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    $0x90,%rsp
  mov    %fs:0x28,%rax
  mov    %rax,0x88(%rsp)
  xor    %eax,%eax
  movaps %xmm0,0x60(%rsp)
  test   %edx,%edx
  jle    L63
  movss  D263(%rip),%xmm6
  cmp    $0x1,%edx
  je     L31
  movss  %xmm6,0x64(%rsp)
  cmp    $0x2,%edx
  je     L31
  movl   $0x3d638e39,0x68(%rsp)
  cmp    $0x3,%edx
  je     L31
  movl   $0x3d638c9b,0x6c(%rsp)
L31:
  movss  0x64(%rsp),%xmm9
  movss  0x6c(%rsp),%xmm0
  pxor   %xmm13,%xmm13
  movss  0x68(%rsp),%xmm11
L46:
  movss  D0(%rip),%xmm1
  movss  (%rdi),%xmm3
  movss  0x4(%rdi),%xmm2
  movss  0x8(%rdi),%xmm4
  subss  %xmm1,%xmm3
  subss  D20(%rip),%xmm4
  movss  D313(%rip),%xmm5
  movss  D232(%rip),%xmm14
  subss  %xmm1,%xmm2
  movss  0xc(%rdi),%xmm1
  subss  D19(%rip),%xmm1
  mulss  %xmm6,%xmm3
  mulss  %xmm9,%xmm2
  mulss  %xmm11,%xmm4
  mulss  %xmm0,%xmm1
  mulss  0xc(%rbx),%xmm0
  addss  %xmm5,%xmm3
  mulss  (%rbx),%xmm6
  addss  %xmm5,%xmm2
  mulss  0x4(%rbx),%xmm9
  addss  %xmm5,%xmm4
  mulss  0x8(%rbx),%xmm11
  addss  %xmm5,%xmm1
  movaps %xmm3,%xmm5
  movaps %xmm3,%xmm15
  mulss  %xmm3,%xmm5
  movaps %xmm3,%xmm7
  movss  %xmm0,0x20(%rsp)
  movaps %xmm2,%xmm8
  mulss  %xmm2,%xmm8
  movaps %xmm2,%xmm12
  mulss  %xmm3,%xmm14
  movaps %xmm1,%xmm10
  mulss  %xmm1,%xmm10
  mulss  %xmm5,%xmm15
  mulss  %xmm8,%xmm12
  movss  %xmm14,0x24(%rsp)
  mulss  %xmm15,%xmm7
  movaps %xmm7,%xmm0
  movss  D154(%rip),%xmm7
  mulss  %xmm2,%xmm7
  movss  %xmm7,(%rsp)
  movss  D413(%rip),%xmm7
  mulss  %xmm5,%xmm7
  movss  %xmm7,0x4(%rsp)
  movss  D258(%rip),%xmm7
  mulss  %xmm5,%xmm7
  movss  %xmm7,0x8(%rsp)
  movss  D257(%rip),%xmm7
  mulss  %xmm8,%xmm7
  movss  %xmm7,0xc(%rsp)
  movss  D400(%rip),%xmm7
  mulss  %xmm0,%xmm7
  mulss  D323(%rip),%xmm0
  movss  %xmm7,0x10(%rsp)
  movss  D320(%rip),%xmm7
  movss  %xmm0,0x14(%rsp)
  movss  D324(%rip),%xmm0
  mulss  %xmm5,%xmm7
  mulss  %xmm1,%xmm0
  addss  D202(%rip),%xmm0
  addss  %xmm0,%xmm7
  movss  D56(%rip),%xmm0
  mulss  %xmm8,%xmm0
  addss  %xmm7,%xmm0
  movaps %xmm14,%xmm7
  movaps %xmm4,%xmm14
  mulss  %xmm4,%xmm7
  mulss  %xmm4,%xmm14
  addss  %xmm0,%xmm7
  movss  D241(%rip),%xmm0
  mulss  %xmm14,%xmm0
  addss  %xmm7,%xmm0
  movss  (%rsp),%xmm7
  movss  D401(%rip),%xmm14
  mulss  %xmm1,%xmm7
  mulss  %xmm12,%xmm14
  addss  %xmm7,%xmm0
  movss  0x4(%rsp),%xmm7
  mulss  %xmm2,%xmm7
  addss  %xmm0,%xmm7
  movaps %xmm14,%xmm0
  movss  D328(%rip),%xmm14
  mulss  %xmm2,%xmm14
  addss  %xmm7,%xmm0
  movss  0x8(%rsp),%xmm7
  mulss  %xmm1,%xmm7
  addss  %xmm0,%xmm7
  movss  0xc(%rsp),%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm7,%xmm0
  movaps %xmm14,%xmm7
  movaps %xmm1,%xmm14
  mulss  %xmm10,%xmm7
  mulss  %xmm10,%xmm14
  addss  %xmm0,%xmm7
  movss  D76(%rip),%xmm0
  mulss  %xmm14,%xmm0
  movaps %xmm2,%xmm14
  mulss  %xmm12,%xmm14
  mulss  D211(%rip),%xmm14
  addss  %xmm7,%xmm0
  movss  0x10(%rsp),%xmm7
  mulss  %xmm2,%xmm7
  movss  %xmm14,0x1c(%rsp)
  movss  D227(%rip),%xmm14
  mulss  %xmm5,%xmm14
  addss  %xmm7,%xmm0
  movss  D372(%rip),%xmm7
  mulss  %xmm5,%xmm7
  mulss  %xmm12,%xmm7
  addss  %xmm0,%xmm7
  movss  0x14(%rsp),%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm0,%xmm7
  movss  D252(%rip),%xmm0
  mulss  %xmm5,%xmm0
  mulss  %xmm8,%xmm0
  movss  %xmm0,0x18(%rsp)
  movss  0x18(%rsp),%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm7,%xmm0
  movss  0x1c(%rsp),%xmm7
  mulss  %xmm1,%xmm7
  addss  %xmm0,%xmm7
  movaps %xmm14,%xmm0
  mulss  %xmm2,%xmm0
  mulss  %xmm10,%xmm0
  addss  %xmm7,%xmm0
  movss  D411(%rip),%xmm7
  mulss  %xmm12,%xmm7
  mulss  %xmm10,%xmm7
  addss  %xmm0,%xmm7
  movaps %xmm6,%xmm0
  addss  %xmm13,%xmm0
  addss  %xmm9,%xmm0
  addss  %xmm11,%xmm0
  addss  0x20(%rsp),%xmm0
  ucomiss %xmm13,%xmm0
  jp     L41
  movaps %xmm13,%xmm0
  jne    L41
L22:
  movss  %xmm0,(%rbx)
  mov    0x88(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L60
  add    $0x90,%rsp
  movaps %xmm7,%xmm0
  pop    %rbx
  ret
  xchg   %ax,%ax
L41:
  movss  %xmm5,0x58(%rsp)
  mulss  %xmm6,%xmm6
  mov    $0x2,%edi
  movss  D488(%rip),%xmm5
  movss  D232(%rip),%xmm0
  movss  %xmm4,0x4c(%rsp)
  mulss  %xmm3,%xmm5
  movss  %xmm7,0x5c(%rsp)
  mulss  %xmm4,%xmm0
  movss  D354(%rip),%xmm4
  movss  %xmm11,0x54(%rsp)
  movss  %xmm9,0x2c(%rsp)
  mulss  %xmm3,%xmm4
  movss  %xmm6,0x28(%rsp)
  movss  %xmm14,0x50(%rsp)
  movaps %xmm5,%xmm6
  movss  %xmm13,0x40(%rsp)
  addss  %xmm13,%xmm6
  movss  %xmm12,0x48(%rsp)
  movss  %xmm8,0x3c(%rsp)
  movss  %xmm1,0x38(%rsp)
  addss  %xmm6,%xmm0
  movaps %xmm4,%xmm6
  movss  D288(%rip),%xmm4
  movss  %xmm2,0x34(%rsp)
  mulss  %xmm2,%xmm6
  movss  %xmm10,0x30(%rsp)
  mulss  %xmm15,%xmm4
  mulss  D423(%rip),%xmm15
  addss  %xmm0,%xmm6
  movss  D229(%rip),%xmm0
  mulss  %xmm3,%xmm0
  mulss  %xmm1,%xmm15
  mulss  %xmm1,%xmm0
  addss  %xmm6,%xmm0
  movaps %xmm4,%xmm6
  mulss  %xmm2,%xmm6
  addss  %xmm0,%xmm6
  movss  D83(%rip),%xmm0
  mulss  %xmm3,%xmm0
  mulss  %xmm12,%xmm0
  addss  %xmm6,%xmm0
  addss  %xmm0,%xmm15
  movss  D388(%rip),%xmm0
  mulss  %xmm3,%xmm0
  mulss  D338(%rip),%xmm3
  mulss  %xmm8,%xmm0
  mulss  %xmm2,%xmm3
  mulss  %xmm1,%xmm0
  mulss  %xmm10,%xmm3
  addss  %xmm15,%xmm0
  addss  %xmm3,%xmm0
  call   <pow@plt>
  movss  0x34(%rsp),%xmm2
  movss  D318(%rip),%xmm3
  mov    $0x2,%edi
  movss  0x38(%rsp),%xmm1
  movss  D154(%rip),%xmm4
  mulss  %xmm2,%xmm3
  movss  0x40(%rsp),%xmm13
  movss  0x3c(%rsp),%xmm8
  movss  %xmm2,0x40(%rsp)
  mulss  %xmm1,%xmm4
  movss  0x30(%rsp),%xmm10
  movss  0x58(%rsp),%xmm5
  movss  %xmm1,0x34(%rsp)
  mulss  0x28(%rsp),%xmm0
  movss  0x48(%rsp),%xmm12
  movss  %xmm13,0x44(%rsp)
  movss  0x50(%rsp),%xmm14
  movss  0x2c(%rsp),%xmm9
  movss  %xmm5,0x3c(%rsp)
  movss  %xmm12,0x38(%rsp)
  addss  %xmm13,%xmm3
  mulss  %xmm10,%xmm14
  mulss  %xmm9,%xmm9
  movss  %xmm0,0x28(%rsp)
  movaps %xmm4,%xmm0
  movss  D455(%rip),%xmm4
  addss  %xmm3,%xmm0
  movss  0x4(%rsp),%xmm3
  mulss  %xmm8,%xmm4
  addss  %xmm0,%xmm3
  movss  %xmm9,0x2c(%rsp)
  movaps %xmm4,%xmm0
  movss  D328(%rip),%xmm4
  addss  %xmm3,%xmm0
  movss  D16(%rip),%xmm3
  mulss  %xmm10,%xmm4
  mulss  %xmm2,%xmm3
  mulss  %xmm1,%xmm3
  addss  %xmm0,%xmm3
  movaps %xmm4,%xmm0
  movss  D388(%rip),%xmm4
  mulss  %xmm2,%xmm4
  addss  %xmm3,%xmm0
  movss  D218(%rip),%xmm3
  addss  0x10(%rsp),%xmm0
  mulss  %xmm8,%xmm3
  mulss  D239(%rip),%xmm8
  mulss  %xmm5,%xmm3
  mulss  %xmm10,%xmm8
  addss  %xmm0,%xmm3
  movaps %xmm4,%xmm0
  mulss  %xmm5,%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm3,%xmm0
  movaps %xmm12,%xmm3
  mulss  D487(%rip),%xmm3
  mulss  %xmm1,%xmm3
  addss  %xmm0,%xmm3
  addss  %xmm3,%xmm14
  addss  %xmm8,%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  D57(%rip),%xmm4
  movss  0x54(%rsp),%xmm11
  mulss  %xmm11,%xmm11
  addss  %xmm0,%xmm5
  movss  0x24(%rsp),%xmm0
  addss  %xmm13,%xmm0
  movss  %xmm5,0x4(%rsp)
  movss  %xmm11,0x10(%rsp)
  addss  %xmm4,%xmm0
  call   <pow@plt>
  mulss  0x10(%rsp),%xmm0
  movss  0x34(%rsp),%xmm1
  mov    $0x2,%edi
  addss  0x4(%rsp),%xmm0
  movss  D420(%rip),%xmm3
  movss  D324(%rip),%xmm2
  addss  (%rsp),%xmm2
  mulss  %xmm1,%xmm3
  movss  0x3c(%rsp),%xmm5
  movss  0x30(%rsp),%xmm10
  movss  %xmm0,0x4(%rsp)
  movss  0x8(%rsp),%xmm0
  mulss  D321(%rip),%xmm10
  movss  0x38(%rsp),%xmm12
  movss  0x20(%rsp),%xmm4
  addss  %xmm2,%xmm0
  movss  0x40(%rsp),%xmm2
  addss  0xc(%rsp),%xmm0
  mulss  %xmm4,%xmm4
  mulss  %xmm2,%xmm3
  movss  %xmm4,0x10(%rsp)
  addss  %xmm3,%xmm0
  movss  D338(%rip),%xmm3
  mulss  %xmm1,%xmm3
  mulss  D254(%rip),%xmm1
  addss  %xmm10,%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),%xmm7
  jmp    L22
  nopl   (%rax)
L63:
  pxor   %xmm13,%xmm13
  movaps %xmm13,%xmm0
  movaps %xmm13,%xmm11
  movaps %xmm13,%xmm9
  movaps %xmm13,%xmm6
  jmp    L46
L60:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: disassemble_data
arguments: data_tag: D263
type: byte[4]
name: disassemble_data
arguments: data_tag: D0
type: f32
name: disassemble_data
arguments: data_tag: D20
type: f32
name: disassemble_data
arguments: data_tag: D313
type: f32
name: disassemble_data
arguments: data_tag: D232
type: byte[4]
name: disassemble_data
arguments: data_tag: D19
type: byte[4]
name: disassemble_data
arguments: data_tag: D154
type: byte[4]
name: disassemble_data
arguments: data_tag: D413
type: byte[4]
name: disassemble_data
arguments: data_tag: D258
type: byte[4]
name: disassemble_data
arguments: data_tag: D257
type: byte[4]
name: disassemble_data
arguments: data_tag: D400
type: byte[4]
name: disassemble_data
arguments: data_tag: D323
type: byte[4]
name: disassemble_data
arguments: data_tag: D320
type: byte[4]
name: disassemble_data
arguments: data_tag: D324
type: byte[4]
name: disassemble_data
arguments: data_tag: D202
type: byte[4]
name: disassemble_data
arguments: data_tag: D56
type: byte[4]
name: disassemble_data
arguments: data_tag: D241
type: byte[4]
name: disassemble_data
arguments: data_tag: D401
type: byte[4]
name: disassemble_data
arguments: data_tag: D328
type: byte[4]
name: disassemble_data
arguments: data_tag: D76
type: byte[4]
name: disassemble_data
arguments: data_tag: D211
type: byte[4]
name: disassemble_data
arguments: data_tag: D227
type: byte[4]
name: disassemble_data
arguments: data_tag: D372
type: byte[4]
name: disassemble_data
arguments: data_tag: D252
type: byte[4]
name: disassemble_data
arguments: data_tag: D411
type: byte[4]
name: disassemble_data
arguments: data_tag: D488
type: byte[4]
name: disassemble_data
arguments: data_tag: D354
type: byte[4]
name: disassemble_data
arguments: data_tag: D288
type: byte[4]
name: disassemble_data
arguments: data_tag: D423
type: byte[4]
name: disassemble_data
arguments: data_tag: D229
type: byte[4]
name: disassemble_data
arguments: data_tag: D83
type: byte[4]
name: disassemble_data
arguments: data_tag: D388
type: byte[4]
name: disassemble_data
arguments: data_tag: D338
type: byte[4]
name: disassemble_data
arguments: data_tag: D318
type: byte[4]
name: disassemble_data
arguments: data_tag: D455
type: byte[4]
name: disassemble_data
arguments: data_tag: D16
type: byte[4]
name: disassemble_data
arguments: data_tag: D218
type: byte[4]
name: disassemble_data
arguments: data_tag: D239
type: byte[4]
name: disassemble_data
arguments: data_tag: D487
type: byte[4]
name: disassemble_data
arguments: data_tag: D57
type: byte[4]
name: disassemble_data
arguments: data_tag: D420
type: byte[4]
name: disassemble_data
arguments: data_tag: D321
type: byte[4]
name: disassemble_data
arguments: data_tag: D254
type: byte[4]

tool: {"D263": [0x89,0x88,0x88,0x3d]}

tool: D0: 15

tool: D20: 18

tool: D313: 1

tool: {"D232": [0xce,0x40,0x83,0x3c]}

tool: {"D19": [0xc1,0xca,0x8f,0x41]}

tool: {"D154": [0x97,0xa5,0x7f,0x3b]}

tool: {"D413": [0xbf,0xa1,0x9a,0xbd]}

tool: {"D258": [0xef,0x42,0xac,0x3d]}

tool: {"D257": [0x35,0x56,0x22,0x40]}

tool: {"D400": [0xa3,0x09,0x3a,0x3d]}

tool: {"D323": [0xca,0xa9,0x56,0xbd]}

tool: {"D320": [0xa3,0xd0,0xa0,0xbb]}

tool: {"D324": [0xa5,0x13,0xd3,0x3b]}

tool: {"D202": [0x81,0x65,0x1b,0x3c]}

tool: {"D56": [0x6a,0x6b,0x32,0xbb]}

tool: {"D241": [0xcd,0x39,0x54,0xbc]}

tool: {"D401": [0x5f,0xd1,0x41,0xbf]}

tool: {"D328": [0x5b,0x3d,0x3e,0xc0]}

tool: {"D76": [0x94,0x22,0x99,0x3f]}

tool: {"D211": [0xc7,0x30,0x8c,0x3d]}

tool: {"D227": [0x6a,0xda,0x33,0x3d]}

tool: {"D372": [0xed,0xbb,0x83,0x3d]}

tool: {"D252": [0x89,0xdc,0xe0,0xbd]}

tool: {"D411": [0x8c,0x8d,0x89,0xbd]}

tool: {"D488": [0xa3,0xd0,0x20,0xbc]}

tool: {"D354": [0xbf,0xa1,0x1a,0xbe]}

tool: {"D288": [0xa3,0x09,0x3a,0x3e]}

tool: {"D423": [0xca,0xa9,0x56,0xbe]}

tool: {"D229": [0xef,0x42,0x2c,0x3e]}

tool: {"D83": [0xed,0xbb,0x03,0x3e]}

tool: {"D388": [0x89,0xdc,0x60,0xbe]}

tool: {"D338": [0x6a,0xda,0xb3,0x3d]}

tool: {"D318": [0x6a,0x6b,0xb2,0xbb]}

tool: {"D455": [0x07,0x5d,0x11,0xc0]}

tool: {"D16": [0x35,0x56,0xa2,0x40]}

tool: {"D218": [0xe4,0x99,0x45,0x3e]}

tool: {"D239": [0x52,0x54,0x4e,0xbe]}

tool: {"D487": [0xc7,0x30,0x8c,0x3e]}

tool: {"D57": [0xcd,0x39,0xd4,0xbc]}

tool: {"D420": [0x5b,0x3d,0xbe,0xc0]}

tool: {"D321": [0xde,0xb3,0x65,0x40]}

tool: {"D254": [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;
}
```