user: 下面的汇编指令对应的C源代码是什么:

```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  D139(%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  D97(%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    L77
  mov    %edx,%edx
  movss  D328(%rip),%xmm2
  jmp    L19
L56:
  subss  %xmm1,%xmm0
  movaps %xmm2,%xmm1
  divss  %xmm0,%xmm1
  movss  %xmm1,0xc0(%rsp,%rax,4)
L66:
  add    $0x1,%rax
  cmp    %rdx,%rax
  je     L77
L19:
  movss  0x60(%rsp,%rax,4),%xmm1
  movss  0x90(%rsp,%rax,4),%xmm0
  ucomiss %xmm0,%xmm1
  jp     L56
  jne    L56
  jmp    L66
L77:
  movss  0xc0(%rsp),%xmm1
  movss  (%rcx),%xmm0
  movss  D97(%rip),%xmm4
  subss  %xmm4,%xmm0
  movaps %xmm0,%xmm2
  mulss  %xmm1,%xmm2
  movss  D16(%rip),%xmm0
  movaps %xmm2,%xmm11
  addss  %xmm0,%xmm11
  movaps %xmm11,%xmm12
  movss  %xmm11,0x28(%rsp)
  mulss  (%rbx),%xmm1
  movss  0xc4(%rsp),%xmm3
  movss  0x4(%rcx),%xmm2
  subss  %xmm4,%xmm2
  mulss  %xmm3,%xmm2
  movaps %xmm2,%xmm4
  addss  %xmm0,%xmm4
  movss  %xmm4,0xc(%rsp)
  mulss  0x4(%rbx),%xmm3
  movss  %xmm3,0x14(%rsp)
  movss  0xc8(%rsp),%xmm3
  movss  0x8(%rcx),%xmm2
  subss  D21(%rip),%xmm2
  mulss  %xmm3,%xmm2
  addss  %xmm0,%xmm2
  movaps %xmm2,%xmm8
  movaps %xmm3,%xmm6
  mulss  0x8(%rbx),%xmm6
  movss  %xmm6,0x18(%rsp)
  movss  0xcc(%rsp),%xmm3
  movss  0xc(%rcx),%xmm2
  subss  D333(%rip),%xmm2
  mulss  %xmm3,%xmm2
  movaps %xmm2,%xmm13
  addss  %xmm0,%xmm13
  movaps %xmm13,%xmm14
  movss  %xmm13,0x20(%rsp)
  movaps %xmm3,%xmm7
  mulss  0xc(%rbx),%xmm7
  movss  %xmm7,0x1c(%rsp)
  movaps %xmm11,%xmm2
  mulss  %xmm11,%xmm2
  movaps %xmm11,%xmm9
  mulss  %xmm2,%xmm9
  movss  %xmm9,0x48(%rsp)
  movaps %xmm4,%xmm5
  movaps %xmm4,%xmm7
  mulss  %xmm4,%xmm5
  movaps %xmm5,%xmm4
  movss  %xmm5,0x2c(%rsp)
  movaps %xmm7,%xmm6
  mulss  %xmm5,%xmm6
  movss  %xmm6,0x4c(%rsp)
  movaps %xmm7,%xmm5
  mulss  %xmm6,%xmm5
  movss  %xmm5,0x50(%rsp)
  movaps %xmm8,%xmm3
  movaps %xmm8,%xmm0
  mulss  %xmm8,%xmm3
  movaps %xmm13,%xmm6
  mulss  %xmm13,%xmm6
  movaps %xmm6,%xmm13
  movss  %xmm6,0x24(%rsp)
  movaps %xmm14,%xmm15
  mulss  %xmm6,%xmm15
  movss  %xmm15,0x54(%rsp)
  movaps %xmm14,%xmm6
  mulss  %xmm15,%xmm6
  movaps %xmm6,%xmm15
  movss  %xmm6,0x58(%rsp)
  movaps %xmm7,%xmm8
  mulss  D260(%rip),%xmm8
  movss  %xmm8,0x30(%rsp)
  movss  %xmm0,0x4(%rsp)
  movss  %xmm3,0x8(%rsp)
  mulss  %xmm3,%xmm0
  movaps %xmm0,%xmm6
  mulss  D202(%rip),%xmm6
  movss  %xmm6,0x10(%rsp)
  mulss  D123(%rip),%xmm11
  movss  %xmm11,0x34(%rsp)
  movaps %xmm12,%xmm10
  mulss  D106(%rip),%xmm10
  movss  %xmm10,0x38(%rsp)
  movaps %xmm7,%xmm6
  mulss  D412(%rip),%xmm6
  movss  %xmm6,0x3c(%rsp)
  movaps %xmm12,%xmm0
  mulss  D457(%rip),%xmm0
  addss  D272(%rip),%xmm0
  movaps %xmm7,%xmm3
  mulss  D124(%rip),%xmm3
  addss  %xmm3,%xmm0
  movss  0x4(%rsp),%xmm3
  mulss  D170(%rip),%xmm3
  addss  %xmm3,%xmm0
  movaps %xmm14,%xmm3
  mulss  D198(%rip),%xmm3
  addss  %xmm3,%xmm0
  movaps %xmm15,%xmm3
  mulss  D58(%rip),%xmm3
  addss  %xmm3,%xmm0
  movaps %xmm4,%xmm3
  mulss  D485(%rip),%xmm3
  addss  %xmm3,%xmm0
  movaps %xmm12,%xmm3
  mulss  D53(%rip),%xmm3
  mulss  0x8(%rsp),%xmm3
  mulss  %xmm13,%xmm3
  addss  %xmm3,%xmm0
  movaps %xmm4,%xmm3
  mulss  D517(%rip),%xmm3
  mulss  %xmm15,%xmm3
  addss  %xmm3,%xmm0
  movaps %xmm8,%xmm3
  movss  0x4(%rsp),%xmm8
  mulss  %xmm8,%xmm3
  addss  %xmm3,%xmm0
  movss  0x10(%rsp),%xmm3
  mulss  %xmm14,%xmm3
  addss  %xmm3,%xmm0
  movaps %xmm9,%xmm3
  mulss  D269(%rip),%xmm3
  mulss  %xmm4,%xmm3
  addss  %xmm3,%xmm0
  mulss  D178(%rip),%xmm5
  movaps %xmm5,%xmm3
  mulss  %xmm15,%xmm3
  addss  %xmm3,%xmm0
  movaps %xmm11,%xmm3
  mulss  %xmm7,%xmm3
  addss  %xmm3,%xmm0
  movaps %xmm10,%xmm3
  mulss  %xmm8,%xmm3
  addss  %xmm3,%xmm0
  mulss  %xmm14,%xmm6
  addss  %xmm6,%xmm0
  mulss  D245(%rip),%xmm4
  movss  %xmm4,0x40(%rsp)
  movaps %xmm13,%xmm3
  mulss  D393(%rip),%xmm3
  addss  %xmm3,%xmm0
  mulss  %xmm14,%xmm4
  addss  %xmm4,%xmm0
  movaps %xmm7,%xmm3
  mulss  D365(%rip),%xmm3
  mulss  %xmm13,%xmm3
  addss  %xmm3,%xmm0
  mulss  D361(%rip),%xmm9
  movss  %xmm9,0x44(%rsp)
  movaps %xmm9,%xmm3
  mulss  %xmm7,%xmm3
  movaps %xmm3,%xmm4
  addss  %xmm0,%xmm4
  movd   %xmm4,%r14d
  pxor   %xmm3,%xmm3
  movaps %xmm1,%xmm0
  addss  %xmm3,%xmm0
  addss  0x14(%rsp),%xmm0
  addss  0x18(%rsp),%xmm0
  addss  0x1c(%rsp),%xmm0
  ucomiss %xmm3,%xmm0
  jp     L88
  movaps %xmm3,%xmm0
  jne    L88
L54:
  movss  %xmm0,(%rbx)
  mov    0xe8(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L17
  movd   %r14d,%xmm0
  add    $0xf8,%rsp
  pop    %rbx
  pop    %r14
  ret
L88:
  mulss  %xmm1,%xmm1
  movss  %xmm1,0x5c(%rsp)
  movss  0x8(%rsp),%xmm0
  mulss  D53(%rip),%xmm0
  mulss  0x24(%rsp),%xmm0
  subss  D515(%rip),%xmm0
  movaps %xmm2,%xmm1
  mulss  D413(%rip),%xmm1
  mulss  0x2c(%rsp),%xmm1
  addss  %xmm1,%xmm0
  movss  0xc(%rsp),%xmm5
  movaps %xmm5,%xmm1
  mulss  D123(%rip),%xmm1
  addss  %xmm1,%xmm0
  movss  0x4(%rsp),%xmm1
  mulss  D106(%rip),%xmm1
  addss  %xmm1,%xmm0
  mulss  D233(%rip),%xmm2
  mulss  %xmm5,%xmm2
  addss  %xmm0,%xmm2
  cvttss2si %xmm2,%edi
  mov    $0x2,%esi
  call   <pow@plt>
  mulss  0x5c(%rsp),%xmm0
  movss  %xmm0,0x5c(%rsp)
  movss  0x14(%rsp),%xmm6
  mulss  %xmm6,%xmm6
  movss  %xmm6,0x14(%rsp)
  movss  0xc(%rsp),%xmm5
  movaps %xmm5,%xmm0
  mulss  D479(%rip),%xmm0
  subss  D450(%rip),%xmm0
  movaps %xmm5,%xmm1
  mulss  D129(%rip),%xmm1
  movss  0x58(%rsp),%xmm12
  mulss  %xmm12,%xmm1
  addss  %xmm1,%xmm0
  movss  0x4(%rsp),%xmm1
  mulss  D260(%rip),%xmm1
  addss  %xmm1,%xmm0
  movaps %xmm5,%xmm1
  mulss  D72(%rip),%xmm1
  mulss  0x48(%rsp),%xmm1
  addss  %xmm1,%xmm0
  movss  D372(%rip),%xmm9
  mulss  0x4c(%rsp),%xmm9
  movaps %xmm9,%xmm1
  mulss  %xmm12,%xmm1
  addss  %xmm1,%xmm0
  addss  0x34(%rsp),%xmm0
  movss  0x20(%rsp),%xmm6
  movaps %xmm6,%xmm1
  mulss  D412(%rip),%xmm1
  addss  %xmm1,%xmm0
  movaps %xmm5,%xmm1
  mulss  D126(%rip),%xmm1
  mulss  %xmm6,%xmm1
  addss  %xmm1,%xmm0
  movss  0x24(%rsp),%xmm4
  mulss  D365(%rip),%xmm4
  addss  %xmm4,%xmm0
  addss  0x44(%rsp),%xmm0
  cvttss2si %xmm0,%edi
  mov    $0x2,%esi
  call   <pow@plt>
  mulss  0x14(%rsp),%xmm0
  movaps %xmm0,%xmm12
  addss  0x5c(%rsp),%xmm12
  movss  %xmm12,0x14(%rsp)
  movss  0x18(%rsp),%xmm3
  mulss  %xmm3,%xmm3
  movss  %xmm3,0x18(%rsp)
  movss  D244(%rip),%xmm0
  mulss  0x4(%rsp),%xmm0
  mulss  0x28(%rsp),%xmm0
  mulss  0x24(%rsp),%xmm0
  addss  D170(%rip),%xmm0
  addss  0x30(%rsp),%xmm0
  movss  0x8(%rsp),%xmm7
  mulss  D90(%rip),%xmm7
  movaps %xmm7,%xmm1
  mulss  0x20(%rsp),%xmm1
  addss  %xmm1,%xmm0
  addss  0x38(%rsp),%xmm0
  cvttss2si %xmm0,%edi
  mov    $0x2,%esi
  call   <pow@plt>
  mulss  0x18(%rsp),%xmm0
  addss  0x14(%rsp),%xmm0
  movss  %xmm0,0x4(%rsp)
  movss  0x1c(%rsp),%xmm2
  mulss  %xmm2,%xmm2
  movss  %xmm2,0x14(%rsp)
  movss  D244(%rip),%xmm10
  movss  0x20(%rsp),%xmm6
  mulss  %xmm6,%xmm10
  movaps %xmm10,%xmm0
  mulss  0x28(%rsp),%xmm0
  mulss  0x8(%rsp),%xmm0
  movss  0x54(%rsp),%xmm7
  movaps %xmm7,%xmm4
  mulss  D140(%rip),%xmm4
  movaps %xmm4,%xmm1
  addss  D198(%rip),%xmm1
  addss  %xmm1,%xmm0
  movaps %xmm7,%xmm2
  mulss  D451(%rip),%xmm2
  movaps %xmm2,%xmm1
  mulss  0x2c(%rsp),%xmm1
  addss  %xmm1,%xmm0
  addss  0x10(%rsp),%xmm0
  movss  D372(%rip),%xmm4
  mulss  %xmm7,%xmm4
  movaps %xmm4,%xmm1
  mulss  0x50(%rsp),%xmm1
  addss  %xmm1,%xmm0
  addss  0x3c(%rsp),%xmm0
  movaps %xmm6,%xmm7
  mulss  D138(%rip),%xmm7
  addss  %xmm7,%xmm0
  movss  0x40(%rsp),%xmm7
  addss  %xmm0,%xmm7
  mulss  D127(%rip),%xmm6
  movaps %xmm6,%xmm0
  mulss  0xc(%rsp),%xmm0
  addss  %xmm7,%xmm0
  cvttss2si %xmm0,%edi
  mov    $0x2,%esi
  call   <pow@plt>
  mulss  0x14(%rsp),%xmm0
  addss  0x4(%rsp),%xmm0
  call   <sqrt@plt>
  jmp    L54
L17:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: extract_symbolic_data
arguments: tag: D139
type: byte[4]
name: extract_symbolic_data
arguments: tag: D97
type: f32
name: extract_symbolic_data
arguments: tag: D328
type: f32
name: extract_symbolic_data
arguments: tag: D16
type: f32
name: extract_symbolic_data
arguments: tag: D21
type: byte[4]
name: extract_symbolic_data
arguments: tag: D333
type: byte[4]
name: extract_symbolic_data
arguments: tag: D260
type: byte[4]
name: extract_symbolic_data
arguments: tag: D202
type: byte[4]
name: extract_symbolic_data
arguments: tag: D123
type: byte[4]
name: extract_symbolic_data
arguments: tag: D106
type: byte[4]
name: extract_symbolic_data
arguments: tag: D412
type: byte[4]
name: extract_symbolic_data
arguments: tag: D457
type: byte[4]
name: extract_symbolic_data
arguments: tag: D272
type: byte[4]
name: extract_symbolic_data
arguments: tag: D124
type: byte[4]
name: extract_symbolic_data
arguments: tag: D170
type: byte[4]
name: extract_symbolic_data
arguments: tag: D198
type: byte[4]
name: extract_symbolic_data
arguments: tag: D58
type: byte[4]
name: extract_symbolic_data
arguments: tag: D485
type: byte[4]
name: extract_symbolic_data
arguments: tag: D53
type: byte[4]
name: extract_symbolic_data
arguments: tag: D517
type: byte[4]
name: extract_symbolic_data
arguments: tag: D269
type: byte[4]
name: extract_symbolic_data
arguments: tag: D178
type: byte[4]
name: extract_symbolic_data
arguments: tag: D245
type: byte[4]
name: extract_symbolic_data
arguments: tag: D393
type: byte[4]
name: extract_symbolic_data
arguments: tag: D365
type: byte[4]
name: extract_symbolic_data
arguments: tag: D361
type: byte[4]
name: extract_symbolic_data
arguments: tag: D515
type: byte[4]
name: extract_symbolic_data
arguments: tag: D413
type: byte[4]
name: extract_symbolic_data
arguments: tag: D233
type: byte[4]
name: extract_symbolic_data
arguments: tag: D479
type: byte[4]
name: extract_symbolic_data
arguments: tag: D450
type: byte[4]
name: extract_symbolic_data
arguments: tag: D129
type: byte[4]
name: extract_symbolic_data
arguments: tag: D72
type: byte[4]
name: extract_symbolic_data
arguments: tag: D372
type: byte[4]
name: extract_symbolic_data
arguments: tag: D126
type: byte[4]
name: extract_symbolic_data
arguments: tag: D244
type: byte[4]
name: extract_symbolic_data
arguments: tag: D90
type: byte[4]
name: extract_symbolic_data
arguments: tag: D140
type: byte[4]
name: extract_symbolic_data
arguments: tag: D451
type: byte[4]
name: extract_symbolic_data
arguments: tag: D138
type: byte[4]
name: extract_symbolic_data
arguments: tag: D127
type: byte[4]

tool: {"D139": [0x00,0x00,0x70,0xc1]}

tool: D97: 15

tool: D328: 2

tool: D16: 1

tool: {"D21": [0x7b,0x14,0x90,0x41]}

tool: {"D333": [0x19,0x04,0x90,0x41]}

tool: {"D260": [0xc4,0x88,0x3c,0x37]}

tool: {"D202": [0x47,0x27,0x37,0x38]}

tool: {"D123": [0x6f,0x78,0xf5,0xb6]}

tool: {"D106": [0x76,0x3a,0x9e,0xb6]}

tool: {"D412": [0x68,0x67,0x85,0x3a]}

tool: {"D457": [0xd3,0xe3,0x02,0xbd]}

tool: {"D272": [0x30,0x3d,0x27,0x3d]}

tool: {"D124": [0x68,0xb6,0x4c,0xbd]}

tool: {"D170": [0xa0,0xdf,0x49,0x3d]}

tool: {"D198": [0xfe,0x8f,0x6a,0x3d]}

tool: {"D58": [0x7d,0x29,0xac,0xb8]}

tool: {"D485": [0x77,0x20,0xc5,0xb9]}

tool: {"D53": [0x51,0xea,0xda,0x38]}

tool: {"D517": [0x5c,0x00,0x3b,0x39]}

tool: {"D269": [0x62,0x58,0x1d,0xb8]}

tool: {"D178": [0x66,0xe4,0xe4,0xb8]}

tool: {"D245": [0x48,0x66,0x6c,0x38]}

tool: {"D393": [0x51,0x7c,0x35,0xba]}

tool: {"D365": [0x3f,0xaa,0x9b,0xb8]}

tool: {"D361": [0x3c,0xad,0x8e,0xb7]}

tool: {"D515": [0xd3,0xe3,0x02,0x3d]}

tool: {"D413": [0x93,0x04,0xec,0xb8]}

tool: {"D233": [0xda,0x03,0x56,0xb8]}

tool: {"D479": [0x77,0x20,0x45,0xba]}

tool: {"D450": [0x68,0xb6,0x4c,0x3d]}

tool: {"D129": [0x5c,0x00,0xbb,0x39]}

tool: {"D72": [0x62,0x58,0x9d,0xb8]}

tool: {"D372": [0x66,0xe4,0xe4,0xb9]}

tool: {"D126": [0x48,0x66,0xec,0x38]}

tool: {"D244": [0x51,0xea,0x5a,0x39]}

tool: {"D90": [0x75,0x5d,0x09,0x39]}

tool: {"D140": [0x7d,0x29,0xac,0xb9]}

tool: {"D451": [0x5c,0x00,0x3b,0x3a]}

tool: {"D138": [0x51,0x7c,0xb5,0xba]}

tool: {"D127": [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;
}
```