user: 提供的汇编代码用C语言表示会是什么样子:

```asm
<target_theta>:
  endbr64
  push   %r14
  push   %rbx
  sub    $0xf8,%rsp
  mov    %rdi,%rcx
  mov    %rsi,%rbx
  mov    %fs:0x28,%rax
  mov    %rax,0xe8(%rsp)
  xor    %eax,%eax
  movss  D456(%rip),%xmm0
  movss  %xmm0,0x60(%rsp)
  movss  %xmm0,0x64(%rsp)
  movl   $0xc1900000,0x68(%rsp)
  movl   $0xc190374c,0x6c(%rsp)
  movl   $0x0,0x70(%rsp)
  movl   $0x0,0x74(%rsp)
  movl   $0x0,0x78(%rsp)
  movl   $0x0,0x7c(%rsp)
  movl   $0x0,0x80(%rsp)
  movl   $0x0,0x84(%rsp)
  movss  D458(%rip),%xmm0
  movss  %xmm0,0x90(%rsp)
  movss  %xmm0,0x94(%rsp)
  movl   $0x41900000,0x98(%rsp)
  movl   $0x418fcac1,0x9c(%rsp)
  movl   $0x0,0xa0(%rsp)
  movl   $0x0,0xa4(%rsp)
  movl   $0x0,0xa8(%rsp)
  movl   $0x0,0xac(%rsp)
  movl   $0x0,0xb0(%rsp)
  movl   $0x0,0xb4(%rsp)
  movq   $0x0,0xc0(%rsp)
  movq   $0x0,0xc8(%rsp)
  movq   $0x0,0xd0(%rsp)
  movq   $0x0,0xd8(%rsp)
  movq   $0x0,0xe0(%rsp)
  test   %edx,%edx
  jle    L16
  mov    %edx,%edx
  movss  D453(%rip),%xmm2
  jmp    L81
L89:
  subss  %xmm1,%xmm0
  movaps %xmm2,%xmm1
  divss  %xmm0,%xmm1
  movss  %xmm1,0xc0(%rsp,%rax,4)
L67:
  add    $0x1,%rax
  cmp    %rdx,%rax
  je     L16
L81:
  movss  0x60(%rsp,%rax,4),%xmm1
  movss  0x90(%rsp,%rax,4),%xmm0
  ucomiss %xmm0,%xmm1
  jp     L89
  jne    L89
  jmp    L67
L16:
  movss  0xc0(%rsp),%xmm2
  movss  (%rcx),%xmm1
  movss  D458(%rip),%xmm5
  subss  %xmm5,%xmm1
  mulss  %xmm2,%xmm1
  movss  D430(%rip),%xmm0
  addss  %xmm0,%xmm1
  mulss  (%rbx),%xmm2
  movss  0xc4(%rsp),%xmm4
  movss  0x4(%rcx),%xmm3
  subss  %xmm5,%xmm3
  mulss  %xmm4,%xmm3
  movaps %xmm3,%xmm8
  addss  %xmm0,%xmm8
  movss  %xmm8,0xc(%rsp)
  mulss  0x4(%rbx),%xmm4
  movss  %xmm4,0x20(%rsp)
  movss  0xc8(%rsp),%xmm4
  movss  0x8(%rcx),%xmm3
  subss  D260(%rip),%xmm3
  mulss  %xmm4,%xmm3
  addss  %xmm0,%xmm3
  movaps %xmm3,%xmm15
  movss  %xmm3,0x38(%rsp)
  movaps %xmm4,%xmm5
  mulss  0x8(%rbx),%xmm5
  movss  %xmm5,0x24(%rsp)
  movss  0xcc(%rsp),%xmm4
  movss  0xc(%rcx),%xmm3
  subss  D291(%rip),%xmm3
  mulss  %xmm4,%xmm3
  movaps %xmm3,%xmm14
  addss  %xmm0,%xmm14
  movss  %xmm14,0x10(%rsp)
  movaps %xmm4,%xmm3
  mulss  0xc(%rbx),%xmm3
  movss  %xmm3,0x28(%rsp)
  movaps %xmm1,%xmm12
  mulss  %xmm1,%xmm12
  movaps %xmm12,%xmm10
  movss  %xmm12,0x30(%rsp)
  movaps %xmm12,%xmm3
  mulss  %xmm1,%xmm3
  movaps %xmm1,%xmm0
  mulss  %xmm3,%xmm0
  movaps %xmm8,%xmm6
  mulss  %xmm8,%xmm6
  movss  %xmm6,0x3c(%rsp)
  movaps %xmm8,%xmm7
  mulss  %xmm6,%xmm7
  movss  %xmm7,0x34(%rsp)
  movaps %xmm14,%xmm13
  mulss  %xmm14,%xmm13
  movss  %xmm13,0x2c(%rsp)
  movaps %xmm1,%xmm4
  mulss  D226(%rip),%xmm4
  movss  %xmm4,0x14(%rsp)
  movaps %xmm8,%xmm9
  mulss  D499(%rip),%xmm9
  movss  %xmm9,0x40(%rsp)
  mulss  D417(%rip),%xmm12
  movss  %xmm12,0x44(%rsp)
  movaps %xmm10,%xmm11
  mulss  D462(%rip),%xmm11
  movss  %xmm11,0x48(%rsp)
  movaps %xmm6,%xmm5
  mulss  D299(%rip),%xmm5
  movss  %xmm5,0x4c(%rsp)
  movaps %xmm0,%xmm4
  mulss  D359(%rip),%xmm4
  movss  %xmm4,0x18(%rsp)
  mulss  D41(%rip),%xmm0
  movss  %xmm0,0x1c(%rsp)
  movaps %xmm14,%xmm0
  mulss  D451(%rip),%xmm0
  addss  D264(%rip),%xmm0
  movaps %xmm10,%xmm4
  mulss  D503(%rip),%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm6,%xmm4
  mulss  D322(%rip),%xmm4
  addss  %xmm4,%xmm0
  movss  0x14(%rsp),%xmm4
  mulss  %xmm15,%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm15,%xmm4
  mulss  %xmm15,%xmm4
  mulss  D111(%rip),%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm9,%xmm4
  mulss  %xmm14,%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm12,%xmm4
  mulss  %xmm8,%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm7,%xmm4
  mulss  D372(%rip),%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm11,%xmm4
  mulss  %xmm14,%xmm4
  addss  %xmm4,%xmm0
  mulss  %xmm14,%xmm5
  addss  %xmm5,%xmm0
  movaps %xmm8,%xmm4
  mulss  D42(%rip),%xmm4
  mulss  %xmm13,%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm14,%xmm4
  mulss  %xmm13,%xmm4
  mulss  D63(%rip),%xmm4
  addss  %xmm4,%xmm0
  movss  0x18(%rsp),%xmm4
  mulss  %xmm8,%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm10,%xmm4
  mulss  D245(%rip),%xmm4
  mulss  %xmm7,%xmm4
  addss  %xmm4,%xmm0
  movss  0x1c(%rsp),%xmm4
  mulss  %xmm14,%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm10,%xmm4
  mulss  D20(%rip),%xmm4
  movaps %xmm4,%xmm5
  mulss  %xmm6,%xmm5
  movss  %xmm5,0x50(%rsp)
  movaps %xmm8,%xmm4
  mulss  %xmm7,%xmm4
  movaps %xmm4,%xmm6
  mulss  D328(%rip),%xmm6
  movss  %xmm6,0x54(%rsp)
  mulss  D448(%rip),%xmm10
  movss  %xmm10,0x58(%rsp)
  mulss  %xmm14,%xmm5
  addss  %xmm5,%xmm0
  mulss  %xmm14,%xmm6
  addss  %xmm6,%xmm0
  mulss  %xmm8,%xmm10
  movaps %xmm10,%xmm4
  mulss  %xmm13,%xmm4
  addss  %xmm4,%xmm0
  mulss  D88(%rip),%xmm7
  movaps %xmm7,%xmm4
  mulss  %xmm13,%xmm4
  movaps %xmm4,%xmm6
  addss  %xmm0,%xmm6
  movd   %xmm6,%r14d
  pxor   %xmm4,%xmm4
  movaps %xmm2,%xmm0
  addss  %xmm4,%xmm0
  addss  0x20(%rsp),%xmm0
  addss  0x24(%rsp),%xmm0
  addss  0x28(%rsp),%xmm0
  ucomiss %xmm4,%xmm0
  jp     L6
  movaps %xmm4,%xmm0
  jne    L6
L53:
  movss  %xmm0,(%rbx)
  mov    0xe8(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L5
  movd   %r14d,%xmm0
  add    $0xf8,%rsp
  pop    %rbx
  pop    %r14
  ret
L6:
  mulss  %xmm2,%xmm2
  movss  %xmm2,0x5c(%rsp)
  movaps %xmm1,%xmm0
  mulss  D286(%rip),%xmm0
  pxor   %xmm7,%xmm7
  addss  %xmm7,%xmm0
  movss  0x38(%rsp),%xmm2
  mulss  D226(%rip),%xmm2
  addss  %xmm2,%xmm0
  movaps %xmm1,%xmm7
  mulss  D67(%rip),%xmm7
  movaps %xmm7,%xmm2
  movss  0xc(%rsp),%xmm7
  mulss  %xmm7,%xmm2
  addss  %xmm2,%xmm0
  movaps %xmm1,%xmm6
  mulss  D254(%rip),%xmm6
  movaps %xmm6,%xmm2
  movss  0x10(%rsp),%xmm5
  mulss  %xmm5,%xmm2
  addss  %xmm2,%xmm0
  movaps %xmm3,%xmm6
  mulss  D1(%rip),%xmm6
  movaps %xmm6,%xmm2
  mulss  %xmm7,%xmm2
  addss  %xmm2,%xmm0
  movaps %xmm1,%xmm6
  mulss  D246(%rip),%xmm6
  movaps %xmm6,%xmm2
  mulss  0x34(%rsp),%xmm2
  addss  %xmm2,%xmm0
  mulss  D401(%rip),%xmm3
  mulss  %xmm5,%xmm3
  addss  %xmm3,%xmm0
  movss  D384(%rip),%xmm11
  mulss  %xmm1,%xmm11
  movaps %xmm11,%xmm2
  mulss  0x3c(%rsp),%xmm2
  mulss  %xmm5,%xmm2
  addss  %xmm2,%xmm0
  mulss  D164(%rip),%xmm1
  mulss  %xmm7,%xmm1
  mulss  0x2c(%rsp),%xmm1
  addss  %xmm1,%xmm0
  mov    $0x2,%edi
  call   <pow@plt>
  mulss  0x5c(%rsp),%xmm0
  movss  %xmm0,0x5c(%rsp)
  movss  0x20(%rsp),%xmm4
  mulss  %xmm4,%xmm4
  movss  %xmm4,0x20(%rsp)
  movss  0xc(%rsp),%xmm7
  movaps %xmm7,%xmm0
  mulss  D5(%rip),%xmm0
  pxor   %xmm11,%xmm11
  addss  %xmm11,%xmm0
  movss  0x10(%rsp),%xmm2
  movaps %xmm2,%xmm1
  mulss  D499(%rip),%xmm1
  addss  %xmm1,%xmm0
  addss  0x44(%rsp),%xmm0
  movss  0x3c(%rsp),%xmm5
  movaps %xmm5,%xmm1
  mulss  D58(%rip),%xmm1
  addss  %xmm1,%xmm0
  movaps %xmm7,%xmm1
  mulss  D239(%rip),%xmm1
  mulss  %xmm2,%xmm1
  addss  %xmm1,%xmm0
  movss  0x2c(%rsp),%xmm6
  movaps %xmm6,%xmm1
  mulss  D42(%rip),%xmm1
  addss  %xmm1,%xmm0
  addss  0x18(%rsp),%xmm0
  movaps %xmm5,%xmm1
  mulss  D50(%rip),%xmm1
  movss  0x30(%rsp),%xmm9
  mulss  %xmm9,%xmm1
  addss  %xmm1,%xmm0
  movss  D384(%rip),%xmm1
  mulss  %xmm7,%xmm1
  mulss  %xmm9,%xmm1
  mulss  %xmm2,%xmm1
  addss  %xmm1,%xmm0
  movss  0x34(%rsp),%xmm3
  mulss  D282(%rip),%xmm3
  movaps %xmm3,%xmm1
  mulss  %xmm2,%xmm1
  addss  %xmm1,%xmm0
  movss  0x58(%rsp),%xmm1
  mulss  %xmm6,%xmm1
  addss  %xmm1,%xmm0
  mulss  D468(%rip),%xmm5
  movaps %xmm5,%xmm1
  mulss  %xmm6,%xmm1
  addss  %xmm1,%xmm0
  mov    $0x2,%edi
  call   <pow@plt>
  mulss  0x20(%rsp),%xmm0
  movaps %xmm0,%xmm4
  addss  0x5c(%rsp),%xmm4
  movss  %xmm4,0x18(%rsp)
  movss  0x24(%rsp),%xmm5
  mulss  %xmm5,%xmm5
  movss  %xmm5,0x20(%rsp)
  pxor   %xmm0,%xmm0
  addss  0x14(%rsp),%xmm0
  movss  0x38(%rsp),%xmm1
  mulss  D213(%rip),%xmm1
  addss  %xmm1,%xmm0
  mov    $0x2,%edi
  call   <pow@plt>
  mulss  0x20(%rsp),%xmm0
  addss  0x18(%rsp),%xmm0
  movss  %xmm0,0x14(%rsp)
  movss  0x28(%rsp),%xmm5
  mulss  %xmm5,%xmm5
  movss  %xmm5,0x18(%rsp)
  movss  0x40(%rsp),%xmm1
  addss  D451(%rip),%xmm1
  movaps %xmm1,%xmm0
  addss  0x48(%rsp),%xmm0
  addss  0x4c(%rsp),%xmm0
  movss  0x10(%rsp),%xmm2
  movaps %xmm2,%xmm1
  mulss  D485(%rip),%xmm1
  movss  0xc(%rsp),%xmm7
  mulss  %xmm7,%xmm1
  addss  %xmm1,%xmm0
  movss  0x2c(%rsp),%xmm6
  mulss  D31(%rip),%xmm6
  addss  %xmm6,%xmm0
  addss  0x1c(%rsp),%xmm0
  addss  0x50(%rsp),%xmm0
  addss  0x54(%rsp),%xmm0
  movss  D164(%rip),%xmm1
  mulss  %xmm2,%xmm1
  mulss  0x30(%rsp),%xmm1
  mulss  %xmm7,%xmm1
  addss  %xmm1,%xmm0
  mulss  D208(%rip),%xmm2
  movaps %xmm2,%xmm1
  mulss  0x34(%rsp),%xmm1
  addss  %xmm1,%xmm0
  mov    $0x2,%edi
  call   <pow@plt>
  mulss  0x18(%rsp),%xmm0
  addss  0x14(%rsp),%xmm0
  call   <sqrt@plt>
  jmp    L53
L5:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: read_data
arguments: data_tag: D456
data_type: byte[4]
name: read_data
arguments: data_tag: D458
data_type: f32
name: read_data
arguments: data_tag: D453
data_type: f32
name: read_data
arguments: data_tag: D430
data_type: f32
name: read_data
arguments: data_tag: D260
data_type: f32
name: read_data
arguments: data_tag: D291
data_type: byte[4]
name: read_data
arguments: data_tag: D226
data_type: byte[4]
name: read_data
arguments: data_tag: D499
data_type: byte[4]
name: read_data
arguments: data_tag: D417
data_type: byte[4]
name: read_data
arguments: data_tag: D462
data_type: byte[4]
name: read_data
arguments: data_tag: D299
data_type: byte[4]
name: read_data
arguments: data_tag: D359
data_type: byte[4]
name: read_data
arguments: data_tag: D41
data_type: byte[4]
name: read_data
arguments: data_tag: D451
data_type: byte[4]
name: read_data
arguments: data_tag: D264
data_type: byte[4]
name: read_data
arguments: data_tag: D503
data_type: byte[4]
name: read_data
arguments: data_tag: D322
data_type: byte[4]
name: read_data
arguments: data_tag: D111
data_type: byte[4]
name: read_data
arguments: data_tag: D372
data_type: byte[4]
name: read_data
arguments: data_tag: D42
data_type: byte[4]
name: read_data
arguments: data_tag: D63
data_type: byte[4]
name: read_data
arguments: data_tag: D245
data_type: byte[4]
name: read_data
arguments: data_tag: D20
data_type: byte[4]
name: read_data
arguments: data_tag: D328
data_type: byte[4]
name: read_data
arguments: data_tag: D448
data_type: byte[4]
name: read_data
arguments: data_tag: D88
data_type: byte[4]
name: read_data
arguments: data_tag: D286
data_type: byte[4]
name: read_data
arguments: data_tag: D67
data_type: byte[4]
name: read_data
arguments: data_tag: D254
data_type: byte[4]
name: read_data
arguments: data_tag: D1
data_type: byte[4]
name: read_data
arguments: data_tag: D246
data_type: byte[4]
name: read_data
arguments: data_tag: D401
data_type: byte[4]
name: read_data
arguments: data_tag: D384
data_type: byte[4]
name: read_data
arguments: data_tag: D164
data_type: byte[4]
name: read_data
arguments: data_tag: D5
data_type: byte[4]
name: read_data
arguments: data_tag: D58
data_type: byte[4]
name: read_data
arguments: data_tag: D239
data_type: byte[4]
name: read_data
arguments: data_tag: D50
data_type: byte[4]
name: read_data
arguments: data_tag: D282
data_type: byte[4]
name: read_data
arguments: data_tag: D468
data_type: byte[4]
name: read_data
arguments: data_tag: D213
data_type: byte[4]
name: read_data
arguments: data_tag: D485
data_type: byte[4]
name: read_data
arguments: data_tag: D31
data_type: byte[4]
name: read_data
arguments: data_tag: D208
data_type: byte[4]

tool: {"D456": [0x00,0x00,0x70,0xc1]}

tool: D458: 15

tool: D453: 2

tool: D430: 1

tool: D260: 18

tool: {"D291": [0xc1,0xca,0x8f,0x41]}

tool: {"D226": [0xce,0x40,0x83,0x3c]}

tool: {"D499": [0x97,0xa5,0x7f,0x3b]}

tool: {"D417": [0xbf,0xa1,0x9a,0xbd]}

tool: {"D462": [0xef,0x42,0xac,0x3d]}

tool: {"D299": [0x35,0x56,0x22,0x40]}

tool: {"D359": [0xa3,0x09,0x3a,0x3d]}

tool: {"D41": [0xca,0xa9,0x56,0xbd]}

tool: {"D451": [0xa5,0x13,0xd3,0x3b]}

tool: {"D264": [0x81,0x65,0x1b,0x3c]}

tool: {"D503": [0xa3,0xd0,0xa0,0xbb]}

tool: {"D322": [0x6a,0x6b,0x32,0xbb]}

tool: {"D111": [0xcd,0x39,0x54,0xbc]}

tool: {"D372": [0x5f,0xd1,0x41,0xbf]}

tool: {"D42": [0x5b,0x3d,0x3e,0xc0]}

tool: {"D63": [0x94,0x22,0x99,0x3f]}

tool: {"D245": [0xed,0xbb,0x83,0x3d]}

tool: {"D20": [0x89,0xdc,0xe0,0xbd]}

tool: {"D328": [0xc7,0x30,0x8c,0x3d]}

tool: {"D448": [0x6a,0xda,0x33,0x3d]}

tool: {"D88": [0x8c,0x8d,0x89,0xbd]}

tool: {"D286": [0xa3,0xd0,0x20,0xbc]}

tool: {"D67": [0xbf,0xa1,0x1a,0xbe]}

tool: {"D254": [0xef,0x42,0x2c,0x3e]}

tool: {"D1": [0xa3,0x09,0x3a,0x3e]}

tool: {"D246": [0xed,0xbb,0x03,0x3e]}

tool: {"D401": [0xca,0xa9,0x56,0xbe]}

tool: {"D384": [0x89,0xdc,0x60,0xbe]}

tool: {"D164": [0x6a,0xda,0xb3,0x3d]}

tool: {"D5": [0x6a,0x6b,0xb2,0xbb]}

tool: {"D58": [0x07,0x5d,0x11,0xc0]}

tool: {"D239": [0x35,0x56,0xa2,0x40]}

tool: {"D50": [0xe4,0x99,0x45,0x3e]}

tool: {"D282": [0xc7,0x30,0x8c,0x3e]}

tool: {"D468": [0x52,0x54,0x4e,0xbe]}

tool: {"D213": [0xcd,0x39,0xd4,0xbc]}

tool: {"D485": [0x5b,0x3d,0xbe,0xc0]}

tool: {"D31": [0xde,0xb3,0x65,0x40]}

tool: {"D208": [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;
}
```