps %xmm2,%xmm9
  movaps %xmm2,%xmm12
  mulss  %xmm2,%xmm9
  movss  %xmm8,0x18(%rsp)
  movaps %xmm3,%xmm15
  movss  D4(%rip),%xmm8
  mulss  %xmm5,%xmm1
  mulss  %xmm2,%xmm8
  movaps %xmm4,%xmm11
  movaps %xmm4,%xmm14
  mulss  0xc(%rbx),%xmm5
  mulss  %xmm3,%xmm15
  mulss  %xmm4,%xmm11
  addss  %xmm7,%xmm1
  movss  D216(%rip),%xmm7
  mulss  %xmm9,%xmm12
  movss  %xmm8,(%rsp)
  movss  D236(%rip),%xmm8
  mulss  %xmm2,%xmm7
  movss  %xmm5,0x20(%rsp)
  movaps %xmm3,%xmm5
  mulss  %xmm2,%xmm8
  movaps %xmm1,%xmm13
  movaps %xmm1,%xmm10
  mulss  %xmm1,%xmm13
  mulss  %xmm15,%xmm5
  mulss  %xmm11,%xmm14
  movss  %xmm7,0x4(%rsp)
  movss  D462(%rip),%xmm7
  mulss  %xmm4,%xmm7
  mulss  %xmm13,%xmm10
  movss  %xmm5,0x24(%rsp)
  movaps %xmm13,%xmm5
  movaps %xmm1,%xmm13
  movss  %xmm7,0x8(%rsp)
  movss  D248(%rip),%xmm7
  mulss  %xmm10,%xmm13
  mulss  %xmm4,%xmm7
  movss  %xmm7,0xc(%rsp)
  movss  D223(%rip),%xmm7
  mulss  %xmm9,%xmm7
  movss  %xmm7,0x10(%rsp)
  movss  D346(%rip),%xmm7
  mulss  %xmm4,%xmm7
  addss  D326(%rip),%xmm7
  addss  %xmm7,%xmm8
  movss  D442(%rip),%xmm7
  mulss  %xmm3,%xmm7
  addss  %xmm8,%xmm7
  movss  D1(%rip),%xmm8
  mulss  %xmm1,%xmm8
  addss  %xmm7,%xmm8
  movss  D341(%rip),%xmm7
  mulss  %xmm13,%xmm7
  addss  %xmm8,%xmm7
  movss  D114(%rip),%xmm8
  mulss  %xmm9,%xmm8
  addss  %xmm7,%xmm8
  movss  D43(%rip),%xmm7
  mulss  %xmm4,%xmm7
  mulss  %xmm15,%xmm7
  mulss  %xmm5,%xmm7
  addss  %xmm8,%xmm7
  movss  (%rsp),%xmm8
  mulss  %xmm3,%xmm8
  addss  %xmm8,%xmm7
  movss  0x4(%rsp),%xmm8
  mulss  %xmm1,%xmm8
  addss  %xmm7,%xmm8
  movss  D251(%rip),%xmm7
  mulss  %xmm5,%xmm7
  addss  %xmm8,%xmm7
  movss  D129(%rip),%xmm8
  mulss  %xmm14,%xmm8
  mulss  %xmm9,%xmm8
  addss  %xmm7,%xmm8
  movss  0x24(%rsp),%xmm7
  mulss  D230(%rip),%xmm7
  mulss  %xmm10,%xmm7
  addss  %xmm8,%xmm7
  movss  0x8(%rsp),%xmm8
  mulss  %xmm2,%xmm8
  addss  %xmm8,%xmm7
  movss  0xc(%rsp),%xmm8
  mulss  %xmm3,%xmm8
  addss  %xmm7,%xmm8
  movss  0x10(%rsp),%xmm7
  mulss  %xmm1,%xmm7
  addss  %xmm7,%xmm8
  movss  D188(%rip),%xmm7
  mulss  %xmm11,%xmm7
  movss  %xmm7,0x28(%rsp)
  mulss  %xmm2,%xmm7
  movss  %xmm7,0x2c(%rsp)
  mulss  %xmm3,%xmm7
  movss  %xmm7,0x14(%rsp)
  movss  D405(%rip),%xmm7
  mulss  %xmm2,%xmm7
  mulss  %xmm5,%xmm7
  addss  %xmm8,%xmm7
  movss  0x14(%rsp),%xmm8
  mulss  %xmm1,%xmm8
  addss  %xmm8,%xmm7
  movss  D169(%rip),%xmm8
  mulss  %xmm3,%xmm8
  mulss  %xmm13,%xmm8
  addss  %xmm7,%xmm8
  movss  D303(%rip),%xmm7
  mulss  %xmm14,%xmm7
  mulss  %xmm12,%xmm7
  addss  %xmm8,%xmm7
  movaps %xmm6,%xmm8
  addss  %xmm0,%xmm8
  addss  0x18(%rsp),%xmm8
  addss  0x1c(%rsp),%xmm8
  addss  0x20(%rsp),%xmm8
  ucomiss %xmm0,%xmm8
  jp     L10
  jne    L10
L62:
  movss  %xmm0,(%rbx)
  mov    0xe8(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L91
  add    $0xf0,%rsp
  movaps %xmm7,%xmm0
  pop    %rbx
  ret
  nop
L10:
  movss  %xmm5,0x40(%rsp)
  mulss  %xmm6,%xmm6
  mov    $0x2,%esi
  movss  D43(%rip),%xmm0
  movss  %xmm7,0x5c(%rsp)
  mulss  %xmm15,%xmm0
  movss  %xmm13,0x58(%rsp)
  movss  %xmm10,0x54(%rsp)
  movss  %xmm15,0x50(%rsp)
  movss  %xmm6,0x30(%rsp)
  movss  %xmm14,0x44(%rsp)
  mulss  %xmm5,%xmm0
  movss  D367(%rip),%xmm5
  movss  %xmm9,0x4c(%rsp)
  subss  D357(%rip),%xmm0
  movss  %xmm4,0x48(%rsp)
  mulss  %xmm11,%xmm5
  movss  %xmm2,0x3c(%rsp)
  mulss  D62(%rip),%xmm11
  movss  %xmm3,0x38(%rsp)
  movss  %xmm1,0x34(%rsp)
  movaps %xmm5,%xmm6
  movss  D248(%rip),%xmm5
  mulss  %xmm9,%xmm6
  mulss  %xmm3,%xmm5
  mulss  %xmm12,%xmm11
  addss  %xmm0,%xmm6
  movss  D462(%rip),%xmm0
  mulss  %xmm2,%xmm0
  addss  %xmm6,%xmm0
  movaps %xmm5,%xmm6
  addss  %xmm0,%xmm6
  movaps %xmm4,%xmm0
  mulss  D399(%rip),%xmm0
  mulss  %xmm2,%xmm0
  mulss  %xmm3,%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm6,%xmm0
  addss  %xmm11,%xmm0
  cvttss2si %xmm0,%edi
  call   <pow@plt>
  movss  0x3c(%rsp),%xmm2
  mov    $0x2,%esi
  movss  D477(%rip),%xmm4
  mulss  0x30(%rsp),%xmm0
  movss  0x38(%rsp),%xmm3
  mulss  %xmm2,%xmm4
  movss  0x18(%rsp),%xmm6
  movss  0x34(%rsp),%xmm1
  movss  D384(%rip),%xmm5
  movss  0x44(%rsp),%xmm14
  movss  %xmm2,0x44(%rsp)
  mulss  %xmm6,%xmm6
  movss  0x28(%rsp),%xmm12
  movss  0x4c(%rsp),%xmm9
  movss  %xmm3,0x28(%rsp)
  mulss  %xmm2,%xmm5
  movss  %xmm1,0x3c(%rsp)
  movss  %xmm0,0x30(%rsp)
  mulss  %xmm3,%xmm12
  movaps %xmm4,%xmm0
  movss  D4(%rip),%xmm4
  subss  D88(%rip),%xmm0
  mulss  %xmm3,%xmm4
  movss  %xmm6,0x18(%rsp)
  movss  D62(%rip),%xmm3
  mulss  %xmm1,%xmm12
  mulss  %xmm9,%xmm3
  movaps %xmm4,%xmm6
  movss  D216(%rip),%xmm4
  addss  %xmm0,%xmm6
  mulss  %xmm1,%xmm4
  movaps %xmm4,%xmm0
  movss  0x8(%rsp),%xmm4
  addss  %xmm6,%xmm0
  movaps %xmm5,%xmm6
  movaps %xmm2,%xmm5
  mulss  %xmm14,%xmm6
  mulss  D290(%rip),%xmm5
  addss  %xmm0,%xmm6
  addss  %xmm6,%xmm4
  movaps %xmm5,%xmm6
  movss  0x40(%rsp),%xmm5
  mulss  %xmm1,%xmm6
  addss  %xmm4,%xmm6
  movss  D405(%rip),%xmm4
  mulss  %xmm5,%xmm4
  movaps %xmm4,%xmm0
  addss  %xmm6,%xmm0
  addss  %xmm0,%xmm12
  movaps %xmm3,%xmm0
  mulss  %xmm14,%xmm0
  addss  %xmm0,%xmm12
  cvttss2si %xmm12,%edi
  call   <pow@plt>
  mulss  0x18(%rsp),%xmm0
  mov    $0x2,%esi
  movss  0x30(%rsp),%xmm3
  movss  0x1c(%rsp),%xmm4
  movss  0x40(%rsp),%xmm5
  movss  D442(%rip),%xmm6
  movss  0x50(%rsp),%xmm15
  mulss  %xmm4,%xmm4
  movss  0x54(%rsp),%xmm10
  movss  0x3c(%rsp),%xmm1
  movss  %xmm5,0x30(%rsp)
  movss  0x58(%rsp),%xmm13
  mulss  D169(%rip),%xmm13
  addss  %xmm0,%xmm3
  movss  D121(%rip),%xmm0
  movss  %xmm10,0x1c(%rsp)
  movss  %xmm3,0x8(%rsp)
  movss  0x28(%rsp),%xmm3
  movss  %xmm4,0x18(%rsp)
  movss  0x48(%rsp),%xmm4
  mulss  %xmm3,%xmm0
  movss  %xmm3,0x38(%rsp)
  movss  %xmm4,0x34(%rsp)
  movss  %xmm15,0x28(%rsp)
  mulss  %xmm4,%xmm0
  mulss  %xmm5,%xmm0
  addss  %xmm0,%xmm6
  movss  D263(%rip),%xmm0
  addss  (%rsp),%xmm6
  mulss  %xmm15,%xmm0
  mulss  %xmm10,%xmm0
  addss  %xmm6,%xmm0
  movss  0x2c(%rsp),%xmm6
  addss  0xc(%rsp),%xmm0
  movss  %xmm1,0xc(%rsp)
  mulss  %xmm1,%xmm6
  addss  %xmm6,%xmm0
  addss  %xmm13,%xmm0
  cvttss2si %xmm0,%edi
  call   <pow@plt>
  movss  0xc(%rsp),%xmm1
  mov    $0x2,%esi
  movss  D121(%rip),%xmm2
  mulss  0x18(%rsp),%xmm0
  movss  0x34(%rsp),%xmm4
  mulss  %xmm1,%xmm2
  addss  0x8(%rsp),%xmm0
  movss  0x28(%rsp),%xmm15
  movss  0x1c(%rsp),%xmm10
  movss  0x20(%rsp),%xmm5
  movss  0x38(%rsp),%xmm3
  movss  %xmm0,(%rsp)
  mulss  %xmm5,%xmm5
  movaps %xmm2,%xmm0
  movss  0x44(%rsp),%xmm2
  mulss  %xmm4,%xmm0
  movss  D237(%rip),%xmm4
  mulss  %xmm10,%xmm4
  movss  %xmm5,0x8(%rsp)
  movss  0x30(%rsp),%xmm5
  addss  D1(%rip),%xmm4
  mulss  D263(%rip),%xmm5
  mulss  0x24(%rsp),%xmm5
  mulss  %xmm15,%xmm0
  mulss  D133(%rip),%xmm10
  addss  %xmm4,%xmm0
  movss  D273(%rip),%xmm4
  addss  0x4(%rsp),%xmm0
  mulss  %xmm3,%xmm10
  mulss  %xmm1,%xmm4
  mulss  D398(%rip),%xmm1
  addss  %xmm4,%xmm0
  mulss  %xmm2,%xmm1
  addss  %xmm5,%xmm0
  addss  0x10(%rsp),%xmm0
  addss  %xmm1,%xmm0
  addss  0x14(%rsp),%xmm0
  addss  %xmm10,%xmm0
  cvttss2si %xmm0,%edi
  call   <pow@plt>
  mulss  0x8(%rsp),%xmm0
  addss  (%rsp),%xmm0
  call   <sqrt@plt>
  movss  0x5c(%rsp),%xmm7
  jmp    L62
  nop
L20:
  pxor   %xmm0,%xmm0
  movaps %xmm0,%xmm5
  movaps %xmm0,%xmm1
  movaps %xmm0,%xmm8
  movaps %xmm0,%xmm6
  jmp    L38
L91:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: extract_symbolic_data
arguments: data_tag: D224
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D3
type_guessed: f32
name: extract_symbolic_data
arguments: data_tag: D177
type_guessed: f32
name: extract_symbolic_data
arguments: data_tag: D84
type_guessed: f32
name: extract_symbolic_data
arguments: data_tag: D339
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D120
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D4
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D216
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D236
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D462
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D248
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D223
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D346
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D326
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D442
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D1
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D341
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D114
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D43
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D251
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D129
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D230
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D188
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D405
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D169
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D303
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D367
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D357
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D62
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D399
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D477
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D384
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D88
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D290
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D121
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D263
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D237
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D133
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D273
type_guessed: byte[4]
name: extract_symbolic_data
arguments: data_tag: D398
type_guessed: byte[4]

tool: {"D224": [0x00,0x00,0x70,0xc1]}

tool: D3: 15

tool: D177: 2

tool: D84: 1

tool: {"D339": [0x7b,0x14,0x90,0x41]}

tool: {"D120": [0x19,0x04,0x90,0x41]}

tool: {"D4": [0x0d,0x2b,0xa7,0x37]}

tool: {"D216": [0xea,0xaf,0x88,0x3a]}

tool: {"D236": [0x9c,0xe6,0x4c,0xbd]}

tool: {"D462": [0xb8,0x64,0x71,0xb7]}

tool: {"D248": [0xf2,0x36,0x98,0xb6]}

tool: {"D223": [0xe7,0x79,0x6a,0x38]}

tool: {"D346": [0x3a,0x9d,0x02,0xbd]}

tool: {"D326": [0x04,0xf9,0x27,0x3d]}

tool: {"D442": [0xc2,0x8b,0x49,0x3d]}

tool: {"D1": [0x73,0xda,0x6a,0x3d]}

tool: {"D341": [0x80,0x28,0x54,0xb6]}

tool: {"D114": [0xc0,0x78,0xc8,0xb9]}

tool: {"D43": [0x7e,0xdc,0xcf,0x39]}

tool: {"D251": [0x63,0xd4,0x3c,0xba]}

tool: {"D129": [0x55,0x9d,0x04,0x39]}

tool: {"D230": [0xf0,0xec,0x50,0x38]}

tool: {"D188": [0xd4,0x66,0xee,0xb9]}

tool: {"D405": [0xbf,0x7d,0x9a,0xb8]}

tool: {"D169": [0x20,0xc6,0x8b,0x37]}

tool: {"D303": [0x49,0x0e,0x60,0xb7]}

tool: {"D367": [0x00,0xec,0xc6,0x39]}

tool: {"D357": [0x3a,0x9d,0x02,0x3d]}

tool: {"D62": [0xb7,0x0a,0x28,0xb8]}

tool: {"D399": [0xd4,0x66,0x6e,0xba]}

tool: {"D477": [0xc0,0x78,0x48,0xba]}

tool: {"D384": [0x55,0x9d,0x84,0x39]}

tool: {"D88": [0x9c,0xe6,0x4c,0x3d]}

tool: {"D290": [0xe7,0x79,0xea,0x38]}

tool: {"D121": [0x7e,0xdc,0x4f,0x3a]}

tool: {"D263": [0xb4,0xb1,0x1c,0x39]}

tool: {"D237": [0x80,0x28,0x54,0xb7]}

tool: {"D133": [0x20,0xc6,0x8b,0x38]}

tool: {"D273": [0x63,0xd4,0xbc,0xba]}

tool: {"D398": [0xbf,0x7d,0x1a,0xb9]}

assistant: ```c
float target_theta(float *x, float *dx, int m) {
  int ncoeff = 20;
  float avdat = 0.4099201E-01;
  float xmin[10] = {-0.15000E+02, -0.15000E+02, -0.18003E+02, -0.18010E+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, 0.18010E+02, 0.18002E+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] = {0.16954731E-04, -0.31888224E-01, -0.50024614E-01, 0.49205549E-01, 0.57337236E-01, -0.31614036E-05, -0.38236938E-03, 0.39646396E-03, 0.19927998E-04, 0.10428403E-02, -0.72032789E-03, 0.12647112E-03, 0.49811730E-04, -0.14388170E-04, -0.45363495E-05, 0.55903478E-04, -0.73667143E-04, -0.45471510E-03, 0.16662350E-04, -0.13354766E-04, 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 x21 = x2;
  float x22 = x21 * x2;
  float x23 = x22 * x2;
  float x31 = x3;
  float x32 = x31 * x3;
  float x33 = x32 * x3;
  float x41 = x4;
  float x42 = x41 * x4;
  float x43 = x42 * x4;
  float x44 = x43 * x4;
  float v_target_theta = avdat + coeff[0] + coeff[1] * x11 + coeff[2] * x21 + coeff[3] * x31 + coeff[4] * x41 + coeff[5] * x44 + coeff[6] * x22 + coeff[7] * x11 * x32 * x42;
  v_target_theta = v_target_theta + coeff[8] * x21 * x31 + coeff[9] * x21 * x41 + coeff[10] * x42 + coeff[11] * x13 * x22 + coeff[12] * x33 * x43 + coeff[13] * x11 * x21 + coeff[14] * x11 * x31 + coeff[15] * x22 * x41 + coeff[16] * x21 * x42;
  v_target_theta = v_target_theta + coeff[17] * x12 * x21 * x31 * x41 + coeff[18] * x31 * x44 + coeff[19] * x13 * x23;
  float dxall = 0 + dx1 + dx2 + dx3 + dx4;
  float dv_target_theta = dxall == 0 ? 0 : sqrt(+dx1 * dx1 * pow(0 + coeff[1] + coeff[7] * x32 * x42 + 3 * coeff[11] * x12 * x22 + coeff[13] * x21 + coeff[14] * x31 + 2 * coeff[17] * x11 * x21 * x31 * x41 + 3 * coeff[19] * x12 * x23, 2) + dx2 * dx2 * pow(0 + coeff[2] + 2 * coeff[6] * x21 + coeff[8] * x31 + coeff[9] * x41 + 2 * coeff[11] * x21 * x13 + coeff[13] * x11 + 2 * coeff[15] * x21 * x41 + coeff[16] * x42 + coeff[17] * x12 * x31 * x41 + 3 * coeff[19] * x22 * x13, 2) + dx3 * dx3 * pow(0 + coeff[3] + 2 * coeff[7] * x31 * x11 * x42 + coeff[8] * x21 + 3 * coeff[12] * x32 * x43 + coeff[14] * x11 + coeff[17] * x12 * x21 * x41 + coeff[18] * x44, 2) + dx4 * dx4 * pow(0 + coeff[4] + 4 * coeff[5] * x43 + 2 * coeff[7] * x41 * x11 * x32 + coeff[9] * x21 + 2 * coeff[10] * x41 + 3 * coeff[12] * x42 * x33 + coeff[15] * x22 + 2 * coeff[16] * x41 * x21 + coeff[17] * x12 * x21 * x31 + 4 * coeff[18] * x43 * x31, 2));
  dx[0] = dv_target_theta;
  return v_target_theta;
}
```