user: What would the C source look like for the assembly code provided here?

```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  D148(%rip),%xmm0
  movss  %xmm0,0x60(%rsp)
  movss  %xmm0,0x64(%rsp)
  movl   $0xc1900625,0x68(%rsp)
  movl   $0xc190147b,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  D498(%rip),%xmm0
  movss  %xmm0,0x90(%rsp)
  movss  %xmm0,0x94(%rsp)
  movl   $0x4190147b,0x98(%rsp)
  movl   $0x41900419,0x9c(%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    L11
  mov    %edx,%edx
  movss  D482(%rip),%xmm2
  jmp    L5
L53:
  subss  %xmm1,%xmm0
  movaps %xmm2,%xmm1
  divss  %xmm0,%xmm1
  movss  %xmm1,0xc0(%rsp,%rax,4)
L63:
  add    $0x1,%rax
  cmp    %rdx,%rax
  je     L11
L5:
  movss  0x60(%rsp,%rax,4),%xmm1
  movss  0x90(%rsp,%rax,4),%xmm0
  ucomiss %xmm0,%xmm1
  jp     L53
  jne    L53
  jmp    L63
L11:
  movss  0xc0(%rsp),%xmm1
  movss  (%rcx),%xmm0
  movss  D498(%rip),%xmm4
  subss  %xmm4,%xmm0
  movaps %xmm0,%xmm2
  mulss  %xmm1,%xmm2
  movss  D426(%rip),%xmm0
  movaps %xmm2,%xmm15
  addss  %xmm0,%xmm15
  mulss  (%rbx),%xmm1
  movss  0xc4(%rsp),%xmm3
  movss  0x4(%rcx),%xmm2
  subss  %xmm4,%xmm2
  mulss  %xmm3,%xmm2
  movaps %xmm2,%xmm5
  addss  %xmm0,%xmm5
  movaps %xmm5,%xmm8
  movss  %xmm5,0x10(%rsp)
  mulss  0x4(%rbx),%xmm3
  movss  %xmm3,0x1c(%rsp)
  movss  0xc8(%rsp),%xmm3
  movss  0x8(%rcx),%xmm2
  subss  D14(%rip),%xmm2
  mulss  %xmm3,%xmm2
  movaps %xmm2,%xmm6
  addss  %xmm0,%xmm6
  mulss  0x8(%rbx),%xmm3
  movss  %xmm3,0x20(%rsp)
  movss  0xcc(%rsp),%xmm3
  movss  0xc(%rcx),%xmm2
  subss  D401(%rip),%xmm2
  mulss  %xmm3,%xmm2
  movaps %xmm2,%xmm12
  addss  %xmm0,%xmm12
  movaps %xmm12,%xmm13
  movss  %xmm12,0x14(%rsp)
  movaps %xmm3,%xmm2
  mulss  0xc(%rbx),%xmm2
  movss  %xmm2,0x24(%rsp)
  movaps %xmm15,%xmm2
  mulss  %xmm15,%xmm2
  movaps %xmm15,%xmm14
  mulss  %xmm2,%xmm14
  movss  %xmm14,0x54(%rsp)
  movaps %xmm5,%xmm7
  mulss  %xmm5,%xmm7
  movaps %xmm7,%xmm9
  movss  %xmm7,0x30(%rsp)
  movaps %xmm5,%xmm3
  movaps %xmm7,%xmm5
  mulss  %xmm7,%xmm3
  movaps %xmm6,%xmm7
  mulss  %xmm6,%xmm7
  movss  %xmm6,0x4(%rsp)
  movaps %xmm6,%xmm4
  movss  %xmm7,0xc(%rsp)
  mulss  %xmm7,%xmm4
  movss  %xmm4,0x28(%rsp)
  movaps %xmm12,%xmm7
  mulss  %xmm12,%xmm7
  movaps %xmm7,%xmm12
  movss  %xmm7,0x2c(%rsp)
  movaps %xmm13,%xmm11
  mulss  %xmm7,%xmm11
  movss  %xmm11,0x34(%rsp)
  movaps %xmm13,%xmm10
  mulss  %xmm11,%xmm10
  movss  %xmm10,0x58(%rsp)
  movaps %xmm8,%xmm6
  mulss  D330(%rip),%xmm8
  movss  %xmm8,0x38(%rsp)
  movaps %xmm6,%xmm7
  mulss  D49(%rip),%xmm7
  movss  %xmm7,0x3c(%rsp)
  movaps %xmm15,%xmm4
  mulss  D90(%rip),%xmm4
  movss  %xmm4,0x18(%rsp)
  movaps %xmm15,%xmm4
  mulss  D388(%rip),%xmm15
  movss  %xmm15,0x40(%rsp)
  mulss  D309(%rip),%xmm5
  movss  %xmm5,0x44(%rsp)
  movss  %xmm4,0x8(%rsp)
  movaps %xmm4,%xmm0
  mulss  D123(%rip),%xmm0
  addss  D352(%rip),%xmm0
  movaps %xmm6,%xmm4
  mulss  D22(%rip),%xmm4
  addss  %xmm4,%xmm0
  movss  0x4(%rsp),%xmm4
  mulss  D275(%rip),%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm13,%xmm4
  mulss  D262(%rip),%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm10,%xmm4
  mulss  D272(%rip),%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm9,%xmm4
  mulss  D205(%rip),%xmm4
  addss  %xmm4,%xmm0
  movss  0x8(%rsp),%xmm4
  mulss  D270(%rip),%xmm4
  mulss  0xc(%rsp),%xmm4
  mulss  %xmm12,%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm8,%xmm4
  movss  0x4(%rsp),%xmm8
  mulss  %xmm8,%xmm4
  addss  %xmm4,%xmm0
  mulss  %xmm13,%xmm7
  addss  %xmm7,%xmm0
  movaps %xmm12,%xmm4
  mulss  D269(%rip),%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm14,%xmm7
  mulss  D355(%rip),%xmm7
  movaps %xmm7,%xmm4
  mulss  %xmm9,%xmm4
  addss  %xmm4,%xmm0
  movss  0x28(%rsp),%xmm7
  mulss  D479(%rip),%xmm7
  movaps %xmm7,%xmm4
  mulss  %xmm11,%xmm4
  addss  %xmm4,%xmm0
  movss  0x18(%rsp),%xmm4
  mulss  %xmm6,%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm15,%xmm4
  mulss  %xmm8,%xmm4
  addss  %xmm4,%xmm0
  mulss  %xmm13,%xmm5
  addss  %xmm5,%xmm0
  movaps %xmm2,%xmm5
  mulss  D134(%rip),%xmm5
  movss  %xmm5,0x48(%rsp)
  mulss  %xmm6,%xmm5
  movss  %xmm5,0x4c(%rsp)
  mulss  %xmm8,%xmm5
  movss  %xmm5,0x50(%rsp)
  mulss  D18(%rip),%xmm6
  movaps %xmm6,%xmm4
  mulss  %xmm12,%xmm4
  addss  %xmm4,%xmm0
  mulss  %xmm13,%xmm5
  addss  %xmm5,%xmm0
  mulss  D67(%rip),%xmm8
  movaps %xmm8,%xmm4
  mulss  %xmm10,%xmm4
  addss  %xmm4,%xmm0
  mulss  D484(%rip),%xmm14
  movaps %xmm14,%xmm4
  mulss  %xmm3,%xmm4
  addss  %xmm0,%xmm4
  movd   %xmm4,%r14d
  pxor   %xmm4,%xmm4
  movaps %xmm1,%xmm0
  addss  %xmm4,%xmm0
  addss  0x1c(%rsp),%xmm0
  addss  0x20(%rsp),%xmm0
  addss  0x24(%rsp),%xmm0
  ucomiss %xmm4,%xmm0
  jp     L19
  movaps %xmm4,%xmm0
  jne    L19
L22:
  movss  %xmm0,(%rbx)
  mov    0xe8(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L78
  movd   %r14d,%xmm0
  add    $0xf8,%rsp
  pop    %rbx
  pop    %r14
  ret
L19:
  mulss  %xmm1,%xmm1
  movss  %xmm1,0x5c(%rsp)
  movss  0xc(%rsp),%xmm0
  mulss  D270(%rip),%xmm0
  mulss  0x2c(%rsp),%xmm0
  subss  D311(%rip),%xmm0
  movaps %xmm2,%xmm7
  mulss  D87(%rip),%xmm7
  movaps %xmm7,%xmm1
  mulss  0x30(%rsp),%xmm1
  addss  %xmm1,%xmm0
  movss  0x10(%rsp),%xmm6
  movaps %xmm6,%xmm1
  mulss  D90(%rip),%xmm1
  addss  %xmm1,%xmm0
  movss  0x4(%rsp),%xmm7
  movaps %xmm7,%xmm1
  mulss  D388(%rip),%xmm1
  addss  %xmm1,%xmm0
  movss  0x8(%rsp),%xmm1
  mulss  D308(%rip),%xmm1
  mulss  %xmm6,%xmm1
  mulss  %xmm7,%xmm1
  mulss  0x14(%rsp),%xmm1
  addss  %xmm1,%xmm0
  mulss  D431(%rip),%xmm2
  mulss  %xmm3,%xmm2
  addss  %xmm0,%xmm2
  cvttss2si %xmm2,%edi
  mov    $0x2,%esi
  call   <pow@plt>
  mulss  0x5c(%rsp),%xmm0
  movss  %xmm0,0x5c(%rsp)
  movss  0x1c(%rsp),%xmm10
  mulss  %xmm10,%xmm10
  movss  %xmm10,0x1c(%rsp)
  movss  0x10(%rsp),%xmm2
  movaps %xmm2,%xmm0
  mulss  D2(%rip),%xmm0
  subss  D162(%rip),%xmm0
  movss  0x4(%rsp),%xmm7
  movaps %xmm7,%xmm1
  mulss  D330(%rip),%xmm1
  addss  %xmm1,%xmm0
  movss  0x14(%rsp),%xmm3
  movaps %xmm3,%xmm1
  mulss  D49(%rip),%xmm1
  addss  %xmm1,%xmm0
  movaps %xmm2,%xmm1
  mulss  D42(%rip),%xmm1
  movss  0x54(%rsp),%xmm14
  mulss  %xmm14,%xmm1
  addss  %xmm1,%xmm0
  addss  0x18(%rsp),%xmm0
  movaps %xmm2,%xmm1
  mulss  D100(%rip),%xmm1
  mulss  %xmm3,%xmm1
  addss  %xmm1,%xmm0
  movss  0x2c(%rsp),%xmm5
  mulss  D18(%rip),%xmm5
  addss  %xmm5,%xmm0
  movss  0x48(%rsp),%xmm12
  mulss  %xmm7,%xmm12
  movaps %xmm12,%xmm1
  mulss  %xmm3,%xmm1
  addss  %xmm0,%xmm1
  movss  D431(%rip),%xmm12
  mulss  0x30(%rsp),%xmm12
  movaps %xmm12,%xmm0
  mulss  %xmm14,%xmm0
  addss  %xmm1,%xmm0
  cvttss2si %xmm0,%edi
  mov    $0x2,%esi
  call   <pow@plt>
  mulss  0x1c(%rsp),%xmm0
  movaps %xmm0,%xmm10
  addss  0x5c(%rsp),%xmm10
  movss  %xmm10,0x18(%rsp)
  movss  0x20(%rsp),%xmm14
  mulss  %xmm14,%xmm14
  movss  %xmm14,0x1c(%rsp)
  movss  D113(%rip),%xmm0
  mulss  0x4(%rsp),%xmm0
  mulss  0x8(%rsp),%xmm0
  mulss  0x2c(%rsp),%xmm0
  addss  D275(%rip),%xmm0
  addss  0x38(%rsp),%xmm0
  movss  D210(%rip),%xmm1
  mulss  0xc(%rsp),%xmm1
  mulss  0x34(%rsp),%xmm1
  addss  %xmm1,%xmm0
  addss  0x40(%rsp),%xmm0
  movss  0x4c(%rsp),%xmm1
  mulss  0x14(%rsp),%xmm1
  addss  %xmm1,%xmm0
  movss  0x58(%rsp),%xmm1
  mulss  D67(%rip),%xmm1
  addss  %xmm1,%xmm0
  cvttss2si %xmm0,%edi
  mov    $0x2,%esi
  call   <pow@plt>
  mulss  0x1c(%rsp),%xmm0
  addss  0x18(%rsp),%xmm0
  movss  %xmm0,0x18(%rsp)
  movss  0x24(%rsp),%xmm0
  mulss  %xmm0,%xmm0
  movss  %xmm0,0x1c(%rsp)
  movss  D113(%rip),%xmm11
  movss  0x14(%rsp),%xmm3
  mulss  %xmm3,%xmm11
  movaps %xmm11,%xmm0
  mulss  0x8(%rsp),%xmm0
  mulss  0xc(%rsp),%xmm0
  movss  0x34(%rsp),%xmm4
  movaps %xmm4,%xmm1
  mulss  D325(%rip),%xmm1
  addss  D262(%rip),%xmm1
  addss  %xmm1,%xmm0
  addss  0x3c(%rsp),%xmm0
  movaps %xmm3,%xmm1
  mulss  D349(%rip),%xmm1
  addss  %xmm1,%xmm0
  movss  D210(%rip),%xmm1
  mulss  0x2c(%rsp),%xmm1
  mulss  0x28(%rsp),%xmm1
  addss  %xmm1,%xmm0
  movss  0x44(%rsp),%xmm6
  addss  %xmm0,%xmm6
  mulss  D45(%rip),%xmm3
  movaps %xmm3,%xmm0
  mulss  0x10(%rsp),%xmm0
  addss  %xmm6,%xmm0
  addss  0x50(%rsp),%xmm0
  movaps %xmm4,%xmm1
  mulss  D529(%rip),%xmm1
  mulss  0x4(%rsp),%xmm1
  addss  %xmm1,%xmm0
  cvttss2si %xmm0,%edi
  mov    $0x2,%esi
  call   <pow@plt>
  mulss  0x1c(%rsp),%xmm0
  addss  0x18(%rsp),%xmm0
  call   <sqrt@plt>
  jmp    L22
L78:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: read_data
arguments: data_tag: D148
datatype: byte[4]
name: read_data
arguments: data_tag: D498
datatype: f32
name: read_data
arguments: data_tag: D482
datatype: f32
name: read_data
arguments: data_tag: D426
datatype: f32
name: read_data
arguments: data_tag: D14
datatype: byte[4]
name: read_data
arguments: data_tag: D401
datatype: byte[4]
name: read_data
arguments: data_tag: D330
datatype: byte[4]
name: read_data
arguments: data_tag: D49
datatype: byte[4]
name: read_data
arguments: data_tag: D90
datatype: byte[4]
name: read_data
arguments: data_tag: D388
datatype: byte[4]
name: read_data
arguments: data_tag: D309
datatype: byte[4]
name: read_data
arguments: data_tag: D123
datatype: byte[4]
name: read_data
arguments: data_tag: D352
datatype: byte[4]
name: read_data
arguments: data_tag: D22
datatype: byte[4]
name: read_data
arguments: data_tag: D275
datatype: byte[4]
name: read_data
arguments: data_tag: D262
datatype: byte[4]
name: read_data
arguments: data_tag: D272
datatype: byte[4]
name: read_data
arguments: data_tag: D205
datatype: byte[4]
name: read_data
arguments: data_tag: D270
datatype: byte[4]
name: read_data
arguments: data_tag: D269
datatype: byte[4]
name: read_data
arguments: data_tag: D355
datatype: byte[4]
name: read_data
arguments: data_tag: D479
datatype: byte[4]
name: read_data
arguments: data_tag: D134
datatype: byte[4]
name: read_data
arguments: data_tag: D18
datatype: byte[4]
name: read_data
arguments: data_tag: D67
datatype: byte[4]
name: read_data
arguments: data_tag: D484
datatype: byte[4]
name: read_data
arguments: data_tag: D311
datatype: byte[4]
name: read_data
arguments: data_tag: D87
datatype: byte[4]
name: read_data
arguments: data_tag: D308
datatype: byte[4]
name: read_data
arguments: data_tag: D431
datatype: byte[4]
name: read_data
arguments: data_tag: D2
datatype: byte[4]
name: read_data
arguments: data_tag: D162
datatype: byte[4]
name: read_data
arguments: data_tag: D42
datatype: byte[4]
name: read_data
arguments: data_tag: D100
datatype: byte[4]
name: read_data
arguments: data_tag: D113
datatype: byte[4]
name: read_data
arguments: data_tag: D210
datatype: byte[4]
name: read_data
arguments: data_tag: D325
datatype: byte[4]
name: read_data
arguments: data_tag: D349
datatype: byte[4]
name: read_data
arguments: data_tag: D45
datatype: byte[4]
name: read_data
arguments: data_tag: D529
datatype: byte[4]

tool: {"D148": [0x00,0x00,0x70,0xc1]}

tool: D498: 15

tool: D482: 2

tool: D426: 1

tool: {"D14": [0x7b,0x14,0x90,0x41]}

tool: {"D401": [0x19,0x04,0x90,0x41]}

tool: {"D330": [0x0d,0x2b,0xa7,0x37]}

tool: {"D49": [0xea,0xaf,0x88,0x3a]}

tool: {"D90": [0xb8,0x64,0x71,0xb7]}

tool: {"D388": [0xf2,0x36,0x98,0xb6]}

tool: {"D309": [0xe7,0x79,0x6a,0x38]}

tool: {"D123": [0x3a,0x9d,0x02,0xbd]}

tool: {"D352": [0x04,0xf9,0x27,0x3d]}

tool: {"D22": [0x9c,0xe6,0x4c,0xbd]}

tool: {"D275": [0xc2,0x8b,0x49,0x3d]}

tool: {"D262": [0x73,0xda,0x6a,0x3d]}

tool: {"D272": [0x80,0x28,0x54,0xb6]}

tool: {"D205": [0xc0,0x78,0xc8,0xb9]}

tool: {"D270": [0x7e,0xdc,0xcf,0x39]}

tool: {"D269": [0x63,0xd4,0x3c,0xba]}

tool: {"D355": [0x55,0x9d,0x04,0x39]}

tool: {"D479": [0xf0,0xec,0x50,0x38]}

tool: {"D134": [0xd4,0x66,0xee,0xb9]}

tool: {"D18": [0xbf,0x7d,0x9a,0xb8]}

tool: {"D67": [0x20,0xc6,0x8b,0x37]}

tool: {"D484": [0x49,0x0e,0x60,0xb7]}

tool: {"D311": [0x3a,0x9d,0x02,0x3d]}

tool: {"D87": [0x00,0xec,0xc6,0x39]}

tool: {"D308": [0xd4,0x66,0x6e,0xba]}

tool: {"D431": [0xb7,0x0a,0x28,0xb8]}

tool: {"D2": [0xc0,0x78,0x48,0xba]}

tool: {"D162": [0x9c,0xe6,0x4c,0x3d]}

tool: {"D42": [0x55,0x9d,0x84,0x39]}

tool: {"D100": [0xe7,0x79,0xea,0x38]}

tool: {"D113": [0x7e,0xdc,0x4f,0x3a]}

tool: {"D210": [0xb4,0xb1,0x1c,0x39]}

tool: {"D325": [0x80,0x28,0x54,0xb7]}

tool: {"D349": [0x63,0xd4,0xbc,0xba]}

tool: {"D45": [0xbf,0x7d,0x1a,0xb9]}

tool: {"D529": [0x20,0xc6,0x8b,0x38]}

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;
}
```