user: Converte this assembly snippet into its equivalent C code:

```asm
<target_theta>:
  endbr64
  push   %rbx
  pxor   %xmm0,%xmm0
  mov    %rsi,%rbx
  sub    $0xf0,%rsp
  movss  D363(%rip),%xmm1
  movss  D488(%rip),%xmm9
  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  %xmm9,0x94(%rsp)
  movaps %xmm0,0xd0(%rsp)
  test   %edx,%edx
  jle    L77
  sub    $0x1,%edx
  movaps %xmm9,%xmm0
  lea    0x64(%rsp),%rsi
  xor    %eax,%eax
  movss  D187(%rip),%xmm2
  shl    $0x2,%rdx
  lea    0x94(%rsp),%rcx
  jmp    L10
  nopw   0x0(%rax,%rax,1)
L3:
  movss  (%rsi,%rax,1),%xmm1
  movss  (%rcx,%rax,1),%xmm0
  add    $0x4,%rax
L10:
  ucomiss %xmm0,%xmm1
  jp     L75
  je     L66
L75:
  subss  %xmm1,%xmm0
  movaps %xmm2,%xmm1
  divss  %xmm0,%xmm1
  movss  %xmm1,0xc0(%rsp,%rax,1)
L66:
  cmp    %rdx,%rax
  jne    L3
  movss  0xc0(%rsp),%xmm8
  pxor   %xmm0,%xmm0
  movss  0xc4(%rsp),%xmm6
  movss  0xc8(%rsp),%xmm3
  movss  0xcc(%rsp),%xmm5
L94:
  movss  0x8(%rdi),%xmm2
  subss  D294(%rip),%xmm2
  movss  D437(%rip),%xmm7
  movss  (%rdi),%xmm4
  movss  D172(%rip),%xmm14
  movss  0x4(%rdi),%xmm1
  mulss  %xmm3,%xmm2
  subss  %xmm9,%xmm4
  mulss  0x8(%rbx),%xmm3
  subss  %xmm9,%xmm1
  mulss  %xmm8,%xmm4
  mulss  %xmm6,%xmm1
  addss  %xmm7,%xmm2
  mulss  (%rbx),%xmm8
  movss  %xmm3,0x14(%rsp)
  movss  0xc(%rdi),%xmm3
  mulss  0x4(%rbx),%xmm6
  subss  D104(%rip),%xmm3
  movaps %xmm2,%xmm11
  addss  %xmm7,%xmm4
  addss  %xmm7,%xmm1
  mulss  %xmm2,%xmm11
  mulss  %xmm5,%xmm3
  mulss  0xc(%rbx),%xmm5
  movaps %xmm4,%xmm12
  movaps %xmm4,%xmm13
  mulss  %xmm4,%xmm14
  movaps %xmm1,%xmm15
  mulss  %xmm4,%xmm12
  addss  %xmm7,%xmm3
  movaps %xmm1,%xmm7
  movss  %xmm5,0x18(%rsp)
  mulss  %xmm1,%xmm7
  movss  %xmm14,0x8(%rsp)
  movss  D186(%rip),%xmm14
  mulss  %xmm12,%xmm13
  movaps %xmm3,%xmm9
  movaps %xmm3,%xmm5
  mulss  %xmm3,%xmm9
  mulss  %xmm4,%xmm14
  mulss  %xmm7,%xmm15
  mulss  %xmm9,%xmm5
  movss  %xmm15,0x20(%rsp)
  mulss  %xmm1,%xmm15
  movss  %xmm5,0x28(%rsp)
  movaps %xmm5,%xmm10
  movss  D236(%rip),%xmm5
  mulss  %xmm3,%xmm10
  mulss  %xmm1,%xmm5
  movss  %xmm15,0x24(%rsp)
  movss  %xmm5,(%rsp)
  movaps %xmm2,%xmm5
  mulss  %xmm11,%xmm5
  mulss  D247(%rip),%xmm5
  movss  %xmm5,0x4(%rsp)
  movss  D133(%rip),%xmm5
  mulss  %xmm4,%xmm5
  movss  %xmm5,0xc(%rsp)
  movss  D108(%rip),%xmm5
  mulss  %xmm1,%xmm5
  movss  %xmm5,0x10(%rsp)
  movss  D10(%rip),%xmm5
  addss  %xmm14,%xmm5
  movss  D406(%rip),%xmm14
  mulss  %xmm1,%xmm14
  addss  %xmm5,%xmm14
  movss  D80(%rip),%xmm5
  mulss  %xmm2,%xmm5
  addss  %xmm14,%xmm5
  movss  D359(%rip),%xmm14
  mulss  %xmm3,%xmm14
  addss  %xmm5,%xmm14
  movss  D105(%rip),%xmm5
  mulss  %xmm10,%xmm5
  addss  %xmm14,%xmm5
  movss  D295(%rip),%xmm14
  mulss  %xmm7,%xmm14
  addss  %xmm5,%xmm14
  movss  D277(%rip),%xmm5
  mulss  %xmm4,%xmm5
  mulss  %xmm11,%xmm5
  mulss  %xmm9,%xmm5
  addss  %xmm14,%xmm5
  movss  D64(%rip),%xmm14
  mulss  %xmm7,%xmm14
  mulss  %xmm10,%xmm14
  addss  %xmm14,%xmm5
  movss  (%rsp),%xmm14
  mulss  %xmm2,%xmm14
  addss  %xmm5,%xmm14
  movss  0x4(%rsp),%xmm5
  mulss  %xmm3,%xmm5
  addss  %xmm14,%xmm5
  movss  D258(%rip),%xmm14
  mulss  %xmm13,%xmm14
  mulss  %xmm7,%xmm14
  addss  %xmm5,%xmm14
  movss  D215(%rip),%xmm5
  mulss  %xmm15,%xmm5
  movss  D226(%rip),%xmm15
  mulss  %xmm7,%xmm15
  mulss  %xmm10,%xmm5
  movss  %xmm15,0x1c(%rsp)
  addss  %xmm14,%xmm5
  movss  0x8(%rsp),%xmm14
  mulss  %xmm1,%xmm14
  addss  %xmm14,%xmm5
  movss  0xc(%rsp),%xmm14
  mulss  %xmm2,%xmm14
  addss  %xmm5,%xmm14
  movss  0x10(%rsp),%xmm5
  mulss  %xmm3,%xmm5
  addss  %xmm5,%xmm14
  movss  D51(%rip),%xmm5
  mulss  %xmm9,%xmm5
  addss  %xmm5,%xmm14
  movaps %xmm15,%xmm5
  mulss  %xmm3,%xmm5
  addss  %xmm14,%xmm5
  movss  D412(%rip),%xmm14
  mulss  %xmm1,%xmm14
  mulss  %xmm9,%xmm14
  addss  %xmm14,%xmm5
  movss  D49(%rip),%xmm14
  mulss  %xmm13,%xmm14
  movaps %xmm14,%xmm15
  mulss  %xmm1,%xmm15
  addss  %xmm15,%xmm5
  movaps %xmm8,%xmm15
  addss  %xmm0,%xmm15
  addss  %xmm6,%xmm15
  addss  0x14(%rsp),%xmm15
  addss  0x18(%rsp),%xmm15
  ucomiss %xmm0,%xmm15
  jp     L33
  jne    L33
L65:
  movss  %xmm0,(%rbx)
  mov    0xe8(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L20
  add    $0xf0,%rsp
  movaps %xmm5,%xmm0
  pop    %rbx
  ret
  nop
L33:
  movss  %xmm6,0x30(%rsp)
  mulss  %xmm8,%xmm8
  mov    $0x2,%esi
  movss  D202(%rip),%xmm6
  movss  D277(%rip),%xmm0
  movss  %xmm5,0x5c(%rsp)
  mulss  %xmm12,%xmm6
  movss  %xmm11,0x48(%rsp)
  mulss  %xmm11,%xmm0
  movss  %xmm7,0x40(%rsp)
  mulss  D393(%rip),%xmm12
  movss  %xmm10,0x3c(%rsp)
  movss  %xmm8,0x2c(%rsp)
  movss  %xmm13,0x58(%rsp)
  movaps %xmm6,%xmm8
  movss  D172(%rip),%xmm6
  movss  %xmm3,0x54(%rsp)
  mulss  %xmm7,%xmm8
  movss  %xmm4,0x50(%rsp)
  mulss  %xmm9,%xmm0
  movss  %xmm14,0x4c(%rsp)
  mulss  %xmm1,%xmm6
  subss  D443(%rip),%xmm0
  movss  %xmm9,0x44(%rsp)
  mulss  %xmm1,%xmm12
  movss  %xmm2,0x38(%rsp)
  movss  %xmm1,0x34(%rsp)
  addss  %xmm8,%xmm0
  movaps %xmm6,%xmm8
  addss  %xmm0,%xmm8
  movss  D133(%rip),%xmm0
  mulss  %xmm2,%xmm0
  addss  %xmm8,%xmm0
  addss  %xmm12,%xmm0
  cvttss2si %xmm0,%edi
  call   <pow@plt>
  movss  0x34(%rsp),%xmm1
  mov    $0x2,%esi
  movss  D235(%rip),%xmm4
  mulss  0x2c(%rsp),%xmm0
  movss  0x30(%rsp),%xmm6
  mulss  %xmm1,%xmm4
  movss  0x3c(%rsp),%xmm10
  movss  0x38(%rsp),%xmm2
  movss  %xmm1,0x38(%rsp)
  mulss  %xmm6,%xmm6
  movss  0x58(%rsp),%xmm13
  movss  0x54(%rsp),%xmm3
  movss  0x44(%rsp),%xmm9
  movss  0x4c(%rsp),%xmm14
  movss  %xmm2,0x3c(%rsp)
  movss  %xmm3,0x34(%rsp)
  movss  %xmm0,0x2c(%rsp)
  movaps %xmm4,%xmm0
  movss  D103(%rip),%xmm4
  subss  D471(%rip),%xmm0
  movss  %xmm6,0x30(%rsp)
  mulss  %xmm1,%xmm4
  movaps %xmm4,%xmm6
  movss  D236(%rip),%xmm4
  mulss  %xmm10,%xmm6
  mulss  %xmm2,%xmm4
  addss  %xmm0,%xmm6
  movaps %xmm4,%xmm0
  movss  D249(%rip),%xmm4
  mulss  %xmm1,%xmm4
  addss  %xmm6,%xmm0
  movaps %xmm4,%xmm6
  movss  D283(%rip),%xmm4
  mulss  %xmm13,%xmm6
  mulss  0x20(%rsp),%xmm4
  movss  %xmm9,0x20(%rsp)
  addss  %xmm0,%xmm6
  movaps %xmm4,%xmm0
  movss  0x8(%rsp),%xmm4
  mulss  %xmm10,%xmm0
  addss  %xmm6,%xmm0
  addss  %xmm0,%xmm4
  movaps %xmm4,%xmm6
  movss  D108(%rip),%xmm4
  mulss  %xmm3,%xmm4
  movaps %xmm4,%xmm0
  movaps %xmm1,%xmm4
  mulss  D309(%rip),%xmm4
  addss  %xmm6,%xmm0
  movaps %xmm4,%xmm6
  mulss  %xmm3,%xmm6
  movss  D412(%rip),%xmm3
  mulss  %xmm9,%xmm3
  addss  %xmm6,%xmm0
  movaps %xmm3,%xmm6
  addss  %xmm0,%xmm6
  addss  %xmm14,%xmm6
  cvttss2si %xmm6,%edi
  call   <pow@plt>
  mulss  0x30(%rsp),%xmm0
  movss  0x2c(%rsp),%xmm6
  mov    $0x2,%esi
  movss  0x3c(%rsp),%xmm2
  movss  0x48(%rsp),%xmm11
  movss  0x50(%rsp),%xmm4
  movss  0x34(%rsp),%xmm3
  movss  0x20(%rsp),%xmm9
  movss  0x14(%rsp),%xmm7
  movss  %xmm11,0x2c(%rsp)
  movss  %xmm4,0x30(%rsp)
  addss  %xmm0,%xmm6
  movss  D228(%rip),%xmm0
  mulss  %xmm7,%xmm7
  movss  %xmm3,0x20(%rsp)
  mulss  %xmm2,%xmm0
  movaps %xmm11,%xmm2
  mulss  D484(%rip),%xmm2
  movss  %xmm6,0x8(%rsp)
  movss  %xmm7,0x14(%rsp)
  mulss  %xmm4,%xmm0
  mulss  %xmm3,%xmm2
  mulss  %xmm9,%xmm0
  addss  D80(%rip),%xmm0
  addss  (%rsp),%xmm0
  addss  %xmm2,%xmm0
  addss  0xc(%rsp),%xmm0
  cvttss2si %xmm0,%edi
  call   <pow@plt>
  movss  0x18(%rsp),%xmm4
  mov    $0x2,%esi
  movss  0x20(%rsp),%xmm3
  movss  D228(%rip),%xmm6
  mulss  0x14(%rsp),%xmm0
  mulss  %xmm4,%xmm4
  addss  0x8(%rsp),%xmm0
  movss  0x2c(%rsp),%xmm11
  mulss  %xmm3,%xmm6
  movss  D395(%rip),%xmm2
  movss  0x40(%rsp),%xmm7
  movss  0x38(%rsp),%xmm1
  movss  %xmm0,(%rsp)
  movss  %xmm4,0x8(%rsp)
  movss  0x30(%rsp),%xmm4
  movaps %xmm6,%xmm0
  movss  0x28(%rsp),%xmm6
  mulss  %xmm4,%xmm0
  mulss  %xmm6,%xmm2
  addss  D359(%rip),%xmm2
  mulss  %xmm11,%xmm0
  addss  %xmm2,%xmm0
  movss  D62(%rip),%xmm2
  mulss  %xmm6,%xmm2
  mulss  %xmm7,%xmm2
  addss  %xmm2,%xmm0
  movss  D283(%rip),%xmm2
  addss  0x4(%rsp),%xmm0
  mulss  %xmm6,%xmm2
  mulss  0x24(%rsp),%xmm2
  addss  %xmm2,%xmm0
  movss  D321(%rip),%xmm2
  addss  0x10(%rsp),%xmm0
  mulss  %xmm3,%xmm2
  mulss  D121(%rip),%xmm3
  addss  %xmm2,%xmm0
  addss  0x1c(%rsp),%xmm0
  mulss  %xmm1,%xmm3
  addss  %xmm3,%xmm0
  cvttss2si %xmm0,%edi
  call   <pow@plt>
  mulss  0x8(%rsp),%xmm0
  addss  (%rsp),%xmm0
  call   <sqrt@plt>
  movss  0x5c(%rsp),%xmm5
  jmp    L65
  nopw   0x0(%rax,%rax,1)
L77:
  pxor   %xmm0,%xmm0
  movaps %xmm0,%xmm5
  movaps %xmm0,%xmm3
  movaps %xmm0,%xmm6
  movaps %xmm0,%xmm8
  jmp    L94
L20:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: unpack_data
arguments: tag: D363
type: byte[4]
name: unpack_data
arguments: tag: D488
type: f32
name: unpack_data
arguments: tag: D187
type: f32
name: unpack_data
arguments: tag: D294
type: byte[4]
name: unpack_data
arguments: tag: D437
type: f32
name: unpack_data
arguments: tag: D172
type: byte[4]
name: unpack_data
arguments: tag: D104
type: byte[4]
name: unpack_data
arguments: tag: D186
type: byte[4]
name: unpack_data
arguments: tag: D236
type: byte[4]
name: unpack_data
arguments: tag: D247
type: byte[4]
name: unpack_data
arguments: tag: D133
type: byte[4]
name: unpack_data
arguments: tag: D108
type: byte[4]
name: unpack_data
arguments: tag: D10
type: byte[4]
name: unpack_data
arguments: tag: D406
type: byte[4]
name: unpack_data
arguments: tag: D80
type: byte[4]
name: unpack_data
arguments: tag: D359
type: byte[4]
name: unpack_data
arguments: tag: D105
type: byte[4]
name: unpack_data
arguments: tag: D295
type: byte[4]
name: unpack_data
arguments: tag: D277
type: byte[4]
name: unpack_data
arguments: tag: D64
type: byte[4]
name: unpack_data
arguments: tag: D258
type: byte[4]
name: unpack_data
arguments: tag: D215
type: byte[4]
name: unpack_data
arguments: tag: D226
type: byte[4]
name: unpack_data
arguments: tag: D51
type: byte[4]
name: unpack_data
arguments: tag: D412
type: byte[4]
name: unpack_data
arguments: tag: D49
type: byte[4]
name: unpack_data
arguments: tag: D202
type: byte[4]
name: unpack_data
arguments: tag: D393
type: byte[4]
name: unpack_data
arguments: tag: D443
type: byte[4]
name: unpack_data
arguments: tag: D235
type: byte[4]
name: unpack_data
arguments: tag: D103
type: byte[4]
name: unpack_data
arguments: tag: D471
type: byte[4]
name: unpack_data
arguments: tag: D249
type: byte[4]
name: unpack_data
arguments: tag: D283
type: byte[4]
name: unpack_data
arguments: tag: D309
type: byte[4]
name: unpack_data
arguments: tag: D228
type: byte[4]
name: unpack_data
arguments: tag: D484
type: byte[4]
name: unpack_data
arguments: tag: D395
type: byte[4]
name: unpack_data
arguments: tag: D62
type: byte[4]
name: unpack_data
arguments: tag: D321
type: byte[4]
name: unpack_data
arguments: tag: D121
type: byte[4]

tool: {"D363": [0x00,0x00,0x70,0xc1]}

tool: D488: 15

tool: D187: 2

tool: {"D294": [0x7b,0x14,0x90,0x41]}

tool: D437: 1

tool: {"D172": [0x6f,0x78,0xf5,0xb6]}

tool: {"D104": [0x19,0x04,0x90,0x41]}

tool: {"D186": [0xd3,0xe3,0x02,0xbd]}

tool: {"D236": [0xc4,0x88,0x3c,0x37]}

tool: {"D247": [0x47,0x27,0x37,0x38]}

tool: {"D133": [0x76,0x3a,0x9e,0xb6]}

tool: {"D108": [0x68,0x67,0x85,0x3a]}

tool: {"D10": [0x30,0x3d,0x27,0x3d]}

tool: {"D406": [0x68,0xb6,0x4c,0xbd]}

tool: {"D80": [0xa0,0xdf,0x49,0x3d]}

tool: {"D359": [0xfe,0x8f,0x6a,0x3d]}

tool: {"D105": [0x7d,0x29,0xac,0xb8]}

tool: {"D295": [0x77,0x20,0xc5,0xb9]}

tool: {"D277": [0x51,0xea,0xda,0x38]}

tool: {"D64": [0x5c,0x00,0x3b,0x39]}

tool: {"D258": [0x62,0x58,0x1d,0xb8]}

tool: {"D215": [0x66,0xe4,0xe4,0xb8]}

tool: {"D226": [0x48,0x66,0x6c,0x38]}

tool: {"D51": [0x51,0x7c,0x35,0xba]}

tool: {"D412": [0x3f,0xaa,0x9b,0xb8]}

tool: {"D49": [0x3c,0xad,0x8e,0xb7]}

tool: {"D202": [0x93,0x04,0xec,0xb8]}

tool: {"D393": [0xda,0x03,0x56,0xb8]}

tool: {"D443": [0xd3,0xe3,0x02,0x3d]}

tool: {"D235": [0x77,0x20,0x45,0xba]}

tool: {"D103": [0x5c,0x00,0xbb,0x39]}

tool: {"D471": [0x68,0xb6,0x4c,0x3d]}

tool: {"D249": [0x62,0x58,0x9d,0xb8]}

tool: {"D283": [0x66,0xe4,0xe4,0xb9]}

tool: {"D309": [0x48,0x66,0xec,0x38]}

tool: {"D228": [0x51,0xea,0x5a,0x39]}

tool: {"D484": [0x75,0x5d,0x09,0x39]}

tool: {"D395": [0x7d,0x29,0xac,0xb9]}

tool: {"D62": [0x5c,0x00,0x3b,0x3a]}

tool: {"D321": [0x51,0x7c,0xb5,0xba]}

tool: {"D121": [0x3f,0xaa,0x1b,0xb9]}

assistant: ```c
float target_theta(float *x, float *dx, int m) {
  int ncoeff = 20;
  float avdat = 0.4081295E-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] = {0.16888196E-04, -0.31955551E-01, -0.49978644E-01, 0.49285531E-01, 0.57266228E-01, -0.82093269E-04, -0.37598956E-03, 0.10438695E-03, 0.17833844E-03, 0.11237516E-04, 0.43667180E-04, -0.37514030E-04, -0.10914430E-03, -0.73155893E-05, -0.47155727E-05, 0.10177912E-02, -0.69231266E-03, 0.56362042E-04, -0.74226868E-04, -0.17008388E-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 x24 = x23 * 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] * x22 * x44 + coeff[9] * x21 * x31 + coeff[10] * x33 * x41 + coeff[11] * x13 * x22 + coeff[12] * x24 * x44 + coeff[13] * x11 * x21 + coeff[14] * x11 * x31 + coeff[15] * x21 * x41 + coeff[16] * x42;
  v_target_theta = v_target_theta + coeff[17] * x22 * x41 + coeff[18] * x21 * x42 + coeff[19] * x13 * x21;
  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 + 3 * coeff[19] * x12 * x21, 2) + dx2 * dx2 * pow(0 + coeff[2] + 2 * coeff[6] * x21 + 2 * coeff[8] * x21 * x44 + coeff[9] * x31 + 2 * coeff[11] * x21 * x13 + 4 * coeff[12] * x23 * x44 + coeff[13] * x11 + coeff[15] * x41 + 2 * coeff[17] * x21 * x41 + coeff[18] * x42 + coeff[19] * x13, 2) + dx3 * dx3 * pow(0 + coeff[3] + 2 * coeff[7] * x31 * x11 * x42 + coeff[9] * x21 + 3 * coeff[10] * x32 * x41 + coeff[14] * x11, 2) + dx4 * dx4 * pow(0 + coeff[4] + 4 * coeff[5] * x43 + 2 * coeff[7] * x41 * x11 * x32 + 4 * coeff[8] * x43 * x22 + coeff[10] * x33 + 4 * coeff[12] * x43 * x24 + coeff[15] * x21 + 2 * coeff[16] * x41 + coeff[17] * x22 + 2 * coeff[18] * x41 * x21, 2));
  dx[0] = dv_target_theta;
  return v_target_theta;
}
```