- 3.0.2 models module.
HyALinearizedForward-impl.h
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1 /**********************************************************************************************************************
2 This file is part of the Control Toolbox (https://github.com/ethz-adrl/control-toolbox), copyright by ETH Zurich.
3 Licensed under the BSD-2 license (see LICENSE file in main directory)
4 **********************************************************************************************************************/
5 
6 #include "HyALinearizedForward.h"
7 
8 namespace ct {
9 namespace models {
10 namespace HyA {
11 namespace tpl {
12 
13 template <typename SCALAR>
14 const typename HyALinearizedForward<SCALAR>::state_matrix_t& HyALinearizedForward<SCALAR>::getDerivativeState(
15  const ct::core::StateVector<12, SCALAR>& x,
16  const ct::core::ControlVector<6, SCALAR>& u,
17  const SCALAR t)
18 {
19  SCALAR* jac = dFdx_.data();
20  Eigen::Matrix<SCALAR, 12 + 6, 1> x_in;
21  x_in << x, u;
22 
23  vX_[0] = cos(x_in[1]);
24  vX_[1] = -1 * sin(x_in[1]);
25  vX_[2] = vX_[1] * x_in[6];
26  vX_[3] = vX_[2] * x_in[7];
27  vX_[4] = sin(x_in[1]);
28  vX_[5] = vX_[4] * x_in[6];
29  vX_[6] = cos(x_in[1]);
30  vX_[7] = vX_[6] * x_in[6];
31  vX_[8] = vX_[5] * vX_[7] + vX_[7] * vX_[5];
32  vX_[9] = cos(x_in[2]);
33  vX_[10] = vX_[5] + x_in[8];
34  vX_[11] = sin(x_in[2]);
35  vX_[12] = -0.112 * vX_[11];
36  vX_[13] = vX_[12] * vX_[2];
37  vX_[14] = vX_[0] * x_in[6];
38  vX_[15] = 0.112 * vX_[9];
39  vX_[16] = vX_[12] * vX_[14] + vX_[15] * x_in[7];
40  vX_[17] = -(vX_[10] * vX_[13] + vX_[7] * vX_[16]);
41  vX_[18] = vX_[9] * vX_[14] + vX_[11] * x_in[7];
42  vX_[19] = vX_[9] * vX_[2];
43  vX_[20] = vX_[18] * vX_[7] + vX_[19] * vX_[10];
44  vX_[21] = vX_[10] * vX_[7] + vX_[7] * vX_[10];
45  vX_[22] = 0 - vX_[9];
46  vX_[23] = vX_[11] * vX_[14] + vX_[22] * x_in[7];
47  vX_[24] = vX_[11] * vX_[2];
48  vX_[25] = vX_[23] * vX_[24] + vX_[24] * vX_[23];
49  vX_[26] = cos(x_in[3]);
50  vX_[27] = sin(x_in[3]);
51  vX_[28] = 0 - vX_[27];
52  vX_[29] = vX_[26] * vX_[18] + vX_[28] * vX_[10];
53  vX_[30] = 0.112 * vX_[9];
54  vX_[31] = vX_[30] * vX_[2];
55  vX_[32] = -0.304 * vX_[19] + -1 * vX_[31];
56  vX_[33] = vX_[26] * vX_[19] + vX_[28] * vX_[7];
57  vX_[34] = 0.112 * vX_[11];
58  vX_[35] = vX_[30] * vX_[14] + vX_[34] * x_in[7];
59  vX_[36] = -0.304 * vX_[18] + -1 * vX_[35];
60  vX_[37] = -1 * vX_[23] + x_in[9];
61  vX_[38] = -0.304 * vX_[26];
62  vX_[39] = vX_[38] * vX_[24] + vX_[26] * vX_[13];
63  vX_[40] = -1 * vX_[24];
64  vX_[41] = vX_[38] * vX_[23] + vX_[26] * vX_[16];
65  vX_[42] = vX_[29] * vX_[32] + vX_[33] * vX_[36] - (vX_[37] * vX_[39] + vX_[40] * vX_[41]);
66  vX_[43] = vX_[29] * vX_[40] + vX_[33] * vX_[37];
67  vX_[44] = vX_[37] * vX_[40] + vX_[40] * vX_[37];
68  vX_[45] = vX_[27] * vX_[18] + vX_[26] * vX_[10];
69  vX_[46] = vX_[27] * vX_[19] + vX_[26] * vX_[7];
70  vX_[47] = vX_[45] * vX_[46] + vX_[46] * vX_[45];
71  vX_[48] = cos(x_in[4]);
72  vX_[49] = sin(x_in[4]);
73  vX_[50] = vX_[48] * vX_[29] + vX_[49] * vX_[37];
74  vX_[51] = -0.304 * vX_[27];
75  vX_[52] = vX_[51] * vX_[24] + vX_[27] * vX_[13];
76  vX_[53] = vX_[48] * vX_[33] + vX_[49] * vX_[40];
77  vX_[54] = vX_[51] * vX_[23] + vX_[27] * vX_[16];
78  vX_[55] = vX_[45] + x_in[10];
79  vX_[56] = 0.112 * vX_[48];
80  vX_[57] = -0.112 * vX_[49];
81  vX_[58] = vX_[56] * vX_[40] + vX_[57] * vX_[33] + vX_[48] * vX_[39] + vX_[49] * vX_[32];
82  vX_[59] = vX_[56] * vX_[37] + vX_[57] * vX_[29] + vX_[48] * vX_[41] + vX_[49] * vX_[36];
83  vX_[60] = vX_[50] * vX_[52] + vX_[53] * vX_[54] - (vX_[55] * vX_[58] + vX_[46] * vX_[59]);
84  vX_[61] = vX_[50] * vX_[46] + vX_[53] * vX_[55];
85  vX_[62] = vX_[55] * vX_[46] + vX_[46] * vX_[55];
86  vX_[63] = 0 - vX_[48];
87  vX_[64] = vX_[49] * vX_[29] + vX_[63] * vX_[37];
88  vX_[65] = vX_[49] * vX_[33] + vX_[63] * vX_[40];
89  vX_[66] = vX_[64] * vX_[65] + vX_[65] * vX_[64];
90  vX_[67] = sin(x_in[5]);
91  vX_[68] = cos(x_in[5]);
92  vX_[69] = vX_[67] * vX_[64] + vX_[68] * vX_[55];
93  vX_[70] = 0 - vX_[67];
94  vX_[71] = vX_[68] * vX_[65] + vX_[70] * vX_[46];
95  vX_[72] = vX_[67] * vX_[65] + vX_[68] * vX_[46];
96  vX_[73] = vX_[68] * vX_[64] + vX_[70] * vX_[55];
97  vX_[74] = vX_[69] * vX_[71] + vX_[72] * vX_[73];
98  vX_[75] = vX_[50] + x_in[11];
99  vX_[76] = 0.112 * vX_[49];
100  vX_[77] = 0.112 * vX_[48];
101  vX_[78] = 0 - vX_[48];
102  vX_[79] = vX_[76] * vX_[40] + vX_[77] * vX_[33] + vX_[49] * vX_[39] + vX_[78] * vX_[32];
103  vX_[80] = 0.184 * vX_[67] - 0.02075 * vX_[68];
104  vX_[81] = vX_[67] * vX_[79] + vX_[80] * vX_[53] + vX_[68] * vX_[52];
105  vX_[82] = vX_[76] * vX_[37] + vX_[77] * vX_[29] + vX_[49] * vX_[41] + vX_[78] * vX_[36];
106  vX_[83] = vX_[67] * vX_[82] + vX_[80] * vX_[50] + vX_[68] * vX_[54];
107  vX_[84] = vX_[75] * vX_[81] + vX_[53] * vX_[83];
108  vX_[85] = 0.02075 * vX_[46] + -0.184 * vX_[65] + vX_[58];
109  vX_[86] = 0.02075 * vX_[55] + -0.184 * vX_[64] + vX_[59];
110  vX_[87] = vX_[69] * vX_[85] + vX_[72] * vX_[86];
111  vX_[88] = vX_[69] * vX_[53] + vX_[72] * vX_[75];
112  vX_[89] = vX_[73] * vX_[53] + vX_[71] * vX_[75];
113  vX_[90] = vX_[73] * vX_[71] + vX_[71] * vX_[73];
114  vX_[91] = vX_[69] * vX_[72] + vX_[72] * vX_[69];
115  vX_[92] = -0.00751 * vX_[74] + 0.038686875 * (vX_[84] - vX_[87]) + -0.000829 * vX_[88] - 1.5e-05 * vX_[89] -
116  0.000198 * (vX_[90] - vX_[91]);
117  vX_[93] = 0 - vX_[92];
118  vX_[94] = 0.02075 * vX_[67] + 0.184 * vX_[68];
119  vX_[95] = 0 - vX_[67];
120  vX_[96] = vX_[68] * vX_[79] + vX_[94] * vX_[53] + vX_[95] * vX_[52];
121  vX_[97] = vX_[68] * vX_[82] + vX_[94] * vX_[50] + vX_[95] * vX_[54];
122  vX_[98] = vX_[75] * vX_[53] + vX_[53] * vX_[75];
123  vX_[85] = 1.547475 * (vX_[73] * vX_[85] + vX_[71] * vX_[86] - (vX_[75] * vX_[96] + vX_[53] * vX_[97])) +
124  1.547475 * vX_[96] * x_in[11] - 0.038686875 * (vX_[98] + vX_[90]);
125  vX_[99] = (-vX_[72]) * x_in[11];
126  vX_[100] = vX_[71] * x_in[11];
127  vX_[101] = (-vX_[81]) * x_in[11];
128  vX_[87] = 0.038686875 * vX_[74] + -1.547475 * (vX_[87] - vX_[84]) + 0.00345708950900075 * vX_[99] +
129  -6.25528861700981e-05 * vX_[100] + 1.38614328745655 * vX_[101] + (0.038686875 * vX_[93]) / 0.009277;
130  vX_[84] = 1.547475 * vX_[80];
131  vX_[102] = -0.184 * vX_[68] + 0.02075 * vX_[70];
132  vX_[103] = 0 - 1.38614328745655 * vX_[102];
133  vX_[104] = vX_[84] * vX_[80] - vX_[103] * vX_[102];
134  vX_[105] = 0 - -6.25528861700981e-05 * vX_[102];
135  vX_[106] = 0 - 0.00345708950900075 * vX_[102];
136  vX_[107] = 0 - vX_[106];
137  vX_[108] = -0.001243 + vX_[68] * vX_[105] + vX_[67] * vX_[107];
138  vX_[109] = 0 - 1.547475 * vX_[80];
139  vX_[110] = 0.0107369757464698 - vX_[109] * vX_[80] - vX_[104];
140  vX_[111] = 0.000199340411771047 + vX_[109] * vX_[102] - -0.038686875 * vX_[80];
141  vX_[112] = vX_[68] * vX_[110] + vX_[70] * vX_[111];
142  vX_[113] = 1.547475 * vX_[102];
143  vX_[114] = 0.00315291990945349 + -0.07737375 * vX_[102] + vX_[113] * vX_[102] - vX_[104];
144  vX_[115] = vX_[68] * vX_[111] + vX_[70] * vX_[114];
145  vX_[116] = vX_[112] * vX_[68] + vX_[115] * vX_[70];
146  vX_[117] = 0.011046 + vX_[104] + vX_[116];
147  vX_[118] = vX_[108] / vX_[117];
148  vX_[119] = 0.029115 + vX_[104] - vX_[108] * vX_[118];
149  vX_[120] = (-vX_[65]) * x_in[10];
150  vX_[106] = 2. * vX_[106];
151  vX_[121] = 2. * vX_[105];
152  vX_[122] = -0.012652 + vX_[115] * vX_[68] + vX_[112] * vX_[67];
153  vX_[123] = -0.001387 + vX_[106] * vX_[68] + vX_[121] * vX_[67] + vX_[70] * vX_[105] + vX_[68] * vX_[107] -
154  vX_[122] * vX_[118];
155  vX_[124] = vX_[53] * x_in[10];
156  vX_[125] = -0.038686875 + vX_[113];
157  vX_[126] = vX_[103] + vX_[125];
158  vX_[127] = vX_[84] + vX_[109];
159  vX_[125] = 0 - vX_[125];
160  vX_[128] = vX_[68] * vX_[125] + vX_[70] * vX_[109];
161  vX_[129] = -6.25528861700981e-05 * vX_[68] + 0.00345708950900075 * vX_[70];
162  vX_[130] = vX_[129] * vX_[68];
163  vX_[131] = vX_[130] / vX_[117];
164  vX_[132] = 0.057838 + vX_[126] * vX_[68] + vX_[127] * vX_[67] + vX_[128] - vX_[108] * vX_[131];
165  vX_[133] = vX_[58] * x_in[10];
166  vX_[134] = vX_[67] * vX_[125] + vX_[68] * vX_[109];
167  vX_[135] = vX_[134] / vX_[117];
168  vX_[136] = 0 - vX_[108] * vX_[135];
169  vX_[137] = (-vX_[79]) * x_in[10];
170  vX_[138] = vX_[64] * vX_[46] + vX_[65] * vX_[55];
171  vX_[139] = vX_[64] * vX_[53] + vX_[65] * vX_[50];
172  vX_[96] = vX_[69] * vX_[96] + vX_[72] * vX_[97] - (vX_[73] * vX_[81] + vX_[71] * vX_[83]);
173  vX_[91] = 0.000198 * vX_[89] + 1.5e-05 * (vX_[98] - vX_[91]) + 0.00315291990945349 * vX_[99] +
174  0.000199340411771047 * vX_[100] + 0.00345708950900075 * vX_[101] + (-0.000829 * vX_[93]) / 0.009277 -
175  0.038686875 * vX_[96] - -0.00146 * vX_[88] - -0.000829 * vX_[74];
176  vX_[98] = 0.00605 * vX_[89] + 1.5e-05 * vX_[74] + 0.000199340411771047 * vX_[99] + 0.0107369757464698 * vX_[100] +
177  -6.25528861700981e-05 * vX_[101] + (1.5e-05 * vX_[93]) / 0.009277 - 0.000198 * vX_[88] -
178  -0.000829 * (vX_[98] - vX_[90]);
179  vX_[96] = 0.038686875 * vX_[88] + 1.547475 * vX_[96] + -0.038686875 * vX_[99];
180  vX_[88] = vX_[50] * vX_[53] + vX_[53] * vX_[50];
181  vX_[90] = -0.001243 * vX_[138] + 0.009683 * vX_[139] + vX_[70] * vX_[91] + vX_[68] * vX_[98] + 0.02075 * vX_[96] -
182  -0.012652 * vX_[61] - -0.001387 * (vX_[88] - vX_[66]);
183  vX_[89] = 0 - vX_[90];
184  vX_[92] = 0.057838 * vX_[60] + -0.001387 * vX_[61] + -0.012652 * (vX_[62] - vX_[66]) +
185  (0.009277 * vX_[93]) / 0.009277 + vX_[92] + vX_[80] * vX_[85] + vX_[94] * vX_[87] + vX_[119] * vX_[120] +
186  vX_[123] * vX_[124] + vX_[132] * vX_[133] + vX_[136] * vX_[137] + (vX_[108] * vX_[89]) / vX_[117] -
187  -0.008386 * vX_[138] - -0.001243 * vX_[139];
188  vX_[74] = vX_[64] * vX_[52] + vX_[65] * vX_[54] - (vX_[55] * vX_[79] + vX_[46] * vX_[82]);
189  vX_[81] = vX_[122] / vX_[117];
190  vX_[116] = 0.019432 + vX_[114] + vX_[110] + vX_[104] - vX_[116] - vX_[122] * vX_[81];
191  vX_[104] = -6.25528861700981e-05 * vX_[67] + 0.00345708950900075 * vX_[68];
192  vX_[72] = vX_[104] * vX_[68] - vX_[122] * vX_[131];
193  vX_[128] = -0.057838 - vX_[128] - vX_[122] * vX_[135];
194  vX_[98] = -0.018069 * vX_[61] + 0.057838 * vX_[74] + -0.012652 * vX_[139] + vX_[68] * vX_[91] + vX_[67] * vX_[98] +
195  -0.184 * vX_[96] + vX_[123] * vX_[120] + vX_[116] * vX_[124] + vX_[72] * vX_[133] + vX_[128] * vX_[137] +
196  (vX_[122] * vX_[89]) / vX_[117] - -0.001387 * vX_[138] - -0.001243 * (vX_[62] - vX_[88]);
197  vX_[91] = -0.161331712543454 * vX_[70];
198  vX_[139] = vX_[91] * vX_[70];
199  vX_[62] = 3.48934328745655 - vX_[139] - vX_[130] * vX_[131];
200  vX_[71] = 0 - vX_[130] * vX_[135];
201  vX_[138] = 0.057838 * vX_[138] + 2.1032 * vX_[60] + vX_[68] * vX_[87] + vX_[67] * vX_[85] + vX_[132] * vX_[120] +
202  vX_[72] * vX_[124] + vX_[62] * vX_[133] + vX_[71] * vX_[137] + (vX_[130] * vX_[89]) / vX_[117];
203  vX_[60] = 3.650675 - vX_[134] * vX_[135];
204  vX_[74] = 0.057838 * vX_[61] + -2.1032 * vX_[74] + vX_[96] + vX_[136] * vX_[120] + vX_[128] * vX_[124] +
205  vX_[71] * vX_[133] + vX_[60] * vX_[137] + (vX_[134] * vX_[89]) / vX_[117];
206  vX_[96] = 2. * vX_[128];
207  vX_[61] = vX_[49] * vX_[57] + vX_[63] * vX_[56];
208  vX_[140] = vX_[61] * vX_[60];
209  vX_[141] = vX_[96] * vX_[61] + vX_[116] + vX_[140] * vX_[61];
210  vX_[142] = vX_[61] * vX_[71];
211  vX_[143] = vX_[136] * vX_[61] + vX_[123] - vX_[72] * vX_[61] - vX_[142] * vX_[61];
212  vX_[144] = vX_[49] * vX_[141] + vX_[48] * vX_[143];
213  vX_[145] = vX_[49] * vX_[143];
214  vX_[146] = 2. * vX_[132];
215  vX_[147] = 0 - vX_[61] * vX_[62];
216  vX_[148] = vX_[119] - vX_[146] * vX_[61] - vX_[147] * vX_[61];
217  vX_[149] = vX_[145] + vX_[48] * vX_[148];
218  vX_[150] = vX_[144] * vX_[49] + vX_[149] * vX_[48];
219  vX_[151] = vX_[63] * vX_[143] + vX_[49] * vX_[148];
220  vX_[145] = vX_[63] * vX_[141] + vX_[145];
221  vX_[152] = -0.0022920002 + vX_[151] * vX_[48] + vX_[145] * vX_[49];
222  vX_[153] = vX_[145] * vX_[63] + vX_[151] * vX_[49];
223  vX_[154] = 0.09570849 + vX_[153];
224  vX_[155] = vX_[152] / vX_[154];
225  vX_[156] = 0.01828449 + vX_[150] - vX_[152] * vX_[155];
226  vX_[157] = (-vX_[46]) * x_in[9];
227  vX_[158] = 0.0036857284 - -0.00021200017 * vX_[155];
228  vX_[159] = vX_[33] * x_in[9];
229  vX_[160] = vX_[129] * vX_[70];
230  vX_[161] = vX_[160] / vX_[117];
231  vX_[162] = vX_[126] * vX_[70] + vX_[127] * vX_[68] - vX_[134] - vX_[108] * vX_[161];
232  vX_[163] = vX_[91] * vX_[68] - vX_[130] * vX_[161];
233  vX_[164] = vX_[162] - vX_[61] * vX_[163];
234  vX_[165] = 0 - vX_[164];
235  vX_[166] = 0 - vX_[134] * vX_[161];
236  vX_[167] = vX_[104] * vX_[70] - vX_[122] * vX_[161];
237  vX_[168] = vX_[61] * vX_[166] + vX_[167];
238  vX_[169] = vX_[49] * vX_[168];
239  vX_[170] = vX_[63] * vX_[165] + vX_[169];
240  vX_[171] = vX_[49] * vX_[165] + vX_[48] * vX_[168];
241  vX_[172] = 0.008711861 - vX_[171];
242  vX_[173] = vX_[172] / vX_[154];
243  vX_[174] = 1.52322944854339e-09 + vX_[170] - vX_[152] * vX_[173];
244  vX_[175] = vX_[39] * x_in[9];
245  vX_[176] = vX_[140] + vX_[128];
246  vX_[177] = vX_[136] - vX_[142];
247  vX_[178] = vX_[49] * vX_[176] + vX_[48] * vX_[177];
248  vX_[179] = vX_[142] + vX_[72];
249  vX_[180] = vX_[147] + vX_[132];
250  vX_[181] = vX_[49] * vX_[179] + vX_[48] * vX_[180];
251  vX_[182] = vX_[63] * vX_[176] + vX_[49] * vX_[177];
252  vX_[183] = vX_[63] * vX_[179] + vX_[49] * vX_[180];
253  vX_[184] = 0.160298259823722 + vX_[182] * vX_[48] + vX_[183] * vX_[49];
254  vX_[185] = vX_[184] / vX_[154];
255  vX_[186] = vX_[178] * vX_[48] + vX_[181] * vX_[49] - vX_[152] * vX_[185];
256  vX_[187] = (-vX_[52]) * x_in[9];
257  vX_[188] = vX_[37] * vX_[52] + vX_[40] * vX_[54];
258  vX_[32] = vX_[45] * vX_[32] + vX_[46] * vX_[36];
259  vX_[189] = vX_[45] * vX_[33] + vX_[46] * vX_[29];
260  vX_[40] = vX_[45] * vX_[40] + vX_[46] * vX_[37];
261  vX_[190] = vX_[29] * vX_[33] + vX_[33] * vX_[29];
262  vX_[191] = 0.160298259823722 * (vX_[188] - vX_[32]) + -0.06337651 * vX_[189] + -0.0022920002 * vX_[40] +
263  vX_[49] * vX_[92] + vX_[63] * vX_[98] + vX_[76] * vX_[138] + vX_[56] * vX_[74] - -0.008711861 * vX_[42] -
264  -0.00021200017 * vX_[43] - 0.0036857284 * (vX_[190] - vX_[47]);
265  vX_[192] = 0 - vX_[191];
266  vX_[52] = vX_[45] * vX_[39] + vX_[46] * vX_[41] - (vX_[29] * vX_[52] + vX_[33] * vX_[54]);
267  vX_[98] = 1.52322944854339e-09 * vX_[42] + 0.0036857284 * vX_[43] + -0.00021200017 * (vX_[44] - vX_[47]) +
268  vX_[48] * vX_[92] + vX_[49] * vX_[98] + vX_[77] * vX_[138] + vX_[57] * vX_[74] + vX_[156] * vX_[157] +
269  vX_[158] * vX_[159] + vX_[174] * vX_[175] + vX_[186] * vX_[187] + (vX_[152] * vX_[192]) / vX_[154] -
270  0.160298259823722 * vX_[52] - 0.01404749 * vX_[40] - -0.0022920002 * vX_[189];
271  vX_[92] = -0.00021200017 / vX_[154];
272  vX_[153] = 0.081661 + vX_[148] + vX_[141] - vX_[150] - vX_[153] - -0.00021200017 * vX_[92];
273  vX_[150] = 0 - -0.00021200017 * vX_[173];
274  vX_[170] = -1.52322944854339e-09 + vX_[164] * vX_[48] + vX_[169] - vX_[170] - -0.00021200017 * vX_[185];
275  vX_[90] = -0.008711861 * vX_[52] + 1.52322944854339e-09 * (vX_[32] - vX_[188]) + 0.077424 * vX_[43] +
276  -0.00021200017 * vX_[189] + (vX_[117] * vX_[89]) / vX_[117] + vX_[90] + vX_[158] * vX_[157] +
277  vX_[153] * vX_[159] + vX_[150] * vX_[175] + vX_[170] * vX_[187] + (-0.00021200017 * vX_[192]) / vX_[154] -
278  0.0036857284 * vX_[40] - -0.0022920002 * (vX_[44] - vX_[190]);
279  vX_[169] = vX_[183] * vX_[63] + vX_[182] * vX_[49];
280  vX_[46] = vX_[169] / vX_[154];
281  vX_[39] = -0.160298259823722 + vX_[178] * vX_[49] + vX_[181] * vX_[63] - vX_[152] * vX_[46];
282  vX_[171] = -0.008711861 + vX_[164] * vX_[49] + vX_[168] * vX_[63] + vX_[171] - -0.00021200017 * vX_[46];
283  vX_[33] = 0 - vX_[166];
284  vX_[193] = 0 - vX_[48] * vX_[163] - vX_[49] * vX_[33] - vX_[172] * vX_[46];
285  vX_[139] = 3.650675 + vX_[139] - vX_[160] * vX_[161];
286  vX_[194] = vX_[60] - vX_[139];
287  vX_[195] = vX_[63] * vX_[71] + vX_[49] * vX_[194];
288  vX_[196] = vX_[62] - vX_[139];
289  vX_[197] = vX_[49] * vX_[71];
290  vX_[198] = vX_[63] * vX_[196] + vX_[197];
291  vX_[199] = vX_[195] * vX_[48] + vX_[198] * vX_[49] - vX_[184] * vX_[46];
292  vX_[52] = 1.7423722 * vX_[52] + 0.160298259823722 * vX_[40] + -0.008711861 * vX_[43] + vX_[49] * vX_[74] +
293  vX_[78] * vX_[138] + vX_[39] * vX_[157] + vX_[171] * vX_[159] + vX_[193] * vX_[175] +
294  vX_[199] * vX_[187] + (vX_[169] * vX_[192]) / vX_[154] - 1.52322944854339e-09 * (vX_[190] + vX_[47]);
295  vX_[200] = -1 * vX_[51];
296  vX_[201] = vX_[49] * vX_[196] + vX_[48] * vX_[71];
297  vX_[197] = vX_[197] + vX_[48] * vX_[194];
298  vX_[202] = vX_[201] * vX_[49] + vX_[197] * vX_[48];
299  vX_[203] = vX_[198] * vX_[63] + vX_[195] * vX_[49];
300  vX_[204] = 1.7423722 + vX_[194] + vX_[196] + vX_[139] - vX_[202] - vX_[203] - vX_[172] * vX_[173];
301  vX_[205] = -0.304 * vX_[26];
302  vX_[206] = vX_[49] * vX_[163] + vX_[63] * vX_[33] - vX_[172] * vX_[185];
303  vX_[207] = vX_[200] * vX_[204] - vX_[205] * vX_[206];
304  vX_[202] = 1.7423722 + vX_[139] + vX_[202] - vX_[184] * vX_[185];
305  vX_[208] = vX_[200] * vX_[206] - vX_[205] * vX_[202];
306  vX_[209] = vX_[207] * vX_[200] - vX_[208] * vX_[205];
307  vX_[210] = 2. * vX_[171];
308  vX_[203] = 1.7423722 + vX_[139] + vX_[203] - vX_[169] * vX_[46];
309  vX_[139] = 0 - vX_[200] * vX_[203];
310  vX_[211] = vX_[153] - vX_[210] * vX_[200] - vX_[139] * vX_[200] - vX_[209];
311  vX_[212] = vX_[158] + vX_[171] * vX_[205] + vX_[139] * vX_[205] - vX_[39] * vX_[200];
312  vX_[213] = vX_[26] * vX_[212];
313  vX_[214] = vX_[27] * vX_[211] + vX_[213];
314  vX_[215] = 2. * vX_[39];
315  vX_[216] = vX_[205] * vX_[203];
316  vX_[217] = vX_[215] * vX_[205] + vX_[156] + vX_[216] * vX_[205] - vX_[209];
317  vX_[218] = vX_[27] * vX_[212] + vX_[26] * vX_[217];
318  vX_[219] = vX_[214] * vX_[27] + vX_[218] * vX_[26];
319  vX_[213] = vX_[213] + vX_[28] * vX_[217];
320  vX_[220] = vX_[26] * vX_[211] + vX_[28] * vX_[212];
321  vX_[221] = -0.0037997814 + vX_[213] * vX_[26] + vX_[220] * vX_[27];
322  vX_[222] = vX_[220] * vX_[26] + vX_[213] * vX_[28];
323  vX_[223] = 0.010329999 + vX_[209] + vX_[222];
324  vX_[224] = vX_[221] / vX_[223];
325  vX_[225] = 0.20986895 + vX_[209] + vX_[219] - vX_[221] * vX_[224];
326  vX_[226] = (-vX_[24]) * x_in[8];
327  vX_[227] = vX_[200] * vX_[193];
328  vX_[228] = 0 - vX_[227];
329  vX_[229] = 0 - vX_[200] * vX_[199];
330  vX_[230] = vX_[150] * vX_[200] + vX_[228] * vX_[200] - vX_[170] * vX_[205] - vX_[229] * vX_[205];
331  vX_[231] = vX_[205] * vX_[199];
332  vX_[232] = vX_[205] * vX_[193];
333  vX_[233] = vX_[186] * vX_[205] + vX_[231] * vX_[205] - vX_[174] * vX_[200] - vX_[232] * vX_[200];
334  vX_[234] = -0.011715295 - vX_[26] * vX_[230] - vX_[27] * vX_[233];
335  vX_[235] = 5.399998e-05 + vX_[28] * vX_[230] + vX_[26] * vX_[233] - vX_[234] * vX_[224];
336  vX_[236] = vX_[19] * x_in[8];
337  vX_[237] = vX_[216] + vX_[39];
338  vX_[238] = 0 - vX_[237];
339  vX_[239] = vX_[139] + vX_[171];
340  vX_[240] = vX_[26] * vX_[238] + vX_[28] * vX_[239];
341  vX_[241] = vX_[27] * vX_[238] + vX_[26] * vX_[239];
342  vX_[242] = -0.01438086 - vX_[241];
343  vX_[243] = vX_[242] / vX_[223];
344  vX_[244] = 0.647967112 + vX_[240] - vX_[221] * vX_[243];
345  vX_[245] = vX_[13] * x_in[8];
346  vX_[246] = vX_[229] + vX_[170];
347  vX_[227] = vX_[227] - vX_[231];
348  vX_[247] = vX_[186] + vX_[231] - vX_[227];
349  vX_[248] = vX_[27] * vX_[246] + vX_[26] * vX_[247];
350  vX_[249] = vX_[150] + vX_[228] - vX_[227];
351  vX_[250] = vX_[232] + vX_[174];
352  vX_[251] = vX_[27] * vX_[249] + vX_[26] * vX_[250];
353  vX_[252] = vX_[26] * vX_[246] + vX_[28] * vX_[247];
354  vX_[253] = vX_[26] * vX_[249] + vX_[28] * vX_[250];
355  vX_[254] = -0.0055615274403 + vX_[252] * vX_[26] + vX_[253] * vX_[27];
356  vX_[255] = vX_[254] / vX_[223];
357  vX_[256] = vX_[248] * vX_[26] + vX_[251] * vX_[27] + vX_[227] - vX_[221] * vX_[255];
358  vX_[257] = (-vX_[31]) * x_in[8];
359  vX_[258] = vX_[10] * vX_[31] + vX_[7] * vX_[35];
360  vX_[259] = vX_[23] * vX_[19] + vX_[24] * vX_[18];
361  vX_[260] = vX_[23] * vX_[7] + vX_[24] * vX_[10];
362  vX_[261] = vX_[18] * vX_[19] + vX_[19] * vX_[18];
363  vX_[262] = -0.0055615274403 * vX_[258] + 0.00750500000000001 * vX_[259] + -0.0037997814 * vX_[260] +
364  vX_[28] * vX_[98] + vX_[26] * vX_[90] - 0.01438086 * vX_[17] - -0.011715295 * vX_[20] -
365  5.399998e-05 * (vX_[261] - vX_[25]);
366  vX_[263] = 0 - vX_[262];
367  vX_[31] = vX_[23] * vX_[13] + vX_[24] * vX_[16] - (vX_[18] * vX_[31] + vX_[19] * vX_[35]);
368  vX_[90] = 0.647967112 * vX_[17] + 5.399998e-05 * vX_[20] + -0.011715295 * (vX_[21] - vX_[25]) + vX_[26] * vX_[98] +
369  vX_[27] * vX_[90] + -0.304 * vX_[52] + vX_[225] * vX_[226] + vX_[235] * vX_[236] + vX_[244] * vX_[245] +
370  vX_[256] * vX_[257] + (vX_[221] * vX_[263]) / vX_[223] - -0.0055615274403 * vX_[31] -
371  -0.192033951 * vX_[260] - -0.0037997814 * vX_[259];
372  vX_[258] = -vX_[258];
373  vX_[190] = 1.7423722 * vX_[42] + 1.52322944854339e-09 * vX_[40] + -0.008711861 * vX_[189] +
374  2.1032 * (vX_[64] * vX_[58] + vX_[65] * vX_[59] - (vX_[50] * vX_[79] + vX_[53] * vX_[82])) +
375  vX_[95] * vX_[87] + vX_[68] * vX_[85] + vX_[162] * vX_[120] + vX_[167] * vX_[124] + vX_[163] * vX_[133] +
376  vX_[166] * vX_[137] + (vX_[160] * vX_[89]) / vX_[117] + vX_[174] * vX_[157] + vX_[150] * vX_[159] +
377  vX_[204] * vX_[175] + vX_[206] * vX_[187] + (vX_[172] * vX_[192]) / vX_[154] -
378  0.160298259823722 * (vX_[44] + vX_[190]) - 0.057838 * (vX_[88] + vX_[66]);
379  vX_[189] = -1.7423722 * (vX_[32] - vX_[188]) + 0.160298259823722 * vX_[189] + 1.52322944854339e-09 * vX_[43] +
380  vX_[48] * vX_[74] + vX_[49] * vX_[138] + vX_[186] * vX_[157] + vX_[170] * vX_[159] +
381  vX_[206] * vX_[175] + vX_[202] * vX_[187] + (vX_[184] * vX_[192]) / vX_[154] -
382  -0.008711861 * (vX_[44] + vX_[47]);
383  vX_[32] = vX_[234] / vX_[223];
384  vX_[222] = 0.20236395 + vX_[217] + vX_[211] + vX_[209] - vX_[219] - vX_[222] - vX_[234] * vX_[32];
385  vX_[219] = vX_[227] - vX_[234] * vX_[243];
386  vX_[237] = -1 * (vX_[208] + vX_[237]);
387  vX_[209] = -1 * (vX_[207] + vX_[239]);
388  vX_[240] = -0.647967112 + vX_[237] * vX_[26] + vX_[209] * vX_[27] - vX_[240] - vX_[234] * vX_[255];
389  vX_[31] = 0.01438086 * vX_[31] + 0.647967112 * vX_[258] + -0.199538951 * vX_[20] + -0.011715295 * vX_[259] +
390  vX_[51] * vX_[190] + -1 * (vX_[191] + (vX_[154] * vX_[192]) / vX_[154]) + vX_[38] * vX_[189] +
391  vX_[235] * vX_[226] + vX_[222] * vX_[236] + vX_[219] * vX_[245] + vX_[240] * vX_[257] +
392  (vX_[234] * vX_[263]) / vX_[223] - 5.399998e-05 * vX_[260] - -0.0037997814 * (vX_[21] - vX_[261]);
393  vX_[191] = vX_[202] - vX_[203];
394  vX_[188] = vX_[204] - vX_[203];
395  vX_[74] = vX_[26] * vX_[206];
396  vX_[138] = vX_[27] * vX_[188] + vX_[74];
397  vX_[47] = vX_[27] * vX_[206] + vX_[26] * vX_[191];
398  vX_[44] = vX_[138] * vX_[27] + vX_[47] * vX_[26];
399  vX_[43] = vX_[26] * vX_[188] + vX_[28] * vX_[206];
400  vX_[74] = vX_[74] + vX_[28] * vX_[191];
401  vX_[40] = vX_[43] * vX_[26] + vX_[74] * vX_[28];
402  vX_[88] = 2.327 + vX_[191] + vX_[188] + vX_[203] - vX_[44] - vX_[40] - vX_[242] * vX_[243];
403  vX_[87] = 0 - vX_[199];
404  vX_[85] = vX_[28] * vX_[193] + vX_[26] * vX_[87] - vX_[242] * vX_[255];
405  vX_[261] = 2.327 * vX_[17] + 0.647967112 * vX_[260] + 0.01438086 * vX_[259] + -1 * vX_[52] + vX_[244] * vX_[226] +
406  vX_[219] * vX_[236] + vX_[88] * vX_[245] + vX_[85] * vX_[257] + (vX_[242] * vX_[263]) / vX_[223] -
407  -0.0055615274403 * (vX_[21] + vX_[261]);
408  vX_[44] = 2.327 + vX_[203] + vX_[44] - vX_[254] * vX_[255];
409  vX_[189] = -2.327 * vX_[258] + -0.0055615274403 * vX_[259] + 0.647967112 * vX_[20] + vX_[26] * vX_[189] +
410  vX_[27] * vX_[190] + vX_[256] * vX_[226] + vX_[240] * vX_[236] + vX_[85] * vX_[245] +
411  vX_[44] * vX_[257] + (vX_[254] * vX_[263]) / vX_[223] - 0.01438086 * (vX_[21] + vX_[25]);
412  vX_[190] = 2. * vX_[240];
413  vX_[258] = vX_[11] * vX_[12] + vX_[22] * vX_[15];
414  vX_[259] = vX_[258] * vX_[44];
415  vX_[25] = vX_[190] * vX_[258] + vX_[222] + vX_[259] * vX_[258];
416  vX_[21] = vX_[258] * vX_[85];
417  vX_[20] = vX_[256] * vX_[258] + vX_[235] - vX_[219] * vX_[258] - vX_[21] * vX_[258];
418  vX_[260] = vX_[11] * vX_[25] + vX_[9] * vX_[20];
419  vX_[52] = vX_[11] * vX_[20];
420  vX_[17] = 2. * vX_[244];
421  vX_[79] = 0 - vX_[258] * vX_[88];
422  vX_[66] = vX_[225] - vX_[17] * vX_[258] - vX_[79] * vX_[258];
423  vX_[65] = vX_[52] + vX_[9] * vX_[66];
424  vX_[58] = vX_[260] * vX_[11] + vX_[65] * vX_[9];
425  vX_[53] = vX_[22] * vX_[20] + vX_[11] * vX_[66];
426  vX_[52] = vX_[22] * vX_[25] + vX_[52];
427  vX_[42] = -0.002752 + vX_[53] * vX_[9] + vX_[52] * vX_[11];
428  vX_[98] = vX_[52] * vX_[22] + vX_[53] * vX_[11];
429  vX_[24] = 0.051393528 + vX_[98];
430  vX_[19] = vX_[42] / vX_[24];
431  vX_[13] = 0.08585553 + vX_[58] - vX_[42] * vX_[19];
432  vX_[264] = (-vX_[7]) * x_in[7];
433  vX_[265] = 0.0055279857 - -0.022851627 * vX_[19];
434  vX_[266] = vX_[14] * vX_[2] + vX_[2] * vX_[14];
435  vX_[267] = vX_[7] * x_in[7];
436  vX_[7] = vX_[5] * vX_[2] + vX_[7] * vX_[14];
437  vX_[2] = -0.022851627 * vX_[3] + 0.0055279857 * (vX_[266] - vX_[8]) - -0.002752 * vX_[267] - 0.046852534 * vX_[7] -
438  vX_[11] * vX_[90] - vX_[22] * vX_[31] - vX_[34] * vX_[261] - vX_[15] * vX_[189];
439  vX_[268] = vX_[14] * x_in[7];
440  vX_[269] = x_in[7] * x_in[7];
441  vX_[270] = vX_[5] * vX_[5];
442  vX_[271] = 0 - vX_[10] * vX_[16];
443  vX_[272] = vX_[18] * vX_[10];
444  vX_[273] = vX_[10] * vX_[10];
445  vX_[274] = vX_[23] * vX_[23];
446  vX_[275] = vX_[29] * vX_[36] - vX_[37] * vX_[41];
447  vX_[276] = vX_[29] * vX_[37];
448  vX_[277] = vX_[37] * vX_[37];
449  vX_[278] = vX_[45] * vX_[45];
450  vX_[279] = vX_[50] * vX_[54] - vX_[55] * vX_[59];
451  vX_[280] = vX_[50] * vX_[55];
452  vX_[281] = vX_[55] * vX_[55];
453  vX_[282] = vX_[64] * vX_[64];
454  vX_[283] = vX_[69] * vX_[73];
455  vX_[284] = vX_[75] * vX_[83];
456  vX_[285] = vX_[69] * vX_[86];
457  vX_[286] = vX_[69] * vX_[75];
458  vX_[287] = vX_[73] * vX_[75];
459  vX_[288] = vX_[73] * vX_[73];
460  vX_[289] = vX_[69] * vX_[69];
461  vX_[290] = -0.00751 * vX_[283] + 0.038686875 * (vX_[284] - vX_[285]) + -0.000829 * vX_[286] - 1.5e-05 * vX_[287] -
462  0.000198 * (vX_[288] - vX_[289]);
463  vX_[291] = x_in[17] - vX_[290];
464  vX_[292] = vX_[75] * vX_[75];
465  vX_[293] = 1.547475 * (vX_[73] * vX_[86] - vX_[75] * vX_[97]) + 1.547475 * vX_[97] * x_in[11] -
466  0.038686875 * (vX_[292] + vX_[288]);
467  vX_[294] = 0 - vX_[69];
468  vX_[295] = vX_[294] * x_in[11];
469  vX_[296] = vX_[73] * x_in[11];
470  vX_[297] = 0 - vX_[83];
471  vX_[298] = vX_[297] * x_in[11];
472  vX_[285] = 0.038686875 * vX_[283] + -1.547475 * (vX_[285] - vX_[284]) + 0.00345708950900075 * vX_[295] +
473  -6.25528861700981e-05 * vX_[296] + 1.38614328745655 * vX_[298] + (0.038686875 * vX_[291]) / 0.009277;
474  vX_[284] = 0 - vX_[64];
475  vX_[299] = vX_[284] * x_in[10];
476  vX_[300] = vX_[50] * x_in[10];
477  vX_[301] = vX_[59] * x_in[10];
478  vX_[302] = 0 - vX_[82];
479  vX_[303] = vX_[302] * x_in[10];
480  vX_[304] = vX_[64] * vX_[55];
481  vX_[305] = vX_[64] * vX_[50];
482  vX_[306] = vX_[69] * vX_[97] - vX_[73] * vX_[83];
483  vX_[289] = 0.000198 * vX_[287] + 1.5e-05 * (vX_[292] - vX_[289]) + 0.00315291990945349 * vX_[295] +
484  0.000199340411771047 * vX_[296] + 0.00345708950900075 * vX_[298] + (-0.000829 * vX_[291]) / 0.009277 -
485  0.038686875 * vX_[306] - -0.00146 * vX_[286] - -0.000829 * vX_[283];
486  vX_[298] = 0.00605 * vX_[287] + 1.5e-05 * vX_[283] + 0.000199340411771047 * vX_[295] +
487  0.0107369757464698 * vX_[296] + -6.25528861700981e-05 * vX_[298] + (1.5e-05 * vX_[291]) / 0.009277 -
488  0.000198 * vX_[286] - -0.000829 * (vX_[292] - vX_[288]);
489  vX_[306] = 0.038686875 * vX_[286] + 1.547475 * vX_[306] + -0.038686875 * vX_[295];
490  vX_[295] = vX_[50] * vX_[50];
491  vX_[286] = -0.001243 * vX_[304] + 0.009683 * vX_[305] + vX_[70] * vX_[289] + vX_[68] * vX_[298] +
492  0.02075 * vX_[306] - -0.012652 * vX_[280] - -0.001387 * (vX_[295] - vX_[282]);
493  vX_[296] = x_in[16] - vX_[286];
494  vX_[292] = (vX_[108] * vX_[296]) / vX_[117];
495  vX_[291] = 0.057838 * vX_[279] + -0.001387 * vX_[280] + -0.012652 * (vX_[281] - vX_[282]) +
496  (0.009277 * vX_[291]) / 0.009277 + vX_[290] + vX_[80] * vX_[293] + vX_[94] * vX_[285] +
497  vX_[119] * vX_[299] + vX_[123] * vX_[300] + vX_[132] * vX_[301] + vX_[136] * vX_[303] + vX_[292] -
498  -0.008386 * vX_[304] - -0.001243 * vX_[305];
499  vX_[290] = vX_[64] * vX_[54] - vX_[55] * vX_[82];
500  vX_[288] = (vX_[122] * vX_[296]) / vX_[117];
501  vX_[305] = -0.018069 * vX_[280] + 0.057838 * vX_[290] + -0.012652 * vX_[305] + vX_[68] * vX_[289] +
502  vX_[67] * vX_[298] + -0.184 * vX_[306] + vX_[123] * vX_[299] + vX_[116] * vX_[300] + vX_[72] * vX_[301] +
503  vX_[128] * vX_[303] + vX_[288] - -0.001387 * vX_[304] - -0.001243 * (vX_[281] - vX_[295]);
504  vX_[281] = (vX_[130] * vX_[296]) / vX_[117];
505  vX_[304] = 0.057838 * vX_[304] + 2.1032 * vX_[279] + vX_[68] * vX_[285] + vX_[67] * vX_[293] + vX_[132] * vX_[299] +
506  vX_[72] * vX_[300] + vX_[62] * vX_[301] + vX_[71] * vX_[303] + vX_[281];
507  vX_[279] = (vX_[134] * vX_[296]) / vX_[117];
508  vX_[290] = 0.057838 * vX_[280] + -2.1032 * vX_[290] + vX_[306] + vX_[136] * vX_[299] + vX_[128] * vX_[300] +
509  vX_[71] * vX_[301] + vX_[60] * vX_[303] + vX_[279];
510  vX_[306] = 0 - vX_[45];
511  vX_[280] = vX_[306] * x_in[9];
512  vX_[287] = vX_[29] * x_in[9];
513  vX_[283] = vX_[41] * x_in[9];
514  vX_[307] = 0 - vX_[54];
515  vX_[308] = vX_[307] * x_in[9];
516  vX_[309] = vX_[37] * vX_[54];
517  vX_[310] = vX_[45] * vX_[36];
518  vX_[311] = vX_[45] * vX_[29];
519  vX_[312] = vX_[45] * vX_[37];
520  vX_[313] = vX_[29] * vX_[29];
521  vX_[314] = 0.160298259823722 * (vX_[309] - vX_[310]) + -0.06337651 * vX_[311] + -0.0022920002 * vX_[312] +
522  vX_[49] * vX_[291] + vX_[63] * vX_[305] + vX_[76] * vX_[304] + vX_[56] * vX_[290] -
523  -0.008711861 * vX_[275] - -0.00021200017 * vX_[276] - 0.0036857284 * (vX_[313] - vX_[278]);
524  vX_[315] = x_in[15] - vX_[314];
525  vX_[316] = (vX_[152] * vX_[315]) / vX_[154];
526  vX_[317] = vX_[45] * vX_[41] - vX_[29] * vX_[54];
527  vX_[318] = 1.52322944854339e-09 * vX_[275] + 0.0036857284 * vX_[276] + -0.00021200017 * (vX_[277] - vX_[278]) +
528  vX_[48] * vX_[291] + vX_[49] * vX_[305] + vX_[77] * vX_[304] + vX_[57] * vX_[290] + vX_[156] * vX_[280] +
529  vX_[158] * vX_[287] + vX_[174] * vX_[283] + vX_[186] * vX_[308] + vX_[316] -
530  0.160298259823722 * vX_[317] - 0.01404749 * vX_[312] - -0.0022920002 * vX_[311];
531  vX_[319] = (vX_[117] * vX_[296]) / vX_[117];
532  vX_[320] = (-0.00021200017 * vX_[315]) / vX_[154];
533  vX_[286] = -0.008711861 * vX_[317] + 1.52322944854339e-09 * (vX_[310] - vX_[309]) + 0.077424 * vX_[276] +
534  -0.00021200017 * vX_[311] + vX_[319] + vX_[286] + vX_[158] * vX_[280] + vX_[153] * vX_[287] +
535  vX_[150] * vX_[283] + vX_[170] * vX_[308] + vX_[320] - 0.0036857284 * vX_[312] -
536  -0.0022920002 * (vX_[277] - vX_[313]);
537  vX_[321] = (vX_[169] * vX_[315]) / vX_[154];
538  vX_[317] = 1.7423722 * vX_[317] + 0.160298259823722 * vX_[312] + -0.008711861 * vX_[276] + vX_[49] * vX_[290] +
539  vX_[78] * vX_[304] + vX_[39] * vX_[280] + vX_[171] * vX_[287] + vX_[193] * vX_[283] +
540  vX_[199] * vX_[308] + vX_[321] - 1.52322944854339e-09 * (vX_[313] + vX_[278]);
541  vX_[322] = 0 - vX_[23];
542  vX_[323] = vX_[322] * x_in[8];
543  vX_[324] = vX_[18] * x_in[8];
544  vX_[325] = vX_[16] * x_in[8];
545  vX_[326] = 0 - vX_[35];
546  vX_[327] = vX_[326] * x_in[8];
547  vX_[328] = vX_[10] * vX_[35];
548  vX_[329] = vX_[23] * vX_[18];
549  vX_[330] = vX_[23] * vX_[10];
550  vX_[331] = vX_[18] * vX_[18];
551  vX_[332] = -0.0055615274403 * vX_[328] + 0.00750500000000001 * vX_[329] + -0.0037997814 * vX_[330] +
552  vX_[28] * vX_[318] + vX_[26] * vX_[286] - 0.01438086 * vX_[271] - -0.011715295 * vX_[272] -
553  5.399998e-05 * (vX_[331] - vX_[274]);
554  vX_[333] = x_in[14] - vX_[332];
555  vX_[334] = (vX_[221] * vX_[333]) / vX_[223];
556  vX_[335] = vX_[23] * vX_[16] - vX_[18] * vX_[35];
557  vX_[336] = 0.647967112 * vX_[271] + 5.399998e-05 * vX_[272] + -0.011715295 * (vX_[273] - vX_[274]) +
558  vX_[26] * vX_[318] + vX_[27] * vX_[286] + -0.304 * vX_[317] + vX_[225] * vX_[323] + vX_[235] * vX_[324] +
559  vX_[244] * vX_[325] + vX_[256] * vX_[327] + vX_[334] - -0.0055615274403 * vX_[335] -
560  -0.192033951 * vX_[330] - -0.0037997814 * vX_[329];
561  vX_[328] = 0 - vX_[328];
562  vX_[337] = (vX_[160] * vX_[296]) / vX_[117];
563  vX_[338] = (vX_[172] * vX_[315]) / vX_[154];
564  vX_[313] = 1.7423722 * vX_[275] + 1.52322944854339e-09 * vX_[312] + -0.008711861 * vX_[311] +
565  2.1032 * (vX_[64] * vX_[59] - vX_[50] * vX_[82]) + vX_[95] * vX_[285] + vX_[68] * vX_[293] +
566  vX_[162] * vX_[299] + vX_[167] * vX_[300] + vX_[163] * vX_[301] + vX_[166] * vX_[303] + vX_[337] +
567  vX_[174] * vX_[280] + vX_[150] * vX_[287] + vX_[204] * vX_[283] + vX_[206] * vX_[308] + vX_[338] -
568  0.160298259823722 * (vX_[277] + vX_[313]) - 0.057838 * (vX_[295] + vX_[282]);
569  vX_[312] = (vX_[154] * vX_[315]) / vX_[154];
570  vX_[295] = (vX_[184] * vX_[315]) / vX_[154];
571  vX_[311] = -1.7423722 * (vX_[310] - vX_[309]) + 0.160298259823722 * vX_[311] + 1.52322944854339e-09 * vX_[276] +
572  vX_[48] * vX_[290] + vX_[49] * vX_[304] + vX_[186] * vX_[280] + vX_[170] * vX_[287] +
573  vX_[206] * vX_[283] + vX_[202] * vX_[308] + vX_[295] - -0.008711861 * (vX_[277] + vX_[278]);
574  vX_[310] = (vX_[234] * vX_[333]) / vX_[223];
575  vX_[335] = 0.01438086 * vX_[335] + 0.647967112 * vX_[328] + -0.199538951 * vX_[272] + -0.011715295 * vX_[329] +
576  vX_[51] * vX_[313] + -1 * (vX_[314] + vX_[312]) + vX_[38] * vX_[311] + vX_[235] * vX_[323] +
577  vX_[222] * vX_[324] + vX_[219] * vX_[325] + vX_[240] * vX_[327] + vX_[310] - 5.399998e-05 * vX_[330] -
578  -0.0037997814 * (vX_[273] - vX_[331]);
579  vX_[314] = (vX_[242] * vX_[333]) / vX_[223];
580  vX_[331] = 2.327 * vX_[271] + 0.647967112 * vX_[330] + 0.01438086 * vX_[329] + -1 * vX_[317] + vX_[244] * vX_[323] +
581  vX_[219] * vX_[324] + vX_[88] * vX_[325] + vX_[85] * vX_[327] + vX_[314] -
582  -0.0055615274403 * (vX_[273] + vX_[331]);
583  vX_[330] = (vX_[254] * vX_[333]) / vX_[223];
584  vX_[328] = -2.327 * vX_[328] + -0.0055615274403 * vX_[329] + 0.647967112 * vX_[272] + vX_[26] * vX_[311] +
585  vX_[27] * vX_[313] + vX_[256] * vX_[323] + vX_[240] * vX_[324] + vX_[85] * vX_[325] +
586  vX_[44] * vX_[327] + vX_[330] - 0.01438086 * (vX_[273] + vX_[274]);
587  vX_[329] = 0 - vX_[5];
588  vX_[274] = vX_[329] * x_in[7];
589  vX_[273] = vX_[14] * vX_[14];
590  vX_[272] = vX_[5] * x_in[7];
591  vX_[317] = vX_[5] * vX_[14];
592  vX_[271] = -0.022851627 * vX_[268] + 0.0055279857 * (vX_[273] - vX_[270]) + x_in[13] - -0.002752 * vX_[272] -
593  0.046852534 * vX_[317] - vX_[11] * vX_[336] - vX_[22] * vX_[335] - vX_[34] * vX_[331] -
594  vX_[15] * vX_[328];
595  vX_[309] = (vX_[42] * vX_[271]) / vX_[24];
596  vX_[270] = 0.0055279857 * vX_[268] + -0.022851627 * (vX_[269] - vX_[270]) + vX_[9] * vX_[336] + vX_[11] * vX_[335] +
597  vX_[30] * vX_[331] + vX_[12] * vX_[328] + vX_[13] * vX_[274] + vX_[265] * vX_[268] + vX_[309] -
598  0.012390532 * vX_[272] - -0.002752 * vX_[317];
599  vX_[278] = -0.022851627 / vX_[24];
600  vX_[98] = 0.039002996 + vX_[66] + vX_[25] - vX_[58] - vX_[98] - -0.022851627 * vX_[278];
601  vX_[58] = (vX_[223] * vX_[333]) / vX_[223];
602  vX_[277] = (-0.022851627 * vX_[271]) / vX_[24];
603  vX_[317] = -0.034462002 * vX_[268] + -0.022851627 * vX_[317] + vX_[58] + vX_[332] + vX_[265] * vX_[274] +
604  vX_[98] * vX_[268] + vX_[277] - 0.0055279857 * vX_[272] - -0.002752 * (vX_[269] - vX_[273]);
605  vX_[227] = vX_[252] * vX_[28] + vX_[253] * vX_[26] + vX_[227];
606  vX_[272] = vX_[227] / vX_[223];
607  vX_[273] = 0 - vX_[26] * vX_[193] - vX_[27] * vX_[87] - vX_[242] * vX_[272];
608  vX_[332] = 0.0055615274403 + vX_[248] * vX_[28] + vX_[251] * vX_[26] - vX_[258] * vX_[273] - vX_[221] * vX_[272];
609  vX_[269] = vX_[74] * vX_[26] + vX_[43] * vX_[27] - vX_[254] * vX_[272];
610  vX_[241] =
611  0.01438086 + vX_[237] * vX_[28] + vX_[209] * vX_[26] + vX_[241] + vX_[258] * vX_[269] - vX_[234] * vX_[272];
612  vX_[276] = vX_[11] * vX_[241];
613  vX_[282] = -1 * 0.178 * vX_[0];
614  vX_[40] = 2.327 + vX_[203] + vX_[40] - vX_[227] * vX_[272];
615  vX_[275] = vX_[44] - vX_[40];
616  vX_[339] = vX_[22] * vX_[85] + vX_[11] * vX_[275];
617  vX_[340] = vX_[88] - vX_[40];
618  vX_[341] = vX_[11] * vX_[85];
619  vX_[342] = vX_[22] * vX_[340] + vX_[341];
620  vX_[343] = vX_[259] + vX_[240];
621  vX_[344] = vX_[256] - vX_[21];
622  vX_[345] = vX_[22] * vX_[343] + vX_[11] * vX_[344];
623  vX_[346] = vX_[21] + vX_[219];
624  vX_[347] = vX_[79] + vX_[244];
625  vX_[348] = vX_[22] * vX_[346] + vX_[11] * vX_[347];
626  vX_[349] = 0.293374233908935 + vX_[345] * vX_[9] + vX_[348] * vX_[11];
627  vX_[350] = vX_[348] * vX_[22] + vX_[345] * vX_[11];
628  vX_[351] = vX_[350] / vX_[24];
629  vX_[352] = vX_[339] * vX_[9] + vX_[342] * vX_[11] - vX_[349] * vX_[351];
630  vX_[353] = 0 - vX_[332];
631  vX_[354] = vX_[22] * vX_[353] + vX_[276];
632  vX_[355] = vX_[349] / vX_[24];
633  vX_[276] =
634  -0.0099341499912 + vX_[332] * vX_[9] + vX_[276] - vX_[282] * vX_[352] - vX_[354] - -0.022851627 * vX_[355];
635  vX_[356] = vX_[11] * vX_[343] + vX_[9] * vX_[344];
636  vX_[357] = vX_[11] * vX_[346] + vX_[9] * vX_[347];
637  vX_[358] = 0.178 * (0 - vX_[4]);
638  vX_[359] = vX_[358] * vX_[352];
639  vX_[360] = 0 - vX_[269];
640  vX_[361] = vX_[11] * vX_[353] + vX_[9] * vX_[241];
641  vX_[362] = 0.0606159433962 - vX_[361];
642  vX_[363] = 0 - vX_[9] * vX_[273] - vX_[11] * vX_[360] - vX_[362] * vX_[351];
643  vX_[364] = vX_[282] * vX_[363];
644  vX_[365] = vX_[364] - vX_[359];
645  vX_[359] = vX_[356] * vX_[9] + vX_[357] * vX_[11] + vX_[359] - vX_[42] * vX_[355] - vX_[365];
646  vX_[366] = vX_[4] * vX_[276] + vX_[0] * vX_[359];
647  vX_[367] = -1 * 0.178 * vX_[1];
648  vX_[368] = 0.178 * (-vX_[6]);
649  vX_[369] = vX_[368] * vX_[352];
650  vX_[370] = vX_[367] * vX_[363];
651  vX_[371] = vX_[370] - vX_[369];
652  vX_[372] = vX_[362] / vX_[24];
653  vX_[364] = 0 - vX_[364] - -0.022851627 * vX_[372] - vX_[365];
654  vX_[354] = 0.0099341499912 + vX_[354] + vX_[358] * vX_[363] - vX_[42] * vX_[372];
655  vX_[373] = vX_[4] * vX_[364] + vX_[0] * vX_[354];
656  vX_[361] = -0.0606159433962 + vX_[332] * vX_[11] + vX_[241] * vX_[22] + vX_[361] - -0.022851627 * vX_[351];
657  vX_[374] = vX_[342] * vX_[22] + vX_[339] * vX_[11];
658  vX_[375] = 2.5924191 + vX_[40] + vX_[374] - vX_[350] * vX_[351];
659  vX_[376] = 0 - vX_[282] * vX_[375];
660  vX_[377] = -0.293374233908935 + vX_[356] * vX_[11] + vX_[357] * vX_[22] - vX_[42] * vX_[351];
661  vX_[378] = vX_[265] + vX_[361] * vX_[358] + vX_[376] * vX_[358] - vX_[377] * vX_[282];
662  vX_[379] = 2. * vX_[377];
663  vX_[380] = vX_[358] * vX_[375];
664  vX_[381] = vX_[11] * vX_[340] + vX_[9] * vX_[85];
665  vX_[341] = vX_[341] + vX_[9] * vX_[275];
666  vX_[382] = vX_[381] * vX_[11] + vX_[341] * vX_[9];
667  vX_[374] = 2.5924191 + vX_[275] + vX_[340] + vX_[40] - vX_[382] - vX_[374] - vX_[362] * vX_[372];
668  vX_[383] = vX_[11] * vX_[273] + vX_[22] * vX_[360] - vX_[362] * vX_[355];
669  vX_[384] = vX_[282] * vX_[374] - vX_[358] * vX_[383];
670  vX_[382] = 2.5924191 + vX_[40] + vX_[382] - vX_[349] * vX_[355];
671  vX_[40] = vX_[282] * vX_[383] - vX_[358] * vX_[382];
672  vX_[385] = vX_[384] * vX_[282] - vX_[40] * vX_[358];
673  vX_[386] = vX_[379] * vX_[358] + vX_[13] + vX_[380] * vX_[358] - vX_[385];
674  vX_[387] = vX_[4] * vX_[378] + vX_[0] * vX_[386];
675  vX_[388] = 2. * vX_[361];
676  vX_[389] = vX_[98] - vX_[388] * vX_[282] - vX_[376] * vX_[282] - vX_[385];
677  vX_[390] = vX_[4] * vX_[389] + vX_[0] * vX_[378];
678  vX_[385] = 0.007629 + vX_[387] * vX_[0] + vX_[390] * vX_[4] + vX_[385];
679  vX_[365] =
680  (x_in[12] - vX_[0] * vX_[270] - vX_[4] * vX_[317] - 9.81 * (vX_[366] * vX_[0] + vX_[373] * vX_[4] + vX_[365])) /
681  vX_[385];
682  vX_[391] = -vX_[367] * vX_[375];
683  vX_[377] = vX_[361] * vX_[368] + vX_[376] * vX_[368] + vX_[391] * vX_[358] - vX_[377] * vX_[367];
684  vX_[40] = vX_[384] * vX_[367] + (vX_[367] * vX_[374] - vX_[368] * vX_[383]) * vX_[282] -
685  (vX_[40] * vX_[368] + (vX_[367] * vX_[383] - vX_[368] * vX_[382]) * vX_[358]);
686  jac[18] =
687  (0 -
688  (vX_[0] * (0.0055279857 * vX_[3] + -0.022851627 * (0 - vX_[8]) + vX_[9] * vX_[90] + vX_[11] * vX_[31] +
689  vX_[30] * vX_[261] + vX_[12] * vX_[189] + vX_[13] * vX_[264] + vX_[265] * vX_[3] +
690  (vX_[42] * vX_[2]) / vX_[24] - 0.012390532 * vX_[267] - -0.002752 * vX_[7]) +
691  vX_[1] * vX_[270]) -
692  (vX_[4] * (-0.034462002 * vX_[3] + -0.022851627 * vX_[7] + (vX_[223] * vX_[263]) / vX_[223] + vX_[262] +
693  vX_[265] * vX_[264] + vX_[98] * vX_[3] + (-0.022851627 * vX_[2]) / vX_[24] -
694  0.0055279857 * vX_[267] - -0.002752 * (0 - vX_[266])) +
695  vX_[6] * vX_[317]) -
696  9.81 * (vX_[366] * vX_[1] +
697  (vX_[4] * (0 - vX_[367] * vX_[352]) + vX_[6] * vX_[276] + vX_[0] * (vX_[369] - vX_[371]) +
698  vX_[1] * vX_[359]) *
699  vX_[0] +
700  vX_[373] * vX_[6] +
701  (vX_[4] * (0 - vX_[370] - vX_[371]) + vX_[6] * vX_[364] + vX_[0] * vX_[368] * vX_[363] +
702  vX_[1] * vX_[354]) *
703  vX_[4] +
704  vX_[371]) -
705  vX_[365] * (vX_[387] * vX_[1] +
706  (vX_[4] * vX_[377] + vX_[6] * vX_[378] +
707  vX_[0] * (vX_[379] * vX_[368] + vX_[380] * vX_[368] + vX_[368] * vX_[375] * vX_[358] -
708  vX_[40]) +
709  vX_[1] * vX_[386]) *
710  vX_[0] +
711  vX_[390] * vX_[6] +
712  (vX_[4] * (0 - vX_[388] * vX_[367] - (vX_[376] * vX_[367] + vX_[391] * vX_[282]) - vX_[40]) +
713  vX_[6] * vX_[389] + vX_[0] * vX_[377] + vX_[1] * vX_[378]) *
714  vX_[4] +
715  vX_[40])) /
716  vX_[385];
717  vX_[264] = vX_[0] * jac[18] + vX_[1] * vX_[365] + vX_[264];
718  vX_[3] = vX_[4] * jac[18] + vX_[6] * vX_[365] + vX_[3];
719  vX_[1] = 9.81 * vX_[1];
720  vX_[6] = 9.81 * vX_[6];
721  jac[19] = (vX_[2] - vX_[42] * vX_[264] - -0.022851627 * vX_[3] - vX_[349] * vX_[1] - vX_[362] * vX_[6]) / vX_[24];
722  vX_[226] = vX_[11] * jac[19] + vX_[9] * vX_[264] + vX_[226];
723  vX_[236] = vX_[22] * jac[19] + vX_[11] * vX_[264] + vX_[236];
724  vX_[257] = vX_[15] * jac[19] + vX_[12] * vX_[264] + vX_[9] * vX_[1] + vX_[257];
725  vX_[1] = vX_[34] * jac[19] + vX_[30] * vX_[264] + vX_[11] * vX_[1] + vX_[245];
726  jac[20] = (vX_[263] - vX_[223] * vX_[3] - vX_[221] * vX_[226] - vX_[234] * vX_[236] - vX_[227] * vX_[6] -
727  vX_[254] * vX_[257] - vX_[242] * vX_[1]) /
728  vX_[223];
729  vX_[263] = -1 * vX_[236];
730  vX_[3] = vX_[3] + jac[20];
731  vX_[157] = vX_[28] * vX_[3] + vX_[26] * vX_[226] + vX_[157];
732  vX_[3] = vX_[26] * vX_[3] + vX_[27] * vX_[226] + vX_[159];
733  vX_[1] = -0.304 * vX_[226] + -1 * vX_[1];
734  vX_[226] = 0 - vX_[27];
735  vX_[187] = vX_[26] * vX_[257] + vX_[38] * vX_[236] + vX_[226] * vX_[6] + vX_[187];
736  vX_[257] = vX_[27] * vX_[257] + vX_[51] * vX_[236] + vX_[26] * vX_[6] + vX_[175];
737  jac[21] = (vX_[192] - vX_[154] * vX_[263] - vX_[152] * vX_[157] - -0.00021200017 * vX_[3] - vX_[169] * vX_[1] -
738  vX_[184] * vX_[187] - vX_[172] * vX_[257]) /
739  vX_[154];
740  vX_[263] = vX_[263] + jac[21];
741  vX_[120] = vX_[49] * vX_[263] + vX_[48] * vX_[157] + vX_[120];
742  vX_[124] = vX_[63] * vX_[263] + vX_[49] * vX_[157] + vX_[124];
743  vX_[133] = vX_[76] * vX_[263] + vX_[77] * vX_[157] + vX_[49] * vX_[187] + vX_[78] * vX_[1] + vX_[133];
744  jac[22] =
745  (vX_[89] - vX_[117] * vX_[3] - vX_[108] * vX_[120] - vX_[122] * vX_[124] - vX_[160] * vX_[257] -
746  vX_[134] * (vX_[56] * vX_[263] + vX_[57] * vX_[157] + vX_[48] * vX_[187] + vX_[49] * vX_[1] + vX_[137]) -
747  vX_[130] * vX_[133]) /
748  vX_[117];
749  vX_[3] = vX_[3] + jac[22];
750  jac[23] = (vX_[93] - 0.009277 * vX_[120] - -0.000829 * (vX_[70] * vX_[3] + vX_[68] * vX_[124] + vX_[99]) -
751  1.5e-05 * (vX_[68] * vX_[3] + vX_[67] * vX_[124] + vX_[100]) -
752  0.038686875 * (vX_[68] * vX_[133] + vX_[94] * vX_[120] + vX_[95] * vX_[257] + vX_[101])) /
753  0.009277;
754  vX_[3] = cos(x_in[2]);
755  vX_[133] = -0.112 * vX_[3];
756  vX_[124] = -1 * sin(x_in[2]);
757  vX_[120] = 0.112 * vX_[124];
758  vX_[257] = vX_[133] * vX_[14] + vX_[120] * x_in[7];
759  vX_[101] = -vX_[10] * vX_[257];
760  vX_[100] = vX_[124] * vX_[14] + vX_[3] * x_in[7];
761  vX_[99] = vX_[100] * vX_[10];
762  vX_[93] = -vX_[124];
763  vX_[263] = vX_[3] * vX_[14] + vX_[93] * x_in[7];
764  vX_[187] = vX_[23] * vX_[263] + vX_[263] * vX_[23];
765  vX_[1] = 0.112 * vX_[124];
766  vX_[157] = 0.112 * vX_[3];
767  vX_[89] = vX_[1] * vX_[14] + vX_[157] * x_in[7];
768  vX_[137] = -0.304 * vX_[100] + -1 * vX_[89];
769  vX_[192] = vX_[26] * vX_[100];
770  vX_[236] = vX_[38] * vX_[263] + vX_[26] * vX_[257];
771  vX_[6] = -1 * vX_[263];
772  vX_[175] = vX_[29] * vX_[137] + vX_[192] * vX_[36] - (vX_[37] * vX_[236] + vX_[6] * vX_[41]);
773  vX_[159] = vX_[29] * vX_[6] + vX_[192] * vX_[37];
774  vX_[264] = vX_[37] * vX_[6] + vX_[6] * vX_[37];
775  vX_[245] = vX_[27] * vX_[100];
776  vX_[2] = vX_[45] * vX_[245] + vX_[245] * vX_[45];
777  vX_[40] = vX_[51] * vX_[263] + vX_[27] * vX_[257];
778  vX_[377] = vX_[48] * vX_[192] + vX_[49] * vX_[6];
779  vX_[391] = vX_[56] * vX_[6] + vX_[57] * vX_[192] + vX_[48] * vX_[236] + vX_[49] * vX_[137];
780  vX_[390] = vX_[50] * vX_[40] + vX_[377] * vX_[54] - (vX_[55] * vX_[391] + vX_[245] * vX_[59]);
781  vX_[389] = vX_[50] * vX_[245] + vX_[377] * vX_[55];
782  vX_[388] = vX_[55] * vX_[245] + vX_[245] * vX_[55];
783  vX_[387] = vX_[49] * vX_[192] + vX_[63] * vX_[6];
784  vX_[386] = vX_[64] * vX_[387] + vX_[387] * vX_[64];
785  vX_[380] = vX_[68] * vX_[387] + vX_[70] * vX_[245];
786  vX_[379] = vX_[67] * vX_[387] + vX_[68] * vX_[245];
787  vX_[378] = vX_[69] * vX_[380] + vX_[379] * vX_[73];
788  vX_[376] = vX_[76] * vX_[6] + vX_[77] * vX_[192] + vX_[49] * vX_[236] + vX_[78] * vX_[137];
789  vX_[375] = vX_[67] * vX_[376] + vX_[80] * vX_[377] + vX_[68] * vX_[40];
790  vX_[373] = vX_[75] * vX_[375] + vX_[377] * vX_[83];
791  vX_[354] = 0.02075 * vX_[245] + -0.184 * vX_[387] + vX_[391];
792  vX_[364] = vX_[69] * vX_[354] + vX_[379] * vX_[86];
793  vX_[371] = vX_[69] * vX_[377] + vX_[379] * vX_[75];
794  vX_[370] = vX_[73] * vX_[377] + vX_[380] * vX_[75];
795  vX_[369] = vX_[73] * vX_[380] + vX_[380] * vX_[73];
796  vX_[368] = vX_[69] * vX_[379] + vX_[379] * vX_[69];
797  vX_[367] = -0.00751 * vX_[378] + 0.038686875 * (vX_[373] - vX_[364]) + -0.000829 * vX_[371] - 1.5e-05 * vX_[370] -
798  0.000198 * (vX_[369] - vX_[368]);
799  vX_[366] = 0 - vX_[367];
800  vX_[359] = vX_[68] * vX_[376] + vX_[94] * vX_[377] + vX_[95] * vX_[40];
801  vX_[363] = vX_[75] * vX_[377] + vX_[377] * vX_[75];
802  vX_[354] = 1.547475 * (vX_[73] * vX_[354] + vX_[380] * vX_[86] - (vX_[75] * vX_[359] + vX_[377] * vX_[97])) +
803  1.547475 * vX_[359] * x_in[11] - 0.038686875 * (vX_[363] + vX_[369]);
804  vX_[276] = (-vX_[379]) * x_in[11];
805  vX_[352] = vX_[380] * x_in[11];
806  vX_[317] = (-vX_[375]) * x_in[11];
807  vX_[364] = 0.038686875 * vX_[378] + -1.547475 * (vX_[364] - vX_[373]) + 0.00345708950900075 * vX_[276] +
808  -6.25528861700981e-05 * vX_[352] + 1.38614328745655 * vX_[317] + (0.038686875 * vX_[366]) / 0.009277;
809  vX_[373] = (-vX_[387]) * x_in[10];
810  vX_[270] = vX_[377] * x_in[10];
811  vX_[7] = vX_[391] * x_in[10];
812  vX_[267] = (-vX_[376]) * x_in[10];
813  vX_[266] = vX_[64] * vX_[245] + vX_[387] * vX_[55];
814  vX_[189] = vX_[64] * vX_[377] + vX_[387] * vX_[50];
815  vX_[359] = vX_[69] * vX_[359] + vX_[379] * vX_[97] - (vX_[73] * vX_[375] + vX_[380] * vX_[83]);
816  vX_[368] = 0.000198 * vX_[370] + 1.5e-05 * (vX_[363] - vX_[368]) + 0.00315291990945349 * vX_[276] +
817  0.000199340411771047 * vX_[352] + 0.00345708950900075 * vX_[317] + (-0.000829 * vX_[366]) / 0.009277 -
818  0.038686875 * vX_[359] - -0.00146 * vX_[371] - -0.000829 * vX_[378];
819  vX_[363] = 0.00605 * vX_[370] + 1.5e-05 * vX_[378] + 0.000199340411771047 * vX_[276] +
820  0.0107369757464698 * vX_[352] + -6.25528861700981e-05 * vX_[317] + (1.5e-05 * vX_[366]) / 0.009277 -
821  0.000198 * vX_[371] - -0.000829 * (vX_[363] - vX_[369]);
822  vX_[359] = 0.038686875 * vX_[371] + 1.547475 * vX_[359] + -0.038686875 * vX_[276];
823  vX_[371] = vX_[50] * vX_[377] + vX_[377] * vX_[50];
824  vX_[369] = -0.001243 * vX_[266] + 0.009683 * vX_[189] + vX_[70] * vX_[368] + vX_[68] * vX_[363] +
825  0.02075 * vX_[359] - -0.012652 * vX_[389] - -0.001387 * (vX_[371] - vX_[386]);
826  vX_[370] = 0 - vX_[369];
827  vX_[367] = 0.057838 * vX_[390] + -0.001387 * vX_[389] + -0.012652 * (vX_[388] - vX_[386]) +
828  (0.009277 * vX_[366]) / 0.009277 + vX_[367] + vX_[80] * vX_[354] + vX_[94] * vX_[364] +
829  vX_[119] * vX_[373] + vX_[123] * vX_[270] + vX_[132] * vX_[7] + vX_[136] * vX_[267] +
830  (vX_[108] * vX_[370]) / vX_[117] - -0.008386 * vX_[266] - -0.001243 * vX_[189];
831  vX_[378] = vX_[64] * vX_[40] + vX_[387] * vX_[54] - (vX_[55] * vX_[376] + vX_[245] * vX_[82]);
832  vX_[363] = -0.018069 * vX_[389] + 0.057838 * vX_[378] + -0.012652 * vX_[189] + vX_[68] * vX_[368] +
833  vX_[67] * vX_[363] + -0.184 * vX_[359] + vX_[123] * vX_[373] + vX_[116] * vX_[270] + vX_[72] * vX_[7] +
834  vX_[128] * vX_[267] + (vX_[122] * vX_[370]) / vX_[117] - -0.001387 * vX_[266] -
835  -0.001243 * (vX_[388] - vX_[371]);
836  vX_[266] = 0.057838 * vX_[266] + 2.1032 * vX_[390] + vX_[68] * vX_[364] + vX_[67] * vX_[354] + vX_[132] * vX_[373] +
837  vX_[72] * vX_[270] + vX_[62] * vX_[7] + vX_[71] * vX_[267] + (vX_[130] * vX_[370]) / vX_[117];
838  vX_[378] = 0.057838 * vX_[389] + -2.1032 * vX_[378] + vX_[359] + vX_[136] * vX_[373] + vX_[128] * vX_[270] +
839  vX_[71] * vX_[7] + vX_[60] * vX_[267] + (vX_[134] * vX_[370]) / vX_[117];
840  vX_[359] = (-vX_[245]) * x_in[9];
841  vX_[389] = vX_[192] * x_in[9];
842  vX_[390] = vX_[236] * x_in[9];
843  vX_[368] = (-vX_[40]) * x_in[9];
844  vX_[189] = vX_[37] * vX_[40] + vX_[6] * vX_[54];
845  vX_[137] = vX_[45] * vX_[137] + vX_[245] * vX_[36];
846  vX_[388] = vX_[45] * vX_[192] + vX_[245] * vX_[29];
847  vX_[6] = vX_[45] * vX_[6] + vX_[245] * vX_[37];
848  vX_[375] = vX_[29] * vX_[192] + vX_[192] * vX_[29];
849  vX_[379] = 0.160298259823722 * (vX_[189] - vX_[137]) + -0.06337651 * vX_[388] + -0.0022920002 * vX_[6] +
850  vX_[49] * vX_[367] + vX_[63] * vX_[363] + vX_[76] * vX_[266] + vX_[56] * vX_[378] -
851  -0.008711861 * vX_[175] - -0.00021200017 * vX_[159] - 0.0036857284 * (vX_[375] - vX_[2]);
852  vX_[380] = 0 - vX_[379];
853  vX_[40] = vX_[45] * vX_[236] + vX_[245] * vX_[41] - (vX_[29] * vX_[40] + vX_[192] * vX_[54]);
854  vX_[363] = 1.52322944854339e-09 * vX_[175] + 0.0036857284 * vX_[159] + -0.00021200017 * (vX_[264] - vX_[2]) +
855  vX_[48] * vX_[367] + vX_[49] * vX_[363] + vX_[77] * vX_[266] + vX_[57] * vX_[378] + vX_[156] * vX_[359] +
856  vX_[158] * vX_[389] + vX_[174] * vX_[390] + vX_[186] * vX_[368] + (vX_[152] * vX_[380]) / vX_[154] -
857  0.160298259823722 * vX_[40] - 0.01404749 * vX_[6] - -0.0022920002 * vX_[388];
858  vX_[369] = -0.008711861 * vX_[40] + 1.52322944854339e-09 * (vX_[137] - vX_[189]) + 0.077424 * vX_[159] +
859  -0.00021200017 * vX_[388] + (vX_[117] * vX_[370]) / vX_[117] + vX_[369] + vX_[158] * vX_[359] +
860  vX_[153] * vX_[389] + vX_[150] * vX_[390] + vX_[170] * vX_[368] +
861  (-0.00021200017 * vX_[380]) / vX_[154] - 0.0036857284 * vX_[6] - -0.0022920002 * (vX_[264] - vX_[375]);
862  vX_[40] = 1.7423722 * vX_[40] + 0.160298259823722 * vX_[6] + -0.008711861 * vX_[159] + vX_[49] * vX_[378] +
863  vX_[78] * vX_[266] + vX_[39] * vX_[359] + vX_[171] * vX_[389] + vX_[193] * vX_[390] +
864  vX_[199] * vX_[368] + (vX_[169] * vX_[380]) / vX_[154] - 1.52322944854339e-09 * (vX_[375] + vX_[2]);
865  vX_[367] = (-vX_[263]) * x_in[8];
866  vX_[245] = vX_[100] * x_in[8];
867  vX_[236] = vX_[257] * x_in[8];
868  vX_[192] = (-vX_[89]) * x_in[8];
869  vX_[261] = vX_[10] * vX_[89];
870  vX_[31] = vX_[23] * vX_[100] + vX_[263] * vX_[18];
871  vX_[90] = vX_[263] * vX_[10];
872  vX_[262] = vX_[18] * vX_[100] + vX_[100] * vX_[18];
873  vX_[8] = -0.0055615274403 * vX_[261] + 0.00750500000000001 * vX_[31] + -0.0037997814 * vX_[90] +
874  vX_[28] * vX_[363] + vX_[26] * vX_[369] - 0.01438086 * vX_[101] - -0.011715295 * vX_[99] -
875  5.399998e-05 * (vX_[262] - vX_[187]);
876  vX_[382] = 0 - vX_[8];
877  vX_[89] = vX_[23] * vX_[257] + vX_[263] * vX_[16] - (vX_[18] * vX_[89] + vX_[100] * vX_[35]);
878  vX_[369] = 0.647967112 * vX_[101] + 5.399998e-05 * vX_[99] + -0.011715295 * (0 - vX_[187]) + vX_[26] * vX_[363] +
879  vX_[27] * vX_[369] + -0.304 * vX_[40] + vX_[225] * vX_[367] + vX_[235] * vX_[245] + vX_[244] * vX_[236] +
880  vX_[256] * vX_[192] + (vX_[221] * vX_[382]) / vX_[223] - -0.0055615274403 * vX_[89] -
881  -0.192033951 * vX_[90] - -0.0037997814 * vX_[31];
882  vX_[261] = -vX_[261];
883  vX_[375] = 1.7423722 * vX_[175] + 1.52322944854339e-09 * vX_[6] + -0.008711861 * vX_[388] +
884  2.1032 * (vX_[64] * vX_[391] + vX_[387] * vX_[59] - (vX_[50] * vX_[376] + vX_[377] * vX_[82])) +
885  vX_[95] * vX_[364] + vX_[68] * vX_[354] + vX_[162] * vX_[373] + vX_[167] * vX_[270] + vX_[163] * vX_[7] +
886  vX_[166] * vX_[267] + (vX_[160] * vX_[370]) / vX_[117] + vX_[174] * vX_[359] + vX_[150] * vX_[389] +
887  vX_[204] * vX_[390] + vX_[206] * vX_[368] + (vX_[172] * vX_[380]) / vX_[154] -
888  0.160298259823722 * (vX_[264] + vX_[375]) - 0.057838 * (vX_[371] + vX_[386]);
889  vX_[388] = -1.7423722 * (vX_[137] - vX_[189]) + 0.160298259823722 * vX_[388] + 1.52322944854339e-09 * vX_[159] +
890  vX_[48] * vX_[378] + vX_[49] * vX_[266] + vX_[186] * vX_[359] + vX_[170] * vX_[389] +
891  vX_[206] * vX_[390] + vX_[202] * vX_[368] + (vX_[184] * vX_[380]) / vX_[154] -
892  -0.008711861 * (vX_[264] + vX_[2]);
893  vX_[89] = 0.01438086 * vX_[89] + 0.647967112 * vX_[261] + -0.199538951 * vX_[99] + -0.011715295 * vX_[31] +
894  vX_[51] * vX_[375] + -1 * (vX_[379] + (vX_[154] * vX_[380]) / vX_[154]) + vX_[38] * vX_[388] +
895  vX_[235] * vX_[367] + vX_[222] * vX_[245] + vX_[219] * vX_[236] + vX_[240] * vX_[192] +
896  (vX_[234] * vX_[382]) / vX_[223] - 5.399998e-05 * vX_[90] - -0.0037997814 * (0 - vX_[262]);
897  vX_[262] = 2.327 * vX_[101] + 0.647967112 * vX_[90] + 0.01438086 * vX_[31] + -1 * vX_[40] + vX_[244] * vX_[367] +
898  vX_[219] * vX_[245] + vX_[88] * vX_[236] + vX_[85] * vX_[192] + (vX_[242] * vX_[382]) / vX_[223] -
899  -0.0055615274403 * vX_[262];
900  vX_[388] = -2.327 * vX_[261] + -0.0055615274403 * vX_[31] + 0.647967112 * vX_[99] + vX_[26] * vX_[388] +
901  vX_[27] * vX_[375] + vX_[256] * vX_[367] + vX_[240] * vX_[245] + vX_[85] * vX_[236] +
902  vX_[44] * vX_[192] + (vX_[254] * vX_[382]) / vX_[223] - 0.01438086 * vX_[187];
903  vX_[375] = vX_[11] * vX_[133] + vX_[3] * vX_[12] + vX_[22] * vX_[120] + vX_[93] * vX_[15];
904  vX_[261] = vX_[375] * vX_[44];
905  vX_[259] = vX_[190] * vX_[375] + vX_[259] * vX_[375] + vX_[261] * vX_[258];
906  vX_[190] = vX_[375] * vX_[85];
907  vX_[21] = vX_[256] * vX_[375] - vX_[219] * vX_[375] - (vX_[21] * vX_[375] + vX_[190] * vX_[258]);
908  vX_[31] = vX_[11] * vX_[21] + vX_[3] * vX_[20];
909  vX_[187] = -vX_[375] * vX_[88];
910  vX_[79] = 0 - vX_[17] * vX_[375] - (vX_[79] * vX_[375] + vX_[187] * vX_[258]);
911  vX_[65] = vX_[260] * vX_[3] +
912  (vX_[11] * vX_[259] + vX_[3] * vX_[25] + vX_[9] * vX_[21] + vX_[124] * vX_[20]) * vX_[11] +
913  vX_[65] * vX_[124] + (vX_[31] + vX_[9] * vX_[79] + vX_[124] * vX_[66]) * vX_[9];
914  vX_[21] = vX_[22] * vX_[21] + vX_[93] * vX_[20] + vX_[11] * vX_[79] + vX_[3] * vX_[66];
915  vX_[31] = vX_[22] * vX_[259] + vX_[93] * vX_[25] + vX_[31];
916  vX_[25] = vX_[53] * vX_[124] + vX_[21] * vX_[9] + vX_[52] * vX_[3] + vX_[31] * vX_[11];
917  vX_[31] = vX_[52] * vX_[93] + vX_[31] * vX_[22] + vX_[53] * vX_[3] + vX_[21] * vX_[11];
918  vX_[21] = (vX_[25] - vX_[19] * vX_[31]) / vX_[24];
919  vX_[52] = vX_[65] - (vX_[42] * vX_[21] + vX_[25] * vX_[19]);
920  vX_[21] = --0.022851627 * vX_[21];
921  vX_[53] = 0 - (vX_[11] * vX_[369] + vX_[3] * vX_[336]) - (vX_[22] * vX_[89] + vX_[93] * vX_[335]) -
922  (vX_[34] * vX_[262] + vX_[157] * vX_[331]) - (vX_[15] * vX_[388] + vX_[120] * vX_[328]);
923  vX_[65] = vX_[79] + vX_[259] - vX_[65] - vX_[31] - -0.022851627 * ((-vX_[278]) * vX_[31]) / vX_[24];
924  vX_[79] = 0 - vX_[375] * vX_[273];
925  vX_[375] = vX_[375] * vX_[269];
926  vX_[269] = vX_[11] * vX_[375] + vX_[3] * vX_[241];
927  vX_[259] = vX_[93] * vX_[85] + vX_[3] * vX_[275];
928  vX_[66] = vX_[3] * vX_[85];
929  vX_[20] = vX_[93] * vX_[340] + vX_[66];
930  vX_[260] = vX_[22] * vX_[190] + vX_[93] * vX_[346] + vX_[11] * vX_[187] + vX_[3] * vX_[347];
931  vX_[17] = 0 - vX_[190];
932  vX_[99] = vX_[22] * vX_[261] + vX_[93] * vX_[343] + vX_[11] * vX_[17] + vX_[3] * vX_[344];
933  vX_[90] = vX_[348] * vX_[93] + vX_[260] * vX_[22] + vX_[345] * vX_[3] + vX_[99] * vX_[11];
934  vX_[40] = (vX_[90] - vX_[351] * vX_[31]) / vX_[24];
935  vX_[99] = vX_[345] * vX_[124] + vX_[99] * vX_[9] + vX_[348] * vX_[3] + vX_[260] * vX_[11];
936  vX_[260] = vX_[339] * vX_[124] + vX_[259] * vX_[9] + vX_[342] * vX_[3] + vX_[20] * vX_[11] -
937  (vX_[349] * vX_[40] + vX_[99] * vX_[351]);
938  vX_[348] = -vX_[79];
939  vX_[345] = vX_[22] * vX_[348] + vX_[93] * vX_[353] + vX_[269];
940  vX_[101] = (vX_[99] - vX_[355] * vX_[31]) / vX_[24];
941  vX_[17] = vX_[11] * vX_[261] + vX_[3] * vX_[343] + vX_[9] * vX_[17] + vX_[124] * vX_[344];
942  vX_[187] = vX_[11] * vX_[190] + vX_[3] * vX_[346] + vX_[9] * vX_[187] + vX_[124] * vX_[347];
943  vX_[190] = vX_[358] * vX_[260];
944  vX_[348] = vX_[11] * vX_[348] + vX_[3] * vX_[353] + vX_[9] * vX_[375] + vX_[124] * vX_[241];
945  vX_[353] = 0 - vX_[348];
946  vX_[347] = 0 - vX_[124] * vX_[273] - vX_[3] * vX_[360] - (vX_[362] * vX_[40] + vX_[353] * vX_[351]);
947  vX_[346] = vX_[282] * vX_[347];
948  vX_[261] = vX_[346] - vX_[190];
949  vX_[344] = (vX_[353] - vX_[372] * vX_[31]) / vX_[24];
950  vX_[348] = vX_[332] * vX_[3] + vX_[79] * vX_[11] + vX_[241] * vX_[93] + vX_[375] * vX_[22] + vX_[348] -
951  -0.022851627 * vX_[40];
952  vX_[20] = vX_[342] * vX_[93] + vX_[20] * vX_[22] + vX_[339] * vX_[3] + vX_[259] * vX_[11];
953  vX_[90] = vX_[20] - (vX_[350] * vX_[40] + vX_[90] * vX_[351]);
954  vX_[259] = -vX_[282] * vX_[90];
955  vX_[40] = vX_[356] * vX_[3] + vX_[17] * vX_[11] + vX_[357] * vX_[93] + vX_[187] * vX_[22] -
956  (vX_[42] * vX_[40] + vX_[25] * vX_[351]);
957  vX_[342] = vX_[21] + vX_[348] * vX_[358] + vX_[259] * vX_[358] - vX_[40] * vX_[282];
958  vX_[66] = vX_[381] * vX_[3] + (vX_[3] * vX_[340] + vX_[124] * vX_[85]) * vX_[11] + vX_[341] * vX_[124] +
959  (vX_[66] + vX_[124] * vX_[275]) * vX_[9];
960  vX_[360] = vX_[3] * vX_[273] + vX_[93] * vX_[360] - (vX_[362] * vX_[101] + vX_[353] * vX_[355]);
961  vX_[360] =
962  (vX_[282] * (0 - vX_[66] - vX_[20] - (vX_[362] * vX_[344] + vX_[353] * vX_[372])) - vX_[358] * vX_[360]) *
963  vX_[282] -
964  (vX_[282] * vX_[360] - vX_[358] * (vX_[66] - (vX_[349] * vX_[101] + vX_[99] * vX_[355]))) * vX_[358];
965  jac[30] =
966  (0 -
967  vX_[0] *
968  (vX_[9] * vX_[369] + vX_[124] * vX_[336] + vX_[11] * vX_[89] + vX_[3] * vX_[335] + vX_[30] * vX_[262] +
969  vX_[1] * vX_[331] + vX_[12] * vX_[388] + vX_[133] * vX_[328] + vX_[52] * vX_[274] +
970  vX_[21] * vX_[268] + (vX_[42] * vX_[53] + vX_[25] * vX_[271] - vX_[309] * vX_[31]) / vX_[24]) -
971  vX_[4] * ((vX_[223] * vX_[382]) / vX_[223] + vX_[8] + vX_[21] * vX_[274] + vX_[65] * vX_[268] +
972  (-0.022851627 * vX_[53] - vX_[277] * vX_[31]) / vX_[24]) -
973  9.81 * ((vX_[4] * (vX_[332] * vX_[124] + vX_[79] * vX_[9] + vX_[269] - vX_[282] * vX_[260] - vX_[345] -
974  -0.022851627 * vX_[101]) +
975  vX_[0] * (vX_[356] * vX_[124] + vX_[17] * vX_[9] + vX_[357] * vX_[3] + vX_[187] * vX_[11] +
976  vX_[190] - (vX_[42] * vX_[101] + vX_[25] * vX_[355]) - vX_[261])) *
977  vX_[0] +
978  (vX_[4] * (0 - vX_[346] - -0.022851627 * vX_[344] - vX_[261]) +
979  vX_[0] * (vX_[345] + vX_[358] * vX_[347] - (vX_[42] * vX_[344] + vX_[25] * vX_[372]))) *
980  vX_[4] +
981  vX_[261]) -
982  vX_[365] * ((vX_[4] * vX_[342] +
983  vX_[0] * (2. * vX_[40] * vX_[358] + vX_[52] + vX_[358] * vX_[90] * vX_[358] - vX_[360])) *
984  vX_[0] +
985  (vX_[4] * (vX_[65] - 2. * vX_[348] * vX_[282] - vX_[259] * vX_[282] - vX_[360]) +
986  vX_[0] * vX_[342]) *
987  vX_[4] +
988  vX_[360])) /
989  vX_[385];
990  vX_[360] = vX_[0] * jac[30];
991  vX_[342] = vX_[0] * vX_[365] + vX_[274];
992  vX_[40] = vX_[4] * jac[30];
993  vX_[259] = 9.81 * vX_[0];
994  vX_[90] = 9.81 * vX_[4];
995  vX_[348] = vX_[4] * vX_[365] + vX_[268];
996  vX_[344] =
997  (vX_[271] - vX_[42] * vX_[342] - -0.022851627 * vX_[348] - vX_[349] * vX_[259] - vX_[362] * vX_[90]) / vX_[24];
998  jac[31] = (vX_[53] - (vX_[42] * vX_[360] + vX_[25] * vX_[342]) - -0.022851627 * vX_[40] - vX_[99] * vX_[259] -
999  vX_[353] * vX_[90] - vX_[344] * vX_[31]) /
1000  vX_[24];
1001  vX_[367] = vX_[11] * jac[31] + vX_[3] * vX_[344] + vX_[9] * vX_[360] + vX_[124] * vX_[342] + vX_[367];
1002  vX_[245] = vX_[22] * jac[31] + vX_[93] * vX_[344] + vX_[11] * vX_[360] + vX_[3] * vX_[342] + vX_[245];
1003  vX_[192] = vX_[15] * jac[31] + vX_[120] * vX_[344] + vX_[12] * vX_[360] + vX_[133] * vX_[342] +
1004  vX_[124] * vX_[259] + vX_[192];
1005  vX_[360] =
1006  vX_[34] * jac[31] + vX_[157] * vX_[344] + vX_[30] * vX_[360] + vX_[1] * vX_[342] + vX_[3] * vX_[259] + vX_[236];
1007  jac[32] = (vX_[382] - vX_[223] * vX_[40] - vX_[221] * vX_[367] - vX_[234] * vX_[245] - vX_[254] * vX_[192] -
1008  vX_[242] * vX_[360]) /
1009  vX_[223];
1010  vX_[382] = -1 * vX_[245];
1011  vX_[40] = vX_[40] + jac[32];
1012  vX_[359] = vX_[28] * vX_[40] + vX_[26] * vX_[367] + vX_[359];
1013  vX_[40] = vX_[26] * vX_[40] + vX_[27] * vX_[367] + vX_[389];
1014  vX_[360] = -0.304 * vX_[367] + -1 * vX_[360];
1015  vX_[368] = vX_[26] * vX_[192] + vX_[38] * vX_[245] + vX_[368];
1016  vX_[192] = vX_[27] * vX_[192] + vX_[51] * vX_[245] + vX_[390];
1017  jac[33] = (vX_[380] - vX_[154] * vX_[382] - vX_[152] * vX_[359] - -0.00021200017 * vX_[40] - vX_[169] * vX_[360] -
1018  vX_[184] * vX_[368] - vX_[172] * vX_[192]) /
1019  vX_[154];
1020  vX_[382] = vX_[382] + jac[33];
1021  vX_[373] = vX_[49] * vX_[382] + vX_[48] * vX_[359] + vX_[373];
1022  vX_[270] = vX_[63] * vX_[382] + vX_[49] * vX_[359] + vX_[270];
1023  vX_[7] = vX_[76] * vX_[382] + vX_[77] * vX_[359] + vX_[49] * vX_[368] + vX_[78] * vX_[360] + vX_[7];
1024  jac[34] =
1025  (vX_[370] - vX_[117] * vX_[40] - vX_[108] * vX_[373] - vX_[122] * vX_[270] - vX_[160] * vX_[192] -
1026  vX_[134] * (vX_[56] * vX_[382] + vX_[57] * vX_[359] + vX_[48] * vX_[368] + vX_[49] * vX_[360] + vX_[267]) -
1027  vX_[130] * vX_[7]) /
1028  vX_[117];
1029  vX_[40] = vX_[40] + jac[34];
1030  jac[35] = (vX_[366] - 0.009277 * vX_[373] - -0.000829 * (vX_[70] * vX_[40] + vX_[68] * vX_[270] + vX_[276]) -
1031  1.5e-05 * (vX_[68] * vX_[40] + vX_[67] * vX_[270] + vX_[352]) -
1032  0.038686875 * (vX_[68] * vX_[7] + vX_[94] * vX_[373] + vX_[95] * vX_[192] + vX_[317])) /
1033  0.009277;
1034  vX_[40] = -1 * sin(x_in[3]);
1035  vX_[7] = cos(x_in[3]);
1036  vX_[270] = -vX_[7];
1037  vX_[373] = vX_[40] * vX_[18] + vX_[270] * vX_[10];
1038  vX_[192] = -0.304 * vX_[40];
1039  vX_[317] = vX_[192] * vX_[23] + vX_[40] * vX_[16];
1040  vX_[352] = vX_[373] * vX_[36] - vX_[37] * vX_[317];
1041  vX_[276] = vX_[373] * vX_[37];
1042  vX_[366] = vX_[7] * vX_[18] + vX_[40] * vX_[10];
1043  vX_[382] = vX_[45] * vX_[366] + vX_[366] * vX_[45];
1044  vX_[368] = -0.304 * vX_[7];
1045  vX_[360] = vX_[368] * vX_[23] + vX_[7] * vX_[16];
1046  vX_[359] = vX_[48] * vX_[373];
1047  vX_[370] = vX_[57] * vX_[373] + vX_[48] * vX_[317];
1048  vX_[267] = vX_[50] * vX_[360] + vX_[359] * vX_[54] - (vX_[55] * vX_[370] + vX_[366] * vX_[59]);
1049  vX_[380] = vX_[50] * vX_[366] + vX_[359] * vX_[55];
1050  vX_[245] = vX_[55] * vX_[366] + vX_[366] * vX_[55];
1051  vX_[390] = vX_[49] * vX_[373];
1052  vX_[367] = vX_[64] * vX_[390] + vX_[390] * vX_[64];
1053  vX_[389] = vX_[68] * vX_[390] + vX_[70] * vX_[366];
1054  vX_[236] = vX_[67] * vX_[390] + vX_[68] * vX_[366];
1055  vX_[157] = vX_[69] * vX_[389] + vX_[236] * vX_[73];
1056  vX_[1] = vX_[77] * vX_[373] + vX_[49] * vX_[317];
1057  vX_[3] = vX_[67] * vX_[1] + vX_[80] * vX_[359] + vX_[68] * vX_[360];
1058  vX_[120] = vX_[75] * vX_[3] + vX_[359] * vX_[83];
1059  vX_[124] = 0.02075 * vX_[366] + -0.184 * vX_[390] + vX_[370];
1060  vX_[133] = vX_[69] * vX_[124] + vX_[236] * vX_[86];
1061  vX_[93] = vX_[69] * vX_[359] + vX_[236] * vX_[75];
1062  vX_[353] = vX_[73] * vX_[359] + vX_[389] * vX_[75];
1063  vX_[99] = vX_[73] * vX_[389] + vX_[389] * vX_[73];
1064  vX_[53] = vX_[69] * vX_[236] + vX_[236] * vX_[69];
1065  vX_[31] = -0.00751 * vX_[157] + 0.038686875 * (vX_[120] - vX_[133]) + -0.000829 * vX_[93] - 1.5e-05 * vX_[353] -
1066  0.000198 * (vX_[99] - vX_[53]);
1067  vX_[25] = 0 - vX_[31];
1068  vX_[261] = vX_[68] * vX_[1] + vX_[94] * vX_[359] + vX_[95] * vX_[360];
1069  vX_[346] = vX_[75] * vX_[359] + vX_[359] * vX_[75];
1070  vX_[124] = 1.547475 * (vX_[73] * vX_[124] + vX_[389] * vX_[86] - (vX_[75] * vX_[261] + vX_[359] * vX_[97])) +
1071  1.547475 * vX_[261] * x_in[11] - 0.038686875 * (vX_[346] + vX_[99]);
1072  vX_[347] = (-vX_[236]) * x_in[11];
1073  vX_[190] = vX_[389] * x_in[11];
1074  vX_[187] = (-vX_[3]) * x_in[11];
1075  vX_[133] = 0.038686875 * vX_[157] + -1.547475 * (vX_[133] - vX_[120]) + 0.00345708950900075 * vX_[347] +
1076  -6.25528861700981e-05 * vX_[190] + 1.38614328745655 * vX_[187] + (0.038686875 * vX_[25]) / 0.009277;
1077  vX_[120] = (-vX_[390]) * x_in[10];
1078  vX_[17] = vX_[359] * x_in[10];
1079  vX_[101] = vX_[370] * x_in[10];
1080  vX_[345] = (-vX_[1]) * x_in[10];
1081  vX_[260] = vX_[64] * vX_[366] + vX_[390] * vX_[55];
1082  vX_[269] = vX_[64] * vX_[359] + vX_[390] * vX_[50];
1083  vX_[261] = vX_[69] * vX_[261] + vX_[236] * vX_[97] - (vX_[73] * vX_[3] + vX_[389] * vX_[83]);
1084  vX_[53] = 0.000198 * vX_[353] + 1.5e-05 * (vX_[346] - vX_[53]) + 0.00315291990945349 * vX_[347] +
1085  0.000199340411771047 * vX_[190] + 0.00345708950900075 * vX_[187] + (-0.000829 * vX_[25]) / 0.009277 -
1086  0.038686875 * vX_[261] - -0.00146 * vX_[93] - -0.000829 * vX_[157];
1087  vX_[346] = 0.00605 * vX_[353] + 1.5e-05 * vX_[157] + 0.000199340411771047 * vX_[347] +
1088  0.0107369757464698 * vX_[190] + -6.25528861700981e-05 * vX_[187] + (1.5e-05 * vX_[25]) / 0.009277 -
1089  0.000198 * vX_[93] - -0.000829 * (vX_[346] - vX_[99]);
1090  vX_[261] = 0.038686875 * vX_[93] + 1.547475 * vX_[261] + -0.038686875 * vX_[347];
1091  vX_[93] = vX_[50] * vX_[359] + vX_[359] * vX_[50];
1092  vX_[99] = -0.001243 * vX_[260] + 0.009683 * vX_[269] + vX_[70] * vX_[53] + vX_[68] * vX_[346] + 0.02075 * vX_[261] -
1093  -0.012652 * vX_[380] - -0.001387 * (vX_[93] - vX_[367]);
1094  vX_[353] = 0 - vX_[99];
1095  vX_[31] = 0.057838 * vX_[267] + -0.001387 * vX_[380] + -0.012652 * (vX_[245] - vX_[367]) +
1096  (0.009277 * vX_[25]) / 0.009277 + vX_[31] + vX_[80] * vX_[124] + vX_[94] * vX_[133] +
1097  vX_[119] * vX_[120] + vX_[123] * vX_[17] + vX_[132] * vX_[101] + vX_[136] * vX_[345] +
1098  (vX_[108] * vX_[353]) / vX_[117] - -0.008386 * vX_[260] - -0.001243 * vX_[269];
1099  vX_[157] = vX_[64] * vX_[360] + vX_[390] * vX_[54] - (vX_[55] * vX_[1] + vX_[366] * vX_[82]);
1100  vX_[346] = -0.018069 * vX_[380] + 0.057838 * vX_[157] + -0.012652 * vX_[269] + vX_[68] * vX_[53] +
1101  vX_[67] * vX_[346] + -0.184 * vX_[261] + vX_[123] * vX_[120] + vX_[116] * vX_[17] + vX_[72] * vX_[101] +
1102  vX_[128] * vX_[345] + (vX_[122] * vX_[353]) / vX_[117] - -0.001387 * vX_[260] -
1103  -0.001243 * (vX_[245] - vX_[93]);
1104  vX_[260] = 0.057838 * vX_[260] + 2.1032 * vX_[267] + vX_[68] * vX_[133] + vX_[67] * vX_[124] + vX_[132] * vX_[120] +
1105  vX_[72] * vX_[17] + vX_[62] * vX_[101] + vX_[71] * vX_[345] + (vX_[130] * vX_[353]) / vX_[117];
1106  vX_[157] = 0.057838 * vX_[380] + -2.1032 * vX_[157] + vX_[261] + vX_[136] * vX_[120] + vX_[128] * vX_[17] +
1107  vX_[71] * vX_[101] + vX_[60] * vX_[345] + (vX_[134] * vX_[353]) / vX_[117];
1108  vX_[261] = (-vX_[366]) * x_in[9];
1109  vX_[380] = vX_[373] * x_in[9];
1110  vX_[267] = vX_[317] * x_in[9];
1111  vX_[53] = (-vX_[360]) * x_in[9];
1112  vX_[269] = vX_[37] * vX_[360];
1113  vX_[245] = vX_[366] * vX_[36];
1114  vX_[3] = vX_[45] * vX_[373] + vX_[366] * vX_[29];
1115  vX_[236] = vX_[366] * vX_[37];
1116  vX_[389] = vX_[29] * vX_[373] + vX_[373] * vX_[29];
1117  vX_[79] = 0.160298259823722 * (vX_[269] - vX_[245]) + -0.06337651 * vX_[3] + -0.0022920002 * vX_[236] +
1118  vX_[49] * vX_[31] + vX_[63] * vX_[346] + vX_[76] * vX_[260] + vX_[56] * vX_[157] -
1119  -0.008711861 * vX_[352] - -0.00021200017 * vX_[276] - 0.0036857284 * (vX_[389] - vX_[382]);
1120  vX_[65] = 0 - vX_[79];
1121  vX_[360] = vX_[45] * vX_[317] + vX_[366] * vX_[41] - (vX_[29] * vX_[360] + vX_[373] * vX_[54]);
1122  vX_[346] = 1.52322944854339e-09 * vX_[352] + 0.0036857284 * vX_[276] + -0.00021200017 * (0 - vX_[382]) +
1123  vX_[48] * vX_[31] + vX_[49] * vX_[346] + vX_[77] * vX_[260] + vX_[57] * vX_[157] + vX_[156] * vX_[261] +
1124  vX_[158] * vX_[380] + vX_[174] * vX_[267] + vX_[186] * vX_[53] + (vX_[152] * vX_[65]) / vX_[154] -
1125  0.160298259823722 * vX_[360] - 0.01404749 * vX_[236] - -0.0022920002 * vX_[3];
1126  vX_[99] = -0.008711861 * vX_[360] + 1.52322944854339e-09 * (vX_[245] - vX_[269]) + 0.077424 * vX_[276] +
1127  -0.00021200017 * vX_[3] + (vX_[117] * vX_[353]) / vX_[117] + vX_[99] + vX_[158] * vX_[261] +
1128  vX_[153] * vX_[380] + vX_[150] * vX_[267] + vX_[170] * vX_[53] + (-0.00021200017 * vX_[65]) / vX_[154] -
1129  0.0036857284 * vX_[236] - -0.0022920002 * (0 - vX_[389]);
1130  vX_[360] = 1.7423722 * vX_[360] + 0.160298259823722 * vX_[236] + -0.008711861 * vX_[276] + vX_[49] * vX_[157] +
1131  vX_[78] * vX_[260] + vX_[39] * vX_[261] + vX_[171] * vX_[380] + vX_[193] * vX_[267] +
1132  vX_[199] * vX_[53] + (vX_[169] * vX_[65]) / vX_[154] - 1.52322944854339e-09 * (vX_[389] + vX_[382]);
1133  vX_[31] = -1 * vX_[368];
1134  vX_[366] = -0.304 * vX_[40];
1135  vX_[317] = vX_[31] * vX_[204] - vX_[366] * vX_[206];
1136  vX_[373] = vX_[31] * vX_[206] - vX_[366] * vX_[202];
1137  vX_[208] = vX_[207] * vX_[31] + vX_[317] * vX_[200] - (vX_[208] * vX_[366] + vX_[373] * vX_[205]);
1138  vX_[207] = -vX_[31] * vX_[203];
1139  vX_[210] = 0 - vX_[210] * vX_[31] - (vX_[139] * vX_[31] + vX_[207] * vX_[200]) - vX_[208];
1140  vX_[139] = vX_[171] * vX_[366] + vX_[139] * vX_[366] + vX_[207] * vX_[205] - vX_[39] * vX_[31];
1141  vX_[21] = vX_[26] * vX_[139] + vX_[40] * vX_[212];
1142  vX_[203] = vX_[366] * vX_[203];
1143  vX_[216] = vX_[215] * vX_[366] + vX_[216] * vX_[366] + vX_[203] * vX_[205] - vX_[208];
1144  vX_[218] = vX_[214] * vX_[7] + (vX_[27] * vX_[210] + vX_[7] * vX_[211] + vX_[21]) * vX_[27] + vX_[218] * vX_[40] +
1145  (vX_[27] * vX_[139] + vX_[7] * vX_[212] + vX_[26] * vX_[216] + vX_[40] * vX_[217]) * vX_[26];
1146  vX_[21] = vX_[21] + vX_[28] * vX_[216] + vX_[270] * vX_[217];
1147  vX_[139] = vX_[26] * vX_[210] + vX_[40] * vX_[211] + vX_[28] * vX_[139] + vX_[270] * vX_[212];
1148  vX_[212] = vX_[213] * vX_[40] + vX_[21] * vX_[26] + vX_[220] * vX_[7] + vX_[139] * vX_[27];
1149  vX_[139] = vX_[220] * vX_[40] + vX_[139] * vX_[26] + vX_[213] * vX_[270] + vX_[21] * vX_[28];
1150  vX_[21] = vX_[208] + vX_[139];
1151  vX_[220] = (vX_[212] - vX_[224] * vX_[21]) / vX_[223];
1152  vX_[213] = vX_[208] + vX_[218] - (vX_[221] * vX_[220] + vX_[212] * vX_[224]);
1153  vX_[211] = vX_[31] * vX_[193];
1154  vX_[217] = -vX_[211];
1155  vX_[214] = -vX_[31] * vX_[199];
1156  vX_[229] = vX_[150] * vX_[31] + vX_[228] * vX_[31] + vX_[217] * vX_[200] - vX_[170] * vX_[366] -
1157  (vX_[229] * vX_[366] + vX_[214] * vX_[205]);
1158  vX_[228] = vX_[366] * vX_[199];
1159  vX_[215] = vX_[366] * vX_[193];
1160  vX_[366] = vX_[186] * vX_[366] + vX_[231] * vX_[366] + vX_[228] * vX_[205] - vX_[174] * vX_[31] -
1161  (vX_[232] * vX_[31] + vX_[215] * vX_[200]);
1162  vX_[31] = 0 - (vX_[26] * vX_[229] + vX_[40] * vX_[230]) - (vX_[27] * vX_[366] + vX_[7] * vX_[233]);
1163  vX_[366] = vX_[28] * vX_[229] + vX_[270] * vX_[230] + vX_[26] * vX_[366] + vX_[40] * vX_[233] -
1164  (vX_[234] * vX_[220] + vX_[31] * vX_[224]);
1165  vX_[229] = -vX_[203];
1166  vX_[220] = vX_[26] * vX_[229] + vX_[40] * vX_[238] + vX_[28] * vX_[207] + vX_[270] * vX_[239];
1167  vX_[229] = vX_[27] * vX_[229] + vX_[7] * vX_[238] + vX_[26] * vX_[207] + vX_[40] * vX_[239];
1168  vX_[239] = 0 - vX_[229];
1169  vX_[238] = (vX_[239] - vX_[243] * vX_[21]) / vX_[223];
1170  vX_[233] = vX_[220] - (vX_[221] * vX_[238] + vX_[212] * vX_[243]);
1171  vX_[211] = vX_[211] - vX_[228];
1172  vX_[228] = vX_[228] - vX_[211];
1173  vX_[230] = vX_[27] * vX_[214] + vX_[7] * vX_[246] + vX_[26] * vX_[228] + vX_[40] * vX_[247];
1174  vX_[217] = vX_[217] - vX_[211];
1175  vX_[232] = vX_[27] * vX_[217] + vX_[7] * vX_[249] + vX_[26] * vX_[215] + vX_[40] * vX_[250];
1176  vX_[228] = vX_[26] * vX_[214] + vX_[40] * vX_[246] + vX_[28] * vX_[228] + vX_[270] * vX_[247];
1177  vX_[217] = vX_[26] * vX_[217] + vX_[40] * vX_[249] + vX_[28] * vX_[215] + vX_[270] * vX_[250];
1178  vX_[215] = vX_[252] * vX_[40] + vX_[228] * vX_[26] + vX_[253] * vX_[7] + vX_[217] * vX_[27];
1179  vX_[250] = (vX_[215] - vX_[255] * vX_[21]) / vX_[223];
1180  vX_[249] = vX_[248] * vX_[40] + vX_[230] * vX_[26] + vX_[251] * vX_[7] + vX_[232] * vX_[27] + vX_[211] -
1181  (vX_[221] * vX_[250] + vX_[212] * vX_[255]);
1182  vX_[214] = vX_[28] * vX_[346] + vX_[270] * vX_[318] + vX_[26] * vX_[99] + vX_[40] * vX_[286];
1183  vX_[247] = 0 - vX_[214];
1184  vX_[99] = vX_[26] * vX_[346] + vX_[40] * vX_[318] + vX_[27] * vX_[99] + vX_[7] * vX_[286] + -0.304 * vX_[360] +
1185  vX_[213] * vX_[323] + vX_[366] * vX_[324] + vX_[233] * vX_[325] + vX_[249] * vX_[327] +
1186  (vX_[221] * vX_[247] + vX_[212] * vX_[333] - vX_[334] * vX_[21]) / vX_[223];
1187  vX_[389] = 1.7423722 * vX_[352] + 1.52322944854339e-09 * vX_[236] + -0.008711861 * vX_[3] +
1188  2.1032 * (vX_[64] * vX_[370] + vX_[390] * vX_[59] - (vX_[50] * vX_[1] + vX_[359] * vX_[82])) +
1189  vX_[95] * vX_[133] + vX_[68] * vX_[124] + vX_[162] * vX_[120] + vX_[167] * vX_[17] +
1190  vX_[163] * vX_[101] + vX_[166] * vX_[345] + (vX_[160] * vX_[353]) / vX_[117] + vX_[174] * vX_[261] +
1191  vX_[150] * vX_[380] + vX_[204] * vX_[267] + vX_[206] * vX_[53] + (vX_[172] * vX_[65]) / vX_[154] -
1192  0.160298259823722 * vX_[389] - 0.057838 * (vX_[93] + vX_[367]);
1193  vX_[3] = -1.7423722 * (vX_[245] - vX_[269]) + 0.160298259823722 * vX_[3] + 1.52322944854339e-09 * vX_[276] +
1194  vX_[48] * vX_[157] + vX_[49] * vX_[260] + vX_[186] * vX_[261] + vX_[170] * vX_[380] + vX_[206] * vX_[267] +
1195  vX_[202] * vX_[53] + (vX_[184] * vX_[65]) / vX_[154] - -0.008711861 * vX_[382];
1196  vX_[139] = vX_[216] + vX_[210] + vX_[208] - vX_[218] - vX_[139] -
1197  (vX_[234] * (vX_[31] - vX_[32] * vX_[21]) / vX_[223] + vX_[31] * vX_[32]);
1198  vX_[218] = vX_[211] - (vX_[234] * vX_[238] + vX_[31] * vX_[243]);
1199  vX_[203] = -1 * (vX_[373] + vX_[203]);
1200  vX_[207] = -1 * (vX_[317] + vX_[207]);
1201  vX_[220] = vX_[237] * vX_[40] + vX_[203] * vX_[26] + vX_[209] * vX_[7] + vX_[207] * vX_[27] - vX_[220] -
1202  (vX_[234] * vX_[250] + vX_[31] * vX_[255]);
1203  vX_[79] = vX_[51] * vX_[389] + vX_[368] * vX_[313] + -1 * (vX_[79] + (vX_[154] * vX_[65]) / vX_[154]) +
1204  vX_[38] * vX_[3] + vX_[192] * vX_[311] + vX_[366] * vX_[323] + vX_[139] * vX_[324] + vX_[218] * vX_[325] +
1205  vX_[220] * vX_[327] + (vX_[234] * vX_[247] + vX_[31] * vX_[333] - vX_[310] * vX_[21]) / vX_[223];
1206  vX_[317] = vX_[40] * vX_[206];
1207  vX_[47] = vX_[138] * vX_[7] + (vX_[7] * vX_[188] + vX_[317]) * vX_[27] + vX_[47] * vX_[40] +
1208  (vX_[7] * vX_[206] + vX_[40] * vX_[191]) * vX_[26];
1209  vX_[188] = vX_[40] * vX_[188] + vX_[270] * vX_[206];
1210  vX_[317] = vX_[317] + vX_[270] * vX_[191];
1211  vX_[191] = vX_[43] * vX_[40] + vX_[188] * vX_[26] + vX_[74] * vX_[270] + vX_[317] * vX_[28];
1212  vX_[238] = 0 - vX_[47] - vX_[191] - (vX_[242] * vX_[238] + vX_[239] * vX_[243]);
1213  vX_[138] = vX_[270] * vX_[193] + vX_[40] * vX_[87] - (vX_[242] * vX_[250] + vX_[239] * vX_[255]);
1214  vX_[360] = -1 * vX_[360] + vX_[233] * vX_[323] + vX_[218] * vX_[324] + vX_[238] * vX_[325] + vX_[138] * vX_[327] +
1215  (vX_[242] * vX_[247] + vX_[239] * vX_[333] - vX_[314] * vX_[21]) / vX_[223];
1216  vX_[47] = vX_[47] - (vX_[254] * vX_[250] + vX_[215] * vX_[255]);
1217  vX_[3] = vX_[26] * vX_[3] + vX_[40] * vX_[311] + vX_[27] * vX_[389] + vX_[7] * vX_[313] + vX_[249] * vX_[323] +
1218  vX_[220] * vX_[324] + vX_[138] * vX_[325] + vX_[47] * vX_[327] +
1219  (vX_[254] * vX_[247] + vX_[215] * vX_[333] - vX_[330] * vX_[21]) / vX_[223];
1220  vX_[389] = vX_[258] * vX_[47];
1221  vX_[139] = 2. * vX_[220] * vX_[258] + vX_[139] + vX_[389] * vX_[258];
1222  vX_[311] = vX_[258] * vX_[138];
1223  vX_[366] = vX_[249] * vX_[258] + vX_[366] - vX_[218] * vX_[258] - vX_[311] * vX_[258];
1224  vX_[313] = vX_[11] * vX_[366];
1225  vX_[250] = -vX_[258] * vX_[238];
1226  vX_[213] = vX_[213] - 2. * vX_[233] * vX_[258] - vX_[250] * vX_[258];
1227  vX_[373] = (vX_[11] * vX_[139] + vX_[9] * vX_[366]) * vX_[11] + (vX_[313] + vX_[9] * vX_[213]) * vX_[9];
1228  vX_[366] = vX_[22] * vX_[366] + vX_[11] * vX_[213];
1229  vX_[313] = vX_[22] * vX_[139] + vX_[313];
1230  vX_[216] = vX_[366] * vX_[9] + vX_[313] * vX_[11];
1231  vX_[313] = vX_[313] * vX_[22] + vX_[366] * vX_[11];
1232  vX_[366] = (vX_[216] - vX_[19] * vX_[313]) / vX_[24];
1233  vX_[210] = vX_[373] - (vX_[42] * vX_[366] + vX_[216] * vX_[19]);
1234  vX_[366] = --0.022851627 * vX_[366];
1235  vX_[208] = 0 - vX_[11] * vX_[99] - vX_[22] * vX_[79] - vX_[34] * vX_[360] - vX_[15] * vX_[3];
1236  vX_[373] = vX_[213] + vX_[139] - vX_[373] - vX_[313] - -0.022851627 * ((-vX_[278]) * vX_[313]) / vX_[24];
1237  vX_[217] = vX_[252] * vX_[270] + vX_[228] * vX_[28] + vX_[253] * vX_[40] + vX_[217] * vX_[26] + vX_[211];
1238  vX_[228] = (vX_[217] - vX_[272] * vX_[21]) / vX_[223];
1239  vX_[87] = 0 - vX_[40] * vX_[193] - vX_[7] * vX_[87] - (vX_[242] * vX_[228] + vX_[239] * vX_[272]);
1240  vX_[232] = vX_[248] * vX_[270] + vX_[230] * vX_[28] + vX_[251] * vX_[40] + vX_[232] * vX_[26] - vX_[258] * vX_[87] -
1241  (vX_[221] * vX_[228] + vX_[212] * vX_[272]);
1242  vX_[317] = vX_[74] * vX_[40] + vX_[317] * vX_[26] + vX_[43] * vX_[7] + vX_[188] * vX_[27] -
1243  (vX_[254] * vX_[228] + vX_[215] * vX_[272]);
1244  vX_[207] = vX_[237] * vX_[270] + vX_[203] * vX_[28] + vX_[209] * vX_[40] + vX_[207] * vX_[26] + vX_[229] +
1245  vX_[258] * vX_[317] - (vX_[234] * vX_[228] + vX_[31] * vX_[272]);
1246  vX_[203] = vX_[11] * vX_[207];
1247  vX_[228] = vX_[191] - (vX_[227] * vX_[228] + vX_[217] * vX_[272]);
1248  vX_[47] = vX_[47] - vX_[228];
1249  vX_[191] = vX_[22] * vX_[138] + vX_[11] * vX_[47];
1250  vX_[238] = vX_[238] - vX_[228];
1251  vX_[229] = vX_[11] * vX_[138];
1252  vX_[209] = vX_[22] * vX_[238] + vX_[229];
1253  vX_[218] = vX_[311] + vX_[218];
1254  vX_[250] = vX_[250] + vX_[233];
1255  vX_[233] = vX_[22] * vX_[218] + vX_[11] * vX_[250];
1256  vX_[389] = vX_[389] + vX_[220];
1257  vX_[311] = vX_[249] - vX_[311];
1258  vX_[249] = vX_[22] * vX_[389] + vX_[11] * vX_[311];
1259  vX_[220] = vX_[233] * vX_[22] + vX_[249] * vX_[11];
1260  vX_[237] = (vX_[220] - vX_[351] * vX_[313]) / vX_[24];
1261  vX_[249] = vX_[249] * vX_[9] + vX_[233] * vX_[11];
1262  vX_[233] = vX_[191] * vX_[9] + vX_[209] * vX_[11] - (vX_[349] * vX_[237] + vX_[249] * vX_[351]);
1263  vX_[188] = -vX_[232];
1264  vX_[74] = vX_[22] * vX_[188] + vX_[203];
1265  vX_[43] = (vX_[249] - vX_[355] * vX_[313]) / vX_[24];
1266  vX_[311] = vX_[11] * vX_[389] + vX_[9] * vX_[311];
1267  vX_[250] = vX_[11] * vX_[218] + vX_[9] * vX_[250];
1268  vX_[218] = vX_[358] * vX_[233];
1269  vX_[317] = -vX_[317];
1270  vX_[188] = vX_[11] * vX_[188] + vX_[9] * vX_[207];
1271  vX_[389] = 0 - vX_[188];
1272  vX_[230] = 0 - vX_[9] * vX_[87] - vX_[11] * vX_[317] - (vX_[362] * vX_[237] + vX_[389] * vX_[351]);
1273  vX_[251] = vX_[282] * vX_[230];
1274  vX_[248] = vX_[251] - vX_[218];
1275  vX_[211] = (vX_[389] - vX_[372] * vX_[313]) / vX_[24];
1276  vX_[188] = vX_[232] * vX_[11] + vX_[207] * vX_[22] + vX_[188] - -0.022851627 * vX_[237];
1277  vX_[209] = vX_[209] * vX_[22] + vX_[191] * vX_[11];
1278  vX_[220] = vX_[228] + vX_[209] - (vX_[350] * vX_[237] + vX_[220] * vX_[351]);
1279  vX_[191] = -vX_[282] * vX_[220];
1280  vX_[237] = vX_[311] * vX_[11] + vX_[250] * vX_[22] - (vX_[42] * vX_[237] + vX_[216] * vX_[351]);
1281  vX_[207] = vX_[366] + vX_[188] * vX_[358] + vX_[191] * vX_[358] - vX_[237] * vX_[282];
1282  vX_[229] = (vX_[11] * vX_[238] + vX_[9] * vX_[138]) * vX_[11] + (vX_[229] + vX_[9] * vX_[47]) * vX_[9];
1283  vX_[317] = vX_[11] * vX_[87] + vX_[22] * vX_[317] - (vX_[362] * vX_[43] + vX_[389] * vX_[355]);
1284  vX_[317] = (vX_[282] * (vX_[47] + vX_[238] + vX_[228] - vX_[229] - vX_[209] -
1285  (vX_[362] * vX_[211] + vX_[389] * vX_[372])) -
1286  vX_[358] * vX_[317]) *
1287  vX_[282] -
1288  (vX_[282] * vX_[317] - vX_[358] * (vX_[228] + vX_[229] - (vX_[349] * vX_[43] + vX_[249] * vX_[355]))) *
1289  vX_[358];
1290  jac[42] =
1291  (0 -
1292  vX_[0] *
1293  (vX_[9] * vX_[99] + vX_[11] * vX_[79] + vX_[30] * vX_[360] + vX_[12] * vX_[3] + vX_[210] * vX_[274] +
1294  vX_[366] * vX_[268] + (vX_[42] * vX_[208] + vX_[216] * vX_[271] - vX_[309] * vX_[313]) / vX_[24]) -
1295  vX_[4] * ((vX_[223] * vX_[247] + vX_[21] * vX_[333] - vX_[58] * vX_[21]) / vX_[223] + vX_[214] +
1296  vX_[366] * vX_[274] + vX_[373] * vX_[268] +
1297  (-0.022851627 * vX_[208] - vX_[277] * vX_[313]) / vX_[24]) -
1298  9.81 * ((vX_[4] * (vX_[232] * vX_[9] + vX_[203] - vX_[282] * vX_[233] - vX_[74] - -0.022851627 * vX_[43]) +
1299  vX_[0] * (vX_[311] * vX_[9] + vX_[250] * vX_[11] + vX_[218] -
1300  (vX_[42] * vX_[43] + vX_[216] * vX_[355]) - vX_[248])) *
1301  vX_[0] +
1302  (vX_[4] * (0 - vX_[251] - -0.022851627 * vX_[211] - vX_[248]) +
1303  vX_[0] * (vX_[74] + vX_[358] * vX_[230] - (vX_[42] * vX_[211] + vX_[216] * vX_[372]))) *
1304  vX_[4] +
1305  vX_[248]) -
1306  vX_[365] * ((vX_[4] * vX_[207] + vX_[0] * (2. * vX_[237] * vX_[358] + vX_[210] +
1307  vX_[358] * vX_[220] * vX_[358] - vX_[317])) *
1308  vX_[0] +
1309  (vX_[4] * (vX_[373] - 2. * vX_[188] * vX_[282] - vX_[191] * vX_[282] - vX_[317]) +
1310  vX_[0] * vX_[207]) *
1311  vX_[4] +
1312  vX_[317])) /
1313  vX_[385];
1314  vX_[317] = vX_[0] * jac[42];
1315  vX_[207] = vX_[4] * jac[42];
1316  jac[43] = (vX_[208] - (vX_[42] * vX_[317] + vX_[216] * vX_[342]) - -0.022851627 * vX_[207] - vX_[249] * vX_[259] -
1317  vX_[389] * vX_[90] - vX_[344] * vX_[313]) /
1318  vX_[24];
1319  vX_[389] = vX_[11] * jac[43] + vX_[9] * vX_[317];
1320  vX_[249] = vX_[11] * vX_[344] + vX_[9] * vX_[342] + vX_[323];
1321  vX_[208] = vX_[22] * jac[43] + vX_[11] * vX_[317];
1322  vX_[313] = vX_[22] * vX_[344] + vX_[11] * vX_[342] + vX_[324];
1323  vX_[216] = vX_[15] * jac[43] + vX_[12] * vX_[317];
1324  vX_[237] = vX_[15] * vX_[344] + vX_[12] * vX_[342] + vX_[9] * vX_[259] + vX_[327];
1325  vX_[317] = vX_[34] * jac[43] + vX_[30] * vX_[317];
1326  vX_[191] = vX_[34] * vX_[344] + vX_[30] * vX_[342] + vX_[11] * vX_[259] + vX_[325];
1327  vX_[220] = (vX_[333] - vX_[223] * vX_[348] - vX_[221] * vX_[249] - vX_[234] * vX_[313] - vX_[227] * vX_[90] -
1328  vX_[254] * vX_[237] - vX_[242] * vX_[191]) /
1329  vX_[223];
1330  jac[44] = (vX_[247] - (vX_[223] * vX_[207] + vX_[21] * vX_[348]) - (vX_[221] * vX_[389] + vX_[212] * vX_[249]) -
1331  (vX_[234] * vX_[208] + vX_[31] * vX_[313]) - vX_[217] * vX_[90] -
1332  (vX_[254] * vX_[216] + vX_[215] * vX_[237]) - (vX_[242] * vX_[317] + vX_[239] * vX_[191]) -
1333  vX_[220] * vX_[21]) /
1334  vX_[223];
1335  vX_[217] = -1 * vX_[208];
1336  vX_[207] = vX_[207] + jac[44];
1337  vX_[247] = vX_[348] + vX_[220];
1338  vX_[261] = vX_[28] * vX_[207] + vX_[270] * vX_[247] + vX_[26] * vX_[389] + vX_[40] * vX_[249] + vX_[261];
1339  vX_[207] = vX_[26] * vX_[207] + vX_[40] * vX_[247] + vX_[27] * vX_[389] + vX_[7] * vX_[249] + vX_[380];
1340  vX_[317] = -0.304 * vX_[389] + -1 * vX_[317];
1341  vX_[53] = vX_[26] * vX_[216] + vX_[40] * vX_[237] + vX_[38] * vX_[208] + vX_[192] * vX_[313] + (-vX_[7]) * vX_[90] +
1342  vX_[53];
1343  vX_[216] = vX_[27] * vX_[216] + vX_[7] * vX_[237] + vX_[51] * vX_[208] + vX_[368] * vX_[313] + vX_[40] * vX_[90] +
1344  vX_[267];
1345  jac[45] = (vX_[65] - vX_[154] * vX_[217] - vX_[152] * vX_[261] - -0.00021200017 * vX_[207] - vX_[169] * vX_[317] -
1346  vX_[184] * vX_[53] - vX_[172] * vX_[216]) /
1347  vX_[154];
1348  vX_[217] = vX_[217] + jac[45];
1349  vX_[120] = vX_[49] * vX_[217] + vX_[48] * vX_[261] + vX_[120];
1350  vX_[17] = vX_[63] * vX_[217] + vX_[49] * vX_[261] + vX_[17];
1351  vX_[101] = vX_[76] * vX_[217] + vX_[77] * vX_[261] + vX_[49] * vX_[53] + vX_[78] * vX_[317] + vX_[101];
1352  jac[46] =
1353  (vX_[353] - vX_[117] * vX_[207] - vX_[108] * vX_[120] - vX_[122] * vX_[17] - vX_[160] * vX_[216] -
1354  vX_[134] * (vX_[56] * vX_[217] + vX_[57] * vX_[261] + vX_[48] * vX_[53] + vX_[49] * vX_[317] + vX_[345]) -
1355  vX_[130] * vX_[101]) /
1356  vX_[117];
1357  vX_[207] = vX_[207] + jac[46];
1358  jac[47] = (vX_[25] - 0.009277 * vX_[120] - -0.000829 * (vX_[70] * vX_[207] + vX_[68] * vX_[17] + vX_[347]) -
1359  1.5e-05 * (vX_[68] * vX_[207] + vX_[67] * vX_[17] + vX_[190]) -
1360  0.038686875 * (vX_[68] * vX_[101] + vX_[94] * vX_[120] + vX_[95] * vX_[216] + vX_[187])) /
1361  0.009277;
1362  vX_[207] = -1 * sin(x_in[4]);
1363  vX_[101] = cos(x_in[4]);
1364  vX_[17] = vX_[207] * vX_[29] + vX_[101] * vX_[37];
1365  vX_[120] = 0.112 * vX_[207];
1366  vX_[216] = -0.112 * vX_[101];
1367  vX_[187] = vX_[120] * vX_[37] + vX_[216] * vX_[29] + vX_[207] * vX_[41] + vX_[101] * vX_[36];
1368  vX_[190] = vX_[17] * vX_[54] - vX_[55] * vX_[187];
1369  vX_[347] = vX_[17] * vX_[55];
1370  vX_[25] = -vX_[207];
1371  vX_[217] = vX_[101] * vX_[29] + vX_[25] * vX_[37];
1372  vX_[53] = vX_[64] * vX_[217] + vX_[217] * vX_[64];
1373  vX_[317] = vX_[68] * vX_[217];
1374  vX_[261] = vX_[67] * vX_[217];
1375  vX_[353] = vX_[69] * vX_[317] + vX_[261] * vX_[73];
1376  vX_[345] = 0.112 * vX_[101];
1377  vX_[65] = 0.112 * vX_[207];
1378  vX_[208] = -vX_[207];
1379  vX_[267] = vX_[345] * vX_[37] + vX_[65] * vX_[29] + vX_[101] * vX_[41] + vX_[208] * vX_[36];
1380  vX_[368] = vX_[67] * vX_[267] + vX_[80] * vX_[17];
1381  vX_[7] = vX_[75] * vX_[368] + vX_[17] * vX_[83];
1382  vX_[40] = -0.184 * vX_[217] + vX_[187];
1383  vX_[192] = vX_[69] * vX_[40] + vX_[261] * vX_[86];
1384  vX_[389] = vX_[69] * vX_[17] + vX_[261] * vX_[75];
1385  vX_[380] = vX_[73] * vX_[17] + vX_[317] * vX_[75];
1386  vX_[270] = vX_[73] * vX_[317] + vX_[317] * vX_[73];
1387  vX_[215] = vX_[69] * vX_[261] + vX_[261] * vX_[69];
1388  vX_[239] = -0.00751 * vX_[353] + 0.038686875 * (vX_[7] - vX_[192]) + -0.000829 * vX_[389] - 1.5e-05 * vX_[380] -
1389  0.000198 * (vX_[270] - vX_[215]);
1390  vX_[31] = 0 - vX_[239];
1391  vX_[21] = vX_[68] * vX_[267] + vX_[94] * vX_[17];
1392  vX_[212] = vX_[75] * vX_[17] + vX_[17] * vX_[75];
1393  vX_[40] = 1.547475 * (vX_[73] * vX_[40] + vX_[317] * vX_[86] - (vX_[75] * vX_[21] + vX_[17] * vX_[97])) +
1394  1.547475 * vX_[21] * x_in[11] - 0.038686875 * (vX_[212] + vX_[270]);
1395  vX_[188] = (-vX_[261]) * x_in[11];
1396  vX_[211] = vX_[317] * x_in[11];
1397  vX_[248] = (-vX_[368]) * x_in[11];
1398  vX_[192] = 0.038686875 * vX_[353] + -1.547475 * (vX_[192] - vX_[7]) + 0.00345708950900075 * vX_[188] +
1399  -6.25528861700981e-05 * vX_[211] + 1.38614328745655 * vX_[248] + (0.038686875 * vX_[31]) / 0.009277;
1400  vX_[7] = (-vX_[217]) * x_in[10];
1401  vX_[251] = vX_[17] * x_in[10];
1402  vX_[230] = vX_[187] * x_in[10];
1403  vX_[218] = (-vX_[267]) * x_in[10];
1404  vX_[250] = vX_[217] * vX_[55];
1405  vX_[311] = vX_[64] * vX_[17] + vX_[217] * vX_[50];
1406  vX_[21] = vX_[69] * vX_[21] + vX_[261] * vX_[97] - (vX_[73] * vX_[368] + vX_[317] * vX_[83]);
1407  vX_[215] = 0.000198 * vX_[380] + 1.5e-05 * (vX_[212] - vX_[215]) + 0.00315291990945349 * vX_[188] +
1408  0.000199340411771047 * vX_[211] + 0.00345708950900075 * vX_[248] + (-0.000829 * vX_[31]) / 0.009277 -
1409  0.038686875 * vX_[21] - -0.00146 * vX_[389] - -0.000829 * vX_[353];
1410  vX_[212] = 0.00605 * vX_[380] + 1.5e-05 * vX_[353] + 0.000199340411771047 * vX_[188] +
1411  0.0107369757464698 * vX_[211] + -6.25528861700981e-05 * vX_[248] + (1.5e-05 * vX_[31]) / 0.009277 -
1412  0.000198 * vX_[389] - -0.000829 * (vX_[212] - vX_[270]);
1413  vX_[21] = 0.038686875 * vX_[389] + 1.547475 * vX_[21] + -0.038686875 * vX_[188];
1414  vX_[389] = vX_[50] * vX_[17] + vX_[17] * vX_[50];
1415  vX_[270] = -0.001243 * vX_[250] + 0.009683 * vX_[311] + vX_[70] * vX_[215] + vX_[68] * vX_[212] +
1416  0.02075 * vX_[21] - -0.012652 * vX_[347] - -0.001387 * (vX_[389] - vX_[53]);
1417  vX_[380] = 0 - vX_[270];
1418  vX_[239] = 0.057838 * vX_[190] + -0.001387 * vX_[347] + -0.012652 * (0 - vX_[53]) +
1419  (0.009277 * vX_[31]) / 0.009277 + vX_[239] + vX_[80] * vX_[40] + vX_[94] * vX_[192] + vX_[119] * vX_[7] +
1420  vX_[123] * vX_[251] + vX_[132] * vX_[230] + vX_[136] * vX_[218] + (vX_[108] * vX_[380]) / vX_[117] -
1421  -0.008386 * vX_[250] - -0.001243 * vX_[311];
1422  vX_[353] = vX_[217] * vX_[54] - vX_[55] * vX_[267];
1423  vX_[212] = -0.018069 * vX_[347] + 0.057838 * vX_[353] + -0.012652 * vX_[311] + vX_[68] * vX_[215] +
1424  vX_[67] * vX_[212] + -0.184 * vX_[21] + vX_[123] * vX_[7] + vX_[116] * vX_[251] + vX_[72] * vX_[230] +
1425  vX_[128] * vX_[218] + (vX_[122] * vX_[380]) / vX_[117] - -0.001387 * vX_[250] -
1426  -0.001243 * (0 - vX_[389]);
1427  vX_[250] = 0.057838 * vX_[250] + 2.1032 * vX_[190] + vX_[68] * vX_[192] + vX_[67] * vX_[40] + vX_[132] * vX_[7] +
1428  vX_[72] * vX_[251] + vX_[62] * vX_[230] + vX_[71] * vX_[218] + (vX_[130] * vX_[380]) / vX_[117];
1429  vX_[353] = 0.057838 * vX_[347] + -2.1032 * vX_[353] + vX_[21] + vX_[136] * vX_[7] + vX_[128] * vX_[251] +
1430  vX_[71] * vX_[230] + vX_[60] * vX_[218] + (vX_[134] * vX_[380]) / vX_[117];
1431  vX_[21] = vX_[49] * vX_[216] + vX_[101] * vX_[57] + vX_[63] * vX_[120] + vX_[25] * vX_[56];
1432  vX_[347] = vX_[21] * vX_[60];
1433  vX_[140] = vX_[96] * vX_[21] + vX_[140] * vX_[21] + vX_[347] * vX_[61];
1434  vX_[96] = vX_[21] * vX_[71];
1435  vX_[142] = vX_[136] * vX_[21] - vX_[72] * vX_[21] - (vX_[142] * vX_[21] + vX_[96] * vX_[61]);
1436  vX_[190] = vX_[49] * vX_[142] + vX_[101] * vX_[143];
1437  vX_[215] = -vX_[21] * vX_[62];
1438  vX_[147] = 0 - vX_[146] * vX_[21] - (vX_[147] * vX_[21] + vX_[215] * vX_[61]);
1439  vX_[149] = vX_[144] * vX_[101] +
1440  (vX_[49] * vX_[140] + vX_[101] * vX_[141] + vX_[48] * vX_[142] + vX_[207] * vX_[143]) * vX_[49] +
1441  vX_[149] * vX_[207] + (vX_[190] + vX_[48] * vX_[147] + vX_[207] * vX_[148]) * vX_[48];
1442  vX_[142] = vX_[63] * vX_[142] + vX_[25] * vX_[143] + vX_[49] * vX_[147] + vX_[101] * vX_[148];
1443  vX_[190] = vX_[63] * vX_[140] + vX_[25] * vX_[141] + vX_[190];
1444  vX_[141] = vX_[151] * vX_[207] + vX_[142] * vX_[48] + vX_[145] * vX_[101] + vX_[190] * vX_[49];
1445  vX_[190] = vX_[145] * vX_[25] + vX_[190] * vX_[63] + vX_[151] * vX_[101] + vX_[142] * vX_[49];
1446  vX_[142] = (vX_[141] - vX_[155] * vX_[190]) / vX_[154];
1447  vX_[145] = vX_[149] - (vX_[152] * vX_[142] + vX_[141] * vX_[155]);
1448  vX_[142] = --0.00021200017 * vX_[142];
1449  vX_[151] = 0 - vX_[21] * vX_[163];
1450  vX_[148] = -vX_[151];
1451  vX_[21] = vX_[21] * vX_[166];
1452  vX_[143] = vX_[49] * vX_[21] + vX_[101] * vX_[168];
1453  vX_[144] = vX_[63] * vX_[148] + vX_[25] * vX_[165] + vX_[143];
1454  vX_[148] = vX_[49] * vX_[148] + vX_[101] * vX_[165] + vX_[48] * vX_[21] + vX_[207] * vX_[168];
1455  vX_[165] = 0 - vX_[148];
1456  vX_[146] = (vX_[165] - vX_[173] * vX_[190]) / vX_[154];
1457  vX_[311] = vX_[144] - (vX_[152] * vX_[146] + vX_[141] * vX_[173]);
1458  vX_[368] = 0 - vX_[96];
1459  vX_[261] = vX_[49] * vX_[347] + vX_[101] * vX_[176] + vX_[48] * vX_[368] + vX_[207] * vX_[177];
1460  vX_[317] = vX_[49] * vX_[96] + vX_[101] * vX_[179] + vX_[48] * vX_[215] + vX_[207] * vX_[180];
1461  vX_[368] = vX_[63] * vX_[347] + vX_[25] * vX_[176] + vX_[49] * vX_[368] + vX_[101] * vX_[177];
1462  vX_[215] = vX_[63] * vX_[96] + vX_[25] * vX_[179] + vX_[49] * vX_[215] + vX_[101] * vX_[180];
1463  vX_[96] = vX_[182] * vX_[207] + vX_[368] * vX_[48] + vX_[183] * vX_[101] + vX_[215] * vX_[49];
1464  vX_[180] = (vX_[96] - vX_[185] * vX_[190]) / vX_[154];
1465  vX_[179] = vX_[178] * vX_[207] + vX_[261] * vX_[48] + vX_[181] * vX_[101] + vX_[317] * vX_[49] -
1466  (vX_[152] * vX_[180] + vX_[141] * vX_[185]);
1467  vX_[347] = vX_[49] * vX_[239] + vX_[101] * vX_[291] + vX_[63] * vX_[212] + vX_[25] * vX_[305] + vX_[76] * vX_[250] +
1468  vX_[345] * vX_[304] + vX_[56] * vX_[353] + vX_[120] * vX_[290];
1469  vX_[177] = 0 - vX_[347];
1470  vX_[212] = vX_[48] * vX_[239] + vX_[207] * vX_[291] + vX_[49] * vX_[212] + vX_[101] * vX_[305] +
1471  vX_[77] * vX_[250] + vX_[65] * vX_[304] + vX_[57] * vX_[353] + vX_[216] * vX_[290] +
1472  vX_[145] * vX_[280] + vX_[142] * vX_[287] + vX_[311] * vX_[283] + vX_[179] * vX_[308] +
1473  (vX_[152] * vX_[177] + vX_[141] * vX_[315] - vX_[316] * vX_[190]) / vX_[154];
1474  vX_[149] = vX_[147] + vX_[140] - vX_[149] - vX_[190] - -0.00021200017 * ((-vX_[92]) * vX_[190]) / vX_[154];
1475  vX_[147] = --0.00021200017 * vX_[146];
1476  vX_[144] = vX_[164] * vX_[207] + vX_[151] * vX_[48] + vX_[143] - vX_[144] - -0.00021200017 * vX_[180];
1477  vX_[270] = (vX_[117] * vX_[380]) / vX_[117] + vX_[270] + vX_[142] * vX_[280] + vX_[149] * vX_[287] +
1478  vX_[147] * vX_[283] + vX_[144] * vX_[308] + (-0.00021200017 * vX_[177] - vX_[320] * vX_[190]) / vX_[154];
1479  vX_[215] = vX_[183] * vX_[25] + vX_[215] * vX_[63] + vX_[182] * vX_[101] + vX_[368] * vX_[49];
1480  vX_[368] = (vX_[215] - vX_[46] * vX_[190]) / vX_[154];
1481  vX_[317] = vX_[178] * vX_[101] + vX_[261] * vX_[49] + vX_[181] * vX_[25] + vX_[317] * vX_[63] -
1482  (vX_[152] * vX_[368] + vX_[141] * vX_[46]);
1483  vX_[148] = vX_[164] * vX_[101] + vX_[151] * vX_[49] + vX_[168] * vX_[25] + vX_[21] * vX_[63] + vX_[148] -
1484  -0.00021200017 * vX_[368];
1485  vX_[21] = 0 - vX_[207] * vX_[163] - vX_[101] * vX_[33] - (vX_[172] * vX_[368] + vX_[165] * vX_[46]);
1486  vX_[151] = vX_[25] * vX_[71] + vX_[101] * vX_[194];
1487  vX_[168] = vX_[101] * vX_[71];
1488  vX_[164] = vX_[25] * vX_[196] + vX_[168];
1489  vX_[261] = vX_[195] * vX_[207] + vX_[151] * vX_[48] + vX_[198] * vX_[101] + vX_[164] * vX_[49] -
1490  (vX_[184] * vX_[368] + vX_[96] * vX_[46]);
1491  vX_[181] = vX_[49] * vX_[353] + vX_[101] * vX_[290] + vX_[78] * vX_[250] + vX_[208] * vX_[304] +
1492  vX_[317] * vX_[280] + vX_[148] * vX_[287] + vX_[21] * vX_[283] + vX_[261] * vX_[308] +
1493  (vX_[169] * vX_[177] + vX_[215] * vX_[315] - vX_[321] * vX_[190]) / vX_[154];
1494  vX_[168] = vX_[201] * vX_[101] + (vX_[101] * vX_[196] + vX_[207] * vX_[71]) * vX_[49] + vX_[197] * vX_[207] +
1495  (vX_[168] + vX_[207] * vX_[194]) * vX_[48];
1496  vX_[164] = vX_[198] * vX_[25] + vX_[164] * vX_[63] + vX_[195] * vX_[101] + vX_[151] * vX_[49];
1497  vX_[146] = 0 - vX_[168] - vX_[164] - (vX_[172] * vX_[146] + vX_[165] * vX_[173]);
1498  vX_[33] = vX_[101] * vX_[163] + vX_[25] * vX_[33] - (vX_[172] * vX_[180] + vX_[165] * vX_[185]);
1499  vX_[151] = vX_[200] * vX_[146] - vX_[205] * vX_[33];
1500  vX_[168] = vX_[168] - (vX_[184] * vX_[180] + vX_[96] * vX_[185]);
1501  vX_[180] = vX_[200] * vX_[33] - vX_[205] * vX_[168];
1502  vX_[198] = vX_[151] * vX_[200] - vX_[180] * vX_[205];
1503  vX_[164] = vX_[164] - (vX_[169] * vX_[368] + vX_[215] * vX_[46]);
1504  vX_[368] = -vX_[200] * vX_[164];
1505  vX_[149] = vX_[149] - 2. * vX_[148] * vX_[200] - vX_[368] * vX_[200] - vX_[198];
1506  vX_[142] = vX_[142] + vX_[148] * vX_[205] + vX_[368] * vX_[205] - vX_[317] * vX_[200];
1507  vX_[195] = vX_[26] * vX_[142];
1508  vX_[197] = vX_[205] * vX_[164];
1509  vX_[145] = 2. * vX_[317] * vX_[205] + vX_[145] + vX_[197] * vX_[205] - vX_[198];
1510  vX_[201] = (vX_[27] * vX_[149] + vX_[195]) * vX_[27] + (vX_[27] * vX_[142] + vX_[26] * vX_[145]) * vX_[26];
1511  vX_[195] = vX_[195] + vX_[28] * vX_[145];
1512  vX_[142] = vX_[26] * vX_[149] + vX_[28] * vX_[142];
1513  vX_[196] = vX_[195] * vX_[26] + vX_[142] * vX_[27];
1514  vX_[142] = vX_[142] * vX_[26] + vX_[195] * vX_[28];
1515  vX_[195] = vX_[198] + vX_[142];
1516  vX_[194] = (vX_[196] - vX_[224] * vX_[195]) / vX_[223];
1517  vX_[178] = vX_[198] + vX_[201] - (vX_[221] * vX_[194] + vX_[196] * vX_[224]);
1518  vX_[183] = vX_[200] * vX_[21];
1519  vX_[182] = -vX_[183];
1520  vX_[143] = -vX_[200] * vX_[261];
1521  vX_[140] = vX_[147] * vX_[200] + vX_[182] * vX_[200] - vX_[144] * vX_[205] - vX_[143] * vX_[205];
1522  vX_[239] = vX_[205] * vX_[261];
1523  vX_[305] = vX_[205] * vX_[21];
1524  vX_[291] = vX_[179] * vX_[205] + vX_[239] * vX_[205] - vX_[311] * vX_[200] - vX_[305] * vX_[200];
1525  vX_[176] = 0 - vX_[26] * vX_[140] - vX_[27] * vX_[291];
1526  vX_[291] = vX_[28] * vX_[140] + vX_[26] * vX_[291] - (vX_[234] * vX_[194] + vX_[176] * vX_[224]);
1527  vX_[197] = vX_[197] + vX_[317];
1528  vX_[317] = -vX_[197];
1529  vX_[368] = vX_[368] + vX_[148];
1530  vX_[148] = vX_[26] * vX_[317] + vX_[28] * vX_[368];
1531  vX_[317] = vX_[27] * vX_[317] + vX_[26] * vX_[368];
1532  vX_[140] = 0 - vX_[317];
1533  vX_[194] = (vX_[140] - vX_[243] * vX_[195]) / vX_[223];
1534  vX_[43] = vX_[148] - (vX_[221] * vX_[194] + vX_[196] * vX_[243]);
1535  vX_[143] = vX_[143] + vX_[144];
1536  vX_[183] = vX_[183] - vX_[239];
1537  vX_[239] = vX_[179] + vX_[239] - vX_[183];
1538  vX_[74] = vX_[27] * vX_[143] + vX_[26] * vX_[239];
1539  vX_[182] = vX_[147] + vX_[182] - vX_[183];
1540  vX_[305] = vX_[305] + vX_[311];
1541  vX_[233] = vX_[27] * vX_[182] + vX_[26] * vX_[305];
1542  vX_[239] = vX_[26] * vX_[143] + vX_[28] * vX_[239];
1543  vX_[305] = vX_[26] * vX_[182] + vX_[28] * vX_[305];
1544  vX_[182] = vX_[239] * vX_[26] + vX_[305] * vX_[27];
1545  vX_[143] = (vX_[182] - vX_[255] * vX_[195]) / vX_[223];
1546  vX_[203] = vX_[74] * vX_[26] + vX_[233] * vX_[27] + vX_[183] - (vX_[221] * vX_[143] + vX_[196] * vX_[255]);
1547  vX_[232] = vX_[28] * vX_[212] + vX_[26] * vX_[270];
1548  vX_[373] = 0 - vX_[232];
1549  vX_[270] = vX_[26] * vX_[212] + vX_[27] * vX_[270] + -0.304 * vX_[181] + vX_[178] * vX_[323] + vX_[291] * vX_[324] +
1550  vX_[43] * vX_[325] + vX_[203] * vX_[327] +
1551  (vX_[221] * vX_[373] + vX_[196] * vX_[333] - vX_[334] * vX_[195]) / vX_[223];
1552  vX_[147] = 2.1032 * (vX_[64] * vX_[187] + vX_[217] * vX_[59] - (vX_[50] * vX_[267] + vX_[17] * vX_[82])) +
1553  vX_[95] * vX_[192] + vX_[68] * vX_[40] + vX_[162] * vX_[7] + vX_[167] * vX_[251] + vX_[163] * vX_[230] +
1554  vX_[166] * vX_[218] + (vX_[160] * vX_[380]) / vX_[117] + vX_[311] * vX_[280] + vX_[147] * vX_[287] +
1555  vX_[146] * vX_[283] + vX_[33] * vX_[308] +
1556  (vX_[172] * vX_[177] + vX_[165] * vX_[315] - vX_[338] * vX_[190]) / vX_[154] -
1557  0.057838 * (vX_[389] + vX_[53]);
1558  vX_[144] = vX_[48] * vX_[353] + vX_[207] * vX_[290] + vX_[49] * vX_[250] + vX_[101] * vX_[304] +
1559  vX_[179] * vX_[280] + vX_[144] * vX_[287] + vX_[33] * vX_[283] + vX_[168] * vX_[308] +
1560  (vX_[184] * vX_[177] + vX_[96] * vX_[315] - vX_[295] * vX_[190]) / vX_[154];
1561  vX_[142] = vX_[145] + vX_[149] + vX_[198] - vX_[201] - vX_[142] -
1562  (vX_[234] * (vX_[176] - vX_[32] * vX_[195]) / vX_[223] + vX_[176] * vX_[32]);
1563  vX_[201] = vX_[183] - (vX_[234] * vX_[194] + vX_[176] * vX_[243]);
1564  vX_[197] = -1 * (vX_[180] + vX_[197]);
1565  vX_[368] = -1 * (vX_[151] + vX_[368]);
1566  vX_[148] = vX_[197] * vX_[26] + vX_[368] * vX_[27] - vX_[148] - (vX_[234] * vX_[143] + vX_[176] * vX_[255]);
1567  vX_[347] = vX_[51] * vX_[147] +
1568  -1 * (vX_[347] + (vX_[154] * vX_[177] + vX_[190] * vX_[315] - vX_[312] * vX_[190]) / vX_[154]) +
1569  vX_[38] * vX_[144] + vX_[291] * vX_[323] + vX_[142] * vX_[324] + vX_[201] * vX_[325] +
1570  vX_[148] * vX_[327] + (vX_[234] * vX_[373] + vX_[176] * vX_[333] - vX_[310] * vX_[195]) / vX_[223];
1571  vX_[168] = vX_[168] - vX_[164];
1572  vX_[146] = vX_[146] - vX_[164];
1573  vX_[151] = vX_[26] * vX_[33];
1574  vX_[180] = (vX_[27] * vX_[146] + vX_[151]) * vX_[27] + (vX_[27] * vX_[33] + vX_[26] * vX_[168]) * vX_[26];
1575  vX_[33] = vX_[26] * vX_[146] + vX_[28] * vX_[33];
1576  vX_[151] = vX_[151] + vX_[28] * vX_[168];
1577  vX_[145] = vX_[33] * vX_[26] + vX_[151] * vX_[28];
1578  vX_[146] = vX_[168] + vX_[146] + vX_[164] - vX_[180] - vX_[145] - (vX_[242] * vX_[194] + vX_[140] * vX_[243]);
1579  vX_[261] = -vX_[261];
1580  vX_[168] = vX_[28] * vX_[21] + vX_[26] * vX_[261] - (vX_[242] * vX_[143] + vX_[140] * vX_[255]);
1581  vX_[181] = -1 * vX_[181] + vX_[43] * vX_[323] + vX_[201] * vX_[324] + vX_[146] * vX_[325] + vX_[168] * vX_[327] +
1582  (vX_[242] * vX_[373] + vX_[140] * vX_[333] - vX_[314] * vX_[195]) / vX_[223];
1583  vX_[180] = vX_[164] + vX_[180] - (vX_[254] * vX_[143] + vX_[182] * vX_[255]);
1584  vX_[144] = vX_[26] * vX_[144] + vX_[27] * vX_[147] + vX_[203] * vX_[323] + vX_[148] * vX_[324] +
1585  vX_[168] * vX_[325] + vX_[180] * vX_[327] +
1586  (vX_[254] * vX_[373] + vX_[182] * vX_[333] - vX_[330] * vX_[195]) / vX_[223];
1587  vX_[147] = vX_[258] * vX_[180];
1588  vX_[142] = 2. * vX_[148] * vX_[258] + vX_[142] + vX_[147] * vX_[258];
1589  vX_[143] = vX_[258] * vX_[168];
1590  vX_[291] = vX_[203] * vX_[258] + vX_[291] - vX_[201] * vX_[258] - vX_[143] * vX_[258];
1591  vX_[194] = vX_[11] * vX_[291];
1592  vX_[149] = -vX_[258] * vX_[146];
1593  vX_[178] = vX_[178] - 2. * vX_[43] * vX_[258] - vX_[149] * vX_[258];
1594  vX_[198] = (vX_[11] * vX_[142] + vX_[9] * vX_[291]) * vX_[11] + (vX_[194] + vX_[9] * vX_[178]) * vX_[9];
1595  vX_[291] = vX_[22] * vX_[291] + vX_[11] * vX_[178];
1596  vX_[194] = vX_[22] * vX_[142] + vX_[194];
1597  vX_[179] = vX_[291] * vX_[9] + vX_[194] * vX_[11];
1598  vX_[194] = vX_[194] * vX_[22] + vX_[291] * vX_[11];
1599  vX_[291] = (vX_[179] - vX_[19] * vX_[194]) / vX_[24];
1600  vX_[353] = vX_[198] - (vX_[42] * vX_[291] + vX_[179] * vX_[19]);
1601  vX_[291] = --0.022851627 * vX_[291];
1602  vX_[250] = 0 - vX_[11] * vX_[270] - vX_[22] * vX_[347] - vX_[34] * vX_[181] - vX_[15] * vX_[144];
1603  vX_[198] = vX_[178] + vX_[142] - vX_[198] - vX_[194] - -0.022851627 * ((-vX_[278]) * vX_[194]) / vX_[24];
1604  vX_[305] = vX_[239] * vX_[28] + vX_[305] * vX_[26] + vX_[183];
1605  vX_[239] = (vX_[305] - vX_[272] * vX_[195]) / vX_[223];
1606  vX_[261] = 0 - vX_[26] * vX_[21] - vX_[27] * vX_[261] - (vX_[242] * vX_[239] + vX_[140] * vX_[272]);
1607  vX_[233] =
1608  vX_[74] * vX_[28] + vX_[233] * vX_[26] - vX_[258] * vX_[261] - (vX_[221] * vX_[239] + vX_[196] * vX_[272]);
1609  vX_[151] = vX_[151] * vX_[26] + vX_[33] * vX_[27] - (vX_[254] * vX_[239] + vX_[182] * vX_[272]);
1610  vX_[368] = vX_[197] * vX_[28] + vX_[368] * vX_[26] + vX_[317] + vX_[258] * vX_[151] -
1611  (vX_[234] * vX_[239] + vX_[176] * vX_[272]);
1612  vX_[197] = vX_[11] * vX_[368];
1613  vX_[239] = vX_[164] + vX_[145] - (vX_[227] * vX_[239] + vX_[305] * vX_[272]);
1614  vX_[180] = vX_[180] - vX_[239];
1615  vX_[145] = vX_[22] * vX_[168] + vX_[11] * vX_[180];
1616  vX_[146] = vX_[146] - vX_[239];
1617  vX_[164] = vX_[11] * vX_[168];
1618  vX_[317] = vX_[22] * vX_[146] + vX_[164];
1619  vX_[201] = vX_[143] + vX_[201];
1620  vX_[149] = vX_[149] + vX_[43];
1621  vX_[43] = vX_[22] * vX_[201] + vX_[11] * vX_[149];
1622  vX_[147] = vX_[147] + vX_[148];
1623  vX_[143] = vX_[203] - vX_[143];
1624  vX_[203] = vX_[22] * vX_[147] + vX_[11] * vX_[143];
1625  vX_[148] = vX_[43] * vX_[22] + vX_[203] * vX_[11];
1626  vX_[33] = (vX_[148] - vX_[351] * vX_[194]) / vX_[24];
1627  vX_[203] = vX_[203] * vX_[9] + vX_[43] * vX_[11];
1628  vX_[43] = vX_[145] * vX_[9] + vX_[317] * vX_[11] - (vX_[349] * vX_[33] + vX_[203] * vX_[351]);
1629  vX_[74] = -vX_[233];
1630  vX_[21] = vX_[22] * vX_[74] + vX_[197];
1631  vX_[183] = (vX_[203] - vX_[355] * vX_[194]) / vX_[24];
1632  vX_[143] = vX_[11] * vX_[147] + vX_[9] * vX_[143];
1633  vX_[149] = vX_[11] * vX_[201] + vX_[9] * vX_[149];
1634  vX_[201] = vX_[358] * vX_[43];
1635  vX_[151] = -vX_[151];
1636  vX_[74] = vX_[11] * vX_[74] + vX_[9] * vX_[368];
1637  vX_[147] = 0 - vX_[74];
1638  vX_[178] = 0 - vX_[9] * vX_[261] - vX_[11] * vX_[151] - (vX_[362] * vX_[33] + vX_[147] * vX_[351]);
1639  vX_[142] = vX_[282] * vX_[178];
1640  vX_[290] = vX_[142] - vX_[201];
1641  vX_[304] = (vX_[147] - vX_[372] * vX_[194]) / vX_[24];
1642  vX_[74] = vX_[233] * vX_[11] + vX_[368] * vX_[22] + vX_[74] - -0.022851627 * vX_[33];
1643  vX_[317] = vX_[317] * vX_[22] + vX_[145] * vX_[11];
1644  vX_[148] = vX_[239] + vX_[317] - (vX_[350] * vX_[33] + vX_[148] * vX_[351]);
1645  vX_[145] = -vX_[282] * vX_[148];
1646  vX_[33] = vX_[143] * vX_[11] + vX_[149] * vX_[22] - (vX_[42] * vX_[33] + vX_[179] * vX_[351]);
1647  vX_[368] = vX_[291] + vX_[74] * vX_[358] + vX_[145] * vX_[358] - vX_[33] * vX_[282];
1648  vX_[164] = (vX_[11] * vX_[146] + vX_[9] * vX_[168]) * vX_[11] + (vX_[164] + vX_[9] * vX_[180]) * vX_[9];
1649  vX_[151] = vX_[11] * vX_[261] + vX_[22] * vX_[151] - (vX_[362] * vX_[183] + vX_[147] * vX_[355]);
1650  vX_[151] = (vX_[282] * (vX_[180] + vX_[146] + vX_[239] - vX_[164] - vX_[317] -
1651  (vX_[362] * vX_[304] + vX_[147] * vX_[372])) -
1652  vX_[358] * vX_[151]) *
1653  vX_[282] -
1654  (vX_[282] * vX_[151] - vX_[358] * (vX_[239] + vX_[164] - (vX_[349] * vX_[183] + vX_[203] * vX_[355]))) *
1655  vX_[358];
1656  jac[54] =
1657  (0 -
1658  vX_[0] * (vX_[9] * vX_[270] + vX_[11] * vX_[347] + vX_[30] * vX_[181] + vX_[12] * vX_[144] +
1659  vX_[353] * vX_[274] + vX_[291] * vX_[268] +
1660  (vX_[42] * vX_[250] + vX_[179] * vX_[271] - vX_[309] * vX_[194]) / vX_[24]) -
1661  vX_[4] * ((vX_[223] * vX_[373] + vX_[195] * vX_[333] - vX_[58] * vX_[195]) / vX_[223] + vX_[232] +
1662  vX_[291] * vX_[274] + vX_[198] * vX_[268] +
1663  (-0.022851627 * vX_[250] - vX_[277] * vX_[194]) / vX_[24]) -
1664  9.81 * ((vX_[4] * (vX_[233] * vX_[9] + vX_[197] - vX_[282] * vX_[43] - vX_[21] - -0.022851627 * vX_[183]) +
1665  vX_[0] * (vX_[143] * vX_[9] + vX_[149] * vX_[11] + vX_[201] -
1666  (vX_[42] * vX_[183] + vX_[179] * vX_[355]) - vX_[290])) *
1667  vX_[0] +
1668  (vX_[4] * (0 - vX_[142] - -0.022851627 * vX_[304] - vX_[290]) +
1669  vX_[0] * (vX_[21] + vX_[358] * vX_[178] - (vX_[42] * vX_[304] + vX_[179] * vX_[372]))) *
1670  vX_[4] +
1671  vX_[290]) -
1672  vX_[365] * ((vX_[4] * vX_[368] +
1673  vX_[0] * (2. * vX_[33] * vX_[358] + vX_[353] + vX_[358] * vX_[148] * vX_[358] - vX_[151])) *
1674  vX_[0] +
1675  (vX_[4] * (vX_[198] - 2. * vX_[74] * vX_[282] - vX_[145] * vX_[282] - vX_[151]) +
1676  vX_[0] * vX_[368]) *
1677  vX_[4] +
1678  vX_[151])) /
1679  vX_[385];
1680  vX_[151] = vX_[0] * jac[54];
1681  vX_[368] = vX_[4] * jac[54];
1682  jac[55] = (vX_[250] - (vX_[42] * vX_[151] + vX_[179] * vX_[342]) - -0.022851627 * vX_[368] - vX_[203] * vX_[259] -
1683  vX_[147] * vX_[90] - vX_[344] * vX_[194]) /
1684  vX_[24];
1685  vX_[147] = vX_[11] * jac[55] + vX_[9] * vX_[151];
1686  vX_[203] = vX_[22] * jac[55] + vX_[11] * vX_[151];
1687  vX_[250] = vX_[15] * jac[55] + vX_[12] * vX_[151];
1688  vX_[151] = vX_[34] * jac[55] + vX_[30] * vX_[151];
1689  jac[56] = (vX_[373] - (vX_[223] * vX_[368] + vX_[195] * vX_[348]) - (vX_[221] * vX_[147] + vX_[196] * vX_[249]) -
1690  (vX_[234] * vX_[203] + vX_[176] * vX_[313]) - vX_[305] * vX_[90] -
1691  (vX_[254] * vX_[250] + vX_[182] * vX_[237]) - (vX_[242] * vX_[151] + vX_[140] * vX_[191]) -
1692  vX_[220] * vX_[195]) /
1693  vX_[223];
1694  vX_[305] = -1 * vX_[203];
1695  vX_[373] = -1 * vX_[313];
1696  vX_[368] = vX_[368] + jac[56];
1697  vX_[182] = vX_[28] * vX_[368] + vX_[26] * vX_[147];
1698  vX_[140] = vX_[28] * vX_[247] + vX_[26] * vX_[249] + vX_[280];
1699  vX_[368] = vX_[26] * vX_[368] + vX_[27] * vX_[147];
1700  vX_[151] = -0.304 * vX_[147] + -1 * vX_[151];
1701  vX_[147] = -0.304 * vX_[249] + -1 * vX_[191];
1702  vX_[176] = vX_[26] * vX_[250] + vX_[38] * vX_[203];
1703  vX_[226] = vX_[26] * vX_[237] + vX_[38] * vX_[313] + vX_[226] * vX_[90] + vX_[308];
1704  vX_[250] = vX_[27] * vX_[250] + vX_[51] * vX_[203];
1705  vX_[203] = vX_[27] * vX_[237] + vX_[51] * vX_[313] + vX_[26] * vX_[90] + vX_[283];
1706  vX_[247] = vX_[26] * vX_[247] + vX_[27] * vX_[249] + vX_[287];
1707  vX_[195] = (vX_[315] - vX_[154] * vX_[373] - vX_[152] * vX_[140] - -0.00021200017 * vX_[247] - vX_[169] * vX_[147] -
1708  vX_[184] * vX_[226] - vX_[172] * vX_[203]) /
1709  vX_[154];
1710  jac[57] = (vX_[177] - (vX_[154] * vX_[305] + vX_[190] * vX_[373]) - (vX_[152] * vX_[182] + vX_[141] * vX_[140]) -
1711  -0.00021200017 * vX_[368] - (vX_[169] * vX_[151] + vX_[215] * vX_[147]) -
1712  (vX_[184] * vX_[176] + vX_[96] * vX_[226]) - (vX_[172] * vX_[250] + vX_[165] * vX_[203]) -
1713  vX_[195] * vX_[190]) /
1714  vX_[154];
1715  vX_[305] = vX_[305] + jac[57];
1716  vX_[215] = vX_[373] + vX_[195];
1717  vX_[7] = vX_[49] * vX_[305] + vX_[101] * vX_[215] + vX_[48] * vX_[182] + vX_[207] * vX_[140] + vX_[7];
1718  vX_[251] = vX_[63] * vX_[305] + vX_[25] * vX_[215] + vX_[49] * vX_[182] + vX_[101] * vX_[140] + vX_[251];
1719  vX_[230] = vX_[76] * vX_[305] + vX_[345] * vX_[215] + vX_[77] * vX_[182] + vX_[65] * vX_[140] + vX_[49] * vX_[176] +
1720  vX_[101] * vX_[226] + vX_[78] * vX_[151] + vX_[208] * vX_[147] + vX_[230];
1721  jac[58] = (vX_[380] - vX_[117] * vX_[368] - vX_[108] * vX_[7] - vX_[122] * vX_[251] - vX_[160] * vX_[250] -
1722  vX_[134] * (vX_[56] * vX_[305] + vX_[120] * vX_[215] + vX_[57] * vX_[182] + vX_[216] * vX_[140] +
1723  vX_[48] * vX_[176] + vX_[207] * vX_[226] + vX_[49] * vX_[151] + vX_[101] * vX_[147] +
1724  vX_[218]) -
1725  vX_[130] * vX_[230]) /
1726  vX_[117];
1727  vX_[368] = vX_[368] + jac[58];
1728  jac[59] = (vX_[31] - 0.009277 * vX_[7] - -0.000829 * (vX_[70] * vX_[368] + vX_[68] * vX_[251] + vX_[188]) -
1729  1.5e-05 * (vX_[68] * vX_[368] + vX_[67] * vX_[251] + vX_[211]) -
1730  0.038686875 * (vX_[68] * vX_[230] + vX_[94] * vX_[7] + vX_[95] * vX_[250] + vX_[248])) /
1731  0.009277;
1732  vX_[368] = -1 * sin(x_in[5]);
1733  vX_[230] = cos(x_in[5]);
1734  vX_[251] = -vX_[230];
1735  vX_[7] = vX_[368] * vX_[64] + vX_[251] * vX_[55];
1736  vX_[250] = vX_[230] * vX_[64] + vX_[368] * vX_[55];
1737  vX_[248] = vX_[69] * vX_[7] + vX_[250] * vX_[73];
1738  vX_[211] = 0.184 * vX_[230] - 0.02075 * vX_[368];
1739  vX_[188] = vX_[230] * vX_[82] + vX_[211] * vX_[50] + vX_[368] * vX_[54];
1740  vX_[31] = vX_[75] * vX_[188];
1741  vX_[305] = vX_[250] * vX_[86];
1742  vX_[176] = vX_[250] * vX_[75];
1743  vX_[151] = vX_[7] * vX_[75];
1744  vX_[182] = vX_[73] * vX_[7] + vX_[7] * vX_[73];
1745  vX_[380] = vX_[69] * vX_[250] + vX_[250] * vX_[69];
1746  vX_[218] = -0.00751 * vX_[248] + 0.038686875 * (vX_[31] - vX_[305]) + -0.000829 * vX_[176] - 1.5e-05 * vX_[151] -
1747  0.000198 * (vX_[182] - vX_[380]);
1748  vX_[216] = 0 - vX_[218];
1749  vX_[120] = 0.02075 * vX_[230] + 0.184 * vX_[368];
1750  vX_[101] = -vX_[230];
1751  vX_[207] = vX_[368] * vX_[82] + vX_[120] * vX_[50] + vX_[101] * vX_[54];
1752  vX_[208] =
1753  1.547475 * (vX_[7] * vX_[86] - vX_[75] * vX_[207]) + 1.547475 * vX_[207] * x_in[11] - 0.038686875 * vX_[182];
1754  vX_[65] = (-vX_[250]) * x_in[11];
1755  vX_[345] = vX_[7] * x_in[11];
1756  vX_[25] = (-vX_[188]) * x_in[11];
1757  vX_[305] = 0.038686875 * vX_[248] + -1.547475 * (vX_[305] - vX_[31]) + 0.00345708950900075 * vX_[65] +
1758  -6.25528861700981e-05 * vX_[345] + 1.38614328745655 * vX_[25] + (0.038686875 * vX_[216]) / 0.009277;
1759  vX_[31] = 1.547475 * vX_[211];
1760  vX_[177] = -0.184 * vX_[368] + 0.02075 * vX_[251];
1761  vX_[96] = -1.38614328745655 * vX_[177];
1762  vX_[103] = vX_[84] * vX_[211] + vX_[31] * vX_[80] - (vX_[103] * vX_[177] + vX_[96] * vX_[102]);
1763  vX_[84] = --6.25528861700981e-05 * vX_[177];
1764  vX_[165] = -0.00345708950900075 * vX_[177];
1765  vX_[190] = -vX_[165];
1766  vX_[141] = vX_[68] * vX_[84] + vX_[368] * vX_[105] + vX_[67] * vX_[190] + vX_[230] * vX_[107];
1767  vX_[196] = -1.547475 * vX_[211];
1768  vX_[194] = 0 - (vX_[109] * vX_[211] + vX_[196] * vX_[80]) - vX_[103];
1769  vX_[179] = vX_[109] * vX_[177] + vX_[196] * vX_[102] - -0.038686875 * vX_[211];
1770  vX_[110] = vX_[68] * vX_[194] + vX_[368] * vX_[110] + vX_[70] * vX_[179] + vX_[251] * vX_[111];
1771  vX_[33] = 1.547475 * vX_[177];
1772  vX_[177] = -0.07737375 * vX_[177] + vX_[113] * vX_[177] + vX_[33] * vX_[102] - vX_[103];
1773  vX_[179] = vX_[68] * vX_[179] + vX_[368] * vX_[111] + vX_[70] * vX_[177] + vX_[251] * vX_[114];
1774  vX_[114] = vX_[112] * vX_[368] + vX_[110] * vX_[68] + vX_[115] * vX_[251] + vX_[179] * vX_[70];
1775  vX_[111] = vX_[103] + vX_[114];
1776  vX_[113] = (vX_[141] - vX_[118] * vX_[111]) / vX_[117];
1777  vX_[102] = vX_[103] - (vX_[108] * vX_[113] + vX_[141] * vX_[118]);
1778  vX_[179] = vX_[115] * vX_[368] + vX_[179] * vX_[68] + vX_[112] * vX_[230] + vX_[110] * vX_[67];
1779  vX_[113] = vX_[106] * vX_[368] + 2. * vX_[165] * vX_[68] + vX_[121] * vX_[230] + 2. * vX_[84] * vX_[67] +
1780  vX_[70] * vX_[84] + vX_[251] * vX_[105] + vX_[68] * vX_[190] + vX_[368] * vX_[107] -
1781  (vX_[122] * vX_[113] + vX_[179] * vX_[118]);
1782  vX_[96] = vX_[96] + vX_[33];
1783  vX_[31] = vX_[31] + vX_[196];
1784  vX_[33] = -vX_[33];
1785  vX_[190] = vX_[68] * vX_[33] + vX_[368] * vX_[125] + vX_[70] * vX_[196] + vX_[251] * vX_[109];
1786  vX_[165] = -6.25528861700981e-05 * vX_[368] + 0.00345708950900075 * vX_[251];
1787  vX_[84] = vX_[129] * vX_[368] + vX_[165] * vX_[68];
1788  vX_[121] = (vX_[84] - vX_[131] * vX_[111]) / vX_[117];
1789  vX_[106] = vX_[126] * vX_[368] + vX_[96] * vX_[68] + vX_[127] * vX_[230] + vX_[31] * vX_[67] + vX_[190] -
1790  (vX_[108] * vX_[121] + vX_[141] * vX_[131]);
1791  vX_[33] = vX_[67] * vX_[33] + vX_[230] * vX_[125] + vX_[68] * vX_[196] + vX_[368] * vX_[109];
1792  vX_[196] = (vX_[33] - vX_[135] * vX_[111]) / vX_[117];
1793  vX_[125] = -(vX_[108] * vX_[196] + vX_[141] * vX_[135]);
1794  vX_[207] = vX_[69] * vX_[207] + vX_[250] * vX_[97] - (vX_[73] * vX_[188] + vX_[7] * vX_[83]);
1795  vX_[380] = 0.000198 * vX_[151] + 1.5e-05 * (0 - vX_[380]) + 0.00315291990945349 * vX_[65] +
1796  0.000199340411771047 * vX_[345] + 0.00345708950900075 * vX_[25] + (-0.000829 * vX_[216]) / 0.009277 -
1797  0.038686875 * vX_[207] - -0.00146 * vX_[176] - -0.000829 * vX_[248];
1798  vX_[182] = 0.00605 * vX_[151] + 1.5e-05 * vX_[248] + 0.000199340411771047 * vX_[65] +
1799  0.0107369757464698 * vX_[345] + -6.25528861700981e-05 * vX_[25] + (1.5e-05 * vX_[216]) / 0.009277 -
1800  0.000198 * vX_[176] - -0.000829 * (0 - vX_[182]);
1801  vX_[207] = 0.038686875 * vX_[176] + 1.547475 * vX_[207] + -0.038686875 * vX_[65];
1802  vX_[176] = vX_[70] * vX_[380] + vX_[251] * vX_[289] + vX_[68] * vX_[182] + vX_[368] * vX_[298] + 0.02075 * vX_[207];
1803  vX_[151] = 0 - vX_[176];
1804  vX_[218] = (0.009277 * vX_[216]) / 0.009277 + vX_[218] + vX_[80] * vX_[208] + vX_[211] * vX_[293] +
1805  vX_[94] * vX_[305] + vX_[120] * vX_[285] + vX_[102] * vX_[299] + vX_[113] * vX_[300] +
1806  vX_[106] * vX_[301] + vX_[125] * vX_[303] +
1807  (vX_[108] * vX_[151] + vX_[141] * vX_[296] - vX_[292] * vX_[111]) / vX_[117];
1808  vX_[114] = vX_[177] + vX_[194] + vX_[103] - vX_[114] -
1809  (vX_[122] * (vX_[179] - vX_[81] * vX_[111]) / vX_[117] + vX_[179] * vX_[81]);
1810  vX_[177] = -6.25528861700981e-05 * vX_[230] + 0.00345708950900075 * vX_[368];
1811  vX_[194] = vX_[104] * vX_[368] + vX_[177] * vX_[68] - (vX_[122] * vX_[121] + vX_[179] * vX_[131]);
1812  vX_[190] = 0 - vX_[190] - (vX_[122] * vX_[196] + vX_[179] * vX_[135]);
1813  vX_[182] = vX_[68] * vX_[380] + vX_[368] * vX_[289] + vX_[67] * vX_[182] + vX_[230] * vX_[298] + -0.184 * vX_[207] +
1814  vX_[113] * vX_[299] + vX_[114] * vX_[300] + vX_[194] * vX_[301] + vX_[190] * vX_[303] +
1815  (vX_[122] * vX_[151] + vX_[179] * vX_[296] - vX_[288] * vX_[111]) / vX_[117];
1816  vX_[380] = -0.161331712543454 * vX_[251];
1817  vX_[288] = vX_[91] * vX_[251] + vX_[380] * vX_[70];
1818  vX_[121] = 0 - vX_[288] - (vX_[130] * vX_[121] + vX_[84] * vX_[131]);
1819  vX_[131] = -(vX_[130] * vX_[196] + vX_[84] * vX_[135]);
1820  vX_[281] = vX_[68] * vX_[305] + vX_[368] * vX_[285] + vX_[67] * vX_[208] + vX_[230] * vX_[293] +
1821  vX_[106] * vX_[299] + vX_[194] * vX_[300] + vX_[121] * vX_[301] + vX_[131] * vX_[303] +
1822  (vX_[130] * vX_[151] + vX_[84] * vX_[296] - vX_[281] * vX_[111]) / vX_[117];
1823  vX_[196] = -(vX_[134] * vX_[196] + vX_[33] * vX_[135]);
1824  vX_[207] = vX_[207] + vX_[125] * vX_[299] + vX_[190] * vX_[300] + vX_[131] * vX_[301] + vX_[196] * vX_[303] +
1825  (vX_[134] * vX_[151] + vX_[33] * vX_[296] - vX_[279] * vX_[111]) / vX_[117];
1826  vX_[279] = vX_[61] * vX_[196];
1827  vX_[114] = 2. * vX_[190] * vX_[61] + vX_[114] + vX_[279] * vX_[61];
1828  vX_[135] = vX_[61] * vX_[131];
1829  vX_[113] = vX_[125] * vX_[61] + vX_[113] - vX_[194] * vX_[61] - vX_[135] * vX_[61];
1830  vX_[298] = vX_[49] * vX_[113];
1831  vX_[289] = -vX_[61] * vX_[121];
1832  vX_[102] = vX_[102] - 2. * vX_[106] * vX_[61] - vX_[289] * vX_[61];
1833  vX_[103] = (vX_[49] * vX_[114] + vX_[48] * vX_[113]) * vX_[49] + (vX_[298] + vX_[48] * vX_[102]) * vX_[48];
1834  vX_[113] = vX_[63] * vX_[113] + vX_[49] * vX_[102];
1835  vX_[298] = vX_[63] * vX_[114] + vX_[298];
1836  vX_[81] = vX_[113] * vX_[48] + vX_[298] * vX_[49];
1837  vX_[298] = vX_[298] * vX_[63] + vX_[113] * vX_[49];
1838  vX_[113] = (vX_[81] - vX_[155] * vX_[298]) / vX_[154];
1839  vX_[155] = vX_[103] - (vX_[152] * vX_[113] + vX_[81] * vX_[155]);
1840  vX_[113] = --0.00021200017 * vX_[113];
1841  vX_[165] = vX_[129] * vX_[251] + vX_[165] * vX_[70];
1842  vX_[129] = (vX_[165] - vX_[161] * vX_[111]) / vX_[117];
1843  vX_[31] = vX_[126] * vX_[251] + vX_[96] * vX_[70] + vX_[127] * vX_[368] + vX_[31] * vX_[68] - vX_[33] -
1844  (vX_[108] * vX_[129] + vX_[141] * vX_[161]);
1845  vX_[380] = vX_[91] * vX_[368] + vX_[380] * vX_[68] - (vX_[130] * vX_[129] + vX_[84] * vX_[161]);
1846  vX_[91] = vX_[31] - vX_[61] * vX_[380];
1847  vX_[96] = -vX_[91];
1848  vX_[127] = -(vX_[134] * vX_[129] + vX_[33] * vX_[161]);
1849  vX_[177] = vX_[104] * vX_[251] + vX_[177] * vX_[70] - (vX_[122] * vX_[129] + vX_[179] * vX_[161]);
1850  vX_[61] = vX_[61] * vX_[127] + vX_[177];
1851  vX_[104] = vX_[49] * vX_[61];
1852  vX_[126] = vX_[63] * vX_[96] + vX_[104];
1853  vX_[96] = vX_[49] * vX_[96] + vX_[48] * vX_[61];
1854  vX_[211] = 0 - vX_[96];
1855  vX_[292] = (vX_[211] - vX_[173] * vX_[298]) / vX_[154];
1856  vX_[248] = vX_[126] - (vX_[152] * vX_[292] + vX_[81] * vX_[173]);
1857  vX_[279] = vX_[279] + vX_[190];
1858  vX_[125] = vX_[125] - vX_[135];
1859  vX_[190] = vX_[49] * vX_[279] + vX_[48] * vX_[125];
1860  vX_[135] = vX_[135] + vX_[194];
1861  vX_[289] = vX_[289] + vX_[106];
1862  vX_[106] = vX_[49] * vX_[135] + vX_[48] * vX_[289];
1863  vX_[125] = vX_[63] * vX_[279] + vX_[49] * vX_[125];
1864  vX_[289] = vX_[63] * vX_[135] + vX_[49] * vX_[289];
1865  vX_[135] = vX_[125] * vX_[48] + vX_[289] * vX_[49];
1866  vX_[279] = (vX_[135] - vX_[185] * vX_[298]) / vX_[154];
1867  vX_[194] = vX_[190] * vX_[48] + vX_[106] * vX_[49] - (vX_[152] * vX_[279] + vX_[81] * vX_[185]);
1868  vX_[188] = vX_[49] * vX_[218] + vX_[63] * vX_[182] + vX_[76] * vX_[281] + vX_[56] * vX_[207];
1869  vX_[250] = 0 - vX_[188];
1870  vX_[182] = vX_[48] * vX_[218] + vX_[49] * vX_[182] + vX_[77] * vX_[281] + vX_[57] * vX_[207] + vX_[155] * vX_[280] +
1871  vX_[113] * vX_[287] + vX_[248] * vX_[283] + vX_[194] * vX_[308] +
1872  (vX_[152] * vX_[250] + vX_[81] * vX_[315] - vX_[316] * vX_[298]) / vX_[154];
1873  vX_[103] = vX_[102] + vX_[114] - vX_[103] - vX_[298] - -0.00021200017 * ((-vX_[92]) * vX_[298]) / vX_[154];
1874  vX_[102] = --0.00021200017 * vX_[292];
1875  vX_[126] = vX_[91] * vX_[48] + vX_[104] - vX_[126] - -0.00021200017 * vX_[279];
1876  vX_[176] = (vX_[117] * vX_[151] + vX_[111] * vX_[296] - vX_[319] * vX_[111]) / vX_[117] + vX_[176] +
1877  vX_[113] * vX_[280] + vX_[103] * vX_[287] + vX_[102] * vX_[283] + vX_[126] * vX_[308] +
1878  (-0.00021200017 * vX_[250] - vX_[320] * vX_[298]) / vX_[154];
1879  vX_[289] = vX_[289] * vX_[63] + vX_[125] * vX_[49];
1880  vX_[125] = (vX_[289] - vX_[46] * vX_[298]) / vX_[154];
1881  vX_[106] = vX_[190] * vX_[49] + vX_[106] * vX_[63] - (vX_[152] * vX_[125] + vX_[81] * vX_[46]);
1882  vX_[96] = vX_[91] * vX_[49] + vX_[61] * vX_[63] + vX_[96] - -0.00021200017 * vX_[125];
1883  vX_[61] = -vX_[127];
1884  vX_[91] = 0 - vX_[48] * vX_[380] - vX_[49] * vX_[61] - (vX_[172] * vX_[125] + vX_[211] * vX_[46]);
1885  vX_[129] = vX_[288] - (vX_[160] * vX_[129] + vX_[165] * vX_[161]);
1886  vX_[196] = vX_[196] - vX_[129];
1887  vX_[288] = vX_[63] * vX_[131] + vX_[49] * vX_[196];
1888  vX_[121] = vX_[121] - vX_[129];
1889  vX_[161] = vX_[49] * vX_[131];
1890  vX_[190] = vX_[63] * vX_[121] + vX_[161];
1891  vX_[320] = vX_[288] * vX_[48] + vX_[190] * vX_[49] - (vX_[184] * vX_[125] + vX_[135] * vX_[46]);
1892  vX_[321] = vX_[49] * vX_[207] + vX_[78] * vX_[281] + vX_[106] * vX_[280] + vX_[96] * vX_[287] + vX_[91] * vX_[283] +
1893  vX_[320] * vX_[308] + (vX_[169] * vX_[250] + vX_[289] * vX_[315] - vX_[321] * vX_[298]) / vX_[154];
1894  vX_[161] = (vX_[49] * vX_[121] + vX_[48] * vX_[131]) * vX_[49] + (vX_[161] + vX_[48] * vX_[196]) * vX_[48];
1895  vX_[190] = vX_[190] * vX_[63] + vX_[288] * vX_[49];
1896  vX_[121] = vX_[196] + vX_[121] + vX_[129] - vX_[161] - vX_[190] - (vX_[172] * vX_[292] + vX_[211] * vX_[173]);
1897  vX_[61] = vX_[49] * vX_[380] + vX_[63] * vX_[61] - (vX_[172] * vX_[279] + vX_[211] * vX_[185]);
1898  vX_[196] = vX_[200] * vX_[121] - vX_[205] * vX_[61];
1899  vX_[161] = vX_[129] + vX_[161] - (vX_[184] * vX_[279] + vX_[135] * vX_[185]);
1900  vX_[279] = vX_[200] * vX_[61] - vX_[205] * vX_[161];
1901  vX_[185] = vX_[196] * vX_[200] - vX_[279] * vX_[205];
1902  vX_[190] = vX_[129] + vX_[190] - (vX_[169] * vX_[125] + vX_[289] * vX_[46]);
1903  vX_[129] = -vX_[200] * vX_[190];
1904  vX_[103] = vX_[103] - 2. * vX_[96] * vX_[200] - vX_[129] * vX_[200] - vX_[185];
1905  vX_[113] = vX_[113] + vX_[96] * vX_[205] + vX_[129] * vX_[205] - vX_[106] * vX_[200];
1906  vX_[125] = vX_[26] * vX_[113];
1907  vX_[46] = vX_[205] * vX_[190];
1908  vX_[155] = 2. * vX_[106] * vX_[205] + vX_[155] + vX_[46] * vX_[205] - vX_[185];
1909  vX_[292] = (vX_[27] * vX_[103] + vX_[125]) * vX_[27] + (vX_[27] * vX_[113] + vX_[26] * vX_[155]) * vX_[26];
1910  vX_[125] = vX_[125] + vX_[28] * vX_[155];
1911  vX_[113] = vX_[26] * vX_[103] + vX_[28] * vX_[113];
1912  vX_[173] = vX_[125] * vX_[26] + vX_[113] * vX_[27];
1913  vX_[113] = vX_[113] * vX_[26] + vX_[125] * vX_[28];
1914  vX_[125] = vX_[185] + vX_[113];
1915  vX_[288] = (vX_[173] - vX_[224] * vX_[125]) / vX_[223];
1916  vX_[131] = vX_[185] + vX_[292] - (vX_[221] * vX_[288] + vX_[173] * vX_[224]);
1917  vX_[319] = vX_[200] * vX_[91];
1918  vX_[104] = -vX_[319];
1919  vX_[114] = -vX_[200] * vX_[320];
1920  vX_[92] = vX_[102] * vX_[200] + vX_[104] * vX_[200] - vX_[126] * vX_[205] - vX_[114] * vX_[205];
1921  vX_[218] = vX_[205] * vX_[320];
1922  vX_[316] = vX_[205] * vX_[91];
1923  vX_[205] = vX_[194] * vX_[205] + vX_[218] * vX_[205] - vX_[248] * vX_[200] - vX_[316] * vX_[200];
1924  vX_[200] = 0 - vX_[26] * vX_[92] - vX_[27] * vX_[205];
1925  vX_[205] = vX_[28] * vX_[92] + vX_[26] * vX_[205] - (vX_[234] * vX_[288] + vX_[200] * vX_[224]);
1926  vX_[46] = vX_[46] + vX_[106];
1927  vX_[106] = -vX_[46];
1928  vX_[129] = vX_[129] + vX_[96];
1929  vX_[96] = vX_[26] * vX_[106] + vX_[28] * vX_[129];
1930  vX_[106] = vX_[27] * vX_[106] + vX_[26] * vX_[129];
1931  vX_[92] = 0 - vX_[106];
1932  vX_[288] = (vX_[92] - vX_[243] * vX_[125]) / vX_[223];
1933  vX_[224] = vX_[96] - (vX_[221] * vX_[288] + vX_[173] * vX_[243]);
1934  vX_[114] = vX_[114] + vX_[126];
1935  vX_[319] = vX_[319] - vX_[218];
1936  vX_[218] = vX_[194] + vX_[218] - vX_[319];
1937  vX_[7] = vX_[27] * vX_[114] + vX_[26] * vX_[218];
1938  vX_[104] = vX_[102] + vX_[104] - vX_[319];
1939  vX_[316] = vX_[316] + vX_[248];
1940  vX_[109] = vX_[27] * vX_[104] + vX_[26] * vX_[316];
1941  vX_[218] = vX_[26] * vX_[114] + vX_[28] * vX_[218];
1942  vX_[316] = vX_[26] * vX_[104] + vX_[28] * vX_[316];
1943  vX_[104] = vX_[218] * vX_[26] + vX_[316] * vX_[27];
1944  vX_[114] = (vX_[104] - vX_[255] * vX_[125]) / vX_[223];
1945  vX_[118] = vX_[7] * vX_[26] + vX_[109] * vX_[27] + vX_[319] - (vX_[221] * vX_[114] + vX_[173] * vX_[255]);
1946  vX_[107] = vX_[28] * vX_[182] + vX_[26] * vX_[176];
1947  vX_[105] = 0 - vX_[107];
1948  vX_[176] = vX_[26] * vX_[182] + vX_[27] * vX_[176] + -0.304 * vX_[321] + vX_[131] * vX_[323] + vX_[205] * vX_[324] +
1949  vX_[224] * vX_[325] + vX_[118] * vX_[327] +
1950  (vX_[221] * vX_[105] + vX_[173] * vX_[333] - vX_[334] * vX_[125]) / vX_[223];
1951  vX_[102] = vX_[95] * vX_[305] + vX_[101] * vX_[285] + vX_[68] * vX_[208] + vX_[368] * vX_[293] +
1952  vX_[31] * vX_[299] + vX_[177] * vX_[300] + vX_[380] * vX_[301] + vX_[127] * vX_[303] +
1953  (vX_[160] * vX_[151] + vX_[165] * vX_[296] - vX_[337] * vX_[111]) / vX_[117] + vX_[248] * vX_[280] +
1954  vX_[102] * vX_[287] + vX_[121] * vX_[283] + vX_[61] * vX_[308] +
1955  (vX_[172] * vX_[250] + vX_[211] * vX_[315] - vX_[338] * vX_[298]) / vX_[154];
1956  vX_[126] = vX_[48] * vX_[207] + vX_[49] * vX_[281] + vX_[194] * vX_[280] + vX_[126] * vX_[287] +
1957  vX_[61] * vX_[283] + vX_[161] * vX_[308] +
1958  (vX_[184] * vX_[250] + vX_[135] * vX_[315] - vX_[295] * vX_[298]) / vX_[154];
1959  vX_[113] = vX_[155] + vX_[103] + vX_[185] - vX_[292] - vX_[113] -
1960  (vX_[234] * (vX_[200] - vX_[32] * vX_[125]) / vX_[223] + vX_[200] * vX_[32]);
1961  vX_[292] = vX_[319] - (vX_[234] * vX_[288] + vX_[200] * vX_[243]);
1962  vX_[46] = -1 * (vX_[279] + vX_[46]);
1963  vX_[129] = -1 * (vX_[196] + vX_[129]);
1964  vX_[96] = vX_[46] * vX_[26] + vX_[129] * vX_[27] - vX_[96] - (vX_[234] * vX_[114] + vX_[200] * vX_[255]);
1965  vX_[188] = vX_[51] * vX_[102] +
1966  -1 * (vX_[188] + (vX_[154] * vX_[250] + vX_[298] * vX_[315] - vX_[312] * vX_[298]) / vX_[154]) +
1967  vX_[38] * vX_[126] + vX_[205] * vX_[323] + vX_[113] * vX_[324] + vX_[292] * vX_[325] +
1968  vX_[96] * vX_[327] + (vX_[234] * vX_[105] + vX_[200] * vX_[333] - vX_[310] * vX_[125]) / vX_[223];
1969  vX_[161] = vX_[161] - vX_[190];
1970  vX_[121] = vX_[121] - vX_[190];
1971  vX_[310] = vX_[26] * vX_[61];
1972  vX_[312] = (vX_[27] * vX_[121] + vX_[310]) * vX_[27] + (vX_[27] * vX_[61] + vX_[26] * vX_[161]) * vX_[26];
1973  vX_[61] = vX_[26] * vX_[121] + vX_[28] * vX_[61];
1974  vX_[310] = vX_[310] + vX_[28] * vX_[161];
1975  vX_[315] = vX_[61] * vX_[26] + vX_[310] * vX_[28];
1976  vX_[121] = vX_[161] + vX_[121] + vX_[190] - vX_[312] - vX_[315] - (vX_[242] * vX_[288] + vX_[92] * vX_[243]);
1977  vX_[320] = -vX_[320];
1978  vX_[161] = vX_[28] * vX_[91] + vX_[26] * vX_[320] - (vX_[242] * vX_[114] + vX_[92] * vX_[255]);
1979  vX_[321] = -1 * vX_[321] + vX_[224] * vX_[323] + vX_[292] * vX_[324] + vX_[121] * vX_[325] + vX_[161] * vX_[327] +
1980  (vX_[242] * vX_[105] + vX_[92] * vX_[333] - vX_[314] * vX_[125]) / vX_[223];
1981  vX_[312] = vX_[190] + vX_[312] - (vX_[254] * vX_[114] + vX_[104] * vX_[255]);
1982  vX_[126] = vX_[26] * vX_[126] + vX_[27] * vX_[102] + vX_[118] * vX_[323] + vX_[96] * vX_[324] +
1983  vX_[161] * vX_[325] + vX_[312] * vX_[327] +
1984  (vX_[254] * vX_[105] + vX_[104] * vX_[333] - vX_[330] * vX_[125]) / vX_[223];
1985  vX_[102] = vX_[258] * vX_[312];
1986  vX_[113] = 2. * vX_[96] * vX_[258] + vX_[113] + vX_[102] * vX_[258];
1987  vX_[330] = vX_[258] * vX_[161];
1988  vX_[205] = vX_[118] * vX_[258] + vX_[205] - vX_[292] * vX_[258] - vX_[330] * vX_[258];
1989  vX_[327] = vX_[11] * vX_[205];
1990  vX_[325] = -vX_[258] * vX_[121];
1991  vX_[131] = vX_[131] - 2. * vX_[224] * vX_[258] - vX_[325] * vX_[258];
1992  vX_[324] = (vX_[11] * vX_[113] + vX_[9] * vX_[205]) * vX_[11] + (vX_[327] + vX_[9] * vX_[131]) * vX_[9];
1993  vX_[205] = vX_[22] * vX_[205] + vX_[11] * vX_[131];
1994  vX_[327] = vX_[22] * vX_[113] + vX_[327];
1995  vX_[323] = vX_[205] * vX_[9] + vX_[327] * vX_[11];
1996  vX_[327] = vX_[327] * vX_[22] + vX_[205] * vX_[11];
1997  vX_[205] = (vX_[323] - vX_[19] * vX_[327]) / vX_[24];
1998  vX_[19] = vX_[324] - (vX_[42] * vX_[205] + vX_[323] * vX_[19]);
1999  vX_[205] = --0.022851627 * vX_[205];
2000  vX_[114] = 0 - vX_[11] * vX_[176] - vX_[22] * vX_[188] - vX_[34] * vX_[321] - vX_[15] * vX_[126];
2001  vX_[324] = vX_[131] + vX_[113] - vX_[324] - vX_[327] - -0.022851627 * ((-vX_[278]) * vX_[327]) / vX_[24];
2002  vX_[316] = vX_[218] * vX_[28] + vX_[316] * vX_[26] + vX_[319];
2003  vX_[218] = (vX_[316] - vX_[272] * vX_[125]) / vX_[223];
2004  vX_[320] = 0 - vX_[26] * vX_[91] - vX_[27] * vX_[320] - (vX_[242] * vX_[218] + vX_[92] * vX_[272]);
2005  vX_[109] =
2006  vX_[7] * vX_[28] + vX_[109] * vX_[26] - vX_[258] * vX_[320] - (vX_[221] * vX_[218] + vX_[173] * vX_[272]);
2007  vX_[310] = vX_[310] * vX_[26] + vX_[61] * vX_[27] - (vX_[254] * vX_[218] + vX_[104] * vX_[272]);
2008  vX_[129] = vX_[46] * vX_[28] + vX_[129] * vX_[26] + vX_[106] + vX_[258] * vX_[310] -
2009  (vX_[234] * vX_[218] + vX_[200] * vX_[272]);
2010  vX_[46] = vX_[11] * vX_[129];
2011  vX_[218] = vX_[190] + vX_[315] - (vX_[227] * vX_[218] + vX_[316] * vX_[272]);
2012  vX_[312] = vX_[312] - vX_[218];
2013  vX_[315] = vX_[22] * vX_[161] + vX_[11] * vX_[312];
2014  vX_[121] = vX_[121] - vX_[218];
2015  vX_[190] = vX_[11] * vX_[161];
2016  vX_[272] = vX_[22] * vX_[121] + vX_[190];
2017  vX_[292] = vX_[330] + vX_[292];
2018  vX_[325] = vX_[325] + vX_[224];
2019  vX_[224] = vX_[22] * vX_[292] + vX_[11] * vX_[325];
2020  vX_[102] = vX_[102] + vX_[96];
2021  vX_[330] = vX_[118] - vX_[330];
2022  vX_[118] = vX_[22] * vX_[102] + vX_[11] * vX_[330];
2023  vX_[96] = vX_[224] * vX_[22] + vX_[118] * vX_[11];
2024  vX_[227] = (vX_[96] - vX_[351] * vX_[327]) / vX_[24];
2025  vX_[118] = vX_[118] * vX_[9] + vX_[224] * vX_[11];
2026  vX_[224] = vX_[315] * vX_[9] + vX_[272] * vX_[11] - (vX_[349] * vX_[227] + vX_[118] * vX_[351]);
2027  vX_[106] = -vX_[109];
2028  vX_[258] = vX_[22] * vX_[106] + vX_[46];
2029  vX_[61] = (vX_[118] - vX_[355] * vX_[327]) / vX_[24];
2030  vX_[330] = vX_[11] * vX_[102] + vX_[9] * vX_[330];
2031  vX_[325] = vX_[11] * vX_[292] + vX_[9] * vX_[325];
2032  vX_[292] = vX_[358] * vX_[224];
2033  vX_[310] = -vX_[310];
2034  vX_[106] = vX_[11] * vX_[106] + vX_[9] * vX_[129];
2035  vX_[102] = 0 - vX_[106];
2036  vX_[7] = 0 - vX_[9] * vX_[320] - vX_[11] * vX_[310] - (vX_[362] * vX_[227] + vX_[102] * vX_[351]);
2037  vX_[91] = vX_[282] * vX_[7];
2038  vX_[319] = vX_[91] - vX_[292];
2039  vX_[131] = (vX_[102] - vX_[372] * vX_[327]) / vX_[24];
2040  vX_[106] = vX_[109] * vX_[11] + vX_[129] * vX_[22] + vX_[106] - -0.022851627 * vX_[227];
2041  vX_[272] = vX_[272] * vX_[22] + vX_[315] * vX_[11];
2042  vX_[96] = vX_[218] + vX_[272] - (vX_[350] * vX_[227] + vX_[96] * vX_[351]);
2043  vX_[350] = -vX_[282] * vX_[96];
2044  vX_[227] = vX_[330] * vX_[11] + vX_[325] * vX_[22] - (vX_[42] * vX_[227] + vX_[323] * vX_[351]);
2045  vX_[351] = vX_[205] + vX_[106] * vX_[358] + vX_[350] * vX_[358] - vX_[227] * vX_[282];
2046  vX_[190] = (vX_[11] * vX_[121] + vX_[9] * vX_[161]) * vX_[11] + (vX_[190] + vX_[9] * vX_[312]) * vX_[9];
2047  vX_[310] = vX_[11] * vX_[320] + vX_[22] * vX_[310] - (vX_[362] * vX_[61] + vX_[102] * vX_[355]);
2048  vX_[310] = (vX_[282] * (vX_[312] + vX_[121] + vX_[218] - vX_[190] - vX_[272] -
2049  (vX_[362] * vX_[131] + vX_[102] * vX_[372])) -
2050  vX_[358] * vX_[310]) *
2051  vX_[282] -
2052  (vX_[282] * vX_[310] - vX_[358] * (vX_[218] + vX_[190] - (vX_[349] * vX_[61] + vX_[118] * vX_[355]))) *
2053  vX_[358];
2054  jac[66] =
2055  (0 -
2056  vX_[0] *
2057  (vX_[9] * vX_[176] + vX_[11] * vX_[188] + vX_[30] * vX_[321] + vX_[12] * vX_[126] + vX_[19] * vX_[274] +
2058  vX_[205] * vX_[268] + (vX_[42] * vX_[114] + vX_[323] * vX_[271] - vX_[309] * vX_[327]) / vX_[24]) -
2059  vX_[4] * ((vX_[223] * vX_[105] + vX_[125] * vX_[333] - vX_[58] * vX_[125]) / vX_[223] + vX_[107] +
2060  vX_[205] * vX_[274] + vX_[324] * vX_[268] +
2061  (-0.022851627 * vX_[114] - vX_[277] * vX_[327]) / vX_[24]) -
2062  9.81 * ((vX_[4] * (vX_[109] * vX_[9] + vX_[46] - vX_[282] * vX_[224] - vX_[258] - -0.022851627 * vX_[61]) +
2063  vX_[0] * (vX_[330] * vX_[9] + vX_[325] * vX_[11] + vX_[292] -
2064  (vX_[42] * vX_[61] + vX_[323] * vX_[355]) - vX_[319])) *
2065  vX_[0] +
2066  (vX_[4] * (0 - vX_[91] - -0.022851627 * vX_[131] - vX_[319]) +
2067  vX_[0] * (vX_[258] + vX_[358] * vX_[7] - (vX_[42] * vX_[131] + vX_[323] * vX_[372]))) *
2068  vX_[4] +
2069  vX_[319]) -
2070  vX_[365] * ((vX_[4] * vX_[351] +
2071  vX_[0] * (2. * vX_[227] * vX_[358] + vX_[19] + vX_[358] * vX_[96] * vX_[358] - vX_[310])) *
2072  vX_[0] +
2073  (vX_[4] * (vX_[324] - 2. * vX_[106] * vX_[282] - vX_[350] * vX_[282] - vX_[310]) +
2074  vX_[0] * vX_[351]) *
2075  vX_[4] +
2076  vX_[310])) /
2077  vX_[385];
2078  vX_[310] = vX_[0] * jac[66];
2079  vX_[351] = vX_[4] * jac[66];
2080  jac[67] = (vX_[114] - (vX_[42] * vX_[310] + vX_[323] * vX_[342]) - -0.022851627 * vX_[351] - vX_[118] * vX_[259] -
2081  vX_[102] * vX_[90] - vX_[344] * vX_[327]) /
2082  vX_[24];
2083  vX_[102] = vX_[11] * jac[67] + vX_[9] * vX_[310];
2084  vX_[118] = vX_[22] * jac[67] + vX_[11] * vX_[310];
2085  vX_[114] = vX_[15] * jac[67] + vX_[12] * vX_[310];
2086  vX_[310] = vX_[34] * jac[67] + vX_[30] * vX_[310];
2087  jac[68] = (vX_[105] - (vX_[223] * vX_[351] + vX_[125] * vX_[348]) - (vX_[221] * vX_[102] + vX_[173] * vX_[249]) -
2088  (vX_[234] * vX_[118] + vX_[200] * vX_[313]) - vX_[316] * vX_[90] -
2089  (vX_[254] * vX_[114] + vX_[104] * vX_[237]) - (vX_[242] * vX_[310] + vX_[92] * vX_[191]) -
2090  vX_[220] * vX_[125]) /
2091  vX_[223];
2092  vX_[316] = -1 * vX_[118];
2093  vX_[351] = vX_[351] + jac[68];
2094  vX_[105] = vX_[28] * vX_[351] + vX_[26] * vX_[102];
2095  vX_[351] = vX_[26] * vX_[351] + vX_[27] * vX_[102];
2096  vX_[310] = -0.304 * vX_[102] + -1 * vX_[310];
2097  vX_[102] = vX_[26] * vX_[114] + vX_[38] * vX_[118];
2098  vX_[114] = vX_[27] * vX_[114] + vX_[51] * vX_[118];
2099  jac[69] = (vX_[250] - (vX_[154] * vX_[316] + vX_[298] * vX_[373]) - (vX_[152] * vX_[105] + vX_[81] * vX_[140]) -
2100  -0.00021200017 * vX_[351] - (vX_[169] * vX_[310] + vX_[289] * vX_[147]) -
2101  (vX_[184] * vX_[102] + vX_[135] * vX_[226]) - (vX_[172] * vX_[114] + vX_[211] * vX_[203]) -
2102  vX_[195] * vX_[298]) /
2103  vX_[154];
2104  vX_[316] = vX_[316] + jac[69];
2105  vX_[289] = vX_[49] * vX_[316] + vX_[48] * vX_[105];
2106  vX_[299] = vX_[49] * vX_[215] + vX_[48] * vX_[140] + vX_[299];
2107  vX_[250] = vX_[63] * vX_[316] + vX_[49] * vX_[105];
2108  vX_[300] = vX_[63] * vX_[215] + vX_[49] * vX_[140] + vX_[300];
2109  vX_[303] = vX_[56] * vX_[215] + vX_[57] * vX_[140] + vX_[48] * vX_[226] + vX_[49] * vX_[147] + vX_[303];
2110  vX_[135] = vX_[76] * vX_[316] + vX_[77] * vX_[105] + vX_[49] * vX_[102] + vX_[78] * vX_[310];
2111  vX_[215] = vX_[76] * vX_[215] + vX_[77] * vX_[140] + vX_[49] * vX_[226] + vX_[78] * vX_[147] + vX_[301];
2112  vX_[296] = (vX_[296] - vX_[117] * vX_[247] - vX_[108] * vX_[299] - vX_[122] * vX_[300] - vX_[160] * vX_[203] -
2113  vX_[134] * vX_[303] - vX_[130] * vX_[215]) /
2114  vX_[117];
2115  jac[70] = (vX_[151] - (vX_[117] * vX_[351] + vX_[111] * vX_[247]) - (vX_[108] * vX_[289] + vX_[141] * vX_[299]) -
2116  (vX_[122] * vX_[250] + vX_[179] * vX_[300]) - (vX_[160] * vX_[114] + vX_[165] * vX_[203]) -
2117  (vX_[134] * (vX_[56] * vX_[316] + vX_[57] * vX_[105] + vX_[48] * vX_[102] + vX_[49] * vX_[310]) +
2118  vX_[33] * vX_[303]) -
2119  (vX_[130] * vX_[135] + vX_[84] * vX_[215]) - vX_[296] * vX_[111]) /
2120  vX_[117];
2121  vX_[351] = vX_[351] + jac[70];
2122  vX_[296] = vX_[247] + vX_[296];
2123  jac[71] =
2124  (vX_[216] - 0.009277 * vX_[289] -
2125  -0.000829 *
2126  (vX_[70] * vX_[351] + vX_[251] * vX_[296] + vX_[68] * vX_[250] + vX_[368] * vX_[300] + vX_[65]) -
2127  1.5e-05 * (vX_[68] * vX_[351] + vX_[368] * vX_[296] + vX_[67] * vX_[250] + vX_[230] * vX_[300] + vX_[345]) -
2128  0.038686875 * (vX_[68] * vX_[135] + vX_[368] * vX_[215] + vX_[94] * vX_[289] + vX_[120] * vX_[299] +
2129  vX_[95] * vX_[114] + vX_[101] * vX_[203] + vX_[25])) /
2130  0.009277;
2131  vX_[296] = vX_[0] * x_in[7];
2132  vX_[351] = vX_[5] * vX_[4] + vX_[4] * vX_[5];
2133  vX_[215] = vX_[12] * vX_[0];
2134  vX_[135] = -(vX_[10] * vX_[215] + vX_[4] * vX_[16]);
2135  vX_[300] = vX_[9] * vX_[0];
2136  vX_[250] = vX_[18] * vX_[4] + vX_[300] * vX_[10];
2137  vX_[299] = vX_[10] * vX_[4] + vX_[4] * vX_[10];
2138  vX_[289] = vX_[11] * vX_[0];
2139  vX_[114] = vX_[23] * vX_[289] + vX_[289] * vX_[23];
2140  vX_[25] = vX_[30] * vX_[0];
2141  vX_[345] = -0.304 * vX_[300] + -1 * vX_[25];
2142  vX_[65] = vX_[26] * vX_[300] + vX_[28] * vX_[4];
2143  vX_[101] = vX_[38] * vX_[289] + vX_[26] * vX_[215];
2144  vX_[120] = -1 * vX_[289];
2145  vX_[216] = vX_[29] * vX_[345] + vX_[65] * vX_[36] - (vX_[37] * vX_[101] + vX_[120] * vX_[41]);
2146  vX_[251] = vX_[29] * vX_[120] + vX_[65] * vX_[37];
2147  vX_[230] = vX_[37] * vX_[120] + vX_[120] * vX_[37];
2148  vX_[368] = vX_[27] * vX_[300] + vX_[26] * vX_[4];
2149  vX_[203] = vX_[45] * vX_[368] + vX_[368] * vX_[45];
2150  vX_[247] = vX_[51] * vX_[289] + vX_[27] * vX_[215];
2151  vX_[303] = vX_[48] * vX_[65] + vX_[49] * vX_[120];
2152  vX_[316] = vX_[56] * vX_[120] + vX_[57] * vX_[65] + vX_[48] * vX_[101] + vX_[49] * vX_[345];
2153  vX_[102] = vX_[50] * vX_[247] + vX_[303] * vX_[54] - (vX_[55] * vX_[316] + vX_[368] * vX_[59]);
2154  vX_[310] = vX_[50] * vX_[368] + vX_[303] * vX_[55];
2155  vX_[105] = vX_[55] * vX_[368] + vX_[368] * vX_[55];
2156  vX_[165] = vX_[49] * vX_[65] + vX_[63] * vX_[120];
2157  vX_[151] = vX_[64] * vX_[165] + vX_[165] * vX_[64];
2158  vX_[33] = vX_[68] * vX_[165] + vX_[70] * vX_[368];
2159  vX_[84] = vX_[67] * vX_[165] + vX_[68] * vX_[368];
2160  vX_[179] = vX_[69] * vX_[33] + vX_[84] * vX_[73];
2161  vX_[111] = vX_[76] * vX_[120] + vX_[77] * vX_[65] + vX_[49] * vX_[101] + vX_[78] * vX_[345];
2162  vX_[141] = vX_[67] * vX_[111] + vX_[80] * vX_[303] + vX_[68] * vX_[247];
2163  vX_[226] = vX_[75] * vX_[141] + vX_[303] * vX_[83];
2164  vX_[147] = 0.02075 * vX_[368] + -0.184 * vX_[165] + vX_[316];
2165  vX_[140] = vX_[69] * vX_[147] + vX_[84] * vX_[86];
2166  vX_[301] = vX_[69] * vX_[303] + vX_[84] * vX_[75];
2167  vX_[211] = vX_[73] * vX_[303] + vX_[33] * vX_[75];
2168  vX_[298] = vX_[73] * vX_[33] + vX_[33] * vX_[73];
2169  vX_[81] = vX_[69] * vX_[84] + vX_[84] * vX_[69];
2170  vX_[195] = -0.00751 * vX_[179] + 0.038686875 * (vX_[226] - vX_[140]) + -0.000829 * vX_[301] - 1.5e-05 * vX_[211] -
2171  0.000198 * (vX_[298] - vX_[81]);
2172  vX_[373] = 0 - vX_[195];
2173  vX_[118] = vX_[68] * vX_[111] + vX_[94] * vX_[303] + vX_[95] * vX_[247];
2174  vX_[104] = vX_[75] * vX_[303] + vX_[303] * vX_[75];
2175  vX_[147] = 1.547475 * (vX_[73] * vX_[147] + vX_[33] * vX_[86] - (vX_[75] * vX_[118] + vX_[303] * vX_[97])) +
2176  1.547475 * vX_[118] * x_in[11] - 0.038686875 * (vX_[104] + vX_[298]);
2177  vX_[92] = (-vX_[84]) * x_in[11];
2178  vX_[200] = vX_[33] * x_in[11];
2179  vX_[125] = (-vX_[141]) * x_in[11];
2180  vX_[140] = 0.038686875 * vX_[179] + -1.547475 * (vX_[140] - vX_[226]) + 0.00345708950900075 * vX_[92] +
2181  -6.25528861700981e-05 * vX_[200] + 1.38614328745655 * vX_[125] + (0.038686875 * vX_[373]) / 0.009277;
2182  vX_[226] = (-vX_[165]) * x_in[10];
2183  vX_[173] = vX_[303] * x_in[10];
2184  vX_[220] = vX_[316] * x_in[10];
2185  vX_[191] = (-vX_[111]) * x_in[10];
2186  vX_[237] = vX_[64] * vX_[368] + vX_[165] * vX_[55];
2187  vX_[313] = vX_[64] * vX_[303] + vX_[165] * vX_[50];
2188  vX_[118] = vX_[69] * vX_[118] + vX_[84] * vX_[97] - (vX_[73] * vX_[141] + vX_[33] * vX_[83]);
2189  vX_[81] = 0.000198 * vX_[211] + 1.5e-05 * (vX_[104] - vX_[81]) + 0.00315291990945349 * vX_[92] +
2190  0.000199340411771047 * vX_[200] + 0.00345708950900075 * vX_[125] + (-0.000829 * vX_[373]) / 0.009277 -
2191  0.038686875 * vX_[118] - -0.00146 * vX_[301] - -0.000829 * vX_[179];
2192  vX_[104] = 0.00605 * vX_[211] + 1.5e-05 * vX_[179] + 0.000199340411771047 * vX_[92] +
2193  0.0107369757464698 * vX_[200] + -6.25528861700981e-05 * vX_[125] + (1.5e-05 * vX_[373]) / 0.009277 -
2194  0.000198 * vX_[301] - -0.000829 * (vX_[104] - vX_[298]);
2195  vX_[118] = 0.038686875 * vX_[301] + 1.547475 * vX_[118] + -0.038686875 * vX_[92];
2196  vX_[301] = vX_[50] * vX_[303] + vX_[303] * vX_[50];
2197  vX_[298] = -0.001243 * vX_[237] + 0.009683 * vX_[313] + vX_[70] * vX_[81] + vX_[68] * vX_[104] +
2198  0.02075 * vX_[118] - -0.012652 * vX_[310] - -0.001387 * (vX_[301] - vX_[151]);
2199  vX_[211] = 0 - vX_[298];
2200  vX_[195] = 0.057838 * vX_[102] + -0.001387 * vX_[310] + -0.012652 * (vX_[105] - vX_[151]) +
2201  (0.009277 * vX_[373]) / 0.009277 + vX_[195] + vX_[80] * vX_[147] + vX_[94] * vX_[140] +
2202  vX_[119] * vX_[226] + vX_[123] * vX_[173] + vX_[132] * vX_[220] + vX_[136] * vX_[191] +
2203  (vX_[108] * vX_[211]) / vX_[117] - -0.008386 * vX_[237] - -0.001243 * vX_[313];
2204  vX_[179] = vX_[64] * vX_[247] + vX_[165] * vX_[54] - (vX_[55] * vX_[111] + vX_[368] * vX_[82]);
2205  vX_[104] = -0.018069 * vX_[310] + 0.057838 * vX_[179] + -0.012652 * vX_[313] + vX_[68] * vX_[81] +
2206  vX_[67] * vX_[104] + -0.184 * vX_[118] + vX_[123] * vX_[226] + vX_[116] * vX_[173] + vX_[72] * vX_[220] +
2207  vX_[128] * vX_[191] + (vX_[122] * vX_[211]) / vX_[117] - -0.001387 * vX_[237] -
2208  -0.001243 * (vX_[105] - vX_[301]);
2209  vX_[237] = 0.057838 * vX_[237] + 2.1032 * vX_[102] + vX_[68] * vX_[140] + vX_[67] * vX_[147] + vX_[132] * vX_[226] +
2210  vX_[72] * vX_[173] + vX_[62] * vX_[220] + vX_[71] * vX_[191] + (vX_[130] * vX_[211]) / vX_[117];
2211  vX_[179] = 0.057838 * vX_[310] + -2.1032 * vX_[179] + vX_[118] + vX_[136] * vX_[226] + vX_[128] * vX_[173] +
2212  vX_[71] * vX_[220] + vX_[60] * vX_[191] + (vX_[134] * vX_[211]) / vX_[117];
2213  vX_[118] = (-vX_[368]) * x_in[9];
2214  vX_[310] = vX_[65] * x_in[9];
2215  vX_[102] = vX_[101] * x_in[9];
2216  vX_[81] = (-vX_[247]) * x_in[9];
2217  vX_[313] = vX_[37] * vX_[247] + vX_[120] * vX_[54];
2218  vX_[345] = vX_[45] * vX_[345] + vX_[368] * vX_[36];
2219  vX_[105] = vX_[45] * vX_[65] + vX_[368] * vX_[29];
2220  vX_[120] = vX_[45] * vX_[120] + vX_[368] * vX_[37];
2221  vX_[141] = vX_[29] * vX_[65] + vX_[65] * vX_[29];
2222  vX_[84] = 0.160298259823722 * (vX_[313] - vX_[345]) + -0.06337651 * vX_[105] + -0.0022920002 * vX_[120] +
2223  vX_[49] * vX_[195] + vX_[63] * vX_[104] + vX_[76] * vX_[237] + vX_[56] * vX_[179] -
2224  -0.008711861 * vX_[216] - -0.00021200017 * vX_[251] - 0.0036857284 * (vX_[141] - vX_[203]);
2225  vX_[33] = 0 - vX_[84];
2226  vX_[247] = vX_[45] * vX_[101] + vX_[368] * vX_[41] - (vX_[29] * vX_[247] + vX_[65] * vX_[54]);
2227  vX_[104] = 1.52322944854339e-09 * vX_[216] + 0.0036857284 * vX_[251] + -0.00021200017 * (vX_[230] - vX_[203]) +
2228  vX_[48] * vX_[195] + vX_[49] * vX_[104] + vX_[77] * vX_[237] + vX_[57] * vX_[179] + vX_[156] * vX_[118] +
2229  vX_[158] * vX_[310] + vX_[174] * vX_[102] + vX_[186] * vX_[81] + (vX_[152] * vX_[33]) / vX_[154] -
2230  0.160298259823722 * vX_[247] - 0.01404749 * vX_[120] - -0.0022920002 * vX_[105];
2231  vX_[298] = -0.008711861 * vX_[247] + 1.52322944854339e-09 * (vX_[345] - vX_[313]) + 0.077424 * vX_[251] +
2232  -0.00021200017 * vX_[105] + (vX_[117] * vX_[211]) / vX_[117] + vX_[298] + vX_[158] * vX_[118] +
2233  vX_[153] * vX_[310] + vX_[150] * vX_[102] + vX_[170] * vX_[81] + (-0.00021200017 * vX_[33]) / vX_[154] -
2234  0.0036857284 * vX_[120] - -0.0022920002 * (vX_[230] - vX_[141]);
2235  vX_[247] = 1.7423722 * vX_[247] + 0.160298259823722 * vX_[120] + -0.008711861 * vX_[251] + vX_[49] * vX_[179] +
2236  vX_[78] * vX_[237] + vX_[39] * vX_[118] + vX_[171] * vX_[310] + vX_[193] * vX_[102] +
2237  vX_[199] * vX_[81] + (vX_[169] * vX_[33]) / vX_[154] - 1.52322944854339e-09 * (vX_[141] + vX_[203]);
2238  vX_[195] = (-vX_[289]) * x_in[8];
2239  vX_[368] = vX_[300] * x_in[8];
2240  vX_[101] = vX_[215] * x_in[8];
2241  vX_[65] = (-vX_[25]) * x_in[8];
2242  vX_[249] = vX_[10] * vX_[25] + vX_[4] * vX_[35];
2243  vX_[348] = vX_[23] * vX_[300] + vX_[289] * vX_[18];
2244  vX_[90] = vX_[23] * vX_[4] + vX_[289] * vX_[10];
2245  vX_[327] = vX_[18] * vX_[300] + vX_[300] * vX_[18];
2246  vX_[323] = -0.0055615274403 * vX_[249] + 0.00750500000000001 * vX_[348] + -0.0037997814 * vX_[90] +
2247  vX_[28] * vX_[104] + vX_[26] * vX_[298] - 0.01438086 * vX_[135] - -0.011715295 * vX_[250] -
2248  5.399998e-05 * (vX_[327] - vX_[114]);
2249  vX_[344] = 0 - vX_[323];
2250  vX_[25] = vX_[23] * vX_[215] + vX_[289] * vX_[16] - (vX_[18] * vX_[25] + vX_[300] * vX_[35]);
2251  vX_[298] = 0.647967112 * vX_[135] + 5.399998e-05 * vX_[250] + -0.011715295 * (vX_[299] - vX_[114]) +
2252  vX_[26] * vX_[104] + vX_[27] * vX_[298] + -0.304 * vX_[247] + vX_[225] * vX_[195] + vX_[235] * vX_[368] +
2253  vX_[244] * vX_[101] + vX_[256] * vX_[65] + (vX_[221] * vX_[344]) / vX_[223] -
2254  -0.0055615274403 * vX_[25] - -0.192033951 * vX_[90] - -0.0037997814 * vX_[348];
2255  vX_[249] = -vX_[249];
2256  vX_[141] = 1.7423722 * vX_[216] + 1.52322944854339e-09 * vX_[120] + -0.008711861 * vX_[105] +
2257  2.1032 * (vX_[64] * vX_[316] + vX_[165] * vX_[59] - (vX_[50] * vX_[111] + vX_[303] * vX_[82])) +
2258  vX_[95] * vX_[140] + vX_[68] * vX_[147] + vX_[162] * vX_[226] + vX_[167] * vX_[173] +
2259  vX_[163] * vX_[220] + vX_[166] * vX_[191] + (vX_[160] * vX_[211]) / vX_[117] + vX_[174] * vX_[118] +
2260  vX_[150] * vX_[310] + vX_[204] * vX_[102] + vX_[206] * vX_[81] + (vX_[172] * vX_[33]) / vX_[154] -
2261  0.160298259823722 * (vX_[230] + vX_[141]) - 0.057838 * (vX_[301] + vX_[151]);
2262  vX_[105] = -1.7423722 * (vX_[345] - vX_[313]) + 0.160298259823722 * vX_[105] + 1.52322944854339e-09 * vX_[251] +
2263  vX_[48] * vX_[179] + vX_[49] * vX_[237] + vX_[186] * vX_[118] + vX_[170] * vX_[310] +
2264  vX_[206] * vX_[102] + vX_[202] * vX_[81] + (vX_[184] * vX_[33]) / vX_[154] -
2265  -0.008711861 * (vX_[230] + vX_[203]);
2266  vX_[25] = 0.01438086 * vX_[25] + 0.647967112 * vX_[249] + -0.199538951 * vX_[250] + -0.011715295 * vX_[348] +
2267  vX_[51] * vX_[141] + -1 * (vX_[84] + (vX_[154] * vX_[33]) / vX_[154]) + vX_[38] * vX_[105] +
2268  vX_[235] * vX_[195] + vX_[222] * vX_[368] + vX_[219] * vX_[101] + vX_[240] * vX_[65] +
2269  (vX_[234] * vX_[344]) / vX_[223] - 5.399998e-05 * vX_[90] - -0.0037997814 * (vX_[299] - vX_[327]);
2270  vX_[327] = 2.327 * vX_[135] + 0.647967112 * vX_[90] + 0.01438086 * vX_[348] + -1 * vX_[247] + vX_[244] * vX_[195] +
2271  vX_[219] * vX_[368] + vX_[88] * vX_[101] + vX_[85] * vX_[65] + (vX_[242] * vX_[344]) / vX_[223] -
2272  -0.0055615274403 * (vX_[299] + vX_[327]);
2273  vX_[105] = -2.327 * vX_[249] + -0.0055615274403 * vX_[348] + 0.647967112 * vX_[250] + vX_[26] * vX_[105] +
2274  vX_[27] * vX_[141] + vX_[256] * vX_[195] + vX_[240] * vX_[368] + vX_[85] * vX_[101] + vX_[44] * vX_[65] +
2275  (vX_[254] * vX_[344]) / vX_[223] - 0.01438086 * (vX_[299] + vX_[114]);
2276  vX_[141] = (-vX_[4]) * x_in[7];
2277  vX_[249] = vX_[14] * vX_[0] + vX_[0] * vX_[14];
2278  vX_[348] = vX_[4] * x_in[7];
2279  vX_[114] = vX_[5] * vX_[0] + vX_[4] * vX_[14];
2280  vX_[299] = -0.022851627 * vX_[296] + 0.0055279857 * (vX_[249] - vX_[351]) - -0.002752 * vX_[348] -
2281  0.046852534 * vX_[114] - vX_[11] * vX_[298] - vX_[22] * vX_[25] - vX_[34] * vX_[327] -
2282  vX_[15] * vX_[105];
2283  jac[78] =
2284  (0 -
2285  vX_[0] * (0.0055279857 * vX_[296] + -0.022851627 * (0 - vX_[351]) + vX_[9] * vX_[298] + vX_[11] * vX_[25] +
2286  vX_[30] * vX_[327] + vX_[12] * vX_[105] + vX_[13] * vX_[141] + vX_[265] * vX_[296] +
2287  (vX_[42] * vX_[299]) / vX_[24] - 0.012390532 * vX_[348] - -0.002752 * vX_[114]) -
2288  vX_[4] * (-0.034462002 * vX_[296] + -0.022851627 * vX_[114] + (vX_[223] * vX_[344]) / vX_[223] + vX_[323] +
2289  vX_[265] * vX_[141] + vX_[98] * vX_[296] + (-0.022851627 * vX_[299]) / vX_[24] -
2290  0.0055279857 * vX_[348] - -0.002752 * (0 - vX_[249]))) /
2291  vX_[385];
2292  vX_[141] = vX_[0] * jac[78] + vX_[141];
2293  vX_[296] = vX_[4] * jac[78] + vX_[296];
2294  jac[79] = (vX_[299] - vX_[42] * vX_[141] - -0.022851627 * vX_[296]) / vX_[24];
2295  vX_[195] = vX_[11] * jac[79] + vX_[9] * vX_[141] + vX_[195];
2296  vX_[368] = vX_[22] * jac[79] + vX_[11] * vX_[141] + vX_[368];
2297  vX_[65] = vX_[15] * jac[79] + vX_[12] * vX_[141] + vX_[65];
2298  vX_[141] = vX_[34] * jac[79] + vX_[30] * vX_[141] + vX_[101];
2299  jac[80] = (vX_[344] - vX_[223] * vX_[296] - vX_[221] * vX_[195] - vX_[234] * vX_[368] - vX_[254] * vX_[65] -
2300  vX_[242] * vX_[141]) /
2301  vX_[223];
2302  vX_[344] = -1 * vX_[368];
2303  vX_[296] = vX_[296] + jac[80];
2304  vX_[118] = vX_[28] * vX_[296] + vX_[26] * vX_[195] + vX_[118];
2305  vX_[296] = vX_[26] * vX_[296] + vX_[27] * vX_[195] + vX_[310];
2306  vX_[141] = -0.304 * vX_[195] + -1 * vX_[141];
2307  vX_[81] = vX_[26] * vX_[65] + vX_[38] * vX_[368] + vX_[81];
2308  vX_[65] = vX_[27] * vX_[65] + vX_[51] * vX_[368] + vX_[102];
2309  jac[81] = (vX_[33] - vX_[154] * vX_[344] - vX_[152] * vX_[118] - -0.00021200017 * vX_[296] - vX_[169] * vX_[141] -
2310  vX_[184] * vX_[81] - vX_[172] * vX_[65]) /
2311  vX_[154];
2312  vX_[344] = vX_[344] + jac[81];
2313  vX_[226] = vX_[49] * vX_[344] + vX_[48] * vX_[118] + vX_[226];
2314  vX_[173] = vX_[63] * vX_[344] + vX_[49] * vX_[118] + vX_[173];
2315  vX_[220] = vX_[76] * vX_[344] + vX_[77] * vX_[118] + vX_[49] * vX_[81] + vX_[78] * vX_[141] + vX_[220];
2316  jac[82] =
2317  (vX_[211] - vX_[117] * vX_[296] - vX_[108] * vX_[226] - vX_[122] * vX_[173] - vX_[160] * vX_[65] -
2318  vX_[134] * (vX_[56] * vX_[344] + vX_[57] * vX_[118] + vX_[48] * vX_[81] + vX_[49] * vX_[141] + vX_[191]) -
2319  vX_[130] * vX_[220]) /
2320  vX_[117];
2321  vX_[296] = vX_[296] + jac[82];
2322  jac[83] = (vX_[373] - 0.009277 * vX_[226] - -0.000829 * (vX_[70] * vX_[296] + vX_[68] * vX_[173] + vX_[92]) -
2323  1.5e-05 * (vX_[68] * vX_[296] + vX_[67] * vX_[173] + vX_[200]) -
2324  0.038686875 * (vX_[68] * vX_[220] + vX_[94] * vX_[226] + vX_[95] * vX_[65] + vX_[125])) /
2325  0.009277;
2326  vX_[296] = x_in[7] + x_in[7];
2327  vX_[220] = -vX_[10] * vX_[15];
2328  vX_[173] = vX_[11] * vX_[10];
2329  vX_[226] = vX_[23] * vX_[22] + vX_[22] * vX_[23];
2330  vX_[65] = -0.304 * vX_[11] + -1 * vX_[34];
2331  vX_[125] = vX_[26] * vX_[11];
2332  vX_[200] = vX_[38] * vX_[22] + vX_[26] * vX_[15];
2333  vX_[92] = -1 * vX_[22];
2334  vX_[373] = vX_[29] * vX_[65] + vX_[125] * vX_[36] - (vX_[37] * vX_[200] + vX_[92] * vX_[41]);
2335  vX_[344] = vX_[29] * vX_[92] + vX_[125] * vX_[37];
2336  vX_[81] = vX_[37] * vX_[92] + vX_[92] * vX_[37];
2337  vX_[141] = vX_[27] * vX_[11];
2338  vX_[118] = vX_[45] * vX_[141] + vX_[141] * vX_[45];
2339  vX_[211] = vX_[51] * vX_[22] + vX_[27] * vX_[15];
2340  vX_[191] = vX_[48] * vX_[125] + vX_[49] * vX_[92];
2341  vX_[33] = vX_[56] * vX_[92] + vX_[57] * vX_[125] + vX_[48] * vX_[200] + vX_[49] * vX_[65];
2342  vX_[368] = vX_[50] * vX_[211] + vX_[191] * vX_[54] - (vX_[55] * vX_[33] + vX_[141] * vX_[59]);
2343  vX_[102] = vX_[50] * vX_[141] + vX_[191] * vX_[55];
2344  vX_[195] = vX_[55] * vX_[141] + vX_[141] * vX_[55];
2345  vX_[310] = vX_[49] * vX_[125] + vX_[63] * vX_[92];
2346  vX_[101] = vX_[64] * vX_[310] + vX_[310] * vX_[64];
2347  vX_[299] = vX_[68] * vX_[310] + vX_[70] * vX_[141];
2348  vX_[114] = vX_[67] * vX_[310] + vX_[68] * vX_[141];
2349  vX_[348] = vX_[69] * vX_[299] + vX_[114] * vX_[73];
2350  vX_[249] = vX_[76] * vX_[92] + vX_[77] * vX_[125] + vX_[49] * vX_[200] + vX_[78] * vX_[65];
2351  vX_[105] = vX_[67] * vX_[249] + vX_[80] * vX_[191] + vX_[68] * vX_[211];
2352  vX_[327] = vX_[75] * vX_[105] + vX_[191] * vX_[83];
2353  vX_[25] = 0.02075 * vX_[141] + -0.184 * vX_[310] + vX_[33];
2354  vX_[298] = vX_[69] * vX_[25] + vX_[114] * vX_[86];
2355  vX_[323] = vX_[69] * vX_[191] + vX_[114] * vX_[75];
2356  vX_[351] = vX_[73] * vX_[191] + vX_[299] * vX_[75];
2357  vX_[250] = vX_[73] * vX_[299] + vX_[299] * vX_[73];
2358  vX_[90] = vX_[69] * vX_[114] + vX_[114] * vX_[69];
2359  vX_[247] = -0.00751 * vX_[348] + 0.038686875 * (vX_[327] - vX_[298]) + -0.000829 * vX_[323] - 1.5e-05 * vX_[351] -
2360  0.000198 * (vX_[250] - vX_[90]);
2361  vX_[135] = 0 - vX_[247];
2362  vX_[84] = vX_[68] * vX_[249] + vX_[94] * vX_[191] + vX_[95] * vX_[211];
2363  vX_[345] = vX_[75] * vX_[191] + vX_[191] * vX_[75];
2364  vX_[25] = 1.547475 * (vX_[73] * vX_[25] + vX_[299] * vX_[86] - (vX_[75] * vX_[84] + vX_[191] * vX_[97])) +
2365  1.547475 * vX_[84] * x_in[11] - 0.038686875 * (vX_[345] + vX_[250]);
2366  vX_[313] = (-vX_[114]) * x_in[11];
2367  vX_[179] = vX_[299] * x_in[11];
2368  vX_[237] = (-vX_[105]) * x_in[11];
2369  vX_[298] = 0.038686875 * vX_[348] + -1.547475 * (vX_[298] - vX_[327]) + 0.00345708950900075 * vX_[313] +
2370  -6.25528861700981e-05 * vX_[179] + 1.38614328745655 * vX_[237] + (0.038686875 * vX_[135]) / 0.009277;
2371  vX_[327] = (-vX_[310]) * x_in[10];
2372  vX_[203] = vX_[191] * x_in[10];
2373  vX_[230] = vX_[33] * x_in[10];
2374  vX_[251] = (-vX_[249]) * x_in[10];
2375  vX_[120] = vX_[64] * vX_[141] + vX_[310] * vX_[55];
2376  vX_[301] = vX_[64] * vX_[191] + vX_[310] * vX_[50];
2377  vX_[84] = vX_[69] * vX_[84] + vX_[114] * vX_[97] - (vX_[73] * vX_[105] + vX_[299] * vX_[83]);
2378  vX_[90] = 0.000198 * vX_[351] + 1.5e-05 * (vX_[345] - vX_[90]) + 0.00315291990945349 * vX_[313] +
2379  0.000199340411771047 * vX_[179] + 0.00345708950900075 * vX_[237] + (-0.000829 * vX_[135]) / 0.009277 -
2380  0.038686875 * vX_[84] - -0.00146 * vX_[323] - -0.000829 * vX_[348];
2381  vX_[345] = 0.00605 * vX_[351] + 1.5e-05 * vX_[348] + 0.000199340411771047 * vX_[313] +
2382  0.0107369757464698 * vX_[179] + -6.25528861700981e-05 * vX_[237] + (1.5e-05 * vX_[135]) / 0.009277 -
2383  0.000198 * vX_[323] - -0.000829 * (vX_[345] - vX_[250]);
2384  vX_[84] = 0.038686875 * vX_[323] + 1.547475 * vX_[84] + -0.038686875 * vX_[313];
2385  vX_[323] = vX_[50] * vX_[191] + vX_[191] * vX_[50];
2386  vX_[250] = -0.001243 * vX_[120] + 0.009683 * vX_[301] + vX_[70] * vX_[90] + vX_[68] * vX_[345] + 0.02075 * vX_[84] -
2387  -0.012652 * vX_[102] - -0.001387 * (vX_[323] - vX_[101]);
2388  vX_[351] = 0 - vX_[250];
2389  vX_[247] = 0.057838 * vX_[368] + -0.001387 * vX_[102] + -0.012652 * (vX_[195] - vX_[101]) +
2390  (0.009277 * vX_[135]) / 0.009277 + vX_[247] + vX_[80] * vX_[25] + vX_[94] * vX_[298] +
2391  vX_[119] * vX_[327] + vX_[123] * vX_[203] + vX_[132] * vX_[230] + vX_[136] * vX_[251] +
2392  (vX_[108] * vX_[351]) / vX_[117] - -0.008386 * vX_[120] - -0.001243 * vX_[301];
2393  vX_[348] = vX_[64] * vX_[211] + vX_[310] * vX_[54] - (vX_[55] * vX_[249] + vX_[141] * vX_[82]);
2394  vX_[345] = -0.018069 * vX_[102] + 0.057838 * vX_[348] + -0.012652 * vX_[301] + vX_[68] * vX_[90] +
2395  vX_[67] * vX_[345] + -0.184 * vX_[84] + vX_[123] * vX_[327] + vX_[116] * vX_[203] + vX_[72] * vX_[230] +
2396  vX_[128] * vX_[251] + (vX_[122] * vX_[351]) / vX_[117] - -0.001387 * vX_[120] -
2397  -0.001243 * (vX_[195] - vX_[323]);
2398  vX_[120] = 0.057838 * vX_[120] + 2.1032 * vX_[368] + vX_[68] * vX_[298] + vX_[67] * vX_[25] + vX_[132] * vX_[327] +
2399  vX_[72] * vX_[203] + vX_[62] * vX_[230] + vX_[71] * vX_[251] + (vX_[130] * vX_[351]) / vX_[117];
2400  vX_[348] = 0.057838 * vX_[102] + -2.1032 * vX_[348] + vX_[84] + vX_[136] * vX_[327] + vX_[128] * vX_[203] +
2401  vX_[71] * vX_[230] + vX_[60] * vX_[251] + (vX_[134] * vX_[351]) / vX_[117];
2402  vX_[84] = (-vX_[141]) * x_in[9];
2403  vX_[102] = vX_[125] * x_in[9];
2404  vX_[368] = vX_[200] * x_in[9];
2405  vX_[90] = (-vX_[211]) * x_in[9];
2406  vX_[301] = vX_[37] * vX_[211] + vX_[92] * vX_[54];
2407  vX_[65] = vX_[45] * vX_[65] + vX_[141] * vX_[36];
2408  vX_[195] = vX_[45] * vX_[125] + vX_[141] * vX_[29];
2409  vX_[92] = vX_[45] * vX_[92] + vX_[141] * vX_[37];
2410  vX_[105] = vX_[29] * vX_[125] + vX_[125] * vX_[29];
2411  vX_[114] = 0.160298259823722 * (vX_[301] - vX_[65]) + -0.06337651 * vX_[195] + -0.0022920002 * vX_[92] +
2412  vX_[49] * vX_[247] + vX_[63] * vX_[345] + vX_[76] * vX_[120] + vX_[56] * vX_[348] -
2413  -0.008711861 * vX_[373] - -0.00021200017 * vX_[344] - 0.0036857284 * (vX_[105] - vX_[118]);
2414  vX_[299] = 0 - vX_[114];
2415  vX_[211] = vX_[45] * vX_[200] + vX_[141] * vX_[41] - (vX_[29] * vX_[211] + vX_[125] * vX_[54]);
2416  vX_[345] = 1.52322944854339e-09 * vX_[373] + 0.0036857284 * vX_[344] + -0.00021200017 * (vX_[81] - vX_[118]) +
2417  vX_[48] * vX_[247] + vX_[49] * vX_[345] + vX_[77] * vX_[120] + vX_[57] * vX_[348] + vX_[156] * vX_[84] +
2418  vX_[158] * vX_[102] + vX_[174] * vX_[368] + vX_[186] * vX_[90] + (vX_[152] * vX_[299]) / vX_[154] -
2419  0.160298259823722 * vX_[211] - 0.01404749 * vX_[92] - -0.0022920002 * vX_[195];
2420  vX_[250] = -0.008711861 * vX_[211] + 1.52322944854339e-09 * (vX_[65] - vX_[301]) + 0.077424 * vX_[344] +
2421  -0.00021200017 * vX_[195] + (vX_[117] * vX_[351]) / vX_[117] + vX_[250] + vX_[158] * vX_[84] +
2422  vX_[153] * vX_[102] + vX_[150] * vX_[368] + vX_[170] * vX_[90] + (-0.00021200017 * vX_[299]) / vX_[154] -
2423  0.0036857284 * vX_[92] - -0.0022920002 * (vX_[81] - vX_[105]);
2424  vX_[211] = 1.7423722 * vX_[211] + 0.160298259823722 * vX_[92] + -0.008711861 * vX_[344] + vX_[49] * vX_[348] +
2425  vX_[78] * vX_[120] + vX_[39] * vX_[84] + vX_[171] * vX_[102] + vX_[193] * vX_[368] + vX_[199] * vX_[90] +
2426  (vX_[169] * vX_[299]) / vX_[154] - 1.52322944854339e-09 * (vX_[105] + vX_[118]);
2427  vX_[247] = (-vX_[22]) * x_in[8];
2428  vX_[141] = vX_[11] * x_in[8];
2429  vX_[200] = vX_[15] * x_in[8];
2430  vX_[125] = (-vX_[34]) * x_in[8];
2431  vX_[140] = vX_[10] * vX_[34];
2432  vX_[147] = vX_[23] * vX_[11] + vX_[22] * vX_[18];
2433  vX_[111] = vX_[22] * vX_[10];
2434  vX_[151] = vX_[18] * vX_[11] + vX_[11] * vX_[18];
2435  vX_[165] = -0.0055615274403 * vX_[140] + 0.00750500000000001 * vX_[147] + -0.0037997814 * vX_[111] +
2436  vX_[28] * vX_[345] + vX_[26] * vX_[250] - 0.01438086 * vX_[220] - -0.011715295 * vX_[173] -
2437  5.399998e-05 * (vX_[151] - vX_[226]);
2438  vX_[316] = 0 - vX_[165];
2439  vX_[303] = vX_[23] * vX_[15] + vX_[22] * vX_[16] - (vX_[18] * vX_[34] + vX_[11] * vX_[35]);
2440  vX_[250] = 0.647967112 * vX_[220] + 5.399998e-05 * vX_[173] + -0.011715295 * (0 - vX_[226]) + vX_[26] * vX_[345] +
2441  vX_[27] * vX_[250] + -0.304 * vX_[211] + vX_[225] * vX_[247] + vX_[235] * vX_[141] +
2442  vX_[244] * vX_[200] + vX_[256] * vX_[125] + (vX_[221] * vX_[316]) / vX_[223] -
2443  -0.0055615274403 * vX_[303] - -0.192033951 * vX_[111] - -0.0037997814 * vX_[147];
2444  vX_[140] = -vX_[140];
2445  vX_[105] = 1.7423722 * vX_[373] + 1.52322944854339e-09 * vX_[92] + -0.008711861 * vX_[195] +
2446  2.1032 * (vX_[64] * vX_[33] + vX_[310] * vX_[59] - (vX_[50] * vX_[249] + vX_[191] * vX_[82])) +
2447  vX_[95] * vX_[298] + vX_[68] * vX_[25] + vX_[162] * vX_[327] + vX_[167] * vX_[203] +
2448  vX_[163] * vX_[230] + vX_[166] * vX_[251] + (vX_[160] * vX_[351]) / vX_[117] + vX_[174] * vX_[84] +
2449  vX_[150] * vX_[102] + vX_[204] * vX_[368] + vX_[206] * vX_[90] + (vX_[172] * vX_[299]) / vX_[154] -
2450  0.160298259823722 * (vX_[81] + vX_[105]) - 0.057838 * (vX_[323] + vX_[101]);
2451  vX_[195] = -1.7423722 * (vX_[65] - vX_[301]) + 0.160298259823722 * vX_[195] + 1.52322944854339e-09 * vX_[344] +
2452  vX_[48] * vX_[348] + vX_[49] * vX_[120] + vX_[186] * vX_[84] + vX_[170] * vX_[102] +
2453  vX_[206] * vX_[368] + vX_[202] * vX_[90] + (vX_[184] * vX_[299]) / vX_[154] -
2454  -0.008711861 * (vX_[81] + vX_[118]);
2455  vX_[303] = 0.01438086 * vX_[303] + 0.647967112 * vX_[140] + -0.199538951 * vX_[173] + -0.011715295 * vX_[147] +
2456  vX_[51] * vX_[105] + -1 * (vX_[114] + (vX_[154] * vX_[299]) / vX_[154]) + vX_[38] * vX_[195] +
2457  vX_[235] * vX_[247] + vX_[222] * vX_[141] + vX_[219] * vX_[200] + vX_[240] * vX_[125] +
2458  (vX_[234] * vX_[316]) / vX_[223] - 5.399998e-05 * vX_[111] - -0.0037997814 * (0 - vX_[151]);
2459  vX_[151] = 2.327 * vX_[220] + 0.647967112 * vX_[111] + 0.01438086 * vX_[147] + -1 * vX_[211] + vX_[244] * vX_[247] +
2460  vX_[219] * vX_[141] + vX_[88] * vX_[200] + vX_[85] * vX_[125] + (vX_[242] * vX_[316]) / vX_[223] -
2461  -0.0055615274403 * vX_[151];
2462  vX_[195] = -2.327 * vX_[140] + -0.0055615274403 * vX_[147] + 0.647967112 * vX_[173] + vX_[26] * vX_[195] +
2463  vX_[27] * vX_[105] + vX_[256] * vX_[247] + vX_[240] * vX_[141] + vX_[85] * vX_[200] +
2464  vX_[44] * vX_[125] + (vX_[254] * vX_[316]) / vX_[223] - 0.01438086 * vX_[226];
2465  vX_[105] = -0.022851627 * vX_[14] - -0.002752 * vX_[5] - vX_[11] * vX_[250] - vX_[22] * vX_[303] -
2466  vX_[34] * vX_[151] - vX_[15] * vX_[195];
2467  jac[90] = (0 -
2468  vX_[0] * (0.0055279857 * vX_[14] + -0.022851627 * vX_[296] + vX_[9] * vX_[250] + vX_[11] * vX_[303] +
2469  vX_[30] * vX_[151] + vX_[12] * vX_[195] + vX_[13] * vX_[329] + vX_[265] * vX_[14] +
2470  (vX_[42] * vX_[105]) / vX_[24] - 0.012390532 * vX_[5]) -
2471  vX_[4] * (-0.034462002 * vX_[14] + (vX_[223] * vX_[316]) / vX_[223] + vX_[165] + vX_[265] * vX_[329] +
2472  vX_[98] * vX_[14] + (-0.022851627 * vX_[105]) / vX_[24] - 0.0055279857 * vX_[5] -
2473  -0.002752 * vX_[296])) /
2474  vX_[385];
2475  vX_[329] = vX_[0] * jac[90] + vX_[329];
2476  vX_[14] = vX_[4] * jac[90] + vX_[14];
2477  jac[91] = (vX_[105] - vX_[42] * vX_[329] - -0.022851627 * vX_[14]) / vX_[24];
2478  vX_[247] = vX_[11] * jac[91] + vX_[9] * vX_[329] + vX_[247];
2479  vX_[141] = vX_[22] * jac[91] + vX_[11] * vX_[329] + vX_[141];
2480  vX_[125] = vX_[15] * jac[91] + vX_[12] * vX_[329] + vX_[125];
2481  vX_[329] = vX_[34] * jac[91] + vX_[30] * vX_[329] + vX_[200];
2482  jac[92] = (vX_[316] - vX_[223] * vX_[14] - vX_[221] * vX_[247] - vX_[234] * vX_[141] - vX_[254] * vX_[125] -
2483  vX_[242] * vX_[329]) /
2484  vX_[223];
2485  vX_[316] = -1 * vX_[141];
2486  vX_[14] = vX_[14] + jac[92];
2487  vX_[84] = vX_[28] * vX_[14] + vX_[26] * vX_[247] + vX_[84];
2488  vX_[14] = vX_[26] * vX_[14] + vX_[27] * vX_[247] + vX_[102];
2489  vX_[329] = -0.304 * vX_[247] + -1 * vX_[329];
2490  vX_[90] = vX_[26] * vX_[125] + vX_[38] * vX_[141] + vX_[90];
2491  vX_[125] = vX_[27] * vX_[125] + vX_[51] * vX_[141] + vX_[368];
2492  jac[93] = (vX_[299] - vX_[154] * vX_[316] - vX_[152] * vX_[84] - -0.00021200017 * vX_[14] - vX_[169] * vX_[329] -
2493  vX_[184] * vX_[90] - vX_[172] * vX_[125]) /
2494  vX_[154];
2495  vX_[316] = vX_[316] + jac[93];
2496  vX_[327] = vX_[49] * vX_[316] + vX_[48] * vX_[84] + vX_[327];
2497  vX_[203] = vX_[63] * vX_[316] + vX_[49] * vX_[84] + vX_[203];
2498  vX_[230] = vX_[76] * vX_[316] + vX_[77] * vX_[84] + vX_[49] * vX_[90] + vX_[78] * vX_[329] + vX_[230];
2499  jac[94] =
2500  (vX_[351] - vX_[117] * vX_[14] - vX_[108] * vX_[327] - vX_[122] * vX_[203] - vX_[160] * vX_[125] -
2501  vX_[134] * (vX_[56] * vX_[316] + vX_[57] * vX_[84] + vX_[48] * vX_[90] + vX_[49] * vX_[329] + vX_[251]) -
2502  vX_[130] * vX_[230]) /
2503  vX_[117];
2504  vX_[14] = vX_[14] + jac[94];
2505  jac[95] = (vX_[135] - 0.009277 * vX_[327] - -0.000829 * (vX_[70] * vX_[14] + vX_[68] * vX_[203] + vX_[313]) -
2506  1.5e-05 * (vX_[68] * vX_[14] + vX_[67] * vX_[203] + vX_[179]) -
2507  0.038686875 * (vX_[68] * vX_[230] + vX_[94] * vX_[327] + vX_[95] * vX_[125] + vX_[237])) /
2508  0.009277;
2509  vX_[14] = -vX_[16];
2510  vX_[10] = vX_[10] + vX_[10];
2511  vX_[230] = vX_[28] * vX_[36];
2512  vX_[203] = vX_[28] * vX_[37];
2513  vX_[327] = vX_[45] * vX_[26] + vX_[26] * vX_[45];
2514  vX_[125] = vX_[48] * vX_[28];
2515  vX_[237] = vX_[57] * vX_[28];
2516  vX_[179] = vX_[125] * vX_[54] - (vX_[55] * vX_[237] + vX_[26] * vX_[59]);
2517  vX_[313] = vX_[50] * vX_[26] + vX_[125] * vX_[55];
2518  vX_[135] = vX_[55] * vX_[26] + vX_[26] * vX_[55];
2519  vX_[316] = vX_[49] * vX_[28];
2520  vX_[90] = vX_[64] * vX_[316] + vX_[316] * vX_[64];
2521  vX_[329] = vX_[68] * vX_[316] + vX_[70] * vX_[26];
2522  vX_[84] = vX_[67] * vX_[316] + vX_[68] * vX_[26];
2523  vX_[351] = vX_[69] * vX_[329] + vX_[84] * vX_[73];
2524  vX_[251] = vX_[77] * vX_[28];
2525  vX_[299] = vX_[67] * vX_[251] + vX_[80] * vX_[125];
2526  vX_[141] = vX_[75] * vX_[299] + vX_[125] * vX_[83];
2527  vX_[368] = 0.02075 * vX_[26] + -0.184 * vX_[316] + vX_[237];
2528  vX_[247] = vX_[69] * vX_[368] + vX_[84] * vX_[86];
2529  vX_[102] = vX_[69] * vX_[125] + vX_[84] * vX_[75];
2530  vX_[200] = vX_[73] * vX_[125] + vX_[329] * vX_[75];
2531  vX_[105] = vX_[73] * vX_[329] + vX_[329] * vX_[73];
2532  vX_[195] = vX_[69] * vX_[84] + vX_[84] * vX_[69];
2533  vX_[151] = -0.00751 * vX_[351] + 0.038686875 * (vX_[141] - vX_[247]) + -0.000829 * vX_[102] - 1.5e-05 * vX_[200] -
2534  0.000198 * (vX_[105] - vX_[195]);
2535  vX_[303] = 0 - vX_[151];
2536  vX_[250] = vX_[68] * vX_[251] + vX_[94] * vX_[125];
2537  vX_[165] = vX_[75] * vX_[125] + vX_[125] * vX_[75];
2538  vX_[368] = 1.547475 * (vX_[73] * vX_[368] + vX_[329] * vX_[86] - (vX_[75] * vX_[250] + vX_[125] * vX_[97])) +
2539  1.547475 * vX_[250] * x_in[11] - 0.038686875 * (vX_[165] + vX_[105]);
2540  vX_[296] = (-vX_[84]) * x_in[11];
2541  vX_[98] = vX_[329] * x_in[11];
2542  vX_[265] = (-vX_[299]) * x_in[11];
2543  vX_[247] = 0.038686875 * vX_[351] + -1.547475 * (vX_[247] - vX_[141]) + 0.00345708950900075 * vX_[296] +
2544  -6.25528861700981e-05 * vX_[98] + 1.38614328745655 * vX_[265] + (0.038686875 * vX_[303]) / 0.009277;
2545  vX_[141] = (-vX_[316]) * x_in[10];
2546  vX_[13] = vX_[125] * x_in[10];
2547  vX_[5] = vX_[237] * x_in[10];
2548  vX_[140] = (-vX_[251]) * x_in[10];
2549  vX_[147] = vX_[64] * vX_[26] + vX_[316] * vX_[55];
2550  vX_[226] = vX_[64] * vX_[125] + vX_[316] * vX_[50];
2551  vX_[250] = vX_[69] * vX_[250] + vX_[84] * vX_[97] - (vX_[73] * vX_[299] + vX_[329] * vX_[83]);
2552  vX_[195] = 0.000198 * vX_[200] + 1.5e-05 * (vX_[165] - vX_[195]) + 0.00315291990945349 * vX_[296] +
2553  0.000199340411771047 * vX_[98] + 0.00345708950900075 * vX_[265] + (-0.000829 * vX_[303]) / 0.009277 -
2554  0.038686875 * vX_[250] - -0.00146 * vX_[102] - -0.000829 * vX_[351];
2555  vX_[165] = 0.00605 * vX_[200] + 1.5e-05 * vX_[351] + 0.000199340411771047 * vX_[296] +
2556  0.0107369757464698 * vX_[98] + -6.25528861700981e-05 * vX_[265] + (1.5e-05 * vX_[303]) / 0.009277 -
2557  0.000198 * vX_[102] - -0.000829 * (vX_[165] - vX_[105]);
2558  vX_[250] = 0.038686875 * vX_[102] + 1.547475 * vX_[250] + -0.038686875 * vX_[296];
2559  vX_[102] = vX_[50] * vX_[125] + vX_[125] * vX_[50];
2560  vX_[105] = -0.001243 * vX_[147] + 0.009683 * vX_[226] + vX_[70] * vX_[195] + vX_[68] * vX_[165] +
2561  0.02075 * vX_[250] - -0.012652 * vX_[313] - -0.001387 * (vX_[102] - vX_[90]);
2562  vX_[200] = 0 - vX_[105];
2563  vX_[151] = 0.057838 * vX_[179] + -0.001387 * vX_[313] + -0.012652 * (vX_[135] - vX_[90]) +
2564  (0.009277 * vX_[303]) / 0.009277 + vX_[151] + vX_[80] * vX_[368] + vX_[94] * vX_[247] +
2565  vX_[119] * vX_[141] + vX_[123] * vX_[13] + vX_[132] * vX_[5] + vX_[136] * vX_[140] +
2566  (vX_[108] * vX_[200]) / vX_[117] - -0.008386 * vX_[147] - -0.001243 * vX_[226];
2567  vX_[351] = vX_[316] * vX_[54] - (vX_[55] * vX_[251] + vX_[26] * vX_[82]);
2568  vX_[165] = -0.018069 * vX_[313] + 0.057838 * vX_[351] + -0.012652 * vX_[226] + vX_[68] * vX_[195] +
2569  vX_[67] * vX_[165] + -0.184 * vX_[250] + vX_[123] * vX_[141] + vX_[116] * vX_[13] + vX_[72] * vX_[5] +
2570  vX_[128] * vX_[140] + (vX_[122] * vX_[200]) / vX_[117] - -0.001387 * vX_[147] -
2571  -0.001243 * (vX_[135] - vX_[102]);
2572  vX_[147] = 0.057838 * vX_[147] + 2.1032 * vX_[179] + vX_[68] * vX_[247] + vX_[67] * vX_[368] + vX_[132] * vX_[141] +
2573  vX_[72] * vX_[13] + vX_[62] * vX_[5] + vX_[71] * vX_[140] + (vX_[130] * vX_[200]) / vX_[117];
2574  vX_[351] = 0.057838 * vX_[313] + -2.1032 * vX_[351] + vX_[250] + vX_[136] * vX_[141] + vX_[128] * vX_[13] +
2575  vX_[71] * vX_[5] + vX_[60] * vX_[140] + (vX_[134] * vX_[200]) / vX_[117];
2576  vX_[250] = (-vX_[26]) * x_in[9];
2577  vX_[313] = vX_[28] * x_in[9];
2578  vX_[36] = vX_[26] * vX_[36];
2579  vX_[179] = vX_[45] * vX_[28] + vX_[26] * vX_[29];
2580  vX_[195] = vX_[26] * vX_[37];
2581  vX_[226] = vX_[29] * vX_[28] + vX_[28] * vX_[29];
2582  vX_[135] = 0.160298259823722 * (0 - vX_[36]) + -0.06337651 * vX_[179] + -0.0022920002 * vX_[195] +
2583  vX_[49] * vX_[151] + vX_[63] * vX_[165] + vX_[76] * vX_[147] + vX_[56] * vX_[351] -
2584  -0.008711861 * vX_[230] - -0.00021200017 * vX_[203] - 0.0036857284 * (vX_[226] - vX_[327]);
2585  vX_[299] = 0 - vX_[135];
2586  vX_[84] = vX_[26] * vX_[41] - vX_[28] * vX_[54];
2587  vX_[165] = 1.52322944854339e-09 * vX_[230] + 0.0036857284 * vX_[203] + -0.00021200017 * (0 - vX_[327]) +
2588  vX_[48] * vX_[151] + vX_[49] * vX_[165] + vX_[77] * vX_[147] + vX_[57] * vX_[351] + vX_[156] * vX_[250] +
2589  vX_[158] * vX_[313] + (vX_[152] * vX_[299]) / vX_[154] - 0.160298259823722 * vX_[84] -
2590  0.01404749 * vX_[195] - -0.0022920002 * vX_[179];
2591  vX_[105] = -0.008711861 * vX_[84] + 1.52322944854339e-09 * vX_[36] + 0.077424 * vX_[203] +
2592  -0.00021200017 * vX_[179] + (vX_[117] * vX_[200]) / vX_[117] + vX_[105] + vX_[158] * vX_[250] +
2593  vX_[153] * vX_[313] + (-0.00021200017 * vX_[299]) / vX_[154] - 0.0036857284 * vX_[195] -
2594  -0.0022920002 * (0 - vX_[226]);
2595  vX_[84] = 1.7423722 * vX_[84] + 0.160298259823722 * vX_[195] + -0.008711861 * vX_[203] + vX_[49] * vX_[351] +
2596  vX_[78] * vX_[147] + vX_[39] * vX_[250] + vX_[171] * vX_[313] + (vX_[169] * vX_[299]) / vX_[154] -
2597  1.52322944854339e-09 * (vX_[226] + vX_[327]);
2598  vX_[151] = -0.0055615274403 * vX_[35] + -0.0037997814 * vX_[23] + vX_[28] * vX_[165] + vX_[26] * vX_[105] -
2599  0.01438086 * vX_[14] - -0.011715295 * vX_[18];
2600  vX_[329] = 0 - vX_[151];
2601  vX_[105] = 0.647967112 * vX_[14] + 5.399998e-05 * vX_[18] + -0.011715295 * vX_[10] + vX_[26] * vX_[165] +
2602  vX_[27] * vX_[105] + -0.304 * vX_[84] + vX_[225] * vX_[322] + vX_[235] * vX_[18] + vX_[244] * vX_[16] +
2603  vX_[256] * vX_[326] + (vX_[221] * vX_[329]) / vX_[223] - -0.192033951 * vX_[23];
2604  vX_[35] = -vX_[35];
2605  vX_[226] = 1.7423722 * vX_[230] + 1.52322944854339e-09 * vX_[195] + -0.008711861 * vX_[179] +
2606  2.1032 * (vX_[64] * vX_[237] + vX_[316] * vX_[59] - (vX_[50] * vX_[251] + vX_[125] * vX_[82])) +
2607  vX_[95] * vX_[247] + vX_[68] * vX_[368] + vX_[162] * vX_[141] + vX_[167] * vX_[13] + vX_[163] * vX_[5] +
2608  vX_[166] * vX_[140] + (vX_[160] * vX_[200]) / vX_[117] + vX_[174] * vX_[250] + vX_[150] * vX_[313] +
2609  (vX_[172] * vX_[299]) / vX_[154] - 0.160298259823722 * vX_[226] - 0.057838 * (vX_[102] + vX_[90]);
2610  vX_[179] = -1.7423722 * vX_[36] + 0.160298259823722 * vX_[179] + 1.52322944854339e-09 * vX_[203] +
2611  vX_[48] * vX_[351] + vX_[49] * vX_[147] + vX_[186] * vX_[250] + vX_[170] * vX_[313] +
2612  (vX_[184] * vX_[299]) / vX_[154] - -0.008711861 * vX_[327];
2613  vX_[135] = 0.647967112 * vX_[35] + -0.199538951 * vX_[18] + vX_[51] * vX_[226] +
2614  -1 * (vX_[135] + (vX_[154] * vX_[299]) / vX_[154]) + vX_[38] * vX_[179] + vX_[235] * vX_[322] +
2615  vX_[222] * vX_[18] + vX_[219] * vX_[16] + vX_[240] * vX_[326] + (vX_[234] * vX_[329]) / vX_[223] -
2616  5.399998e-05 * vX_[23] - -0.0037997814 * vX_[10];
2617  vX_[84] = 2.327 * vX_[14] + 0.647967112 * vX_[23] + -1 * vX_[84] + vX_[244] * vX_[322] + vX_[219] * vX_[18] +
2618  vX_[88] * vX_[16] + vX_[85] * vX_[326] + (vX_[242] * vX_[329]) / vX_[223] - -0.0055615274403 * vX_[10];
2619  vX_[179] = -2.327 * vX_[35] + 0.647967112 * vX_[18] + vX_[26] * vX_[179] + vX_[27] * vX_[226] +
2620  vX_[256] * vX_[322] + vX_[240] * vX_[18] + vX_[85] * vX_[16] + vX_[44] * vX_[326] +
2621  (vX_[254] * vX_[329]) / vX_[223] - 0.01438086 * vX_[10];
2622  vX_[226] = 0 - vX_[11] * vX_[105] - vX_[22] * vX_[135] - vX_[34] * vX_[84] - vX_[15] * vX_[179];
2623  jac[102] = (0 -
2624  vX_[0] * (vX_[9] * vX_[105] + vX_[11] * vX_[135] + vX_[30] * vX_[84] + vX_[12] * vX_[179] +
2625  (vX_[42] * vX_[226]) / vX_[24]) -
2626  vX_[4] * ((vX_[223] * vX_[329]) / vX_[223] + vX_[151] + (-0.022851627 * vX_[226]) / vX_[24])) /
2627  vX_[385];
2628  vX_[179] = vX_[0] * jac[102];
2629  vX_[84] = vX_[4] * jac[102];
2630  jac[103] = (vX_[226] - vX_[42] * vX_[179] - -0.022851627 * vX_[84]) / vX_[24];
2631  vX_[322] = vX_[11] * jac[103] + vX_[9] * vX_[179] + vX_[322];
2632  vX_[18] = vX_[22] * jac[103] + vX_[11] * vX_[179] + vX_[18];
2633  vX_[326] = vX_[15] * jac[103] + vX_[12] * vX_[179] + vX_[326];
2634  vX_[179] = vX_[34] * jac[103] + vX_[30] * vX_[179] + vX_[16];
2635  jac[104] = (vX_[329] - vX_[223] * vX_[84] - vX_[221] * vX_[322] - vX_[234] * vX_[18] - vX_[254] * vX_[326] -
2636  vX_[242] * vX_[179]) /
2637  vX_[223];
2638  vX_[329] = -1 * vX_[18];
2639  vX_[84] = vX_[84] + jac[104];
2640  vX_[250] = vX_[28] * vX_[84] + vX_[26] * vX_[322] + vX_[250];
2641  vX_[84] = vX_[26] * vX_[84] + vX_[27] * vX_[322] + vX_[313];
2642  vX_[179] = -0.304 * vX_[322] + -1 * vX_[179];
2643  vX_[322] = vX_[26] * vX_[326] + vX_[38] * vX_[18];
2644  vX_[326] = vX_[27] * vX_[326] + vX_[51] * vX_[18];
2645  jac[105] = (vX_[299] - vX_[154] * vX_[329] - vX_[152] * vX_[250] - -0.00021200017 * vX_[84] - vX_[169] * vX_[179] -
2646  vX_[184] * vX_[322] - vX_[172] * vX_[326]) /
2647  vX_[154];
2648  vX_[329] = vX_[329] + jac[105];
2649  vX_[141] = vX_[49] * vX_[329] + vX_[48] * vX_[250] + vX_[141];
2650  vX_[13] = vX_[63] * vX_[329] + vX_[49] * vX_[250] + vX_[13];
2651  vX_[5] = vX_[76] * vX_[329] + vX_[77] * vX_[250] + vX_[49] * vX_[322] + vX_[78] * vX_[179] + vX_[5];
2652  jac[106] =
2653  (vX_[200] - vX_[117] * vX_[84] - vX_[108] * vX_[141] - vX_[122] * vX_[13] - vX_[160] * vX_[326] -
2654  vX_[134] * (vX_[56] * vX_[329] + vX_[57] * vX_[250] + vX_[48] * vX_[322] + vX_[49] * vX_[179] + vX_[140]) -
2655  vX_[130] * vX_[5]) /
2656  vX_[117];
2657  vX_[84] = vX_[84] + jac[106];
2658  jac[107] = (vX_[303] - 0.009277 * vX_[141] - -0.000829 * (vX_[70] * vX_[84] + vX_[68] * vX_[13] + vX_[296]) -
2659  1.5e-05 * (vX_[68] * vX_[84] + vX_[67] * vX_[13] + vX_[98]) -
2660  0.038686875 * (vX_[68] * vX_[5] + vX_[94] * vX_[141] + vX_[95] * vX_[326] + vX_[265])) /
2661  0.009277;
2662  vX_[84] = 0 - vX_[41];
2663  vX_[37] = vX_[37] + vX_[37];
2664  vX_[5] = vX_[49] * vX_[54] - vX_[55] * vX_[56];
2665  vX_[13] = vX_[49] * vX_[55];
2666  vX_[141] = vX_[64] * vX_[63] + vX_[63] * vX_[64];
2667  vX_[326] = vX_[68] * vX_[63];
2668  vX_[265] = vX_[67] * vX_[63];
2669  vX_[98] = vX_[69] * vX_[326] + vX_[265] * vX_[73];
2670  vX_[296] = vX_[67] * vX_[76] + vX_[80] * vX_[49];
2671  vX_[303] = vX_[75] * vX_[296] + vX_[49] * vX_[83];
2672  vX_[329] = -0.184 * vX_[63] + vX_[56];
2673  vX_[322] = vX_[69] * vX_[329] + vX_[265] * vX_[86];
2674  vX_[179] = vX_[69] * vX_[49] + vX_[265] * vX_[75];
2675  vX_[250] = vX_[73] * vX_[49] + vX_[326] * vX_[75];
2676  vX_[200] = vX_[73] * vX_[326] + vX_[326] * vX_[73];
2677  vX_[140] = vX_[69] * vX_[265] + vX_[265] * vX_[69];
2678  vX_[299] = -0.00751 * vX_[98] + 0.038686875 * (vX_[303] - vX_[322]) + -0.000829 * vX_[179] - 1.5e-05 * vX_[250] -
2679  0.000198 * (vX_[200] - vX_[140]);
2680  vX_[18] = 0 - vX_[299];
2681  vX_[313] = vX_[68] * vX_[76] + vX_[94] * vX_[49];
2682  vX_[16] = vX_[75] * vX_[49] + vX_[49] * vX_[75];
2683  vX_[329] = 1.547475 * (vX_[73] * vX_[329] + vX_[326] * vX_[86] - (vX_[75] * vX_[313] + vX_[49] * vX_[97])) +
2684  1.547475 * vX_[313] * x_in[11] - 0.038686875 * (vX_[16] + vX_[200]);
2685  vX_[226] = (-vX_[265]) * x_in[11];
2686  vX_[135] = vX_[326] * x_in[11];
2687  vX_[105] = (-vX_[296]) * x_in[11];
2688  vX_[322] = 0.038686875 * vX_[98] + -1.547475 * (vX_[322] - vX_[303]) + 0.00345708950900075 * vX_[226] +
2689  -6.25528861700981e-05 * vX_[135] + 1.38614328745655 * vX_[105] + (0.038686875 * vX_[18]) / 0.009277;
2690  vX_[303] = (-vX_[63]) * x_in[10];
2691  vX_[151] = vX_[49] * x_in[10];
2692  vX_[35] = vX_[56] * x_in[10];
2693  vX_[10] = (-vX_[76]) * x_in[10];
2694  vX_[44] = vX_[63] * vX_[55];
2695  vX_[85] = vX_[64] * vX_[49] + vX_[63] * vX_[50];
2696  vX_[313] = vX_[69] * vX_[313] + vX_[265] * vX_[97] - (vX_[73] * vX_[296] + vX_[326] * vX_[83]);
2697  vX_[140] = 0.000198 * vX_[250] + 1.5e-05 * (vX_[16] - vX_[140]) + 0.00315291990945349 * vX_[226] +
2698  0.000199340411771047 * vX_[135] + 0.00345708950900075 * vX_[105] + (-0.000829 * vX_[18]) / 0.009277 -
2699  0.038686875 * vX_[313] - -0.00146 * vX_[179] - -0.000829 * vX_[98];
2700  vX_[16] = 0.00605 * vX_[250] + 1.5e-05 * vX_[98] + 0.000199340411771047 * vX_[226] + 0.0107369757464698 * vX_[135] +
2701  -6.25528861700981e-05 * vX_[105] + (1.5e-05 * vX_[18]) / 0.009277 - 0.000198 * vX_[179] -
2702  -0.000829 * (vX_[16] - vX_[200]);
2703  vX_[313] = 0.038686875 * vX_[179] + 1.547475 * vX_[313] + -0.038686875 * vX_[226];
2704  vX_[179] = vX_[50] * vX_[49] + vX_[49] * vX_[50];
2705  vX_[200] = -0.001243 * vX_[44] + 0.009683 * vX_[85] + vX_[70] * vX_[140] + vX_[68] * vX_[16] + 0.02075 * vX_[313] -
2706  -0.012652 * vX_[13] - -0.001387 * (vX_[179] - vX_[141]);
2707  vX_[250] = 0 - vX_[200];
2708  vX_[299] = 0.057838 * vX_[5] + -0.001387 * vX_[13] + -0.012652 * (0 - vX_[141]) + (0.009277 * vX_[18]) / 0.009277 +
2709  vX_[299] + vX_[80] * vX_[329] + vX_[94] * vX_[322] + vX_[119] * vX_[303] + vX_[123] * vX_[151] +
2710  vX_[132] * vX_[35] + vX_[136] * vX_[10] + (vX_[108] * vX_[250]) / vX_[117] - -0.008386 * vX_[44] -
2711  -0.001243 * vX_[85];
2712  vX_[98] = vX_[63] * vX_[54] - vX_[55] * vX_[76];
2713  vX_[16] = -0.018069 * vX_[13] + 0.057838 * vX_[98] + -0.012652 * vX_[85] + vX_[68] * vX_[140] + vX_[67] * vX_[16] +
2714  -0.184 * vX_[313] + vX_[123] * vX_[303] + vX_[116] * vX_[151] + vX_[72] * vX_[35] + vX_[128] * vX_[10] +
2715  (vX_[122] * vX_[250]) / vX_[117] - -0.001387 * vX_[44] - -0.001243 * (0 - vX_[179]);
2716  vX_[44] = 0.057838 * vX_[44] + 2.1032 * vX_[5] + vX_[68] * vX_[322] + vX_[67] * vX_[329] + vX_[132] * vX_[303] +
2717  vX_[72] * vX_[151] + vX_[62] * vX_[35] + vX_[71] * vX_[10] + (vX_[130] * vX_[250]) / vX_[117];
2718  vX_[98] = 0.057838 * vX_[13] + -2.1032 * vX_[98] + vX_[313] + vX_[136] * vX_[303] + vX_[128] * vX_[151] +
2719  vX_[71] * vX_[35] + vX_[60] * vX_[10] + (vX_[134] * vX_[250]) / vX_[117];
2720  vX_[313] = 0.160298259823722 * vX_[54] + -0.0022920002 * vX_[45] + vX_[49] * vX_[299] + vX_[63] * vX_[16] +
2721  vX_[76] * vX_[44] + vX_[56] * vX_[98] - -0.008711861 * vX_[84] - -0.00021200017 * vX_[29];
2722  vX_[13] = 0 - vX_[313];
2723  vX_[16] = 1.52322944854339e-09 * vX_[84] + 0.0036857284 * vX_[29] + -0.00021200017 * vX_[37] + vX_[48] * vX_[299] +
2724  vX_[49] * vX_[16] + vX_[77] * vX_[44] + vX_[57] * vX_[98] + vX_[156] * vX_[306] + vX_[158] * vX_[29] +
2725  vX_[174] * vX_[41] + vX_[186] * vX_[307] + (vX_[152] * vX_[13]) / vX_[154] - 0.01404749 * vX_[45];
2726  vX_[200] = 1.52322944854339e-09 * (0 - vX_[54]) + 0.077424 * vX_[29] + (vX_[117] * vX_[250]) / vX_[117] + vX_[200] +
2727  vX_[158] * vX_[306] + vX_[153] * vX_[29] + vX_[150] * vX_[41] + vX_[170] * vX_[307] +
2728  (-0.00021200017 * vX_[13]) / vX_[154] - 0.0036857284 * vX_[45] - -0.0022920002 * vX_[37];
2729  vX_[199] = 0.160298259823722 * vX_[45] + -0.008711861 * vX_[29] + vX_[49] * vX_[98] + vX_[78] * vX_[44] +
2730  vX_[39] * vX_[306] + vX_[171] * vX_[29] + vX_[193] * vX_[41] + vX_[199] * vX_[307] +
2731  (vX_[169] * vX_[13]) / vX_[154];
2732  vX_[193] = vX_[28] * vX_[16] + vX_[26] * vX_[200];
2733  vX_[171] = 0 - vX_[193];
2734  vX_[200] = vX_[26] * vX_[16] + vX_[27] * vX_[200] + -0.304 * vX_[199] + (vX_[221] * vX_[171]) / vX_[223];
2735  vX_[179] = 1.7423722 * vX_[84] + 1.52322944854339e-09 * vX_[45] +
2736  2.1032 * (vX_[64] * vX_[56] + vX_[63] * vX_[59] - (vX_[50] * vX_[76] + vX_[49] * vX_[82])) +
2737  vX_[95] * vX_[322] + vX_[68] * vX_[329] + vX_[162] * vX_[303] + vX_[167] * vX_[151] +
2738  vX_[163] * vX_[35] + vX_[166] * vX_[10] + (vX_[160] * vX_[250]) / vX_[117] + vX_[174] * vX_[306] +
2739  vX_[150] * vX_[29] + vX_[204] * vX_[41] + vX_[206] * vX_[307] + (vX_[172] * vX_[13]) / vX_[154] -
2740  0.160298259823722 * vX_[37] - 0.057838 * (vX_[179] + vX_[141]);
2741  vX_[98] = -1.7423722 * (0 - vX_[54]) + 1.52322944854339e-09 * vX_[29] + vX_[48] * vX_[98] + vX_[49] * vX_[44] +
2742  vX_[186] * vX_[306] + vX_[170] * vX_[29] + vX_[206] * vX_[41] + vX_[202] * vX_[307] +
2743  (vX_[184] * vX_[13]) / vX_[154] - -0.008711861 * vX_[37];
2744  vX_[313] = vX_[51] * vX_[179] + -1 * (vX_[313] + (vX_[154] * vX_[13]) / vX_[154]) + vX_[38] * vX_[98] +
2745  (vX_[234] * vX_[171]) / vX_[223];
2746  vX_[199] = -1 * vX_[199] + (vX_[242] * vX_[171]) / vX_[223];
2747  vX_[98] = vX_[26] * vX_[98] + vX_[27] * vX_[179] + (vX_[254] * vX_[171]) / vX_[223];
2748  vX_[179] = 0 - vX_[11] * vX_[200] - vX_[22] * vX_[313] - vX_[34] * vX_[199] - vX_[15] * vX_[98];
2749  jac[114] = (0 -
2750  vX_[0] * (vX_[9] * vX_[200] + vX_[11] * vX_[313] + vX_[30] * vX_[199] + vX_[12] * vX_[98] +
2751  (vX_[42] * vX_[179]) / vX_[24]) -
2752  vX_[4] * ((vX_[223] * vX_[171]) / vX_[223] + vX_[193] + (-0.022851627 * vX_[179]) / vX_[24])) /
2753  vX_[385];
2754  vX_[98] = vX_[0] * jac[114];
2755  vX_[199] = vX_[4] * jac[114];
2756  jac[115] = (vX_[179] - vX_[42] * vX_[98] - -0.022851627 * vX_[199]) / vX_[24];
2757  vX_[179] = vX_[11] * jac[115] + vX_[9] * vX_[98];
2758  vX_[313] = vX_[22] * jac[115] + vX_[11] * vX_[98];
2759  vX_[200] = vX_[15] * jac[115] + vX_[12] * vX_[98];
2760  vX_[98] = vX_[34] * jac[115] + vX_[30] * vX_[98];
2761  jac[116] = (vX_[171] - vX_[223] * vX_[199] - vX_[221] * vX_[179] - vX_[234] * vX_[313] - vX_[254] * vX_[200] -
2762  vX_[242] * vX_[98]) /
2763  vX_[223];
2764  vX_[171] = -1 * vX_[313];
2765  vX_[199] = vX_[199] + jac[116];
2766  vX_[306] = vX_[28] * vX_[199] + vX_[26] * vX_[179] + vX_[306];
2767  vX_[199] = vX_[26] * vX_[199] + vX_[27] * vX_[179] + vX_[29];
2768  vX_[98] = -0.304 * vX_[179] + -1 * vX_[98];
2769  vX_[307] = vX_[26] * vX_[200] + vX_[38] * vX_[313] + vX_[307];
2770  vX_[200] = vX_[27] * vX_[200] + vX_[51] * vX_[313] + vX_[41];
2771  jac[117] = (vX_[13] - vX_[154] * vX_[171] - vX_[152] * vX_[306] - -0.00021200017 * vX_[199] - vX_[169] * vX_[98] -
2772  vX_[184] * vX_[307] - vX_[172] * vX_[200]) /
2773  vX_[154];
2774  vX_[171] = vX_[171] + jac[117];
2775  vX_[303] = vX_[49] * vX_[171] + vX_[48] * vX_[306] + vX_[303];
2776  vX_[151] = vX_[63] * vX_[171] + vX_[49] * vX_[306] + vX_[151];
2777  vX_[35] = vX_[76] * vX_[171] + vX_[77] * vX_[306] + vX_[49] * vX_[307] + vX_[78] * vX_[98] + vX_[35];
2778  jac[118] =
2779  (vX_[250] - vX_[117] * vX_[199] - vX_[108] * vX_[303] - vX_[122] * vX_[151] - vX_[160] * vX_[200] -
2780  vX_[134] * (vX_[56] * vX_[171] + vX_[57] * vX_[306] + vX_[48] * vX_[307] + vX_[49] * vX_[98] + vX_[10]) -
2781  vX_[130] * vX_[35]) /
2782  vX_[117];
2783  vX_[199] = vX_[199] + jac[118];
2784  jac[119] = (vX_[18] - 0.009277 * vX_[303] - -0.000829 * (vX_[70] * vX_[199] + vX_[68] * vX_[151] + vX_[226]) -
2785  1.5e-05 * (vX_[68] * vX_[199] + vX_[67] * vX_[151] + vX_[135]) -
2786  0.038686875 * (vX_[68] * vX_[35] + vX_[94] * vX_[303] + vX_[95] * vX_[200] + vX_[105])) /
2787  0.009277;
2788  vX_[199] = 0 - vX_[59];
2789  vX_[55] = vX_[55] + vX_[55];
2790  vX_[35] = vX_[69] * vX_[70] + vX_[68] * vX_[73];
2791  vX_[151] = vX_[69] * 0.02075 + vX_[68] * vX_[86];
2792  vX_[303] = vX_[68] * vX_[75];
2793  vX_[200] = vX_[70] * vX_[75];
2794  vX_[105] = vX_[73] * vX_[70] + vX_[70] * vX_[73];
2795  vX_[135] = vX_[69] * vX_[68] + vX_[68] * vX_[69];
2796  vX_[226] = -0.00751 * vX_[35] + 0.038686875 * (0 - vX_[151]) + -0.000829 * vX_[303] - 1.5e-05 * vX_[200] -
2797  0.000198 * (vX_[105] - vX_[135]);
2798  vX_[18] = 0 - vX_[226];
2799  vX_[86] = 1.547475 * (vX_[73] * 0.02075 + vX_[70] * vX_[86]) - 0.038686875 * vX_[105];
2800  vX_[171] = (-vX_[68]) * x_in[11];
2801  vX_[307] = vX_[70] * x_in[11];
2802  vX_[151] = 0.038686875 * vX_[35] + -1.547475 * vX_[151] + 0.00345708950900075 * vX_[171] +
2803  -6.25528861700981e-05 * vX_[307] + (0.038686875 * vX_[18]) / 0.009277;
2804  vX_[98] = vX_[68] * vX_[97] - vX_[70] * vX_[83];
2805  vX_[135] = 0.000198 * vX_[200] + 1.5e-05 * (0 - vX_[135]) + 0.00315291990945349 * vX_[171] +
2806  0.000199340411771047 * vX_[307] + (-0.000829 * vX_[18]) / 0.009277 - 0.038686875 * vX_[98] -
2807  -0.00146 * vX_[303] - -0.000829 * vX_[35];
2808  vX_[105] = 0.00605 * vX_[200] + 1.5e-05 * vX_[35] + 0.000199340411771047 * vX_[171] +
2809  0.0107369757464698 * vX_[307] + (1.5e-05 * vX_[18]) / 0.009277 - 0.000198 * vX_[303] -
2810  -0.000829 * (0 - vX_[105]);
2811  vX_[98] = 0.038686875 * vX_[303] + 1.547475 * vX_[98] + -0.038686875 * vX_[171];
2812  vX_[303] = -0.001243 * vX_[64] + vX_[70] * vX_[135] + vX_[68] * vX_[105] + 0.02075 * vX_[98] - -0.012652 * vX_[50];
2813  vX_[200] = 0 - vX_[303];
2814  vX_[226] = 0.057838 * vX_[199] + -0.001387 * vX_[50] + -0.012652 * vX_[55] + (0.009277 * vX_[18]) / 0.009277 +
2815  vX_[226] + vX_[80] * vX_[86] + vX_[94] * vX_[151] + vX_[119] * vX_[284] + vX_[123] * vX_[50] +
2816  vX_[132] * vX_[59] + vX_[136] * vX_[302] + (vX_[108] * vX_[200]) / vX_[117] - -0.008386 * vX_[64];
2817  vX_[82] = 0 - vX_[82];
2818  vX_[105] = -0.018069 * vX_[50] + 0.057838 * vX_[82] + vX_[68] * vX_[135] + vX_[67] * vX_[105] + -0.184 * vX_[98] +
2819  vX_[123] * vX_[284] + vX_[116] * vX_[50] + vX_[72] * vX_[59] + vX_[128] * vX_[302] +
2820  (vX_[122] * vX_[200]) / vX_[117] - -0.001387 * vX_[64] - -0.001243 * vX_[55];
2821  vX_[199] = 0.057838 * vX_[64] + 2.1032 * vX_[199] + vX_[68] * vX_[151] + vX_[67] * vX_[86] + vX_[132] * vX_[284] +
2822  vX_[72] * vX_[50] + vX_[62] * vX_[59] + vX_[71] * vX_[302] + (vX_[130] * vX_[200]) / vX_[117];
2823  vX_[82] = 0.057838 * vX_[50] + -2.1032 * vX_[82] + vX_[98] + vX_[136] * vX_[284] + vX_[128] * vX_[50] +
2824  vX_[71] * vX_[59] + vX_[60] * vX_[302] + (vX_[134] * vX_[200]) / vX_[117];
2825  vX_[98] = vX_[49] * vX_[226] + vX_[63] * vX_[105] + vX_[76] * vX_[199] + vX_[56] * vX_[82];
2826  vX_[60] = 0 - vX_[98];
2827  vX_[105] = vX_[48] * vX_[226] + vX_[49] * vX_[105] + vX_[77] * vX_[199] + vX_[57] * vX_[82] +
2828  (vX_[152] * vX_[60]) / vX_[154];
2829  vX_[303] = (vX_[117] * vX_[200]) / vX_[117] + vX_[303] + (-0.00021200017 * vX_[60]) / vX_[154];
2830  vX_[226] = vX_[49] * vX_[82] + vX_[78] * vX_[199] + (vX_[169] * vX_[60]) / vX_[154];
2831  vX_[71] = vX_[28] * vX_[105] + vX_[26] * vX_[303];
2832  vX_[128] = 0 - vX_[71];
2833  vX_[303] = vX_[26] * vX_[105] + vX_[27] * vX_[303] + -0.304 * vX_[226] + (vX_[221] * vX_[128]) / vX_[223];
2834  vX_[151] = vX_[95] * vX_[151] + vX_[68] * vX_[86] + vX_[162] * vX_[284] + vX_[167] * vX_[50] + vX_[163] * vX_[59] +
2835  vX_[166] * vX_[302] + (vX_[160] * vX_[200]) / vX_[117] + (vX_[172] * vX_[60]) / vX_[154];
2836  vX_[82] = vX_[48] * vX_[82] + vX_[49] * vX_[199] + (vX_[184] * vX_[60]) / vX_[154];
2837  vX_[98] = vX_[51] * vX_[151] + -1 * (vX_[98] + (vX_[154] * vX_[60]) / vX_[154]) + vX_[38] * vX_[82] +
2838  (vX_[234] * vX_[128]) / vX_[223];
2839  vX_[226] = -1 * vX_[226] + (vX_[242] * vX_[128]) / vX_[223];
2840  vX_[82] = vX_[26] * vX_[82] + vX_[27] * vX_[151] + (vX_[254] * vX_[128]) / vX_[223];
2841  vX_[151] = 0 - vX_[11] * vX_[303] - vX_[22] * vX_[98] - vX_[34] * vX_[226] - vX_[15] * vX_[82];
2842  jac[126] = (0 -
2843  vX_[0] * (vX_[9] * vX_[303] + vX_[11] * vX_[98] + vX_[30] * vX_[226] + vX_[12] * vX_[82] +
2844  (vX_[42] * vX_[151]) / vX_[24]) -
2845  vX_[4] * ((vX_[223] * vX_[128]) / vX_[223] + vX_[71] + (-0.022851627 * vX_[151]) / vX_[24])) /
2846  vX_[385];
2847  vX_[82] = vX_[0] * jac[126];
2848  vX_[226] = vX_[4] * jac[126];
2849  jac[127] = (vX_[151] - vX_[42] * vX_[82] - -0.022851627 * vX_[226]) / vX_[24];
2850  vX_[151] = vX_[11] * jac[127] + vX_[9] * vX_[82];
2851  vX_[98] = vX_[22] * jac[127] + vX_[11] * vX_[82];
2852  vX_[303] = vX_[15] * jac[127] + vX_[12] * vX_[82];
2853  vX_[82] = vX_[34] * jac[127] + vX_[30] * vX_[82];
2854  jac[128] = (vX_[128] - vX_[223] * vX_[226] - vX_[221] * vX_[151] - vX_[234] * vX_[98] - vX_[254] * vX_[303] -
2855  vX_[242] * vX_[82]) /
2856  vX_[223];
2857  vX_[128] = -1 * vX_[98];
2858  vX_[226] = vX_[226] + jac[128];
2859  vX_[71] = vX_[28] * vX_[226] + vX_[26] * vX_[151];
2860  vX_[226] = vX_[26] * vX_[226] + vX_[27] * vX_[151];
2861  vX_[82] = -0.304 * vX_[151] + -1 * vX_[82];
2862  vX_[151] = vX_[26] * vX_[303] + vX_[38] * vX_[98];
2863  vX_[303] = vX_[27] * vX_[303] + vX_[51] * vX_[98];
2864  jac[129] = (vX_[60] - vX_[154] * vX_[128] - vX_[152] * vX_[71] - -0.00021200017 * vX_[226] - vX_[169] * vX_[82] -
2865  vX_[184] * vX_[151] - vX_[172] * vX_[303]) /
2866  vX_[154];
2867  vX_[128] = vX_[128] + jac[129];
2868  vX_[284] = vX_[49] * vX_[128] + vX_[48] * vX_[71] + vX_[284];
2869  vX_[50] = vX_[63] * vX_[128] + vX_[49] * vX_[71] + vX_[50];
2870  vX_[59] = vX_[76] * vX_[128] + vX_[77] * vX_[71] + vX_[49] * vX_[151] + vX_[78] * vX_[82] + vX_[59];
2871  jac[130] =
2872  (vX_[200] - vX_[117] * vX_[226] - vX_[108] * vX_[284] - vX_[122] * vX_[50] - vX_[160] * vX_[303] -
2873  vX_[134] * (vX_[56] * vX_[128] + vX_[57] * vX_[71] + vX_[48] * vX_[151] + vX_[49] * vX_[82] + vX_[302]) -
2874  vX_[130] * vX_[59]) /
2875  vX_[117];
2876  vX_[226] = vX_[226] + jac[130];
2877  jac[131] = (vX_[18] - 0.009277 * vX_[284] - -0.000829 * (vX_[70] * vX_[226] + vX_[68] * vX_[50] + vX_[171]) -
2878  1.5e-05 * (vX_[68] * vX_[226] + vX_[67] * vX_[50] + vX_[307]) -
2879  0.038686875 * (vX_[68] * vX_[59] + vX_[94] * vX_[284] + vX_[95] * vX_[303])) /
2880  0.009277;
2881  vX_[226] = 0.038686875 * vX_[83] + -0.000829 * vX_[69] - 1.5e-05 * vX_[73];
2882  vX_[59] = 0 - vX_[226];
2883  vX_[75] = vX_[75] + vX_[75];
2884  vX_[97] = 1.547475 * (0 - vX_[97]) + 1.547475 * vX_[97] - 0.038686875 * vX_[75];
2885  vX_[83] = -1.547475 * (0 - vX_[83]) + 0.00345708950900075 * vX_[294] + -6.25528861700981e-05 * vX_[73] +
2886  1.38614328745655 * vX_[297] + (0.038686875 * vX_[59]) / 0.009277;
2887  vX_[50] = 0.000198 * vX_[73] + 1.5e-05 * vX_[75] + 0.00315291990945349 * vX_[294] + 0.000199340411771047 * vX_[73] +
2888  0.00345708950900075 * vX_[297] + (-0.000829 * vX_[59]) / 0.009277 - -0.00146 * vX_[69];
2889  vX_[75] = 0.00605 * vX_[73] + 0.000199340411771047 * vX_[294] + 0.0107369757464698 * vX_[73] +
2890  -6.25528861700981e-05 * vX_[297] + (1.5e-05 * vX_[59]) / 0.009277 - 0.000198 * vX_[69] -
2891  -0.000829 * vX_[75];
2892  vX_[69] = 0.038686875 * vX_[69] + -0.038686875 * vX_[294];
2893  vX_[284] = vX_[70] * vX_[50] + vX_[68] * vX_[75] + 0.02075 * vX_[69];
2894  vX_[303] = 0 - vX_[284];
2895  vX_[226] = (0.009277 * vX_[59]) / 0.009277 + vX_[226] + vX_[80] * vX_[97] + vX_[94] * vX_[83] +
2896  (vX_[108] * vX_[303]) / vX_[117];
2897  vX_[75] = vX_[68] * vX_[50] + vX_[67] * vX_[75] + -0.184 * vX_[69] + (vX_[122] * vX_[303]) / vX_[117];
2898  vX_[50] = vX_[68] * vX_[83] + vX_[67] * vX_[97] + (vX_[130] * vX_[303]) / vX_[117];
2899  vX_[69] = vX_[69] + (vX_[134] * vX_[303]) / vX_[117];
2900  vX_[80] = vX_[49] * vX_[226] + vX_[63] * vX_[75] + vX_[76] * vX_[50] + vX_[56] * vX_[69];
2901  vX_[307] = 0 - vX_[80];
2902  vX_[75] = vX_[48] * vX_[226] + vX_[49] * vX_[75] + vX_[77] * vX_[50] + vX_[57] * vX_[69] +
2903  (vX_[152] * vX_[307]) / vX_[154];
2904  vX_[284] = (vX_[117] * vX_[303]) / vX_[117] + vX_[284] + (-0.00021200017 * vX_[307]) / vX_[154];
2905  vX_[226] = vX_[49] * vX_[69] + vX_[78] * vX_[50] + (vX_[169] * vX_[307]) / vX_[154];
2906  vX_[171] = vX_[28] * vX_[75] + vX_[26] * vX_[284];
2907  vX_[18] = 0 - vX_[171];
2908  vX_[284] = vX_[26] * vX_[75] + vX_[27] * vX_[284] + -0.304 * vX_[226] + (vX_[221] * vX_[18]) / vX_[223];
2909  vX_[83] =
2910  vX_[95] * vX_[83] + vX_[68] * vX_[97] + (vX_[160] * vX_[303]) / vX_[117] + (vX_[172] * vX_[307]) / vX_[154];
2911  vX_[69] = vX_[48] * vX_[69] + vX_[49] * vX_[50] + (vX_[184] * vX_[307]) / vX_[154];
2912  vX_[80] = vX_[51] * vX_[83] + -1 * (vX_[80] + (vX_[154] * vX_[307]) / vX_[154]) + vX_[38] * vX_[69] +
2913  (vX_[234] * vX_[18]) / vX_[223];
2914  vX_[226] = -1 * vX_[226] + (vX_[242] * vX_[18]) / vX_[223];
2915  vX_[69] = vX_[26] * vX_[69] + vX_[27] * vX_[83] + (vX_[254] * vX_[18]) / vX_[223];
2916  vX_[83] = 0 - vX_[11] * vX_[284] - vX_[22] * vX_[80] - vX_[34] * vX_[226] - vX_[15] * vX_[69];
2917  jac[138] = (0 -
2918  vX_[0] * (vX_[9] * vX_[284] + vX_[11] * vX_[80] + vX_[30] * vX_[226] + vX_[12] * vX_[69] +
2919  (vX_[42] * vX_[83]) / vX_[24]) -
2920  vX_[4] * ((vX_[223] * vX_[18]) / vX_[223] + vX_[171] + (-0.022851627 * vX_[83]) / vX_[24])) /
2921  vX_[385];
2922  vX_[0] = vX_[0] * jac[138];
2923  vX_[4] = vX_[4] * jac[138];
2924  jac[139] = (vX_[83] - vX_[42] * vX_[0] - -0.022851627 * vX_[4]) / vX_[24];
2925  vX_[9] = vX_[11] * jac[139] + vX_[9] * vX_[0];
2926  vX_[22] = vX_[22] * jac[139] + vX_[11] * vX_[0];
2927  vX_[15] = vX_[15] * jac[139] + vX_[12] * vX_[0];
2928  vX_[0] = vX_[34] * jac[139] + vX_[30] * vX_[0];
2929  jac[140] = (vX_[18] - vX_[223] * vX_[4] - vX_[221] * vX_[9] - vX_[234] * vX_[22] - vX_[254] * vX_[15] -
2930  vX_[242] * vX_[0]) /
2931  vX_[223];
2932  vX_[18] = -1 * vX_[22];
2933  vX_[4] = vX_[4] + jac[140];
2934  vX_[28] = vX_[28] * vX_[4] + vX_[26] * vX_[9];
2935  vX_[4] = vX_[26] * vX_[4] + vX_[27] * vX_[9];
2936  vX_[0] = -0.304 * vX_[9] + -1 * vX_[0];
2937  vX_[38] = vX_[26] * vX_[15] + vX_[38] * vX_[22];
2938  vX_[15] = vX_[27] * vX_[15] + vX_[51] * vX_[22];
2939  jac[141] = (vX_[307] - vX_[154] * vX_[18] - vX_[152] * vX_[28] - -0.00021200017 * vX_[4] - vX_[169] * vX_[0] -
2940  vX_[184] * vX_[38] - vX_[172] * vX_[15]) /
2941  vX_[154];
2942  vX_[18] = vX_[18] + jac[141];
2943  vX_[307] = vX_[49] * vX_[18] + vX_[48] * vX_[28];
2944  vX_[63] = vX_[63] * vX_[18] + vX_[49] * vX_[28];
2945  vX_[78] = vX_[76] * vX_[18] + vX_[77] * vX_[28] + vX_[49] * vX_[38] + vX_[78] * vX_[0];
2946  jac[142] = (vX_[303] - vX_[117] * vX_[4] - vX_[108] * vX_[307] - vX_[122] * vX_[63] - vX_[160] * vX_[15] -
2947  vX_[134] * (vX_[56] * vX_[18] + vX_[57] * vX_[28] + vX_[48] * vX_[38] + vX_[49] * vX_[0]) -
2948  vX_[130] * vX_[78]) /
2949  vX_[117];
2950  vX_[4] = vX_[4] + jac[142];
2951  jac[143] = (vX_[59] - 0.009277 * vX_[307] - -0.000829 * (vX_[70] * vX_[4] + vX_[68] * vX_[63] + vX_[294]) -
2952  1.5e-05 * (vX_[68] * vX_[4] + vX_[67] * vX_[63] + vX_[73]) -
2953  0.038686875 * (vX_[68] * vX_[78] + vX_[94] * vX_[307] + vX_[95] * vX_[15] + vX_[297])) /
2954  0.009277;
2955  // dependent variables without operations
2956  jac[72] = 1;
2957  jac[85] = 1;
2958  jac[98] = 1;
2959  jac[111] = 1;
2960  jac[124] = 1;
2961  jac[137] = 1;
2962 
2963 
2964  return dFdx_;
2965 }
2966 
2967 template <typename SCALAR>
2968 const typename HyALinearizedForward<SCALAR>::state_control_matrix_t& HyALinearizedForward<SCALAR>::getDerivativeControl(
2969  const ct::core::StateVector<12, SCALAR>& x,
2970  const ct::core::ControlVector<6, SCALAR>& u,
2971  const SCALAR t)
2972 {
2973  SCALAR* jac = dFdu_.data();
2974  Eigen::Matrix<SCALAR, 12 + 6, 1> x_in;
2975  x_in << x, u;
2976 
2977  vU_[0] = sin(x_in[1]);
2978  vU_[1] = cos(x_in[2]);
2979  vU_[2] = 0 - vU_[1];
2980  vU_[3] = sin(x_in[3]);
2981  vU_[4] = -0.304 * vU_[3];
2982  vU_[5] = -1 * vU_[4];
2983  vU_[6] = cos(x_in[4]);
2984  vU_[7] = 0 - vU_[6];
2985  vU_[8] = cos(x_in[5]);
2986  vU_[9] = sin(x_in[5]);
2987  vU_[10] = 0 - vU_[9];
2988  vU_[11] = -6.25528861700981e-05 * vU_[8] + 0.00345708950900075 * vU_[10];
2989  vU_[12] = vU_[11] * vU_[8];
2990  vU_[13] = -0.184 * vU_[8] + 0.02075 * vU_[10];
2991  vU_[14] = 1.547475 * vU_[13];
2992  vU_[15] = -0.038686875 + vU_[14];
2993  vU_[16] = 0 - vU_[15];
2994  vU_[17] = 0.184 * vU_[9] - 0.02075 * vU_[8];
2995  vU_[18] = 0 - 1.547475 * vU_[17];
2996  vU_[19] = vU_[9] * vU_[16] + vU_[8] * vU_[18];
2997  vU_[20] = 1.547475 * vU_[17];
2998  vU_[21] = 0 - 1.38614328745655 * vU_[13];
2999  vU_[22] = vU_[20] * vU_[17] - vU_[21] * vU_[13];
3000  vU_[23] = 0.0107369757464698 - vU_[18] * vU_[17] - vU_[22];
3001  vU_[17] = 0.000199340411771047 + vU_[18] * vU_[13] - -0.038686875 * vU_[17];
3002  vU_[24] = vU_[8] * vU_[23] + vU_[10] * vU_[17];
3003  vU_[14] = 0.00315291990945349 + -0.07737375 * vU_[13] + vU_[14] * vU_[13] - vU_[22];
3004  vU_[17] = vU_[8] * vU_[17] + vU_[10] * vU_[14];
3005  vU_[25] = vU_[24] * vU_[8] + vU_[17] * vU_[10];
3006  vU_[26] = 0.011046 + vU_[22] + vU_[25];
3007  vU_[27] = vU_[19] / vU_[26];
3008  vU_[28] = 0 - vU_[12] * vU_[27];
3009  vU_[29] = sin(x_in[4]);
3010  vU_[30] = 3.650675 - vU_[19] * vU_[27];
3011  vU_[31] = -0.161331712543454 * vU_[10];
3012  vU_[32] = vU_[31] * vU_[10];
3013  vU_[11] = vU_[11] * vU_[10];
3014  vU_[33] = vU_[11] / vU_[26];
3015  vU_[34] = 3.650675 + vU_[32] - vU_[11] * vU_[33];
3016  vU_[35] = vU_[30] - vU_[34];
3017  vU_[36] = vU_[7] * vU_[28] + vU_[29] * vU_[35];
3018  vU_[37] = vU_[12] / vU_[26];
3019  vU_[32] = 3.48934328745655 - vU_[32] - vU_[12] * vU_[37];
3020  vU_[38] = vU_[32] - vU_[34];
3021  vU_[39] = vU_[29] * vU_[28];
3022  vU_[40] = vU_[7] * vU_[38] + vU_[39];
3023  vU_[41] = -0.112 * vU_[29];
3024  vU_[42] = 0.112 * vU_[6];
3025  vU_[43] = vU_[29] * vU_[41] + vU_[7] * vU_[42];
3026  vU_[30] = vU_[43] * vU_[30];
3027  vU_[16] = vU_[8] * vU_[16] + vU_[10] * vU_[18];
3028  vU_[17] = -0.012652 + vU_[17] * vU_[8] + vU_[24] * vU_[9];
3029  vU_[24] = -0.057838 - vU_[16] - vU_[17] * vU_[27];
3030  vU_[44] = vU_[30] + vU_[24];
3031  vU_[45] = 0 - -6.25528861700981e-05 * vU_[13];
3032  vU_[13] = 0 - 0.00345708950900075 * vU_[13];
3033  vU_[46] = 0 - vU_[13];
3034  vU_[47] = -0.001243 + vU_[8] * vU_[45] + vU_[9] * vU_[46];
3035  vU_[27] = 0 - vU_[47] * vU_[27];
3036  vU_[48] = vU_[43] * vU_[28];
3037  vU_[49] = vU_[27] - vU_[48];
3038  vU_[50] = vU_[7] * vU_[44] + vU_[29] * vU_[49];
3039  vU_[51] = -6.25528861700981e-05 * vU_[9] + 0.00345708950900075 * vU_[8];
3040  vU_[52] = vU_[51] * vU_[8] - vU_[17] * vU_[37];
3041  vU_[53] = vU_[48] + vU_[52];
3042  vU_[32] = 0 - vU_[43] * vU_[32];
3043  vU_[21] = vU_[21] + vU_[15];
3044  vU_[20] = vU_[20] + vU_[18];
3045  vU_[16] = 0.057838 + vU_[21] * vU_[8] + vU_[20] * vU_[9] + vU_[16] - vU_[47] * vU_[37];
3046  vU_[37] = vU_[32] + vU_[16];
3047  vU_[18] = vU_[7] * vU_[53] + vU_[29] * vU_[37];
3048  vU_[15] = 0.160298259823722 + vU_[50] * vU_[6] + vU_[18] * vU_[29];
3049  vU_[18] = vU_[18] * vU_[7] + vU_[50] * vU_[29];
3050  vU_[24] = 2. * vU_[24] * vU_[43] + 0.019432 + vU_[14] + vU_[23] + vU_[22] - vU_[25] - vU_[17] * vU_[17] / vU_[26] +
3051  vU_[30] * vU_[43];
3052  vU_[30] = vU_[47] / vU_[26];
3053  vU_[52] = vU_[27] * vU_[43] + -0.001387 + 2. * vU_[13] * vU_[8] + 2. * vU_[45] * vU_[9] + vU_[10] * vU_[45] +
3054  vU_[8] * vU_[46] - vU_[17] * vU_[30] - vU_[52] * vU_[43] - vU_[48] * vU_[43];
3055  vU_[48] = vU_[29] * vU_[52];
3056  vU_[27] = vU_[7] * vU_[24] + vU_[48];
3057  vU_[30] = 0.029115 + vU_[22] - vU_[47] * vU_[30] - 2. * vU_[16] * vU_[43] - vU_[32] * vU_[43];
3058  vU_[16] = vU_[7] * vU_[52] + vU_[29] * vU_[30];
3059  vU_[32] = vU_[27] * vU_[7] + vU_[16] * vU_[29];
3060  vU_[22] = 0.09570849 + vU_[32];
3061  vU_[46] = vU_[18] / vU_[22];
3062  vU_[13] = vU_[36] * vU_[6] + vU_[40] * vU_[29] - vU_[15] * vU_[46];
3063  vU_[45] = 0 - vU_[5] * vU_[13];
3064  vU_[31] = vU_[31] * vU_[8] - vU_[12] * vU_[33];
3065  vU_[20] = vU_[21] * vU_[10] + vU_[20] * vU_[8] - vU_[19] - vU_[47] * vU_[33] - vU_[43] * vU_[31];
3066  vU_[21] = 0 - vU_[19] * vU_[33];
3067  vU_[51] = vU_[43] * vU_[21] + vU_[51] * vU_[10] - vU_[17] * vU_[33];
3068  vU_[43] = vU_[29] * vU_[51];
3069  vU_[33] = 0 - vU_[20];
3070  vU_[25] = vU_[7] * vU_[33] + vU_[43];
3071  vU_[14] = vU_[15] / vU_[22];
3072  vU_[43] = -1.52322944854339e-09 + vU_[20] * vU_[6] + vU_[43] - vU_[25] - -0.00021200017 * vU_[14];
3073  vU_[23] = vU_[45] + vU_[43];
3074  vU_[50] = cos(x_in[3]);
3075  vU_[49] = vU_[29] * vU_[44] + vU_[6] * vU_[49];
3076  vU_[37] = vU_[29] * vU_[53] + vU_[6] * vU_[37];
3077  vU_[16] = -0.0022920002 + vU_[16] * vU_[6] + vU_[27] * vU_[29];
3078  vU_[27] = vU_[49] * vU_[6] + vU_[37] * vU_[29] - vU_[16] * vU_[14];
3079  vU_[53] = -0.304 * vU_[50];
3080  vU_[44] = vU_[53] * vU_[13];
3081  vU_[21] = 0 - vU_[21];
3082  vU_[33] = vU_[29] * vU_[33] + vU_[6] * vU_[51];
3083  vU_[54] = 0.008711861 - vU_[33];
3084  vU_[55] = 0 - vU_[6] * vU_[31] - vU_[29] * vU_[21] - vU_[54] * vU_[46];
3085  vU_[56] = vU_[5] * vU_[55];
3086  vU_[57] = vU_[56] - vU_[44];
3087  vU_[58] = vU_[27] + vU_[44] - vU_[57];
3088  vU_[59] = vU_[3] * vU_[23] + vU_[50] * vU_[58];
3089  vU_[60] = vU_[54] / vU_[22];
3090  vU_[61] = 0 - -0.00021200017 * vU_[60];
3091  vU_[56] = 0 - vU_[56];
3092  vU_[62] = vU_[61] + vU_[56] - vU_[57];
3093  vU_[63] = vU_[53] * vU_[55];
3094  vU_[25] = 1.52322944854339e-09 + vU_[25] - vU_[16] * vU_[60];
3095  vU_[64] = vU_[63] + vU_[25];
3096  vU_[65] = vU_[3] * vU_[62] + vU_[50] * vU_[64];
3097  vU_[66] = vU_[16] / vU_[22];
3098  vU_[33] = -0.008711861 + vU_[20] * vU_[29] + vU_[51] * vU_[7] + vU_[33] - -0.00021200017 * vU_[46];
3099  vU_[40] = vU_[40] * vU_[7] + vU_[36] * vU_[29];
3100  vU_[36] = 1.7423722 + vU_[34] + vU_[40] - vU_[18] * vU_[46];
3101  vU_[51] = 0 - vU_[5] * vU_[36];
3102  vU_[37] = -0.160298259823722 + vU_[49] * vU_[29] + vU_[37] * vU_[7] - vU_[16] * vU_[46];
3103  vU_[49] = 0.0036857284 - -0.00021200017 * vU_[66] + vU_[33] * vU_[53] + vU_[51] * vU_[53] - vU_[37] * vU_[5];
3104  vU_[46] = vU_[50] * vU_[49];
3105  vU_[20] = 0 - vU_[3];
3106  vU_[48] = (vU_[29] * vU_[24] + vU_[6] * vU_[52]) * vU_[29] + (vU_[48] + vU_[6] * vU_[30]) * vU_[6];
3107  vU_[52] = vU_[53] * vU_[36];
3108  vU_[39] = (vU_[29] * vU_[38] + vU_[6] * vU_[28]) * vU_[29] + (vU_[39] + vU_[6] * vU_[35]) * vU_[6];
3109  vU_[40] = 1.7423722 + vU_[35] + vU_[38] + vU_[34] - vU_[39] - vU_[40] - vU_[54] * vU_[60];
3110  vU_[21] = vU_[29] * vU_[31] + vU_[7] * vU_[21] - vU_[54] * vU_[14];
3111  vU_[31] = vU_[5] * vU_[40] - vU_[53] * vU_[21];
3112  vU_[39] = 1.7423722 + vU_[34] + vU_[39] - vU_[15] * vU_[14];
3113  vU_[14] = vU_[5] * vU_[21] - vU_[53] * vU_[39];
3114  vU_[34] = vU_[31] * vU_[5] - vU_[14] * vU_[53];
3115  vU_[66] = 2. * vU_[37] * vU_[53] + 0.01828449 + vU_[48] - vU_[16] * vU_[66] + vU_[52] * vU_[53] - vU_[34];
3116  vU_[60] = vU_[46] + vU_[20] * vU_[66];
3117  vU_[48] = 0.081661 + vU_[30] + vU_[24] - vU_[48] - vU_[32] - -0.00021200017 * -0.00021200017 / vU_[22] -
3118  2. * vU_[33] * vU_[5] - vU_[51] * vU_[5] - vU_[34];
3119  vU_[32] = vU_[50] * vU_[48] + vU_[20] * vU_[49];
3120  vU_[30] = -0.0037997814 + vU_[60] * vU_[50] + vU_[32] * vU_[3];
3121  vU_[58] = vU_[50] * vU_[23] + vU_[20] * vU_[58];
3122  vU_[64] = vU_[50] * vU_[62] + vU_[20] * vU_[64];
3123  vU_[62] = -0.0055615274403 + vU_[58] * vU_[50] + vU_[64] * vU_[3];
3124  vU_[32] = vU_[32] * vU_[50] + vU_[60] * vU_[20];
3125  vU_[60] = 0.010329999 + vU_[34] + vU_[32];
3126  vU_[23] = vU_[62] / vU_[60];
3127  vU_[24] = vU_[59] * vU_[50] + vU_[65] * vU_[3] + vU_[57] - vU_[30] * vU_[23];
3128  vU_[38] = sin(x_in[2]);
3129  vU_[35] = -0.112 * vU_[38];
3130  vU_[28] = 0.112 * vU_[1];
3131  vU_[67] = vU_[38] * vU_[35] + vU_[2] * vU_[28];
3132  vU_[56] = vU_[61] * vU_[5] + vU_[56] * vU_[5] - vU_[43] * vU_[53] - vU_[45] * vU_[53];
3133  vU_[25] = vU_[27] * vU_[53] + vU_[44] * vU_[53] - vU_[25] * vU_[5] - vU_[63] * vU_[5];
3134  vU_[63] = -0.011715295 - vU_[50] * vU_[56] - vU_[3] * vU_[25];
3135  vU_[44] = vU_[30] / vU_[60];
3136  vU_[52] = vU_[52] + vU_[37];
3137  vU_[37] = 0 - vU_[52];
3138  vU_[51] = vU_[51] + vU_[33];
3139  vU_[33] = vU_[3] * vU_[37] + vU_[50] * vU_[51];
3140  vU_[53] = -0.01438086 - vU_[33];
3141  vU_[27] = vU_[53] / vU_[60];
3142  vU_[5] = vU_[57] - vU_[63] * vU_[27];
3143  vU_[13] = 0 - vU_[13];
3144  vU_[61] = vU_[20] * vU_[55] + vU_[50] * vU_[13] - vU_[53] * vU_[23];
3145  vU_[43] = vU_[67] * vU_[61];
3146  vU_[25] = vU_[24] * vU_[67] + 5.399998e-05 + vU_[20] * vU_[56] + vU_[50] * vU_[25] - vU_[63] * vU_[44] -
3147  vU_[5] * vU_[67] - vU_[43] * vU_[67];
3148  vU_[46] = (vU_[3] * vU_[48] + vU_[46]) * vU_[3] + (vU_[3] * vU_[49] + vU_[50] * vU_[66]) * vU_[50];
3149  vU_[37] = vU_[50] * vU_[37] + vU_[20] * vU_[51];
3150  vU_[49] = 0.647967112 + vU_[37] - vU_[30] * vU_[27];
3151  vU_[39] = vU_[39] - vU_[36];
3152  vU_[40] = vU_[40] - vU_[36];
3153  vU_[56] = vU_[50] * vU_[21];
3154  vU_[45] = (vU_[3] * vU_[40] + vU_[56]) * vU_[3] + (vU_[3] * vU_[21] + vU_[50] * vU_[39]) * vU_[50];
3155  vU_[21] = vU_[50] * vU_[40] + vU_[20] * vU_[21];
3156  vU_[56] = vU_[56] + vU_[20] * vU_[39];
3157  vU_[68] = vU_[21] * vU_[50] + vU_[56] * vU_[20];
3158  vU_[40] = 2.327 + vU_[39] + vU_[40] + vU_[36] - vU_[45] - vU_[68] - vU_[53] * vU_[27];
3159  vU_[39] = 0 - vU_[67] * vU_[40];
3160  vU_[44] = 0.20986895 + vU_[34] + vU_[46] - vU_[30] * vU_[44] - 2. * vU_[49] * vU_[67] - vU_[39] * vU_[67];
3161  vU_[27] = vU_[2] * vU_[25] + vU_[38] * vU_[44];
3162  vU_[52] = -1 * (vU_[14] + vU_[52]);
3163  vU_[51] = -1 * (vU_[31] + vU_[51]);
3164  vU_[37] = -0.647967112 + vU_[52] * vU_[50] + vU_[51] * vU_[3] - vU_[37] - vU_[63] * vU_[23];
3165  vU_[45] = 2.327 + vU_[36] + vU_[45] - vU_[62] * vU_[23];
3166  vU_[23] = vU_[67] * vU_[45];
3167  vU_[46] = 2. * vU_[37] * vU_[67] + 0.20236395 + vU_[66] + vU_[48] + vU_[34] - vU_[46] - vU_[32] -
3168  vU_[63] * vU_[63] / vU_[60] + vU_[23] * vU_[67];
3169  vU_[32] = vU_[38] * vU_[25];
3170  vU_[48] = vU_[2] * vU_[46] + vU_[32];
3171  vU_[66] = -0.002752 + vU_[27] * vU_[1] + vU_[48] * vU_[38];
3172  vU_[48] = vU_[48] * vU_[2] + vU_[27] * vU_[38];
3173  vU_[27] = 0.051393528 + vU_[48];
3174  vU_[34] = vU_[66] / vU_[27];
3175  vU_[64] = vU_[58] * vU_[20] + vU_[64] * vU_[50] + vU_[57];
3176  vU_[58] = vU_[64] / vU_[60];
3177  vU_[13] = 0 - vU_[50] * vU_[55] - vU_[3] * vU_[13] - vU_[53] * vU_[58];
3178  vU_[65] = 0.0055615274403 + vU_[59] * vU_[20] + vU_[65] * vU_[50] - vU_[67] * vU_[13] - vU_[30] * vU_[58];
3179  vU_[56] = vU_[56] * vU_[50] + vU_[21] * vU_[3] - vU_[62] * vU_[58];
3180  vU_[51] = 0.01438086 + vU_[52] * vU_[20] + vU_[51] * vU_[50] + vU_[33] + vU_[67] * vU_[56] - vU_[63] * vU_[58];
3181  vU_[52] = vU_[38] * (0 - vU_[65]) + vU_[1] * vU_[51];
3182  vU_[5] = vU_[43] + vU_[5];
3183  vU_[39] = vU_[39] + vU_[49];
3184  vU_[49] = vU_[2] * vU_[5] + vU_[38] * vU_[39];
3185  vU_[23] = vU_[23] + vU_[37];
3186  vU_[43] = vU_[24] - vU_[43];
3187  vU_[24] = vU_[2] * vU_[23] + vU_[38] * vU_[43];
3188  vU_[37] = vU_[49] * vU_[2] + vU_[24] * vU_[38];
3189  vU_[33] = vU_[37] / vU_[27];
3190  vU_[51] = -0.0606159433962 + vU_[65] * vU_[38] + vU_[51] * vU_[2] + vU_[52] - -0.022851627 * vU_[33];
3191  vU_[65] = 0.178 * (0 - vU_[0]);
3192  vU_[67] = cos(x_in[1]);
3193  vU_[21] = -1 * 0.178 * vU_[67];
3194  vU_[58] = 2.327 + vU_[36] + vU_[68] - vU_[64] * vU_[58];
3195  vU_[40] = vU_[40] - vU_[58];
3196  vU_[64] = vU_[38] * vU_[61];
3197  vU_[45] = vU_[45] - vU_[58];
3198  vU_[68] = (vU_[2] * vU_[40] + vU_[64]) * vU_[2] + (vU_[2] * vU_[61] + vU_[38] * vU_[45]) * vU_[38];
3199  vU_[37] = 2.5924191 + vU_[58] + vU_[68] - vU_[37] * vU_[33];
3200  vU_[36] = 0 - vU_[21] * vU_[37];
3201  vU_[33] = -0.293374233908935 + (vU_[38] * vU_[23] + vU_[1] * vU_[43]) * vU_[38] +
3202  (vU_[38] * vU_[5] + vU_[1] * vU_[39]) * vU_[2] - vU_[66] * vU_[33];
3203  vU_[43] = 0.0055279857 - -0.022851627 * vU_[34] + vU_[51] * vU_[65] + vU_[36] * vU_[65] - vU_[33] * vU_[21];
3204  vU_[32] = (vU_[38] * vU_[46] + vU_[1] * vU_[25]) * vU_[38] + (vU_[32] + vU_[1] * vU_[44]) * vU_[1];
3205  vU_[64] = (vU_[38] * vU_[40] + vU_[1] * vU_[61]) * vU_[38] + (vU_[64] + vU_[1] * vU_[45]) * vU_[1];
3206  vU_[52] = 0.0606159433962 - vU_[52];
3207  vU_[24] = 0.293374233908935 + vU_[24] * vU_[1] + vU_[49] * vU_[38];
3208  vU_[49] = vU_[24] / vU_[27];
3209  vU_[56] = vU_[38] * vU_[13] + vU_[2] * (0 - vU_[56]) - vU_[52] * vU_[49];
3210  vU_[56] = (vU_[21] * (2.5924191 + vU_[45] + vU_[40] + vU_[58] - vU_[64] - vU_[68] - vU_[52] * vU_[52] / vU_[27]) -
3211  vU_[65] * vU_[56]) *
3212  vU_[21] -
3213  (vU_[21] * vU_[56] - vU_[65] * (2.5924191 + vU_[58] + vU_[64] - vU_[24] * vU_[49])) * vU_[65];
3214  vU_[56] = 0.007629 +
3215  (vU_[0] * vU_[43] + vU_[67] * (2. * vU_[33] * vU_[65] + 0.08585553 + vU_[32] - vU_[66] * vU_[34] +
3216  vU_[65] * vU_[37] * vU_[65] - vU_[56])) *
3217  vU_[67] +
3218  (vU_[0] * (0.039002996 + vU_[44] + vU_[46] - vU_[32] - vU_[48] - -0.022851627 * -0.022851627 / vU_[27] -
3219  2. * vU_[51] * vU_[21] - vU_[36] * vU_[21] - vU_[56]) +
3220  vU_[67] * vU_[43]) *
3221  vU_[0] +
3222  vU_[56];
3223  jac[6] = 1 / vU_[56];
3224  jac[18] = (0 - vU_[67] * vU_[66] / vU_[27] - vU_[0] * -0.022851627 / vU_[27]) / vU_[56];
3225  vU_[32] = vU_[67] * jac[6];
3226  vU_[43] = vU_[0] * jac[6];
3227  jac[7] = (0 - vU_[66] * vU_[32] - -0.022851627 * vU_[43]) / vU_[27];
3228  vU_[33] = vU_[38] * jac[7] + vU_[1] * vU_[32];
3229  vU_[36] = vU_[2] * jac[7] + vU_[38] * vU_[32];
3230  vU_[37] = vU_[28] * jac[7] + vU_[35] * vU_[32];
3231  vU_[21] = 0.112 * vU_[38];
3232  vU_[65] = 0.112 * vU_[1];
3233  vU_[32] = vU_[21] * jac[7] + vU_[65] * vU_[32];
3234  jac[8] = (0 - vU_[60] * vU_[43] - vU_[30] * vU_[33] - vU_[63] * vU_[36] - vU_[62] * vU_[37] - vU_[53] * vU_[32]) /
3235  vU_[60];
3236  vU_[51] = -1 * vU_[36];
3237  vU_[43] = vU_[43] + jac[8];
3238  vU_[34] = vU_[20] * vU_[43] + vU_[50] * vU_[33];
3239  vU_[43] = vU_[50] * vU_[43] + vU_[3] * vU_[33];
3240  vU_[32] = -0.304 * vU_[33] + -1 * vU_[32];
3241  vU_[33] = -0.304 * vU_[50];
3242  vU_[48] = vU_[50] * vU_[37] + vU_[33] * vU_[36];
3243  vU_[37] = vU_[3] * vU_[37] + vU_[4] * vU_[36];
3244  jac[9] = (0 - vU_[22] * vU_[51] - vU_[16] * vU_[34] - -0.00021200017 * vU_[43] - vU_[18] * vU_[32] -
3245  vU_[15] * vU_[48] - vU_[54] * vU_[37]) /
3246  vU_[22];
3247  vU_[51] = vU_[51] + jac[9];
3248  vU_[36] = vU_[29] * vU_[51] + vU_[6] * vU_[34];
3249  vU_[46] = vU_[7] * vU_[51] + vU_[29] * vU_[34];
3250  vU_[44] = 0.112 * vU_[29];
3251  vU_[49] = 0.112 * vU_[6];
3252  vU_[24] = 0 - vU_[6];
3253  vU_[52] = vU_[44] * vU_[51] + vU_[49] * vU_[34] + vU_[29] * vU_[48] + vU_[24] * vU_[32];
3254  jac[10] = (0 - vU_[26] * vU_[43] - vU_[47] * vU_[36] - vU_[17] * vU_[46] - vU_[11] * vU_[37] -
3255  vU_[19] * (vU_[42] * vU_[51] + vU_[41] * vU_[34] + vU_[6] * vU_[48] + vU_[29] * vU_[32]) -
3256  vU_[12] * vU_[52]) /
3257  vU_[26];
3258  vU_[43] = vU_[43] + jac[10];
3259  vU_[51] = 0.02075 * vU_[9] + 0.184 * vU_[8];
3260  vU_[48] = 0 - vU_[9];
3261  jac[11] = (0 - 0.009277 * vU_[36] - -0.000829 * (vU_[10] * vU_[43] + vU_[8] * vU_[46]) -
3262  1.5e-05 * (vU_[8] * vU_[43] + vU_[9] * vU_[46]) -
3263  0.038686875 * (vU_[8] * vU_[52] + vU_[51] * vU_[36] + vU_[48] * vU_[37])) /
3264  0.009277;
3265  vU_[43] = vU_[67] * jac[18];
3266  vU_[52] = vU_[0] * jac[18];
3267  jac[19] = (1 - vU_[66] * vU_[43] - -0.022851627 * vU_[52]) / vU_[27];
3268  vU_[46] = vU_[38] * jac[19] + vU_[1] * vU_[43];
3269  vU_[36] = vU_[2] * jac[19] + vU_[38] * vU_[43];
3270  vU_[37] = vU_[28] * jac[19] + vU_[35] * vU_[43];
3271  vU_[43] = vU_[21] * jac[19] + vU_[65] * vU_[43];
3272  jac[20] = (0 - vU_[60] * vU_[52] - vU_[30] * vU_[46] - vU_[63] * vU_[36] - vU_[62] * vU_[37] - vU_[53] * vU_[43]) /
3273  vU_[60];
3274  vU_[32] = -1 * vU_[36];
3275  vU_[52] = vU_[52] + jac[20];
3276  vU_[34] = vU_[20] * vU_[52] + vU_[50] * vU_[46];
3277  vU_[52] = vU_[50] * vU_[52] + vU_[3] * vU_[46];
3278  vU_[43] = -0.304 * vU_[46] + -1 * vU_[43];
3279  vU_[46] = vU_[50] * vU_[37] + vU_[33] * vU_[36];
3280  vU_[37] = vU_[3] * vU_[37] + vU_[4] * vU_[36];
3281  jac[21] = (0 - vU_[22] * vU_[32] - vU_[16] * vU_[34] - -0.00021200017 * vU_[52] - vU_[18] * vU_[43] -
3282  vU_[15] * vU_[46] - vU_[54] * vU_[37]) /
3283  vU_[22];
3284  vU_[32] = vU_[32] + jac[21];
3285  vU_[36] = vU_[29] * vU_[32] + vU_[6] * vU_[34];
3286  vU_[64] = vU_[7] * vU_[32] + vU_[29] * vU_[34];
3287  vU_[68] = vU_[44] * vU_[32] + vU_[49] * vU_[34] + vU_[29] * vU_[46] + vU_[24] * vU_[43];
3288  jac[22] = (0 - vU_[26] * vU_[52] - vU_[47] * vU_[36] - vU_[17] * vU_[64] - vU_[11] * vU_[37] -
3289  vU_[19] * (vU_[42] * vU_[32] + vU_[41] * vU_[34] + vU_[6] * vU_[46] + vU_[29] * vU_[43]) -
3290  vU_[12] * vU_[68]) /
3291  vU_[26];
3292  vU_[52] = vU_[52] + jac[22];
3293  jac[23] = (0 - 0.009277 * vU_[36] - -0.000829 * (vU_[10] * vU_[52] + vU_[8] * vU_[64]) -
3294  1.5e-05 * (vU_[8] * vU_[52] + vU_[9] * vU_[64]) -
3295  0.038686875 * (vU_[8] * vU_[68] + vU_[51] * vU_[36] + vU_[48] * vU_[37])) /
3296  0.009277;
3297  vU_[52] = vU_[30] / vU_[60];
3298  vU_[68] = vU_[63] / vU_[60];
3299  vU_[64] = vU_[53] / vU_[60];
3300  vU_[36] = vU_[62] / vU_[60];
3301  vU_[37] = 0 - vU_[38] * vU_[52] - vU_[2] * vU_[68] - vU_[21] * vU_[64] - vU_[28] * vU_[36];
3302  jac[30] = (0 -
3303  vU_[67] * (vU_[1] * vU_[52] + vU_[38] * vU_[68] + vU_[65] * vU_[64] + vU_[35] * vU_[36] +
3304  (vU_[66] * vU_[37]) / vU_[27]) -
3305  vU_[0] * (vU_[60] / vU_[60] + (-0.022851627 * vU_[37]) / vU_[27])) /
3306  vU_[56];
3307  vU_[36] = vU_[67] * jac[30];
3308  vU_[64] = vU_[0] * jac[30];
3309  jac[31] = (vU_[37] - vU_[66] * vU_[36] - -0.022851627 * vU_[64]) / vU_[27];
3310  vU_[37] = vU_[38] * jac[31] + vU_[1] * vU_[36];
3311  vU_[68] = vU_[2] * jac[31] + vU_[38] * vU_[36];
3312  vU_[52] = vU_[28] * jac[31] + vU_[35] * vU_[36];
3313  vU_[36] = vU_[21] * jac[31] + vU_[65] * vU_[36];
3314  jac[32] = (1 - vU_[60] * vU_[64] - vU_[30] * vU_[37] - vU_[63] * vU_[68] - vU_[62] * vU_[52] - vU_[53] * vU_[36]) /
3315  vU_[60];
3316  vU_[32] = -1 * vU_[68];
3317  vU_[64] = vU_[64] + jac[32];
3318  vU_[46] = vU_[20] * vU_[64] + vU_[50] * vU_[37];
3319  vU_[64] = vU_[50] * vU_[64] + vU_[3] * vU_[37];
3320  vU_[36] = -0.304 * vU_[37] + -1 * vU_[36];
3321  vU_[37] = vU_[50] * vU_[52] + vU_[33] * vU_[68];
3322  vU_[52] = vU_[3] * vU_[52] + vU_[4] * vU_[68];
3323  jac[33] = (0 - vU_[22] * vU_[32] - vU_[16] * vU_[46] - -0.00021200017 * vU_[64] - vU_[18] * vU_[36] -
3324  vU_[15] * vU_[37] - vU_[54] * vU_[52]) /
3325  vU_[22];
3326  vU_[32] = vU_[32] + jac[33];
3327  vU_[68] = vU_[29] * vU_[32] + vU_[6] * vU_[46];
3328  vU_[43] = vU_[7] * vU_[32] + vU_[29] * vU_[46];
3329  vU_[34] = vU_[44] * vU_[32] + vU_[49] * vU_[46] + vU_[29] * vU_[37] + vU_[24] * vU_[36];
3330  jac[34] = (0 - vU_[26] * vU_[64] - vU_[47] * vU_[68] - vU_[17] * vU_[43] - vU_[11] * vU_[52] -
3331  vU_[19] * (vU_[42] * vU_[32] + vU_[41] * vU_[46] + vU_[6] * vU_[37] + vU_[29] * vU_[36]) -
3332  vU_[12] * vU_[34]) /
3333  vU_[26];
3334  vU_[64] = vU_[64] + jac[34];
3335  jac[35] = (0 - 0.009277 * vU_[68] - -0.000829 * (vU_[10] * vU_[64] + vU_[8] * vU_[43]) -
3336  1.5e-05 * (vU_[8] * vU_[64] + vU_[9] * vU_[43]) -
3337  0.038686875 * (vU_[8] * vU_[34] + vU_[51] * vU_[68] + vU_[48] * vU_[52])) /
3338  0.009277;
3339  vU_[64] = vU_[16] / vU_[22];
3340  vU_[34] = -0.00021200017 / vU_[22];
3341  vU_[43] = vU_[18] / vU_[22];
3342  vU_[68] = vU_[20] * vU_[64] + vU_[50] * vU_[34];
3343  vU_[52] = 0 - vU_[68];
3344  vU_[34] = vU_[50] * vU_[64] + vU_[3] * vU_[34] + -0.304 * vU_[43] + (vU_[30] * vU_[52]) / vU_[60];
3345  vU_[64] = vU_[54] / vU_[22];
3346  vU_[32] = vU_[15] / vU_[22];
3347  vU_[37] = vU_[4] * vU_[64] + -1 * vU_[22] / vU_[22] + vU_[33] * vU_[32] + (vU_[63] * vU_[52]) / vU_[60];
3348  vU_[43] = -1 * vU_[43] + (vU_[53] * vU_[52]) / vU_[60];
3349  vU_[32] = vU_[50] * vU_[32] + vU_[3] * vU_[64] + (vU_[62] * vU_[52]) / vU_[60];
3350  vU_[64] = 0 - vU_[38] * vU_[34] - vU_[2] * vU_[37] - vU_[21] * vU_[43] - vU_[28] * vU_[32];
3351  jac[42] = (0 -
3352  vU_[67] * (vU_[1] * vU_[34] + vU_[38] * vU_[37] + vU_[65] * vU_[43] + vU_[35] * vU_[32] +
3353  (vU_[66] * vU_[64]) / vU_[27]) -
3354  vU_[0] * ((vU_[60] * vU_[52]) / vU_[60] + vU_[68] + (-0.022851627 * vU_[64]) / vU_[27])) /
3355  vU_[56];
3356  vU_[32] = vU_[67] * jac[42];
3357  vU_[43] = vU_[0] * jac[42];
3358  jac[43] = (vU_[64] - vU_[66] * vU_[32] - -0.022851627 * vU_[43]) / vU_[27];
3359  vU_[64] = vU_[38] * jac[43] + vU_[1] * vU_[32];
3360  vU_[37] = vU_[2] * jac[43] + vU_[38] * vU_[32];
3361  vU_[34] = vU_[28] * jac[43] + vU_[35] * vU_[32];
3362  vU_[32] = vU_[21] * jac[43] + vU_[65] * vU_[32];
3363  jac[44] =
3364  (vU_[52] - vU_[60] * vU_[43] - vU_[30] * vU_[64] - vU_[63] * vU_[37] - vU_[62] * vU_[34] - vU_[53] * vU_[32]) /
3365  vU_[60];
3366  vU_[52] = -1 * vU_[37];
3367  vU_[43] = vU_[43] + jac[44];
3368  vU_[68] = vU_[20] * vU_[43] + vU_[50] * vU_[64];
3369  vU_[43] = vU_[50] * vU_[43] + vU_[3] * vU_[64];
3370  vU_[32] = -0.304 * vU_[64] + -1 * vU_[32];
3371  vU_[64] = vU_[50] * vU_[34] + vU_[33] * vU_[37];
3372  vU_[34] = vU_[3] * vU_[34] + vU_[4] * vU_[37];
3373  jac[45] = (1 - vU_[22] * vU_[52] - vU_[16] * vU_[68] - -0.00021200017 * vU_[43] - vU_[18] * vU_[32] -
3374  vU_[15] * vU_[64] - vU_[54] * vU_[34]) /
3375  vU_[22];
3376  vU_[52] = vU_[52] + jac[45];
3377  vU_[37] = vU_[29] * vU_[52] + vU_[6] * vU_[68];
3378  vU_[36] = vU_[7] * vU_[52] + vU_[29] * vU_[68];
3379  vU_[46] = vU_[44] * vU_[52] + vU_[49] * vU_[68] + vU_[29] * vU_[64] + vU_[24] * vU_[32];
3380  jac[46] = (0 - vU_[26] * vU_[43] - vU_[47] * vU_[37] - vU_[17] * vU_[36] - vU_[11] * vU_[34] -
3381  vU_[19] * (vU_[42] * vU_[52] + vU_[41] * vU_[68] + vU_[6] * vU_[64] + vU_[29] * vU_[32]) -
3382  vU_[12] * vU_[46]) /
3383  vU_[26];
3384  vU_[43] = vU_[43] + jac[46];
3385  jac[47] = (0 - 0.009277 * vU_[37] - -0.000829 * (vU_[10] * vU_[43] + vU_[8] * vU_[36]) -
3386  1.5e-05 * (vU_[8] * vU_[43] + vU_[9] * vU_[36]) -
3387  0.038686875 * (vU_[8] * vU_[46] + vU_[51] * vU_[37] + vU_[48] * vU_[34])) /
3388  0.009277;
3389  vU_[43] = vU_[47] / vU_[26];
3390  vU_[46] = vU_[17] / vU_[26];
3391  vU_[36] = vU_[12] / vU_[26];
3392  vU_[37] = vU_[19] / vU_[26];
3393  vU_[34] = vU_[29] * vU_[43] + vU_[7] * vU_[46] + vU_[44] * vU_[36] + vU_[42] * vU_[37];
3394  vU_[52] = 0 - vU_[34];
3395  vU_[46] =
3396  vU_[6] * vU_[43] + vU_[29] * vU_[46] + vU_[49] * vU_[36] + vU_[41] * vU_[37] + (vU_[16] * vU_[52]) / vU_[22];
3397  vU_[43] = vU_[26] / vU_[26] + (-0.00021200017 * vU_[52]) / vU_[22];
3398  vU_[64] = vU_[29] * vU_[37] + vU_[24] * vU_[36] + (vU_[18] * vU_[52]) / vU_[22];
3399  vU_[32] = vU_[20] * vU_[46] + vU_[50] * vU_[43];
3400  vU_[68] = 0 - vU_[32];
3401  vU_[43] = vU_[50] * vU_[46] + vU_[3] * vU_[43] + -0.304 * vU_[64] + (vU_[30] * vU_[68]) / vU_[60];
3402  vU_[46] = vU_[11] / vU_[26] + (vU_[54] * vU_[52]) / vU_[22];
3403  vU_[37] = vU_[6] * vU_[37] + vU_[29] * vU_[36] + (vU_[15] * vU_[52]) / vU_[22];
3404  vU_[34] = vU_[4] * vU_[46] + -1 * (vU_[34] + (vU_[22] * vU_[52]) / vU_[22]) + vU_[33] * vU_[37] +
3405  (vU_[63] * vU_[68]) / vU_[60];
3406  vU_[64] = -1 * vU_[64] + (vU_[53] * vU_[68]) / vU_[60];
3407  vU_[37] = vU_[50] * vU_[37] + vU_[3] * vU_[46] + (vU_[62] * vU_[68]) / vU_[60];
3408  vU_[46] = 0 - vU_[38] * vU_[43] - vU_[2] * vU_[34] - vU_[21] * vU_[64] - vU_[28] * vU_[37];
3409  jac[54] = (0 -
3410  vU_[67] * (vU_[1] * vU_[43] + vU_[38] * vU_[34] + vU_[65] * vU_[64] + vU_[35] * vU_[37] +
3411  (vU_[66] * vU_[46]) / vU_[27]) -
3412  vU_[0] * ((vU_[60] * vU_[68]) / vU_[60] + vU_[32] + (-0.022851627 * vU_[46]) / vU_[27])) /
3413  vU_[56];
3414  vU_[37] = vU_[67] * jac[54];
3415  vU_[64] = vU_[0] * jac[54];
3416  jac[55] = (vU_[46] - vU_[66] * vU_[37] - -0.022851627 * vU_[64]) / vU_[27];
3417  vU_[46] = vU_[38] * jac[55] + vU_[1] * vU_[37];
3418  vU_[34] = vU_[2] * jac[55] + vU_[38] * vU_[37];
3419  vU_[43] = vU_[28] * jac[55] + vU_[35] * vU_[37];
3420  vU_[37] = vU_[21] * jac[55] + vU_[65] * vU_[37];
3421  jac[56] =
3422  (vU_[68] - vU_[60] * vU_[64] - vU_[30] * vU_[46] - vU_[63] * vU_[34] - vU_[62] * vU_[43] - vU_[53] * vU_[37]) /
3423  vU_[60];
3424  vU_[68] = -1 * vU_[34];
3425  vU_[64] = vU_[64] + jac[56];
3426  vU_[32] = vU_[20] * vU_[64] + vU_[50] * vU_[46];
3427  vU_[64] = vU_[50] * vU_[64] + vU_[3] * vU_[46];
3428  vU_[37] = -0.304 * vU_[46] + -1 * vU_[37];
3429  vU_[46] = vU_[50] * vU_[43] + vU_[33] * vU_[34];
3430  vU_[43] = vU_[3] * vU_[43] + vU_[4] * vU_[34];
3431  jac[57] = (vU_[52] - vU_[22] * vU_[68] - vU_[16] * vU_[32] - -0.00021200017 * vU_[64] - vU_[18] * vU_[37] -
3432  vU_[15] * vU_[46] - vU_[54] * vU_[43]) /
3433  vU_[22];
3434  vU_[68] = vU_[68] + jac[57];
3435  vU_[52] = vU_[29] * vU_[68] + vU_[6] * vU_[32];
3436  vU_[34] = vU_[7] * vU_[68] + vU_[29] * vU_[32];
3437  vU_[36] = vU_[44] * vU_[68] + vU_[49] * vU_[32] + vU_[29] * vU_[46] + vU_[24] * vU_[37];
3438  jac[58] = (1 - vU_[26] * vU_[64] - vU_[47] * vU_[52] - vU_[17] * vU_[34] - vU_[11] * vU_[43] -
3439  vU_[19] * (vU_[42] * vU_[68] + vU_[41] * vU_[32] + vU_[6] * vU_[46] + vU_[29] * vU_[37]) -
3440  vU_[12] * vU_[36]) /
3441  vU_[26];
3442  vU_[64] = vU_[64] + jac[58];
3443  jac[59] = (0 - 0.009277 * vU_[52] - -0.000829 * (vU_[10] * vU_[64] + vU_[8] * vU_[34]) -
3444  1.5e-05 * (vU_[8] * vU_[64] + vU_[9] * vU_[34]) -
3445  0.038686875 * (vU_[8] * vU_[36] + vU_[51] * vU_[52] + vU_[48] * vU_[43])) /
3446  0.009277;
3447  vU_[64] = vU_[10] * -0.089360784736445 + vU_[8] * 0.00161690201573785;
3448  vU_[36] = 0 - vU_[64];
3449  vU_[34] = 1 + vU_[51] * 4.17019241133987 + (vU_[47] * vU_[36]) / vU_[26];
3450  vU_[52] = vU_[8] * -0.089360784736445 + vU_[9] * 0.00161690201573785 + (vU_[17] * vU_[36]) / vU_[26];
3451  vU_[43] = vU_[8] * 4.17019241133987 + (vU_[12] * vU_[36]) / vU_[26];
3452  vU_[68] = (vU_[19] * vU_[36]) / vU_[26];
3453  vU_[46] = vU_[29] * vU_[34] + vU_[7] * vU_[52] + vU_[44] * vU_[43] + vU_[42] * vU_[68];
3454  vU_[37] = 0 - vU_[46];
3455  vU_[52] =
3456  vU_[6] * vU_[34] + vU_[29] * vU_[52] + vU_[49] * vU_[43] + vU_[41] * vU_[68] + (vU_[16] * vU_[37]) / vU_[22];
3457  vU_[64] = (vU_[26] * vU_[36]) / vU_[26] + vU_[64] + (-0.00021200017 * vU_[37]) / vU_[22];
3458  vU_[34] = vU_[29] * vU_[68] + vU_[24] * vU_[43] + (vU_[18] * vU_[37]) / vU_[22];
3459  vU_[32] = vU_[20] * vU_[52] + vU_[50] * vU_[64];
3460  vU_[45] = 0 - vU_[32];
3461  vU_[64] = vU_[50] * vU_[52] + vU_[3] * vU_[64] + -0.304 * vU_[34] + (vU_[30] * vU_[45]) / vU_[60];
3462  vU_[52] = vU_[48] * 4.17019241133987 + (vU_[11] * vU_[36]) / vU_[26] + (vU_[54] * vU_[37]) / vU_[22];
3463  vU_[68] = vU_[6] * vU_[68] + vU_[29] * vU_[43] + (vU_[15] * vU_[37]) / vU_[22];
3464  vU_[46] = vU_[4] * vU_[52] + -1 * (vU_[46] + (vU_[22] * vU_[37]) / vU_[22]) + vU_[33] * vU_[68] +
3465  (vU_[63] * vU_[45]) / vU_[60];
3466  vU_[34] = -1 * vU_[34] + (vU_[53] * vU_[45]) / vU_[60];
3467  vU_[68] = vU_[50] * vU_[68] + vU_[3] * vU_[52] + (vU_[62] * vU_[45]) / vU_[60];
3468  vU_[52] = 0 - vU_[38] * vU_[64] - vU_[2] * vU_[46] - vU_[21] * vU_[34] - vU_[28] * vU_[68];
3469  jac[66] = (0 -
3470  vU_[67] * (vU_[1] * vU_[64] + vU_[38] * vU_[46] + vU_[65] * vU_[34] + vU_[35] * vU_[68] +
3471  (vU_[66] * vU_[52]) / vU_[27]) -
3472  vU_[0] * ((vU_[60] * vU_[45]) / vU_[60] + vU_[32] + (-0.022851627 * vU_[52]) / vU_[27])) /
3473  vU_[56];
3474  vU_[67] = vU_[67] * jac[66];
3475  vU_[0] = vU_[0] * jac[66];
3476  jac[67] = (vU_[52] - vU_[66] * vU_[67] - -0.022851627 * vU_[0]) / vU_[27];
3477  vU_[1] = vU_[38] * jac[67] + vU_[1] * vU_[67];
3478  vU_[38] = vU_[2] * jac[67] + vU_[38] * vU_[67];
3479  vU_[28] = vU_[28] * jac[67] + vU_[35] * vU_[67];
3480  vU_[67] = vU_[21] * jac[67] + vU_[65] * vU_[67];
3481  jac[68] =
3482  (vU_[45] - vU_[60] * vU_[0] - vU_[30] * vU_[1] - vU_[63] * vU_[38] - vU_[62] * vU_[28] - vU_[53] * vU_[67]) /
3483  vU_[60];
3484  vU_[45] = -1 * vU_[38];
3485  vU_[0] = vU_[0] + jac[68];
3486  vU_[20] = vU_[20] * vU_[0] + vU_[50] * vU_[1];
3487  vU_[0] = vU_[50] * vU_[0] + vU_[3] * vU_[1];
3488  vU_[67] = -0.304 * vU_[1] + -1 * vU_[67];
3489  vU_[33] = vU_[50] * vU_[28] + vU_[33] * vU_[38];
3490  vU_[28] = vU_[3] * vU_[28] + vU_[4] * vU_[38];
3491  jac[69] = (vU_[37] - vU_[22] * vU_[45] - vU_[16] * vU_[20] - -0.00021200017 * vU_[0] - vU_[18] * vU_[67] -
3492  vU_[15] * vU_[33] - vU_[54] * vU_[28]) /
3493  vU_[22];
3494  vU_[45] = vU_[45] + jac[69];
3495  vU_[37] = vU_[29] * vU_[45] + vU_[6] * vU_[20];
3496  vU_[7] = vU_[7] * vU_[45] + vU_[29] * vU_[20];
3497  vU_[24] = vU_[44] * vU_[45] + vU_[49] * vU_[20] + vU_[29] * vU_[33] + vU_[24] * vU_[67];
3498  jac[70] = (vU_[36] - vU_[26] * vU_[0] - vU_[47] * vU_[37] - vU_[17] * vU_[7] - vU_[11] * vU_[28] -
3499  vU_[19] * (vU_[42] * vU_[45] + vU_[41] * vU_[20] + vU_[6] * vU_[33] + vU_[29] * vU_[67]) -
3500  vU_[12] * vU_[24]) /
3501  vU_[26];
3502  vU_[0] = vU_[0] + jac[70];
3503  jac[71] = (1 - 0.009277 * vU_[37] - -0.000829 * (vU_[10] * vU_[0] + vU_[8] * vU_[7]) -
3504  1.5e-05 * (vU_[8] * vU_[0] + vU_[9] * vU_[7]) -
3505  0.038686875 * (vU_[8] * vU_[24] + vU_[51] * vU_[37] + vU_[48] * vU_[28])) /
3506  0.009277;
3507 
3508 
3509  return dFdu_;
3510 }
3511 } // namespace tpl
3512 } // namespace HyA
3513 } // namespace models
3514 } // namespace ct
ct::models::HyA::HyALinearizedForward::getDerivativeState
virtual const state_matrix_t & getDerivativeState(const state_vector_t &x, const control_vector_t &u, const double t=double(0.0)) override
Definition: HyALinearizedForward-impl.h:14
ct::models::HyA::HyALinearizedForward::state_control_matrix_t
Base::state_control_matrix_t state_control_matrix_t
Definition: HyALinearizedForward.h:22
SCALAR
CppAD::AD< CppAD::cg::CG< double > > SCALAR
Definition: HyQLinearizationCodegen.cpp:14
ct::models::HyA::HyALinearizedForward::state_matrix_t
Base::state_matrix_t state_matrix_t
Definition: HyALinearizedForward.h:21
ct::models::HyA::HyALinearizedForward::getDerivativeControl
virtual const state_control_matrix_t & getDerivativeControl(const state_vector_t &x, const control_vector_t &u, const double t=double(0.0)) override
Definition: HyALinearizedForward-impl.h:2968