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    $0x100,%rsp
  movss  D332(%rip),%xmm1
  movss  D263(%rip),%xmm3
  mov    %fs:0x28,%rax
  mov    %rax,0xf8(%rsp)
  xor    %eax,%eax
  movaps %xmm0,0xd0(%rsp)
  movabs $0xc1901aa0c1900000,%rax
  mov    %rax,0x78(%rsp)
  movabs $0x418fe97941900000,%rax
  movq   $0x0,0x80(%rsp)
  movq   $0x0,0x88(%rsp)
  movq   $0x0,0x90(%rsp)
  mov    %rax,0xa8(%rsp)
  movq   $0x0,0xb0(%rsp)
  movq   $0x0,0xb8(%rsp)
  movq   $0x0,0xc0(%rsp)
  movq   $0x0,0xf0(%rsp)
  movss  %xmm1,0x74(%rsp)
  movss  %xmm3,0xa4(%rsp)
  movaps %xmm0,0xe0(%rsp)
  test   %edx,%edx
  jle    L81
  sub    $0x1,%edx
  movss  D150(%rip),%xmm2
  xor    %eax,%eax
  movaps %xmm3,%xmm0
  shl    $0x2,%rdx
  lea    0x74(%rsp),%rsi
  lea    0xa4(%rsp),%rcx
  jmp    L15
  nopl   (%rax)
L71:
  movss  (%rsi,%rax,1),%xmm1
  movss  (%rcx,%rax,1),%xmm0
  add    $0x4,%rax
L15:
  ucomiss %xmm0,%xmm1
  jp     L94
  je     L0
L94:
  subss  %xmm1,%xmm0
  movaps %xmm2,%xmm1
  divss  %xmm0,%xmm1
  movss  %xmm1,0xd0(%rsp,%rax,1)
L0:
  cmp    %rdx,%rax
  jne    L71
  movss  0xd0(%rsp),%xmm9
  pxor   %xmm11,%xmm11
  movss  0xd4(%rsp),%xmm6
  movss  0xd8(%rsp),%xmm8
  movss  0xdc(%rsp),%xmm5
L61:
  movss  (%rdi),%xmm4
  movss  0x4(%rdi),%xmm2
  movss  0xc(%rdi),%xmm1
  subss  D91(%rip),%xmm1
  subss  %xmm3,%xmm4
  subss  %xmm3,%xmm2
  movss  0x8(%rdi),%xmm3
  movss  D195(%rip),%xmm0
  subss  D17(%rip),%xmm3
  movss  D460(%rip),%xmm13
  movss  D356(%rip),%xmm15
  mulss  %xmm5,%xmm1
  movss  D329(%rip),%xmm14
  mulss  %xmm9,%xmm4
  mulss  %xmm6,%xmm2
  mulss  %xmm8,%xmm3
  mulss  (%rbx),%xmm9
  addss  %xmm0,%xmm1
  mulss  0x4(%rbx),%xmm6
  addss  %xmm0,%xmm4
  mulss  0x8(%rbx),%xmm8
  addss  %xmm0,%xmm2
  mulss  0xc(%rbx),%xmm5
  addss  %xmm0,%xmm3
  movss  D106(%rip),%xmm0
  movaps %xmm1,%xmm12
  mulss  %xmm4,%xmm14
  movaps %xmm4,%xmm10
  mulss  %xmm4,%xmm0
  mulss  %xmm2,%xmm15
  movaps %xmm3,%xmm7
  mulss  %xmm3,%xmm7
  mulss  %xmm4,%xmm10
  movss  %xmm14,0x1c(%rsp)
  mulss  %xmm2,%xmm14
  movss  %xmm0,0xc(%rsp)
  movss  D342(%rip),%xmm0
  mulss  %xmm1,%xmm12
  movss  %xmm15,0x10(%rsp)
  movss  D280(%rip),%xmm15
  mulss  %xmm7,%xmm0
  mulss  %xmm4,%xmm15
  movss  %xmm14,0x20(%rsp)
  mulss  %xmm3,%xmm14
  movss  %xmm0,0x14(%rsp)
  movss  D355(%rip),%xmm0
  movss  %xmm15,0x24(%rsp)
  mulss  %xmm2,%xmm15
  mulss  %xmm2,%xmm0
  movss  %xmm15,0x28(%rsp)
  mulss  %xmm3,%xmm15
  mulss  %xmm7,%xmm0
  movss  %xmm15,0x2c(%rsp)
  movss  %xmm0,0x18(%rsp)
  movss  D145(%rip),%xmm0
  mulss  %xmm2,%xmm0
  addss  %xmm0,%xmm13
  movss  D370(%rip),%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm13,%xmm0
  movss  0xc(%rsp),%xmm13
  mulss  %xmm3,%xmm13
  addss  %xmm0,%xmm13
  movss  D199(%rip),%xmm0
  mulss  %xmm7,%xmm0
  addss  %xmm13,%xmm0
  movss  0x10(%rsp),%xmm13
  mulss  %xmm1,%xmm13
  addss  %xmm0,%xmm13
  movaps %xmm2,%xmm0
  mulss  %xmm2,%xmm0
  mulss  D133(%rip),%xmm0
  addss  %xmm13,%xmm0
  movss  D389(%rip),%xmm13
  mulss  %xmm4,%xmm13
  addss  %xmm0,%xmm13
  movss  D459(%rip),%xmm0
  mulss  %xmm3,%xmm0
  addss  %xmm13,%xmm0
  movss  D318(%rip),%xmm13
  mulss  %xmm10,%xmm13
  mulss  D458(%rip),%xmm10
  addss  %xmm0,%xmm13
  movss  D446(%rip),%xmm0
  mulss  %xmm12,%xmm0
  addss  %xmm13,%xmm0
  movaps %xmm14,%xmm13
  movss  D442(%rip),%xmm14
  mulss  %xmm2,%xmm14
  addss  %xmm0,%xmm13
  movaps %xmm14,%xmm0
  mulss  %xmm7,%xmm0
  addss  %xmm13,%xmm0
  movss  0x14(%rsp),%xmm13
  mulss  %xmm1,%xmm13
  addss  %xmm0,%xmm13
  movaps %xmm15,%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm13,%xmm0
  movss  0x18(%rsp),%xmm13
  mulss  %xmm1,%xmm13
  addss  %xmm13,%xmm0
  movss  D206(%rip),%xmm13
  mulss  %xmm4,%xmm13
  movaps %xmm13,%xmm14
  mulss  %xmm3,%xmm14
  mulss  %xmm12,%xmm14
  addss  %xmm0,%xmm14
  movss  D134(%rip),%xmm0
  mulss  %xmm7,%xmm0
  mulss  %xmm12,%xmm0
  addss  %xmm14,%xmm0
  movaps %xmm10,%xmm14
  mulss  %xmm1,%xmm14
  addss  %xmm14,%xmm0
  movss  D463(%rip),%xmm14
  mulss  %xmm4,%xmm14
  movaps %xmm14,%xmm15
  mulss  %xmm2,%xmm15
  addss  %xmm0,%xmm15
  movaps %xmm9,%xmm0
  addss  %xmm11,%xmm0
  addss  %xmm6,%xmm0
  addss  %xmm8,%xmm0
  addss  %xmm5,%xmm0
  ucomiss %xmm11,%xmm0
  jp     L68
  movaps %xmm11,%xmm0
  jne    L68
L3:
  movss  %xmm0,(%rbx)
  mov    0xf8(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L37
  add    $0x100,%rsp
  movaps %xmm15,%xmm0
  pop    %rbx
  ret
  nopl   0x0(%rax,%rax,1)
L68:
  movss  %xmm5,0x64(%rsp)
  mulss  %xmm9,%xmm9
  mov    $0x2,%edi
  movss  D106(%rip),%xmm0
  movss  D140(%rip),%xmm5
  movss  %xmm15,0x6c(%rsp)
  mulss  %xmm3,%xmm0
  movss  %xmm10,0x58(%rsp)
  mulss  %xmm4,%xmm5
  movss  %xmm8,0x60(%rsp)
  movss  %xmm13,0x54(%rsp)
  movss  %xmm9,0x30(%rsp)
  movss  %xmm11,0x50(%rsp)
  addss  %xmm11,%xmm0
  addss  D389(%rip),%xmm0
  movss  %xmm12,0x4c(%rsp)
  movss  %xmm7,0x68(%rsp)
  movss  %xmm6,0x34(%rsp)
  addss  %xmm5,%xmm0
  movss  D329(%rip),%xmm5
  movss  %xmm14,0x5c(%rsp)
  movss  %xmm3,0x40(%rsp)
  mulss  %xmm2,%xmm5
  movss  %xmm4,0x48(%rsp)
  movss  %xmm1,0x3c(%rsp)
  movss  %xmm2,0x38(%rsp)
  movaps %xmm5,%xmm9
  movss  D206(%rip),%xmm5
  mulss  %xmm3,%xmm9
  mulss  %xmm3,%xmm5
  addss  %xmm0,%xmm9
  movss  D280(%rip),%xmm0
  mulss  %xmm2,%xmm0
  mulss  %xmm3,%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm9,%xmm0
  movaps %xmm5,%xmm9
  movaps %xmm4,%xmm5
  mulss  %xmm12,%xmm9
  mulss  D302(%rip),%xmm5
  addss  %xmm9,%xmm0
  movaps %xmm5,%xmm9
  movss  D463(%rip),%xmm5
  mulss  %xmm1,%xmm9
  mulss  %xmm2,%xmm5
  addss  %xmm9,%xmm0
  addss  %xmm5,%xmm0
  call   <pow@plt>
  movss  0x3c(%rsp),%xmm1
  mov    $0x2,%edi
  movss  D356(%rip),%xmm7
  mulss  0x30(%rsp),%xmm0
  movss  0x38(%rsp),%xmm2
  mulss  %xmm1,%xmm7
  movss  0x40(%rsp),%xmm3
  movss  0x34(%rsp),%xmm6
  movss  %xmm1,0x38(%rsp)
  movss  D442(%rip),%xmm4
  movss  0x5c(%rsp),%xmm14
  movss  %xmm2,0x44(%rsp)
  mulss  %xmm6,%xmm6
  movss  %xmm0,0x30(%rsp)
  movaps %xmm7,%xmm0
  movaps %xmm2,%xmm7
  subss  D313(%rip),%xmm0
  mulss  D440(%rip),%xmm7
  movss  %xmm6,0x34(%rsp)
  addss  %xmm7,%xmm0
  movss  0x1c(%rsp),%xmm7
  mulss  %xmm3,%xmm7
  movaps %xmm7,%xmm6
  movss  0x68(%rsp),%xmm7
  addss  %xmm0,%xmm6
  mulss  %xmm7,%xmm4
  movss  %xmm7,0x3c(%rsp)
  addss  %xmm4,%xmm6
  movss  0x24(%rsp),%xmm4
  mulss  %xmm3,%xmm4
  movaps %xmm4,%xmm0
  movss  D355(%rip),%xmm4
  mulss  %xmm1,%xmm0
  mulss  %xmm7,%xmm4
  addss  %xmm6,%xmm0
  movaps %xmm4,%xmm6
  mulss  %xmm1,%xmm6
  addss  %xmm0,%xmm6
  movaps %xmm6,%xmm7
  addss  %xmm14,%xmm7
  movaps %xmm7,%xmm0
  call   <pow@plt>
  mulss  0x34(%rsp),%xmm0
  movss  0x40(%rsp),%xmm3
  mov    $0x2,%edi
  movss  0x30(%rsp),%xmm7
  movss  D234(%rip),%xmm6
  movss  0x50(%rsp),%xmm11
  movss  0x44(%rsp),%xmm2
  mulss  %xmm3,%xmm6
  movss  0x38(%rsp),%xmm1
  movss  0x4c(%rsp),%xmm12
  movss  0x54(%rsp),%xmm13
  movss  0x60(%rsp),%xmm8
  addss  %xmm0,%xmm7
  movss  0xc(%rsp),%xmm0
  mulss  %xmm12,%xmm13
  addss  %xmm11,%xmm0
  mulss  %xmm8,%xmm8
  movss  %xmm7,0x1c(%rsp)
  addss  %xmm6,%xmm0
  movss  D267(%rip),%xmm6
  subss  D88(%rip),%xmm0
  addss  0x20(%rsp),%xmm0
  movss  %xmm3,0x20(%rsp)
  mulss  %xmm3,%xmm6
  movss  %xmm8,0x24(%rsp)
  mulss  %xmm2,%xmm6
  addss  %xmm0,%xmm6
  movss  D151(%rip),%xmm0
  mulss  %xmm3,%xmm0
  mulss  %xmm1,%xmm0
  addss  %xmm6,%xmm0
  movss  0x28(%rsp),%xmm6
  movss  %xmm1,0x28(%rsp)
  mulss  %xmm1,%xmm6
  addss  %xmm6,%xmm0
  movss  D236(%rip),%xmm6
  mulss  %xmm3,%xmm6
  mulss  %xmm6,%xmm2
  mulss  %xmm1,%xmm2
  addss  %xmm2,%xmm0
  movss  D262(%rip),%xmm2
  mulss  %xmm3,%xmm2
  addss  %xmm13,%xmm0
  mulss  %xmm12,%xmm2
  addss  %xmm2,%xmm0
  call   <pow@plt>
  movss  0x28(%rsp),%xmm1
  movss  D469(%rip),%xmm2
  mov    $0x2,%edi
  mulss  0x24(%rsp),%xmm0
  movss  D370(%rip),%xmm4
  mulss  %xmm1,%xmm2
  addss  0x1c(%rsp),%xmm0
  addss  0x10(%rsp),%xmm4
  movss  0x20(%rsp),%xmm3
  movss  0x3c(%rsp),%xmm7
  movss  0x64(%rsp),%xmm5
  movss  0x58(%rsp),%xmm10
  movss  %xmm0,0xc(%rsp)
  movaps %xmm4,%xmm0
  movss  0x48(%rsp),%xmm4
  mulss  %xmm5,%xmm5
  addss  %xmm2,%xmm0
  movss  D419(%rip),%xmm2
  addss  0x14(%rsp),%xmm0
  addss  0x2c(%rsp),%xmm0
  addss  0x18(%rsp),%xmm0
  mulss  %xmm1,%xmm2
  mulss  D262(%rip),%xmm1
  movss  %xmm5,0x1c(%rsp)
  mulss  %xmm4,%xmm2
  mulss  %xmm7,%xmm1
  mulss  %xmm3,%xmm2
  addss  %xmm2,%xmm0
  addss  %xmm1,%xmm0
  addss  %xmm10,%xmm0
  call   <pow@plt>
  mulss  0x1c(%rsp),%xmm0
  addss  0xc(%rsp),%xmm0
  call   <sqrt@plt>
  movss  0x6c(%rsp),%xmm15
  jmp    L3
  nopl   0x0(%rax)
L81:
  pxor   %xmm11,%xmm11
  movaps %xmm11,%xmm5
  movaps %xmm11,%xmm8
  movaps %xmm11,%xmm6
  movaps %xmm11,%xmm9
  jmp    L61
L37:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: retrieve_data
arguments: data_label: D332
data_type: byte[4]
name: retrieve_data
arguments: data_label: D263
data_type: f32
name: retrieve_data
arguments: data_label: D150
data_type: f32
name: retrieve_data
arguments: data_label: D91
data_type: byte[4]
name: retrieve_data
arguments: data_label: D195
data_type: f32
name: retrieve_data
arguments: data_label: D17
data_type: f32
name: retrieve_data
arguments: data_label: D460
data_type: byte[4]
name: retrieve_data
arguments: data_label: D356
data_type: byte[4]
name: retrieve_data
arguments: data_label: D329
data_type: byte[4]
name: retrieve_data
arguments: data_label: D106
data_type: byte[4]
name: retrieve_data
arguments: data_label: D342
data_type: byte[4]
name: retrieve_data
arguments: data_label: D280
data_type: byte[4]
name: retrieve_data
arguments: data_label: D355
data_type: byte[4]
name: retrieve_data
arguments: data_label: D145
data_type: byte[4]
name: retrieve_data
arguments: data_label: D370
data_type: byte[4]
name: retrieve_data
arguments: data_label: D199
data_type: byte[4]
name: retrieve_data
arguments: data_label: D133
data_type: byte[4]
name: retrieve_data
arguments: data_label: D389
data_type: byte[4]
name: retrieve_data
arguments: data_label: D459
data_type: byte[4]
name: retrieve_data
arguments: data_label: D318
data_type: byte[4]
name: retrieve_data
arguments: data_label: D458
data_type: byte[4]
name: retrieve_data
arguments: data_label: D446
data_type: byte[4]
name: retrieve_data
arguments: data_label: D442
data_type: byte[4]
name: retrieve_data
arguments: data_label: D206
data_type: byte[4]
name: retrieve_data
arguments: data_label: D134
data_type: byte[4]
name: retrieve_data
arguments: data_label: D463
data_type: byte[4]
name: retrieve_data
arguments: data_label: D140
data_type: byte[4]
name: retrieve_data
arguments: data_label: D302
data_type: byte[4]
name: retrieve_data
arguments: data_label: D313
data_type: byte[4]
name: retrieve_data
arguments: data_label: D440
data_type: byte[4]
name: retrieve_data
arguments: data_label: D234
data_type: byte[4]
name: retrieve_data
arguments: data_label: D267
data_type: byte[4]
name: retrieve_data
arguments: data_label: D88
data_type: byte[4]
name: retrieve_data
arguments: data_label: D151
data_type: byte[4]
name: retrieve_data
arguments: data_label: D236
data_type: byte[4]
name: retrieve_data
arguments: data_label: D262
data_type: byte[4]
name: retrieve_data
arguments: data_label: D469
data_type: byte[4]
name: retrieve_data
arguments: data_label: D419
data_type: byte[4]

tool: {"D332": [0x00,0x00,0x70,0xc1]}

tool: D263: 15

tool: D150: 2

tool: {"D91": [0x79,0xe9,0x8f,0x41]}

tool: D195: 1

tool: D17: 18

tool: {"D460": [0x6b,0x3d,0x7e,0x3d]}

tool: {"D356": [0xb7,0x87,0x4c,0xbb]}

tool: {"D329": [0x0d,0xf5,0x87,0xb8]}

tool: {"D106": [0xf7,0x29,0x03,0x3c]}

tool: {"D342": [0xe3,0xa3,0x07,0xb9]}

tool: {"D280": [0x96,0x54,0xa7,0xb9]}

tool: {"D355": [0x35,0x22,0xee,0x39]}

tool: {"D145": [0x20,0x8e,0x62,0xbd]}

tool: {"D370": [0xa1,0x30,0x87,0x3d]}

tool: {"D199": [0xe9,0xc5,0xd2,0xbb]}

tool: {"D133": [0xfe,0xfa,0x42,0x3a]}

tool: {"D389": [0x16,0xe3,0x62,0x39]}

tool: {"D459": [0x0c,0xcd,0xb4,0xb9]}

tool: {"D318": [0xe0,0xf9,0x21,0xbb]}

tool: {"D458": [0xb4,0xba,0x65,0x38]}

tool: {"D446": [0x71,0x4b,0x48,0x3b]}

tool: {"D442": [0x99,0x3e,0xe6,0x38]}

tool: {"D206": [0xef,0xdf,0xee,0x39]}

tool: {"D134": [0xcd,0xb8,0x29,0xba]}

tool: {"D463": [0xb9,0x9f,0xe3,0xb5]}

tool: {"D140": [0xe0,0xf9,0xa1,0xbb]}

tool: {"D302": [0xb4,0xba,0xe5,0x38]}

tool: {"D313": [0x20,0x8e,0x62,0x3d]}

tool: {"D440": [0xfe,0xfa,0xc2,0x3a]}

tool: {"D234": [0xe9,0xc5,0x52,0xbc]}

tool: {"D267": [0x99,0x3e,0x66,0x39]}

tool: {"D88": [0x0c,0xcd,0xb4,0x39]}

tool: {"D151": [0xe3,0xa3,0x87,0xb9]}

tool: {"D236": [0x35,0x22,0x6e,0x3a]}

tool: {"D262": [0xcd,0xb8,0xa9,0xba]}

tool: {"D469": [0x71,0x4b,0xc8,0x3b]}

tool: {"D419": [0xef,0xdf,0x6e,0x3a]}

assistant: ```c
float target_theta(float *x, float *dx, int m) {
  int ncoeff = 20;
  float avdat = 0.6202480E-01;
  float xmin[10] = {-0.15000E+02, -0.15000E+02, -0.18000E+02, -0.18013E+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, 0.17989E+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] = {0.45493704E-04, -0.55311322E-01, 0.66010721E-01, 0.80056107E-02, -0.64322841E-02, -0.31208822E-02, 0.74379134E-03, 0.21637636E-03, -0.34485047E-03, -0.24715587E-02, 0.30562545E-02, -0.64829459E-04, 0.10978914E-03, -0.12935656E-03, -0.31915744E-03, 0.45420384E-03, 0.45561741E-03, -0.64743758E-03, 0.54771735E-04, -0.16959303E-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] * x11 * x31 + coeff[4] * x32 + coeff[5] * x21 * x41 + coeff[6] * x22 + coeff[7] * x11;
  v_target_theta = v_target_theta + coeff[8] * x31 + coeff[9] * x12 + coeff[10] * x42 + coeff[11] * x11 * x21 * x31 + coeff[12] * x21 * x32 + coeff[13] * x32 * x41 + coeff[14] * x11 * x21 * x31 * x41 + coeff[15] * x21 * x32 * x41 + coeff[16] * x11 * x31 * x42;
  v_target_theta = v_target_theta + coeff[17] * x32 * x42 + coeff[18] * x12 * x41 + coeff[19] * x11 * x21;
  float dxall = 0 + dx1 + dx2 + dx3 + dx4;
  float dv_target_theta = dxall == 0 ? 0 : sqrt(+dx1 * dx1 * pow(0 + coeff[3] * x31 + coeff[7] + 2 * coeff[9] * x11 + coeff[11] * x21 * x31 + coeff[14] * x21 * x31 * x41 + coeff[16] * x31 * x42 + 2 * coeff[18] * x11 * x41 + coeff[19] * x21, 2) + dx2 * dx2 * pow(0 + coeff[1] + coeff[5] * x41 + 2 * coeff[6] * x21 + coeff[11] * x11 * x31 + coeff[12] * x32 + coeff[14] * x11 * x31 * x41 + coeff[15] * x32 * x41 + coeff[19] * x11, 2) + dx3 * dx3 * pow(0 + coeff[3] * x11 + 2 * coeff[4] * x31 + coeff[8] + coeff[11] * x11 * x21 + 2 * coeff[12] * x31 * x21 + 2 * coeff[13] * x31 * x41 + coeff[14] * x11 * x21 * x41 + 2 * coeff[15] * x31 * x21 * x41 + coeff[16] * x11 * x42 + 2 * coeff[17] * x31 * x42, 2) + dx4 * dx4 * pow(0 + coeff[2] + coeff[5] * x21 + 2 * coeff[10] * x41 + coeff[13] * x32 + coeff[14] * x11 * x21 * x31 + coeff[15] * x21 * x32 + 2 * coeff[16] * x41 * x11 * x31 + 2 * coeff[17] * x41 * x32 + coeff[18] * x12, 2));
  dx[0] = dv_target_theta;
  return v_target_theta;
}
```