diff --git a/VirtualRobot/CMakeLists.txt b/VirtualRobot/CMakeLists.txt
index f09afe8aab09f035f22154b49bfd182bd360abe8..85be63ded9ab3fc6ac1e8c303c036952ee23c9c0 100644
--- a/VirtualRobot/CMakeLists.txt
+++ b/VirtualRobot/CMakeLists.txt
@@ -326,6 +326,8 @@ SET(SOURCES
Nodes/RobotNodeActuator.cpp
Nodes/RobotNodeHemisphere.cpp
Nodes/RobotNodeHemisphereFactory.cpp
+ Nodes/RobotNodeFourBar.cpp
+ Nodes/RobotNodeFourBarFactory.cpp
Nodes/RobotNodeFixed.cpp
Nodes/RobotNodeFixedFactory.cpp
Nodes/RobotNodePrismatic.cpp
@@ -335,6 +337,8 @@ SET(SOURCES
Nodes/Sensor.cpp
Nodes/HemisphereJoint/Expressions.cpp
Nodes/HemisphereJoint/Joint.cpp
+ Nodes/FourBar/Expressions.cpp
+ Nodes/FourBar/Joint.cpp
TimeOptimalTrajectory/Path.cpp
TimeOptimalTrajectory/TimeOptimalTrajectory.cpp
@@ -568,6 +572,8 @@ SET(INCLUDES
Nodes/RobotNodeActuator.h
Nodes/RobotNodeHemisphere.h
Nodes/RobotNodeHemisphereFactory.h
+ Nodes/RobotNodeFourBar.h
+ Nodes/RobotNodeFourBarFactory.h
Nodes/RobotNodeFactory.h
Nodes/RobotNodeFixed.h
Nodes/RobotNodeFixedFactory.h
@@ -579,6 +585,8 @@ SET(INCLUDES
Nodes/SensorFactory.h
Nodes/HemisphereJoint/Expressions.h
Nodes/HemisphereJoint/Joint.h
+ Nodes/FourBar/Expressions.h
+ Nodes/FourBar/Joint.h
TimeOptimalTrajectory/Path.h
TimeOptimalTrajectory/TimeOptimalTrajectory.h
diff --git a/VirtualRobot/IK/DifferentialIK.cpp b/VirtualRobot/IK/DifferentialIK.cpp
index fab7724348723ef73a01ddb24f3fd06d2f965bbc..e3a0a1ef355edee8d5c48e1213d6170576533c1f 100644
--- a/VirtualRobot/IK/DifferentialIK.cpp
+++ b/VirtualRobot/IK/DifferentialIK.cpp
@@ -7,6 +7,8 @@
#include "../VirtualRobotException.h"
#include "../CollisionDetection/CollisionChecker.h"
#include <VirtualRobot/Nodes/RobotNodeHemisphere.h>
+#include <VirtualRobot/Nodes/RobotNodeFourBar.h>
+#include <VirtualRobot/Nodes/RobotNodeHemisphere.h>
#include <Eigen/Geometry>
@@ -507,6 +509,11 @@ namespace VirtualRobot
// Pass
}
}
+ else if (dof->isFourBarJoint())
+ {
+ const RobotNodeFourBar* fourBarJoint = dynamic_cast<RobotNodeFourBar*>(dof.get());
+ // FIXME implement
+ }
}
#ifdef CHECK_PERFORMANCE
diff --git a/VirtualRobot/Nodes/FourBar/Expressions.cpp b/VirtualRobot/Nodes/FourBar/Expressions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..41d3b81de1244d033cffb63bad43d836e94a579b
--- /dev/null
+++ b/VirtualRobot/Nodes/FourBar/Expressions.cpp
@@ -0,0 +1,245 @@
+/*
+ * This file was generated automatically on 2022-06-09 10:41.
+ */
+
+#include "Expressions.h"
+
+#include <cmath>
+
+
+namespace VirtualRobot::four_bar
+{
+
+void Expressions::compute(double a1, double a2, double lever, double theta0)
+{
+ this->a1 = a1;
+ this->a2 = a2;
+ this->lever = lever;
+ this->theta0 = theta0;
+
+ _lever_p_2 = (lever * lever);
+ _a2_p_2 = (a2 * a2);
+ __s_a2_p_2 = (-1 * _a2_p_2);
+ __s_a2_p_2_a_lever_p_2 = (_lever_p_2 + __s_a2_p_2);
+ _1_d_sqrt_l__s_a2_p_2_a_lever_p_2_r_ = std::pow(__s_a2_p_2_a_lever_p_2, -0.5);
+ _lever_p_4 = std::pow(lever, 4);
+ _a1_p_2 = (a1 * a1);
+ __s_a1_p_2_m_a2_p_2 = (-1 * _a1_p_2 * _a2_p_2);
+ __s_a1_p_2_m_a2_p_2_a_lever_p_4 = (_lever_p_4 + __s_a1_p_2_m_a2_p_2);
+ _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ = (1 / __s_a1_p_2_m_a2_p_2_a_lever_p_4);
+ _lever_p_5 = std::pow(lever, 5);
+ _sin_l_theta0_r_ = std::sin(theta0);
+ _lever_p_5_m_sin_l_theta0_r_ = (_lever_p_5 * _sin_l_theta0_r_);
+ _lever_p_8 = std::pow(lever, 8);
+ _lever_p_6 = std::pow(lever, 6);
+ __s_a1_p_2_m_lever_p_6 = (-1 * _a1_p_2 * _lever_p_6);
+ _a1_p_4 = std::pow(a1, 4);
+ _a2_p_4 = std::pow(a2, 4);
+ __s_a1_p_4_m_a2_p_4 = (-1 * _a1_p_4 * _a2_p_4);
+ __s_a2_p_2_m_lever_p_6 = (-1 * _a2_p_2 * _lever_p_6);
+ _sin_l_theta0_r__p_2 = (_sin_l_theta0_r_ * _sin_l_theta0_r_);
+ __s_2_m_lever_p_8_m_sin_l_theta0_r__p_2 = (-2 * _lever_p_8 * _sin_l_theta0_r__p_2);
+ _a1_p_2_m_a2_p_4_m_lever_p_2 = (_a1_p_2 * _a2_p_4 * _lever_p_2);
+ _a1_p_4_m_a2_p_2_m_lever_p_2 = (_a1_p_4 * _a2_p_2 * _lever_p_2);
+ _2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2 = (2 * _a1_p_2 * _lever_p_6 * _sin_l_theta0_r__p_2);
+ _2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2 = (2 * _a2_p_2 * _lever_p_6 * _sin_l_theta0_r__p_2);
+ _a2_p_3 = std::pow(a2, 3);
+ __s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2 = (-2 * a1 * _a2_p_3 * _lever_p_4 * _sin_l_theta0_r__p_2);
+ _a1_p_3 = std::pow(a1, 3);
+ __s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2 = (-2 * a2 * _a1_p_3 * _lever_p_4 * _sin_l_theta0_r__p_2);
+ __s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2 = (-2 * _a1_p_2 * _a2_p_2 * _lever_p_4 * _sin_l_theta0_r__p_2);
+ _2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2 = (2 * a1 * a2 * _lever_p_6 * _sin_l_theta0_r__p_2);
+ _2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2 = (2 * _a1_p_3 * _a2_p_3 * _lever_p_2 * _sin_l_theta0_r__p_2);
+ __s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8 = (_lever_p_8 + __s_a1_p_2_m_lever_p_6 + __s_a1_p_4_m_a2_p_4 + __s_a2_p_2_m_lever_p_6 + __s_2_m_lever_p_8_m_sin_l_theta0_r__p_2 + _a1_p_2_m_a2_p_4_m_lever_p_2 + _a1_p_4_m_a2_p_2_m_lever_p_2 + _2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2 + _2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2 + __s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2 + __s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2 + __s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2 + _2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2 + _2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2);
+ _sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = std::pow(__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8, 0.5);
+ __s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = (-1 * a2 * _sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_);
+ _lever_p_3 = std::pow(lever, 3);
+ __s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r_ = (-1 * _a2_p_2 * _lever_p_3 * _sin_l_theta0_r_);
+ _a1_m_a2_p_3_m_lever_m_sin_l_theta0_r_ = (a1 * lever * _a2_p_3 * _sin_l_theta0_r_);
+ __s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r_ = (-1 * a1 * a2 * _lever_p_3 * _sin_l_theta0_r_);
+ _a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_ = (_lever_p_5_m_sin_l_theta0_r_ + __s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ + __s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r_ + _a1_m_a2_p_3_m_lever_m_sin_l_theta0_r_ + __s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r_);
+ _2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (2 * lever * _1_d_sqrt_l__s_a2_p_2_a_lever_p_2_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * _a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_ * _sin_l_theta0_r_);
+ __s_a1_p_2 = (-1 * _a1_p_2);
+ __s_a1_p_2_a_lever_p_2 = (_lever_p_2 + __s_a1_p_2);
+ _1_d_sqrt_l__s_a1_p_2_a_lever_p_2_r_ = std::pow(__s_a1_p_2_a_lever_p_2, -0.5);
+ __s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = (-1 * a1 * _sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_);
+ __s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r_ = (-1 * _a1_p_2 * _lever_p_3 * _sin_l_theta0_r_);
+ _a1_p_3_m_a2_m_lever_m_sin_l_theta0_r_ = (a2 * lever * _a1_p_3 * _sin_l_theta0_r_);
+ _a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_ = (_lever_p_5_m_sin_l_theta0_r_ + __s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ + __s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r_ + _a1_p_3_m_a2_m_lever_m_sin_l_theta0_r_ + __s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r_);
+ _2_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (2 * lever * _1_d_sqrt_l__s_a1_p_2_a_lever_p_2_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * _a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_ * _sin_l_theta0_r_);
+ _a1_m_a2 = (a1 * a2);
+ _a1_m_a2_a_lever_p_2 = (_lever_p_2 + _a1_m_a2);
+ _1_d__l_a1_m_a2_a_lever_p_2_r_ = (1 / _a1_m_a2_a_lever_p_2);
+ __s_lever_p_4 = (-1 * _lever_p_4);
+ _a1_p_2_m_a2_p_2 = (_a1_p_2 * _a2_p_2);
+ _a1_p_2_m_a2_p_2_s_lever_p_4 = (__s_lever_p_4 + _a1_p_2_m_a2_p_2);
+ _cos_l_theta0_r_ = std::cos(theta0);
+ _cos_l_theta0_r__p_2 = (_cos_l_theta0_r_ * _cos_l_theta0_r_);
+ __s_2_m_lever_p_4_m_cos_l_theta0_r__p_2 = (-2 * _lever_p_4 * _cos_l_theta0_r__p_2);
+ _a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2 = (_a1_p_2 * _lever_p_2 * _cos_l_theta0_r__p_2);
+ _a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2 = (_a2_p_2 * _lever_p_2 * _cos_l_theta0_r__p_2);
+ __s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4 = (_lever_p_4 + __s_a1_p_2_m_a2_p_2 + __s_2_m_lever_p_4_m_cos_l_theta0_r__p_2 + _a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2 + _a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2);
+ __l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r_ = (_a1_p_2_m_a2_p_2_s_lever_p_4 * __s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4);
+ _a1_m_lever_p_2 = (a1 * _lever_p_2);
+ _a2_m_lever_p_2 = (a2 * _lever_p_2);
+ __s_a1_m_a2_p_2 = (-1 * a1 * _a2_p_2);
+ __s_a1_p_2_m_a2 = (-1 * a2 * _a1_p_2);
+ __s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2 = (_a1_m_lever_p_2 + _a2_m_lever_p_2 + __s_a1_m_a2_p_2 + __s_a1_p_2_m_a2);
+ __l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2 = (__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2 * __s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2);
+ _lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2 = (_lever_p_2 * __l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2 * _sin_l_theta0_r__p_2);
+ _lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r_ = (__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r_ + _lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2);
+ _sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = std::pow(_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r_, 0.5);
+ __l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = (_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ * _a1_m_a2_a_lever_p_2);
+ _a1_a_a2 = (a1 + a2);
+ _lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r_ = (lever * _a1_a_a2 * __s_a1_p_2_m_a2_p_2_a_lever_p_4 * _sin_l_theta0_r_);
+ _lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = (__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ + _lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r_);
+ _2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (2 * lever * _1_d__l_a1_m_a2_a_lever_p_2_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * _lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ * _sin_l_theta0_r_);
+ _1_d__l__s_a2_p_2_a_lever_p_2_r_ = (1 / __s_a2_p_2_a_lever_p_2);
+ __l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p__l__s_2_r_ = std::pow(__s_a1_p_2_m_a2_p_2_a_lever_p_4, -2);
+ __l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2 = (_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_ * _a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_);
+ __s_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (-2 * _1_d__l__s_a2_p_2_a_lever_p_2_r_ * __l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p__l__s_2_r_ * __l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2);
+ _1_s_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (1 + __s_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_);
+ __s_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (-2 * _1_d_sqrt_l__s_a1_p_2_a_lever_p_2_r_ * _1_d_sqrt_l__s_a2_p_2_a_lever_p_2_r_ * __l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p__l__s_2_r_ * _a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_ * _a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_);
+ _1_d_lever = (1 / lever);
+ _4_m_lever_p_2_m_sin_l_theta0_r__p_2 = (4 * _lever_p_2 * _sin_l_theta0_r__p_2);
+ _1_d__l__s_a1_p_2_a_lever_p_2_r_ = (1 / __s_a1_p_2_a_lever_p_2);
+ __l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2 = (_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_ * _a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_);
+ __s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (-4 * _lever_p_2 * _1_d__l__s_a1_p_2_a_lever_p_2_r_ * __l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p__l__s_2_r_ * __l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2 * _sin_l_theta0_r__p_2);
+ __s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (-4 * _lever_p_2 * _1_d__l__s_a2_p_2_a_lever_p_2_r_ * __l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p__l__s_2_r_ * __l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2 * _sin_l_theta0_r__p_2);
+ _4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (_4_m_lever_p_2_m_sin_l_theta0_r__p_2 + __s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ + __s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_);
+ _sqrt_l_4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r_ = std::pow(_4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_, 0.5);
+ _1_d_sin_l_theta0_r_ = (1 / _sin_l_theta0_r_);
+ 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= (-1 * _1_d_lever * _1_d_sqrt_l__s_a2_p_2_a_lever_p_2_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * _sqrt_l_4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r_ * _1_d_sin_l_theta0_r_ * _a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_);
+ __s_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (-2 * _1_d__l__s_a1_p_2_a_lever_p_2_r_ * __l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p__l__s_2_r_ * __l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2);
+ _1_s_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (1 + __s_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_);
+ 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= (-1 * _1_d_lever * _1_d_sqrt_l__s_a1_p_2_a_lever_p_2_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * 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* _1_d_sin_l_theta0_r_ * _a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_);
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= (_1_d_lever * _1_d_sqrt_l__s_a2_p_2_a_lever_p_2_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * _sqrt_l_4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r_ * _1_d_sin_l_theta0_r_ * _a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_);
+ _sqrt_l_4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r__m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__d__l_lever_m_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__r_ = (_1_d_lever * _1_d_sqrt_l__s_a1_p_2_a_lever_p_2_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * _sqrt_l_4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r_ * _1_d_sin_l_theta0_r_ * _a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_);
+ _lever_p__l__s_2_r_ = std::pow(lever, -2);
+ _2_m_lever_p_2 = (2 * _lever_p_2);
+ __s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (-4 * _lever_p_2 * _1_d__l__s_a1_p_2_a_lever_p_2_r_ * __l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p__l__s_2_r_ * __l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2);
+ __s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (-4 * _lever_p_2 * _1_d__l__s_a2_p_2_a_lever_p_2_r_ * __l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p__l__s_2_r_ * __l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2);
+ _2_m_lever_p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (_2_m_lever_p_2 + __s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ + __s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_);
+ __l_2_m_lever_p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r__d__l_2_m_lever_p_2_r_ = (0.5 * _lever_p__l__s_2_r_ * _2_m_lever_p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_);
+ _a2_p_3_m_lever_m_sin_l_theta0_r_ = (lever * _a2_p_3 * _sin_l_theta0_r_);
+ __s_a2_m_lever_p_3_m_sin_l_theta0_r_ = (-1 * a2 * _lever_p_3 * _sin_l_theta0_r_);
+ _1_d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = std::pow(__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8, -0.5);
+ __s_a1_m_lever_p_6 = (-1 * a1 * _lever_p_6);
+ __s_2_m_a1_p_3_m_a2_p_4 = (-2 * _a1_p_3 * _a2_p_4);
+ _a1_m_a2_p_4_m_lever_p_2 = (a1 * _a2_p_4 * _lever_p_2);
+ _a2_m_lever_p_6_m_sin_l_theta0_r__p_2 = (a2 * _lever_p_6 * _sin_l_theta0_r__p_2);
+ __s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2 = (-1 * _a2_p_3 * _lever_p_4 * _sin_l_theta0_r__p_2);
+ _2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2 = (2 * a1 * _lever_p_6 * _sin_l_theta0_r__p_2);
+ _2_m_a1_p_3_m_a2_p_2_m_lever_p_2 = (2 * _a1_p_3 * _a2_p_2 * _lever_p_2);
+ __s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2 = (-3 * a2 * _a1_p_2 * _lever_p_4 * _sin_l_theta0_r__p_2);
+ __s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2 = (-2 * a1 * _a2_p_2 * _lever_p_4 * _sin_l_theta0_r__p_2);
+ _3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2 = (3 * _a1_p_2 * _a2_p_3 * _lever_p_2 * _sin_l_theta0_r__p_2);
+ __s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2 = (__s_a1_m_lever_p_6 + __s_2_m_a1_p_3_m_a2_p_4 + _a1_m_a2_p_4_m_lever_p_2 + _a2_m_lever_p_6_m_sin_l_theta0_r__p_2 + __s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2 + _2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2 + _2_m_a1_p_3_m_a2_p_2_m_lever_p_2 + __s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2 + __s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2 + _3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2);
+ __s_a2_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = (-1 * a2 * _1_d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ * __s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2);
+ _a2_p_3_m_lever_m_sin_l_theta0_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = (_a2_p_3_m_lever_m_sin_l_theta0_r_ + __s_a2_m_lever_p_3_m_sin_l_theta0_r_ + __s_a2_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_);
+ _2_m_lever_m__l_a2_p_3_m_lever_m_sin_l_theta0_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (2 * lever * _1_d_sqrt_l__s_a2_p_2_a_lever_p_2_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * _a2_p_3_m_lever_m_sin_l_theta0_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ * _sin_l_theta0_r_);
+ _4_m_a1_m_a2_p_2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (4 * a1 * lever * _a2_p_2 * _1_d_sqrt_l__s_a2_p_2_a_lever_p_2_r_ * __l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p__l__s_2_r_ * _a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_ * _sin_l_theta0_r_);
+ _4_m_a1_m_a2_p_2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__a_2_m_lever_m__l_a2_p_3_m_lever_m_sin_l_theta0_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (_2_m_lever_m__l_a2_p_3_m_lever_m_sin_l_theta0_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ + _4_m_a1_m_a2_p_2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_);
+ __s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = (-1 * _sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_);
+ __s_a1_m_lever_p_3_m_sin_l_theta0_r_ = (-1 * a1 * _lever_p_3 * _sin_l_theta0_r_);
+ __s_a2_m_lever_p_6 = (-1 * a2 * _lever_p_6);
+ __s_2_m_a1_p_4_m_a2_p_3 = (-2 * _a1_p_4 * _a2_p_3);
+ _a1_m_lever_p_6_m_sin_l_theta0_r__p_2 = (a1 * _lever_p_6 * _sin_l_theta0_r__p_2);
+ _a1_p_4_m_a2_m_lever_p_2 = (a2 * _a1_p_4 * _lever_p_2);
+ __s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2 = (-1 * _a1_p_3 * _lever_p_4 * _sin_l_theta0_r__p_2);
+ _2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2 = (2 * a2 * _lever_p_6 * _sin_l_theta0_r__p_2);
+ _2_m_a1_p_2_m_a2_p_3_m_lever_p_2 = (2 * _a1_p_2 * _a2_p_3 * _lever_p_2);
+ __s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2 = (-3 * a1 * _a2_p_2 * _lever_p_4 * _sin_l_theta0_r__p_2);
+ __s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2 = (-2 * a2 * _a1_p_2 * _lever_p_4 * _sin_l_theta0_r__p_2);
+ _3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2 = (3 * _a1_p_3 * _a2_p_2 * _lever_p_2 * _sin_l_theta0_r__p_2);
+ __s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6 = (__s_a2_m_lever_p_6 + __s_2_m_a1_p_4_m_a2_p_3 + _a1_m_lever_p_6_m_sin_l_theta0_r__p_2 + _a1_p_4_m_a2_m_lever_p_2 + __s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2 + _2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2 + _2_m_a1_p_2_m_a2_p_3_m_lever_p_2 + __s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2 + __s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2 + _3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2);
+ __s_a2_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = (-1 * a2 * _1_d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ * __s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6);
+ __s_2_m_a2_m_lever_p_3_m_sin_l_theta0_r_ = (-2 * a2 * _lever_p_3 * _sin_l_theta0_r_);
+ _3_m_a1_m_a2_p_2_m_lever_m_sin_l_theta0_r_ = (3 * a1 * lever * _a2_p_2 * _sin_l_theta0_r_);
+ _3_m_a1_m_a2_p_2_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_2_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = (__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ + __s_a1_m_lever_p_3_m_sin_l_theta0_r_ + __s_a2_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ + __s_2_m_a2_m_lever_p_3_m_sin_l_theta0_r_ + _3_m_a1_m_a2_p_2_m_lever_m_sin_l_theta0_r_);
+ _2_m_lever_m__l_3_m_a1_m_a2_p_2_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_2_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (2 * lever * _1_d_sqrt_l__s_a2_p_2_a_lever_p_2_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * _3_m_a1_m_a2_p_2_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_2_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ * _sin_l_theta0_r_);
+ __l__s_a2_p_2_a_lever_p_2_r__p__l__s_1_t_5_r_ = std::pow(__s_a2_p_2_a_lever_p_2, -1.5);
+ _2_m_a2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l__l__s_a2_p_2_a_lever_p_2_r__p_1_t_5_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (2 * a2 * lever * __l__s_a2_p_2_a_lever_p_2_r__p__l__s_1_t_5_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * _a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_ * _sin_l_theta0_r_);
+ _4_m_a1_p_2_m_a2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (4 * a2 * lever * _a1_p_2 * _1_d_sqrt_l__s_a2_p_2_a_lever_p_2_r_ * __l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p__l__s_2_r_ * _a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_ * _sin_l_theta0_r_);
+ _4_m_a1_p_2_m_a2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__a_2_m_a2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l__l__s_a2_p_2_a_lever_p_2_r__p_1_t_5_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r__a_2_m_lever_m__l_3_m_a1_m_a2_p_2_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_2_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (_2_m_lever_m__l_3_m_a1_m_a2_p_2_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_2_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ + _2_m_a2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l__l__s_a2_p_2_a_lever_p_2_r__p_1_t_5_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ + _4_m_a1_p_2_m_a2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_);
+ __s_a1_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = (-1 * a1 * _1_d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ * __s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2);
+ __s_2_m_a1_m_lever_p_3_m_sin_l_theta0_r_ = (-2 * a1 * _lever_p_3 * _sin_l_theta0_r_);
+ _3_m_a1_p_2_m_a2_m_lever_m_sin_l_theta0_r_ = (3 * a2 * lever * _a1_p_2 * _sin_l_theta0_r_);
+ _3_m_a1_p_2_m_a2_m_lever_m_sin_l_theta0_r__s_2_m_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = (__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ + __s_a1_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ + __s_a2_m_lever_p_3_m_sin_l_theta0_r_ + __s_2_m_a1_m_lever_p_3_m_sin_l_theta0_r_ + _3_m_a1_p_2_m_a2_m_lever_m_sin_l_theta0_r_);
+ _2_m_lever_m__l_3_m_a1_p_2_m_a2_m_lever_m_sin_l_theta0_r__s_2_m_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (2 * lever * _1_d_sqrt_l__s_a1_p_2_a_lever_p_2_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * _3_m_a1_p_2_m_a2_m_lever_m_sin_l_theta0_r__s_2_m_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ * _sin_l_theta0_r_);
+ __l__s_a1_p_2_a_lever_p_2_r__p__l__s_1_t_5_r_ = std::pow(__s_a1_p_2_a_lever_p_2, -1.5);
+ _2_m_a1_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l__l__s_a1_p_2_a_lever_p_2_r__p_1_t_5_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (2 * a1 * lever * __l__s_a1_p_2_a_lever_p_2_r__p__l__s_1_t_5_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * _a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_ * _sin_l_theta0_r_);
+ _4_m_a1_m_a2_p_2_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (4 * a1 * lever * _a2_p_2 * _1_d_sqrt_l__s_a1_p_2_a_lever_p_2_r_ * __l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p__l__s_2_r_ * _a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_ * _sin_l_theta0_r_);
+ _4_m_a1_m_a2_p_2_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__a_2_m_a1_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l__l__s_a1_p_2_a_lever_p_2_r__p_1_t_5_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r__a_2_m_lever_m__l_3_m_a1_p_2_m_a2_m_lever_m_sin_l_theta0_r__s_2_m_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (_2_m_lever_m__l_3_m_a1_p_2_m_a2_m_lever_m_sin_l_theta0_r__s_2_m_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ + _2_m_a1_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l__l__s_a1_p_2_a_lever_p_2_r__p_1_t_5_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ + _4_m_a1_m_a2_p_2_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_);
+ _a1_p_3_m_lever_m_sin_l_theta0_r_ = (lever * _a1_p_3 * _sin_l_theta0_r_);
+ __s_a1_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = (-1 * a1 * _1_d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ * __s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6);
+ _a1_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = (_a1_p_3_m_lever_m_sin_l_theta0_r_ + __s_a1_m_lever_p_3_m_sin_l_theta0_r_ + __s_a1_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_);
+ _2_m_lever_m__l_a1_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (2 * lever * _1_d_sqrt_l__s_a1_p_2_a_lever_p_2_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * _a1_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ * _sin_l_theta0_r_);
+ _4_m_a1_p_2_m_a2_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (4 * a2 * lever * _a1_p_2 * _1_d_sqrt_l__s_a1_p_2_a_lever_p_2_r_ * __l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p__l__s_2_r_ * _a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_ * _sin_l_theta0_r_);
+ _4_m_a1_p_2_m_a2_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__a_2_m_lever_m__l_a1_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (_2_m_lever_m__l_a1_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ + _4_m_a1_p_2_m_a2_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_);
+ _a2_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = (a2 * _sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_);
+ _lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r_ = (lever * __s_a1_p_2_m_a2_p_2_a_lever_p_4 * _sin_l_theta0_r_);
+ _1_d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = std::pow(_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r_, -0.5);
+ __s_2_m_a1_m_a2_p_2 = (-2 * a1 * _a2_p_2);
+ _2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2 = (2 * a1 * _lever_p_2 * _cos_l_theta0_r__p_2);
+ __s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2 = (__s_2_m_a1_m_a2_p_2 + _2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2);
+ __l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2 = (0.5 * _a1_p_2_m_a2_p_2_s_lever_p_4 * __s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2);
+ _a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r_ = (a1 * _a2_p_2 * __s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4);
+ __s_2_m_a2_p_2 = (-2 * _a2_p_2);
+ __s_4_m_a1_m_a2 = (-4 * a1 * a2);
+ __s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2 = (__s_2_m_a2_p_2 + _2_m_lever_p_2 + __s_4_m_a1_m_a2);
+ _lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2 = (0.5 * _lever_p_2 * _sin_l_theta0_r__p_2 * __s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2 * __s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2);
+ _a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2 = (__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2 + _a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r_ + _lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2);
+ __l_a1_m_a2_a_lever_p_2_r__m__l_a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = (_1_d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ * _a1_m_a2_a_lever_p_2 * _a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2);
+ __s_2_m_a1_m_a2_p_2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r_ = (-2 * a1 * lever * _a2_p_2 * _a1_a_a2 * _sin_l_theta0_r_);
+ __s_2_m_a1_m_a2_p_2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a2_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = (_a2_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ + _lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r_ + __l_a1_m_a2_a_lever_p_2_r__m__l_a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ + __s_2_m_a1_m_a2_p_2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r_);
+ _2_m_lever_m__l__s_2_m_a1_m_a2_p_2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a2_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (2 * lever * _1_d__l_a1_m_a2_a_lever_p_2_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * __s_2_m_a1_m_a2_p_2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a2_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ * _sin_l_theta0_r_);
+ __l_a1_m_a2_a_lever_p_2_r__p__l__s_2_r_ = std::pow(_a1_m_a2_a_lever_p_2, -2);
+ __s_2_m_a2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__p_2_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (-2 * a2 * lever * __l_a1_m_a2_a_lever_p_2_r__p__l__s_2_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * _lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ * _sin_l_theta0_r_);
+ _4_m_a1_m_a2_p_2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (4 * a1 * lever * _a2_p_2 * _1_d__l_a1_m_a2_a_lever_p_2_r_ * __l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p__l__s_2_r_ * _lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ * _sin_l_theta0_r_);
+ _4_m_a1_m_a2_p_2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_2_m_a2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__p_2_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r__a_2_m_lever_m__l__s_2_m_a1_m_a2_p_2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a2_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (_2_m_lever_m__l__s_2_m_a1_m_a2_p_2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a2_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ + __s_2_m_a2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__p_2_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ + _4_m_a1_m_a2_p_2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_);
+ _a1_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = (a1 * _sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_);
+ __s_2_m_a1_p_2_m_a2 = (-2 * a2 * _a1_p_2);
+ _2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2 = (2 * a2 * _lever_p_2 * _cos_l_theta0_r__p_2);
+ __s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2 = (__s_2_m_a1_p_2_m_a2 + _2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2);
+ __l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2 = (0.5 * _a1_p_2_m_a2_p_2_s_lever_p_4 * __s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2);
+ _a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r_ = (a2 * _a1_p_2 * __s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4);
+ __s_2_m_a1_p_2 = (-2 * _a1_p_2);
+ __s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2 = (__s_2_m_a1_p_2 + _2_m_lever_p_2 + __s_4_m_a1_m_a2);
+ _lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2 = (0.5 * _lever_p_2 * _sin_l_theta0_r__p_2 * __s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2 * __s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2);
+ _a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2 = (__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2 + _a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r_ + _lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2);
+ __l_a1_m_a2_a_lever_p_2_r__m__l_a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = (_1_d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ * _a1_m_a2_a_lever_p_2 * _a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2);
+ __s_2_m_a1_p_2_m_a2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r_ = (-2 * a2 * lever * _a1_p_2 * _a1_a_a2 * _sin_l_theta0_r_);
+ __s_2_m_a1_p_2_m_a2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a1_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = (_a1_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ + _lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r_ + __l_a1_m_a2_a_lever_p_2_r__m__l_a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ + __s_2_m_a1_p_2_m_a2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r_);
+ _2_m_lever_m__l__s_2_m_a1_p_2_m_a2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a1_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (2 * lever * _1_d__l_a1_m_a2_a_lever_p_2_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * __s_2_m_a1_p_2_m_a2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a1_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ * _sin_l_theta0_r_);
+ __s_2_m_a1_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__p_2_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (-2 * a1 * lever * __l_a1_m_a2_a_lever_p_2_r__p__l__s_2_r_ * _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ * _lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ * _sin_l_theta0_r_);
+ _4_m_a1_p_2_m_a2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = (4 * a2 * lever * _a1_p_2 * _1_d__l_a1_m_a2_a_lever_p_2_r_ * __l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p__l__s_2_r_ * _lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ * _sin_l_theta0_r_);
+ _4_m_a1_p_2_m_a2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_2_m_a1_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__p_2_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r__a_2_m_lever_m__l__s_2_m_a1_p_2_m_a2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a1_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = (_2_m_lever_m__l__s_2_m_a1_p_2_m_a2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a1_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ + __s_2_m_a1_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__p_2_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ + _4_m_a1_p_2_m_a2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_);
+
+ ex = _2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_;
+ ey = _2_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_;
+ ez = _2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_;
+ exx = _1_s_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_;
+ exy = __s_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_;
+ exz = __s_sqrt_l_4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r__m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__d__l_lever_m_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__r_;
+ eyx = __s_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_;
+ eyy = _1_s_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_;
+ eyz = __s_sqrt_l_4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r__m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__d__l_lever_m_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__r_;
+ ezx = _sqrt_l_4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r__m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__d__l_lever_m_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__r_;
+ ezy = _sqrt_l_4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r__m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__d__l_lever_m_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__r_;
+ ezz = __l_2_m_lever_p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r__d__l_2_m_lever_p_2_r_;
+ jx1 = _4_m_a1_m_a2_p_2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__a_2_m_lever_m__l_a2_p_3_m_lever_m_sin_l_theta0_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_;
+ jx2 = _4_m_a1_p_2_m_a2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__a_2_m_a2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l__l__s_a2_p_2_a_lever_p_2_r__p_1_t_5_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r__a_2_m_lever_m__l_3_m_a1_m_a2_p_2_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_2_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_;
+ jy1 = _4_m_a1_m_a2_p_2_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__a_2_m_a1_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l__l__s_a1_p_2_a_lever_p_2_r__p_1_t_5_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r__a_2_m_lever_m__l_3_m_a1_p_2_m_a2_m_lever_m_sin_l_theta0_r__s_2_m_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_;
+ jy2 = _4_m_a1_p_2_m_a2_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__a_2_m_lever_m__l_a1_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_;
+ jz1 = _4_m_a1_m_a2_p_2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_2_m_a2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__p_2_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r__a_2_m_lever_m__l__s_2_m_a1_m_a2_p_2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a2_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_;
+ jz2 = _4_m_a1_p_2_m_a2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_2_m_a1_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__p_2_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r__a_2_m_lever_m__l__s_2_m_a1_p_2_m_a2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a1_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_;
+ jrx1 = _lever_p_2;
+ jrx2 = _lever_p_2;
+ jry1 = _lever_p_2;
+ jry2 = _lever_p_2;
+ jrz1 = _lever_p_2;
+ jrz2 = _lever_p_2;
+}
+
+}
diff --git a/VirtualRobot/Nodes/FourBar/Expressions.h b/VirtualRobot/Nodes/FourBar/Expressions.h
new file mode 100644
index 0000000000000000000000000000000000000000..343951a9eaab780373bdb5c54fae82532e0a0947
--- /dev/null
+++ b/VirtualRobot/Nodes/FourBar/Expressions.h
@@ -0,0 +1,251 @@
+/*
+ * This file was generated automatically on 2022-06-09 10:41.
+ */
+
+#pragma once
+
+
+namespace VirtualRobot::four_bar
+{
+
+class Expressions
+{
+public:
+
+ void compute(double a1, double a2, double lever, double theta0);
+
+ // Input arguments:
+ double a1 = 0;
+ double a2 = 0;
+ double lever = 0;
+ double theta0 = 0;
+
+ // Results:
+ double ex = 0;
+ double ey = 0;
+ double ez = 0;
+ double exx = 0;
+ double exy = 0;
+ double exz = 0;
+ double eyx = 0;
+ double eyy = 0;
+ double eyz = 0;
+ double ezx = 0;
+ double ezy = 0;
+ double ezz = 0;
+ double jx1 = 0;
+ double jx2 = 0;
+ double jy1 = 0;
+ double jy2 = 0;
+ double jz1 = 0;
+ double jz2 = 0;
+ double jrx1 = 0;
+ double jrx2 = 0;
+ double jry1 = 0;
+ double jry2 = 0;
+ double jrz1 = 0;
+ double jrz2 = 0;
+
+ // Intermediate expressions:
+ double _lever_p_2 = 0;
+ double _a2_p_2 = 0;
+ double __s_a2_p_2 = 0;
+ double __s_a2_p_2_a_lever_p_2 = 0;
+ double _1_d_sqrt_l__s_a2_p_2_a_lever_p_2_r_ = 0;
+ double _lever_p_4 = 0;
+ double _a1_p_2 = 0;
+ double __s_a1_p_2_m_a2_p_2 = 0;
+ double __s_a1_p_2_m_a2_p_2_a_lever_p_4 = 0;
+ double _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_ = 0;
+ double _lever_p_5 = 0;
+ double _sin_l_theta0_r_ = 0;
+ double _lever_p_5_m_sin_l_theta0_r_ = 0;
+ double _lever_p_8 = 0;
+ double _lever_p_6 = 0;
+ double __s_a1_p_2_m_lever_p_6 = 0;
+ double _a1_p_4 = 0;
+ double _a2_p_4 = 0;
+ double __s_a1_p_4_m_a2_p_4 = 0;
+ double __s_a2_p_2_m_lever_p_6 = 0;
+ double _sin_l_theta0_r__p_2 = 0;
+ double __s_2_m_lever_p_8_m_sin_l_theta0_r__p_2 = 0;
+ double _a1_p_2_m_a2_p_4_m_lever_p_2 = 0;
+ double _a1_p_4_m_a2_p_2_m_lever_p_2 = 0;
+ double _2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2 = 0;
+ double _2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2 = 0;
+ double _a2_p_3 = 0;
+ double __s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2 = 0;
+ double _a1_p_3 = 0;
+ double __s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2 = 0;
+ double __s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2 = 0;
+ double _2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2 = 0;
+ double _2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2 = 0;
+ double __s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8 = 0;
+ double _sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = 0;
+ double __s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = 0;
+ double _lever_p_3 = 0;
+ double __s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r_ = 0;
+ double _a1_m_a2_p_3_m_lever_m_sin_l_theta0_r_ = 0;
+ double __s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r_ = 0;
+ double _a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_ = 0;
+ double _2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double __s_a1_p_2 = 0;
+ double __s_a1_p_2_a_lever_p_2 = 0;
+ double _1_d_sqrt_l__s_a1_p_2_a_lever_p_2_r_ = 0;
+ double __s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = 0;
+ double __s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r_ = 0;
+ double _a1_p_3_m_a2_m_lever_m_sin_l_theta0_r_ = 0;
+ double _a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r_ = 0;
+ double _2_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double _a1_m_a2 = 0;
+ double _a1_m_a2_a_lever_p_2 = 0;
+ double _1_d__l_a1_m_a2_a_lever_p_2_r_ = 0;
+ double __s_lever_p_4 = 0;
+ double _a1_p_2_m_a2_p_2 = 0;
+ double _a1_p_2_m_a2_p_2_s_lever_p_4 = 0;
+ double _cos_l_theta0_r_ = 0;
+ double _cos_l_theta0_r__p_2 = 0;
+ double __s_2_m_lever_p_4_m_cos_l_theta0_r__p_2 = 0;
+ double _a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2 = 0;
+ double _a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2 = 0;
+ double __s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4 = 0;
+ double __l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r_ = 0;
+ double _a1_m_lever_p_2 = 0;
+ double _a2_m_lever_p_2 = 0;
+ double __s_a1_m_a2_p_2 = 0;
+ double __s_a1_p_2_m_a2 = 0;
+ double __s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2 = 0;
+ double __l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2 = 0;
+ double _lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2 = 0;
+ double _lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r_ = 0;
+ double _sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = 0;
+ double __l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = 0;
+ double _a1_a_a2 = 0;
+ double _lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r_ = 0;
+ double _lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = 0;
+ double _2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double _1_d__l__s_a2_p_2_a_lever_p_2_r_ = 0;
+ double __l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p__l__s_2_r_ = 0;
+ double __l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2 = 0;
+ double __s_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double _1_s_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double __s_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double _1_d_lever = 0;
+ double _4_m_lever_p_2_m_sin_l_theta0_r__p_2 = 0;
+ double _1_d__l__s_a1_p_2_a_lever_p_2_r_ = 0;
+ double __l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2 = 0;
+ double __s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double __s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double _4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double _sqrt_l_4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r_ = 0;
+ double _1_d_sin_l_theta0_r_ = 0;
+ double __s_sqrt_l_4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r__m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__d__l_lever_m_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__r_ = 0;
+ double __s_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double _1_s_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double __s_sqrt_l_4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r__m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__d__l_lever_m_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__r_ = 0;
+ double _sqrt_l_4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r__m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__d__l_lever_m_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__r_ = 0;
+ double _sqrt_l_4_m_lever_p_2_m_sin_l_theta0_r__p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_m_sin_l_theta0_r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r__m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__d__l_lever_m_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__r_ = 0;
+ double _lever_p__l__s_2_r_ = 0;
+ double _2_m_lever_p_2 = 0;
+ double __s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double __s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double _2_m_lever_p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double __l_2_m_lever_p_2_s_4_m_lever_p_2_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_4_m_lever_p_2_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__p_2_d__l__l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__r__d__l_2_m_lever_p_2_r_ = 0;
+ double _a2_p_3_m_lever_m_sin_l_theta0_r_ = 0;
+ double __s_a2_m_lever_p_3_m_sin_l_theta0_r_ = 0;
+ double _1_d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = 0;
+ double __s_a1_m_lever_p_6 = 0;
+ double __s_2_m_a1_p_3_m_a2_p_4 = 0;
+ double _a1_m_a2_p_4_m_lever_p_2 = 0;
+ double _a2_m_lever_p_6_m_sin_l_theta0_r__p_2 = 0;
+ double __s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2 = 0;
+ double _2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2 = 0;
+ double _2_m_a1_p_3_m_a2_p_2_m_lever_p_2 = 0;
+ double __s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2 = 0;
+ double __s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2 = 0;
+ double _3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2 = 0;
+ double __s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2 = 0;
+ double __s_a2_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = 0;
+ double _a2_p_3_m_lever_m_sin_l_theta0_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = 0;
+ double _2_m_lever_m__l_a2_p_3_m_lever_m_sin_l_theta0_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double _4_m_a1_m_a2_p_2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double _4_m_a1_m_a2_p_2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__a_2_m_lever_m__l_a2_p_3_m_lever_m_sin_l_theta0_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double __s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = 0;
+ double __s_a1_m_lever_p_3_m_sin_l_theta0_r_ = 0;
+ double __s_a2_m_lever_p_6 = 0;
+ double __s_2_m_a1_p_4_m_a2_p_3 = 0;
+ double _a1_m_lever_p_6_m_sin_l_theta0_r__p_2 = 0;
+ double _a1_p_4_m_a2_m_lever_p_2 = 0;
+ double __s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2 = 0;
+ double _2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2 = 0;
+ double _2_m_a1_p_2_m_a2_p_3_m_lever_p_2 = 0;
+ double __s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2 = 0;
+ double __s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2 = 0;
+ double _3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2 = 0;
+ double __s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6 = 0;
+ double __s_a2_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = 0;
+ double __s_2_m_a2_m_lever_p_3_m_sin_l_theta0_r_ = 0;
+ double _3_m_a1_m_a2_p_2_m_lever_m_sin_l_theta0_r_ = 0;
+ double _3_m_a1_m_a2_p_2_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_2_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = 0;
+ double _2_m_lever_m__l_3_m_a1_m_a2_p_2_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_2_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double __l__s_a2_p_2_a_lever_p_2_r__p__l__s_1_t_5_r_ = 0;
+ double _2_m_a2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l__l__s_a2_p_2_a_lever_p_2_r__p_1_t_5_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double _4_m_a1_p_2_m_a2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double _4_m_a1_p_2_m_a2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__a_2_m_a2_m_lever_m__l_a1_m_a2_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l__l__s_a2_p_2_a_lever_p_2_r__p_1_t_5_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r__a_2_m_lever_m__l_3_m_a1_m_a2_p_2_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_2_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a2_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a2_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double __s_a1_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = 0;
+ double __s_2_m_a1_m_lever_p_3_m_sin_l_theta0_r_ = 0;
+ double _3_m_a1_p_2_m_a2_m_lever_m_sin_l_theta0_r_ = 0;
+ double _3_m_a1_p_2_m_a2_m_lever_m_sin_l_theta0_r__s_2_m_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = 0;
+ double _2_m_lever_m__l_3_m_a1_p_2_m_a2_m_lever_m_sin_l_theta0_r__s_2_m_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double __l__s_a1_p_2_a_lever_p_2_r__p__l__s_1_t_5_r_ = 0;
+ double _2_m_a1_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l__l__s_a1_p_2_a_lever_p_2_r__p_1_t_5_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double _4_m_a1_m_a2_p_2_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double _4_m_a1_m_a2_p_2_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__a_2_m_a1_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l__l__s_a1_p_2_a_lever_p_2_r__p_1_t_5_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r__a_2_m_lever_m__l_3_m_a1_p_2_m_a2_m_lever_m_sin_l_theta0_r__s_2_m_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_3_m_a2_p_4_a_2_m_a1_p_3_m_a2_p_2_m_lever_p_2_a_3_m_a1_p_2_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_3_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_a2_p_4_m_lever_p_2_s_2_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_m_lever_p_6_s_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__s_a2_m_lever_p_3_m_sin_l_theta0_r__s_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double _a1_p_3_m_lever_m_sin_l_theta0_r_ = 0;
+ double __s_a1_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = 0;
+ double _a1_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r_ = 0;
+ double _2_m_lever_m__l_a1_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double _4_m_a1_p_2_m_a2_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double _4_m_a1_p_2_m_a2_m_lever_m__l_a1_p_3_m_a2_m_lever_m_sin_l_theta0_r__s_a1_p_2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_a2_m_lever_p_3_m_sin_l_theta0_r__s_a1_m_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__a_lever_p_5_m_sin_l_theta0_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__a_2_m_lever_m__l_a1_p_3_m_lever_m_sin_l_theta0_r__s_a1_m_lever_p_3_m_sin_l_theta0_r__s_a1_m__l__s_2_m_a1_p_4_m_a2_p_3_a_a1_p_4_m_a2_m_lever_p_2_a_3_m_a1_p_3_m_a2_p_2_m_lever_p_2_m_sin_l_theta0_r__p_2_s_a1_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_a2_p_3_m_lever_p_2_s_2_m_a1_p_2_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_s_3_m_a1_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_m_lever_p_6_r__d_sqrt_l__s_a1_p_4_m_a2_p_4_a_a1_p_4_m_a2_p_2_m_lever_p_2_a_2_m_a1_p_3_m_a2_p_3_m_lever_p_2_m_sin_l_theta0_r__p_2_s_2_m_a1_p_3_m_a2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_a1_p_2_m_a2_p_4_m_lever_p_2_s_2_m_a1_p_2_m_a2_p_2_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a1_p_2_m_lever_p_6_s_2_m_a1_m_a2_p_3_m_lever_p_4_m_sin_l_theta0_r__p_2_a_2_m_a1_m_a2_m_lever_p_6_m_sin_l_theta0_r__p_2_a_2_m_a2_p_2_m_lever_p_6_m_sin_l_theta0_r__p_2_s_a2_p_2_m_lever_p_6_s_2_m_lever_p_8_m_sin_l_theta0_r__p_2_a_lever_p_8_r__r__m_sin_l_theta0_r__d__l_sqrt_l__s_a1_p_2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double _a2_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = 0;
+ double _lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r_ = 0;
+ double _1_d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = 0;
+ double __s_2_m_a1_m_a2_p_2 = 0;
+ double _2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2 = 0;
+ double __s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2 = 0;
+ double __l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2 = 0;
+ double _a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r_ = 0;
+ double __s_2_m_a2_p_2 = 0;
+ double __s_4_m_a1_m_a2 = 0;
+ double __s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2 = 0;
+ double _lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2 = 0;
+ double _a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2 = 0;
+ double __l_a1_m_a2_a_lever_p_2_r__m__l_a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = 0;
+ double __s_2_m_a1_m_a2_p_2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r_ = 0;
+ double __s_2_m_a1_m_a2_p_2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a2_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = 0;
+ double _2_m_lever_m__l__s_2_m_a1_m_a2_p_2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a2_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double __l_a1_m_a2_a_lever_p_2_r__p__l__s_2_r_ = 0;
+ double __s_2_m_a2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__p_2_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double _4_m_a1_m_a2_p_2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double _4_m_a1_m_a2_p_2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_2_m_a2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__p_2_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r__a_2_m_lever_m__l__s_2_m_a1_m_a2_p_2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a2_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_m_a2_p_2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_4_m_a1_m_a2_s_2_m_a2_p_2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_m_a2_p_2_a_2_m_a1_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double _a1_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = 0;
+ double __s_2_m_a1_p_2_m_a2 = 0;
+ double _2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2 = 0;
+ double __s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2 = 0;
+ double __l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2 = 0;
+ double _a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r_ = 0;
+ double __s_2_m_a1_p_2 = 0;
+ double __s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2 = 0;
+ double _lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2 = 0;
+ double _a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2 = 0;
+ double __l_a1_m_a2_a_lever_p_2_r__m__l_a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = 0;
+ double __s_2_m_a1_p_2_m_a2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r_ = 0;
+ double __s_2_m_a1_p_2_m_a2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a1_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r_ = 0;
+ double _2_m_lever_m__l__s_2_m_a1_p_2_m_a2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a1_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double __s_2_m_a1_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__p_2_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+ double _4_m_a1_p_2_m_a2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r_ = 0;
+ double _4_m_a1_p_2_m_a2_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__p_2_r__s_2_m_a1_m_lever_m__l_lever_m__l_a1_a_a2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__p_2_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r__a_2_m_lever_m__l__s_2_m_a1_p_2_m_a2_m_lever_m__l_a1_a_a2_r__m_sin_l_theta0_r__a_a1_m_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__a_lever_m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__m_sin_l_theta0_r__a__l_a1_m_a2_a_lever_p_2_r__m__l_a1_p_2_m_a2_m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__a_lever_p_2_m__l__s_2_m_a1_p_2_s_4_m_a1_m_a2_a_2_m_lever_p_2_r__m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__m_sin_l_theta0_r__p_2_d_2_a__l__s_2_m_a1_p_2_m_a2_a_2_m_a2_m_lever_p_2_m_cos_l_theta0_r__p_2_r__m__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__d_2_r__d_sqrt_l_lever_p_2_m__l__s_a1_p_2_m_a2_s_a1_m_a2_p_2_a_a1_m_lever_p_2_a_a2_m_lever_p_2_r__p_2_m_sin_l_theta0_r__p_2_a__l_a1_p_2_m_a2_p_2_s_lever_p_4_r__m__l__s_a1_p_2_m_a2_p_2_a_a1_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_a_a2_p_2_m_lever_p_2_m_cos_l_theta0_r__p_2_s_2_m_lever_p_4_m_cos_l_theta0_r__p_2_a_lever_p_4_r__r__r__m_sin_l_theta0_r__d__l__l_a1_m_a2_a_lever_p_2_r__m__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r__r_ = 0;
+
+};
+
+}
diff --git a/VirtualRobot/Nodes/FourBar/Joint.cpp b/VirtualRobot/Nodes/FourBar/Joint.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..bbc01c202580014bd07329b13b1c563a7e192d61
--- /dev/null
+++ b/VirtualRobot/Nodes/FourBar/Joint.cpp
@@ -0,0 +1,89 @@
+#include "Joint.h"
+
+#include <cmath>
+
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+
+#include <SimoxUtility/math/convert/deg_to_rad.h>
+#include <SimoxUtility/math/pose/pose.h>
+
+
+namespace VirtualRobot::four_bar
+{
+
+ Joint::Joint(double theta0, const Dimensions& dimensions) : theta0(theta0), dims(dimensions)
+ {
+ }
+
+
+ // void Joint::computeFkOfPosition(double p1, double p2)
+ // {
+ // fk.compute(p1, p2, lever, theta0);
+ // }
+
+
+ // void Joint::computeFkOfPosition(const Eigen::Vector2d& p12)
+ // {
+ // computeFkOfPosition(p12(0), p12(1));
+ // }
+
+
+ void
+ Joint::computeFkOfAngle(const double theta)
+ {
+ // computeFkOfPosition(angleToPosition(alpha12));
+ // transformation.setIdentity();
+
+ // move from passive to active joint
+ const Eigen::Translation3d passive_T_active_base(Eigen::Vector3d::UnitX() * dims.shank);
+
+ // apply rotation of this active joint
+ const Eigen::AngleAxisd active_base_T_eef{theta0 + theta, Eigen::Vector3d::UnitZ()};
+
+ transformation = passive_T_active_base * active_base_T_eef;
+ }
+
+
+ Eigen::Vector3d
+ Joint::getEndEffectorTranslation() const
+ {
+ return transformation.translation();
+ // return Eigen::Vector3d{fk.ex, fk.ey, fk.ez};
+ }
+
+
+ Eigen::Matrix3d
+ Joint::getEndEffectorRotation() const
+ {
+ return transformation.rotation();
+ // r_wrist_to_base = np.array([[exx, eyx, ezx], [exy, eyy, ezy], [exz, eyz, ezz]])
+ // Eigen::Matrix3d ori;
+ // ori << fk.exx, fk.eyx, fk.ezx, fk.exy, fk.eyy, fk.ezy, fk.exz, fk.eyz, fk.ezz;
+ // return ori;
+ }
+
+
+ Eigen::Matrix4d
+ Joint::getEndEffectorTransform() const
+ {
+ return transformation.matrix();
+ }
+
+
+ Joint::Jacobian
+ Joint::getJacobian() const
+ {
+ // FIXME implement
+ Joint::Jacobian jacobian;
+ jacobian << fk.jx1, fk.jx2, fk.jy1, fk.jy2, fk.jz1, fk.jz2, fk.jrx1, fk.jrx2, fk.jry1,
+ fk.jry2, fk.jrz1, fk.jrz2;
+ return jacobian;
+ }
+
+ // Eigen::Vector2d Joint::angleToPosition(const Eigen::Vector2d& alpha) const
+ // {
+ // return lever * Eigen::sin((alpha + Eigen::Vector2d::Constant(theta0)).array());
+ // }
+
+} // namespace VirtualRobot::four_bar
diff --git a/VirtualRobot/Nodes/FourBar/Joint.h b/VirtualRobot/Nodes/FourBar/Joint.h
new file mode 100644
index 0000000000000000000000000000000000000000..56271ee299ded7f2bb50e50b5047ecb9ce1f674c
--- /dev/null
+++ b/VirtualRobot/Nodes/FourBar/Joint.h
@@ -0,0 +1,100 @@
+#pragma once
+
+#include <cmath>
+
+#include <Eigen/Core>
+#include <Eigen/Geometry>
+
+#include "Expressions.h"
+
+
+namespace VirtualRobot::four_bar
+{
+
+ // this class represents the four bar mechanisms; in particular the actuated joint
+ class Joint
+ {
+ public:
+ using Jacobian = Eigen::Matrix<double, 6, 1>;
+
+ public:
+ struct Dimensions;
+
+ Joint(double theta0, const Dimensions& dimensions);
+
+ struct Dimensions
+ {
+ double shank = 280;
+ double p1 = 84.375;
+ double p2 = 270;
+ double p3 = 45;
+
+ // C.15
+ double
+ k1() const
+ {
+ return shank / p1;
+ }
+
+ // C.16
+ double
+ k2() const
+ {
+ return shank / p3;
+ }
+
+ // C.17
+ double
+ k3() const
+ {
+ constexpr auto squared = [](const double t){ return t * t; };
+
+ return (squared(shank) + squared(p1) + squared(p3) - squared(p2)) / (2 * p1 * p3);
+ }
+ };
+
+ double
+ psi(const double theta)
+ {
+ const double k1 = dims.k1();
+ const double k2 = dims.k2();
+ const double k3 = dims.k3();
+
+ const double cosTheta = std::cos(theta);
+ const double sinTheta = std::sin(theta);
+
+ const double A = k1 * cosTheta + k2 + k3 + cosTheta; // C.34
+ const double B = -2 * sinTheta; // C.35
+ const double C = k1 * cosTheta - k2 + k3 - cosTheta; // C.36
+
+ const double psi = 2 * std::atan((-B + std::sqrt(B * B - 4 * A * C)) / (2 * A)); // C.39
+
+ return psi;
+ }
+
+ // compute pose of actuated joint in passive joint frame
+ void computeFkOfAngle(double theta);
+
+
+ Eigen::Vector3d getEndEffectorTranslation() const;
+ Eigen::Matrix3d getEndEffectorRotation() const;
+ Eigen::Matrix4d getEndEffectorTransform() const;
+ Jacobian getJacobian() const;
+
+ // Eigen::Vector2d angleToPosition(const Eigen::Vector2d& alpha) const;
+
+
+ public:
+ const double theta0;
+ const Dimensions dims;
+
+ double limitLo = 0;
+ double limitHi = 0;
+
+
+ Expressions fk;
+
+ Eigen::Isometry3d transformation = Eigen::Isometry3d::Identity();
+ };
+
+} // namespace VirtualRobot::four_bar
diff --git a/VirtualRobot/Nodes/RobotNode.cpp b/VirtualRobot/Nodes/RobotNode.cpp
index 2107a7b3d1de25b922ca77ce3296f05e1ef3b467..33dae5a5141a3c19c488bf0f6a7c8236a49e2998 100644
--- a/VirtualRobot/Nodes/RobotNode.cpp
+++ b/VirtualRobot/Nodes/RobotNode.cpp
@@ -662,6 +662,11 @@ namespace VirtualRobot
{
return false;
}
+
+ bool RobotNode::isFourBarJoint() const
+ {
+ return false;
+ }
void RobotNode::setLimitless(bool limitless)
{
@@ -888,7 +893,7 @@ namespace VirtualRobot
bool RobotNode::isJoint() const
{
- return isRotationalJoint() or isTranslationalJoint() or isHemisphereJoint();
+ return isRotationalJoint() or isTranslationalJoint() or isHemisphereJoint() or isFourBarJoint();
}
void RobotNode::setMaxTorque(float maxTo)
diff --git a/VirtualRobot/Nodes/RobotNode.h b/VirtualRobot/Nodes/RobotNode.h
index 9bd9cd44eecee77fa3e81356ddea146242578b15..454973471658e6eecc0698d000484b2e83b69dc8 100644
--- a/VirtualRobot/Nodes/RobotNode.h
+++ b/VirtualRobot/Nodes/RobotNode.h
@@ -95,7 +95,7 @@ namespace VirtualRobot
The internal matrices and visualizations are updated accordingly.
If you intend to update multiple joints, use \ref setJointValueNoUpdate(float) for faster access.
*/
- void setJointValue(float q);
+ virtual void setJointValue(float q);
/*!
All children and their children (and so on) are collected.
@@ -228,6 +228,7 @@ namespace VirtualRobot
virtual bool isTranslationalJoint() const;
virtual bool isRotationalJoint() const;
virtual bool isHemisphereJoint() const;
+ virtual bool isFourBarJoint() const;
/**
* @param limitless wheter this node has joint limits or not.
diff --git a/VirtualRobot/Nodes/RobotNodeFourBar.cpp b/VirtualRobot/Nodes/RobotNodeFourBar.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d33363e916e4156ca3aea208a786df7ae47a6bb4
--- /dev/null
+++ b/VirtualRobot/Nodes/RobotNodeFourBar.cpp
@@ -0,0 +1,498 @@
+#include "RobotNodeFourBar.h"
+
+#include <algorithm>
+#include <cmath>
+
+#include <Eigen/Geometry>
+#include <Eigen/src/Geometry/AngleAxis.h>
+
+#include <SimoxUtility/math/pose/pose.h>
+#include <SimoxUtility/meta/enum/EnumNames.hpp>
+
+#include "Nodes/FourBar/Joint.h"
+#include "Nodes/Sensor.h"
+#include "Robot.h"
+#include "VirtualRobotException.h"
+
+
+namespace VirtualRobot
+{
+ namespace four_bar
+ {
+ extern const simox::meta::EnumNames<RobotNodeFourBar::Role> RoleNames = {
+ {RobotNodeFourBar::Role::PASSIVE, "passive"},
+ {RobotNodeFourBar::Role::ACTIVE, "active"},
+ };
+
+ } // namespace four_bar
+
+
+ VirtualRobot::RobotNodeFourBar::RobotNodeFourBar() = default;
+
+ RobotNodeFourBar::Role
+ RobotNodeFourBar::RoleFromString(const std::string& string)
+ {
+ return four_bar::RoleNames.from_name(string);
+ }
+
+ RobotNodeFourBar::RobotNodeFourBar(RobotWeakPtr rob,
+ const std::string& name,
+ float jointLimitLo,
+ float jointLimitHi,
+ const Eigen::Matrix4f& preJointTransform,
+ const Eigen::Vector3f& axis,
+ VisualizationNodePtr visualization,
+ CollisionModelPtr collisionModel,
+ float jointValueOffset,
+ const SceneObject::Physics& physics,
+ CollisionCheckerPtr colChecker,
+ RobotNodeType type) :
+ RobotNode(rob,
+ name,
+ jointLimitLo,
+ jointLimitHi,
+ visualization,
+ collisionModel,
+ jointValueOffset,
+ physics,
+ colChecker,
+ type)
+ {
+ (void)axis;
+
+ initialized = false;
+ optionalDHParameter.isSet = false;
+ localTransformation = preJointTransform;
+ checkValidRobotNodeType();
+ }
+
+
+ RobotNodeFourBar::RobotNodeFourBar(RobotWeakPtr rob,
+ const std::string& name,
+ float jointLimitLo,
+ float jointLimitHi,
+ float a,
+ float d,
+ float alpha,
+ float theta,
+ VisualizationNodePtr visualization,
+ CollisionModelPtr collisionModel,
+ float jointValueOffset,
+ const SceneObject::Physics& physics,
+ CollisionCheckerPtr colChecker,
+ RobotNodeType type) :
+ RobotNode(rob,
+ name,
+ jointLimitLo,
+ jointLimitHi,
+ visualization,
+ collisionModel,
+ jointValueOffset,
+ physics,
+ colChecker,
+ type)
+ {
+ initialized = false;
+ optionalDHParameter.isSet = true;
+ optionalDHParameter.setAInMM(a);
+ optionalDHParameter.setDInMM(d);
+ optionalDHParameter.setAlphaRadian(alpha, true);
+ optionalDHParameter.setThetaRadian(theta, true);
+
+ // compute DH transformation matrices
+ // Eigen::Matrix4f RotTheta = Eigen::Matrix4f::Identity();
+ // RotTheta(0, 0) = cos(theta);
+ // RotTheta(0, 1) = -sin(theta);
+ // RotTheta(1, 0) = sin(theta);
+ // RotTheta(1, 1) = cos(theta);
+ // Eigen::Matrix4f TransD = Eigen::Matrix4f::Identity();
+ // TransD(2, 3) = d;
+ // Eigen::Matrix4f TransA = Eigen::Matrix4f::Identity();
+ // TransA(0, 3) = a;
+ // Eigen::Matrix4f RotAlpha = Eigen::Matrix4f::Identity();
+ // RotAlpha(1, 1) = cos(alpha);
+ // RotAlpha(1, 2) = -sin(alpha);
+ // RotAlpha(2, 1) = sin(alpha);
+ // RotAlpha(2, 2) = cos(alpha);
+
+ // localTransformation = RotTheta * TransD * TransA * RotAlpha;
+ localTransformation.setIdentity();
+ checkValidRobotNodeType();
+ }
+
+ void
+ RobotNodeFourBar::setJointValueNoUpdate(float q)
+ {
+ std::cout << "RobotNodeFourBar: setting joint value no update " << q << std::endl;
+
+ if (active)
+ {
+ // update the passive joint
+ const float psi = active->math.joint.psi(q);
+ active->passive->setJointValueNoUpdate(-psi); // FIXME make joint axis consistent
+ RobotNode::setJointValueNoUpdate(q);
+ }
+ else
+ {
+ RobotNode::setJointValueNoUpdate(q);
+ }
+ }
+
+
+ void
+ RobotNodeFourBar::setJointValue(float q)
+ {
+ // We must update the preceeding node (the passive node).
+ // This usually causes issues as the order to update the kinematic chain is strict.
+ std::cout << "RobotNodeFourBar: setting joint value " << getName() << " " << q << std::endl;
+
+ std::cout << "RobotNodeFourBar: active? " << active.has_value() << std::endl;
+
+ // update this node (without the global / internal pose!)
+ {
+ RobotPtr r = getRobot();
+ VR_ASSERT(r);
+ WriteLockPtr lock = r->getWriteLock();
+ setJointValueNoUpdate(q);
+ }
+
+ if (active)
+ {
+ std::cout << "RobotNodeFourBar: triggering update of passive joint " << std::endl;
+
+ // update all nodes including this one
+ active->passive->updatePose(true);
+ }
+ }
+
+
+ RobotNodeFourBar::~RobotNodeFourBar() = default;
+
+
+ void
+ RobotNodeFourBar::setXmlInfo(const XmlInfo& info)
+ {
+ this->xmlInfo = info;
+
+ VR_ASSERT(second.has_value());
+ switch (info.role)
+ {
+ case Role::PASSIVE:
+ std::cout << "Role: passive" << std::endl;
+ first.emplace(First{});
+ // first->math.joint.setConstants(0, info.theta0);
+ break;
+
+ case Role::ACTIVE:
+ std::cout << "Role: active" << std::endl;
+ active.emplace(
+ Second{.passive = nullptr,
+ .math = JointMath{.joint = four_bar::Joint{jointValueOffset,
+ info.dimensions.value()}}});
+ break;
+ }
+ }
+
+
+ bool
+ RobotNodeFourBar::initialize(SceneObjectPtr parent, const std::vector<SceneObjectPtr>& children)
+ {
+ VR_ASSERT_MESSAGE(first.has_value() xor second.has_value(),
+ std::stringstream() << first.has_value() << " / " << second.has_value());
+
+ // The second node needs to store a reference to the first node.
+ // Whenever the joint value has changed, the passive joint will be updated.
+ if (active)
+ {
+ std::cout << "Initializing active four bar joint" << std::endl;
+
+ VR_ASSERT_MESSAGE(not second->first, "Second must not be initialized yet.");
+
+ VirtualRobot::SceneObjectPtr currentParent = parent;
+
+ while (currentParent != nullptr)
+ {
+ auto* firstNode = dynamic_cast<RobotNodeFourBar*>(currentParent.get());
+
+ // TODO traverse all nodes until the passive four bar node is reached.
+ // TODO then, keep a list of all nodes that have to be updated if the passive node is updated
+ // => all child nodes except this one. It is important to not trigger an update of this node as it would
+ // result in infinite recursion.
+
+ // RobotNodeFourBar* secondNode = this;
+
+ // if (not(firstNode and firstNode->first))
+ // {
+ // std::stringstream ss;
+ // ss << "The parent of a four_bar joint with role '"
+ // << four_bar::RoleNames.to_name(Role::ACTIVE) << "' "
+ // << "must be a four_bar joint with role '"
+ // << four_bar::RoleNames.to_name(Role::PASSIVE) << "' ";
+ // THROW_VR_EXCEPTION(ss.str());
+ // }
+
+ if(firstNode == nullptr)
+ {
+ currentParent = currentParent->getParent();
+ std::cout << "Parent does not match (yet).";
+ continue;
+ }
+
+ std::cout << "Parent matches.";
+
+ // Save pointer to firstNode
+ active->passive = firstNode;
+
+ // initialize the passive node
+ const float psi = active->math.joint.psi(getJointValue());
+ active->passive->setJointValueNoUpdate(-psi);
+
+ // Set up robot node parameters.
+ {
+ // const four_bar::Joint& joint = active->math.joint;
+
+ // firstNode->jointLimitLo = joint.limitLo;
+ // secondNode->jointLimitLo = joint.limitLo;
+
+ // firstNode->jointLimitHi = joint.limitHi;
+ // secondNode->jointLimitHi = joint.limitHi;
+ }
+
+ break;
+ }
+ }
+
+ return RobotNode::initialize(parent, children);
+ }
+
+
+ void
+ RobotNodeFourBar::JointMath::update(const float theta)
+ {
+ // if (actuators != this->actuators)
+ // {
+ joint.computeFkOfAngle(theta);
+ // }
+ }
+
+
+ void
+ RobotNodeFourBar::updateTransformationMatrices(const Eigen::Matrix4f& parentPose)
+ {
+ VR_ASSERT_MESSAGE(first.has_value() xor second.has_value(),
+ std::stringstream() << first.has_value() << " / " << second.has_value());
+
+ std::cout << "Updating RobotNodeFourBar::updateTransformationMatrices" << std::endl;
+
+ Eigen::Isometry3f tmp = Eigen::Isometry3f::Identity();
+
+ const auto jV = this->getJointValue();
+
+ if (active)
+ {
+ std::cout << "active: joint value " << jV << std::endl;
+
+ active->math.update(jV);
+ tmp = active->math.joint.getEndEffectorTransform().cast<float>();
+ }
+ else // passive
+ {
+ std::cout << "passive: joint value " << jV << std::endl;
+
+ tmp.linear() =
+ Eigen::AngleAxisf(jV + jointValueOffset, Eigen::Vector3f::UnitZ()).toRotationMatrix();
+ }
+
+
+ std::cout << "local transformation: " << getName() << tmp.matrix() << std::endl;
+ globalPose = parentPose * localTransformation * tmp.matrix();
+
+
+ // if (first)
+ // {
+ // globalPose = parentPose * localTransformation;
+ // }
+ // else if (active)
+ // {
+ // VR_ASSERT_MESSAGE(second->first, "First node must be known to second node.");
+
+ // JointMath& math = active->math();
+ // Eigen::Vector2f actuators(active->passive->getJointValue(), this->getJointValue());
+
+ // math.update(actuators);
+
+ // Eigen::Vector3d translation = math.joint.getEndEffectorTranslation();
+ // const Eigen::Matrix3d rotation = math.joint.getEndEffectorRotation();
+ // const Eigen::Matrix4d transform = simox::math::pose(translation, rotation);
+
+ // // Update Second
+ // {
+ // this->globalPose = parentPose * localTransformation * transform.cast<float>();
+
+ // Eigen::IOFormat iof(5, 0, " ", "\n", " [", "]");
+ // std::cout
+ // << __FUNCTION__ << "() of second actuator with "
+ // << "\n lever = " << math.joint.lever << "\n theta0 = " << math.joint.theta0
+ // << "\n radius = " << math.joint.radius << "\n joint value = " << jointValue
+ // << "\n actuator (angle) = \n"
+ // << actuators.transpose().format(iof) << "\n actuator (pos) = \n"
+ // << math.joint.angleToPosition(actuators.cast<double>()).transpose().format(iof)
+ // << "\n local transform = \n"
+ // << localTransformation.format(iof) << "\n joint transform = \n"
+ // << transform.format(iof) << std::endl;
+ // }
+ // }
+ }
+
+
+ void
+ RobotNodeFourBar::print(bool printChildren, bool printDecoration) const
+ {
+ ReadLockPtr lock = getRobot()->getReadLock();
+ VR_ASSERT_MESSAGE(first.has_value() xor second.has_value(),
+ std::stringstream() << first.has_value() << " / " << second.has_value());
+
+ if (printDecoration)
+ {
+ std::cout << "******** RobotNodeFourBar ********" << std::endl;
+ }
+
+ RobotNode::print(false, false);
+
+ if (first)
+ {
+ std::cout << "* four_bar joint first node";
+ }
+ else if (active)
+ {
+ std::cout << "* four_bar joint second node";
+ std::cout << "* Transform: \n"
+ << active->math.joint.getEndEffectorTransform() << std::endl;
+ }
+
+ if (printDecoration)
+ {
+ std::cout << "******** End RobotNodeFourBar ********" << std::endl;
+ }
+
+ if (printChildren)
+ {
+ for (const SceneObjectPtr& child : this->getChildren())
+ {
+ child->print(true, true);
+ }
+ }
+ }
+
+
+ RobotNodePtr
+ RobotNodeFourBar::_clone(const RobotPtr newRobot,
+ const VisualizationNodePtr visualizationModel,
+ const CollisionModelPtr collisionModel,
+ CollisionCheckerPtr colChecker,
+ float scaling)
+ {
+ ReadLockPtr lock = getRobot()->getReadLock();
+ Physics physics = this->physics.scale(scaling);
+
+ RobotNodeFourBarPtr result;
+ if (optionalDHParameter.isSet)
+ {
+ result.reset(new RobotNodeFourBar(newRobot,
+ name,
+ jointLimitLo,
+ jointLimitHi,
+ optionalDHParameter.aMM() * scaling,
+ optionalDHParameter.dMM() * scaling,
+ optionalDHParameter.alphaRadian(),
+ optionalDHParameter.thetaRadian(),
+ visualizationModel,
+ collisionModel,
+ jointValueOffset,
+ physics,
+ colChecker,
+ nodeType));
+ }
+ else
+ {
+ Eigen::Matrix4f localTransform = getLocalTransformation();
+ simox::math::position(localTransform) *= scaling;
+ result.reset(new RobotNodeFourBar(newRobot,
+ name,
+ jointLimitLo,
+ jointLimitHi,
+ localTransform,
+ Eigen::Vector3f::Zero(),
+ visualizationModel,
+ collisionModel,
+ jointValueOffset,
+ physics,
+ colChecker,
+ nodeType));
+ }
+
+ if(xmlInfo)
+ {
+ result->setXmlInfo(xmlInfo.value());
+ }
+
+ return result;
+ }
+
+
+ bool
+ RobotNodeFourBar::isFourBarJoint() const
+ {
+ return true;
+ }
+
+
+ void
+ RobotNodeFourBar::checkValidRobotNodeType()
+ {
+ RobotNode::checkValidRobotNodeType();
+ THROW_VR_EXCEPTION_IF(nodeType == Body || nodeType == Transform,
+ "RobotNodeFourBar must be a JointNode or a GenericNode");
+ }
+
+
+ std::string
+ RobotNodeFourBar::_toXML(const std::string& /*modelPath*/)
+ {
+ VR_ASSERT_MESSAGE(first.has_value() xor second.has_value(),
+ std::stringstream() << first.has_value() << " / " << second.has_value());
+
+ if (first)
+ {
+ // TODO
+ return "";
+ }
+ else
+ {
+ JointMath& math = active->math;
+
+ // FIXME implement
+
+ std::stringstream ss;
+ ss << "\t\t<Joint type='four_bar'>" << std::endl;
+ ss << "\t\t\t<four_bar theta0='" << math.joint.theta0 << "' />" << std::endl;
+ ss << "\t\t\t<limits lo='" << jointLimitLo << "' hi='" << jointLimitHi
+ << "' units='radian'/>" << std::endl;
+ ss << "\t\t\t<MaxAcceleration value='" << maxAcceleration << "'/>" << std::endl;
+ ss << "\t\t\t<MaxVelocity value='" << maxVelocity << "'/>" << std::endl;
+ ss << "\t\t\t<MaxTorque value='" << maxTorque << "'/>" << std::endl;
+ std::map<std::string, float>::iterator propIt = propagatedJointValues.begin();
+
+ while (propIt != propagatedJointValues.end())
+ {
+ ss << "\t\t\t<PropagateJointValue name='" << propIt->first << "' factor='"
+ << propIt->second << "'/>" << std::endl;
+ propIt++;
+ }
+
+ ss << "\t\t</Joint>" << std::endl;
+ return ss.str();
+ }
+ }
+
+} // namespace VirtualRobot
diff --git a/VirtualRobot/Nodes/RobotNodeFourBar.h b/VirtualRobot/Nodes/RobotNodeFourBar.h
new file mode 100644
index 0000000000000000000000000000000000000000..23879ae9a783ec375750ddc882c3e41af0f4756c
--- /dev/null
+++ b/VirtualRobot/Nodes/RobotNodeFourBar.h
@@ -0,0 +1,180 @@
+/**
+* This file is part of Simox.
+*
+* Simox is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* Simox is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @package VirtualRobot
+* @author Fabian Reister
+* @copyright 2023 Fabian Reister
+* GNU Lesser General Public License
+*/
+#pragma once
+
+#include <optional>
+#include <string>
+#include <vector>
+
+#include <Eigen/Core>
+
+#include "../VirtualRobot.h"
+#include "Nodes/FourBar/Joint.h"
+#include "RobotNode.h"
+
+
+namespace VirtualRobot
+{
+
+ // FIXME split into two classes FourBarActive and FourBarPassive
+
+ using RobotNodeFourBarPtr = std::shared_ptr<class RobotNodeFourBar>;
+
+ class VIRTUAL_ROBOT_IMPORT_EXPORT RobotNodeFourBar : public RobotNode
+ {
+ public:
+ enum class Role
+ {
+ PASSIVE,
+ ACTIVE,
+ };
+ static Role RoleFromString(const std::string& string);
+
+ struct XmlInfo
+ {
+ Role role;
+
+ // Only set for first:
+ double theta0 = -1;
+ // double lever = -1;
+
+ std::optional<four_bar::Joint::Dimensions> dimensions;
+ };
+
+ friend class RobotFactory;
+
+ EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+
+ RobotNodeFourBar(
+ RobotWeakPtr rob, ///< The robot
+ const std::string& name, ///< The name
+ float jointLimitLo, ///< lower joint limit
+ float jointLimitHi, ///< upper joint limit
+ const Eigen::Matrix4f&
+ preJointTransform, ///< This transformation is applied before the translation of the joint is done
+ const Eigen::Vector3f& axis, ///< The rotation axis (in local joint coord system)
+ VisualizationNodePtr visualization = nullptr, ///< A visualization model
+ CollisionModelPtr collisionModel = nullptr, ///< A collision model
+ float jointValueOffset =
+ 0.0f, ///< An offset that is internally added to the joint value
+ const SceneObject::Physics& p = {}, ///< physics information
+ CollisionCheckerPtr colChecker =
+ nullptr, ///< A collision checker instance (if not set, the global col checker is used)
+ RobotNodeType type = Generic);
+
+ RobotNodeFourBar(
+ RobotWeakPtr rob, ///< The robot
+ const std::string& name, ///< The name
+ float jointLimitLo, ///< lower joint limit
+ float jointLimitHi, ///< upper joint limit
+ float a, ///< dh paramters
+ float d, ///< dh paramters
+ float alpha, ///< dh paramters
+ float theta, ///< dh paramters
+ VisualizationNodePtr visualization = nullptr, ///< A visualization model
+ CollisionModelPtr collisionModel = nullptr, ///< A collision model
+ float jointValueOffset =
+ 0.0f, ///< An offset that is internally added to the joint value
+ const SceneObject::Physics& p = {}, ///< physics information
+ CollisionCheckerPtr colChecker =
+ {}, ///< A collision checker instance (if not set, the global col checker is used)
+ RobotNodeType type = Generic);
+
+ void setJointValueNoUpdate(float q) override;
+ void setJointValue(float q) override;
+
+ public:
+ ~RobotNodeFourBar() override;
+
+
+ void setXmlInfo(const XmlInfo& info);
+
+ bool initialize(SceneObjectPtr parent = nullptr,
+ const std::vector<SceneObjectPtr>& children = {}) override;
+
+ /// Print status information.
+ void print(bool printChildren = false, bool printDecoration = true) const override;
+
+ bool isFourBarJoint() const override;
+
+
+ protected:
+ RobotNodeFourBar();
+
+ /// Derived classes add custom XML tags here
+ std::string _toXML(const std::string& modelPath) override;
+
+ /// Checks if nodeType constraints are fulfilled. Otherwise an exception is thrown.
+ /// Called on initialization.
+ void checkValidRobotNodeType() override;
+
+ void updateTransformationMatrices(const Eigen::Matrix4f& parentPose) override;
+
+ RobotNodePtr _clone(const RobotPtr newRobot,
+ const VisualizationNodePtr visualizationModel,
+ const CollisionModelPtr collisionModel,
+ CollisionCheckerPtr colChecker,
+ float scaling) override;
+
+
+ protected:
+ struct JointMath
+ {
+ /// The actuator values that were used to compute the joint math.
+ // Eigen::Vector2f actuators = Eigen::Vector2f::Constant(std::numeric_limits<float>::min());
+ /// The joint math.
+ four_bar::Joint joint;
+
+ void update(float theta);
+ };
+
+ struct First
+ {
+ // JointMath math;
+ };
+ std::optional<First> first;
+
+ struct Second
+ {
+ /// The first actuator node.
+ RobotNodeFourBar* passive = nullptr;
+
+ JointMath math;
+
+ // JointMath& math()
+ // {
+ // return passive->first->math;
+ // }
+ // const JointMath& math() const
+ // {
+ // return passive->first->math;
+ // }
+ };
+ std::optional<Second> active;
+
+
+
+ std::optional<XmlInfo> xmlInfo;
+ };
+
+} // namespace VirtualRobot
diff --git a/VirtualRobot/Nodes/RobotNodeFourBarFactory.cpp b/VirtualRobot/Nodes/RobotNodeFourBarFactory.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ee9bff05cdf5c19512b9faf19f1eac8b36209895
--- /dev/null
+++ b/VirtualRobot/Nodes/RobotNodeFourBarFactory.cpp
@@ -0,0 +1,102 @@
+/**
+* @package VirtualRobot
+* @author Fabian Reister
+* @copyright 2023 Fabian Reister
+*/
+
+#include "RobotNodeFourBarFactory.h"
+
+#include "../CollisionDetection/CollisionModel.h"
+#include "RobotNode.h"
+#include "RobotNodeFourBar.h"
+
+
+namespace VirtualRobot
+{
+
+ RobotNodeFourBarFactory::RobotNodeFourBarFactory() = default;
+
+
+ RobotNodeFourBarFactory::~RobotNodeFourBarFactory() = default;
+
+
+ RobotNodePtr
+ RobotNodeFourBarFactory::createRobotNode(RobotPtr robot,
+ const std::string& nodeName,
+ VisualizationNodePtr visualizationModel,
+ CollisionModelPtr collisionModel,
+ float limitLow,
+ float limitHigh,
+ float jointValueOffset,
+ const Eigen::Matrix4f& preJointTransform,
+ const Eigen::Vector3f& axis,
+ const Eigen::Vector3f& /*translationDirection*/,
+ const SceneObject::Physics& physics,
+ RobotNode::RobotNodeType rntype) const
+ {
+ std::cout << "CREATE NEW FOUR BAR JOINT" << std::endl;
+ return std::make_shared<RobotNodeFourBar>(
+ robot,
+ nodeName,
+ limitLow,
+ limitHigh,
+ preJointTransform,
+ axis,
+ visualizationModel,
+ collisionModel,
+ jointValueOffset,
+ physics,
+ (collisionModel ? collisionModel->getCollisionChecker() : CollisionCheckerPtr()),
+ rntype);
+ }
+
+
+ RobotNodePtr
+ RobotNodeFourBarFactory::createRobotNodeDH(RobotPtr robot,
+ const std::string& nodeName,
+ VisualizationNodePtr visualizationModel,
+ CollisionModelPtr collisionModel,
+ float limitLow,
+ float limitHigh,
+ float jointValueOffset,
+ const DHParameter& dhParameters,
+ const SceneObject::Physics& physics,
+ RobotNode::RobotNodeType rntype) const
+ {
+ std::cout << "CREATE NEW FOUR BAR JOINT DH" << std::endl;
+ return std::make_shared<RobotNodeFourBar>(robot,
+ nodeName,
+ limitLow,
+ limitHigh,
+ dhParameters.aMM(),
+ dhParameters.dMM(),
+ dhParameters.alphaRadian(),
+ dhParameters.thetaRadian(),
+ visualizationModel,
+ collisionModel,
+ jointValueOffset,
+ physics,
+ CollisionCheckerPtr(),
+ rntype);
+ }
+
+
+ RobotNodeFactory::SubClassRegistry
+ RobotNodeFourBarFactory::registry(RobotNodeFourBarFactory::getName(),
+ &RobotNodeFourBarFactory::createInstance);
+
+
+ std::string
+ RobotNodeFourBarFactory::getName()
+ {
+ return "four_bar";
+ }
+
+
+ std::shared_ptr<RobotNodeFactory>
+ RobotNodeFourBarFactory::createInstance(void*)
+ {
+ return std::make_shared<RobotNodeFourBarFactory>();
+ }
+
+} // namespace VirtualRobot
diff --git a/VirtualRobot/Nodes/RobotNodeFourBarFactory.h b/VirtualRobot/Nodes/RobotNodeFourBarFactory.h
new file mode 100644
index 0000000000000000000000000000000000000000..02a210d073b3ed5ec86c4151b3abf682b8020191
--- /dev/null
+++ b/VirtualRobot/Nodes/RobotNodeFourBarFactory.h
@@ -0,0 +1,84 @@
+/**
+* This file is part of Simox.
+*
+* Simox is free software; you can redistribute it and/or modify
+* it under the terms of the GNU Lesser General Public License as
+* published by the Free Software Foundation; either version 2 of
+* the License, or (at your option) any later version.
+*
+* Simox is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU Lesser General Public License for more details.
+*
+* You should have received a copy of the GNU Lesser General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @package VirtualRobot
+* @author Fabian Reister
+* @copyright 2023 Fabian Reister
+* GNU Lesser General Public License
+*/
+#pragma once
+
+#include "../SceneObject.h"
+#include "../VirtualRobot.h"
+#include "RobotNodeFactory.h"
+
+
+namespace VirtualRobot
+{
+ class RobotNode;
+
+ class VIRTUAL_ROBOT_IMPORT_EXPORT RobotNodeFourBarFactory : public RobotNodeFactory
+ {
+ public:
+ RobotNodeFourBarFactory();
+ ~RobotNodeFourBarFactory() override;
+
+ /**
+ * Create a VirtualRobot::RobotNodeFourBar.
+ *
+ * \return instance of VirtualRobot::RobotNodeFourBar.
+ */
+ RobotNodePtr
+ createRobotNode(RobotPtr robot,
+ const std::string& nodeName,
+ VisualizationNodePtr visualizationModel,
+ CollisionModelPtr collisionModel,
+ float limitLow,
+ float limitHigh,
+ float jointValueOffset,
+ const Eigen::Matrix4f& preJointTransform,
+ const Eigen::Vector3f& axis,
+ const Eigen::Vector3f& translationDirection,
+ const SceneObject::Physics& p = SceneObject::Physics(),
+ RobotNode::RobotNodeType rntype = RobotNode::Generic) const override;
+
+ /**
+ * Create a VirtualRobot::RobotNodeFourBar from DH parameters.
+ *
+ * \return instance of VirtualRobot::RobotNodeFourBar.
+ */
+ RobotNodePtr
+ createRobotNodeDH(RobotPtr robot,
+ const std::string& nodeName,
+ VisualizationNodePtr visualizationModel,
+ CollisionModelPtr collisionModel,
+ float limitLow,
+ float limitHigh,
+ float jointValueOffset,
+ const DHParameter& dhParameters,
+ const SceneObject::Physics& p = SceneObject::Physics(),
+ RobotNode::RobotNodeType rntype = RobotNode::Generic) const override;
+
+ // AbstractFactoryMethod
+ public:
+ static std::string getName();
+ static std::shared_ptr<RobotNodeFactory> createInstance(void*);
+
+ private:
+ static SubClassRegistry registry;
+ };
+
+} // namespace VirtualRobot
diff --git a/VirtualRobot/Nodes/RobotNodeHemisphere.h b/VirtualRobot/Nodes/RobotNodeHemisphere.h
index 343a20b86d913cb5cea392912e44b5829aa50d25..91e32bd11ac6ccc7c90461ce9dacd19860746e06 100644
--- a/VirtualRobot/Nodes/RobotNodeHemisphere.h
+++ b/VirtualRobot/Nodes/RobotNodeHemisphere.h
@@ -140,13 +140,12 @@ namespace VirtualRobot
) override;
RobotNodePtr
- _clone(
- const RobotPtr newRobot,
- const VisualizationNodePtr visualizationModel,
- const CollisionModelPtr collisionModel,
- CollisionCheckerPtr colChecker,
- float scaling
- ) override;
+ _clone(const RobotPtr newRobot,
+ const VisualizationNodePtr visualizationModel,
+ const CollisionModelPtr collisionModel,
+ CollisionCheckerPtr colChecker,
+ float scaling
+ ) override;
public:
@@ -186,4 +185,3 @@ namespace VirtualRobot
};
} // namespace VirtualRobot
-
diff --git a/VirtualRobot/Robot.cpp b/VirtualRobot/Robot.cpp
index 2945832a5f56d06054004234315f14eb776e6804..ea1b6d6e698d919d9b0d8c1de7941b063238a20c 100644
--- a/VirtualRobot/Robot.cpp
+++ b/VirtualRobot/Robot.cpp
@@ -960,7 +960,7 @@ namespace VirtualRobot
for (const auto& rn : this->getRobotNodes())
{
- if (rn->isTranslationalJoint() || rn->isRotationalJoint())
+ if (rn->isJoint())
{
r->setConfig(rn, rn->getJointValue());
}
@@ -1119,6 +1119,7 @@ namespace VirtualRobot
for (size_t i = 0; i < rn.size(); i++)
{
+ VR_INFO << rn[i]->getName() << ": " << jointValues[i];
rn[i]->setJointValueNoUpdate(jointValues[i]);
}
diff --git a/VirtualRobot/XML/RobotIO.cpp b/VirtualRobot/XML/RobotIO.cpp
index 6b5808efc0744a4f3cb575a71c5901a2cfc3957e..e49fb3e89337a0ce30b5e182a388eb007551ffca 100644
--- a/VirtualRobot/XML/RobotIO.cpp
+++ b/VirtualRobot/XML/RobotIO.cpp
@@ -16,11 +16,12 @@
#include "../Visualization/TriMeshModel.h"
#include "../RobotConfig.h"
#include "../RuntimeEnvironment.h"
+#include "Nodes/RobotNodeFourBar.h"
#include "VirtualRobot.h"
#include "rapidxml.hpp"
#include "mujoco/RobotMjcf.h"
#include <VirtualRobot/Import/URDF/SimoxURDFFactory.h>
-
+#include <VirtualRobot/Nodes/FourBar/Joint.h>
#include <SimoxUtility/xml/rapidxml/rapidxml_print.hpp>
#include <SimoxUtility/filesystem/remove_trailing_separator.h>
#include <SimoxUtility/math/convert/deg_to_rad.h>
@@ -251,6 +252,7 @@ namespace VirtualRobot
Eigen::Vector3f scaleVisuFactor = Eigen::Vector3f::Zero();
std::optional<RobotNodeHemisphere::XmlInfo> hemisphere;
+ std::optional<RobotNodeFourBar::XmlInfo> fourBarXmlInfo;
while (node)
{
@@ -473,6 +475,40 @@ namespace VirtualRobot
break;
}
}
+ else if (nodeName == "four_bar")
+ {
+ fourBarXmlInfo.emplace();
+
+ std::string roleString = processStringAttribute("role", node, true);
+ roleString = simox::alg::to_lower(roleString);
+ try
+ {
+ fourBarXmlInfo->role = RobotNodeFourBar::RoleFromString(roleString);
+ }
+ catch (const std::out_of_range& e)
+ {
+ THROW_VR_EXCEPTION("Invalid role in four_bar joint: " << e.what())
+ }
+
+ const rapidxml::xml_node<>* dimensionsNode = node->first_node("dimensions", 0, false);
+
+ if(fourBarXmlInfo->role == RobotNodeFourBar::Role::ACTIVE)
+ {
+ if(dimensionsNode == nullptr)
+ {
+ THROW_VR_EXCEPTION("Missing <dimensions> node for four_bar joint.");
+ }
+
+ fourBarXmlInfo->dimensions = four_bar::Joint::Dimensions
+ {
+ .shank = getFloatByAttributeName(dimensionsNode, "shank"),
+ .p1 = getFloatByAttributeName(dimensionsNode, "p1"),
+ .p2 = getFloatByAttributeName(dimensionsNode, "p2"),
+ .p3 = getFloatByAttributeName(dimensionsNode, "p3")
+ };
+ }
+
+ }
else
{
THROW_VR_EXCEPTION("XML definition <" << nodeName << "> not supported in <Joint> tag of RobotNode <" << robotNodeName << ">." << endl);
@@ -587,6 +623,12 @@ namespace VirtualRobot
node->setXmlInfo(hemisphere.value());
}
+ if(robotNode->isFourBarJoint() and fourBarXmlInfo.has_value())
+ {
+ auto node = std::dynamic_pointer_cast<RobotNodeFourBar>(robotNode);
+ node->setXmlInfo(fourBarXmlInfo.value());
+ }
+
if (scaleVisu)
{
RobotNodePrismaticPtr rnPM = std::dynamic_pointer_cast<RobotNodePrismatic>(robotNode);
diff --git a/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp b/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp
index 2326f0b53e784773254c4d3fae3d16dda58bd9dc..b3128f36b46069c2889b720c12a755b949d6a461 100644
--- a/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp
+++ b/VirtualRobot/examples/RobotViewer/showRobotWindow.cpp
@@ -615,6 +615,8 @@ void showRobotWindow::jointValueChanged(int pos)
+ static_cast<float>(pos) / 1000.0f
* (currentRobotNodes[nr]->getJointLimitHi()
- currentRobotNodes[nr]->getJointLimitLo());
+
+ std::cout << "Setting joint value " << fPos << " for joint " << currentRobotNodes[nr]->getName() << std::endl;
robot->setJointValue(currentRobotNodes[nr], fPos);
UI.lcdNumberJointValue->display(static_cast<double>(fPos));
@@ -816,8 +818,8 @@ void showRobotWindow::updatRobotInfo()
UI.checkBoxFullModel->setChecked(true);
UI.checkBoxPhysicsCoM->setChecked(false);
UI.checkBoxPhysicsInertia->setChecked(false);
- UI.checkBoxRobotCoordSystems->setChecked(false);
- UI.checkBoxShowCoordSystem->setChecked(false);
+ UI.checkBoxRobotCoordSystems->setChecked(true);
+ UI.checkBoxShowCoordSystem->setChecked(true);
UI.checkBoxStructure->setChecked(false);
// get nodes
@@ -874,6 +876,8 @@ void showRobotWindow::robotStructure()
}
structureEnabled = UI.checkBoxStructure->checkState() == Qt::Checked;
+ structureEnabled = true;
+
robot->showStructure(structureEnabled);
// rebuild visualization
rebuildVisualization();
@@ -887,6 +891,7 @@ void showRobotWindow::robotCoordSystems()
}
bool robotAllCoordsEnabled = UI.checkBoxRobotCoordSystems->checkState() == Qt::Checked;
+ robotAllCoordsEnabled = true;
robot->showCoordinateSystems(robotAllCoordsEnabled);
// rebuild visualization
rebuildVisualization();
diff --git a/python/four_bar_mechanism/equations.ipynb b/python/four_bar_mechanism/equations.ipynb
new file mode 100644
index 0000000000000000000000000000000000000000..5cc71b36d64d86bc9d2419765ef83aace4cc37f5
--- /dev/null
+++ b/python/four_bar_mechanism/equations.ipynb
@@ -0,0 +1,502 @@
+{
+ "cells": [
+ {
+ "attachments": {},
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "# Jacobian of Four-Bar Mechanism \n",
+ "\n",
+ "The knee joint is actuated but the ankle joint is passive. \n",
+ "\n",
+ "## Todo's\n",
+ "\n",
+ " - consider $\\theta_0$"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 57,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "import sympy as sp\n",
+ "sp.init_printing(use_latex='mathjax')\n",
+ "\n",
+ "from sympy import symbols, sin, cos, sqrt, asin, atan\n"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 71,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "# Actuation (knee)\n",
+ "theta = symbols('theta')\n",
+ "\n",
+ "# Passive joint (ankle) \n",
+ "psi = symbols('psi')\n"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 59,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "\n",
+ "# Constants defined by geometry.\n",
+ "theta0 = symbols('theta0')\n",
+ "\n",
+ "shank, p1, p2, p3 = symbols('shank p1 p2 p3')\n",
+ "\n"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 60,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "# Manually specified structure of equations. We first introduce variables based on the kinematic structure only.\n",
+ "# These can easily be precomputed in code. Here, they are just mentioned as a reference.\n",
+ "\n",
+ "k1 = shank / p1\n",
+ "k2 = shank / p3\n",
+ "k3 = (shank**2 + p1**2 + p3**2 - p2**2 ) / (2 * p1 * p3)\n",
+ "\n",
+ "\n",
+ "# directly use these variables\n",
+ "k1, k2, k3 = symbols('k1 k2 k3')\n"
+ ]
+ },
+ {
+ "attachments": {},
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Relationship between ankle ($\\psi$) and knee ($\\theta$)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 61,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "\n",
+ "# some helpers\n",
+ "cT = cos(theta)\n",
+ "sT = sin(theta)\n",
+ "\n",
+ "\n",
+ "A = k1 * cT + k2 + k3 + cT # C.34\n",
+ "B = -2*sT # C.35\n",
+ "C = k1 * cT - k2 + k3 - cT # C.36\n",
+ "\n",
+ "# ankle\n",
+ "psi = 2 * atan((-B + sqrt(B * B - 4 * A * C)) / (2 * A)) # C.39\n",
+ "\n",
+ "psi = sp.simplify(psi)\n",
+ "\n",
+ "psi_of_theta = psi\n",
+ "\n"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 62,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/latex": [
+ "$\\displaystyle 2 \\operatorname{atan}{\\left(\\frac{\\sqrt{- k_{1}^{2} \\cos^{2}{\\left(\\theta \\right)} - 2 k_{1} k_{3} \\cos{\\left(\\theta \\right)} + k_{2}^{2} + 2 k_{2} \\cos{\\left(\\theta \\right)} - k_{3}^{2} + 1} + \\sin{\\left(\\theta \\right)}}{k_{1} \\cos{\\left(\\theta \\right)} + k_{2} + k_{3} + \\cos{\\left(\\theta \\right)}} \\right)}$"
+ ],
+ "text/plain": [
+ " ⎛ ______________________________________________________________ \n",
+ " ⎜ ╱ 2 2 2 2 \n",
+ " ⎜╲╱ - kâ‚ â‹…cos (θ) - 2â‹…kâ‚â‹…k₃⋅cos(θ) + kâ‚‚ + 2â‹…kâ‚‚â‹…cos(θ) - k₃ + 1 + sin\n",
+ "2⋅atan⎜───────────────────────────────────────────────────────────────────────\n",
+ " ⎠kâ‚â‹…cos(θ) + kâ‚‚ + k₃ + cos(θ) \n",
+ "\n",
+ " ⎞\n",
+ " ⎟\n",
+ "(θ)⎟\n",
+ "───⎟\n",
+ " ⎠"
+ ]
+ },
+ "execution_count": 62,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "psi"
+ ]
+ },
+ {
+ "attachments": {},
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "### Derivatives"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 63,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/latex": [
+ "$\\displaystyle \\frac{2 \\left(\\frac{\\left(k_{1} \\sin{\\left(\\theta \\right)} + \\sin{\\left(\\theta \\right)}\\right) \\left(\\sqrt{- k_{1}^{2} \\cos^{2}{\\left(\\theta \\right)} - 2 k_{1} k_{3} \\cos{\\left(\\theta \\right)} + k_{2}^{2} + 2 k_{2} \\cos{\\left(\\theta \\right)} - k_{3}^{2} + 1} + \\sin{\\left(\\theta \\right)}\\right)}{\\left(k_{1} \\cos{\\left(\\theta \\right)} + k_{2} + k_{3} + \\cos{\\left(\\theta \\right)}\\right)^{2}} + \\frac{\\frac{k_{1}^{2} \\sin{\\left(\\theta \\right)} \\cos{\\left(\\theta \\right)} + k_{1} k_{3} \\sin{\\left(\\theta \\right)} - k_{2} \\sin{\\left(\\theta \\right)}}{\\sqrt{- k_{1}^{2} \\cos^{2}{\\left(\\theta \\right)} - 2 k_{1} k_{3} \\cos{\\left(\\theta \\right)} + k_{2}^{2} + 2 k_{2} \\cos{\\left(\\theta \\right)} - k_{3}^{2} + 1}} + \\cos{\\left(\\theta \\right)}}{k_{1} \\cos{\\left(\\theta \\right)} + k_{2} + k_{3} + \\cos{\\left(\\theta \\right)}}\\right)}{\\frac{\\left(\\sqrt{- k_{1}^{2} \\cos^{2}{\\left(\\theta \\right)} - 2 k_{1} k_{3} \\cos{\\left(\\theta \\right)} + k_{2}^{2} + 2 k_{2} \\cos{\\left(\\theta \\right)} - k_{3}^{2} + 1} + \\sin{\\left(\\theta \\right)}\\right)^{2}}{\\left(k_{1} \\cos{\\left(\\theta \\right)} + k_{2} + k_{3} + \\cos{\\left(\\theta \\right)}\\right)^{2}} + 1}$"
+ ],
+ "text/plain": [
+ " ⎛ \n",
+ " ⎜ \n",
+ " ⎜ \n",
+ " ⎜ ⎛ __________________________________________________\n",
+ " ⎜ ⎜ ╱ 2 2 2 \n",
+ " ⎜(kâ‚â‹…sin(θ) + sin(θ))â‹…âŽâ•²â•± - kâ‚ â‹…cos (θ) - 2â‹…kâ‚â‹…k₃⋅cos(θ) + kâ‚‚ + 2â‹…kâ‚‚â‹…cos(θ\n",
+ "2⋅⎜───────────────────────────────────────────────────────────────────────────\n",
+ " ⎜ 2 \n",
+ " ⎠(kâ‚â‹…cos(θ) + kâ‚‚ + k₃ + cos(θ)) \n",
+ "──────────────────────────────────────────────────────────────────────────────\n",
+ " \n",
+ " ⎛ __________________________\n",
+ " ⎜ ╱ 2 2 \n",
+ " âŽâ•²â•± - kâ‚ â‹…cos (θ) - 2â‹…kâ‚â‹…k₃⋅c\n",
+ " ──────────────────────────────\n",
+ " \n",
+ " (kâ‚â‹…cos\n",
+ "\n",
+ " 2 \n",
+ " kâ‚ â‹…sin(θ)â‹…cos(θ) + kâ‚â‹…k₃⋅sin(θ) - kâ‚‚â‹…sin(\n",
+ " ─────────────────────────────────────────────────────\n",
+ "____________ ⎞ __________________________________________________\n",
+ " 2 ⎟ ╱ 2 2 2 \n",
+ ") - k₃ + 1 + sin(θ)⎠╲╱ - kâ‚ â‹…cos (θ) - 2â‹…kâ‚â‹…k₃⋅cos(θ) + kâ‚‚ + 2â‹…kâ‚‚â‹…cos(θ\n",
+ "────────────────────── + ─────────────────────────────────────────────────────\n",
+ " kâ‚â‹…cos(θ) + kâ‚‚ + k₃ + cos(θ) \n",
+ " \n",
+ "──────────────────────────────────────────────────────────────────────────────\n",
+ " 2 \n",
+ "____________________________________ ⎞ \n",
+ " 2 2 ⎟ \n",
+ "os(θ) + k₂ + 2⋅k₂⋅cos(θ) - k₃ + 1 + sin(θ)⎠\n",
+ "─────────────────────────────────────────────── + 1 \n",
+ " 2 \n",
+ "(θ) + k₂ + k₃ + cos(θ)) \n",
+ "\n",
+ " ⎞\n",
+ "θ) ⎟\n",
+ "──────────── + cos(θ)⎟\n",
+ "____________ ⎟\n",
+ " 2 ⎟\n",
+ ") - k₃ + 1 ⎟\n",
+ "─────────────────────⎟\n",
+ " ⎟\n",
+ " ⎠\n",
+ "──────────────────────\n",
+ " \n",
+ " \n",
+ " \n",
+ " \n",
+ " \n",
+ " \n",
+ " "
+ ]
+ },
+ "execution_count": 63,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "from sympy import diff\n",
+ "\n",
+ "dpsi_dtheta = diff(psi, theta)\n",
+ "\n",
+ "dpsi_dtheta"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 64,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "# We can implement the term dpsi_dtheta now in code. Therefore, we assume from now on that it is given.\n",
+ "\n",
+ "from sympy import Function\n",
+ "psi = Function('psi')(theta)"
+ ]
+ },
+ {
+ "attachments": {},
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "## Coordinate systems"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 65,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/latex": [
+ "$\\displaystyle \\operatorname{CoordSys3D}\\left(knee_base, \\left( \\left[\\begin{matrix}1 & 0 & 0\\\\0 & 1 & 0\\\\0 & 0 & 1\\end{matrix}\\right], \\ (shank)\\mathbf{\\hat{i}_{ankle}}\\right), \\operatorname{CoordSys3D}\\left(ankle, \\left( \\left[\\begin{matrix}\\cos{\\left(\\psi{\\left(\\theta \\right)} \\right)} & - \\sin{\\left(\\psi{\\left(\\theta \\right)} \\right)} & 0\\\\\\sin{\\left(\\psi{\\left(\\theta \\right)} \\right)} & \\cos{\\left(\\psi{\\left(\\theta \\right)} \\right)} & 0\\\\0 & 0 & 1\\end{matrix}\\right], \\ \\mathbf{\\hat{0}}\\right), \\operatorname{CoordSys3D}\\left(base, \\left( \\left[\\begin{matrix}1 & 0 & 0\\\\0 & 1 & 0\\\\0 & 0 & 1\\end{matrix}\\right], \\ \\mathbf{\\hat{0}}\\right)\\right)\\right)\\right)$"
+ ],
+ "text/plain": [
+ "knee_base"
+ ]
+ },
+ "execution_count": 65,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "\n",
+ "from sympy.vector import CoordSys3D, AxisOrienter\n",
+ "from sympy import Matrix\n",
+ "\n",
+ "# The reference system at the origin of the ankle. It is defined as follows:\n",
+ "# -z is the rotation axis of the joint\n",
+ "# x points upwards (away from the platform, aligned with the global z axis)\n",
+ "B = CoordSys3D('base')\n",
+ "\n",
+ "orienter_psi = AxisOrienter(psi, -B.k )\n",
+ "\n",
+ "# coordinate system of the ankle joint (after applying the joint rotation)\n",
+ "T_ankle = B.orient_new('ankle', (orienter_psi, ))\n",
+ "\n",
+ "# helper coordinate system at the origin of the knee after applying the knee rotation\n",
+ "T_knee_base = T_ankle.locate_new('knee_base', shank * T_ankle.i )\n",
+ "\n",
+ "T_knee_base\n",
+ "\n"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 66,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/latex": [
+ "$\\displaystyle \\operatorname{CoordSys3D}\\left(knee, \\left( \\left[\\begin{matrix}\\cos{\\left(\\theta \\right)} & \\sin{\\left(\\theta \\right)} & 0\\\\- \\sin{\\left(\\theta \\right)} & \\cos{\\left(\\theta \\right)} & 0\\\\0 & 0 & 1\\end{matrix}\\right], \\ \\mathbf{\\hat{0}}\\right), \\operatorname{CoordSys3D}\\left(knee_base, \\left( \\left[\\begin{matrix}1 & 0 & 0\\\\0 & 1 & 0\\\\0 & 0 & 1\\end{matrix}\\right], \\ (shank)\\mathbf{\\hat{i}_{ankle}}\\right), \\operatorname{CoordSys3D}\\left(ankle, \\left( \\left[\\begin{matrix}\\cos{\\left(\\psi{\\left(\\theta \\right)} \\right)} & - \\sin{\\left(\\psi{\\left(\\theta \\right)} \\right)} & 0\\\\\\sin{\\left(\\psi{\\left(\\theta \\right)} \\right)} & \\cos{\\left(\\psi{\\left(\\theta \\right)} \\right)} & 0\\\\0 & 0 & 1\\end{matrix}\\right], \\ \\mathbf{\\hat{0}}\\right), \\operatorname{CoordSys3D}\\left(base, \\left( \\left[\\begin{matrix}1 & 0 & 0\\\\0 & 1 & 0\\\\0 & 0 & 1\\end{matrix}\\right], \\ \\mathbf{\\hat{0}}\\right)\\right)\\right)\\right)\\right)$"
+ ],
+ "text/plain": [
+ "knee"
+ ]
+ },
+ "execution_count": 66,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "\n",
+ "orienter_theta = AxisOrienter(theta, B.k )\n",
+ "\n",
+ "# coordinate system of the knee after applying the rotation\n",
+ "T_knee = T_knee_base.orient_new('knee', (orienter_theta, ))\n",
+ "\n",
+ "T_knee"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 67,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "# express the end effector in the knee joint coordinate system (T_knee). This captures the forward kinematics of child joints.\n",
+ "x, y, z, alpha, beta, gamma = symbols(\"x y z alpha beta gamma\")\n",
+ "\n",
+ "from sympy.vector import BodyOrienter, Point\n",
+ "euler = BodyOrienter(alpha, beta, gamma, rot_order=\"XYZ\")\n",
+ "\n",
+ "P_eef = T_knee.orient_new(\"EEF\", euler, location=(T_knee.i * x + T_knee.j * y + T_knee.k * z))\n",
+ "\n"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 68,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "pos_vect = P_eef.origin.position_wrt(B)\n",
+ "\n",
+ "# express the EEF in the base coordinate system (ankle base)\n",
+ "p_eef = pos_vect.to_matrix(B)\n",
+ "\n",
+ "# o = P_eef.rotation_matrix(B)"
+ ]
+ },
+ {
+ "attachments": {},
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "# Jacobian\n",
+ "\n",
+ "Pose of the end-effector\n",
+ "$$\n",
+ "p_{eef} = (x,y,z,\\alpha, \\beta, \\gamma )^T\n",
+ "$$\n",
+ "\n",
+ "The Jacobian $J \\in \\mathrm{R}^{6x1}$\n",
+ "$$\n",
+ "J = \\frac{\\partial p_{eef}}{\\partial \\theta}\n",
+ "$$\n"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 69,
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/latex": [
+ "$\\displaystyle \\left[\\begin{matrix}- shank \\sin{\\left(\\psi{\\left(\\theta \\right)} \\right)} \\frac{d}{d \\theta} \\psi{\\left(\\theta \\right)} + x \\left(\\frac{d}{d \\theta} \\psi{\\left(\\theta \\right)} - 1\\right) \\sin{\\left(\\theta - \\psi{\\left(\\theta \\right)} \\right)} + y \\left(\\frac{d}{d \\theta} \\psi{\\left(\\theta \\right)} - 1\\right) \\cos{\\left(\\theta - \\psi{\\left(\\theta \\right)} \\right)}\\\\- shank \\cos{\\left(\\psi{\\left(\\theta \\right)} \\right)} \\frac{d}{d \\theta} \\psi{\\left(\\theta \\right)} - x \\left(\\frac{d}{d \\theta} \\psi{\\left(\\theta \\right)} - 1\\right) \\cos{\\left(\\theta - \\psi{\\left(\\theta \\right)} \\right)} + y \\left(\\frac{d}{d \\theta} \\psi{\\left(\\theta \\right)} - 1\\right) \\sin{\\left(\\theta - \\psi{\\left(\\theta \\right)} \\right)}\\\\0\\end{matrix}\\right]$"
+ ],
+ "text/plain": [
+ "⎡ d ⎛d ⎞ ⎛d \n",
+ "⎢- shank⋅sin(ψ(θ))⋅──(ψ(θ)) + x⋅⎜──(ψ(θ)) - 1⎟⋅sin(θ - ψ(θ)) + y⋅⎜──(ψ(θ)) - 1\n",
+ "⎢ dθ âŽdθ ⎠âŽdθ \n",
+ "⎢ \n",
+ "⎢ d ⎛d ⎞ ⎛d \n",
+ "⎢- shank⋅cos(ψ(θ))⋅──(ψ(θ)) - x⋅⎜──(ψ(θ)) - 1⎟⋅cos(θ - ψ(θ)) + y⋅⎜──(ψ(θ)) - 1\n",
+ "⎢ dθ âŽdθ ⎠âŽdθ \n",
+ "⎢ \n",
+ "⎣ 0 \n",
+ "\n",
+ "⎞ ⎤\n",
+ "⎟⋅cos(θ - ψ(θ))⎥\n",
+ "⎠⎥\n",
+ " ⎥\n",
+ "⎞ ⎥\n",
+ "⎟⋅sin(θ - ψ(θ))⎥\n",
+ "⎠⎥\n",
+ " ⎥\n",
+ " ⎦"
+ ]
+ },
+ "execution_count": 69,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "from sympy import diff\n",
+ "\n",
+ "# position part of the Jacobian\n",
+ "dp_dtheta = diff(p_eef, theta)\n",
+ "dp_dtheta = dp_dtheta.simplify()\n",
+ "\n",
+ "dp_dtheta\n"
+ ]
+ },
+ {
+ "attachments": {},
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "the expression $\\frac{\\partial \\mathbf{p}}{\\partial \\theta}$ above yields $\\frac{\\partial x}{\\partial\\theta}$ and $\\frac{\\partial y}{\\partial\\theta}$. $\\frac{\\partial z}{\\partial\\theta}$ is $0$.\n",
+ "\n",
+ "\n",
+ "To obtain the orientation part, we only need to consider the angle $\\gamma$ as the joint mechanism is 2D (rotatation around z axis). In other words $\\frac{\\partial \\alpha}{\\partial\\theta} = \\frac{\\partial \\beta}{\\partial\\theta} = 0$\n",
+ "\n",
+ "\n",
+ "\n",
+ "It is\n",
+ "\n",
+ "$$ \n",
+ "\\gamma = \\gamma_{0} -\\psi + \\theta\n",
+ "$$\n",
+ "\n",
+ "Partial derivative:\n",
+ "\n",
+ "$$\n",
+ "\\frac{\\partial \\gamma}{\\partial\\theta} = 1 - \\frac{\\partial \\psi}{\\partial\\theta} \n",
+ "$$\n",
+ "\n",
+ "\n"
+ ]
+ },
+ {
+ "attachments": {},
+ "cell_type": "markdown",
+ "metadata": {},
+ "source": [
+ "# Automatic code generation\n",
+ "\n",
+ "It is advantageous to implement the equations above by hand. Sine and cosine terms can be computed once for improved efficiency.\n",
+ "\n",
+ "*The following is just for reference*"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 70,
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "from sympy import ccode #, cpp_generator\n",
+ "\n",
+ "def generate_code():\n",
+ "\n",
+ " cpp_code = ccode(dp_dtheta[0], assign_to=\"dx_dtheta\", standard=\"c11\")\n",
+ "\n",
+ " with open(\"/tmp/expressions.cpp\", \"w\") as f:\n",
+ " f.write(cpp_code)"
+ ]
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "simox_control",
+ "language": "python",
+ "name": "python3"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.7.13"
+ },
+ "orig_nbformat": 4,
+ "vscode": {
+ "interpreter": {
+ "hash": "e4599465d50e71b5ac4fe67b3a4b0cd1869600672e1938bc9720f881263763f9"
+ }
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}
diff --git a/python/four_bar_mechanism/equations.py b/python/four_bar_mechanism/equations.py
new file mode 100644
index 0000000000000000000000000000000000000000..0f64d68ac46bf68721a784df9d3a8f72cba3cf03
--- /dev/null
+++ b/python/four_bar_mechanism/equations.py
@@ -0,0 +1,38 @@
+import os
+import os.path
+
+from sympy import symbols, sin, cos, sqrt, asin, atan
+
+from hemisphere_joint_demo.sympy_to_code import SympyToCpp
+sp.init_printing(use_latex='mathjax')
+
+# Actuation (P1_z, P2_z)
+
+# active joint
+theta = symbols('theta')
+
+# passive joint
+psi = symbols('psi')
+
+# Constants defining geometry.
+theta0 = symbols('theta0')
+
+shank, p1, p2, p3 = symbols('shank p1 p2 p3')
+
+
+k1 = shank / p1
+k2 = shank / p3
+k3 = (shank**2 + p1**2 + p3**2 - p2**2 ) / (2 * p1 * p3)
+
+cT = cos(theta)
+sT = sin(theta)
+
+A = k1 * cT + k2 + k3 + cT # C.34
+B = -2*sT # C.35
+C = k1 * cT - k2 + k3 - cT # C.36
+
+psi = 2 * atan((-B + sqrt(B * B - 4 * A * C)) / (2 * A)) # C.39
+
+
+def forwardKinematics(theta):
+
diff --git a/python/four_bar_mechanism/expressions.cpp b/python/four_bar_mechanism/expressions.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4bba97d11074f047e06c4742298fbf7977e0c9f4
--- /dev/null
+++ b/python/four_bar_mechanism/expressions.cpp
@@ -0,0 +1,6 @@
+// Not supported in C:
+// ImmutableDenseMatrix
+Matrix([
+[-2*shank*(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))*(2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2))*(8*p1**2*p3**2*sin(theta)*cos(theta) + (-2*p1*p3*sin(theta) - 2*p3*shank*sin(theta))*(-p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank + p2**2 - p3**2 - 2*p3*shank*cos(theta) - shank**2) + (-2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(2*(4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) + 2*cos(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))*sin(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)))/(p1**2*p3**2*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))**2/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + 1) + x*(-sin(theta)*cos(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) + sin(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)))*cos(theta) + 2*(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))*(2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2))*(8*p1**2*p3**2*sin(theta)*cos(theta) + (-2*p1*p3*sin(theta) - 2*p3*shank*sin(theta))*(-p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank + p2**2 - p3**2 - 2*p3*shank*cos(theta) - shank**2) + (-2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(2*(4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) + 2*cos(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))*sin(theta)*cos(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)))/(p1**2*p3**2*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))**2/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + 1) - 2*(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))*(2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2))*(8*p1**2*p3**2*sin(theta)*cos(theta) + (-2*p1*p3*sin(theta) - 2*p3*shank*sin(theta))*(-p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank + p2**2 - p3**2 - 2*p3*shank*cos(theta) - shank**2) + (-2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(2*(4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) + 2*cos(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))*sin(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)))*cos(theta)/(p1**2*p3**2*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))**2/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + 1)) + y*(-sin(theta)*sin(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) - cos(theta)*cos(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) + 2*(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))*(2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2))*(8*p1**2*p3**2*sin(theta)*cos(theta) + (-2*p1*p3*sin(theta) - 2*p3*shank*sin(theta))*(-p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank + p2**2 - p3**2 - 2*p3*shank*cos(theta) - shank**2) + (-2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(2*(4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) + 2*cos(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))*sin(theta)*sin(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)))/(p1**2*p3**2*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))**2/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + 1) + 2*(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))*(2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2))*(8*p1**2*p3**2*sin(theta)*cos(theta) + (-2*p1*p3*sin(theta) - 2*p3*shank*sin(theta))*(-p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank + p2**2 - p3**2 - 2*p3*shank*cos(theta) - shank**2) + (-2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(2*(4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) + 2*cos(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))*cos(theta)*cos(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)))/(p1**2*p3**2*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))**2/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + 1))],
+[ -2*shank*(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))*(2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2))*(8*p1**2*p3**2*sin(theta)*cos(theta) + (-2*p1*p3*sin(theta) - 2*p3*shank*sin(theta))*(-p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank + p2**2 - p3**2 - 2*p3*shank*cos(theta) - shank**2) + (-2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(2*(4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) + 2*cos(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))*cos(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)))/(p1**2*p3**2*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))**2/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + 1) + x*(sin(theta)*sin(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) + cos(theta)*cos(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) - 2*(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))*(2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2))*(8*p1**2*p3**2*sin(theta)*cos(theta) + (-2*p1*p3*sin(theta) - 2*p3*shank*sin(theta))*(-p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank + p2**2 - p3**2 - 2*p3*shank*cos(theta) - shank**2) + (-2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(2*(4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) + 2*cos(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))*sin(theta)*sin(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)))/(p1**2*p3**2*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))**2/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + 1) - 2*(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))*(2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2))*(8*p1**2*p3**2*sin(theta)*cos(theta) + (-2*p1*p3*sin(theta) - 2*p3*shank*sin(theta))*(-p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank + p2**2 - p3**2 - 2*p3*shank*cos(theta) - shank**2) + (-2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(2*(4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) + 2*cos(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))*cos(theta)*cos(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)))/(p1**2*p3**2*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))**2/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + 1)) + y*(-sin(theta)*cos(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) + sin(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)))*cos(theta) + 2*(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))*(2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2))*(8*p1**2*p3**2*sin(theta)*cos(theta) + (-2*p1*p3*sin(theta) - 2*p3*shank*sin(theta))*(-p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank + p2**2 - p3**2 - 2*p3*shank*cos(theta) - shank**2) + (-2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(2*(4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) + 2*cos(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))*sin(theta)*cos(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)))/(p1**2*p3**2*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))**2/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + 1) - 2*(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))*(2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2))*(8*p1**2*p3**2*sin(theta)*cos(theta) + (-2*p1*p3*sin(theta) - 2*p3*shank*sin(theta))*(-p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank + p2**2 - p3**2 - 2*p3*shank*cos(theta) - shank**2) + (-2*p1*p3*sin(theta) + 2*p3*shank*sin(theta))*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(2*(4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))) + 2*cos(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))*sin(2*atan(p1*p3*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)))*cos(theta)/(p1**2*p3**2*(sqrt((4*p1**2*p3**2*sin(theta)**2 - (p1**2 - 2*p1*p3*cos(theta) - 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)*(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2))/(p1**2*p3**2)) + 2*sin(theta))**2/(p1**2 + 2*p1*p3*cos(theta) + 2*p1*shank - p2**2 + p3**2 + 2*p3*shank*cos(theta) + shank**2)**2 + 1))],
+[ 0]])
\ No newline at end of file