diff --git a/kinova_gen3/dynamics/coriolis.py b/kinova_gen3/dynamics/coriolis.py index 6bcda27..4fa9e7e 100644 --- a/kinova_gen3/dynamics/coriolis.py +++ b/kinova_gen3/dynamics/coriolis.py @@ -49,3156 +49,3433 @@ def coriolis(q, qp): x6 = 0.09958 * x1 x7 = 4.4e-5 * x5 x8 = -x7 - x9 = x6 + x8 - x10 = 0.00625435 * x3 - x11 = q3 - x12 = math.cos(x11) - x13 = x12**2 - x14 = 0.21038 * x13 - x15 = math.sin(x11) + x9 = 0.00625435 * x3 + x10 = q3 + x11 = math.cos(x10) + x12 = x11**2 + x13 = 0.21038 * x12 + x14 = x1 * x13 + x15 = math.sin(x10) x16 = 0.006375 * x5 x17 = x1 * x15 x18 = 0.21038 * x17 x19 = -x16 + x18 - x20 = x1 * x14 + x15 * x19 + x20 = x15 * x19 x21 = u2 x22 = x2 * x5 x23 = x21 * x22 - x24 = x1**2 - x25 = x24 * x3 - x26 = 0.006375 * x22 - x27 = 0.21038 * x21 - x26 - x28 = x21 * x27 - x29 = 0.003191325 * x23 + 0.105316228 * x25 + 0.5006 * x28 - x30 = 0.01175 * x1 - x31 = 0.0043228875 * x23 + 0.142658678 * x25 + 0.6781 * x28 + x24 = x1**2 * x3 + x25 = -0.006375 * x22 + x26 = 0.21038 * x21 + x25 + x27 = 0.5006 * x21 + x28 = 0.003191325 * x23 + 0.105316228 * x24 + x26 * x27 + x29 = 0.01175 * x1 + x30 = 0.6781 * x21 + x31 = 0.0043228875 * x23 + 0.142658678 * x24 + x26 * x30 x32 = 0.0235 * x1 - x33 = 0.005930025 * x23 + 0.195695476 * x25 + 0.9302 * x28 - x34 = 0.00741795 * x23 + 0.244798168 * x25 + 1.1636 * x28 - x35 = x4 * x5 - x36 = 0.58632906 * x35 - x37 = 0.006641 * x5 - x38 = 0.117892 * x1 - x39 = x15 * x38 + x37 - x40 = x12 * x38 + x8 - x41 = x12 * x40 + x15 * x39 - x42 = 1.1636 * x22 - x43 = -0.244798168 * x23 + 0.00741795 * x24 * x3 - x27 * x42 - x44 = 0.21038 * x1 - x45 = x22 * x27 - x46 = -0.195695476 * x23 + 0.005930025 * x24 * x3 - 0.9302 * x45 - x47 = -0.142658678 * x23 + 0.0043228875 * x24 * x3 - 0.6781 * x45 - x48 = -0.105316228 * x23 + 0.003191325 * x24 * x3 - 0.5006 * x45 - x49 = x1 * x12 - x50 = 0.006375 * x49 - x51 = 0.01275 * x49 - x52 = 0.244798168 * x35 - x53 = 0.09958 * x21 - 0.013278 * x22 - x54 = 1.1636 * x21 - x55 = x2 * x7 - x56 = -x2 * x6 + x55 - x57 = x1 * x2 - x58 = x21 * x57 - x59 = 4.4e-5 * x21 - x60 = 0.013278 * x57 - x59 - x61 = 4.4e-5 * x15 - x62 = 0.006641 * x12 - x63 = -x1 * x61 - x1 * x62 - x64 = 5.0e-6 * x22 - x65 = 0.011088 * x57 + x64 - x66 = 0.011255 * x21 - 0.000691 * x22 - x67 = 5.0e-6 * x57 - x68 = -0.000691 * x21 + 0.001072 * x22 + x67 - x69 = 5.11984e-5 * x21 - x70 = x57 * x69 - x71 = 0.115871288 * x21 - x72 = -x20 - x73 = 2 * x47 - x74 = q4 - x75 = math.cos(x74) - x76 = math.sin(x74) - x77 = x16 * x76 - x78 = x49 * x75 - x79 = x77 + 0.006375 * x78 - x80 = x16 * x75 - x81 = x49 * x76 + x33 = x21 * x26 + x34 = 0.005930025 * x23 + 0.195695476 * x24 + 0.9302 * x33 + x35 = 0.00741795 * x23 + 0.244798168 * x24 + 1.1636 * x33 + x36 = x4 * x5 + x37 = 0.58632906 * x36 + x38 = 0.006641 * x5 + x39 = 0.117892 * x1 + x40 = x15 * x39 + x38 + x41 = x15 * x40 + x42 = x11 * x39 + x8 + x43 = x11 * x42 + x44 = 1.1636 * x22 + x45 = -0.244798168 * x23 + 0.00741795 * x24 - x26 * x44 + x46 = 0.21038 * x1 + x47 = x22 * x26 + x48 = -0.195695476 * x23 + 0.005930025 * x24 - 0.9302 * x47 + x49 = -0.142658678 * x23 + 0.0043228875 * x24 - 0.6781 * x47 + x50 = -0.105316228 * x23 + 0.003191325 * x24 - 0.5006 * x47 + x51 = x1 * x11 + x52 = 0.006375 * x51 + x53 = 0.01275 * x51 + x54 = 0.244798168 * x36 + x55 = 0.09958 * x21 - 0.013278 * x22 + x56 = 1.1636 * x21 + x57 = x2 * x7 + x58 = -x2 * x6 + x57 + x59 = x1 * x2 + x60 = 1.1636 * x59 + x61 = x21 * x59 + x62 = 4.4e-5 * x21 + x63 = 0.013278 * x59 - x62 + x64 = 4.4e-5 * x15 + x65 = 0.006641 * x11 + x66 = -x1 * x64 - x1 * x65 + x67 = 5.0e-6 * x22 + x68 = 0.011088 * x59 + x67 + x69 = 0.011255 * x21 - 0.000691 * x22 + x70 = 5.0e-6 * x59 + x71 = -0.000691 * x21 + 0.001072 * x22 + x70 + x72 = 5.11984e-5 * x21 + x73 = x59 * x72 + x74 = 0.115871288 * x21 + x75 = -x14 - x20 + x76 = 2 * x49 + x77 = q4 + x78 = math.cos(x77) + x79 = math.sin(x77) + x80 = x16 * x79 + x81 = x51 * x78 x82 = 0.006375 * x81 - x83 = 0.20843 * x17 - x80 + x82 - x84 = x75 * x79 + x76 * x83 - x85 = 2 * x84 - x86 = x5 * x76 - x87 = 0.20843 * x12 - x88 = x1 * x75 * x87 + 0.20843 * x86 - x89 = -x88 - x90 = x76 * x79 - x91 = x75 * x83 - x92 = x12 * x89 + x15 * x90 - x15 * x91 - x93 = 0.0099803 * x3 - x94 = 0.390633584 * x35 - x95 = -1.8e-5 * x17 + 0.015006 * x78 + 0.015006 * x86 - x96 = x5 * x75 - x97 = 0.075478 * x17 + 0.015006 * x81 - 0.015006 * x96 - x98 = x75 * x95 + x76 * x97 - x99 = u3 - x100 = x15 * x21 - x101 = x100 * x99 - x102 = x100 * x22 - x103 = x12 * x57 - x104 = x103 * x99 - x105 = x22 + x99 - x106 = -0.21038 * x100 + 0.21038 * x103 - x107 = x105 * x106 - x108 = x12 * x21 - x109 = x15 * x57 - x110 = x108 + x109 - x111 = -x110 - x112 = 0.006375 * x100 - x113 = 0.006375 * x103 - x112 - x114 = x111 * x113 - x115 = ( - -0.195695476 * x101 - + 0.195695476 * x102 - + 0.195695476 * x104 - - 0.9302 * x107 - + 0.9302 * x114 - + 0.005930025 * x58 - ) - x116 = 0.005375 * x5 - x117 = x116 * x12 - x118 = ( - -0.142658678 * x101 - + 0.142658678 * x102 - + 0.142658678 * x104 - - 0.6781 * x107 - + 0.6781 * x114 - + 0.0043228875 * x58 - ) - x119 = x118 * x12 - x120 = 0.01075 * x5 - x121 = ( - -0.105316228 * x101 - + 0.105316228 * x102 - + 0.105316228 * x104 - - 0.5006 * x107 - + 0.5006 * x114 - + 0.003191325 * x58 - ) - x122 = x108 * x99 - x123 = x109 * x99 - x124 = -x100 + x103 - x125 = x113 * x124 - x126 = 0.21038 * x108 + 0.21038 * x109 - x26 - 0.006375 * x99 - x127 = ( - 0.5006 * x105 * x126 - + 0.105316228 * x12 * x2 * x21 * x5 - - 0.105316228 * x122 - - 0.105316228 * x123 - - 0.5006 * x125 - ) - x128 = 0.21038 * x49 - x129 = x116 * x15 - x130 = ( - 0.6781 * x105 * x126 - + 0.142658678 * x12 * x2 * x21 * x5 - - 0.142658678 * x122 - - 0.142658678 * x123 - - 0.6781 * x125 - ) - x131 = 0.42076 * x49 - x132 = x120 * x15 - x133 = ( - 0.9302 * x105 * x126 - + 0.195695476 * x12 * x2 * x21 * x5 - - 0.195695476 * x122 - - 0.195695476 * x123 - - 0.9302 * x125 - ) - x134 = x76 * x95 - x135 = x75 * x97 - x136 = 1.8e-5 * x12 - x137 = x136 * x76 - x138 = 0.075478 * x12 * x75 - x139 = x1 * x137 + x1 * x138 - 1.8e-5 * x5 * x75 + 0.075478 * x86 - x140 = -x139 - x141 = x12 * x140 + x134 * x15 - x135 * x15 - x142 = 0.004999825 * x3 - x143 = x111 * x126 - x144 = ( - 0.9302 * x106 * x124 - + 0.005930025 * x12 * x2 * x21 * x5 - - 0.005930025 * x122 - - 0.005930025 * x123 - - 0.9302 * x143 - ) - x145 = ( - 0.6781 * x106 * x124 - + 0.0043228875 * x12 * x2 * x21 * x5 - - 0.0043228875 * x122 - - 0.0043228875 * x123 - - 0.6781 * x143 - ) + x83 = x80 + x82 + x84 = 0.20843 * x17 + x85 = x16 * x78 + x86 = x51 * x79 + x87 = 0.006375 * x86 + x88 = x84 - x85 + x87 + x89 = x78 * x83 + x79 * x88 + x90 = x5 * x79 + x91 = 0.20843 * x90 + x92 = 0.20843 * x11 + x93 = x1 * x78 + x94 = x92 * x93 + x95 = -x91 - x94 + x96 = x11 * x95 + x97 = x79 * x83 + x98 = x15 * x97 + x99 = x78 * x88 + x100 = x15 * x99 + x101 = 0.0099803 * x3 + x102 = 2 * x89 + x103 = 0.390633584 * x36 + x104 = 1.8e-5 * x17 + x105 = 0.015006 * x90 + x106 = 0.015006 * x81 + x107 = -x104 + x105 + x106 + x108 = 0.075478 * x17 + x109 = x5 * x78 + x110 = 0.015006 * x109 + x111 = 0.015006 * x86 + x112 = x108 - x110 + x111 + x113 = x107 * x78 + x112 * x79 + x114 = u3 + x115 = x15 * x21 + x116 = x114 * x115 + x117 = x115 * x22 + x118 = x11 * x59 + x119 = x114 * x118 + x120 = x114 + x22 + x121 = -0.21038 * x115 + 0.21038 * x118 + x122 = x120 * x121 + x123 = x11 * x21 + x124 = x15 * x59 + x125 = -x123 - x124 + x126 = 0.006375 * x115 + x127 = 0.006375 * x118 - x126 + x128 = x125 * x127 + x129 = ( + -0.195695476 * x116 + + 0.195695476 * x117 + + 0.195695476 * x119 + - 0.9302 * x122 + + 0.9302 * x128 + + 0.005930025 * x61 + ) + x130 = 0.005375 * x5 + x131 = x11 * x130 + x132 = ( + -0.142658678 * x116 + + 0.142658678 * x117 + + 0.142658678 * x119 + - 0.6781 * x122 + + 0.6781 * x128 + + 0.0043228875 * x61 + ) + x133 = x11 * x132 + x134 = 0.01075 * x5 + x135 = ( + -0.105316228 * x116 + + 0.105316228 * x117 + + 0.105316228 * x119 + - 0.5006 * x122 + + 0.5006 * x128 + + 0.003191325 * x61 + ) + x136 = x114 * x123 + x137 = x123 * x22 + x138 = x114 * x124 + x139 = -x115 + x118 + x140 = x127 * x139 + x141 = -0.006375 * x114 + 0.21038 * x123 + 0.21038 * x124 + x25 + x142 = x120 * x141 + x143 = ( + -0.105316228 * x136 + + 0.105316228 * x137 + - 0.105316228 * x138 + - 0.5006 * x140 + + 0.5006 * x142 + ) + x144 = 0.21038 * x51 + x145 = x130 * x15 x146 = ( - 0.5006 * x106 * x124 - + 0.003191325 * x12 * x2 * x21 * x5 - - 0.003191325 * x122 - - 0.003191325 * x123 - - 0.5006 * x143 - ) - x147 = 2 * x118 - x148 = 0.195695476 * x35 - x149 = -x12 * x16 + x18 - x150 = x128 + x15 * x16 - x151 = 2 * x130 - x152 = 0.1371791312 * x99 - x153 = 0.117892 * x108 + 0.117892 * x109 + x2 * x37 + 0.006641 * x99 - x154 = 1.1636 * x105 - x155 = -x12 * x59 + 0.006641 * x15 * x21 - x57 * x61 - x57 * x62 - x156 = ( - -x108 * x152 - + 0.1371791312 * x108 * x22 - - x109 * x152 - - 1.1636 * x124 * x155 - + x153 * x154 - + x70 - ) - x157 = x15 * x156 - x158 = 0.117892 * x1 * x12 * x2 - 0.117892 * x100 - x55 - 4.4e-5 * x99 - x159 = ( - 0.1371791312 * x1 * x12 * x2 * x99 - - x100 * x152 - + 1.1636 * x111 * x155 - + 0.1371791312 * x15 * x2 * x21 * x5 - - x154 * x158 - - 0.0077274676 * x58 - ) - x160 = x12 * x159 - x161 = x124 * x99 - x162 = 7.0e-6 * x99 - x163 = 7.0e-6 * x22 - x164 = 0.010932 * x1 * x12 * x2 - 0.010932 * x100 - x162 - x163 - x165 = ( - -7.0e-6 * x103 - - 0.000606 * x108 - - 0.000606 * x109 - + 7.0e-6 * x15 * x21 - + 0.001043 * x2 * x5 - + 0.001043 * x99 - ) - x166 = ( - -0.011127 * x102 + x105 * x164 - x124 * x165 - 0.011127 * x161 - 0.000606 * x58 - ) - x167 = x108 * x22 - x168 = x111 * x99 - x169 = -0.011127 * x108 - 0.011127 * x109 + 0.000606 * x2 * x5 + 0.000606 * x99 - x170 = -x105 * x169 + x111 * x165 + 0.010932 * x167 + 0.010932 * x168 + 7.0e-6 * x58 - x171 = ( - 0.0077274676 * x1 * x15 * x2 * x99 - - 5.11984e-5 * x102 - - 5.11984e-5 * x104 - - 1.1636 * x111 * x153 - + 0.0077274676 * x12 * x21 * x99 - + 1.1636 * x124 * x158 - + 5.11984e-5 * x15 * x21 * x99 - - 0.0077274676 * x167 - ) - x172 = x75 * x83 - x90 - x173 = 0.000606 * x124 * x99 - x174 = x111 * x162 - x175 = x111 * x164 - x176 = q5 - x177 = math.cos(x176) - x178 = x177 * x86 - x179 = math.sin(x176) - x180 = x15 * x179 - x181 = x12 * x177 * x75 - x180 - x182 = x1 * x181 - x183 = 0.00017505 * x178 + 0.00017505 * x182 - x184 = x183 * x76 - x185 = x15 * x184 - x186 = x12 * x177 - x187 = x180 * x75 - x188 = -x186 + x187 - x189 = -x188 - x190 = 0.10593 * x177 - x191 = 0.10593 * x182 + x190 * x86 - x192 = x12 * x179 - x193 = x15 * x177 - x194 = x193 * x75 - x195 = x192 + x194 - x196 = -0.10593 * x179 * x5 * x76 - x197 = x192 * x75 - x198 = x193 + x197 - x199 = -x198 - x200 = x1 * x199 - x201 = 0.00017505 * x1 * x12 * x76 - x196 - 0.10593 * x200 - 0.00017505 * x96 - x202 = 0.0063355125 * x3 - x203 = x179 * x191 - x204 = x177 * x201 * x76 + x183 * x75 - x203 * x76 - x205 = 0.247974906 * x35 - x206 = x177 * x191 + x179 * x201 - x207 = -x195 - x208 = x185 + x188 * x191 + x201 * x207 - x209 = 0.063883 * x178 + 0.063883 * x182 - 1.0e-6 * x81 + 1.0e-6 * x96 - x210 = ( - 0.063883 * x179 * x5 * x76 - - 0.063883 * x200 - + 0.009432 * x5 * x75 - - 0.009432 * x81 - ) - x211 = x177 * x209 + x179 * x210 - x212 = 0.009432 * x177 - x213 = 1.0e-6 * x179 * x5 * x76 - 0.009432 * x182 - 1.0e-6 * x200 - x212 * x86 - x214 = x213 * x76 + -0.142658678 * x136 + + 0.142658678 * x137 + - 0.142658678 * x138 + - 0.6781 * x140 + + 0.6781 * x142 + ) + x147 = 0.42076 * x51 + x148 = x134 * x15 + x149 = ( + -0.195695476 * x136 + + 0.195695476 * x137 + - 0.195695476 * x138 + - 0.9302 * x140 + + 0.9302 * x142 + ) + x150 = x112 * x78 + x151 = x15 * x150 + x152 = x107 * x79 + x153 = x15 * x152 + x154 = 0.075478 * x90 + x155 = 1.8e-5 * x109 + x156 = 1.8e-5 * x11 + x157 = x156 * x79 + x158 = x1 * x157 + x159 = 0.075478 * x11 + x160 = x159 * x78 + x161 = x1 * x160 + x162 = -x154 + x155 - x158 - x161 + x163 = x11 * x162 + x164 = 0.004999825 * x3 + x165 = x121 * x139 + x166 = x125 * x141 + x167 = ( + -0.005930025 * x136 + + 0.005930025 * x137 + - 0.005930025 * x138 + + 0.9302 * x165 + - 0.9302 * x166 + ) + x168 = ( + -0.0043228875 * x136 + + 0.0043228875 * x137 + - 0.0043228875 * x138 + + 0.6781 * x165 + - 0.6781 * x166 + ) + x169 = 0.003191325 * x123 + x170 = ( + -0.003191325 * x136 + - 0.003191325 * x138 + + 0.5006 * x165 + - 0.5006 * x166 + + x169 * x22 + ) + x171 = 2 * x132 + x172 = 0.195695476 * x36 + x173 = -x11 * x16 + x18 + x174 = x15 * x16 + x175 = x144 + x174 + x176 = -x100 + x96 + x98 + x177 = 2 * x146 + x178 = x91 + x94 + x179 = 0.1371791312 * x114 + x180 = 0.1371791312 * x22 + x181 = 0.006641 * x114 + 0.117892 * x123 + 0.117892 * x124 + x2 * x38 + x182 = 1.1636 * x120 + x183 = -x11 * x62 + 0.006641 * x115 - x59 * x64 - x59 * x65 + x184 = 1.1636 * x183 + x185 = -x123 * x179 + x123 * x180 - x124 * x179 - x139 * x184 + x181 * x182 + x73 + x186 = x15 * x185 + x187 = -4.4e-5 * x114 - 0.117892 * x115 + 0.117892 * x118 - x57 + x188 = ( + -x115 * x179 + + x115 * x180 + + x118 * x179 + + x125 * x184 + - x182 * x187 + - 0.0077274676 * x61 + ) + x189 = x11 * x188 + x190 = x114 * x139 + x191 = 7.0e-6 * x114 + x192 = 7.0e-6 * x22 + x193 = -0.010932 * x115 + 0.010932 * x118 - x191 - x192 + x194 = ( + 0.001043 * x114 + + 7.0e-6 * x115 + - 7.0e-6 * x118 + - 0.000606 * x123 + - 0.000606 * x124 + + 0.001043 * x22 + ) + x195 = ( + -0.011127 * x117 + x120 * x193 - x139 * x194 - 0.011127 * x190 - 0.000606 * x61 + ) + x196 = x114 * x125 + x197 = 0.000606 * x114 + x198 = 0.000606 * x22 + x199 = -0.011127 * x123 - 0.011127 * x124 + x197 + x198 + x200 = -x120 * x199 + x125 * x194 + 0.010932 * x137 + 0.010932 * x196 + 7.0e-6 * x61 + x201 = -x97 + x99 + x202 = ( + 5.11984e-5 * x116 + - 5.11984e-5 * x117 + - 5.11984e-5 * x119 + - 1.1636 * x125 * x181 + + 0.0077274676 * x136 + - 0.0077274676 * x137 + + 0.0077274676 * x138 + + 1.1636 * x139 * x187 + ) + x203 = -x125 * x191 - x125 * x193 - x139 * x197 + x139 * x199 + x204 = q5 + x205 = math.cos(x204) + x206 = x205 * x90 + x207 = math.sin(x204) + x208 = x15 * x207 + x209 = x11 * x205 + x210 = x209 * x78 + x211 = -x208 + x210 + x212 = x1 * x211 + x213 = 0.00017505 * x206 + 0.00017505 * x212 + x214 = x213 * x79 x215 = x15 * x214 - x216 = 0.0036447875 * x3 - x217 = x179 * x209 - x218 = x177 * x210 * x76 + x213 * x75 - x217 * x76 - x219 = 0.142658678 * x35 - x220 = x177 * x201 * x75 - x184 - x203 * x75 - x221 = 0.005375 * x1 - x222 = 0.005375 * x12 - x223 = x221 * x75 + x222 * x86 - x224 = u4 - x225 = x75 * x99 - x226 = x224 * x225 - x227 = x100 * x76 - x228 = x224 * x227 - x229 = x1 * x21 - x230 = x229 * x76 - x231 = x2 * ( - x12 * x21 * x5 * x75 - x17 * x225 + x224 * x5 * x75 - x224 * x81 - x230 - ) - x232 = x76 * x99 - x233 = x100 * x75 - x234 = x78 + x86 - x235 = x2 * x234 - x236 = x232 - x233 + x235 - x237 = 0.20843 * x15 * x21 * x75 - 0.20843 * x232 - 0.20843 * x235 - x238 = x5 * x75 - x81 - x239 = x2 * x238 - x240 = ( - 0.20843 * x1 * x15 * x2 - - x112 * x76 - + 0.20843 * x12 * x21 - + 0.20843 * x224 - - 0.006375 * x225 - - 0.006375 * x239 - ) - x241 = x110 + x224 - x242 = 0.5006 * x241 - x243 = ( - -0.003191325 * x108 * x225 - + 0.003191325 * x226 - + 0.003191325 * x228 - + 0.003191325 * x231 - - 0.5006 * x236 * x237 - + x240 * x242 - ) - x244 = x108 * x225 - x245 = 0.6781 * x241 - x246 = ( - 0.0043228875 * x226 - + 0.0043228875 * x228 - + 0.0043228875 * x231 - - 0.6781 * x236 * x237 - + x240 * x245 - - 0.0043228875 * x244 - ) - x247 = 2 * x246 - x248 = -x112 * x75 + 0.006375 * x232 + 0.006375 * x235 - x249 = x225 + x227 + x239 - x250 = x240 * x249 - x251 = ( - 0.141336383 * x12 * x21 * x75 * x99 - - 0.141336383 * x226 - - 0.141336383 * x228 - - 0.141336383 * x231 - + 0.6781 * x236 * x248 - - 0.6781 * x250 - ) - x252 = ( - 0.104340058 * x12 * x21 * x75 * x99 - - 0.104340058 * x226 - - 0.104340058 * x228 - - 0.104340058 * x231 - + 0.5006 * x236 * x248 - - 0.5006 * x250 - ) - x253 = 0.006375 * x1 * x12 * x75 - x19 * x76 - x254 = 0.006375 * x1 - x255 = x12 * x77 - x18 * x76 + x254 * x75 - x256 = x221 * x76 - x257 = -x222 * x96 + x256 - x258 = x108 * x232 - x259 = x224 * x233 - x260 = x1 * x15 * x76 * x99 - x108 * x86 - x224 * x78 - x224 * x86 - x229 * x75 - x261 = x2 * x260 - x262 = ( - 0.104340058 * x1 * x12 * x2 * x99 - - 0.104340058 * x101 - + 0.104340058 * x15 * x2 * x21 * x5 - + 0.003191325 * x224 * x76 * x99 - + 0.5006 * x237 * x249 - - x242 * x248 - - 0.003191325 * x258 - - 0.003191325 * x259 - - 0.003191325 * x261 - ) - x263 = ( - 0.141336383 * x1 * x12 * x2 * x99 - - 0.141336383 * x101 - + 0.141336383 * x15 * x2 * x21 * x5 - + 0.0043228875 * x224 * x76 * x99 - + 0.6781 * x237 * x249 - - x245 * x248 - - 0.0043228875 * x258 - - 0.0043228875 * x259 - - 0.0043228875 * x261 - ) - x264 = 2 * x263 - x265 = -x150 - x266 = 2 * x251 - x267 = x19 * x75 - x268 = x267 + x82 - x269 = x254 * x76 - x270 = -x12 * x80 + x18 * x75 + x269 - x271 = q6 - x272 = math.sin(x271) - x273 = x272 * x75 - x274 = math.cos(x271) - x275 = x274 * x76 - x276 = x177 * x275 - x277 = x273 + x276 - x278 = x277 * x5 - x279 = x180 * x274 - x280 = x272 * x76 - x281 = x177 * x274 * x75 - x280 - x282 = x12 * x281 - x283 = -x279 + x282 - x284 = x1 * x283 - x285 = 0.10593 * x278 + 0.10593 * x284 - x286 = -x285 - x287 = x179 * x286 - x288 = x177 * x280 - x289 = x274 * x75 - x288 - x290 = 0.00017505 * x278 + 0.00017505 * x284 - x291 = x289 * x5 - x292 = x180 * x272 - x293 = x177 * x273 - x294 = -x275 - x293 - x295 = x12 * x294 - x296 = x292 + x295 - x297 = x1 * x296 - x298 = 0.10593 * x1 * x198 - x196 - 0.00017505 * x291 - 0.00017505 * x297 - x299 = x277 * x298 + x287 * x76 + x289 * x290 - x300 = x15 * x294 - x301 = -x12 * x179 * x272 + x300 - x302 = x192 * x274 - x303 = x15 * x281 - x304 = x302 + x303 - x305 = 0.002690725 * x3 - x306 = 0.105316228 * x35 - x307 = ( - -1.8e-5 * x108 - - 1.8e-5 * x109 - + 0.015006 * x2 * x234 - - 1.8e-5 * x224 - - 0.015006 * x233 - + 0.015006 * x76 * x99 - ) - x308 = 0.9302 * x241 - x309 = 1.8e-5 * x76 - x310 = 0.075478 * x75 - x311 = ( - x100 * x309 - + x100 * x310 - + 1.8e-5 * x225 - - 0.075478 * x232 - - 0.075478 * x235 - + 1.8e-5 * x239 - ) - x312 = ( - 0.0702096356 * x1 * x12 * x2 * x99 - - 0.0702096356 * x101 - + 0.0702096356 * x15 * x2 * x21 * x5 - + 0.0139585812 * x224 * x76 * x99 - + 0.9302 * x249 * x311 - - 0.0139585812 * x258 - - 0.0139585812 * x259 - - 0.0139585812 * x261 - - x307 * x308 - ) - x313 = ( - 0.075478 * x1 * x15 * x2 - + 0.075478 * x12 * x21 - + 0.075478 * x224 - - 0.015006 * x225 - - 0.015006 * x227 - - 0.015006 * x239 - ) - x314 = ( - 1.67436e-5 * x101 - - 1.67436e-5 * x102 - - 1.67436e-5 * x104 - + 0.0139585812 * x226 - + 0.0139585812 * x228 - + 0.0139585812 * x231 - - 0.9302 * x236 * x311 - - 0.0139585812 * x244 - + x308 * x313 - ) - x315 = x272 * x290 - x316 = x274 * x298 - x317 = x177 * x286 + x179 * x315 - x179 * x316 - x318 = -x301 - x319 = -x304 - x320 = x177 * x201 - x203 - x321 = -x206 - x322 = 0.0005 * x224 - x323 = 0.0005 * x108 - x324 = 1.0e-6 * x232 - x325 = ( - -0.0005 * x109 - + 1.0e-6 * x15 * x21 * x75 - + 0.000631 * x15 * x21 * x76 - + 0.000631 * x2 * x238 - - 1.0e-6 * x235 - - x322 - - x323 - - x324 - + 0.000631 * x75 * x99 - ) - x326 = 1.0e-6 * x225 - x327 = 1.0e-6 * x227 + 1.0e-6 * x239 + x326 - x328 = 0.008147 * x2 * x234 - 0.008147 * x233 - x327 + 0.008147 * x76 * x99 - x329 = x111 * x232 - x330 = x58 * x75 - x331 = ( - 0.008316 * x161 - + x22 * x323 * x76 - + x236 * x322 - + x236 * x325 - - x249 * x328 - + 0.0005 * x329 - + 0.0005 * x330 - ) - x332 = 0.008316 * x102 + x331 - x333 = x224 * x232 - x334 = ( - 0.0702096356 * x12 * x21 * x75 * x99 - + 1.67436e-5 * x12 * x21 * x76 * x99 - + 1.67436e-5 * x15 * x21 * x224 * x75 - + 1.67436e-5 * x2 * x260 - - 0.0702096356 * x226 - - 0.0702096356 * x228 - - 0.0702096356 * x231 - + 0.9302 * x236 * x307 - - 0.9302 * x249 * x313 - - 1.67436e-5 * x333 - ) - x335 = 1.0e-6 * x179 - x336 = x1 * x198 - x337 = 0.00965 * x278 + 0.00965 * x284 + x335 * x86 + 1.0e-6 * x336 - x338 = ( - 0.045483 * x1 * x198 - + 0.045483 * x179 * x5 * x76 - - 0.00965 * x291 - - 0.00965 * x297 - ) - x339 = 0.045483 * x278 + 0.045483 * x284 + 1.0e-6 * x291 + 1.0e-6 * x297 - x340 = -x339 - x341 = x179 * x340 - x342 = x277 * x338 + x289 * x337 + x341 * x76 - x343 = 1.0e-6 * x75 - x344 = x167 * x76 - x345 = x111 * x225 - x346 = x224 * x249 - x347 = x224 * x236 - x348 = ( - 0.008316 * x1 * x15 * x2 - + 0.008316 * x12 * x21 - + 0.008316 * x224 - - 0.0005 * x225 - - 0.0005 * x227 - - 0.0005 * x239 - ) - x349 = ( - x111 * x324 - + 0.008147 * x167 * x75 - - x241 * x325 - + x249 * x348 - + x343 * x58 - + 1.0e-6 * x344 - + 0.008147 * x345 - + 0.008147 * x346 - + 1.0e-6 * x347 - - 0.008147 * x58 * x76 - ) - x350 = x272 * x298 + x274 * x290 - x351 = ( - 1.0e-6 * x1 * x2 * x21 * x76 - - 0.0005 * x102 - - x111 * x326 - - 0.0005 * x161 - - x167 * x343 - - x236 * x348 - + x241 * x328 - - 0.000631 * x329 - - 0.000631 * x330 - - 0.000631 * x344 - - 1.0e-6 * x346 - - 0.000631 * x347 - ) - x352 = x272 * x337 - x353 = x274 * x338 - x354 = x177 * x340 + x179 * x352 - x179 * x353 - x355 = x272 * x338 + x274 * x337 - x356 = u5 - x357 = x177 * x224 - x358 = x356 * x357 - x359 = x225 * x357 - x360 = x179 * x232 - x361 = x356 * x360 - x362 = x224 * x76 - x363 = x180 * x99 - x186 * x225 - x186 * x356 + x187 * x356 + x193 * x362 - x364 = x21 * x363 - x365 = x179 * x86 - x366 = x21 * x5 - x367 = ( - x1 * (-x186 * x362 - x192 * x99 - x193 * x225 - x193 * x356 - x197 * x356) - - x177 * x230 - + x181 * x366 - - x356 * x365 - + x357 * x96 - ) - x368 = x2 * x367 - x369 = x179 * x224 - x370 = x177 * x232 - x371 = x207 * x21 - x372 = x178 + x182 - x373 = x2 * x372 - x374 = ( - -0.00017505 * x369 + 0.00017505 * x370 + 0.00017505 * x371 + 0.00017505 * x373 - ) - x375 = -x369 + x370 + x371 + x373 - x376 = 0.6781 * x375 - x377 = x200 - x365 - x378 = x2 * x377 - x379 = x188 * x21 - x380 = -0.10593 * x177 * x224 - 0.10593 * x179 * x76 * x99 - x381 = ( - -0.00017505 * x225 - - 0.00017505 * x227 - - 0.00017505 * x239 - - 0.00017505 * x356 - - 0.10593 * x378 - - 0.10593 * x379 - - x380 - ) - x382 = x249 + x356 - x383 = 0.6781 * x382 - x384 = ( - -0.071831133 * x358 - + 0.071831133 * x359 - - 0.071831133 * x361 - + 0.071831133 * x364 - + 0.071831133 * x368 - - x374 * x376 - + x381 * x383 + x216 = x208 * x78 + x217 = x209 - x216 + x218 = 0.10593 * x205 + x219 = x218 * x90 + x220 = 0.10593 * x212 + x221 = x219 + x220 + x222 = x11 * x207 + x223 = x15 * x205 + x224 = x223 * x78 + x225 = x222 + x224 + x226 = 0.00017505 * x109 + x227 = x207 * x90 + x228 = 0.10593 * x227 + x229 = x222 * x78 + x230 = -x223 - x229 + x231 = x1 * x230 + x232 = -x226 + x228 - 0.10593 * x231 + 0.00017505 * x86 + x233 = 0.0063355125 * x3 + x234 = x207 * x221 + x235 = x205 * x232 + x236 = x213 * x78 - x234 * x79 + x235 * x79 + x237 = 0.247974906 * x36 + x238 = x205 * x221 + x239 = x207 * x232 + x240 = x238 + x239 + x241 = -x209 + x216 + x242 = -x222 - x224 + x243 = x215 + x221 * x241 + x232 * x242 + x244 = 1.0e-6 * x109 + x245 = 0.063883 * x206 + x246 = 0.063883 * x212 + x244 + x245 - 1.0e-6 * x86 + x247 = x205 * x246 + x248 = 0.009432 * x109 + x249 = 0.063883 * x227 + x250 = -0.063883 * x231 + x248 + x249 - 0.009432 * x86 + x251 = x207 * x250 + x252 = 1.0e-6 * x207 + x253 = x252 * x90 + x254 = 0.009432 * x205 + x255 = -0.009432 * x212 - 1.0e-6 * x231 + x253 - x254 * x90 + x256 = x255 * x79 + x257 = x15 * x256 + x258 = 0.0036447875 * x3 + x259 = x207 * x246 + x260 = x205 * x250 + x261 = x255 * x78 - x259 * x79 + x260 * x79 + x262 = 0.142658678 * x36 + x263 = -x214 - x234 * x78 + x235 * x78 + x264 = 0.005375 * x1 + x265 = 0.005375 * x11 + x266 = x264 * x78 + x265 * x90 + x267 = u4 + x268 = x114 * x78 + x269 = x267 * x268 + x270 = x115 * x79 + x271 = x267 * x270 + x272 = 0.006375 * x1 + x273 = x272 * x79 + x274 = 0.006375 * x268 + x275 = x123 * x85 - x17 * x274 - x21 * x273 + x267 * x85 - x267 * x87 + x276 = 0.5006 * x2 + x277 = x114 * x79 + x278 = x115 * x78 + x279 = x81 + x90 + x280 = x2 * x279 + x281 = x277 - x278 + x280 + x282 = -0.20843 * x277 + 0.20843 * x278 - 0.20843 * x280 + x283 = 0.5006 * x282 + x284 = 0.20843 * x267 + x285 = 0.20843 * x123 + x286 = x109 - x86 + x287 = x2 * x286 + x288 = 0.20843 * x124 - x126 * x79 - x274 + x284 + x285 - 0.006375 * x287 + x289 = x123 + x124 + x267 + x290 = 0.5006 * x289 + x291 = ( + -x169 * x268 + + 0.003191325 * x269 + + 0.003191325 * x271 + + x275 * x276 + - x281 * x283 + + x288 * x290 + ) + x292 = x123 * x268 + x293 = 0.6781 * x2 + x294 = 0.6781 * x282 + x295 = 0.6781 * x289 + x296 = ( + 0.0043228875 * x269 + + 0.0043228875 * x271 + + x275 * x293 + - x281 * x294 + + x288 * x295 + - 0.0043228875 * x292 + ) + x297 = 2 * x296 + x298 = 0.20843 * x79 + x299 = x1 * x21 + x300 = -x109 * x284 - x109 * x285 + x268 * x84 + x284 * x86 + x298 * x299 + x301 = 0.006375 * x277 + x302 = -x126 * x78 + 0.006375 * x280 + x301 + x303 = x281 * x302 + x304 = x268 + x270 + x287 + x305 = x288 * x304 + x306 = ( + -0.141336383 * x269 + - 0.141336383 * x271 + + 0.141336383 * x292 + + x293 * x300 + + 0.6781 * x303 + - 0.6781 * x305 ) + x307 = ( + -0.104340058 * x269 + - 0.104340058 * x271 + + x276 * x300 + + 0.104340058 * x292 + + 0.5006 * x303 + - 0.5006 * x305 + ) + x308 = -x19 * x79 + x82 + x309 = x264 * x79 + x310 = -x109 * x265 + x309 + x311 = x267 * x277 + x312 = x123 * x277 + x313 = x267 * x278 + x314 = x272 * x78 + x315 = x123 * x80 - x17 * x301 + x21 * x314 + x267 * x80 + x267 * x82 + x316 = ( + -0.104340058 * x116 + + 0.104340058 * x117 + + 0.104340058 * x119 + + x276 * x315 + + x283 * x304 + - x290 * x302 + + 0.003191325 * x311 + - 0.003191325 * x312 + - 0.003191325 * x313 + ) + x317 = x11 * x80 - x18 * x79 + x314 + x318 = ( + -0.141336383 * x116 + + 0.141336383 * x117 + + 0.141336383 * x119 + + x293 * x315 + + x294 * x304 + - x295 * x302 + + 0.0043228875 * x311 + - 0.0043228875 * x312 + - 0.0043228875 * x313 + ) + x319 = 2 * x318 + x320 = -x144 - x174 + x321 = 2 * x306 + x322 = x19 * x78 + x323 = x322 + x87 + x324 = -x11 * x85 + x18 * x78 + x273 + x325 = q6 + x326 = math.sin(x325) + x327 = x326 * x78 + x328 = math.cos(x325) + x329 = x328 * x79 + x330 = x205 * x329 + x331 = x327 + x330 + x332 = x331 * x5 + x333 = 0.10593 * x332 + x334 = x208 * x328 + x335 = x326 * x79 + x336 = x328 * x78 + x337 = x205 * x336 + x338 = -x335 + x337 + x339 = x11 * x338 + x340 = -x334 + x339 + x341 = x1 * x340 + x342 = 0.10593 * x341 + x343 = -x333 - x342 + x344 = x207 * x343 + x345 = x205 * x335 + x346 = x336 - x345 + x347 = 0.00017505 * x332 + 0.00017505 * x341 + x348 = x223 + x229 + x349 = x1 * x348 + x350 = x346 * x5 + x351 = x208 * x326 + x352 = x205 * x327 + x353 = -x329 - x352 + x354 = x11 * x353 + x355 = x351 + x354 + x356 = x1 * x355 + x357 = x228 + 0.10593 * x349 - 0.00017505 * x350 - 0.00017505 * x356 + x358 = x331 * x357 + x344 * x79 + x346 * x347 + x359 = x222 * x326 + x360 = x15 * x353 + x361 = -x359 + x360 + x362 = x222 * x328 + x363 = x15 * x338 + x364 = x362 + x363 + x365 = 0.002690725 * x3 + x366 = 0.105316228 * x36 + x367 = 0.015006 * x21 + x368 = 0.015006 * x277 + x369 = x105 * x123 + x105 * x267 + x106 * x267 - x17 * x368 + x367 * x93 + x370 = 0.9302 * x2 + x371 = 1.8e-5 * x267 + x372 = 1.8e-5 * x123 + x373 = -1.8e-5 * x124 - 0.015006 * x278 + 0.015006 * x280 + x368 - x371 - x372 + x374 = 0.9302 * x289 + x375 = 1.8e-5 * x79 + x376 = 0.075478 * x78 + x377 = ( + x115 * x375 + + x115 * x376 + + 1.8e-5 * x268 + - 0.075478 * x277 + - 0.075478 * x280 + + 1.8e-5 * x287 + ) + x378 = 0.9302 * x377 + x379 = ( + -0.0702096356 * x116 + + 0.0702096356 * x117 + + 0.0702096356 * x119 + + x304 * x378 + + 0.0139585812 * x311 + - 0.0139585812 * x312 + - 0.0139585812 * x313 + + x369 * x370 + - x373 * x374 + ) + x380 = 0.015006 * x268 + x381 = -x1 * x367 * x79 + x110 * x123 + x110 * x267 - x111 * x267 - x17 * x380 + x382 = 0.075478 * x267 + x383 = 0.075478 * x123 + x384 = 0.075478 * x124 - 0.015006 * x270 - 0.015006 * x287 - x380 + x382 + x383 x385 = ( - -0.053028558 * x358 - + 0.053028558 * x359 - - 0.053028558 * x361 - + 0.053028558 * x364 - + 0.053028558 * x368 - - 0.5006 * x374 * x375 - + 0.5006 * x381 * x382 - ) - x386 = x179 * x256 - x387 = -x116 * x199 - x386 - x388 = x179 * x267 - x186 * x44 + x192 * x269 - x389 = -x388 - x390 = x177 * x89 + x179 * x83 - x391 = -x390 - x392 = 8.763003e-5 * x357 - x393 = 8.763003e-5 * x21 - x394 = 8.763003e-5 * x2 - x395 = x190 * x232 - 0.10593 * x369 + 0.10593 * x371 + 0.10593 * x373 - x396 = 0.5006 * x395 - x397 = -x357 - x360 + x378 + x379 - x398 = ( - x225 * x392 - - 8.763003e-5 * x358 - - 8.763003e-5 * x361 - + x363 * x393 - + x367 * x394 - + x375 * x396 - - 0.5006 * x381 * x397 - ) - x399 = 0.6781 * x397 - x400 = ( - -0.000118701405 * x358 - + 0.000118701405 * x359 - - 0.000118701405 * x361 - + 0.000118701405 * x364 - + 0.000118701405 * x368 - + x376 * x395 - - x381 * x399 - ) - x401 = x179 * x269 - x402 = -x16 * x199 - x188 * x44 - x401 - x403 = x177 * x76 - x404 = x249 * x357 - x405 = 0.000256 * x356 - x406 = 0.000256 * x225 - x407 = ( - 0.000256 * x227 - + 0.000256 * x239 - - 0.001607 * x357 - - 0.001607 * x360 - + 0.001607 * x378 - + 0.001607 * x379 - + x405 - + x406 - ) - x408 = ( - 0.000399 * x225 - + 0.000399 * x227 - + 0.000399 * x239 - + 0.000399 * x356 - - 0.000256 * x357 - - 0.000256 * x360 - + 0.000256 * x378 - + 0.000256 * x379 - ) - x409 = ( - -0.001596 * x161 * x179 - + 0.001596 * x177 * x345 - + 0.001596 * x181 * x23 - + 0.001596 * x356 * x397 - - x382 * x407 - + x397 * x408 - - 0.001596 * x403 * x58 - + 0.001596 * x404 - ) - x410 = 0.005375 * x1 * x177 * x76 - x116 * x181 - x411 = x179 * x230 - x412 = x369 * x96 - x413 = x178 * x356 - x414 = ( - -x12 * x177 * x356 * x75 - - x12 * x177 * x99 - + x180 * x225 - + x180 * x356 - + x192 * x362 - ) - x415 = x1 * x414 + x199 * x366 + x411 - x412 - x413 - x416 = x2 * x415 - x417 = ( - -x15 * x179 * x224 * x76 + x192 * x225 + x192 * x356 + x193 * x99 + x194 * x356 - ) - x418 = x21 * x417 - x419 = x356 * x369 - x420 = ( - -0.053028558 * x177 * x356 * x76 * x99 - - 0.053028558 * x179 * x224 * x75 * x99 - + 0.053028558 * x419 - ) - x421 = ( - 8.763003e-5 * x224 * x76 * x99 - - 8.763003e-5 * x258 - - 8.763003e-5 * x259 - - 8.763003e-5 * x261 - + 0.5006 * x374 * x397 - - x382 * x396 - - 0.053028558 * x416 - - 0.053028558 * x418 - - x420 - ) - x422 = ( - 0.071831133 * x177 * x356 * x76 * x99 - + 0.071831133 * x179 * x224 * x75 * x99 - + 0.000118701405 * x224 * x76 * x99 - - 0.000118701405 * x258 - - 0.000118701405 * x259 - - 0.000118701405 * x261 - + 0.6781 * x374 * x397 - - x383 * x395 - - 0.071831133 * x416 - - 0.071831133 * x418 - - 0.071831133 * x419 - ) - x423 = x177 * x267 + x186 * x269 + x192 * x44 - x424 = x179 * x89 - x425 = x177 * x83 - x424 - x426 = 0.006375 * x1 * x177 * x76 - x16 * x181 - x207 * x44 - x427 = x161 * x177 - x428 = x179 * x345 - x429 = x249 * x369 - x430 = x356 * x375 - x431 = -0.001596 * x369 + 0.001596 * x370 + 0.001596 * x371 + 0.001596 * x373 - x432 = ( - 0.001607 * x1 * x179 * x2 * x21 * x76 - + 0.001607 * x199 * x2 * x21 * x5 - - 0.000256 * x329 - - 0.000256 * x330 - - 0.000256 * x344 - - 0.000256 * x347 - - x375 * x408 - + x382 * x431 - - 0.001607 * x427 - - 0.001607 * x428 - - 0.001607 * x429 - - 0.001607 * x430 - ) - x433 = q7 - x434 = math.sin(x433) - x435 = x273 * x434 - x436 = math.cos(x433) - x437 = x179 * x436 - x438 = x177 * x434 - x439 = x274 * x438 - x440 = -x437 - x439 - x441 = x440 * x76 - x442 = -x435 + x441 - x443 = x273 * x436 - x444 = x179 * x434 - x445 = x177 * x274 * x436 - x444 - x446 = x445 * x76 - x447 = x443 + x446 - x448 = x447 * x5 - x449 = x274 * x437 - x450 = x438 + x449 - x451 = x15 * x450 - x452 = x280 * x436 - x453 = x445 * x75 - x454 = -x452 + x453 - x455 = x12 * x454 - x456 = -x451 + x455 - x457 = x1 * x456 - x458 = -0.000281 * x291 - 0.000281 * x297 + 0.029798 * x448 + 0.029798 * x457 - x459 = x442 * x5 - x460 = x274 * x444 - x461 = -x177 * x436 + x460 - x462 = -x461 - x463 = x15 * x462 - x464 = x280 * x434 - x465 = x440 * x75 - x466 = x464 + x465 - x467 = x12 * x466 - x468 = -x463 + x467 - x469 = x1 * x468 - x470 = ( - 0.011402 * x1 * x296 + 0.011402 * x289 * x5 - 0.029798 * x459 - 0.029798 * x469 - ) + 1.67436e-5 * x116 + - 1.67436e-5 * x117 + - 1.67436e-5 * x119 + + 0.0139585812 * x269 + + 0.0139585812 * x271 + - x281 * x378 + - 0.0139585812 * x292 + + x370 * x381 + + x374 * x384 + ) + x386 = x205 * x343 + x387 = x326 * x347 + x388 = x207 * x387 + x389 = x328 * x357 + x390 = x207 * x389 + x391 = x359 - x360 + x392 = -x362 - x363 + x393 = -x234 + x235 + x394 = -x238 - x239 + x395 = 0.0005 * x267 + x396 = 0.0005 * x123 + x397 = 1.0e-6 * x277 + x398 = 1.0e-6 * x78 + x399 = ( + x115 * x398 + - 0.0005 * x124 + + 0.000631 * x268 + + 0.000631 * x270 + - 1.0e-6 * x280 + + 0.000631 * x287 + - x395 + - x396 + - x397 + ) + x400 = 1.0e-6 * x268 + x401 = 1.0e-6 * x270 + x402 = 1.0e-6 * x287 + x403 = 0.008147 * x277 - 0.008147 * x278 + 0.008147 * x280 - x400 - x401 - x402 + x404 = x125 * x277 + x405 = x61 * x78 + x406 = ( + 0.008316 * x190 + + x22 * x396 * x79 + + x281 * x395 + + x281 * x399 + - x304 * x403 + + 0.0005 * x404 + + 0.0005 * x405 + ) + x407 = 0.008316 * x117 + x406 + x408 = 0.075478 * x79 + x409 = 1.8e-5 * x78 + x410 = ( + -0.0702096356 * x269 + - 0.0702096356 * x271 + + 0.9302 * x281 * x373 + + 0.0702096356 * x292 + - 0.9302 * x304 * x384 + - 1.67436e-5 * x311 + + 1.67436e-5 * x312 + + 1.67436e-5 * x313 + + x370 * (x104 * x277 - x299 * x409 - x371 * x81 - x371 * x90 - x372 * x90) + + x370 * (x108 * x268 - x109 * x382 - x109 * x383 + x299 * x408 + x382 * x86) + ) + x411 = x253 + 0.00965 * x332 + 0.00965 * x341 + 1.0e-6 * x349 + x412 = 0.045483 * x227 + 0.045483 * x349 - 0.00965 * x350 - 0.00965 * x356 + x413 = 0.045483 * x332 + x414 = 1.0e-6 * x350 + x415 = 0.045483 * x341 + x416 = 1.0e-6 * x356 + x417 = -x413 - x414 - x415 - x416 + x418 = x207 * x417 + x419 = x331 * x412 + x346 * x411 + x418 * x79 + x420 = x61 * x79 + x421 = x137 * x79 + x422 = x125 * x268 + x423 = x267 * x304 + x424 = x267 * x281 + x425 = ( + 0.008316 * x123 + + 0.008316 * x124 + + 0.008316 * x267 + - 0.0005 * x268 + - 0.0005 * x270 + - 0.0005 * x287 + ) + x426 = ( + x125 * x397 + + 0.008147 * x137 * x78 + - x289 * x399 + + x304 * x425 + + x398 * x61 + - 0.008147 * x420 + + 1.0e-6 * x421 + + 0.008147 * x422 + + 0.008147 * x423 + + 1.0e-6 * x424 + ) + x427 = x326 * x357 + x328 * x347 + x428 = ( + -0.0005 * x117 + - x125 * x400 + - x137 * x398 + - 0.0005 * x190 + - x281 * x425 + + x289 * x403 + - 0.000631 * x404 + - 0.000631 * x405 + + 1.0e-6 * x420 + - 0.000631 * x421 + - 1.0e-6 * x423 + - 0.000631 * x424 + ) + x429 = x326 * x411 + x430 = x207 * x429 + x431 = x328 * x412 + x432 = x207 * x431 + x433 = x205 * x417 + x434 = x326 * x412 + x328 * x411 + x435 = u5 + x436 = x205 * x267 + x437 = x435 * x436 + x438 = x268 * x436 + x439 = x207 * x277 + x440 = x435 * x439 + x441 = x114 * x208 + x442 = 0.10593 * x209 + x443 = x267 * x79 + x444 = x223 * x443 + x445 = 0.10593 * x216 + x446 = -x268 * x442 - x435 * x442 + x435 * x445 + 0.10593 * x441 + 0.10593 * x444 + x447 = x218 * x79 + x448 = 0.10593 * x436 + x449 = x21 * x5 + x450 = x211 * x449 + x451 = -x114 * x222 - x209 * x443 - x223 * x268 - x223 * x435 - x229 * x435 + x452 = x1 * x451 + x453 = x109 * x448 - x228 * x435 - x299 * x447 + 0.10593 * x450 + 0.10593 * x452 + x454 = x207 * x267 + x455 = x205 * x277 + x456 = x21 * x242 + x457 = x206 + x212 + x458 = x2 * x457 + x459 = ( + -0.00017505 * x454 + 0.00017505 * x455 + 0.00017505 * x456 + 0.00017505 * x458 + ) + x460 = -x454 + x455 + x456 + x458 + x461 = 0.6781 * x460 + x462 = 0.00017505 * x435 + x463 = 0.00017505 * x268 + x464 = -x227 + x231 + x465 = x2 * x464 + x466 = x21 * x241 + x467 = 0.10593 * x439 + x448 + x468 = ( + -0.00017505 * x270 + - 0.00017505 * x287 + - x462 + - x463 + - 0.10593 * x465 + - 0.10593 * x466 + + x467 + ) + x469 = x304 + x435 + x470 = 0.6781 * x469 x471 = ( - 0.000281 * x1 * x468 + 0.000281 * x442 * x5 - 0.011402 * x448 - 0.011402 * x457 - ) - x472 = x289 * x471 + x442 * x458 + x447 * x470 - x473 = 0.000399 * x330 - x474 = 0.000399 * x344 - x475 = 0.000256 * x427 - x476 = 0.000399 * x329 - x477 = x111 * x179 * x406 - x478 = 0.000399 * x347 - x479 = 0.000256 * x429 - x480 = x375 * x405 - x481 = x397 * x431 - x482 = ( - 0.000256 * x1 * x179 * x2 * x21 * x76 - + 0.000256 * x199 * x2 * x21 * x5 - + x375 * x407 - - x473 - - x474 - - x475 - - x476 - - x477 - - x478 - - x479 - - x480 - - x481 - ) - x483 = x272 * x471 - x484 = x179 * x483 - x485 = x12 * x462 - x486 = x15 * x466 - x487 = x485 + x486 - x488 = x12 * x450 - x489 = x15 * x454 - x490 = x488 + x489 - x491 = x225 * x369 - x492 = x356 * x370 - x493 = ( - x327 - + 1.0e-6 * x356 - - 0.063883 * x369 - + 0.063883 * x370 - + 0.063883 * x371 - + 0.063883 * x373 - ) + x293 * x453 + + x30 * x446 + - 0.071831133 * x437 + + 0.071831133 * x438 + - 0.071831133 * x440 + - x459 * x461 + + x468 * x470 + ) + x472 = ( + x27 * x446 + + x276 * x453 + - 0.053028558 * x437 + + 0.053028558 * x438 + - 0.053028558 * x440 + - 0.5006 * x459 * x460 + + 0.5006 * x468 * x469 + ) + x473 = x207 * x309 + x474 = -x130 * x230 - x473 + x475 = x209 * x46 + x476 = x222 * x273 + x477 = x207 * x322 + x478 = x475 - x476 - x477 + x479 = x205 * x95 + x480 = x207 * x88 + x481 = -x479 - x480 + x482 = 8.763003e-5 * x436 + x483 = 0.00017505 * x208 + x484 = x114 * x483 - x209 * x462 - x209 * x463 + x216 * x462 + 0.00017505 * x444 + x485 = 0.00017505 * x1 + x486 = x205 * x79 + x487 = 0.00017505 * x449 + x488 = -x21 * x485 * x486 + x211 * x487 + x226 * x436 - x227 * x462 + x451 * x485 + x489 = 0.10593 * x454 + x490 = x218 * x277 + 0.10593 * x456 + 0.10593 * x458 - x489 + x491 = 0.5006 * x490 + x492 = -x436 - x439 + x465 + x466 + x493 = 0.5006 * x492 x494 = ( - 1.0e-6 * x177 * x224 - + 0.009432 * x179 * x224 - + 1.0e-6 * x179 * x76 * x99 - - x212 * x232 - - 0.009432 * x371 - - 0.009432 * x373 - - 1.0e-6 * x378 - - 1.0e-6 * x379 - ) - x495 = ( - 0.0063958392 * x258 - + 0.0063958392 * x259 - + 0.0063958392 * x261 - - 0.0063958392 * x333 - - x383 * x493 - + x399 * x494 - - 0.0433190623 * x416 - - 0.0433190623 * x418 - - 0.0433190623 * x419 - + 0.0433190623 * x491 - + 0.0433190623 * x492 - ) + x268 * x482 + + x27 * x484 + + x276 * x488 + - 8.763003e-5 * x437 + - 8.763003e-5 * x440 + + x460 * x491 + - x468 * x493 + ) + x495 = 0.6781 * x492 x496 = ( - 0.009432 * x225 - + 0.009432 * x227 - + 0.009432 * x239 - + 0.009432 * x356 - + 0.063883 * x357 - + 0.063883 * x360 - - 0.063883 * x378 - - 0.063883 * x379 - ) - x497 = ( - 6.781e-7 * x258 - + 6.781e-7 * x259 - + 6.781e-7 * x261 - - 6.781e-7 * x333 - - 0.0433190623 * x358 - + 0.0433190623 * x359 - - 0.0433190623 * x361 - + 0.0433190623 * x364 - + 0.0433190623 * x368 - - x376 * x494 - + x383 * x496 - ) - x498 = -x487 - x499 = -x490 - x500 = x434 * x458 - x501 = x272 * x436 * x470 - x272 * x500 + x274 * x471 - x502 = 6.781e-7 * x419 - x503 = 6.781e-7 * x21 - x504 = 6.781e-7 * x2 - x505 = ( - 0.0063958392 * x177 * x224 * x356 - + 6.781e-7 * x177 * x356 * x76 * x99 - + 6.781e-7 * x179 * x224 * x75 * x99 - + 0.0063958392 * x179 * x356 * x76 * x99 - - 0.0063958392 * x359 - - 0.0063958392 * x364 - - 0.0063958392 * x368 - + 0.6781 * x375 * x493 - - x399 * x496 - - x415 * x504 - - x417 * x503 - - x502 - ) - x506 = -x450 - x507 = x434 * x470 + x436 * x458 - x508 = u6 - x509 = x274 * x356 - x510 = x508 * x509 - x511 = x272 * x369 - x512 = x508 * x511 - x513 = x179 * x356 - x514 = ( - x177 * x224 * x274 * x75 - - x224 * x280 - + x274 * x508 * x75 - - x275 * x513 - - x288 * x508 - ) - x515 = x514 * x99 - x516 = x274 * x75 - x517 = -x224 * x273 - x275 * x357 - x275 * x508 - x293 * x508 - x513 * x516 - x518 = ( - x12 * x179 * x272 * x508 - + x15 * x179 * x274 * x99 - - x15 * x517 - - x186 * x509 - - x282 * x99 - ) - x519 = ( - x1 - * ( - x12 * x517 - + x15 * x179 * x272 * x508 - - x193 * x509 - - x302 * x99 - - x303 * x99 - ) - - x229 * x277 - + x283 * x366 - + x5 * x514 - ) - x520 = x272 * x356 - x521 = x274 * x369 - x522 = x277 * x99 - x523 = x21 * x319 - x524 = x278 + x284 - x525 = x2 * x524 - x526 = x520 - x521 + x522 + x523 + x525 - x527 = ( - 0.10593 * x179 * x224 * x274 - - 0.10593 * x520 - - 0.10593 * x522 - - 0.10593 * x523 - - 0.10593 * x525 - ) - x528 = x291 + x297 - x529 = x2 * x528 - x530 = x289 * x99 - x531 = x21 * x318 - x532 = x336 + x365 - x533 = ( - 0.10593 * x189 * x21 - + 0.10593 * x2 * x532 - - x380 - + 0.10593 * x508 - - 0.00017505 * x509 - - 0.00017505 * x511 - - 0.00017505 * x529 - - 0.00017505 * x530 - - 0.00017505 * x531 - ) - x534 = x189 * x21 - x535 = x2 * x532 - x536 = x357 + x360 + x508 + x534 + x535 - x537 = 0.5006 * x536 - x538 = ( - -x392 * x509 - + x393 * x518 - + x394 * x519 - + 8.763003e-5 * x510 - + 8.763003e-5 * x512 - + 8.763003e-5 * x515 - - 0.5006 * x526 * x527 - + x533 * x537 - ) - x539 = 0.005375 * x1 * x289 - x116 * x296 - x540 = x192 * x272 - x541 = x19 * x294 + x289 * x50 - x44 * x540 - x542 = x177 * x83 - x543 = x272 * x424 - x272 * x542 + x274 * x79 - x544 = x183 * x274 - x201 * x272 - x545 = -x116 * x198 + x386 - x546 = x21 * x518 - x547 = x2 * x519 - x548 = ( - 0.00017505 * x520 + x293 * x488 + + x30 * x484 + - 0.000118701405 * x437 + + 0.000118701405 * x438 + - 0.000118701405 * x440 + + x461 * x490 + - x468 * x495 + ) + x497 = x207 * x273 + x498 = -x16 * x230 - x241 * x46 - x497 + x499 = x304 * x436 + x500 = 0.000256 * x435 + x501 = 0.000256 * x268 + x502 = ( + 0.000256 * x270 + + 0.000256 * x287 + - 0.001607 * x436 + - 0.001607 * x439 + + 0.001607 * x465 + + 0.001607 * x466 + + x500 + + x501 + ) + x503 = ( + 0.000399 * x268 + + 0.000399 * x270 + + 0.000399 * x287 + + 0.000399 * x435 + - 0.000256 * x436 + - 0.000256 * x439 + + 0.000256 * x465 + + 0.000256 * x466 + ) + x504 = ( + -0.001596 * x190 * x207 + + 0.001596 * x205 * x422 + + 0.001596 * x211 * x23 + + 0.001596 * x435 * x492 + - x469 * x502 + - 0.001596 * x486 * x61 + + x492 * x503 + + 0.001596 * x499 + ) + x505 = -x130 * x211 + x205 * x309 + x506 = x208 * x435 + x507 = x114 * x209 + x508 = x208 * x268 + x509 = x222 * x443 + x510 = x210 * x435 + x511 = x506 - x507 + x508 + x509 - x510 + x512 = x1 * x511 + x513 = x230 * x449 + x514 = x207 * x79 + x515 = 0.10593 * x514 + x516 = x109 * x489 + x219 * x435 - x299 * x515 + x517 = -0.10593 * x512 - 0.10593 * x513 + x516 + x518 = 0.00017505 * x78 + x519 = x267 * x90 + x520 = x123 * x90 + x521 = x17 * x277 + x522 = x267 * x51 + x523 = ( + x299 * x518 + + x518 * x522 + + 0.00017505 * x519 + + 0.00017505 * x520 - 0.00017505 * x521 - + 0.00017505 * x522 - + 0.00017505 * x523 - + 0.00017505 * x525 - ) - x549 = x509 + x511 + x529 + x530 + x531 - x550 = ( - 0.053028558 * x177 * x224 * x274 * x356 - - 0.053028558 * x510 - - 0.053028558 * x512 - - 0.053028558 * x515 - + 0.5006 * x526 * x548 - - 0.5006 * x533 * x549 - - 0.053028558 * x546 - - 0.053028558 * x547 - ) - x551 = -x191 - x552 = 0.006375 * x1 * x289 - x16 * x296 - x318 * x44 - x553 = x179 * x274 - x554 = 0.001641 * x58 - x555 = x397 * x509 - x556 = 0.000278 * x508 - x557 = 0.000278 * x357 - x558 = ( - -0.000278 * x360 - + 0.00041 * x509 - + 0.00041 * x511 - + 0.00041 * x529 - + 0.00041 * x530 - + 0.00041 * x531 - - 0.000278 * x534 - - 0.000278 * x535 - - x556 - - x557 - ) - x559 = ( - 0.001641 * x177 * x224 - + 0.001641 * x179 * x76 * x99 - + 0.001641 * x189 * x21 - + 0.001641 * x2 * x532 - + 0.001641 * x508 - - 0.000278 * x509 - - 0.000278 * x511 - - 0.000278 * x529 - - 0.000278 * x530 - - 0.000278 * x531 - ) - x560 = ( - -0.001641 * x161 * x553 - + 0.001641 * x168 * x281 - + 0.001641 * x23 * x283 - + 0.001641 * x249 * x274 * x357 - - 0.001641 * x272 * x347 - - x277 * x554 - + 0.001641 * x508 * x549 - - x536 * x558 - + x549 * x559 - + 0.001641 * x555 - ) - x561 = -x16 * x198 - x189 * x44 + x401 - x562 = 0.005375 * x1 * x277 - x116 * x283 - x563 = ( - x179 * x272 * x356 * x76 - x224 * x275 - x273 * x357 - x273 * x508 - x276 * x508 - ) - x564 = x177 * x516 - x565 = -x224 * x516 + x273 * x513 + x280 * x357 + x280 * x508 - x508 * x564 - x566 = ( - x1 * (x12 * x565 + x193 * x520 + x279 * x508 - x300 * x99 + x540 * x99) - - x229 * x289 - + x296 * x366 - + x5 * x563 - ) - x567 = ( - x12 * x177 * x272 * x356 - + x12 * x179 * x274 * x508 - - x15 * x565 - - x292 * x99 - - x295 * x99 - ) - x568 = x563 * x99 - x569 = -x1 * x414 + x198 * x366 - x411 + x412 + x413 - x570 = -x417 - x571 = x508 * x521 - x572 = ( - 0.053028558 * x2 * x569 - + 0.053028558 * x21 * x570 - + 8.763003e-5 * x272 * x356 * x508 - - x392 * x520 - - x393 * x567 - - x394 * x566 - - x420 - + 0.5006 * x527 * x549 - - x537 * x548 - - 8.763003e-5 * x568 - - 8.763003e-5 * x571 - ) - x573 = x19 * x281 + x277 * x50 + x302 * x44 - x574 = x272 * x79 - x575 = -x274 * x424 + x274 * x542 + x574 - x576 = x183 * x272 - x577 = x201 * x274 - x578 = x576 + x577 - x579 = 0.006375 * x1 * x277 - x16 * x283 - x319 * x44 - x580 = x198 * x23 - x581 = x289 * x58 - x582 = x274 * x347 - x583 = x272 * x404 - x584 = x397 * x520 - x585 = x508 * x526 - x586 = ( - 0.001641 * x520 - - 0.001641 * x521 - + 0.001641 * x522 - + 0.001641 * x523 - + 0.001641 * x525 - ) - x587 = ( - 0.000278 * x1 * x179 * x2 * x21 * x76 - + 0.00041 * x111 * x294 * x99 - + 0.00041 * x124 * x179 * x272 * x99 - + 0.00041 * x2 * x21 * x296 * x5 - - 0.000278 * x427 - - 0.000278 * x428 - - 0.000278 * x429 - - 0.000278 * x430 - - x526 * x559 - + x536 * x586 - - 0.000278 * x580 - - 0.00041 * x581 - - 0.00041 * x582 - - 0.00041 * x583 - - 0.00041 * x584 - - 0.00041 * x585 - ) - x588 = x179 * x76 - x589 = x179 * x272 - x590 = x161 * x589 - x591 = x168 * x294 - x592 = x23 * x296 - x593 = ( - x249 * x272 * x557 - + 0.001641 * x427 - + 0.001641 * x428 - + 0.001641 * x429 - + 0.001641 * x430 - + x526 * x556 - + x526 * x558 - - x549 * x586 - - x554 * x588 - + 0.001641 * x580 - + 0.000278 * x581 - + 0.000278 * x582 - + 0.000278 * x584 - - 0.000278 * x590 - - 0.000278 * x591 - - 0.000278 * x592 - ) - x594 = 0.006543665 * x357 - x595 = 0.006543665 * x21 - x596 = 0.006543665 * x2 - x597 = ( - x232 * x335 - + 1.0e-6 * x357 - + 1.0e-6 * x508 - + 0.00965 * x520 - - 0.00965 * x521 - + 0.00965 * x522 - + 0.00965 * x523 - + 0.00965 * x525 - + 1.0e-6 * x534 - + 1.0e-6 * x535 - ) - x598 = 0.6781 * x536 - x599 = 1.0e-6 * x272 - x600 = ( - 0.045483 * x179 * x224 * x274 - - x369 * x599 - - 1.0e-6 * x509 - - 0.045483 * x520 - - 0.045483 * x522 - - 0.045483 * x523 - - 0.045483 * x525 - - 1.0e-6 * x529 - - 1.0e-6 * x530 - - 1.0e-6 * x531 - ) - x601 = ( - 0.0308420223 * x177 * x356 * x76 * x99 - + 0.0308420223 * x179 * x224 * x75 * x99 - + 0.0308420223 * x2 * x569 - + 0.0308420223 * x21 * x570 - + 0.006543665 * x272 * x356 * x508 - - 0.0308420223 * x419 - - x520 * x594 - + 0.6781 * x549 * x600 - - x566 * x596 - - x567 * x595 - - 0.006543665 * x568 - - 0.006543665 * x571 - - x597 * x598 - ) - x602 = x21 * x570 - x603 = x2 * x569 - x604 = ( - 0.045483 * x177 * x224 - + 0.045483 * x179 * x76 * x99 - + 0.045483 * x189 * x21 - + 0.045483 * x2 * x532 - + 0.045483 * x508 - - 0.00965 * x509 - - 0.00965 * x511 - - 0.00965 * x529 - - 0.00965 * x530 - - 0.00965 * x531 - ) - x605 = ( - 6.781e-7 * x491 - + 6.781e-7 * x492 - - x502 - - x509 * x594 - + 0.006543665 * x510 - + 0.006543665 * x512 - + 0.006543665 * x515 - + x518 * x595 - + x519 * x596 - - 0.6781 * x526 * x600 - + x598 * x604 - + 6.781e-7 * x602 - + 6.781e-7 * x603 - ) - x606 = x357 * x520 - x607 = ( - 0.0308420223 * x177 * x224 * x274 * x356 - + 6.781e-7 * x272 * x356 * x508 - - x503 * x567 - - x504 * x566 - - 0.0308420223 * x510 - - 0.0308420223 * x512 - - 0.0308420223 * x515 - + 0.6781 * x526 * x597 - - 0.0308420223 * x546 - - 0.0308420223 * x547 - - 0.6781 * x549 * x604 - - 6.781e-7 * x568 - - 6.781e-7 * x571 - - 6.781e-7 * x606 - ) - x608 = x508 * x520 - x609 = u7 - x610 = x434 * x508 - x611 = x609 * x610 - x612 = x509 * x610 - x613 = x436 * x520 - x614 = x609 * x613 - x615 = ( - -x179 * x272 * x434 * x508 - + x356 * x437 - + x438 * x509 - + x438 * x609 - + x449 * x609 - ) - x616 = x224 * x615 - x617 = 0.0057078412 * x99 - x618 = x177 * x436 - x619 = x272 * x508 - x620 = -x274 * x609 * x618 - x356 * x618 + x438 * x619 + x444 * x509 + x444 * x609 - x621 = x224 * x464 + x224 * x465 - x443 * x609 - x516 * x610 + x620 * x76 - x622 = x621 * x99 - x623 = 0.0057078412 * x21 - x624 = 0.0057078412 * x2 - x625 = -x615 - x626 = x224 * x435 - x224 * x441 + x275 * x610 + x452 * x609 + x620 * x75 - x627 = -x12 * x625 + x15 * x462 * x99 - x15 * x626 - x467 * x99 - x628 = x21 * x627 - x629 = ( - x1 * (x12 * x626 - x15 * x625 - x485 * x99 - x486 * x99) - - x229 * x442 - + x366 * x468 - + x5 * x621 - ) - x630 = x2 * x629 - x631 = x549 + x609 - x632 = x448 + x457 - x633 = ( - 0.029798 * x2 * x632 - + 0.029798 * x21 * x499 - + 0.029798 * x224 * x506 - + 0.029798 * x272 * x356 * x436 - + 0.029798 * x447 * x99 - - 0.000281 * x509 - - 0.000281 * x511 - - 0.000281 * x529 - - 0.000281 * x530 - - 0.000281 * x531 - - 0.000281 * x609 - - 0.029798 * x610 - ) - x634 = x436 * x508 - x635 = 0.000281 * x434 - x636 = 0.011402 * x436 - x637 = x224 * x506 - x638 = x447 * x99 - x639 = x21 * x499 - x640 = x2 * x632 - x641 = x459 + x469 - x642 = ( - 0.000281 * x2 * x641 - + 0.000281 * x21 * x498 - + 0.000281 * x224 * x461 - + 0.011402 * x434 * x508 - + 0.000281 * x442 * x99 - - x520 * x635 - - x520 * x636 - - 0.000281 * x634 - - 0.011402 * x637 - - 0.011402 * x638 - - 0.011402 * x639 - - 0.011402 * x640 - ) - x643 = x434 * x520 - x644 = x224 * x461 - x645 = x442 * x99 - x646 = x21 * x498 - x647 = x2 * x641 - x648 = -x634 - x643 + x644 + x645 + x646 + x647 - x649 = 0.5006 * x648 - x650 = ( - x563 * x617 - + x566 * x624 - + x567 * x623 - + 0.0057078412 * x571 - + 0.0057078412 * x606 - - 0.0057078412 * x608 - - 0.0149168788 * x611 - + 0.0149168788 * x612 - + 0.0149168788 * x614 - - 0.0149168788 * x616 - - 0.0149168788 * x622 - - 0.0149168788 * x628 - - 0.0149168788 * x630 - - 0.5006 * x631 * x633 - + x642 * x649 - ) - x651 = x609 * x634 - x652 = x609 * x643 - x653 = ( - -x177 * x274 * x356 * x436 - - x177 * x436 * x609 - + x356 * x444 - + x437 * x619 - + x460 * x609 - ) - x654 = x21 * x567 - x655 = -x356 * x438 - x437 * x509 - x437 * x609 - x439 * x609 - x618 * x619 - x656 = -x224 * x452 + x224 * x453 - x435 * x609 + x516 * x634 + x655 * x76 - x657 = x2 * x566 - x658 = -x653 - x659 = ( - -x224 * x443 - x224 * x446 + x272 * x434 * x609 * x76 - x275 * x634 + x655 * x75 - ) - x660 = -x12 * x658 + x15 * x450 * x99 - x15 * x659 - x455 * x99 - x661 = ( - x1 * (x12 * x659 - x15 * x658 - x488 * x99 - x489 * x99) - - x229 * x447 - + x366 * x456 - + x5 * x656 - ) - x662 = ( - 0.011402 * x509 - + 0.011402 * x511 - + 0.011402 * x529 - + 0.011402 * x530 - + 0.011402 * x531 - + 0.011402 * x609 - + 0.029798 * x634 - + 0.029798 * x643 - - 0.029798 * x644 - - 0.029798 * x645 - - 0.029798 * x646 - - 0.029798 * x647 - ) - x663 = -x610 + x613 + x637 + x638 + x639 + x640 - x664 = x642 * x663 - x665 = ( - 0.0149168788 * x2 * x661 - + 0.0149168788 * x21 * x660 - + 0.0149168788 * x224 * x653 - + 0.0001406686 * x272 * x356 * x508 - + 0.0149168788 * x274 * x356 * x436 * x508 - - 0.0001406686 * x568 - - 0.0001406686 * x571 - - 0.0001406686 * x606 - + 0.5006 * x631 * x662 - - 0.0149168788 * x651 - - 0.0149168788 * x652 - - 0.0001406686 * x654 - + 0.0149168788 * x656 * x99 - - 0.0001406686 * x657 - - 0.5006 * x664 - ) - x666 = x509 * x634 - x667 = x224 * x653 - x668 = ( - 0.0001406686 * x2 * x629 - + 0.0001406686 * x21 * x627 - + 0.0001406686 * x224 * x615 - + 0.0057078412 * x272 * x356 * x434 * x609 - + 0.0001406686 * x434 * x508 * x609 - + 0.0057078412 * x436 * x508 * x609 - - 0.0001406686 * x612 - - 0.0001406686 * x614 - - x617 * x656 - + 0.0001406686 * x621 * x99 - - x623 * x660 - - x624 * x661 - + 0.5006 * x633 * x663 - - x649 * x662 - - 0.0057078412 * x666 - - 0.0057078412 * x667 - ) - x669 = 3.0e-6 * x610 + ) + x524 = x114 * x223 + x525 = 0.10593 * x222 + x526 = x208 * x443 + x527 = 0.10593 * x224 + x528 = -x268 * x525 - x435 * x525 - x435 * x527 - 0.10593 * x524 + 0.10593 * x526 + x529 = x435 * x454 + x530 = x268 * x454 + x531 = x435 * x455 + x532 = x27 * x528 - 0.053028558 * x529 + 0.053028558 * x530 + 0.053028558 * x531 + x533 = ( + x276 * x517 + + x276 * x523 + + 8.763003e-5 * x311 + - 8.763003e-5 * x312 + - 8.763003e-5 * x313 + + x459 * x493 + - x469 * x491 + + x532 + ) + x534 = ( + x293 * x517 + + x293 * x523 + + x30 * x528 + + 0.000118701405 * x311 + - 0.000118701405 * x312 + - 0.000118701405 * x313 + + x459 * x495 + - x470 * x490 + - 0.071831133 * x529 + + 0.071831133 * x530 + + 0.071831133 * x531 + ) + x535 = x205 * x322 + x209 * x273 + x222 * x46 + x536 = x207 * x95 + x537 = x205 * x88 + x538 = -x536 + x537 + x539 = -x16 * x211 + x205 * x273 - x242 * x46 + x540 = x514 * x61 + x541 = x190 * x205 + x542 = x207 * x422 + x543 = x23 * x230 + x544 = x304 * x454 + x545 = x435 * x460 + x546 = -0.001596 * x454 + 0.001596 * x455 + 0.001596 * x456 + 0.001596 * x458 + x547 = ( + -0.000256 * x404 + - 0.000256 * x405 + - 0.000256 * x421 + - 0.000256 * x424 + - x460 * x503 + + x469 * x546 + + 0.001607 * x540 + - 0.001607 * x541 + - 0.001607 * x542 + + 0.001607 * x543 + - 0.001607 * x544 + - 0.001607 * x545 + ) + x548 = q7 + x549 = math.sin(x548) + x550 = x327 * x549 + x551 = math.cos(x548) + x552 = x207 * x551 + x553 = x205 * x549 + x554 = x328 * x553 + x555 = -x552 - x554 + x556 = x555 * x79 + x557 = -x550 + x556 + x558 = x327 * x551 + x559 = x207 * x549 + x560 = x205 * x551 + x561 = x328 * x560 + x562 = -x559 + x561 + x563 = x562 * x79 + x564 = x558 + x563 + x565 = x5 * x564 + x566 = x328 * x552 + x567 = x553 + x566 + x568 = x15 * x567 + x569 = x335 * x551 + x570 = x562 * x78 + x571 = -x569 + x570 + x572 = x11 * x571 + x573 = -x568 + x572 + x574 = x1 * x573 + x575 = -0.000281 * x350 - 0.000281 * x356 + 0.029798 * x565 + 0.029798 * x574 + x576 = x5 * x557 + x577 = x328 * x559 + x578 = x560 - x577 + x579 = x15 * x578 + x580 = x335 * x549 + x581 = x555 * x78 + x582 = x580 + x581 + x583 = x11 * x582 + x584 = -x579 + x583 + x585 = x1 * x584 + x586 = 0.011402 * x350 + 0.011402 * x356 - 0.029798 * x576 - 0.029798 * x585 + x587 = -0.011402 * x565 - 0.011402 * x574 + 0.000281 * x576 + 0.000281 * x585 + x588 = x346 * x587 + x557 * x575 + x564 * x586 + x589 = ( + -x125 * x207 * x501 + - 0.000399 * x404 + - 0.000399 * x405 + - 0.000399 * x421 + - 0.000399 * x424 + - x460 * x500 + + x460 * x502 + - x492 * x546 + + 0.000256 * x540 + - 0.000256 * x541 + + 0.000256 * x543 + - 0.000256 * x544 + ) + x590 = x326 * x587 + x591 = x207 * x590 + x592 = x11 * x578 + x593 = x15 * x582 + x594 = x592 + x593 + x595 = x11 * x567 + x596 = x15 * x571 + x597 = x595 + x596 + x598 = 0.009432 * x78 + x599 = ( + -x299 * x598 - 0.009432 * x519 - 0.009432 * x520 + 0.009432 * x521 - x522 * x598 + ) + x600 = 0.063883 * x222 + x601 = 0.063883 * x79 + x602 = x267 * x601 + x603 = 0.063883 * x224 + x604 = x208 * x602 - x268 * x600 - x435 * x600 - x435 * x603 - 0.063883 * x524 + x605 = x207 * x601 + x606 = 0.063883 * x454 + x607 = x109 * x606 + x245 * x435 - x299 * x605 - 0.063883 * x512 - 0.063883 * x513 + x608 = 1.0e-6 * x435 + x609 = ( + x400 + + x401 + + x402 + + 0.063883 * x455 + + 0.063883 * x456 + + 0.063883 * x458 + - x606 + + x608 + ) + x610 = 1.0e-6 * x436 + x611 = x252 * x277 + x610 + x612 = ( + -x254 * x277 + + 0.009432 * x454 + - 0.009432 * x456 + - 0.009432 * x458 + - 1.0e-6 * x465 + - 1.0e-6 * x466 + + x611 + ) + x613 = ( + x293 * x599 + + x293 * x607 + + x30 * x604 + - 0.0063958392 * x311 + + 0.0063958392 * x312 + + 0.0063958392 * x313 + - x470 * x609 + + x495 * x612 + - 0.0433190623 * x529 + + 0.0433190623 * x530 + + 0.0433190623 * x531 + ) + x614 = x17 * x397 - x299 * x398 - x398 * x522 - 1.0e-6 * x519 - 1.0e-6 * x520 + x615 = 0.063883 * x209 + x616 = 0.063883 * x216 + x617 = x223 * x602 - x268 * x615 - x435 * x615 + x435 * x616 + 0.063883 * x441 + x618 = x205 * x601 + x619 = 0.063883 * x436 + x620 = x109 * x619 - x249 * x435 - x299 * x618 + 0.063883 * x450 + 0.063883 * x452 + x621 = 0.009432 * x435 + x622 = 0.009432 * x268 + x623 = ( + 0.009432 * x270 + + 0.009432 * x287 + + 0.063883 * x439 + - 0.063883 * x465 + - 0.063883 * x466 + + x619 + + x621 + + x622 + ) + x624 = ( + x293 * x614 + + x293 * x620 + + x30 * x617 + - 6.781e-7 * x311 + + 6.781e-7 * x312 + + 6.781e-7 * x313 + - 0.0433190623 * x437 + + 0.0433190623 * x438 + - 0.0433190623 * x440 + - x461 * x612 + + x470 * x623 + ) + x625 = -x592 - x593 + x626 = -x595 - x596 + x627 = x549 * x575 + x628 = x551 * x586 + x629 = -x326 * x627 + x326 * x628 + x328 * x587 + x630 = x254 * x79 + x631 = 1.0e-6 * x1 + x632 = 1.0e-6 * x449 + x633 = x252 * x79 + x634 = x206 * x608 + x244 * x454 - x299 * x633 + x635 = 0.009432 * x208 + x636 = 1.0e-6 * x223 + x637 = -x114 * x636 - x222 * x400 - x222 * x608 - x224 * x608 + 1.0e-6 * x526 + x638 = x30 * x637 - 6.781e-7 * x529 + 6.781e-7 * x530 + 6.781e-7 * x531 + x639 = ( + x293 * (-x230 * x632 - x511 * x631 + x634) + + x293 + * (x227 * x621 - x248 * x436 + x299 * x630 - 0.009432 * x450 - 0.009432 * x452) + + x30 + * (-x114 * x635 + x209 * x621 + x209 * x622 - x216 * x621 - 0.009432 * x444) + + 0.0063958392 * x437 + - 0.0063958392 * x438 + + 0.0063958392 * x440 + + x461 * x609 + - x495 * x623 + + x638 + ) + x640 = -x560 + x577 + x641 = -x553 - x566 + x642 = x551 * x575 + x643 = x549 * x586 + x644 = u6 + x645 = x328 * x435 + x646 = x644 * x645 + x647 = x326 * x454 + x648 = x644 * x647 + x649 = x267 * x335 + x650 = x336 * x644 + x651 = 0.00017505 * x336 + x652 = x207 * x462 + x653 = x345 * x644 + x654 = 0.5006 * x114 + x655 = x114 * x334 + x656 = 0.00017505 * x645 + x657 = 0.00017505 * x359 + x658 = x11 * x114 + x659 = x658 * (x335 - x337) + x660 = x267 * x327 + x661 = x329 * x644 + x662 = x329 * x436 + x663 = x207 * x435 + x664 = x336 * x663 + x665 = x352 * x644 + x666 = x15 * (x660 + x661 + x662 + x664 + x665) + x667 = x21 * x331 + x668 = x329 * x663 + x669 = x5 * (x336 * x436 - x649 + x650 - x653 - x668) x670 = ( - 3.0e-6 * x613 - + 3.0e-6 * x637 - + 3.0e-6 * x638 - + 3.0e-6 * x639 - + 3.0e-6 * x640 - - x669 - ) - x671 = ( - 0.000609 * x509 - + 0.000609 * x511 - + 0.000609 * x529 - + 0.000609 * x530 - + 0.000609 * x531 - + 0.000609 * x609 - - 0.000118 * x634 - - 0.000118 * x643 - + 0.000118 * x644 - + 0.000118 * x645 - + 0.000118 * x646 - + 0.000118 * x647 - + x670 - ) - x672 = 3.0e-6 * x609 - x673 = 3.0e-6 * x509 - x674 = 3.0e-6 * x634 - x675 = ( - 3.0e-6 * x511 - + 3.0e-6 * x529 - + 3.0e-6 * x530 - + 3.0e-6 * x531 - - 0.000587 * x610 - + 0.000587 * x613 - + 0.000587 * x637 - + 0.000587 * x638 - + 0.000587 * x639 - + 0.000587 * x640 - - 3.0e-6 * x643 - + 3.0e-6 * x644 - + 3.0e-6 * x645 - + 3.0e-6 * x646 - + 3.0e-6 * x647 - + x672 - + x673 - - x674 - ) - x676 = x161 * x462 - x677 = x430 * x436 - x678 = x549 * x610 - x679 = x442 * x58 - x680 = 3.0e-6 * x161 - x681 = x450 * x680 - x682 = 3.0e-6 * x430 - x683 = x434 * x682 - x684 = 3.0e-6 * x58 - x685 = x447 * x684 - x686 = x272 * x436 - x687 = x347 * x686 - x688 = 3.0e-6 * x687 - x689 = ( - -3.0e-6 * x111 * x454 * x99 - - 3.0e-6 * x2 * x21 * x456 * x5 - - 3.0e-6 * x224 * x249 * x445 - - 3.0e-6 * x274 * x356 * x397 * x436 - - 3.0e-6 * x436 * x508 * x549 - - 3.0e-6 * x609 * x648 - + x681 - + x683 - + x685 - + x688 - ) - x690 = ( - 0.000118 * x111 * x294 * x99 - + 0.000369 * x111 * x466 * x99 - + 0.000118 * x124 * x179 * x272 * x99 - + 0.000118 * x2 * x21 * x296 * x5 - + 0.000369 * x2 * x21 * x468 * x5 - + 0.000369 * x224 * x236 * x272 * x434 - + 0.000369 * x224 * x249 * x440 - - 0.000369 * x434 * x555 - - 0.000118 * x581 - - 0.000118 * x582 - - 0.000118 * x583 - - 0.000118 * x584 - - 0.000118 * x585 - - 0.000369 * x609 * x663 - + x631 * x675 - - x663 * x671 - - 0.000369 * x676 - - 0.000369 * x677 - - 0.000369 * x678 - - 0.000369 * x679 - - x689 - ) - x691 = x397 * x673 - x692 = 0.000118 * x609 - x693 = 0.000118 * x509 - x694 = ( - 0.000118 * x511 - + 0.000118 * x529 - + 0.000118 * x530 - + 0.000118 * x531 - - 0.000369 * x634 - - 0.000369 * x643 - + 0.000369 * x644 - + 0.000369 * x645 - + 0.000369 * x646 - + 0.000369 * x647 - + x670 - + x692 - + x693 - ) - x695 = ( - 3.0e-6 * x111 * x294 * x99 - + 0.000587 * x111 * x454 * x99 - + 3.0e-6 * x111 * x466 * x99 - + 3.0e-6 * x124 * x179 * x272 * x99 - - 0.000587 * x161 * x450 - + 3.0e-6 * x2 * x21 * x296 * x5 - + 0.000587 * x2 * x21 * x456 * x5 - + 3.0e-6 * x2 * x21 * x468 * x5 - + 3.0e-6 * x224 * x236 * x272 * x434 - + 3.0e-6 * x224 * x249 * x440 - + 0.000587 * x224 * x249 * x445 - + 0.000587 * x274 * x356 * x397 * x436 - - x289 * x684 - - 0.000587 * x430 * x434 - - x434 * x691 - + 0.000587 * x436 * x508 * x549 - - x436 * x682 - - x442 * x684 - - 0.000587 * x447 * x58 - - x462 * x680 - - x549 * x669 - - 3.0e-6 * x582 - - 3.0e-6 * x583 - - 3.0e-6 * x584 - - 3.0e-6 * x585 - + 0.000587 * x609 * x648 - - x631 * x694 - + x648 * x671 - - x663 * x672 - - 0.000587 * x687 - ) - x696 = x648 * x675 - x697 = x663 * x692 - x698 = 0.000609 * x585 - x699 = 0.000118 * x676 - x700 = 0.000118 * x677 - x701 = 0.000118 * x678 - x702 = 0.000609 * x582 - x703 = 0.000609 * x584 - x704 = 0.000118 * x679 - x705 = x397 * x434 * x693 - x706 = 0.000609 * x581 - x707 = 0.000609 * x583 - x708 = ( - 0.000609 * x111 * x294 * x99 - + 0.000118 * x111 * x466 * x99 - + 0.000609 * x124 * x179 * x272 * x99 - + 0.000609 * x2 * x21 * x296 * x5 - + 0.000118 * x2 * x21 * x468 * x5 - + 0.000118 * x224 * x236 * x272 * x434 - + 0.000118 * x224 * x249 * x440 - + x663 * x694 - - x689 - - x696 - - x697 - - x698 - - x699 - - x700 - - x701 - - x702 - - x703 - - x704 - - x705 - - x706 - - x707 - ) - x709 = x15**2 - x710 = 0.006375 * x15 - x711 = 0.01275 * x15 - x712 = -4.4e-5 * x12 + 0.006641 * x15 - x713 = 0.006375 * x75 - x714 = x15 * x76 - x715 = 0.006375 * x714 - x716 = 0.20843 * x12 - x715 - x717 = x716 * x75 - x718 = -0.20843 * x12 * x15 * x75 + x15 * x717 + x709 * x713 * x76 - x719 = 0.20843 * x75 - x720 = x715 * x75 - x721 = x75**2 - x722 = 0.006375 * x721 - x723 = x15 * x722 - x724 = x716 * x76 - x723 - x725 = 2 * x724 - x726 = x15 * x309 + x15 * x310 - x727 = x15 * x75 - x728 = -x136 - 0.015006 * x727 - x729 = x728 * x76 - x730 = 0.075478 * x12 - 0.015006 * x714 - x731 = x730 * x75 - x732 = x12 * x726 + x15 * x729 - x15 * x731 - x733 = x728 * x75 + x730 * x76 - x734 = -x718 - x735 = 0.42076 * x12 - x736 = 0.42076 * x15 - x737 = 0.84152 * x15 - x738 = 0.20843 * x727 - x739 = 0.41686 * x727 - x740 = 0.00017505 * x192 - x741 = 0.00017505 * x75 - x742 = x193 * x741 + x740 - x743 = -x742 - x744 = x743 * x76 + x11 * (-x660 - x661 - x662 - x664 - x665) + - x114 * x362 + - x114 * x363 + - x223 * x645 + + x351 * x644 + ) + x671 = x326 * x435 + x672 = x328 * x454 + x673 = x114 * x331 + x674 = x21 * x392 + x675 = x332 + x341 + x676 = x2 * x675 + x677 = x671 - x672 + x673 + x674 + x676 + x678 = ( + -0.10593 * x671 + + 0.10593 * x672 + - 0.10593 * x673 + - 0.10593 * x674 + - 0.10593 * x676 + ) + x679 = 0.5006 * x678 + x680 = 0.10593 * x644 + x681 = x227 + x349 + x682 = x2 * x681 + x683 = x21 * x217 + x684 = x350 + x356 + x685 = x2 * x684 + x686 = x114 * x346 + x687 = x21 * x391 + x688 = ( + x467 + - 0.00017505 * x647 + - x656 + + x680 + + 0.10593 * x682 + + 0.10593 * x683 + - 0.00017505 * x685 + - 0.00017505 * x686 + - 0.00017505 * x687 + ) + x689 = x436 + x439 + x644 + x682 + x683 + x690 = 0.5006 * x689 + x691 = ( + x27 + * ( + -x209 * x656 + + x644 * x657 + + 0.00017505 * x655 + + 0.00017505 * x659 + + 0.00017505 * x666 + ) + + x276 * (x340 * x487 - x485 * x667 + x485 * x670 + 0.00017505 * x669) + - x482 * x645 + + 8.763003e-5 * x646 + + 8.763003e-5 * x648 + + x654 + * ( + -x329 * x652 + + x436 * x651 + - 0.00017505 * x649 + + 0.00017505 * x650 + - 0.00017505 * x653 + ) + - x677 * x679 + + x688 * x690 + ) + x692 = -x130 * x355 + x264 * x346 + x693 = x19 * x353 + x346 * x52 - x359 * x46 + x694 = x326 * x536 - x326 * x537 + x328 * x83 + x695 = x213 * x328 - x232 * x326 + x696 = -x130 * x348 + x473 + x697 = x436 * x645 + x698 = 0.10593 * x334 + x699 = x1 * x667 + x700 = x340 * x449 + x701 = x1 * x670 + x702 = 0.00017505 * x671 + x703 = ( + -0.00017505 * x672 + + 0.00017505 * x673 + + 0.00017505 * x674 + + 0.00017505 * x676 + + x702 + ) + x704 = x645 + x647 + x685 + x686 + x687 + x705 = ( + x27 + * (-x114 * x698 - x359 * x680 + x442 * x645 - 0.10593 * x659 - 0.10593 * x666) + + x276 * (-0.10593 * x669 + 0.10593 * x699 - 0.10593 * x700 - 0.10593 * x701) + - 0.053028558 * x646 + - 0.053028558 * x648 + + x654 + * (-x336 * x448 - x336 * x680 + x345 * x680 + 0.10593 * x649 + 0.10593 * x668) + + 0.5006 * x677 * x703 + - 0.5006 * x688 * x704 + + 0.053028558 * x697 + ) + x706 = -x219 - x220 + x707 = -x16 * x355 + x272 * x346 - x391 * x46 + x708 = x207 * x328 + x709 = 0.001641 * x61 + x710 = 0.001641 * x436 + x711 = x492 * x645 + x712 = 0.001641 * x644 + x713 = 0.000278 * x644 + x714 = 0.000278 * x436 + x715 = ( + -0.000278 * x439 + + 0.00041 * x645 + + 0.00041 * x647 + - 0.000278 * x682 + - 0.000278 * x683 + + 0.00041 * x685 + + 0.00041 * x686 + + 0.00041 * x687 + - x713 + - x714 + ) + x716 = ( + 0.001641 * x439 + - 0.000278 * x645 + - 0.000278 * x647 + + 0.001641 * x682 + + 0.001641 * x683 + - 0.000278 * x685 + - 0.000278 * x686 + - 0.000278 * x687 + + x710 + + x712 + ) + x717 = ( + -0.001641 * x190 * x708 + + 0.001641 * x196 * x338 + + 0.001641 * x23 * x340 + + x304 * x328 * x710 + - 0.001641 * x326 * x424 + - x331 * x709 + - x689 * x715 + + x704 * x712 + + x704 * x716 + + 0.001641 * x711 + ) + x718 = -x475 + x476 + x477 + x719 = x479 + x480 + x720 = -x16 * x348 - x217 * x46 + x497 + x721 = -x130 * x340 + x264 * x331 + x722 = x21 * x346 + x723 = x267 * x329 + x724 = x327 * x644 + x725 = x335 * x663 + x726 = x327 * x436 + x727 = x330 * x644 + x728 = -x723 - x724 + x725 - x726 - x727 + x729 = x5 * x728 + x730 = x335 * x644 + x731 = x267 * x336 + x732 = x335 * x436 + x733 = x327 * x663 + x734 = x337 * x644 + x735 = ( + x11 * (x730 - x731 + x732 + x733 - x734) + + x114 * x359 + - x114 * x360 + + x223 * x671 + + x334 * x644 + ) + x736 = -x355 * x487 + x485 * x722 - x485 * x735 - 0.00017505 * x729 + x737 = x1 * (-x506 + x507 - x508 - x509 + x510) + x738 = x348 * x449 + x739 = x516 + 0.10593 * x737 + 0.10593 * x738 + x740 = x114 * x351 + x741 = 0.00017505 * x362 + x742 = x329 + x352 + x743 = x658 * x742 + x744 = -x730 + x731 - x732 - x733 + x734 x745 = x15 * x744 - x746 = 0.10593 * x192 + 0.10593 * x194 - x747 = -x746 - x748 = 0.10593 * x187 - x749 = 0.10593 * x12 * x177 - 0.00017505 * x714 - x748 - x750 = x179 * x747 - x751 = x177 * x749 * x76 + x743 * x75 - x750 * x76 - x752 = -x726 - x753 = x717 + x720 - x754 = 1.0e-6 * x186 - x755 = x180 * x343 - x756 = 0.009432 * x75 - x757 = 0.009432 * x192 + x193 * x756 + x754 - x755 - x758 = x757 * x76 - x759 = x15 * x758 - x760 = 0.063883 * x186 - 0.063883 * x187 + 0.009432 * x714 - x761 = 1.0e-6 * x15 * x76 - 0.063883 * x192 - 0.063883 * x194 - x762 = x179 * x761 - x763 = x177 * x76 * x760 + x75 * x757 - x76 * x762 - x764 = x188 * x747 + x207 * x749 + x745 - x765 = x177 * x747 + x179 * x749 - x766 = x177 * x761 + x179 * x760 - x767 = x177 * x749 * x75 - x744 - x75 * x750 - x768 = 0.10593 * x302 + 0.10593 * x303 - x769 = x179 * x768 - x770 = -0.00017505 * x302 - 0.00017505 * x303 - x771 = 0.10593 * x186 + 0.00017505 * x300 - 0.00017505 * x540 - x748 - x772 = x277 * x771 + x289 * x770 + x76 * x769 - x773 = x272 * x770 - x774 = x274 * x771 - x775 = x177 * x768 + x179 * x773 - x179 * x774 - x776 = x246 * x76 - x777 = 0.006375 * x727 - x778 = 0.21038 * x12 - x779 = x76 * x778 - x780 = -0.00965 * x302 - 0.00965 * x303 + x754 - x755 - x781 = 0.045483 * x186 - 0.045483 * x187 + 0.00965 * x300 - 0.00965 * x540 - x782 = 0.045483 * x274 - x783 = -x192 * x599 + x192 * x782 + 1.0e-6 * x300 + 0.045483 * x303 - x784 = x179 * x783 - x785 = x277 * x781 + x289 * x780 + x76 * x784 - x786 = -x777 - x779 - x787 = x75 * x778 - x788 = x263 * x75 - x789 = 0.21038 * x12 * x75 - x715 - x790 = x272 * x780 - x791 = x274 * x781 - x792 = x177 * x783 + x179 * x790 - x179 * x791 - x793 = x177 * x749 - x750 - x794 = -x765 - x795 = x272 * x771 + x274 * x770 - x796 = x272 * x781 + x274 * x780 - x797 = -0.011402 * x300 + 0.029798 * x485 + 0.029798 * x486 + 0.011402 * x540 - x798 = 0.000281 * x15 * x294 - 0.029798 * x488 - 0.029798 * x489 - 0.000281 * x540 - x799 = -0.000281 * x485 - 0.000281 * x486 + 0.011402 * x488 + 0.011402 * x489 - x800 = x289 * x799 + x442 * x798 + x447 * x797 - x801 = x272 * x799 - x802 = x179 * x801 - x803 = 0.21038 * x193 + 0.21038 * x197 - x804 = -x803 - x805 = x179 * x716 + 0.20843 * x194 - x806 = -x805 - x807 = 0.006375 * x76 - x808 = -x180 * x807 + x803 - x809 = -x808 - x810 = -x768 - x811 = x434 * x798 - x812 = x272 * x436 * x797 - x272 * x811 + x274 * x799 - x813 = -0.21038 * x12 * x177 * x75 + 0.21038 * x180 - x814 = -x813 - x815 = -x783 - x816 = x177 * x716 - x817 = -0.20843 * x187 + x816 - x818 = -x193 * x807 - x813 - x819 = x434 * x797 + x436 * x798 - x820 = 0.21038 * x292 + 0.21038 * x295 - x821 = 0.20843 * x15 * x179 * x272 * x75 - x272 * x816 - x516 * x710 - x822 = -x272 * x749 + x274 * x743 - x823 = -x289 * x710 + x820 - x824 = 0.21038 * x279 - x825 = 0.21038 * x282 - x824 - x826 = x177 * x274 * x716 - 0.20843 * x180 * x516 - x273 * x710 - x827 = x272 * x743 - x828 = x274 * x749 - x829 = x827 + x828 - x830 = 0.21038 * x12 * x281 - x277 * x710 - x824 - x831 = 0.21038 * x451 - x832 = 0.21038 * x463 - x833 = x3 * x49 - x834 = x76**2 - x835 = 0.006375 * x834 - x836 = x15 * x835 + x723 - x76 * x87 - x837 = 0.015006 * x834 - x838 = 0.015006 * x721 - x839 = -1.8e-5 * x75 + 0.075478 * x76 - x840 = -x839 - x841 = x12 * x840 + x15 * x837 + x15 * x838 - x842 = 0.00017505 * x834 - x843 = x193 * x842 - x844 = x190 * x76 - x845 = 0.10593 * x588 - x846 = -x741 + x845 - x847 = x177 * x846 - x848 = -x179 * x190 * x834 + x403 * x741 + x76 * x847 - x849 = x335 * x76 - x850 = -x212 * x76 + x849 - x851 = x76 * x850 - x852 = x15 * x851 - x853 = 0.063883 * x76 - x854 = x179 * x853 + x756 - x855 = x177 * x853 + x343 - x856 = x177 * x854 - x857 = x179 * x855 - x858 = x75 * x850 + x76 * x856 - x76 * x857 - x859 = 0.20843 * x76 - x860 = 0.41686 * x76 - x861 = x188 * x844 + x207 * x846 + x843 - x862 = -x722 - x835 - x863 = x177**2 - x864 = 0.10593 * x863 - x865 = x76 * x864 - x866 = x179 * x846 + x865 - x867 = x177 * x855 + x179 * x854 - x868 = 0.10593 * x273 - x869 = x190 * x275 + x868 - x870 = -x869 - x871 = x179 * x870 - x872 = 0.00017505 * x273 + 0.00017505 * x276 - x873 = 0.00017505 * x288 - x874 = -0.00017505 * x516 + x845 + x873 - x875 = x277 * x874 + x289 * x872 + x76 * x871 - x876 = 0.00017505 * x177 - x877 = x190 * x588 - x878 = x177 * x75 * x846 - x75 * x877 - x834 * x876 - x879 = ( - -1.0e-6 * x177 * x272 * x76 - + 0.045483 * x177 * x275 - + 0.045483 * x273 - + 1.0e-6 * x516 - ) - x880 = -x879 - x881 = x179 * x880 - x882 = 0.00965 * x288 - 0.00965 * x516 + 0.045483 * x588 - x883 = 0.00965 * x273 + 0.00965 * x276 + x849 - x884 = x277 * x882 + x289 * x883 + x76 * x881 - x885 = x272 * x872 - x886 = x274 * x874 - x887 = x177 * x870 + x179 * x885 - x179 * x886 - x888 = x272 * x883 - x889 = x274 * x882 - x890 = x177 * x880 + x179 * x888 - x179 * x889 - x891 = 0.01275 * x76 - x892 = x76 * x876 - x893 = x847 - x877 - x894 = -x866 + x746 = ( + -x209 * x702 + - x644 * x741 + + 0.00017505 * x740 + - 0.00017505 * x743 + - 0.00017505 * x745 + ) + x747 = 0.00017505 * x327 + x748 = ( + -x335 * x652 + + x436 * x747 + + 0.00017505 * x723 + + 0.00017505 * x724 + + 0.00017505 * x727 + ) + x749 = x644 * x671 + x750 = x644 * x672 + x751 = ( + x27 * x746 + + x276 * x736 + + x276 * x739 + - x482 * x671 + + x532 + + x654 * x748 + + x679 * x704 + - x690 * x703 + + 8.763003e-5 * x749 + - 8.763003e-5 * x750 + ) + x752 = x19 * x338 + x331 * x52 + x362 * x46 + x753 = x326 * x83 + x754 = -x328 * x536 + x328 * x537 + x753 + x755 = x213 * x326 + x756 = x232 * x328 + x757 = x755 + x756 + x758 = x23 * x348 + x759 = x207 * x326 + x760 = x190 * x759 + x761 = x346 * x61 + x762 = x196 * x353 + x763 = x23 * x355 + x764 = x328 * x424 + x765 = x326 * x499 + x766 = x492 * x671 + x767 = x644 * x677 + x768 = ( + 0.001641 * x671 + - 0.001641 * x672 + + 0.001641 * x673 + + 0.001641 * x674 + + 0.001641 * x676 + ) + x769 = ( + 0.000278 * x540 + - 0.000278 * x541 + - 0.000278 * x542 + - 0.000278 * x544 + - 0.000278 * x545 + - x677 * x716 + + x689 * x768 + - 0.000278 * x758 + + 0.00041 * x760 + - 0.00041 * x761 + + 0.00041 * x762 + + 0.00041 * x763 + - 0.00041 * x764 + - 0.00041 * x765 + - 0.00041 * x766 + - 0.00041 * x767 + ) + x770 = -x16 * x340 + x272 * x331 - x392 * x46 + x771 = ( + x304 * x326 * x714 + - x514 * x709 + + 0.001641 * x541 + + 0.001641 * x542 + + 0.001641 * x544 + + 0.001641 * x545 + + x677 * x713 + + x677 * x715 + - x704 * x768 + + 0.001641 * x758 + - 0.000278 * x760 + + 0.000278 * x761 + - 0.000278 * x762 + - 0.000278 * x763 + + 0.000278 * x764 + + 0.000278 * x766 + ) + x772 = 0.006543665 * x436 + x773 = 0.045483 * x222 + x774 = ( + -0.045483 * x224 * x435 + - x268 * x773 + - x435 * x773 + - 0.045483 * x524 + + 0.045483 * x526 + ) + x775 = 0.00965 * x327 + x776 = ( + x436 * x775 + 0.00965 * x723 + 0.00965 * x724 - 0.00965 * x725 + 0.00965 * x727 + ) + x777 = 0.6781 * x114 + x778 = 0.045483 * x514 + x779 = 0.045483 * x205 + x780 = ( + 0.045483 * x109 * x454 + - x299 * x778 + + x435 * x779 * x90 + + 0.045483 * x737 + + 0.045483 * x738 + ) + x781 = 0.00965 * x671 + x782 = 0.00965 * x362 + x783 = -x209 * x781 - x644 * x782 + 0.00965 * x740 - 0.00965 * x743 - 0.00965 * x745 + x784 = 0.00965 * x1 + x785 = 0.00965 * x449 + x786 = -x355 * x785 + x722 * x784 - 0.00965 * x729 - x735 * x784 + x787 = 1.0e-6 * x644 + x788 = ( + x611 + - 0.00965 * x672 + + 0.00965 * x673 + + 0.00965 * x674 + + 0.00965 * x676 + + 1.0e-6 * x682 + + 1.0e-6 * x683 + + x781 + + x787 + ) + x789 = 0.6781 * x689 + x790 = 1.0e-6 * x326 + x791 = 0.045483 * x328 + x792 = ( + -x454 * x790 + + x454 * x791 + - 1.0e-6 * x645 + - 0.045483 * x671 + - 0.045483 * x673 + - 0.045483 * x674 + - 0.045483 * x676 + - 1.0e-6 * x685 + - 1.0e-6 * x686 + - 1.0e-6 * x687 + ) + x793 = 0.6781 * x792 + x794 = ( + x293 * x780 + + x293 * x786 + + x30 * x774 + + x30 * x783 + - 0.0308420223 * x529 + + 0.0308420223 * x530 + + 0.0308420223 * x531 + - x671 * x772 + + x704 * x793 + + 0.006543665 * x749 + - 0.006543665 * x750 + + x776 * x777 + - x788 * x789 + ) + x795 = x340 * x785 - x667 * x784 + 0.00965 * x669 + x670 * x784 + x796 = 0.045483 * x644 + x797 = 0.045483 * x436 + x798 = 0.00965 * x645 + x799 = ( + 0.045483 * x439 + - 0.00965 * x647 + + 0.045483 * x682 + + 0.045483 * x683 + - 0.00965 * x685 + - 0.00965 * x686 + - 0.00965 * x687 + + x796 + + x797 + - x798 + ) + x800 = x634 + 1.0e-6 * x737 + 1.0e-6 * x738 + x801 = 0.00965 * x359 + x802 = -x209 * x798 + x644 * x801 + 0.00965 * x655 + 0.00965 * x659 + 0.00965 * x666 + x803 = 0.00965 * x336 + x804 = ( + x436 * x803 - 0.00965 * x649 + 0.00965 * x650 - 0.00965 * x653 - 0.00965 * x668 + ) + x805 = ( + x293 * x795 + + x293 * x800 + + x30 * x802 + + x638 + - x645 * x772 + + 0.006543665 * x646 + + 0.006543665 * x648 + - x677 * x793 + + x777 * x804 + + x789 * x799 + ) + x806 = x436 * x671 + x807 = 0.045483 * x209 + x808 = 1.0e-6 * x209 + x809 = ( + x293 * (-0.045483 * x669 + 0.045483 * x699 - 0.045483 * x700 - 0.045483 * x701) + + x293 * (-x355 * x632 + x631 * x722 - x631 * x735 - 1.0e-6 * x729) + + x30 + * (-x359 * x796 - x441 * x791 + x645 * x807 - 0.045483 * x659 - 0.045483 * x666) + + x30 + * (-x362 * x787 + x441 * x790 - x671 * x808 - 1.0e-6 * x743 - 1.0e-6 * x745) + - 0.0308420223 * x646 + - 0.0308420223 * x648 + + 0.6781 * x677 * x788 + + 0.0308420223 * x697 + - 0.6781 * x704 * x799 + + 6.781e-7 * x749 + - 6.781e-7 * x750 + + x777 + * (-x336 * x796 - x336 * x797 + x345 * x796 + 0.045483 * x649 + 0.045483 * x668) + + x777 + * ( + -x207 * x335 * x608 + + x327 * x610 + + x327 * x787 + + x330 * x787 + + 1.0e-6 * x723 + ) + - 6.781e-7 * x806 + ) + x810 = u7 + x811 = x549 * x644 + x812 = x810 * x811 + x813 = x645 * x811 + x814 = x551 * x671 + x815 = x810 * x814 + x816 = ( + -0.011402 * x723 + - 0.011402 * x724 + + 0.011402 * x725 + - 0.011402 * x726 + - 0.011402 * x727 + ) + x817 = x435 * x552 + x818 = x553 * x810 + x819 = 0.029798 * x553 + x820 = 0.029798 * x326 + x821 = x644 * x820 + x822 = x566 * x810 + x823 = ( + x559 * x821 - x645 * x819 - 0.029798 * x817 - 0.029798 * x818 - 0.029798 * x822 + ) + x824 = 0.5006 * x267 + x825 = x209 * x671 + x826 = 0.011402 * x328 + x827 = x222 * x644 + x828 = 0.011402 * x658 + x829 = 0.011402 * x15 + x830 = -0.011402 * x740 + x742 * x828 + x744 * x829 + 0.011402 * x825 + x826 * x827 + x831 = x267 * x580 + x832 = 0.029798 * x811 + x833 = x558 * x810 + x834 = x267 * x581 + x835 = x326 * x644 + x836 = -x435 * x560 + x553 * x835 + x559 * x645 + x559 * x810 - x561 * x810 + x837 = x79 * x836 + x838 = ( + x336 * x832 + - 0.029798 * x831 + + 0.029798 * x833 + - 0.029798 * x834 + - 0.029798 * x837 + ) + x839 = 0.011402 * x1 + x840 = x21 * x839 + x841 = 0.011402 * x5 + x842 = x21 * x841 + x843 = -x346 * x840 + x355 * x842 + x728 * x841 + x735 * x839 + x844 = 0.029798 * x15 + x845 = x114 * x640 + x846 = x658 * (-x580 - x581) + x847 = x559 * x835 + x848 = x553 * x645 + x817 + x818 + x822 - x847 + x849 = x11 * x848 + x850 = x267 * x550 + x851 = x329 * x811 + x852 = x569 * x810 + x853 = x267 * x556 + x854 = x78 * x836 + x855 = x15 * (-x850 - x851 - x852 + x853 - x854) + x856 = x844 * x845 - 0.029798 * x846 - 0.029798 * x849 - 0.029798 * x855 + x857 = 0.029798 * x1 + x858 = x21 * x557 + x859 = 0.029798 * x5 + x860 = x21 * x859 + x861 = x5 * (-x336 * x811 + x831 - x833 + x834 + x837) + x862 = x1 * ( + x11 * (x850 + x851 + x852 - x853 + x854) + - x114 * x593 + + x15 * x848 + + x640 * x658 + ) + x863 = -x584 * x860 + x857 * x858 - 0.029798 * x861 - 0.029798 * x862 + x864 = x704 + x810 + x865 = 0.000281 * x810 + x866 = 0.000281 * x645 + x867 = x267 * x641 + x868 = x114 * x564 + x869 = x21 * x626 + x870 = x565 + x574 + x871 = x2 * x870 + x872 = ( + -0.000281 * x647 + - 0.000281 * x685 + - 0.000281 * x686 + - 0.000281 * x687 + + 0.029798 * x814 + - x832 + - x865 + - x866 + + 0.029798 * x867 + + 0.029798 * x868 + + 0.029798 * x869 + + 0.029798 * x871 + ) + x873 = 0.5006 * x872 + x874 = x551 * x644 + x875 = 0.000281 * x549 + x876 = 0.011402 * x551 + x877 = x267 * x640 + x878 = x114 * x557 + x879 = x21 * x625 + x880 = x576 + x585 + x881 = x2 * x880 + x882 = ( + -x671 * x875 + - x671 * x876 + + 0.011402 * x811 + - 0.011402 * x867 + - 0.011402 * x868 + - 0.011402 * x869 + - 0.011402 * x871 + - 0.000281 * x874 + + 0.000281 * x877 + + 0.000281 * x878 + + 0.000281 * x879 + + 0.000281 * x881 + ) + x883 = x549 * x671 + x884 = -x874 + x877 + x878 + x879 + x881 - x883 + x885 = 0.5006 * x884 + x886 = ( + x27 * x830 + + x27 * x856 + + x276 * x843 + + x276 * x863 + + x654 * x816 + + x654 * x838 + - 0.0057078412 * x749 + + 0.0057078412 * x750 + + 0.0057078412 * x806 + - 0.0149168788 * x812 + + 0.0149168788 * x813 + + 0.0149168788 * x815 + + x823 * x824 + - x864 * x873 + + x882 * x885 + ) + x887 = x810 * x874 + x888 = x645 * x874 + x889 = x810 * x883 + x890 = ( + 0.000281 * x723 + + 0.000281 * x724 + - 0.000281 * x725 + + 0.000281 * x726 + + 0.000281 * x727 + ) + x891 = x435 * x559 + x892 = x560 * x810 + x893 = 0.029798 * x560 + x894 = x577 * x810 x895 = ( - 0.029798 * x272 * x434 * x75 - + 0.011402 * x274 * x75 - - 0.011402 * x288 - - 0.029798 * x441 - ) - x896 = 0.000281 * x288 + 0.029798 * x443 + 0.029798 * x446 - 0.000281 * x516 - x897 = x273 * x635 + x273 * x636 - 0.000281 * x440 * x76 + 0.011402 * x446 - x898 = -x897 - x899 = x289 * x898 + x442 * x896 + x447 * x895 - x900 = x272 * x874 + x274 * x872 - x901 = x272 * x882 + x274 * x883 - x902 = x272 * x898 - x903 = x179 * x902 - x904 = x434 * x896 - x905 = x272 * x436 * x895 - x272 * x904 + x274 * x898 - x906 = x179 * x713 - x907 = x177 * x859 + x906 - x908 = x177 * x713 - x909 = 0.20843 * x588 - x908 - x910 = x434 * x895 + x436 * x896 - x911 = 0.006375 * x275 + 0.006375 * x293 - x912 = 0.00017505 * x177 * x274 * x76 - x272 * x846 - x913 = 0.20843 * x179 - x914 = -x280 * x913 + x911 - x915 = -x907 - x916 = 0.006375 * x280 - 0.006375 * x564 - x917 = x274 * x846 - x918 = x873 + x917 - x919 = x275 * x913 + x916 - x920 = -0.006375 * x272 * x436 * x76 + 0.006375 * x453 - x921 = 0.006375 * x464 + 0.006375 * x465 - x922 = 0.00017505 * x280 - x923 = x179**2 - x924 = 0.063883 * x923 - x925 = 0.063883 * x863 - x926 = 1.0e-6 * x177 - x927 = 0.009432 * x179 + x926 - x928 = 0.10593 * x923 - x929 = x864 + x928 - x930 = 0.00017505 * x589 - x931 = 0.10593 * x177 - x930 - x932 = -0.00965 * x553 + x926 - x933 = 0.045483 * x177 - 0.00965 * x589 - x934 = x274 * x931 - x935 = x274**2 - x936 = 0.00017505 * x935 - x937 = x179 * x936 - x938 = x272 * x931 - x937 - x939 = x272 * x933 + x274 * x932 - x940 = x274 * x933 - x941 = x272 * x932 - x942 = -0.029798 * x438 - 0.029798 * x449 - 0.000281 * x589 - x943 = x434 * x942 - x944 = -0.029798 * x460 + 0.011402 * x589 + 0.029798 * x618 - x945 = x434 * x944 + x436 * x942 - x946 = 0.10593 * x177 * x274 - x930 - x947 = -x179 * x782 + x272 * x335 - x948 = -x947 - x949 = 0.00017505 * x553 - x950 = x190 * x272 - x951 = -x949 - x950 - x952 = x75 * x927 + x76 * x924 + x76 * x925 - x953 = x275 * x928 + x277 * x931 - x289 * x949 - x954 = 0.10593 * x553 - x955 = x179 * x948 - x956 = x277 * x933 + x289 * x932 + x76 * x955 - x957 = 0.000281 * x274 - x958 = 0.011402 * x274 - x959 = x437 * x958 + 0.011402 * x438 + x444 * x957 - 0.000281 * x618 - x960 = x289 * x959 + x442 * x942 + x447 * x944 - x961 = x272 * x959 - x962 = x179 * x961 - x963 = x177 * x948 - x179 * x940 + x179 * x941 - x964 = x272 * x436 * x944 - x272 * x943 + x274 * x959 - x965 = x76 * x927 - x966 = 0.00017505 * x180 - x967 = x76 * x966 - x968 = x179 * x188 - x969 = 0.10593 * x177 * x207 - x967 - 0.10593 * x968 - x970 = -x179 * x741 + x76 * x928 + x865 - x971 = x15 * x965 - x972 = 0.00017505 * x588 + x75 * x864 + x75 * x928 - x973 = 0.00017505 * x274 - x974 = x179 * x934 - x190 * x553 + x272 * x923 * x973 - x975 = 0.31436 * x179 - x976 = 0.31436 * x177 - x977 = x179 * x189 - x978 = 0.00017505 * x179 - x979 = x274 * x572 - x980 = 0.20843 * x177 - x981 = x274 * x601 - x982 = x272 * x980 - x983 = x272 * x605 - x984 = x179 * x199 - x985 = -x850 - x986 = 0.10593 * x280 - x987 = -x179 * x986 + 0.00017505 * x272 * x289 - x277 * x973 - x988 = 0.045483 * x272 + 1.0e-6 * x274 - x989 = -x988 - x990 = x179 * x989 - x991 = 0.00965 * x274 - x992 = 0.00965 * x272 - x993 = -x277 * x991 + x289 * x992 + x76 * x990 - x994 = 0.10593 * x272 - x995 = x177 * x741 - x996 = x272**2 - x997 = 0.00017505 * x996 - x998 = x179 * x997 + x937 - x950 - x999 = 0.00965 * x996 - x1000 = 0.00965 * x935 - x1001 = x1000 * x179 + x177 * x989 + x179 * x999 - x1002 = x272 * x635 + x272 * x636 - x1003 = -x1002 - x1004 = 0.029798 * x272 - x1005 = x1004 * x434 + x958 - x1006 = x1004 * x436 - x957 - x1007 = x1003 * x289 + x1005 * x447 + x1006 * x442 - x1008 = x1003 * x272 - x1009 = x1008 * x179 - x1010 = x1005 * x436 - x1011 = x1006 * x434 - x1012 = x1003 * x274 + x1010 * x272 - x1011 * x272 - x1013 = x1005 * x434 + x1006 * x436 - x1014 = 0.0003501 * x272 - x1015 = x436 * x973 - x1016 = x434 * x973 - x1017 = x272 * x434 - x1018 = 0.011402 * x434 - 0.000281 * x436 - x1019 = 0.029798 * x434**2 - x1020 = 0.029798 * x436**2 - x1021 = 0.029798 * x436 - x1022 = 0.029798 * x434 - x1023 = x1018 * x289 + x1021 * x447 - x1022 * x442 - x1024 = x1018 * x274 + x1019 * x272 + x1020 * x272 - x1025 = x1018 * x272 - x1026 = x1025 * x179 + x552 * x821 - x645 * x893 + 0.029798 * x891 - 0.029798 * x892 + 0.029798 * x894 + ) + x896 = 0.000281 * x328 + x897 = ( + 0.000281 * x740 + - 0.000281 * x743 + - 0.000281 * x745 + - 0.000281 * x825 + - x827 * x896 + ) + x898 = x267 * x569 + x899 = 0.029798 * x874 + x900 = x550 * x810 + x901 = x267 * x570 + x902 = -x435 * x553 - x552 * x645 - x552 * x810 - x554 * x810 - x560 * x835 + x903 = x79 * x902 + x904 = ( + x336 * x899 + - 0.029798 * x898 + - 0.029798 * x900 + + 0.029798 * x901 + + 0.029798 * x903 + ) + x905 = 0.000281 * x1 + x906 = 0.000281 * x449 + x907 = -x355 * x906 + x722 * x905 - 0.000281 * x729 - x735 * x905 + x908 = x114 * x641 + x909 = x569 - x570 + x910 = x552 * x835 + x911 = -x560 * x645 + x891 - x892 + x894 + x910 + x912 = x11 * x911 + x913 = x267 * x558 + x914 = x329 * x874 + x915 = x580 * x810 + x916 = x267 * x563 + x917 = x78 * x902 + x918 = x913 + x914 - x915 + x916 - x917 + x919 = 0.029798 * x658 * x909 - x844 * x908 + x844 * x918 + 0.029798 * x912 + x920 = x336 * x874 - x898 - x900 + x901 + x903 + x921 = ( + x11 * (-x913 - x914 + x915 - x916 + x917) + - x114 * x596 + + x15 * x911 + + x641 * x658 + ) + x922 = -x21 * x564 * x857 + x573 * x860 + x857 * x921 + x859 * x920 + x923 = 0.011402 * x810 + x924 = 0.011402 * x645 + x925 = ( + 0.011402 * x647 + + 0.011402 * x685 + + 0.011402 * x686 + + 0.011402 * x687 + - 0.029798 * x877 + - 0.029798 * x878 + - 0.029798 * x879 + - 0.029798 * x881 + + 0.029798 * x883 + + x899 + + x923 + + x924 + ) + x926 = x864 * x925 + x927 = -x811 + x814 + x867 + x868 + x869 + x871 + x928 = x882 * x927 + x929 = ( + x27 * x897 + + x27 * x919 + + x276 * x907 + + x276 * x922 + + x654 * x890 + + x654 * x904 + + 0.0001406686 * x749 + - 0.0001406686 * x750 + - 0.0001406686 * x806 + + x824 * x895 + - 0.0149168788 * x887 + + 0.0149168788 * x888 + - 0.0149168788 * x889 + + 0.5006 * x926 + - 0.5006 * x928 + ) + x930 = 0.000281 * x336 + x931 = 0.011402 * x336 + x932 = ( + x27 + * (-0.000281 * x15 * x845 + 0.000281 * x846 + 0.000281 * x849 + 0.000281 * x855) + + x27 * (-x828 * x909 + x829 * x908 - x829 * x918 - 0.011402 * x912) + + x276 * (x564 * x840 - x573 * x842 - x839 * x921 - x841 * x920) + + x276 * (x584 * x906 - x858 * x905 + 0.000281 * x861 + 0.000281 * x862) + + x654 + * (x550 * x923 + x649 * x876 - x874 * x931 - 0.011402 * x901 - 0.011402 * x903) + + x654 + * (-x558 * x865 + x649 * x875 - x811 * x930 + 0.000281 * x834 + 0.000281 * x837) + + 0.0001406686 * x812 + - 0.0001406686 * x813 + - 0.0001406686 * x815 + + x824 + * (x553 * x865 + x553 * x866 + x566 * x865 + 0.000281 * x817 - 0.000281 * x847) + + x824 + * (x560 * x923 + x560 * x924 - x577 * x923 - 0.011402 * x891 - 0.011402 * x910) + + x873 * x927 + - x885 * x925 + + 0.0057078412 * x887 + - 0.0057078412 * x888 + + 0.0057078412 * x889 + ) + x933 = 3.0e-6 * x810 + x934 = 3.0e-6 * x645 + x935 = 3.0e-6 * x874 + x936 = ( + 3.0e-6 * x647 + + 3.0e-6 * x685 + + 3.0e-6 * x686 + + 3.0e-6 * x687 + - 0.000587 * x811 + + 0.000587 * x814 + + 0.000587 * x867 + + 0.000587 * x868 + + 0.000587 * x869 + + 0.000587 * x871 + + 3.0e-6 * x877 + + 3.0e-6 * x878 + + 3.0e-6 * x879 + + 3.0e-6 * x881 + - 3.0e-6 * x883 + + x933 + + x934 + - x935 + ) + x937 = 3.0e-6 * x811 + x938 = ( + 3.0e-6 * x814 + + 3.0e-6 * x867 + + 3.0e-6 * x868 + + 3.0e-6 * x869 + + 3.0e-6 * x871 + - x937 + ) + x939 = ( + 0.000609 * x645 + + 0.000609 * x647 + + 0.000609 * x685 + + 0.000609 * x686 + + 0.000609 * x687 + + 0.000609 * x810 + - 0.000118 * x874 + + 0.000118 * x877 + + 0.000118 * x878 + + 0.000118 * x879 + + 0.000118 * x881 + - 0.000118 * x883 + + x938 + ) + x940 = x196 * x582 + x941 = x423 * x555 + x942 = x190 * x578 + x943 = x545 * x551 + x944 = x704 * x811 + x945 = x23 * x584 + x946 = x326 * x549 + x947 = x424 * x946 + x948 = x557 * x61 + x949 = 3.0e-6 * x196 + x950 = 3.0e-6 * x423 + x951 = 3.0e-6 * x190 + x952 = 3.0e-6 * x545 + x953 = 3.0e-6 * x23 + x954 = x492 * x934 + x955 = 3.0e-6 * x61 + x956 = x326 * x551 + x957 = x424 * x956 + x958 = ( + -x549 * x952 + + x551 * x954 + + x562 * x950 + - x564 * x955 + - x567 * x951 + + x571 * x949 + + x573 * x953 + + x704 * x935 + + x884 * x933 + - 3.0e-6 * x957 + ) + x959 = ( + -0.000369 * x549 * x711 + + 0.000118 * x760 + - 0.000118 * x761 + + 0.000118 * x762 + + 0.000118 * x763 + - 0.000118 * x764 + - 0.000118 * x765 + - 0.000118 * x766 + - 0.000118 * x767 + - 0.000369 * x810 * x927 + + x864 * x936 + - x927 * x939 + + 0.000369 * x940 + + 0.000369 * x941 + - 0.000369 * x942 + - 0.000369 * x943 + - 0.000369 * x944 + + 0.000369 * x945 + + 0.000369 * x947 + - 0.000369 * x948 + + x958 + ) + x960 = 0.000118 * x810 + x961 = 0.000118 * x645 + x962 = ( + 0.000118 * x647 + + 0.000118 * x685 + + 0.000118 * x686 + + 0.000118 * x687 + - 0.000369 * x874 + + 0.000369 * x877 + + 0.000369 * x878 + + 0.000369 * x879 + + 0.000369 * x881 + - 0.000369 * x883 + + x938 + + x960 + + x961 + ) + x963 = ( + -0.000587 * x190 * x567 + + 0.000587 * x196 * x571 + + 0.000587 * x23 * x573 + - x346 * x955 + + x353 * x949 + + x355 * x953 + + 0.000587 * x423 * x562 + - 0.000587 * x545 * x549 + - x549 * x954 + + 0.000587 * x551 * x711 + - x551 * x952 + + x555 * x950 + - x557 * x955 + - 0.000587 * x564 * x61 + - x578 * x951 + + x582 * x949 + + x584 * x953 + + 0.000587 * x704 * x874 + - x704 * x937 + + x759 * x951 + - 3.0e-6 * x764 + - 3.0e-6 * x765 + - 3.0e-6 * x766 + - 3.0e-6 * x767 + + 0.000587 * x810 * x884 + - x864 * x962 + + x884 * x939 + - x927 * x933 + + 3.0e-6 * x947 + - 0.000587 * x957 + ) + x964 = ( + -x492 * x549 * x961 + + 0.000609 * x760 + - 0.000609 * x761 + + 0.000609 * x762 + + 0.000609 * x763 + - 0.000609 * x764 + - 0.000609 * x765 + - 0.000609 * x766 + - 0.000609 * x767 + - x884 * x936 + - x927 * x960 + + x927 * x962 + + 0.000118 * x940 + + 0.000118 * x941 + - 0.000118 * x942 + - 0.000118 * x943 + - 0.000118 * x944 + + 0.000118 * x945 + + 0.000118 * x947 + - 0.000118 * x948 + + x958 + ) + x965 = x15**2 + x966 = 0.006375 * x15 + x967 = 0.01275 * x15 + x968 = 0.006641 * x15 + x969 = 4.4e-5 * x11 + x970 = x968 - x969 + x971 = x15 * x78 + x972 = x92 * x971 + x973 = 0.006375 * x78 + x974 = x79 * x965 * x973 + x975 = x15 * x79 + x976 = 0.006375 * x975 + x977 = -x976 + x978 = x92 + x977 + x979 = x78 * x978 + x980 = x15 * x979 + x981 = 0.20843 * x78 + x982 = x78 * x976 + x983 = x78**2 + x984 = 0.006375 * x983 + x985 = x15 * x984 + x986 = -x985 + x987 = x79 * x978 + x986 + x988 = 2 * x987 + x989 = x159 - 0.015006 * x975 + x990 = x78 * x989 + x991 = x15 * x990 + x992 = x15 * x375 + x993 = x15 * x376 + x994 = x992 + x993 + x995 = x11 * x994 + x996 = -x156 - 0.015006 * x971 + x997 = x79 * x996 + x998 = x15 * x997 + x999 = x78 * x996 + x79 * x989 + x1000 = x972 - x974 - x980 + x1001 = 0.42076 * x11 + x1002 = 0.42076 * x15 + x1003 = 0.84152 * x15 + x1004 = 0.20843 * x971 + x1005 = 0.41686 * x971 + x1006 = 0.00017505 * x222 + x1007 = x223 * x518 + x1008 = -x1006 - x1007 + x1009 = x1008 * x79 + x1010 = x1009 * x15 + x1011 = -x525 - x527 + x1012 = x442 - x445 + x1013 = x1012 - 0.00017505 * x975 + x1014 = x1011 * x207 + x1015 = x1013 * x205 + x1016 = x1008 * x78 - x1014 * x79 + x1015 * x79 + x1017 = -x992 - x993 + x1018 = x979 + x982 + x1019 = x615 - x616 + 0.009432 * x975 + x1020 = 0.009432 * x222 + x1021 = x223 * x598 + x1022 = x208 * x398 + x1023 = -x1022 + x808 + x1024 = x1020 + x1021 + x1023 + x1025 = x1024 * x79 + x1026 = x1025 * x15 + x1027 = -x600 - x603 + 1.0e-6 * x975 + x1028 = x1019 * x205 + x1029 = x1027 * x207 + x1030 = x1024 * x78 + x1028 * x79 - x1029 * x79 + x1031 = x1010 + x1011 * x241 + x1013 * x242 + x1032 = x1011 * x205 + x1033 = x1013 * x207 + x1034 = x1032 + x1033 + x1035 = x1027 * x205 + x1036 = x1019 * x207 + x1037 = -x1009 - x1014 * x78 + x1015 * x78 + x1038 = 0.10593 * x362 + x1039 = 0.10593 * x363 + x1040 = x1038 + x1039 + x1041 = x1040 * x207 + x1042 = -0.00017505 * x363 - x741 + x1043 = x1012 + 0.00017505 * x360 - x657 + x1044 = x1041 * x79 + x1042 * x346 + x1043 * x331 + x1045 = x1040 * x205 + x1046 = x1042 * x326 + x1047 = x1046 * x207 + x1048 = x1043 * x328 + x1049 = x1048 * x207 + x1050 = x1023 - 0.00965 * x363 - x782 + x1051 = -0.045483 * x216 + 0.00965 * x360 - x801 + x807 + x1052 = x222 * x790 + x1053 = x222 * x791 + x1054 = 0.045483 * x363 + x1055 = 1.0e-6 * x360 + x1056 = -x1052 + x1053 + x1054 + x1055 + x1057 = x1056 * x207 + x1058 = x1050 * x346 + x1051 * x331 + x1057 * x79 + x1059 = x296 * x79 + x1060 = 0.006375 * x971 + x1061 = 0.21038 * x11 + x1062 = x1061 * x79 + x1063 = -x1060 - x1062 + x1064 = x1061 * x78 + x1065 = x318 * x78 + x1066 = x1064 + x977 + x1067 = x1050 * x326 + x1068 = x1067 * x207 + x1069 = x1051 * x328 + x1070 = x1069 * x207 + x1071 = x1056 * x205 + x1072 = -x1014 + x1015 + x1073 = -x1032 - x1033 + x1074 = x1042 * x328 + x1043 * x326 + x1075 = x1050 * x328 + x1051 * x326 + x1076 = 0.011402 * x359 - 0.011402 * x360 + 0.029798 * x592 + 0.029798 * x593 + x1077 = -0.000281 * x359 + 0.000281 * x360 - 0.029798 * x595 - 0.029798 * x596 + x1078 = 0.011402 * x595 + x1079 = 0.000281 * x592 + x1080 = 0.011402 * x596 + x1081 = 0.000281 * x593 + x1082 = x1078 - x1079 + x1080 - x1081 + x1083 = x1076 * x564 + x1077 * x557 + x1082 * x346 + x1084 = x1082 * x326 + x1085 = x1084 * x207 + x1086 = 0.21038 * x223 + x1087 = 0.21038 * x229 + x1088 = -x1086 - x1087 + x1089 = 0.20843 * x224 + x1090 = x207 * x978 + x1091 = -x1089 - x1090 + x1092 = 0.006375 * x79 + x1093 = x1092 * x208 + x1094 = x1088 + x1093 + x1095 = -x1038 - x1039 + x1096 = x1077 * x549 + x1097 = x1076 * x551 + x1098 = x1082 * x328 - x1096 * x326 + x1097 * x326 + x1099 = -0.21038 * x208 + 0.21038 * x210 + x1100 = x1052 - x1053 - x1054 - x1055 + x1101 = x205 * x978 + x1102 = x1101 - 0.20843 * x216 + x1103 = -x1092 * x223 + x1099 + x1104 = x1077 * x551 + x1105 = x1076 * x549 + x1106 = 0.21038 * x351 + 0.21038 * x354 + x1107 = 0.20843 * x208 + x1108 = -x1101 * x326 + x1107 * x327 - x336 * x966 + x1109 = x1008 * x328 - x1013 * x326 + x1110 = x1106 - x346 * x966 + x1111 = x1086 + x1087 + x1112 = x525 + x527 + x1113 = x1089 + x1090 + x1114 = -x1093 + x1111 + x1115 = -0.21038 * x334 + 0.21038 * x339 + x1116 = x1101 * x328 - x1107 * x336 - x327 * x966 + x1117 = x1008 * x326 + x1118 = x1013 * x328 + x1119 = x1117 + x1118 + x1120 = x1115 - x331 * x966 + x1121 = -0.21038 * x568 + 0.21038 * x572 + x1122 = -0.21038 * x579 + 0.21038 * x583 + x1123 = x598 + x605 + x1124 = x398 + x618 + x1125 = -x408 + x409 + x1126 = x408 - x409 + x1127 = x515 - x518 + x1128 = x79**2 + x1129 = 0.006375 * x1128 + x1130 = -x1129 - x984 + x1131 = 0.015006 * x1128 + x1132 = 0.015006 * x983 + x1133 = x1123 * x205 + x1134 = x1124 * x207 + x1135 = x1123 * x207 + x1136 = x1124 * x205 + x1137 = x218 * x514 + x1138 = x1127 * x205 + x1139 = -x1137 + x1138 + x1140 = 0.00017505 * x345 + x1141 = x1127 * x328 + x1142 = x1140 + x1141 + x1143 = x205**2 + x1144 = 0.10593 * x1143 + x1145 = x1144 * x79 + x1146 = x1127 * x207 + x1147 = x1145 + x1146 + x1148 = 0.00017505 * x330 + x1149 = x1148 + x747 + x1150 = x1140 + x515 - x651 + x1151 = x1149 * x328 + x1150 * x326 + x1152 = x1149 * x326 + x1153 = x1150 * x328 + x1154 = 0.10593 * x327 + x1155 = x218 * x329 + x1156 = -x1154 - x1155 + x1157 = 0.00965 * x330 + x633 + x775 + x1158 = 0.00965 * x345 + x778 - x803 + x1159 = x1157 * x328 + x1158 * x326 + x1160 = x1158 * x328 + x1161 = x1157 * x326 + x1162 = 0.000281 * x345 + 0.029798 * x558 + 0.029798 * x563 - x930 + x1163 = x1162 * x549 + x1164 = -0.011402 * x345 + 0.029798 * x550 - 0.029798 * x556 + x931 + x1165 = x1164 * x551 + x1166 = x1162 * x551 + x1167 = x1164 * x549 + x1168 = -x1145 - x1146 + x1169 = -x1127 * x326 + x1148 + x1170 = x205 * x298 + x1171 = x207 * x973 + x1172 = x1170 + x1171 + x1173 = x205 * x973 + x1174 = -x1173 + 0.20843 * x514 + x1175 = x1154 + x1155 + x1176 = -x630 + x633 + x1177 = 0.006375 * x329 + 0.006375 * x352 + x1178 = 0.006375 * x335 - 0.006375 * x337 + x1179 = -x1170 - x1171 + x1180 = -0.006375 * x580 - 0.006375 * x581 + x1181 = 0.006375 * x569 - 0.006375 * x570 + x1182 = x1176 * x79 + x1183 = x1182 * x15 + x1184 = x1131 * x15 + x1185 = x1132 * x15 + x1186 = x11 * x1125 + x1187 = 0.00017505 * x1128 + x1188 = x1187 * x223 + x1189 = x1127 * x242 + x1188 + x241 * x447 + x1190 = x327 * x875 + x1191 = x327 * x876 + x1192 = 0.011402 * x563 + x1193 = 0.000281 * x556 + x1194 = -x1190 - x1191 - x1192 + x1193 + x1195 = x1162 * x557 + x1164 * x564 + x1194 * x346 + x1196 = 0.045483 * x327 + x1197 = 1.0e-6 * x336 + x1198 = 1.0e-6 * x205 + x1199 = x1198 * x335 + x1200 = x329 * x779 + x1201 = -x1196 - x1197 + x1199 - x1200 + x1202 = x1156 * x207 + x1203 = x1149 * x346 + x1150 * x331 + x1202 * x79 + x1204 = x1201 * x207 + x1205 = x1157 * x346 + x1158 * x331 + x1204 * x79 + x1206 = x1194 * x326 + x1207 = x1206 * x207 + x1208 = x1133 * x79 - x1134 * x79 + x1176 * x78 + x1209 = x1156 * x205 + x1210 = x1152 * x207 + x1211 = x1153 * x207 + x1212 = -x1163 * x326 + x1165 * x326 + x1194 * x328 + x1213 = x1161 * x207 + x1214 = x1160 * x207 + x1215 = x1201 * x205 + x1216 = x79 * x92 + x1217 = x1129 * x15 + x1218 = -x1216 + x1217 + x985 + x1219 = -x1128 * x207 * x218 + x1138 * x79 + x486 * x518 + x1220 = 0.20843 * x207 + x1221 = x1177 - x1220 * x335 + x1222 = x1178 + x1220 * x329 + x1223 = 0.00017505 * x205 + x1224 = -x1128 * x1223 - x1137 * x78 + x1138 * x78 + x1225 = 0.10593 * x79 + x1226 = 0.00017505 * x335 + x1227 = x1196 + x1197 - x1199 + x1200 + x1228 = 0.41686 * x79 + x1229 = 0.01275 * x79 + x1230 = x1223 * x79 + x1231 = x3 * x51 + x1232 = x207**2 + x1233 = 0.063883 * x1232 + x1234 = 0.063883 * x1143 + x1235 = 0.009432 * x207 + x1236 = x1198 + x1235 + x1237 = 0.10593 * x1232 + x1238 = x1144 + x1237 + x1239 = 0.00017505 * x759 + x1240 = -x1239 + x1241 = x1240 + x218 + x1242 = x1198 - 0.00965 * x708 + x1243 = -0.00965 * x759 + x779 + x1244 = x1241 * x328 + x1245 = x328**2 + x1246 = 0.00017505 * x1245 + x1247 = x1246 * x207 + x1248 = -x1247 + x1249 = x1241 * x326 + x1248 + x1250 = x1242 * x328 + x1243 * x326 + x1251 = x1243 * x328 + x1252 = x1242 * x326 + x1253 = -0.029798 * x577 + 0.011402 * x759 + x893 + x1254 = x1253 * x551 + x1255 = -0.029798 * x566 - 0.000281 * x759 - x819 + x1256 = x1255 * x549 + x1257 = x1255 * x551 + x1258 = x1253 * x549 + x1259 = x218 * x328 + x1260 = x1240 + x1259 + x1261 = x252 * x326 + x1262 = x207 * x791 + x1263 = x1261 - x1262 + x1264 = -x1261 + x1262 + x1265 = 0.00017505 * x708 + x1266 = x218 * x326 + x1267 = -x1266 + x1268 = -x1265 + x1267 + x1269 = x1233 * x79 + x1234 * x79 + x1236 * x78 + x1270 = x1237 * x329 + x1241 * x331 - x1265 * x346 + x1271 = 0.10593 * x708 + x1272 = x1264 * x207 + x1273 = x1242 * x346 + x1243 * x331 + x1272 * x79 + x1274 = 0.011402 * x553 + x1275 = 0.000281 * x560 + x1276 = x559 * x896 + x1277 = x552 * x826 + x1278 = x1274 - x1275 + x1276 + x1277 + x1279 = x1253 * x564 + x1255 * x557 + x1278 * x346 + x1280 = x1278 * x326 + x1281 = x1280 * x207 + x1282 = x1264 * x205 + x1283 = x1252 * x207 + x1284 = x1251 * x207 + x1285 = x1254 * x326 - x1256 * x326 + x1278 * x328 + x1286 = x1236 * x79 + x1287 = x483 * x79 + x1288 = x207 * x241 + x1289 = -x1287 - 0.10593 * x1288 + x218 * x242 + x1290 = x1145 + x1237 * x79 - x207 * x518 + x1291 = x1286 * x15 + x1292 = 0.063883 * x205 + x1293 = x1144 * x78 + x1237 * x78 + 0.00017505 * x514 + x1294 = 0.00017505 * x326 + x1295 = x218 * x708 + x1296 = 0.00017505 * x328 + x1297 = x1232 * x1296 * x326 + x1298 = x1244 * x207 + x1299 = 0.31436 * x207 + x1300 = 0.31436 * x205 + x1301 = x207 * x217 + x1302 = 0.00017505 * x207 + x1303 = x328 * x751 + x1304 = 0.20843 * x205 + x1305 = x328 * x794 + x1306 = x1304 * x326 + x1307 = x326 * x805 + x1308 = x207 * x230 + x1309 = 0.045483 * x326 + x1310 = 1.0e-6 * x328 + x1311 = x1309 + x1310 + x1312 = x549 * x820 + x826 + x1313 = x551 * x820 - x896 + x1314 = x326**2 + x1315 = 0.00017505 * x1314 + x1316 = -x1309 - x1310 + x1317 = 0.00965 * x1314 + x1318 = 0.00965 * x1245 + x1319 = x1312 * x551 + x1320 = x1313 * x549 + x1321 = x1312 * x549 + x1322 = x1313 * x551 + x1323 = x630 - x633 + x1324 = x1006 + x1007 + x1325 = 0.10593 * x326 + x1326 = x1296 * x549 + x1327 = x1296 * x551 + x1328 = x326 * x875 + x1329 = x326 * x876 + x1330 = -x1328 - x1329 + x1331 = x1312 * x564 + x1313 * x557 + x1330 * x346 + x1332 = x1330 * x326 + x1333 = x1332 * x207 + x1334 = 0.00965 * x328 + x1335 = x326 * x391 + x1336 = x1317 * x207 + x1337 = x1318 * x207 + x1338 = x1316 * x205 + x1339 = x1316 * x207 + x1340 = x1319 * x326 - x1320 * x326 + x1330 * x328 + x1341 = 0.10593 * x335 + x1342 = x1294 * x346 - x1296 * x331 - x1341 * x207 + x1343 = x1315 * x207 + x1344 = 0.00965 * x326 + x1345 = -x1334 * x331 + x1339 * x79 + x1344 * x346 + x1346 = 0.0063958392 * x2 + x1347 = 0.0003501 * x326 + x1348 = 6.781e-7 * x2 + x1349 = 6.781e-7 * x21 + x1350 = 0.000206331435 * x2 + x1351 = x21 * x528 + x1352 = x205 * x518 + x1353 = 0.011402 * x549 + x1354 = 0.000281 * x551 + x1355 = x1353 - x1354 + x1356 = 0.029798 * x549**2 + x1357 = 0.029798 * x551**2 + x1358 = 0.029798 * x551 + x1359 = 0.029798 * x549 + x1360 = x1355 * x346 + x1358 * x564 - x1359 * x557 + x1361 = x1355 * x328 + x1356 * x326 + x1357 * x326 + x1362 = x1355 * x326 + x1363 = x1362 * x207 + x1364 = 0.053028558 * x2 + x1365 = 0.0308420223 * x2 + x1366 = 0.0308420223 * x21 + x1367 = x1328 + x1329 + x1368 = x1190 + x1191 + x1192 - x1193 + x1369 = 0.0057078412 * x2 + x1370 = 0.0057078412 * x21 + x1371 = 0.0057078412 * x114 + x1372 = 0.0001406686 * x2 + x1373 = 0.0001406686 * x21 + x1374 = 0.0001406686 * x114 coriolis_term = numpy.array( [ [ - -0.42076 * x1 * x47 - + 0.018653 * x1 * (0.0154502808 * x23 + x53 * x54 - 1.1636 * x56 * x57) - + x1 * (-x21 * x67 - x21 * x68 + x22 * x66 + 0.011088 * x23) - - x10 * x41 - - x10 * x9 - - x115 * x117 - + x115 * x149 - + x115 * x19 - + x115 * (-x134 + x75 * x97) - + x116 * x157 - - x116 * x160 - - x117 * x121 - + x118 * x220 - + x118 * (x281 * x338 + x294 * x337 + x341 * x75) - + x118 * (x177 * x210 * x75 - x214 - x217 * x75) - - x119 * x120 - + x121 * x149 - + x121 * x172 - + x121 * x19 - + x121 * x220 - + x121 * (x281 * x298 + x287 * x75 + x290 * x294) - + x121 * (x294 * x471 + x454 * x470 + x458 * x466) - + x127 * x128 - + x127 * x129 - + x127 * x150 - + x127 * x206 - - x127 * x317 - + x127 * x88 - + x127 * (x450 * x470 + x458 * x462 - x484) - + x128 * x133 - - x128 * x252 - - x128 * x334 - + x129 * x133 - - x129 * x252 - - x129 * x334 - + x130 * x131 - + x130 * x132 - + x130 * x206 - + x130 * x211 - - x130 * x354 - - x131 * x251 - - x132 * x251 - + x133 * x139 - + x133 * x150 - + x140 * x334 - + x141 * x142 - + x141 * x46 - + x144 * x30 - + x144 * x50 - + x144 * x98 - + x145 * x204 - + x145 * x218 - + x145 * x32 - + x145 * x342 - + x145 * x51 - + x145 * x85 - + x146 * x204 - + x146 * x299 - + x146 * x30 - + x146 * x472 - + x146 * x50 - + x146 * x84 - + x147 * x149 - + x147 * x172 - + x147 * x19 - - x148 * (-x12 * x134 + x12 * x135 + x140 * x15) - + x149 * x159 - + x150 * x151 - + x150 * x156 - + x151 * x88 - + x156 * x40 - + x159 * x39 - - x166 * x17 - + x17 * x332 - + x170 * x49 - + x171 * x30 - + x171 * x63 - + x183 * x243 - + x183 * x246 - + x183 * x398 - + x183 * x400 - + x191 * x384 - + x191 * x385 - - 0.014980125 * x20 * x3 - + x201 * x421 - + x201 * x422 - - x202 * (-x185 + x189 * x191 + x195 * x201) - + x204 * x29 - + x204 * x31 - - x205 * (-x12 * x184 + x181 * x201 + x191 * x199) - + x208 * x47 - + x208 * x48 - + x209 * x497 - + x210 * x495 - - x211 * x251 - + x213 * x246 - + x213 * x505 - - x216 * (x188 * x340 + x301 * x337 + x304 * x338) - - x216 * (x189 * x209 + x195 * x210 - x215) - + x218 * x31 - - x219 * (-x12 * x214 + x181 * x210 + x199 * x209) - - x219 * (x198 * x340 + x283 * x338 + x296 * x337) - + x223 * x243 - + x223 * x247 - + x223 * x314 - + x223 * x398 - + x223 * x400 - + x223 * x505 - + x234 * x349 - + x238 * x351 - + x238 * x482 - + x243 * x253 - + x243 * x255 - + x243 * x350 - + x243 * x501 - + x243 * x79 - + x246 * x355 - + x247 * x253 - + x247 * x255 - + x247 * x79 - + x251 * x321 - + x251 * x354 - + x252 * x265 - + x252 * x317 - + x252 * x321 - + x252 * x89 - + x252 * (x458 * x461 + x470 * x506 + x484) - + x253 * x314 - + x253 * x398 - + x253 * x400 - + x253 * x505 - + x255 * x314 - + x255 * x398 - + x255 * x400 - + x255 * x505 - + x257 * x262 - + x257 * x264 - + x257 * x312 - + x262 * x268 - + x262 * x270 - + x262 * x320 - + x262 * x83 - + x262 * (-x177 * x315 + x177 * x316 + x287) - + x262 * (-x177 * x483 + x440 * x458 + x445 * x470) - + x263 * x320 - + x263 * (x177 * x210 - x217) - + x263 * (-x177 * x352 + x177 * x353 + x341) - + x264 * x268 - + x264 * x270 - + x264 * x83 - + x265 * x266 - + x265 * x334 - + x266 * x89 - + x268 * x312 - + x270 * x312 - + x285 * x385 - + x286 * x550 - + x29 * x299 - + x29 * x30 - + x29 * x472 - + x29 * x50 - + x29 * x84 - + x290 * x538 - + x290 * x668 - + x298 * x572 - + x30 * x33 - + x30 * x34 - - x305 * (x188 * x286 + x290 * x301 + x298 * x304) - - x305 * (x301 * x471 + x458 * x487 + x470 * x490) - - x306 * (x198 * x286 + x283 * x298 + x290 * x296) - - x306 * (x296 * x471 + x456 * x470 + x458 * x468) + -0.42076 * x1 * x49 + + 0.018653 * x1 * (0.0154502808 * x23 + x55 * x56 - x58 * x60) + + x1 * (-x21 * x70 - x21 * x71 + x22 * x69 + 0.011088 * x23) + - x101 * (x100 - x96 - x98) + + x102 * x168 + + x102 * x31 + - x103 * (-x11 * x97 + x11 * x99 + x15 * x95) + + x107 * x385 + + x112 * x379 + + x113 * x167 + + x113 * x34 + - x129 * x131 + + x129 * x173 + + x129 * x19 + + x129 * (x150 - x152) + + x130 * x186 + - x130 * x189 + - x131 * x135 + + x132 * x263 + + x132 * (-x256 - x259 * x78 + x260 * x78) + + x132 * (x338 * x412 + x353 * x411 + x418 * x78) + - x133 * x134 + + x135 * x173 + + x135 * x19 + + x135 * x201 + + x135 * x263 + + x135 * (x338 * x357 + x344 * x78 + x347 * x353) + + x135 * (x353 * x587 + x571 * x586 + x575 * x582) + + x143 * x144 + + x143 * x145 + + x143 * x175 + + x143 * x178 + + x143 * x240 + + x143 * (-x386 - x388 + x390) + + x143 * (x567 * x586 + x575 * x578 - x591) + + x144 * x149 + - x144 * x307 + - x144 * x410 + + x145 * x149 + - x145 * x307 + - x145 * x410 + + x146 * x147 + + x146 * x148 + + x146 * x240 + + x146 * (x247 + x251) + + x146 * (-x430 + x432 - x433) + - x147 * x306 + - x148 * x306 + + x149 * x175 + + x149 * (x154 - x155 + x158 + x161) + + x162 * x410 + - x164 * (x151 - x153 - x163) + + x167 * x29 + + x167 * x52 + + x168 * x236 + + x168 * x261 + + x168 * x32 + + x168 * x419 + + x168 * x53 + - x17 * x195 + + x17 * x407 + + x170 * x236 + + x170 * x29 + + x170 * x358 + + x170 * x52 + + x170 * x588 + + x170 * x89 + + x171 * x173 + + x171 * x19 + + x171 * x201 + - x172 * (x11 * x150 - x11 * x152 + x15 * x162) + + x173 * x188 + + x175 * x177 + + x175 * x185 + + x176 * x50 + + x176 * x76 + + x177 * x178 + + x185 * x42 + + x188 * x40 + + x200 * x51 + + x202 * x29 + + x202 * x66 + + x213 * x291 + + x213 * x296 + + x213 * x494 + + x213 * x496 + + x221 * x471 + + x221 * x472 + + x232 * x533 + + x232 * x534 + - x233 * (-x215 + x217 * x221 + x225 * x232) + + x236 * x28 + + x236 * x31 + - x237 * (-x11 * x214 + x211 * x232 + x221 * x230) + + x243 * x49 + + x243 * x50 + + x246 * x624 + + x250 * x613 + + x255 * x296 + + x255 * x639 + - x258 * (x217 * x246 + x225 * x250 - x257) + - x258 * (x241 * x417 + x361 * x411 + x364 * x412) + + x261 * x31 + - x262 * (-x11 * x256 + x211 * x250 + x230 * x246) + - x262 * (x340 * x412 + x348 * x417 + x355 * x411) + + x266 * x291 + + x266 * x297 + + x266 * x385 + + x266 * x494 + + x266 * x496 + + x266 * x639 + + x279 * x426 + + x28 * x29 + + x28 * x358 + + x28 * x52 + + x28 * x588 + + x28 * x89 + + x286 * x428 + + x286 * x589 + + x29 * x34 + + x29 * x35 + + x291 * x308 + + x291 * x317 + + x291 * x427 + + x291 * x629 + + x291 * x83 + + x296 * x434 + + x297 * x308 + + x297 * x317 + + x297 * x83 + - 0.014980125 * x3 * (x14 + x20) + + x306 * x394 + + x306 * (-x247 - x251) + + x306 * (x430 - x432 + x433) + + x307 * x320 + + x307 * x394 + + x307 * x95 + + x307 * (x386 + x388 - x390) + + x307 * (x575 * x640 + x586 * x641 + x591) + + x308 * x385 + + x308 * x494 + + x308 * x496 + + x308 * x639 + x31 * x32 - + x31 * x342 - + x31 * x51 - + x31 * x85 - + x312 * x97 - + x314 * x95 - + x33 * x50 - + x33 * x98 - + x337 * x605 - + x338 * x601 - + x339 * x384 - + x34 * x63 - + x340 * x607 - + x350 * x398 - + x355 * x400 - - x36 * (-x12 * x18 + x12 * x19) - + x372 * x409 - + x377 * x432 - + x384 * x387 - + x384 * x389 - + x384 * x391 - + x384 * x402 - + x385 * x387 - + x385 * x389 - + x385 * x391 - + x385 * x402 - + x385 * x507 - + x387 * x497 - + x388 * x550 - + x388 * x607 - + x389 * x497 - + x390 * x550 - + x390 * x607 - + x391 * x497 - + x398 * x501 - + x398 * x79 + + x31 * x419 + + x31 * x53 + + x310 * x316 + + x310 * x319 + + x310 * x379 + + x316 * x323 + + x316 * x324 + + x316 * x393 + + x316 * x88 + + x316 * (-x205 * x387 + x205 * x389 + x344) + + x316 * (-x205 * x590 + x555 * x575 + x562 * x586) + + x317 * x385 + + x317 * x494 + + x317 * x496 + + x317 * x639 + + x318 * x393 + + x318 * (-x259 + x260) + + x318 * (-x205 * x429 + x205 * x431 + x418) + + x319 * x323 + + x319 * x324 + + x319 * x88 + + x320 * x321 + + x320 * x410 + + x321 * x95 + + x323 * x379 + + x324 * x379 + + x34 * x52 + + x343 * x705 + + x347 * x691 + + x347 * x932 + + x35 * x66 + + x357 * x751 + - x365 * (x241 * x343 + x347 * x361 + x357 * x364) + - x365 * (x361 * x587 + x575 * x594 + x586 * x597) + - x366 * (x340 * x357 + x343 * x348 + x347 * x355) + - x366 * (x355 * x587 + x573 * x586 + x575 * x584) + - x37 * (-x11 * x18 + x11 * x19) + 0.009765744929 * x4 * x5**2 - 0.0044673088505 * x4 - + x400 * x79 - + x402 * x497 - - x41 * x43 - + x410 * x421 - + x410 * x422 - + x410 * x495 - + x421 * x423 - + x421 * x425 - + x421 * x426 - + x421 * (x274 * x298 - x315) - + x421 * (x274 * x436 * x470 - x274 * x500 - x483) - + x422 * x423 - + x422 * x425 - + x422 * x426 - + x422 * (x274 * x338 - x352) - + x423 * x495 - + x425 * x495 - + x426 * x495 - - x43 * x44 - - x44 * x46 - - x44 * x48 - + x458 * x665 - + x46 * x72 - + x47 * (x188 * x209 + x207 * x210 + x215) - + x47 * (x189 * x340 + x318 * x337 + x319 * x338) - + x470 * x650 - + x471 * x538 - + x471 * x668 - + x48 * x72 - + x48 * x92 - + x48 * (x189 * x286 + x290 * x318 + x298 * x319) - + x48 * (x318 * x471 + x458 * x498 + x470 * x499) - - 0.018653 * x5 * (x42 * x56 - x54 * x60 + 0.0154502808 * x58) - + x5 * (x21 * x64 + x21 * x65 - x57 * x66 - 0.001072 * x58) - + x5 - * ( - -0.000606 * x100 * x22 - - x108 * x163 - + x124 * x169 - - x173 - - x174 - - x175 - - 0.001043 * x58 - ) - + x505 * x79 - - x507 * x550 - - x52 * (x12 * x39 - x15 * x40) - + x524 * x560 - + x528 * x587 - + x528 * x708 - + x532 * x593 - + x538 * x539 - + x538 * x541 - + x538 * x543 - + x538 * x544 - + x538 * x552 - + x539 * x605 - + x539 * x668 - + x541 * x605 - + x541 * x668 - + x543 * x605 - + x543 * x668 - + x544 * x605 - + x544 * x668 - + x545 * x550 - + x545 * x607 - + x550 * x551 - + x550 * x561 - + x551 * x607 - + x552 * x605 - + x552 * x668 - + x561 * x607 - + x562 * x572 - + x562 * x601 - + x572 * x573 - + x572 * x575 - + x572 * x578 - + x572 * x579 - + x572 * (x436 * x470 - x500) - + x573 * x601 - + x575 * x601 - + x578 * x601 - + x579 * x601 - + x632 * x695 - + x641 * x690 - + x650 * (0.005375 * x1 * x447 - x116 * x456) - + x650 * (-x286 * x434 + x298 * x436) - + x650 * (0.006375 * x1 * x447 - x16 * x456 - x44 * x499) - + x650 * (x19 * x454 + x44 * x488 + x447 * x50) - + x650 * (x191 * x434 + x436 * x576 + x436 * x577) - + x650 * (x436 * x574 + x445 * x83 + x506 * x89) - + x665 * (0.005375 * x1 * x442 - x116 * x468) - + x665 * (-x286 * x436 - x298 * x434) - + x665 * (0.006375 * x1 * x442 - x16 * x468 - x44 * x498) - + x665 * (x19 * x466 + x44 * x485 + x442 * x50) - + x665 * (x191 * x436 - x434 * x576 - x434 * x577) - + x665 * (-x434 * x574 + x440 * x83 + x461 * x89) - + x72 * x73 - + x73 * x92 - - x9 * (1.1636 * x1 * x2 * x60 - x22 * x71 - x42 * x53 - x70) - + x92 * x93 - - x94 * (-x12 * x90 + x12 * x91 + x15 * x89) + + x411 * x805 + + x412 * x794 + + x417 * x809 + + x427 * x494 + + x434 * x496 + - x45 * x46 + + x45 * (-x41 - x43) + + x457 * x504 + - x46 * x48 + - x46 * x50 + + x464 * x547 + + x471 * x474 + + x471 * x478 + + x471 * x481 + + x471 * x498 + + x471 * (x413 + x414 + x415 + x416) + + x472 * x474 + + x472 * x478 + + x472 * x481 + + x472 * x498 + + x472 * (x333 + x342) + + x472 * (x642 + x643) + + x474 * x624 + + x478 * x624 + + x48 * x75 + + x48 * (-x151 + x153 + x163) + + x481 * x624 + + x49 * (x217 * x417 + x391 * x411 + x392 * x412) + + x49 * (x241 * x246 + x242 * x250 + x257) + + x494 * x629 + + x494 * x83 + + x496 * x83 + + x498 * x624 + - 0.018653 * x5 * (x44 * x58 - x56 * x63 + 0.0154502808 * x61) + + x5 * (-x115 * x198 - x123 * x192 + x203 - 0.001043 * x61) + + x5 * (x21 * x67 + x21 * x68 - x59 * x69 - 0.001072 * x61) + + x50 * x75 + + x50 * (x217 * x343 + x347 * x391 + x357 * x392) + + x50 * (x391 * x587 + x575 * x625 + x586 * x626) + + x505 * x533 + + x505 * x534 + + x505 * x613 + + x533 * x535 + + x533 * x538 + + x533 * x539 + + x533 * (-x387 + x389) + + x533 * (-x328 * x627 + x328 * x628 - x590) + + x534 * x535 + + x534 * x538 + + x534 * x539 + + x534 * (-x429 + x431) + + x535 * x613 + + x538 * x613 + + x539 * x613 + - x54 * (x11 * x40 - x15 * x42) + + x575 * x929 + + x586 * x886 + + x587 * x691 + + x587 * x932 + + x639 * x83 + + x675 * x717 + + x681 * x771 + + x684 * x769 + + x684 * x964 + + x691 * x692 + + x691 * x693 + + x691 * x694 + + x691 * x695 + + x691 * x707 + + x692 * x805 + + x692 * x932 + + x693 * x805 + + x693 * x932 + + x694 * x805 + + x694 * x932 + + x695 * x805 + + x695 * x932 + + x696 * x705 + + x696 * x809 + + x705 * x706 + + x705 * x718 + + x705 * x719 + + x705 * x720 + + x705 * (-x642 - x643) + + x706 * x809 + + x707 * x805 + + x707 * x932 + + x718 * x809 + + x719 * x809 + + x720 * x809 + + x721 * x751 + + x721 * x794 + + x75 * x76 + + x751 * x752 + + x751 * x754 + + x751 * x757 + + x751 * x770 + + x751 * (-x627 + x628) + + x752 * x794 + + x754 * x794 + + x757 * x794 + + x770 * x794 + + x870 * x963 + + x880 * x959 + + x886 * (-x130 * x573 + x264 * x564) + + x886 * (-x343 * x549 + x357 * x551) + + x886 * (-x16 * x573 + x272 * x564 - x46 * x626) + + x886 * (x19 * x571 + x46 * x595 + x52 * x564) + + x886 * (x221 * x549 + x551 * x755 + x551 * x756) + + x886 * (x551 * x753 + x562 * x88 + x641 * x95) + - x9 * (x41 + x43) + - x9 * (x6 + x8) + + x929 * (-x130 * x584 + x264 * x557) + + x929 * (-x343 * x551 - x357 * x549) + + x929 * (-x16 * x584 + x272 * x557 - x46 * x625) + + x929 * (x19 * x582 + x46 * x592 + x52 * x557) + + x929 * (x221 * x551 - x549 * x755 - x549 * x756) + + x929 * (-x549 * x753 + x555 * x88 + x640 * x95) + + (-x6 + x7) * (-x22 * x74 - x44 * x55 + x60 * x63 - x73) ], [ - x115 * x735 - + x115 * (-x729 + x731) - + x118 * x767 - + x118 * (x281 * x781 + x294 * x780 + x75 * x784) - + x118 * (x177 * x75 * x760 - x75 * x762 - x758) - + 0.84152 * x119 - - x12 * x166 - + x12 * x332 - + x121 * x735 - + x121 * x753 - + x121 * x767 - + x121 * (x281 * x771 + x294 * x770 + x75 * x769) - + x121 * (x294 * x799 + x454 * x797 + x466 * x798) - - x127 * x736 - - x127 * x738 - + x127 * x765 - - x127 * x775 - + x127 * (x450 * x797 + x462 * x798 - x802) - - x130 * x737 - - x130 * x739 - + x130 * x765 - + x130 * x766 - - x130 * x792 - - x133 * x736 - + x133 * x752 - + x142 * x732 - - x144 * x710 - + x144 * x733 - - x145 * x711 - + x145 * x725 - + x145 * x751 - + x145 * x763 - + x145 * x785 - - x146 * x710 - + x146 * x724 - + x146 * x751 - + x146 * x772 - + x146 * x800 - + x147 * x753 - - x148 * (-x12 * x729 + x12 * x731 + x15 * x726) - - x15 * x170 - - 0.328272 * x157 - + 0.328272 * x160 - + x171 * x712 - + x188 * x432 - + x189 * x593 - - x202 * (x189 * x747 + x195 * x749 - x745) - - x205 * (-x12 * x744 + x181 * x749 + x199 * x747) - + x207 * x409 - - x216 * (x188 * x783 + x301 * x780 + x304 * x781) - - x216 * (x189 * x761 + x195 * x760 - x759) - - x219 * (-x12 * x758 + x181 * x760 + x199 * x761) - - x219 * (x198 * x783 + x283 * x781 + x296 * x780) - + 0.115871288 * x22 * x56 - - x22 * x65 + x1000 * x50 + + x1000 * x76 + - x1001 * x1059 + + x1001 * x1065 + + x1001 * x129 + + x1001 * x135 + - x1002 * x143 + - x1002 * x149 + + x1002 * x307 + + x1002 * x410 + - x1003 * x146 + + x1003 * x306 + - x1004 * x143 + + x1004 * x307 + - x1005 * x146 + + x1005 * x306 + + x1008 * x291 + + x1008 * x296 + + x1008 * x494 + + x1008 * x496 + - x101 * (-x972 + x974 + x980) + + x1011 * x471 + + x1011 * x472 + + x1013 * x533 + + x1013 * x534 + + x1016 * x168 + + x1016 * x170 + + x1016 * x28 + + x1016 * x31 + + x1017 * x149 + + x1018 * x135 + + x1018 * x171 + + x1019 * x613 + + x1024 * x296 + + x1024 * x639 + + x1027 * x624 + - x103 * (x11 * x979 + x11 * x982 + x965 * x981) + + x1030 * x168 + + x1030 * x31 + + x1031 * x49 + + x1031 * x50 + + x1034 * x143 + + x1034 * x146 + + x1037 * x132 + + x1037 * x135 + + x1040 * x705 + + x1042 * x691 + + x1042 * x932 + + x1043 * x751 + + x1044 * x170 + + x1044 * x28 + + x1050 * x805 + + x1051 * x794 + + x1056 * x809 + + x1058 * x168 + + x1058 * x31 + - x1060 * x291 + - x1060 * x494 + - x1060 * x496 + - x1060 * x639 + - x1062 * x291 + - x1062 * x385 + - x1062 * x494 + - x1062 * x496 + - x1062 * x639 + + x1063 * x291 + + x1063 * x297 + + x1063 * x385 + + x1063 * x494 + + x1063 * x496 + + x1063 * x639 + + x1064 * x316 + + x1064 * x379 + + x1066 * x316 + + x1066 * x319 + + x1066 * x379 + + x1072 * x316 + + x1072 * x318 + + x1073 * x306 + + x1073 * x307 + + x1074 * x291 + + x1074 * x494 + + x1075 * x296 + + x1075 * x496 + + x1076 * x886 + + x1077 * x929 + + x1082 * x691 + + x1082 * x932 + + x1083 * x170 + + x1083 * x28 + + x1088 * x471 + + x1088 * x472 + + x1088 * x624 + + x1091 * x471 + + x1091 * x472 + + x1091 * x624 + + x1094 * x471 + + x1094 * x472 + + x1094 * x624 + + x1095 * x472 + + x1098 * x291 + + x1098 * x494 + + x1099 * x533 + + x1099 * x534 + + x1099 * x613 + - x11 * x195 + + x11 * x407 + + x1100 * x471 + + x1102 * x533 + + x1102 * x534 + + x1102 * x613 + + x1103 * x533 + + x1103 * x534 + + x1103 * x613 + + x1106 * x691 + + x1106 * x805 + + x1106 * x932 + + x1108 * x691 + + x1108 * x805 + + x1108 * x932 + + x1109 * x691 + + x1109 * x805 + + x1109 * x932 + + x1110 * x691 + + x1110 * x805 + + x1110 * x932 + + x1111 * x705 + + x1111 * x809 + + x1112 * x705 + + x1112 * x809 + + x1113 * x705 + + x1113 * x809 + + x1114 * x705 + + x1114 * x809 + + x1115 * x751 + + x1115 * x794 + + x1116 * x751 + + x1116 * x794 + + x1119 * x751 + + x1119 * x794 + + x1120 * x751 + + x1120 * x794 + + x1121 * x886 + + x1122 * x929 + + x129 * (x990 - x997) + + x132 * (-x1025 + x1028 * x78 - x1029 * x78) + + x132 * (x1050 * x353 + x1051 * x338 + x1057 * x78) + + 0.84152 * x133 + + x135 * (x1041 * x78 + x1042 * x353 + x1043 * x338) + + x135 * (x1076 * x571 + x1077 * x582 + x1082 * x353) + + x143 * (-x1045 - x1047 + x1049) + + x143 * (x1076 * x567 + x1077 * x578 - x1085) + + x146 * (x1035 + x1036) + + x146 * (-x1068 + x1070 - x1071) + - x15 * x200 + - x164 * (x991 - x995 - x998) + - x167 * x966 + + x167 * x999 + - x168 * x967 + + x168 * x988 + - x170 * x966 + + x170 * x987 + - x172 * (x11 * x990 - x11 * x997 + x15 * x994) + - 0.328272 * x186 + + 0.328272 * x189 + + x202 * x970 + + x217 * x771 + + 0.115871288 * x22 * x58 + - x22 * x68 - 6.798123552e-7 * x23 - + x243 * x743 - - x243 * x777 - - x243 * x779 - + x243 * x786 - + x243 * x795 - + x243 * x812 - - 0.01275 * x246 * x727 - + x246 * x743 - + x246 * x757 - + x246 * x796 - + x247 * x786 - + x251 * x737 - + x251 * x739 - - x251 * x766 - + x251 * x792 - + x251 * x794 - + x252 * x736 - + x252 * x738 - + x252 * x775 - + x252 * x794 - + x252 * (x461 * x798 + x506 * x797 + x802) - + x262 * x716 - + x262 * x787 - + x262 * x789 - + x262 * x793 - + x262 * (-x177 * x773 + x177 * x774 + x769) - + x262 * (-x177 * x801 + x440 * x798 + x445 * x797) - + x263 * x793 - + x263 * (x177 * x760 - x762) - + x263 * (-x177 * x790 + x177 * x791 + x784) - + x264 * x716 - + x264 * x789 - - x29 * x710 - + x29 * x724 - + x29 * x751 - + x29 * x772 - + x29 * x800 - - x305 * (x188 * x768 + x301 * x770 + x304 * x771) - - x305 * (x301 * x799 + x487 * x798 + x490 * x797) - - x306 * (x198 * x768 + x283 * x771 + x296 * x770) - - x306 * (x296 * x799 + x456 * x797 + x468 * x798) - - x31 * x711 - + x31 * x725 - + x31 * x751 - + x31 * x763 - + x31 * x785 - + x312 * x730 - + x312 * x787 - + x312 * x789 - + x314 * x728 - - x314 * x779 - + x314 * x786 - + x318 * x587 - + x318 * x708 - + x319 * x560 - - x33 * x710 - + x33 * x733 - + x334 * x726 - + x334 * x736 - + x34 * x712 - - x349 * x727 - - 0.17485254622664 * x35 - + x351 * x714 - - x36 * (x14 + 0.21038 * x709) - + x384 * x747 - + x384 * x804 - + x384 * x806 - + x384 * x809 - + x384 * x815 - + x385 * x747 - + x385 * x804 - + x385 * x806 - + x385 * x809 - + x385 * x810 - + x385 * x819 - + x398 * x743 - - x398 * x777 - - x398 * x779 - + x398 * x786 - + x398 * x795 - + x398 * x812 - + x400 * x743 - - x400 * x777 - - x400 * x779 - + x400 * x786 - + x400 * x796 - + x421 * x749 - + x421 * x814 - + x421 * x817 - + x421 * x818 - + x421 * (x274 * x771 - x773) - + x421 * (x274 * x436 * x797 - x274 * x811 - x801) - + x422 * x749 - + x422 * x814 - + x422 * x817 - + x422 * x818 - + x422 * (x274 * x781 - x790) - + x46 * x732 - + x47 * x764 - + x47 * (x188 * x761 + x207 * x760 + x759) - + x47 * (x189 * x783 + x318 * x780 + x319 * x781) - + x48 * x734 - + x48 * x764 - + x48 * (x189 * x768 + x318 * x770 + x319 * x771) - + x48 * (x318 * x799 + x498 * x798 + x499 * x797) - + x482 * x714 - + x495 * x760 - + x495 * x814 - + x495 * x817 - + x495 * x818 - + x497 * x761 - + x497 * x804 - + x497 * x806 - + x497 * x809 - + x498 * x690 - + x499 * x695 - + x505 * x757 - - x505 * x777 - - x505 * x779 - + x505 * x786 - - x52 * (0.117892 * x13 + 0.117892 * x709) - - x53 * x69 - + x538 * x770 - + x538 * x799 - + x538 * x820 - + x538 * x821 - + x538 * x822 - + x538 * x823 - + x550 * x746 - + x550 * x768 - + x550 * x803 - + x550 * x805 - + x550 * x808 - - x550 * x819 - + 5.11984e-5 * x56 * x57 - + x57 * x68 - + x572 * x771 - + x572 * x825 - + x572 * x826 - + x572 * x829 - + x572 * x830 - + x572 * (x436 * x797 - x811) - + 0.002229538962064 * x58 - - x60 * x71 - + x601 * x781 - + x601 * x825 - + x601 * x826 - + x601 * x829 - + x601 * x830 - + x605 * x780 - + x605 * x820 - + x605 * x821 - + x605 * x822 - + x605 * x823 - + x607 * x746 - + x607 * x783 - + x607 * x803 - + x607 * x805 - + x607 * x808 - + x650 * x797 - + x650 * (0.21038 * x455 - x831) - + x650 * (-x434 * x768 + x436 * x771) - + x650 * (0.21038 * x12 * x454 - x447 * x710 - x831) - + x650 * (x434 * x747 + x436 * x827 + x436 * x828) - + x650 * (-x443 * x710 + x445 * x716 + x506 * x738) - + x665 * x798 - + x665 * (0.21038 * x467 - x832) - + x665 * (-x434 * x771 - x436 * x768) - + x665 * (0.21038 * x12 * x466 - x442 * x710 - x832) - + x665 * (-x434 * x827 - x434 * x828 + x436 * x747) - + x665 * (x435 * x710 + x440 * x716 + x461 * x738) - + x668 * x770 - + x668 * x799 - + x668 * x820 - + x668 * x821 - + x668 * x822 - + x668 * x823 - - x718 * x93 - + x73 * x734 - - x735 * x776 - + x735 * x788 - - x94 * (x12 * x717 + x12 * x720 + x709 * x719) + - x233 * (-x1010 + x1011 * x217 + x1013 * x225) + - x237 * (-x1009 * x11 + x1011 * x230 + x1013 * x211) + + x241 * x547 + + x242 * x504 + - x258 * (x1019 * x225 - x1026 + x1027 * x217) + - x258 * (x1050 * x361 + x1051 * x364 + x1056 * x241) + - x262 * (x1019 * x211 - x1025 * x11 + x1027 * x230) + - x262 * (x1050 * x355 + x1051 * x340 + x1056 * x348) + - x28 * x966 + + x28 * x987 + - 0.01275 * x296 * x971 + + x306 * (-x1035 - x1036) + + x306 * (x1068 - x1070 + x1071) + + x307 * (x1045 + x1047 - x1049) + + x307 * (x1076 * x641 + x1077 * x640 + x1085) + - x31 * x967 + + x31 * x988 + + x316 * x978 + + x316 * (x1041 - x1046 * x205 + x1048 * x205) + + x316 * (x1076 * x562 + x1077 * x555 - x1084 * x205) + + x318 * (x1028 - x1029) + + x318 * (x1057 - x1067 * x205 + x1069 * x205) + + x319 * x978 + - x34 * x966 + + x34 * x999 + + x35 * x970 + - 0.17485254622664 * x36 + - x365 * (x1040 * x241 + x1042 * x361 + x1043 * x364) + - x365 * (x1076 * x597 + x1077 * x594 + x1082 * x361) + - x366 * (x1040 * x348 + x1042 * x355 + x1043 * x340) + - x366 * (x1076 * x573 + x1077 * x584 + x1082 * x355) + - x37 * (x13 + 0.21038 * x965) + + x379 * x989 + + x385 * x996 + + x391 * x769 + + x391 * x964 + + x392 * x717 + + x410 * x994 + - x426 * x971 + + x428 * x975 + + x472 * (x1104 + x1105) + + x48 * (-x991 + x995 + x998) + + x49 * (x1019 * x242 + x1026 + x1027 * x241) + + x49 * (x1050 * x391 + x1051 * x392 + x1056 * x217) + + x50 * (x1040 * x217 + x1042 * x391 + x1043 * x392) + + x50 * (x1076 * x626 + x1077 * x625 + x1082 * x391) + + x533 * (-x1046 + x1048) + + x533 * (-x1084 - x1096 * x328 + x1097 * x328) + + x534 * (-x1067 + x1069) + - x54 * (0.117892 * x12 + 0.117892 * x965) + - x55 * x72 + + 5.11984e-5 * x58 * x59 + + x589 * x975 + + x59 * x71 + + 0.002229538962064 * x61 + + x625 * x959 + + x626 * x963 + - x63 * x74 + + x705 * (-x1104 - x1105) + + x751 * (-x1096 + x1097) + + x886 * (x1121 - x564 * x966) + + x886 * (-x1040 * x549 + x1043 * x551) + + x886 * (x1004 * x641 - x558 * x966 + x562 * x978) + + x886 * (x1011 * x549 + x1117 * x551 + x1118 * x551) + + x929 * (x1122 - x557 * x966) + + x929 * (-x1040 * x551 - x1043 * x549) + + x929 * (x1004 * x640 + x550 * x966 + x555 * x978) + + x929 * (x1011 * x551 - x1117 * x549 - x1118 * x549) ], [ - -x10 * x712 - + 0.0028268411472008 * x101 - - 0.0034328411472008 * x102 - - 0.0028268411472008 * x104 - - 5.11984e-5 * x105 * x153 - - 0.0077274676 * x105 * x158 - + 0.017767125 * x107 - + 0.0077274676 * x111 * x155 - - 0.017767125 * x114 - + x115 * (-x837 - x838) - + x118 * x878 - + x118 * (x281 * x882 + x294 * x883 + x75 * x881) - + x118 * (x177 * x75 * x854 - x75 * x857 - x851) - + x121 * x862 - + x121 * x878 - + x121 * (x281 * x874 + x294 * x872 + x75 * x871) - + x121 * (x294 * x898 + x454 * x895 + x466 * x896) - + 6.0358817728e-6 * x122 - + 6.0358817728e-6 * x123 - + 5.11984e-5 * x124 * x155 - + x124 * x169 - + x127 * x859 - + x127 * x866 - - x127 * x887 - + x127 * (x450 * x895 + x462 * x896 - x903) - + x130 * x860 - + x130 * x866 - + x130 * x867 - - x130 * x890 - + x133 * x839 - + x142 * x841 - + x145 * x848 - + x145 * x858 - + x145 * x884 - + x146 * x848 - + x146 * x875 - + x146 * x899 - + x147 * x862 - - x148 * (-x12 * x837 - x12 * x838 + x15 * x840) + -x101 * (x1216 - x1217 + x986) + - x103 * (-x11 * x1129 - x11 * x984 - 0.20843 * x975) + + x1059 * x1223 + + 0.0255 * x1059 + - 0.0255 * x1065 + + x1123 * x613 + + x1124 * x624 + + x1125 * x410 + + x1126 * x149 + + x1127 * x533 + + x1127 * x534 + + x1130 * x135 + + x1130 * x171 + + x1139 * x316 + + x1139 * x318 + + x1142 * x751 + + x1142 * x794 + + x1147 * x143 + + x1147 * x146 + + x1149 * x691 + + x1149 * x932 + + x1150 * x751 + + x1151 * x291 + + x1151 * x494 + + x1156 * x705 + + x1157 * x805 + + x1158 * x794 + + x1159 * x296 + + x1159 * x496 + + 0.0028268411472008 * x116 + + x1162 * x929 + + x1164 * x886 + + x1168 * x306 + + x1168 * x307 + + x1169 * x691 + + x1169 * x805 + + x1169 * x932 + - 0.0034328411472008 * x117 + + x1171 * x471 + + x1171 * x472 + + x1171 * x624 + - x1171 * x705 + - x1171 * x809 + + x1172 * x471 + + x1172 * x472 + + x1172 * x624 + - x1173 * x533 + - x1173 * x534 + - x1173 * x613 + + x1174 * x533 + + x1174 * x534 + + x1174 * x613 + + x1175 * x472 + + x1176 * x296 + + x1176 * x639 + + x1177 * x691 + + x1177 * x805 + + x1177 * x932 + + x1178 * x751 + + x1178 * x794 + + x1179 * x705 + + x1179 * x809 + + x1180 * x929 + + x1181 * x886 + + x1189 * x49 + + x1189 * x50 + - 0.0028268411472008 * x119 + + x1194 * x691 + + x1194 * x932 + + x1195 * x170 + + x1195 * x28 + - 5.11984e-5 * x120 * x181 + - 0.0077274676 * x120 * x187 + + x1201 * x809 + + x1203 * x170 + + x1203 * x28 + + x1205 * x168 + + x1205 * x31 + + x1208 * x168 + + x1208 * x31 + + x1212 * x291 + + x1212 * x494 + + x1218 * x50 + + x1218 * x76 + + x1219 * x168 + + x1219 * x170 + + x1219 * x28 + + x1219 * x31 + + 0.017767125 * x122 + + x1221 * x691 + + x1221 * x805 + + x1221 * x932 + + x1222 * x751 + + x1222 * x794 + + x1224 * x132 + + x1224 * x135 + + x1227 * x471 + + x1228 * x146 + - x1228 * x306 + + x1229 * x291 + + x1229 * x494 + + x1229 * x496 + + x1229 * x639 + + x1230 * x291 + + x1230 * x494 + + x1230 * x496 + + 0.0037378477575 * x1231 * x5 + + 0.0077274676 * x125 * x183 + - 0.017767125 * x128 + + x129 * (-x1131 - x1132) + + x132 * (x1133 * x78 - x1134 * x78 - x1182) + + x132 * (x1157 * x353 + x1158 * x338 + x1204 * x78) + + x135 * (x1149 * x353 + x1150 * x338 + x1202 * x78) + + x135 * (x1162 * x582 + x1164 * x571 + x1194 * x353) + + 6.0358817728e-6 * x136 + - 1.30358817728e-5 * x137 + + 6.0358817728e-6 * x138 + + 5.11984e-5 * x139 * x183 + + x143 * x298 + + x143 * (-x1209 - x1210 + x1211) + + x143 * (x1162 * x578 + x1164 * x567 - x1207) + + x146 * (x1135 + x1136) + + x146 * (-x1213 + x1214 - x1215) + 9.5498296875e-5 * x15 * x3 - - 1.30358817728e-5 * x167 - - x173 - - x174 - - x175 - - x202 * (x189 * x844 + x195 * x846 - x843) - - x205 * (x181 * x846 - x186 * x842 + x199 * x844) - - x216 * (x188 * x880 + x301 * x883 + x304 * x882) - - x216 * (x189 * x855 + x195 * x854 - x852) - - x219 * (-x12 * x851 + x181 * x854 + x199 * x855) - - x219 * (x198 * x880 + x283 * x882 + x296 * x883) - + x243 * x891 - + x243 * x892 - + x243 * x900 - + x243 * x905 - + x246 * x850 - + x246 * x901 - - x251 * x860 - - x251 * x867 - + x251 * x890 - + x251 * x894 - - x252 * x859 - + x252 * x887 - + x252 * x894 - + x252 * (x461 * x896 + x506 * x895 + x903) - - 0.01275 * x262 * x75 - + x262 * x893 - + x262 * (-x177 * x885 + x177 * x886 + x871) - + x262 * (-x177 * x902 + x440 * x896 + x445 * x895) - + x263 * x893 - + x263 * (x856 - x857) - + x263 * (-x177 * x888 + x177 * x889 + x881) - + x277 * x560 - + x289 * x587 - + x289 * x708 - + x29 * x848 - + x29 * x875 - + x29 * x899 - - x305 * (x188 * x870 + x301 * x872 + x304 * x874) - - x305 * (x301 * x898 + x487 * x896 + x490 * x895) - - x306 * (x198 * x870 + x283 * x874 + x296 * x872) - - x306 * (x296 * x898 + x456 * x895 + x468 * x896) - + x31 * x848 - + x31 * x858 - + x31 * x884 - - 0.021381 * x312 * x75 - + 0.021381 * x314 * x76 - + x334 * x840 - + x349 * x76 - + x351 * x75 - + x384 * x844 - + x384 * x879 - + x384 * x906 - + x384 * x907 - + x385 * x844 - + x385 * x869 - + x385 * x906 - + x385 * x907 - + x385 * x910 - + x398 * x891 - + x398 * x892 - + x398 * x900 - + x398 * x905 - + x400 * x891 - + x400 * x892 - + x400 * x901 - + x403 * x409 - + x421 * x846 - - x421 * x908 - + x421 * x909 - + x421 * (x274 * x874 - x885) - + x421 * (x274 * x436 * x895 - x274 * x904 - x902) - + x422 * x846 - - x422 * x908 - + x422 * x909 - + x422 * (x274 * x882 - x888) - - x43 * x712 - - x432 * x588 - + x442 * x690 - + x447 * x695 - + x46 * x710 - + x46 * x841 - + x47 * x711 - + x47 * x861 - + x47 * (x188 * x855 + x207 * x854 + x852) - + x47 * (x189 * x880 + x318 * x883 + x319 * x882) - + x48 * x710 - + x48 * x836 - + x48 * x861 - + x48 * (x189 * x870 + x318 * x872 + x319 * x874) - + x48 * (x318 * x898 + x498 * x896 + x499 * x895) - + x482 * x75 - + x495 * x854 - - x495 * x908 - + x495 * x909 - + x497 * x855 - + x497 * x906 - + x497 * x907 - + 0.0037378477575 * x5 * x833 - + x505 * x850 - + x505 * x891 - - x52 * (x61 + x62) - + x538 * x872 - + x538 * x898 - + x538 * x911 - + x538 * x912 - + x538 * x914 - - x550 * x844 - + x550 * x870 - - x550 * x906 - - x550 * x910 - + x550 * x915 - + x572 * x874 - + x572 * x916 - + x572 * x918 - + x572 * x919 - + x572 * (x436 * x895 - x904) - - 0.0012075857869362 * x58 - + x588 * x593 - + x601 * x882 - + x601 * x916 - + x601 * x918 - + x601 * x919 - + x605 * x883 - + x605 * x911 - + x605 * x912 - + x605 * x914 - - x607 * x844 - + x607 * x880 - - x607 * x906 - + x607 * x915 - + x650 * x895 - - x650 * x920 - + x650 * (-x434 * x870 + x436 * x874) - + x650 * (-x506 * x859 - x920) - + x650 * (x436 * x917 + 0.10593 * x438 * x76 + x618 * x922) - + x665 * x896 - - x665 * x921 - + x665 * (-x434 * x874 - x436 * x870) - + x665 * (-x461 * x859 - x921) - + x665 * (0.10593 * x177 * x436 * x76 - x434 * x917 - x438 * x922) - + x668 * x872 - + x668 * x898 - + x668 * x911 - + x668 * x912 - + x668 * x914 - + x73 * x836 - + x776 * x876 - + 0.0255 * x776 - - 0.0255 * x788 - + x836 * x93 - - x94 * (-x12 * x722 - x12 * x835 - 0.20843 * x714) + - x164 * (-x1184 - x1185 - x1186) + - x172 * (-x11 * x1131 - x11 * x1132 + x1125 * x15) + + x203 + - x233 * (x1127 * x225 - x1188 + x217 * x447) + - x237 * (x1127 * x211 - x1187 * x209 + x230 * x447) + - x258 * (x1123 * x225 + x1124 * x217 - x1183) + - x258 * (x1157 * x361 + x1158 * x364 + x1201 * x241) + - x262 * (-x11 * x1182 + x1123 * x211 + x1124 * x230) + - x262 * (x1157 * x355 + x1158 * x340 + x1201 * x348) + - x298 * x307 + + x306 * (-x1135 - x1136) + + x306 * (x1213 - x1214 + x1215) + + x307 * (x1209 + x1210 - x1211) + + x307 * (x1162 * x640 + x1164 * x641 + x1207) + - 0.01275 * x316 * x78 + + x316 * (-x1152 * x205 + x1153 * x205 + x1202) + + x316 * (x1162 * x555 + x1164 * x562 - x1206 * x205) + + x318 * (x1133 - x1134) + + x318 * (x1160 * x205 - x1161 * x205 + x1204) + + x331 * x717 + + x346 * x769 + + x346 * x964 + - x365 * (x1149 * x361 + x1150 * x364 + x1156 * x241) + - x365 * (x1162 * x594 + x1164 * x597 + x1194 * x361) + - x366 * (x1149 * x355 + x1150 * x340 + x1156 * x348) + - x366 * (x1162 * x584 + x1164 * x573 + x1194 * x355) + - 0.021381 * x379 * x78 + + 0.021381 * x385 * x79 + + x426 * x79 + + x428 * x78 + + x447 * x471 + + x447 * x472 + - x447 * x705 + - x447 * x809 + + x45 * (-x968 + x969) + + x472 * (x1166 + x1167) + + x48 * x966 + + x48 * (x1184 + x1185 + x1186) + + x486 * x504 + + x49 * x967 + + x49 * (x1123 * x242 + x1124 * x241 + x1183) + + x49 * (x1157 * x391 + x1158 * x392 + x1201 * x217) + + x50 * x966 + + x50 * (x1149 * x391 + x1150 * x392 + x1156 * x217) + + x50 * (x1162 * x625 + x1164 * x626 + x1194 * x391) + - x514 * x547 + + x514 * x771 + + x533 * (-x1152 + x1153) + + x533 * (-x1163 * x328 + x1165 * x328 - x1206) + + x534 * (x1160 - x1161) + - x54 * (x64 + x65) + + x557 * x959 + + x564 * x963 + + x589 * x78 + - 0.0012075857869362 * x61 + + x705 * (-x1166 - x1167) + + x751 * (-x1163 + x1165) + + x886 * (x1181 - x298 * x641) + + x886 * (x1150 * x551 - x1156 * x549) + + x886 * (x1141 * x551 + x1225 * x553 + x1226 * x560) + - x9 * x970 + + x929 * (x1180 - x298 * x640) + + x929 * (-x1150 * x549 - x1156 * x551) + + x929 * (-x1141 * x549 + x1225 * x560 - x1226 * x553) ], [ - -0.0859643660835216 * x101 - + 0.0942803660835216 * x102 - + 0.0859643660835216 * x104 - + x115 * (x309 + x310) - + 0.41686 * x118 * x75 - + x118 * x972 - + x118 * (x281 * x933 + x294 * x932 + x75 * x955) - + x118 * (x75 * x924 + x75 * x925 - x965) - + x121 * x719 - + x121 * x972 - + x121 * (x281 * x931 - x294 * x949 + x516 * x928) - + x121 * (x294 * x959 + x454 * x944 + x466 * x942) - + x127 * x974 - + x127 * (x450 * x944 + x462 * x942 - x962) - - x130 * x963 - - x142 * x726 - + x144 * x839 - + x145 * x860 - + x145 * x952 - + x145 * x956 - + x145 * x970 - + x146 * x859 - + x146 * x953 - + x146 * x960 - + x146 * x970 - - x148 * (x137 + x138) - - x177 * x432 - + 0.272313 * x177 * x495 - + x177 * x593 - - x179 * x409 - - 0.272313 * x179 * x497 - - x202 * (x190 * x195 + x967 - 0.10593 * x977) - - x205 * (x181 * x190 + x740 * x76 - 0.10593 * x984) - - x216 * (0.063883 * x177 * x195 - x971 - 0.063883 * x977) - - x216 * (x188 * x948 + x301 * x932 + x304 * x933) - - x219 * (-x12 * x965 + 0.063883 * x177 * x181 - 0.063883 * x984) - - x219 * (x198 * x948 + x283 * x933 + x296 * x932) - - 2.512544616e-7 * x226 - - 2.512544616e-7 * x228 - - 2.512544616e-7 * x231 - + 1.67436e-5 * x236 * x311 - + 0.387012824 * x237 * x249 - - 0.387012824 * x241 * x248 - - 0.0702096356 * x241 * x307 - - 1.67436e-5 * x241 * x313 - + x243 * x938 - + x243 * x964 - - x243 * x978 - + 2.512544616e-7 * x244 - + x246 * x927 - + x246 * x939 - - x246 * x978 - + 0.0702096356 * x249 * x311 - + x251 * x963 - - x252 * x974 - + x252 * (x461 * x942 + x506 * x944 + x962) - - 0.0035207725448136 * x258 - - 0.0035207725448136 * x259 - - 0.0035207725448136 * x261 - + x262 * x929 - + x262 * (x177 * x934 + x274 * x589 * x876 + x274 * x928) - + x262 * (-x177 * x961 + x440 * x942 + x445 * x944) - + x263 * x929 - + x263 * (x924 + x925) - + x263 * (x177 * x940 - x177 * x941 + x955) - + x29 * x859 - + x29 * x953 - + x29 * x960 - + x29 * x970 - - 0.002080193929 * x3 * x727 - - x305 * (x188 * x954 - x301 * x949 + x304 * x931) - - x305 * (x301 * x959 + x487 * x942 + x490 * x944) - - x306 * (x198 * x954 + x283 * x931 - x296 * x949) - - x306 * (x296 * x959 + x456 * x944 + x468 * x942) - + x31 * x860 - + x31 * x952 - + x31 * x956 - + x31 * x970 - + x33 * x839 - + x331 - + 0.0035207725448136 * x333 - + x384 * x947 - - x384 * x975 - + x385 * x945 - - x385 * x954 - - x385 * x975 - + x398 * x938 - + x398 * x964 - - x398 * x978 - + x400 * x939 - - x400 * x978 - + x421 * x976 - + x421 * (x274 * x930 + x934) - + x421 * (x274 * x436 * x944 - x274 * x943 - x961) - + x422 * x976 - + x422 * (x940 - x941) - + x46 * x752 - + x461 * x690 - - x47 * x739 - + x47 * x969 - + x47 * (0.063883 * x177 * x207 - 0.063883 * x968 + x971) - + x47 * (x189 * x948 + x318 * x932 + x319 * x933) - - x48 * x738 - + x48 * x969 - + x48 * (x189 * x954 - x318 * x949 + x319 * x931) - + x48 * (x318 * x959 + x498 * x942 + x499 * x944) - + x505 * x927 - + x506 * x695 - - x538 * x949 - + x538 * x951 - + x538 * x959 - - x538 * x982 - - x550 * x945 - + x550 * x954 - + x550 * x975 - - x553 * x560 - + x572 * x931 - + x572 * x946 - + x572 * (x436 * x944 - x943) - + x587 * x589 - + x589 * x708 - + x601 * x933 - + x601 * x946 - + x605 * x932 - + x605 * x951 - + x607 * x948 - + x607 * x975 - + x650 * x944 - + x650 * (x436 * x931 - 0.10593 * x460) - + x650 * (0.20843 * x177 * x274 * x436 - 0.20843 * x444) - + x650 - * ( - 0.10593 * x177 * x274 * x436 - - 0.00017505 * x272 * x437 - - 0.10593 * x444 - ) - + x665 * x942 - + x665 * (-0.20843 * x437 - 0.20843 * x439) - + x665 * (-x434 * x931 - 0.10593 * x449) - + x665 - * (0.00017505 * x179 * x272 * x434 - 0.10593 * x437 - 0.10593 * x439) - - x668 * x949 - + x668 * x951 - + x668 * x959 - - x668 * x982 - - 0.08141975791312 * x833 * x96 - + x979 * x980 - + x980 * x981 - - x980 * x983 + -x1004 * x50 + - x1005 * x49 + + x1017 * x48 + - 0.08141975791312 * x109 * x1231 + + x1126 * x167 + + x1126 * x34 + - 0.0859643660835216 * x116 + + 0.0942803660835216 * x117 + + 0.0859643660835216 * x119 + + x1228 * x168 + + x1228 * x31 + + x1236 * x296 + + x1236 * x639 + + x1238 * x316 + + x1238 * x318 + + x1241 * x751 + + x1242 * x805 + + x1243 * x794 + + x1249 * x291 + + x1249 * x494 + + x1250 * x296 + + x1250 * x496 + + x1253 * x886 + + x1255 * x929 + + x1260 * x751 + + x1260 * x794 + + x1263 * x471 + + x1264 * x809 + - x1265 * x691 + - x1265 * x932 + + x1268 * x691 + + x1268 * x805 + + x1268 * x932 + + x1269 * x168 + + x1269 * x31 + + x1270 * x170 + + x1270 * x28 + - x1271 * x472 + + x1271 * x705 + + x1273 * x168 + + x1273 * x31 + + x1278 * x691 + + x1278 * x932 + + x1279 * x170 + + x1279 * x28 + + x1285 * x291 + + x1285 * x494 + + x1289 * x49 + + x1289 * x50 + + x129 * (x375 + x376) + + x1290 * x168 + + x1290 * x170 + + x1290 * x28 + + x1290 * x31 + + x1293 * x132 + + x1293 * x135 + - x1299 * x471 + - x1299 * x472 + + x1299 * x705 + + x1299 * x809 + + x1300 * x533 + + x1300 * x534 + - x1302 * x291 + - x1302 * x296 + - x1302 * x494 + - x1302 * x496 + + x1303 * x1304 + + x1304 * x1305 + - x1304 * x1307 + - x1306 * x691 + - x1306 * x932 + + 0.41686 * x132 * x78 + + x132 * (x1233 * x78 + x1234 * x78 - x1286) + + x132 * (x1242 * x353 + x1243 * x338 + x1272 * x78) + + x135 * x981 + + x135 * (x1237 * x336 + x1241 * x338 - x1265 * x353) + + x135 * (x1253 * x571 + x1255 * x582 + x1278 * x353) + + x143 * (-x1295 + x1297 + x1298) + + x143 * (x1253 * x567 + x1255 * x578 - x1281) + + x146 * (-x1282 - x1283 + x1284) + - x164 * x994 + + x170 * x298 + - x172 * (x157 + x160) + + 0.387012824 * x2 * x315 + + 0.0702096356 * x2 * x369 + - 1.67436e-5 * x2 * x381 + - x205 * x547 + + 0.272313 * x205 * x613 + + x205 * x771 + - x207 * x504 + - 0.272313 * x207 * x624 + - x233 * (x1287 - 0.10593 * x1301 + x218 * x225) + - x237 * (x1006 * x79 - 0.10593 * x1308 + x211 * x218) + - x258 * (-x1291 + x1292 * x225 - 0.063883 * x1301) + - x258 * (x1242 * x361 + x1243 * x364 + x1264 * x241) + - x262 * (-x11 * x1286 + x1292 * x211 - 0.063883 * x1308) + - x262 * (x1242 * x355 + x1243 * x340 + x1264 * x348) + - 2.512544616e-7 * x269 + - 2.512544616e-7 * x271 + + x28 * x298 + + 1.67436e-5 * x281 * x377 + + 0.387012824 * x282 * x304 + - 0.387012824 * x289 * x302 + - 0.0702096356 * x289 * x373 + - 1.67436e-5 * x289 * x384 + + 2.512544616e-7 * x292 + - 0.002080193929 * x3 * x971 + + 0.0702096356 * x304 * x377 + + x306 * (x1282 + x1283 - x1284) + + x307 * (x1295 - x1297 - x1298) + + x307 * (x1253 * x641 + x1255 * x640 + x1281) + + 0.0035207725448136 * x311 + - 0.0035207725448136 * x312 + - 0.0035207725448136 * x313 + + x316 * (x1253 * x562 + x1255 * x555 - x1280 * x205) + + x316 * (x1223 * x328 * x759 + x1237 * x328 + x1244 * x205) + + x318 * (x1233 + x1234) + + x318 * (x1251 * x205 - x1252 * x205 + x1272) + - x365 * (x1241 * x364 - x1265 * x361 + x1271 * x241) + - x365 * (x1253 * x597 + x1255 * x594 + x1278 * x361) + - x366 * (x1241 * x340 - x1265 * x355 + x1271 * x348) + - x366 * (x1253 * x573 + x1255 * x584 + x1278 * x355) + + x406 + + x472 * (x1257 + x1258) + + x49 * (-0.063883 * x1288 + x1291 + x1292 * x242) + + x49 * (x1242 * x391 + x1243 * x392 + x1264 * x217) + + x50 * (x1241 * x392 - x1265 * x391 + x1271 * x217) + + x50 * (x1253 * x626 + x1255 * x625 + x1278 * x391) + + x533 * (x1239 * x328 + x1244) + + x533 * (x1254 * x328 - x1256 * x328 - x1280) + + x534 * (x1251 - x1252) + + x640 * x959 + + x641 * x963 + + x705 * (-x1257 - x1258) + - x708 * x717 + + x751 * (x1254 - x1256) + + x759 * x769 + + x759 * x964 + + x886 * (-0.20843 * x559 + 0.20843 * x561) + + x886 * (x1241 * x551 - 0.10593 * x577) + + x886 * (-x1294 * x552 - 0.10593 * x559 + 0.10593 * x561) + + x929 * (-0.20843 * x552 - 0.20843 * x554) + + x929 * (-x1241 * x549 - 0.10593 * x566) + + x929 * (x1294 * x559 - 0.10593 * x552 - 0.10593 * x554) ], [ - -x1001 * x130 - + x1001 * x251 - + x1003 * x538 - + x1003 * x668 - + x1005 * x650 - + x1006 * x665 - + x1007 * x146 - + x1007 * x29 - + x1012 * x243 - + x1012 * x398 - + x1013 * x385 - - x1013 * x550 - + x1014 * x538 - + x1014 * x668 - - x1015 * x650 - + x1016 * x665 - - x1017 * x690 - - x118 * x995 - + x118 * (0.009432 * x177 * x75 - x179 * x343) - + x118 * (-x281 * x991 + x294 * x992 + x75 * x990) - - x121 * x995 - + x121 * (x1003 * x294 + x1005 * x454 + x1006 * x466) - + x121 * (-x179 * x868 + 0.00017505 * x272 * x294 - x281 * x973) - - x127 * x978 - - x127 * x998 - + x127 * (x1005 * x450 + x1006 * x462 - x1009) - + x130 * x927 - - x130 * x978 - - x145 * x892 - + x145 * x985 - + x145 * x993 - - x146 * x892 - + x146 * x987 - + 0.000256 * x199 * x23 - - x202 * x743 - - x205 * (-x186 * x741 + x966) - - x216 * x757 - - x216 * (x188 * x989 + x301 * x992 - x304 * x991) - - x219 * (x198 * x989 - x283 * x991 + x296 * x992) - - x219 - * ( - 0.009432 * x12 * x177 * x75 - - 0.009432 * x180 - - x192 * x343 - - 1.0e-6 * x193 - ) - - x251 * x927 - + x251 * x978 - + x252 * x978 - + x252 * x998 - + x252 * (x1005 * x506 + x1006 * x461 + x1009) - + 6.03616743301967e-5 * x258 - + 6.03616743301967e-5 * x259 - + 6.03616743301967e-5 * x261 - - x262 * x876 - + x262 * (x1005 * x445 + x1006 * x440 - x1008 * x177) - + x262 * (-x177 * x936 - x177 * x997 - 0.10593 * x589) - - x263 * x876 - + x263 * (0.009432 * x177 - x335) - + x263 * (-x1000 * x177 - x177 * x999 + x179 * x989) - + x272 * x560 - + x274 * x587 - + x274 * x708 - - x29 * x892 - + x29 * x987 - - x305 * (x1003 * x301 + x1005 * x490 + x1006 * x487) - - x305 * (-x188 * x994 + 0.00017505 * x272 * x301 - x304 * x973) - - x306 * (x1003 * x296 + x1005 * x456 + x1006 * x468) - - x306 * (-x198 * x994 + 0.00017505 * x272 * x296 - x283 * x973) - - x31 * x892 - + x31 * x985 - + x31 * x993 - - 6.03616743301967e-5 * x333 - - 4.33190623e-8 * x358 - + 4.33190623e-8 * x359 - - 4.33190623e-8 * x361 - + 4.33190623e-8 * x364 - + 4.33190623e-8 * x368 - - 0.000206331435 * x374 * x397 - + x375 * x407 - - 6.781e-7 * x375 * x494 - + 0.000206331435 * x382 * x395 - - 0.0063958392 * x382 * x493 - + 6.781e-7 * x382 * x496 - + x384 * x988 - + x385 * x994 - + 0.0063958392 * x397 * x494 - - 0.00038672870670405 * x416 - - 0.00038672870670405 * x418 - - 0.00038672870670405 * x419 - + x421 * (-x936 - x997) - + x421 * (x1005 * x274 * x436 - x1008 - x1011 * x274) - + x422 * (-x1000 - x999) - + x47 * x742 - - x47 * x757 - + x47 * (x189 * x989 + 0.00965 * x272 * x318 - x319 * x991) - - x473 - - x474 - - x475 - - x476 - - x477 - - x478 - - x479 - + x48 * x742 - + x48 * (x1003 * x318 + x1005 * x499 + x1006 * x498) - + x48 * (-x189 * x994 + 0.00017505 * x272 * x318 - x319 * x973) - - x480 - - x481 - + 0.00038672870670405 * x491 - + 0.00038672870670405 * x492 - - x550 * x994 - + x572 * (x1010 - x1011) - + 0.000256 * x58 * x588 - + x607 * x989 - + x650 * (-x1015 + x434 * x994) - + x665 * (x1016 + x436 * x994) - + x686 * x695 - - 0.0003501 * x979 - - 0.00982505 * x981 - + 0.00982505 * x983 + -x1008 * x233 + - x1024 * x258 + - x1223 * x316 + - x1223 * x318 + - x1230 * x168 + - x1230 * x170 + - x1230 * x28 + - x1230 * x31 + + x1236 * x146 + - x1302 * x143 + - x1302 * x146 + + x1302 * x306 + + x1302 * x307 + - 0.0003501 * x1303 + - 0.00982505 * x1305 + + 0.00982505 * x1307 + + x1311 * x471 + + x1312 * x886 + + x1313 * x929 + + x1316 * x809 + - x132 * x1352 + + x132 * (x205 * x598 - x207 * x398) + + x132 * (-x1334 * x338 + x1339 * x78 + x1344 * x353) + + x1323 * x168 + + x1323 * x31 + + x1324 * x49 + + x1324 * x50 + + x1325 * x472 + - x1325 * x705 + + x1326 * x929 + - x1327 * x886 + + x1330 * x691 + + x1330 * x932 + + x1331 * x170 + + x1331 * x28 + + x1340 * x291 + + x1340 * x494 + + x1342 * x170 + + x1342 * x28 + + x1345 * x168 + + x1345 * x31 + + x1346 * x599 + + x1346 * x607 + + x1347 * x691 + + x1347 * x932 + + x1348 * x614 + + x1348 * x620 + + x1349 * x617 + - x135 * x1352 + + x135 * (-x1154 * x207 + x1294 * x353 - x1296 * x338) + + x135 * (x1312 * x571 + x1313 * x582 + x1330 * x353) + - x1350 * x517 + - x1350 * x523 + - 0.000206331435 * x1351 + + x143 * (x1248 + x1266 - x1343) + + x143 * (x1312 * x567 + x1313 * x578 - x1333) + + x146 * (-x1336 - x1337 - x1338) + + 0.0063958392 * x21 * x604 + - x237 * (-x209 * x518 + x483) + - x258 * (x1316 * x241 - x1334 * x364 + x1344 * x361) + - x262 * (x1316 * x348 - x1334 * x340 + x1344 * x355) + - x262 * (x209 * x598 - x222 * x398 - x635 - x636) + + x306 * (-x1198 - x1235) + + x306 * (x1336 + x1337 + x1338) + + x307 * (x1247 + x1267 + x1343) + + x307 * (x1312 * x641 + x1313 * x640 + x1333) + - 6.03616743301967e-5 * x311 + + 6.03616743301967e-5 * x312 + + 6.03616743301967e-5 * x313 + + x316 * (-x1246 * x205 - x1315 * x205 - 0.10593 * x759) + + x316 * (x1312 * x562 + x1313 * x555 - x1332 * x205) + + x318 * (-x252 + x254) + + x318 * (-x1317 * x205 - x1318 * x205 + x1339) + + x326 * x717 + + x328 * x769 + + x328 * x964 + - x365 * (x1294 * x361 - x1296 * x364 - x1325 * x241) + - x365 * (x1312 * x597 + x1313 * x594 + x1330 * x361) + - x366 * (x1294 * x355 - x1296 * x340 - x1325 * x348) + - x366 * (x1312 * x573 + x1313 * x584 + x1330 * x355) + - 4.33190623e-8 * x437 + + 4.33190623e-8 * x438 + - 4.33190623e-8 * x440 + - 0.000206331435 * x459 * x492 + - 6.781e-7 * x460 * x612 + + 0.000206331435 * x469 * x490 + - 0.0063958392 * x469 * x609 + + 6.781e-7 * x469 * x623 + + x472 * (x1321 + x1322) + + x49 * (x1316 * x217 - x1334 * x392 + 0.00965 * x1335) + + x49 * (-x1020 - x1021 + x1022 - x808) + + 0.0063958392 * x492 * x612 + + x50 * (-x1296 * x392 - x1325 * x217 + 0.00017505 * x1335) + + x50 * (x1312 * x626 + x1313 * x625 + x1330 * x391) + - 0.00038672870670405 * x529 + + 0.00038672870670405 * x530 + + 0.00038672870670405 * x531 + + x533 * (-x1246 - x1315) + + x533 * (x1319 * x328 - x1320 * x328 - x1332) + + x534 * (-x1317 - x1318) + + x589 + + x705 * (-x1321 - x1322) + + x751 * (x1319 - x1320) + + x886 * (x1325 * x549 - x1327) + + x929 * (x1325 * x551 + x1326) + - x946 * x959 + + x956 * x963 ], [ - x1018 * x538 - + x1018 * x668 - + x1023 * x146 - + x1023 * x29 - + x1024 * x243 - + x1024 * x398 - + x118 - * ( - 0.045483 * x177 * x274 * x75 - - x273 * x926 - - 1.0e-6 * x275 - - 0.045483 * x280 - ) - + x121 * (0.10593 * x177 * x274 * x75 - x986) - + x121 * (x1018 * x294 + x1021 * x454 - x1022 * x466) - + x127 * x954 - + x127 * (-x1022 * x462 - x1026 + 0.029798 * x436 * x450) - + x130 * x948 - + x145 * x879 - + x146 * x869 - + x190 * x262 * x274 - - x216 * x783 - - x219 * (x180 * x599 - x180 * x782 + 0.045483 * x282 + 1.0e-6 * x295) - + x243 * x994 - + x246 * x988 - + x251 * x947 - - x252 * x954 - + x252 * (x1021 * x506 - x1022 * x461 + x1026) - + x262 * (-x1022 * x440 - x1025 * x177 + 0.029798 * x436 * x445) - + x263 * (0.045483 * x177 * x274 - x272 * x926) - + 0.10593 * x274 * x421 - + x29 * x869 - - x305 * x768 - - x305 * (x1018 * x301 + x1021 * x490 - x1022 * x487) - - x306 * (-0.10593 * x279 + 0.10593 * x282) - - x306 * (x1018 * x296 + x1021 * x456 - x1022 * x468) - + x31 * x879 - - 6.543665e-9 * x357 * x509 - + x398 * x994 - + x400 * x988 - - 0.007020102849889 * x419 - + x421 * (x1019 * x274 + x1020 * x274 - x1025) - + x422 * (0.045483 * x274 - x599) - - 0.135728 * x434 * x665 - - x434 * x695 - + 0.135728 * x436 * x650 - - x436 * x690 - + x47 * x815 - + x48 * x810 - + x48 * (x1018 * x318 + x1021 * x499 - x1022 * x498) - + 0.007020102849889 * x491 - + 0.007020102849889 * x492 - + 6.543665e-9 * x510 - + 6.543665e-9 * x512 - + 6.543665e-9 * x515 - - 6.781e-7 * x526 * x600 - + 0.053028558 * x527 * x549 - - 0.053028558 * x536 * x548 - - 0.0308420223 * x536 * x597 - + 6.781e-7 * x536 * x604 - + 6.543665e-9 * x546 - + 6.543665e-9 * x547 - + 0.0308420223 * x549 * x600 - - 0.0003069081642729 * x568 - - 0.0003069081642729 * x571 - + x572 * (x1019 + x1020) - + x593 - + 0.007020102849889 * x602 - + 0.007020102849889 * x603 - - 0.0003069081642729 * x606 - + 0.0003069081642729 * x608 - - 0.0003069081642729 * x654 - - 0.0003069081642729 * x657 + -x1040 * x365 + - x1056 * x258 + + x1095 * x50 + + x1100 * x49 + + 0.053028558 * x114 * x748 + + 0.0308420223 * x114 * x776 + + 6.781e-7 * x114 * x804 + + x1175 * x170 + + x1175 * x28 + + x1227 * x168 + + x1227 * x31 + + x1259 * x316 + + x1263 * x306 + + x1264 * x146 + + x1271 * x143 + - x1271 * x307 + + x1311 * x296 + + x1311 * x496 + + x132 * (-x1198 * x327 - 1.0e-6 * x329 - 0.045483 * x335 + x336 * x779) + + x1325 * x291 + + x1325 * x494 + + x1348 * x795 + + x1348 * x800 + + x1349 * x637 + + x1349 * x802 + + x135 * (-x1341 + x218 * x336) + + x135 * (x1355 * x353 + x1358 * x571 - x1359 * x582) + + 0.053028558 * x1351 + + x1355 * x691 + + x1355 * x932 + + x1360 * x170 + + x1360 * x28 + + x1361 * x291 + + x1361 * x494 + + x1364 * x736 + + x1364 * x739 + + x1365 * x780 + + x1365 * x786 + + x1366 * x774 + + x1366 * x783 + + x143 * (x1358 * x567 - x1359 * x578 - x1363) + + 0.053028558 * x21 * x746 + - x262 * (x208 * x790 - x208 * x791 + 0.045483 * x339 + 1.0e-6 * x354) + + x307 * (x1358 * x641 - x1359 * x640 + x1363) + + x316 * (x1358 * x562 - x1359 * x555 - x1362 * x205) + + x318 * (-x1198 * x326 + x328 * x779) + + 0.10593 * x328 * x533 + - x365 * (x1355 * x361 + x1358 * x597 - x1359 * x594) + - x366 * (0.10593 * x339 - x698) + - x366 * (x1355 * x355 + x1358 * x573 - x1359 * x584) + + x50 * (x1355 * x391 + x1358 * x626 - x1359 * x625) + - 0.007020102849889 * x529 + + 0.007020102849889 * x530 + + 0.007020102849889 * x531 + + x533 * (x1356 * x328 + x1357 * x328 - x1362) + + x534 * (-x790 + x791) + - 0.135728 * x549 * x929 + - x549 * x963 + + 0.135728 * x551 * x886 + - x551 * x959 + + 6.543665e-9 * x646 + + 6.543665e-9 * x648 + - 6.781e-7 * x677 * x792 + + 0.053028558 * x678 * x704 + - 0.053028558 * x689 * x703 + - 0.0308420223 * x689 * x788 + + 6.781e-7 * x689 * x799 + - 6.543665e-9 * x697 + + 0.0308420223 * x704 * x792 + + 0.0003069081642729 * x749 + - 0.0003069081642729 * x750 + + x751 * (x1356 + x1357) + + x771 + - 0.0003069081642729 * x806 ], [ - x1002 * x243 - + x1002 * x398 - + 0.000118 * x1017 * x347 - + x1018 * x385 - - x1018 * x550 - + x121 - * (-x280 * x635 - x280 * x636 + 0.011402 * x445 * x75 - 0.000281 * x465) - + x127 * x959 - + x146 * x897 - + 3.0e-6 * x168 * x454 - + 0.000118 * x168 * x466 - - 4.1916429428e-6 * x2 * x661 - - 4.1916429428e-6 * x21 * x660 - + 3.0e-6 * x23 * x456 - + 0.000118 * x23 * x468 - - x252 * x959 - + x262 * (0.000281 * x437 + x438 * x957 - 0.011402 * x444 + x618 * x958) - + x29 * x897 - - x305 * x799 - - x306 + -x1082 * x365 + + x1278 * x143 + + x135 + * (-x335 * x875 - x335 * x876 + 0.011402 * x570 - 0.000281 * x581) + + x1355 * x472 + + x1367 * x291 + + x1367 * x494 + + x1368 * x170 + + x1368 * x28 + + x1369 * x843 + + x1369 * x863 + + x1370 * x830 + + x1370 * x856 + + x1371 * x816 + + x1371 * x838 + - x1372 * x907 + - x1372 * x922 + - x1373 * x897 + - x1373 * x919 + - x1374 * x890 + - x1374 * x904 + + 0.0057078412 * x267 * x823 + - 0.0001406686 * x267 * x895 + + x307 * (-x1274 + x1275 - x1276 - x1277) + + x316 * (0.000281 * x552 + x553 * x896 - 0.011402 * x559 + x560 * x826) + - x366 * ( - -0.011402 * x451 - + 0.011402 * x455 - + 0.000281 * x463 - - 0.000281 * x467 + -0.011402 * x568 + + 0.011402 * x572 + + 0.000281 * x579 + - 0.000281 * x583 ) - + 0.000118 * x346 * x440 - + 3.0e-6 * x346 * x445 - + x421 * (x434 * x957 + x436 * x958) - + x436 * x691 - - x48 * x799 - + x549 * x674 - + 6.5120333239e-5 * x568 - + 6.5120333239e-5 * x571 - + x572 * (x635 + x636) - + 0.000609 * x590 - + 0.000609 * x591 - + 0.000609 * x592 - + 6.5120333239e-5 * x606 - - 6.5120333239e-5 * x608 - - 0.0001700822520776 * x611 - + 0.0001700822520776 * x612 - + 0.0001700822520776 * x614 - - 0.0001700822520776 * x616 - - 0.0001700822520776 * x622 - - 0.0001700822520776 * x628 - - 0.0001700822520776 * x630 - - 0.0057078412 * x631 * x633 - - 0.0001406686 * x631 * x662 - + 0.0057078412 * x642 * x648 - + x648 * x672 - + 4.1916429428e-6 * x651 - + 4.1916429428e-6 * x652 - + 6.5120333239e-5 * x654 - - 4.1916429428e-6 * x656 * x99 - + 6.5120333239e-5 * x657 - + x663 * x694 - + 0.0001406686 * x664 - - 4.1916429428e-6 * x666 - - 4.1916429428e-6 * x667 - - x681 - - x683 - - x685 - - x688 - - x696 - - x697 - - x698 - - x699 - - x700 - - x701 - - x702 - - x703 - - x704 - - x705 - - x706 - - x707 + + x50 * (-x1078 + x1079 - x1080 + x1081) + + x533 * (x549 * x896 + x551 * x826) + + x705 * (-x1353 + x1354) + - 6.5120333239e-5 * x749 + + 6.5120333239e-5 * x750 + + x751 * (x875 + x876) + + 6.5120333239e-5 * x806 + - 0.0001700822520776 * x812 + + 0.0001700822520776 * x813 + + 0.0001700822520776 * x815 + - 0.0057078412 * x864 * x872 + + 0.0057078412 * x882 * x884 + + 4.1916429428e-6 * x887 + - 4.1916429428e-6 * x888 + + 4.1916429428e-6 * x889 + - 0.0001406686 * x926 + + 0.0001406686 * x928 + + x964 ], ] ).flatten() diff --git a/kinova_gen3/dynamics/gravity.py b/kinova_gen3/dynamics/gravity.py index 12724dd..c07f9e5 100644 --- a/kinova_gen3/dynamics/gravity.py +++ b/kinova_gen3/dynamics/gravity.py @@ -47,142 +47,150 @@ def gravity(q): x10 = q4 x11 = math.sin(x10) x12 = x11 * x5 - x13 = math.cos(x10) - x14 = x13 * x3 - x15 = x13 * x5 - x16 = x11 * x4 - x17 = -x15 + x16 - x18 = x1 * x13 - x19 = x18 * x3 - x20 = 1.8e-5 * x1 - x21 = 0.9302 * x8 - x22 = 0.9302 * x17 - x23 = -x12 - x19 - x24 = 0.9302 * x23 - x25 = 1.8568 * x23 - x26 = q5 - x27 = math.cos(x26) - x28 = math.sin(x26) - x29 = x28 * x7 - x30 = x1 * x13 * x27 - x29 - x31 = 0.00017505 * x3 - x32 = 1.1787 * x17 - x33 = 0.10593 * x27 - x34 = 0.10593 * x3 - x35 = x23 * x28 - x36 = -x27 * x3 * x7 + x35 - x37 = -x36 - x38 = 1.1787 * x37 - x39 = 0.063883 * x27 - x40 = 0.063883 * x3 - x41 = 0.6781 * x37 - x42 = -0.10593 * x11 * x28 * x5 - x43 = x27 * x7 - x44 = x18 * x28 + x43 - x45 = -x44 - x46 = x29 * x3 - x47 = x23 * x27 - x48 = x46 + x47 - x49 = 1.1787 * x48 - x50 = 0.6781 * x48 - x51 = 0.009432 * x27 - x52 = 0.6781 * x17 - x53 = q6 - x54 = math.sin(x53) - x55 = x13 * x54 - x56 = math.cos(x53) - x57 = x11 * x56 - x58 = x27 * x57 - x59 = x5 * (x55 + x58) - x60 = x11 * x54 - x61 = x13 * x27 * x56 - x60 - x62 = x1 * x61 - x29 * x56 - x63 = 0.5006 * x36 - x64 = x48 * x54 - x65 = x17 * x56 - x64 - x66 = 0.5006 * x65 - x67 = x3 * x62 - x68 = 0.6781 * x65 - x69 = x27 * x60 - x70 = x13 * x56 - x69 - x71 = x5 * x70 - x72 = -x27 * x55 - x57 - x73 = x1 * x72 + x29 * x54 - x74 = x3 * x73 - x75 = x17 * x54 - x76 = x48 * x56 - x77 = x75 + x76 - x78 = 0.6781 * x77 - x79 = 0.5006 * x77 - x80 = 0.6781 * x36 - x81 = q7 - x82 = math.cos(x81) - x83 = x55 * x82 - x84 = math.sin(x81) - x85 = x28 * x84 - x86 = x27 * x56 * x82 - x85 - x87 = x11 * x86 - x88 = x5 * (x83 + x87) - x89 = x27 * x84 - x90 = x28 * x82 - x91 = x56 * x90 - x92 = x89 + x91 - x93 = x13 * x86 - x60 * x82 - x94 = x1 * x93 - x7 * x92 - x95 = x36 * x82 - x96 = x77 * x84 - x97 = -x95 - x96 - x98 = 0.5006 * x97 - x99 = x55 * x84 - x100 = -x56 * x89 - x90 - x101 = x100 * x11 - x102 = x101 - x99 - x103 = x56 * x85 - x104 = -x103 + x27 * x82 - x105 = x100 * x13 + x60 * x84 - x106 = x1 * x105 - x104 * x7 - x107 = x36 * x84 - x108 = x77 * x82 - x109 = -x107 + x108 - x110 = 0.5006 * x109 - x111 = x7**2 - x112 = 0.7235081912 * x3 - x113 = x11 * x7 - x114 = x13 * x7 - x115 = x1 * x28 - x116 = 0.00017505 * x115 - x117 = 0.00017505 * x13 - x118 = 0.10593 * x115 - x119 = 0.10593 * x13 - x120 = 0.009432 * x28 - x121 = 1.0e-6 * x27 - x122 = 1.0e-6 * x13 - x123 = x122 * x29 - x124 = 0.009432 * x13 - x125 = x119 * x29 - x126 = x13 * x29 - x127 = x61 * x7 - x128 = x7 * x72 - x129 = 0.00965 * x115 - x130 = 0.045483 * x27 - x131 = x1 * x92 - x132 = x1 * x104 - x133 = x7 * x93 - x134 = x105 * x7 - x135 = 0.000281 * x54 - x136 = 0.011402 * x54 - x137 = x11 * x17 - x138 = x11 * x28 - x139 = 1.0e-6 * x138 - x140 = 0.10593 * x138 - x141 = x13 * x56 - x142 = x28 * x56 - x143 = 0.053028558 * x36 - x144 = x28 * x54 - x145 = x27 * x82 - x146 = 0.000281 * x56 - x147 = 0.011402 * x56 - x148 = 0.029798 * x54 + x13 = 0.20843 * x1 + x14 = math.cos(x10) + x15 = x14 * x3 + x16 = x14 * x5 + x17 = x11 * x4 + x18 = -x16 + x17 + x19 = x1 * x14 + x20 = x19 * x3 + x21 = 1.8e-5 * x1 + x22 = 0.075478 * x1 + x23 = 0.9302 * x8 + x24 = 0.9302 * x18 + x25 = -x12 - x20 + x26 = 0.9302 * x25 + x27 = 1.8568 * x25 + x28 = q5 + x29 = math.cos(x28) + x30 = math.sin(x28) + x31 = x30 * x7 + x32 = x19 * x29 - x31 + x33 = 0.00017505 * x3 + x34 = 1.1787 * x18 + x35 = 0.10593 * x29 + x36 = 0.10593 * x3 + x37 = x29 * x7 + x38 = x3 * x37 + x39 = x25 * x30 + x40 = x38 - x39 + x41 = 1.1787 * x40 + x42 = 0.063883 * x29 + x43 = 0.063883 * x3 + x44 = 0.6781 * x40 + x45 = x12 * x30 + x46 = 0.10593 * x45 + x47 = x19 * x30 + x48 = -x37 - x47 + x49 = x3 * x31 + x50 = x25 * x29 + x51 = x49 + x50 + x52 = 1.1787 * x51 + x53 = 0.6781 * x51 + x54 = 1.0e-6 * x45 + x55 = 0.009432 * x29 + x56 = 0.6781 * x18 + x57 = q6 + x58 = math.sin(x57) + x59 = x14 * x58 + x60 = math.cos(x57) + x61 = x11 * x60 + x62 = x29 * x61 + x63 = x5 * (x59 + x62) + x64 = x11 * x58 + x65 = x14 * x60 + x66 = x29 * x65 - x64 + x67 = x1 * x66 - x31 * x60 + x68 = -x38 + x39 + x69 = 0.5006 * x68 + x70 = x18 * x60 + x71 = x51 * x58 + x72 = x70 - x71 + x73 = 0.5006 * x72 + x74 = x37 + x47 + x75 = x3 * x74 + x76 = x3 * x67 + x77 = 0.6781 * x72 + x78 = x29 * x64 + x79 = x5 * (x65 - x78) + x80 = -x29 * x59 - x61 + x81 = x1 * x80 + x31 * x58 + x82 = x3 * x81 + x83 = x18 * x58 + x84 = x51 * x60 + x85 = x83 + x84 + x86 = 0.6781 * x85 + x87 = 0.5006 * x85 + x88 = 0.6781 * x68 + x89 = q7 + x90 = math.cos(x89) + x91 = x59 * x90 + x92 = math.sin(x89) + x93 = x30 * x92 + x94 = x29 * x90 + x95 = x60 * x94 - x93 + x96 = x11 * x95 + x97 = x5 * (x91 + x96) + x98 = x29 * x92 + x99 = x30 * x90 + x100 = x60 * x99 + x101 = x100 + x98 + x102 = x14 * x95 - x64 * x90 + x103 = x1 * x102 - x101 * x7 + x104 = x68 * x90 + x105 = x85 * x92 + x106 = -x104 - x105 + x107 = 0.5006 * x106 + x108 = x59 * x92 + x109 = -x60 * x98 - x99 + x110 = x109 * x11 + x111 = x5 * (-x108 + x110) + x112 = 0.011402 * x3 + x113 = x60 * x93 + x114 = -x113 + x94 + x115 = x109 * x14 + x64 * x92 + x116 = x3 * (x1 * x115 - x114 * x7) + x117 = x68 * x92 + x118 = x85 * x90 + x119 = -x117 + x118 + x120 = 0.5006 * x119 + x121 = x7**2 + x122 = 0.7235081912 * x3 + x123 = x11 * x7 + x124 = x14 * x7 + x125 = x1 * x30 + x126 = 0.00017505 * x125 + x127 = 0.00017505 * x14 + x128 = 0.10593 * x125 + x129 = 0.10593 * x14 + x130 = 0.009432 * x30 + x131 = 0.009432 * x14 + x132 = 1.0e-6 * x29 + x133 = 1.0e-6 * x14 + x134 = x1 * x132 - x133 * x31 + x135 = x1 * x35 - x129 * x31 + x136 = x14 * x31 + x137 = x66 * x7 + x138 = x7 * x80 + x139 = 0.00965 * x125 + x140 = 0.045483 * x29 + x141 = x1 * x101 + x142 = x1 * x114 + x143 = x102 * x7 + x144 = x115 * x7 + x145 = 0.000281 * x58 + x146 = 0.011402 * x58 + x147 = x11 * x18 + x148 = x11 * x30 + x149 = 1.0e-6 * x148 + x150 = 0.10593 * x148 + x151 = x30 * x60 + x152 = 0.053028558 * x68 + x153 = x30 * x58 + x154 = 0.000281 * x60 + x155 = 0.011402 * x60 + x156 = 0.029798 * x58 gravity_term = numpy.array( [ @@ -190,248 +198,208 @@ def gravity(q): gravity_acceleration * ( 0.58632906 * x1 * x3**2 * x7 - + x110 + + x107 * ( - -0.029798 * x102 * x5 - - 0.029798 * x106 * x3 - + 0.011402 * x3 * x73 - + 0.011402 * x5 * x70 + 0.029798 * x103 * x3 + - 0.000281 * x79 + - 0.000281 * x82 + + 0.029798 * x97 ) - + 1.8568 * x17 * (0.006375 * x12 + 0.006375 * x19) - - x21 - * ( - -0.075478 * x1 * x14 - - x11 * x20 * x3 - - 0.075478 * x12 - + 1.8e-5 * x13 * x5 - ) - + x22 * (0.015006 * x12 + 0.015006 * x19 - 1.8e-5 * x8) - + x24 * (-0.015006 * x15 + 0.015006 * x16 + 0.075478 * x8) - + x25 * (-0.006375 * x15 + 0.006375 * x16 + 0.20843 * x8) - + x32 * (0.00017505 * x12 * x27 + x30 * x31) - + x38 * (x12 * x33 + x30 * x34) + + x120 + * (-0.029798 * x111 + x112 * x81 - 0.029798 * x116 + 0.011402 * x79) + + 1.8568 * x18 * (0.006375 * x12 + 0.006375 * x20) + - x23 + * (-x11 * x21 * x3 - 0.075478 * x12 - x15 * x22 + 1.8e-5 * x16) + + x24 * (0.015006 * x12 + 0.015006 * x20 - 1.8e-5 * x8) + + x26 * (-0.015006 * x16 + 0.015006 * x17 + 0.075478 * x8) + + x27 * (-0.006375 * x16 + 0.006375 * x17 + 0.20843 * x8) + + x34 * (0.00017505 * x12 * x29 + x32 * x33) - x4 * x6 - 2.787 * x4 * (-0.006375 * x5 + 0.21038 * x8) - 1.1636 * x4 * (0.006641 * x5 + 0.117892 * x8) - + x41 * (x12 * x39 + 1.0e-6 * x15 - 1.0e-6 * x16 + x30 * x40) - + x49 - * (0.00017505 * x1 * x11 * x3 - 0.00017505 * x15 - x34 * x45 - x42) - + x50 - * ( - 0.063883 * x11 * x28 * x5 - + 0.009432 * x13 * x5 - - 0.009432 * x16 - - x40 * x45 - ) - + x52 - * ( - 1.0e-6 * x11 * x28 * x5 - - x12 * x51 - - 0.009432 * x3 * x30 - - 1.0e-6 * x3 * x45 - ) - + x63 * (-x34 * x62 - 0.10593 * x59) - + x66 * (x31 * x62 + 0.00017505 * x59) - + x66 + + x41 * (x12 * x35 + x32 * x36) + + x44 * (x12 * x42 + 1.0e-6 * x16 - 1.0e-6 * x17 + x32 * x43) + + x52 * (-0.00017505 * x16 + 0.00017505 * x17 - x36 * x48 + x46) + + x53 + * (0.009432 * x16 - 0.009432 * x17 - x43 * x48 + 0.063883 * x45) + + x56 * (-x12 * x55 - 0.009432 * x3 * x32 - 1.0e-6 * x3 * x48 + x54) + + x69 * (-x36 * x67 - 0.10593 * x63) + + x73 * (x33 * x67 + 0.00017505 * x63) + + x73 * ( - 0.000281 * x102 * x5 - + 0.000281 * x106 * x3 - - 0.011402 * x3 * x94 - - 0.011402 * x88 + -x103 * x112 + + 0.000281 * x111 + + 0.000281 * x116 + - 0.011402 * x97 ) - + x68 - * ( - 1.0e-6 * x12 * x28 - + 1.0e-6 * x3 * x44 - + 0.00965 * x59 - + 0.00965 * x67 - ) - + x78 - * ( - 0.045483 * x11 * x28 * x5 - + 0.045483 * x3 * x44 - - 0.00965 * x71 - - 0.00965 * x74 - ) - + x79 * (0.10593 * x3 * x44 - x31 * x73 - x42 - 0.00017505 * x71) + + x77 * (x54 + 0.00965 * x63 + 1.0e-6 * x75 + 0.00965 * x76) + - 1.8568 * x8 * (-0.20843 * x12 - x13 * x15) + 1.1636 * x8 * (0.117892 * x4 - 4.4e-5 * x5) - - 1.8568 * x8 * (-0.20843 * x1 * x14 - 0.20843 * x12) - + x80 - * (-0.045483 * x59 - 0.045483 * x67 - 1.0e-6 * x71 - 1.0e-6 * x74) + + x86 + * (0.045483 * x45 + 0.045483 * x75 - 0.00965 * x79 - 0.00965 * x82) + + x87 * (-x33 * x81 + x36 * x74 + x46 - 0.00017505 * x79) + + x88 + * (-0.045483 * x63 - 0.045483 * x76 - 1.0e-6 * x79 - 1.0e-6 * x82) - x9 * (-0.006641 * x4 - 4.4e-5 * x8) - + x98 - * ( - 0.029798 * x3 * x94 - - 0.000281 * x71 - - 0.000281 * x74 - + 0.029798 * x88 - ) ) ], [ gravity_acceleration * ( - -(x1**2) * x112 - + x110 + -(x1**2) * x122 + + x107 + * ( + -x125 * x145 + + 0.000281 * x138 + - 0.029798 * x141 + - 0.029798 * x143 + ) + + x120 * ( - x115 * x136 - - 0.011402 * x128 - + 0.029798 * x132 - + 0.029798 * x134 + x125 * x146 + - 0.011402 * x138 + + 0.029798 * x142 + + 0.029798 * x144 ) - - x111 * x112 - - 0.387012824 * x111 * x14 - - 0.0118371 * x114 * x17 - - x21 * (1.8e-5 * x113 + 0.075478 * x114) - + x22 * (-0.015006 * x114 - x20) - + x24 * (0.075478 * x1 - 0.015006 * x113) - + x25 * (0.20843 * x1 - 0.006375 * x113) + - x121 * x122 + - 0.387012824 * x121 * x15 + - 0.0118371 * x124 * x18 + - x23 * (1.8e-5 * x123 + 0.075478 * x124) + + x24 * (-0.015006 * x124 - x21) + + x26 * (-0.015006 * x123 + x22) + + x27 * (-0.006375 * x123 + x13) - 0.946998516 * x3 - + x32 * (-x116 - x117 * x43) - + x38 * (-x118 - x119 * x43) - + x41 * (1.0e-6 * x11 * x7 - 0.063883 * x115 - 0.063883 * x13 * x43) - + x49 * (0.10593 * x1 * x27 - 0.00017505 * x113 - x125) + + x34 * (-x126 - x127 * x37) + + x41 * (-x128 - x129 * x37) + + x44 * (1.0e-6 * x123 - 0.063883 * x125 - 0.063883 * x14 * x37) + 5.11984e-5 * x5 - + x50 * (x1 * x39 + 0.009432 * x113 - 0.063883 * x126) - + x52 * (x1 * x120 + x1 * x121 - x123 + x124 * x43) + + x52 * (-0.00017505 * x123 + x135) + + x53 * (x1 * x42 + 0.009432 * x123 - 0.063883 * x136) + + x56 * (x1 * x130 + x131 * x37 + x134) + x6 * x7 - + x63 * (x118 * x56 + 0.10593 * x127) - + x66 * (-x116 * x56 - 0.00017505 * x127) - + x66 + + x69 * (x128 * x60 + 0.10593 * x137) + + x73 * (-x126 * x60 - 0.00017505 * x137) + + x73 * ( - 0.011402 * x131 - - 0.000281 * x132 - + 0.011402 * x133 - - 0.000281 * x134 + 0.011402 * x141 + - 0.000281 * x142 + + 0.011402 * x143 + - 0.000281 * x144 ) - + x68 * (1.0e-6 * x1 * x27 - x123 - 0.00965 * x127 - x129 * x56) - + x78 * (x1 * x130 - 0.045483 * x126 + 0.00965 * x128 - x129 * x54) - + x79 * (x1 * x33 - x116 * x54 - x125 + 0.00017505 * x128) - + x80 + + x77 * (x134 - 0.00965 * x137 - x139 * x60) + + x86 * (x1 * x140 - 0.045483 * x136 + 0.00965 * x138 - x139 * x58) + + x87 * (-x126 * x58 + x135 + 0.00017505 * x138) + + x88 * ( - -1.0e-6 * x115 * x54 - + 0.045483 * x115 * x56 - + 0.045483 * x127 - + 1.0e-6 * x128 + -1.0e-6 * x125 * x58 + + 0.045483 * x125 * x60 + + 0.045483 * x137 + + 1.0e-6 * x138 ) - x9 * (-4.4e-5 * x1 + 0.006641 * x7) - + x98 - * ( - -x115 * x135 - - 0.029798 * x131 - - 0.029798 * x133 - + 0.000281 * x7 * x72 - ) ) ], [ gravity_acceleration * ( - 0.124859691 * x11 * x27 * x37 + x107 + * ( + -0.000281 * x65 + + 0.000281 * x78 + + 0.029798 * x91 + + 0.029798 * x96 + ) + + 0.124859691 * x11 * x29 * x40 + 0.387012824 * x11 * x8 - + x110 + + x120 * ( - -0.029798 * x101 - + 0.029798 * x13 * x54 * x84 - + 0.011402 * x13 * x56 - - 0.011402 * x69 + 0.029798 * x108 + - 0.029798 * x110 + + 0.011402 * x65 + - 0.011402 * x78 ) - - 0.0257956812 * x13 * x23 - + 0.000206331435 * x137 * x27 - + 0.0257956812 * x137 - - x21 * (-0.075478 * x11 + 1.8e-5 * x13) + - 0.0257956812 * x14 * x25 + + 0.000206331435 * x147 * x29 + + 0.0257956812 * x147 + - x23 * (-0.075478 * x11 + 1.8e-5 * x14) + 0.0100396574 * x4 - + x41 * (x11 * x39 + x122) - + x49 * (-x117 + x140) - + x50 * (x124 + 0.063883 * x138) - + x52 * (-x11 * x51 + x139) - + x63 * (-x33 * x57 - 0.10593 * x55) - + x66 * (0.00017505 * x55 + 0.00017505 * x58) - + x66 + + x44 * (x11 * x42 + x133) + + x52 * (-x127 + x150) + + x53 * (x131 + 0.063883 * x148) + + x56 * (-x11 * x55 + x149) + + x69 * (-x35 * x61 - 0.10593 * x59) + + x73 * (0.00017505 * x59 + 0.00017505 * x62) + + x73 * ( - 0.000281 * x100 * x11 - - 0.011402 * x83 - - 0.011402 * x87 - - 0.000281 * x99 + -0.000281 * x108 + + 0.000281 * x110 + - 0.011402 * x91 + - 0.011402 * x96 ) - + x68 * (x139 + 0.00965 * x55 + 0.00965 * x58) - + x78 * (0.045483 * x138 - 0.00965 * x141 + 0.00965 * x69) - + x79 * (x140 - 0.00017505 * x141 + 0.00017505 * x69) + + x77 * (x149 + 0.00965 * x59 + 0.00965 * x62) - 5.11984e-5 * x8 - + x80 - * ( - 1.0e-6 * x11 * x27 * x54 - - x130 * x57 - - 1.0e-6 * x141 - - 0.045483 * x55 - ) - + x98 - * ( - -0.000281 * x141 - + 0.000281 * x69 - + 0.029798 * x83 - + 0.029798 * x87 - ) + + x86 * (0.045483 * x148 - 0.00965 * x65 + 0.00965 * x78) + + x87 * (x150 - 0.00017505 * x65 + 0.00017505 * x78) + + x88 * (x132 * x64 - x140 * x61 - 0.045483 * x59 - 1.0e-6 * x65) ) ], [ gravity_acceleration * ( - x110 * (-0.029798 * x103 + 0.011402 * x144 + 0.029798 * x145) + x107 * (-0.029798 * x100 - 0.000281 * x153 - 0.029798 * x98) - 0.4572224596 * x12 - + x142 * x143 - - 8.763003e-5 * x142 * x65 - + 1.67436e-5 * x15 - - 1.67436e-5 * x16 - - 0.000206331435 * x17 * x28 - - 0.4572224596 * x19 - + 0.1681787533 * x27 * x48 - - 0.1681787533 * x28 * x37 - + x52 * (x120 + x121) - + x66 - * (-0.000281 * x145 + x146 * x85 + x147 * x90 + 0.011402 * x89) - + x68 * (-0.00965 * x142 + 1.0e-6 * x27) - + x78 * (-0.00965 * x144 + 0.045483 * x27) - + x79 * (-0.00017505 * x144 + 0.10593 * x27) - + x80 * (-1.0e-6 * x144 + 0.045483 * x28 * x56) - + x98 * (-0.000281 * x144 - 0.029798 * x89 - 0.029798 * x91) + + x120 * (-0.029798 * x113 + 0.011402 * x153 + 0.029798 * x94) + + x151 * x152 + - 8.763003e-5 * x151 * x72 + + 1.67436e-5 * x16 + - 1.67436e-5 * x17 + - 0.000206331435 * x18 * x30 + - 0.4572224596 * x20 + + 0.1681787533 * x29 * x51 + - 0.1681787533 * x30 * x40 + + x56 * (x130 + x132) + + x73 * (x154 * x93 + x155 * x99 - 0.000281 * x94 + 0.011402 * x98) + + x77 * (x132 - 0.00965 * x151) + + x86 * (x140 - 0.00965 * x153) + + x87 * (-0.00017505 * x153 + x35) + + x88 * (0.045483 * x151 - 1.0e-6 * x153) ) ], [ gravity_acceleration * ( - x110 * (x147 + x148 * x84) - - x143 * x54 - + 6.781e-7 * x3 * x43 - - 6.781e-7 * x35 - + 0.006189507765 * x46 - + 0.006189507765 * x47 - + 0.00663129503 * x54 * x65 - - 0.00663129503 * x56 * x77 - + x66 * (-x135 * x84 - x136 * x82) - + x80 * (-0.045483 * x54 - 1.0e-6 * x56) - + x98 * (-x146 + x148 * x82) + x107 * (-x154 + x156 * x90) + + x120 * (x155 + x156 * x92) + - x152 * x58 + + 6.781e-7 * x38 + - 6.781e-7 * x39 + + 0.006189507765 * x49 + + 0.006189507765 * x50 + + 0.00663129503 * x58 * x72 + - 0.00663129503 * x60 * x85 + + x73 * (-x145 * x92 - x146 * x90) + + x88 * (-0.045483 * x58 - 1.0e-6 * x60) ) ], [ gravity_acceleration * ( - 0.0149168788 * x109 * x82 - + 6.781e-7 * x17 * x56 - - 6.781e-7 * x64 - + x66 * (-0.000281 * x82 + 0.011402 * x84) - + 0.0838705803 * x75 - + 0.0838705803 * x76 - - 0.0149168788 * x84 * x97 + -0.0149168788 * x106 * x92 + + 0.0149168788 * x119 * x90 + + 6.781e-7 * x70 + - 6.781e-7 * x71 + + x73 * (-0.000281 * x90 + 0.011402 * x92) + + 0.0838705803 * x83 + + 0.0838705803 * x84 ) ], [ gravity_acceleration * ( - -0.0057078412 * x107 - + 0.0057078412 * x108 - + 0.0001406686 * x95 - + 0.0001406686 * x96 + 0.0001406686 * x104 + + 0.0001406686 * x105 + - 0.0057078412 * x117 + + 0.0057078412 * x118 ) ], ] diff --git a/kinova_gen3/dynamics/mass_matrix.py b/kinova_gen3/dynamics/mass_matrix.py index ea5b860..fb11988 100644 --- a/kinova_gen3/dynamics/mass_matrix.py +++ b/kinova_gen3/dynamics/mass_matrix.py @@ -44,4327 +44,4375 @@ def mass_matrix(q): x10 = x1 * x5 x11 = 0.010932 * x10 - 7.0e-6 * x3 x12 = -0.006641 * x10 - 4.4e-5 * x8 - x13 = 0.006641 * x3 + 0.117892 * x8 - x14 = x13 * x5 - x15 = 0.0125087 * x3 - x16 = 0.006375 * x3 - x17 = 0.21038 * x8 - x18 = -x16 + x17 - x19 = x18 * x5 - x20 = 0.117892 * x10 - 4.4e-5 * x3 - x21 = x20 * x7 - x22 = 0.000606 * x3 - 0.011127 * x8 + x13 = 0.000606 * x3 - 0.011127 * x8 + x14 = 0.006641 * x3 + 0.117892 * x8 + x15 = x14 * x5 + x16 = 0.0125087 * x3 + x17 = 0.006375 * x3 + x18 = 0.21038 * x8 + x19 = -x17 + x18 + x20 = x19 * x5 + x21 = 0.117892 * x10 - 4.4e-5 * x3 + x22 = x21 * x7 x23 = q4 x24 = math.sin(x23) x25 = x24 * x3 x26 = math.cos(x23) x27 = x10 * x26 x28 = x25 + x27 - x29 = 0.21038 * x10 - x30 = x16 * x7 + x29 - x31 = 0.20843 * x25 + 0.20843 * x27 - x32 = -x31 - x33 = x32 * x7 - x34 = 0.390633584 * x31 - x35 = x26 * x3 - x36 = x10 * x24 - x37 = -x16 * x5 + x17 - x38 = 0.21038 * x6 - x39 = 0.017767125 * x3 - x40 = -0.0005 * x35 + 0.0005 * x36 + 0.008316 * x8 - x41 = -x30 - x42 = q5 - x43 = math.cos(x42) - x44 = x25 * x43 - x45 = math.sin(x42) - x46 = x45 * x7 - x47 = x26 * x43 * x5 - x46 - x48 = x1 * x47 - x49 = x44 + x48 - x50 = x1 * x26 - x51 = x25 * x5 - x52 = 0.005375 * x50 + 0.005375 * x51 - x53 = 0.006375 * x25 - x54 = 0.006375 * x27 + x53 - x55 = 1.8568 * x54 - x56 = 0.00741795 * x3 - x57 = -x50 - x51 - x58 = 0.244798168 * x1 - x59 = 1.8e-5 * x24 - x60 = 0.075478 * x26 - x61 = x10 * x59 + x10 * x60 + 0.075478 * x25 - 1.8e-5 * x26 * x3 - x62 = -x61 - x63 = 0.195695476 * x10 - x64 = x62 * x7 - x65 = -0.015006 * x35 + 0.015006 * x36 + 0.075478 * x8 - x66 = x1 * x24 - x67 = x26 * x3 * x5 - x66 - x68 = 0.004999825 * x67 - x69 = 0.006375 * x35 - x70 = 0.006375 * x36 - x71 = -x69 + x70 + 0.20843 * x8 - x72 = 0.0099803 * x67 - x73 = 0.005375 * x66 - x74 = x35 * x5 - x75 = x73 - 0.005375 * x74 - x76 = 0.9302 * x65 - x77 = 1.8568 * x71 - x78 = 0.015006 * x25 + 0.015006 * x27 - 1.8e-5 * x8 - x79 = 0.9302 * x78 - x80 = 0.004999825 * x57 - x81 = x18 * x24 - x82 = 0.006375 * x1 * x26 * x5 - x81 - x83 = -x17 * x24 + x5 * x53 + 0.006375 * x50 - x84 = 0.9302 * x62 - x85 = 0.00017505 * x44 + 0.00017505 * x48 - x86 = 1.1787 * x85 - x87 = 1.0e-6 * x35 - x88 = 1.0e-6 * x24 - x89 = x10 * x88 - x90 = 0.008147 * x25 + 0.008147 * x27 - x87 + x89 - x91 = x18 * x26 - x92 = x70 + x91 - x93 = 0.0063355125 * x57 - x94 = 0.006375 * x66 - x95 = x17 * x26 - x5 * x69 + x94 - x96 = x25 * x45 - x97 = -x96 - x98 = x43 * x7 - x99 = x45 * x5 - x100 = x26 * x99 - x101 = x100 + x98 - x102 = -x101 - x103 = x1 * x102 - x104 = x103 + x97 - x105 = x26 * x54 - x106 = x105 + x24 * x71 - x107 = 0.0118371 * x1 - x108 = 0.0118371 * x10 - x109 = x26 * x3 - x36 - x110 = 0.0005 * x8 - x111 = 1.0e-6 * x26 - x112 = -x10 * x111 - x110 - 1.0e-6 * x25 + 0.000631 * x26 * x3 - 0.000631 * x36 - x113 = q6 - x114 = math.sin(x113) - x115 = x114 * x26 - x116 = math.cos(x113) - x117 = x116 * x24 - x118 = x117 * x43 - x119 = x115 + x118 - x120 = x119 * x3 - x121 = x116 * x46 - x122 = x114 * x24 - x123 = x116 * x26 * x43 - x122 - x124 = x123 * x5 - x125 = -x121 + x124 - x126 = x1 * x125 - x127 = x120 + x126 - x128 = x24 * x65 + x26 * x78 - x129 = 0.005930025 * x1 - x130 = 0.005930025 * x10 - x131 = 0.001596 * x44 + 0.001596 * x48 - x132 = x24 * x54 - x133 = -x132 + x26 * x71 - x134 = 1.8568 * x18 - x135 = 0.10593 * x43 - x136 = x135 * x25 + 0.10593 * x48 - x137 = x45 * x66 - x138 = x102 * x3 - x139 = x137 + x138 - x140 = 0.0063355125 * x139 - x141 = x45 * x73 - x142 = -0.005375 * x138 - x141 - x143 = 1.1787 * x136 - x144 = 0.000256 * x103 + 0.000399 * x35 - 0.000399 * x36 - 0.000256 * x96 - x145 = x24 * x78 - x146 = -x145 + x26 * x65 - x147 = 0.9302 * x18 - x148 = x24 * x45 - x149 = 0.006375 * x10 - x150 = x45 * x91 - x151 = -0.21038 * x1 * x43 * x5 + x148 * x149 + x150 - x152 = -x151 - x153 = x132 * x5 - x154 = x26 * x71 - x155 = x154 * x5 - x156 = 0.0118371 * x3 - x157 = 0.390633584 * x1 - x158 = 0.063883 * x44 + 0.063883 * x48 + x87 - x89 - x159 = 0.0036447875 * x139 - x160 = x3 * x47 - x161 = 0.005375 * x1 * x24 * x43 - 0.005375 * x160 - x162 = -0.10593 * x24 * x3 * x45 - x163 = 0.00017505 * x1 * x24 * x5 - 0.10593 * x103 - x162 - 0.00017505 * x35 - x164 = 1.1787 * x163 - x165 = ( - -0.063883 * x103 - + 0.063883 * x24 * x3 * x45 - + 0.009432 * x26 * x3 - - 0.009432 * x36 - ) - x166 = 0.6781 * x165 - x167 = x43 * x66 - x168 = x160 - x167 - x169 = 0.0063355125 * x168 - x170 = 0.0036447875 * x168 - x171 = 0.6781 * x158 - x172 = 0.009432 * x43 - x173 = -1.0e-6 * x103 - x172 * x25 + 1.0e-6 * x24 * x3 * x45 - 0.009432 * x48 - x174 = 0.6781 * x173 - x175 = 0.001607 * x103 + 0.000256 * x35 - 0.000256 * x36 - 0.001607 * x96 - x176 = 0.0036447875 * x57 - x177 = x32 * x43 - x178 = x45 * x71 - x179 = x177 + x178 - x180 = -x179 - x181 = x45 * x94 - x182 = x43 * x5 - x183 = x26 * x46 - x184 = -x182 + x183 - x185 = 0.21038 * x1 - x186 = -x102 * x16 - x181 - x184 * x185 - x187 = x101 * x3 - x188 = x141 - 0.005375 * x187 - x189 = 0.10593 * x120 + 0.10593 * x126 - x190 = -x189 - x191 = 0.5006 * x190 - x192 = -x137 + x187 - x193 = 0.002690725 * x192 - x194 = x1 * x101 - x195 = -x136 - x196 = 0.5006 * x136 - x197 = x114 * x46 - x198 = x115 * x43 - x199 = -x117 - x198 - x200 = x199 * x5 - x201 = x197 + x200 - x202 = x1 * x201 - x203 = x122 * x43 - x204 = x116 * x26 - x203 - x205 = x204 * x3 - x206 = -x1 * x101 + x97 - x207 = x24 * x43 - x208 = x43 * x91 - x209 = x149 * x207 + x208 + x29 * x45 - x210 = x136 * x43 - x211 = x163 * x45 + x210 - x212 = 0.247974906 * x10 - x213 = x32 * x45 - x214 = -x213 + x43 * x71 - x215 = x26 * x65 - x216 = 0.195695476 * x1 - x217 = x215 * x5 - x218 = x145 * x5 - x219 = 0.005930025 * x3 - x220 = x26 * x98 - x221 = x220 + x99 - x222 = -x221 - x223 = 0.006375 * x1 * x24 * x43 - x16 * x47 - x185 * x222 - x224 = -x211 - x225 = 1.1787 * x32 - x226 = -x184 - x227 = -x101 * x16 + x181 - x185 * x226 - x228 = x158 * x43 + x165 * x45 - x229 = 0.142658678 * x10 - x230 = 0.001641 * x120 + 0.001641 * x126 - x231 = x136 * x45 - x232 = x163 * x43 - x231 - x233 = 1.1787 * x71 - x234 = 0.00017505 * x120 + 0.00017505 * x126 - x235 = x201 * x3 - x236 = 0.005375 * x1 * x204 - 0.005375 * x235 - x237 = 0.5006 * x236 - x238 = x1 * x204 - x239 = x235 - x238 - x240 = 0.002690725 * x239 - x241 = x194 + x96 - x242 = ( - 0.001641 * x1 * x101 - - 0.000278 * x202 - - 0.000278 * x205 - + 0.001641 * x24 * x3 * x45 - ) - x243 = -x228 - x244 = 0.6781 * x32 - x245 = x114 * x45 - x246 = x18 * x199 - x247 = x149 * x204 - x245 * x29 + x246 - x248 = 0.5006 * x234 - x249 = x158 * x45 - x250 = x165 * x43 - x249 - x251 = 0.6781 * x71 - x252 = x26 * x85 - x253 = x163 * x43 - x254 = -x231 * x24 + x24 * x253 + x252 - x255 = 0.0075142125 * x1 - x256 = x116 * x54 - x257 = x114 * x213 - x258 = x43 * x71 - x259 = x114 * x258 - x260 = x256 + x257 - x259 - x261 = 0.0075142125 * x10 - x262 = x24 * x85 - x263 = x231 * x26 - x264 = x163 * x26 * x43 - x262 - x263 - x265 = 1.1787 * x18 - x266 = x202 + x205 - x267 = -0.000278 * x194 + 0.00041 * x202 + 0.00041 * x205 - 0.000278 * x96 - x268 = x125 * x3 - x269 = 0.005375 * x1 * x119 - 0.005375 * x268 - x270 = ( - 0.045483 * x1 * x101 - - 0.00965 * x202 - - 0.00965 * x205 - + 0.045483 * x24 * x3 * x45 - ) - x271 = 0.6781 * x270 - x272 = 0.10593 * x1 * x101 - x162 - 0.00017505 * x202 - 0.00017505 * x205 - x273 = 0.5006 * x272 - x274 = x1 * x119 - x275 = x268 - x274 - x276 = 0.0036447875 * x275 - x277 = 0.002690725 * x275 - x278 = 1.0e-6 * x45 - x279 = 0.00965 * x120 + 0.00965 * x126 + 1.0e-6 * x194 + x25 * x278 - x280 = 0.6781 * x279 - x281 = 0.0036447875 * x239 - x282 = 0.045483 * x120 + 0.045483 * x126 + 1.0e-6 * x202 + 1.0e-6 * x205 - x283 = -x282 - x284 = 0.6781 * x283 - x285 = 0.0036447875 * x192 - x286 = 0.6781 * x136 - x287 = x116 * x85 - x288 = x114 * x163 - x289 = x287 - x288 - x290 = 0.5006 * x289 - x291 = x199 * x7 - x292 = x114 * x45 * x5 - x291 - x293 = 0.006375 * x1 * x204 - x16 * x201 - x185 * x292 - x294 = x116 * x45 - x295 = x123 * x18 - x296 = x119 * x149 + x29 * x294 + x295 - x297 = q7 - x298 = math.cos(x297) - x299 = x115 * x298 - x300 = math.sin(x297) - x301 = x300 * x45 - x302 = x116 * x298 * x43 - x301 - x303 = x24 * x302 - x304 = x299 + x303 - x305 = x3 * x304 - x306 = x300 * x43 - x307 = x298 * x45 - x308 = x116 * x307 - x309 = x306 + x308 - x310 = x309 * x7 - x311 = x122 * x298 - x312 = x26 * x302 - x313 = -x311 + x312 - x314 = x313 * x5 - x315 = -x310 + x314 - x316 = x1 * x315 - x317 = x305 + x316 - x318 = 0.247974906 * x1 - x319 = x115 * x300 - x320 = x116 * x306 - x321 = -x307 - x320 - x322 = x24 * x321 - x323 = -x319 + x322 - x324 = x3 * x323 - x325 = x116 * x301 - x326 = -x298 * x43 + x325 - x327 = -x326 - x328 = x327 * x7 - x329 = x122 * x300 - x330 = x26 * x321 - x331 = x329 + x330 - x332 = x331 * x5 - x333 = -x328 + x332 - x334 = x1 * x333 - x335 = x324 + x334 - x336 = x262 * x5 - x337 = x102 * x136 - x338 = x163 * x47 - x339 = 0.0075142125 * x3 - x340 = x114 * x54 - x341 = x116 * x213 - x342 = x116 * x258 - x343 = x340 - x341 + x342 - x344 = x116 * x234 - x345 = x114 * x272 + x344 - x346 = 0.5006 * x345 - x347 = x114 * x85 - x348 = x116 * x163 - x349 = x347 + x348 - x350 = x165 * x43 - x351 = x173 * x26 - x352 = -x24 * x249 + x24 * x350 + x351 - x353 = 0.0043228875 * x1 - x354 = x116 * x99 - x355 = x123 * x7 - x356 = x354 + x355 - x357 = -x356 - x358 = 0.006375 * x1 * x119 - x125 * x16 - x185 * x357 - x359 = 0.0043228875 * x10 - x360 = x249 * x26 - x361 = x173 * x24 - x362 = x165 * x26 * x43 - x360 - x361 - x363 = 0.6781 * x18 - x364 = x114 * x270 + x116 * x279 - x365 = 0.6781 * x364 - x366 = x114 * x234 - x367 = x116 * x272 - x366 - x368 = 0.5006 * x163 - x369 = 0.142658678 * x1 - x370 = x165 * x47 - x371 = x102 * x158 - x372 = x361 * x5 - x373 = 0.0043228875 * x3 - x374 = x190 * x43 - x375 = x116 * x272 - x376 = x366 * x45 + x374 - x375 * x45 - x377 = -x376 - x378 = 0.105316228 * x10 - x379 = x114 * x279 - x380 = x116 * x270 - x379 - x381 = 0.6781 * x163 - x382 = 0.5006 * x32 - x383 = x190 * x45 - x384 = x366 * x43 - x385 = x375 * x43 - x386 = x383 - x384 + x385 - x387 = 0.5006 * x71 - x388 = x119 * x272 + x204 * x234 + x24 * x383 - x389 = 0.003191325 * x1 - x390 = 0.003191325 * x10 - x391 = ( - 0.000281 * x1 * x333 + 0.000281 * x3 * x323 - 0.011402 * x305 - 0.011402 * x316 - ) - x392 = x3 * x315 - x393 = 0.005375 * x1 * x304 - 0.005375 * x392 - x394 = ( - 0.011402 * x1 * x201 + 0.011402 * x204 * x3 - 0.029798 * x324 - 0.029798 * x334 - ) - x395 = 0.5006 * x394 - x396 = x1 * x304 - x397 = x392 - x396 - x398 = 0.002690725 * x397 - x399 = x3 * x333 - x400 = 0.005375 * x1 * x323 - 0.005375 * x399 - x401 = -0.000281 * x202 - 0.000281 * x205 + 0.029798 * x305 + 0.029798 * x316 - x402 = 0.5006 * x401 - x403 = x1 * x323 - x404 = x399 - x403 - x405 = 0.002690725 * x404 - x406 = x300 * x340 - x407 = x32 * x326 - x408 = x321 * x71 - x409 = -x406 + x407 + x408 - x410 = x26 * x383 - x411 = x199 * x234 - x412 = x123 * x272 - x413 = x410 + x411 + x412 - x414 = 0.5006 * x18 - x415 = x298 * x340 - x416 = -x309 - x417 = x32 * x416 - x418 = x302 * x71 - x419 = x415 + x417 + x418 - x420 = x18 * x313 - x421 = x149 * x304 + x29 * x309 + x420 - x422 = x18 * x331 - x423 = x149 * x323 + x29 * x327 + x422 - x424 = 0.5006 * x391 - x425 = x300 * x347 - x426 = x300 * x348 - x427 = x136 * x298 - x425 - x426 - x428 = x136 * x300 - x429 = x298 * x347 - x430 = x298 * x348 - x431 = x428 + x429 + x430 - x432 = x101 * x190 - x433 = x201 * x234 - x434 = x125 * x272 - x435 = 0.003191325 * x3 - x436 = 0.105316228 * x1 - x437 = x190 * x298 - x438 = x272 * x300 - x439 = -x437 - x438 - x440 = 3.0e-6 * x305 + 3.0e-6 * x316 - x441 = 0.000609 * x202 + 0.000609 * x205 + 0.000118 * x324 + 0.000118 * x334 + x440 - x442 = x190 * x300 - x443 = x272 * x298 - x442 - x444 = x116 * x270 - x445 = x283 * x43 - x446 = x379 * x45 - x444 * x45 + x445 - x447 = -x446 - x448 = x309 * x5 - x449 = x313 * x7 - x450 = x448 + x449 - x451 = -x450 - x452 = 0.006375 * x1 * x304 - x16 * x315 - x185 * x451 - x453 = x327 * x5 - x454 = x331 * x7 - x455 = x453 + x454 - x456 = -x455 - x457 = 0.006375 * x1 * x323 - x16 * x333 - x185 * x456 - x458 = x379 * x43 - x459 = x43 * x444 - x460 = x283 * x45 - x461 = -x458 + x459 + x460 - x462 = x119 * x270 + x204 * x279 + x24 * x460 - x463 = x123 * x270 - x464 = x199 * x279 - x465 = x26 * x460 + x29 = -x25 - x27 + x30 = 0.21038 * x10 + x31 = x17 * x7 + x32 = x30 + x31 + x33 = 0.20843 * x25 + x34 = 0.20843 * x27 + x35 = -x33 - x34 + x36 = x35 * x7 + x37 = 0.390633584 * x33 + 0.390633584 * x34 + x38 = x26 * x3 + x39 = x10 * x24 + x40 = -x17 * x5 + x18 + x41 = 0.21038 * x6 + x42 = 0.017767125 * x3 + x43 = -0.0005 * x38 + 0.0005 * x39 + 0.008316 * x8 + x44 = q5 + x45 = math.cos(x44) + x46 = x25 * x45 + x47 = math.sin(x44) + x48 = x47 * x7 + x49 = x45 * x5 + x50 = x26 * x49 + x51 = -x48 + x50 + x52 = x1 * x51 + x53 = x46 + x52 + x54 = -x30 - x31 + x55 = x1 * x26 + x56 = x25 * x5 + x57 = -x55 - x56 + x58 = 0.006375 * x25 + x59 = 0.006375 * x27 + x60 = x58 + x59 + x61 = 0.005375 * x55 + 0.005375 * x56 + x62 = 1.8568 * x60 + x63 = 0.00741795 * x3 + x64 = 0.244798168 * x1 + x65 = 0.075478 * x25 + x66 = 1.8e-5 * x38 + x67 = 1.8e-5 * x24 + x68 = x10 * x67 + x69 = 0.075478 * x26 + x70 = x10 * x69 + x71 = -x65 + x66 - x68 - x70 + x72 = 0.195695476 * x10 + x73 = x7 * x71 + x74 = x65 - x66 + x68 + x70 + x75 = -0.015006 * x38 + 0.015006 * x39 + 0.075478 * x8 + x76 = x1 * x24 + x77 = x38 * x5 + x78 = -x76 + x77 + x79 = 0.004999825 * x78 + x80 = 0.006375 * x38 + x81 = 0.006375 * x39 + x82 = 0.20843 * x8 - x80 + x81 + x83 = 0.0099803 * x78 + x84 = 0.005375 * x76 + x85 = -0.005375 * x77 + x84 + x86 = 0.9302 * x75 + x87 = 1.8568 * x82 + x88 = 0.015006 * x25 + 0.015006 * x27 - 1.8e-5 * x8 + x89 = 0.004999825 * x57 + x90 = 0.9302 * x88 + x91 = x19 * x24 + x92 = x59 - x91 + x93 = -x18 * x24 + x5 * x58 + 0.006375 * x55 + x94 = 0.00017505 * x46 + 0.00017505 * x52 + x95 = 0.0063355125 * x57 + x96 = 1.1787 * x94 + x97 = 0.9302 * x71 + x98 = 1.0e-6 * x38 + x99 = 1.0e-6 * x24 + x100 = x10 * x99 + x101 = x100 + 0.008147 * x25 + 0.008147 * x27 - x98 + x102 = x25 * x47 + x103 = x45 * x7 + x104 = x47 * x5 + x105 = x104 * x26 + x106 = -x103 - x105 + x107 = x1 * x106 + x108 = x102 - x107 + x109 = x19 * x26 + x110 = x109 + x81 + x111 = 0.006375 * x76 + x112 = x111 + x18 * x26 - x5 * x80 + x113 = x26 * x60 + x114 = x113 + x24 * x82 + x115 = 0.0118371 * x1 + x116 = 0.0118371 * x10 + x117 = q6 + x118 = math.sin(x117) + x119 = x118 * x26 + x120 = math.cos(x117) + x121 = x120 * x24 + x122 = x121 * x45 + x123 = x119 + x122 + x124 = x123 * x3 + x125 = x120 * x48 + x126 = x118 * x24 + x127 = x120 * x26 + x128 = x127 * x45 + x129 = -x126 + x128 + x130 = x129 * x5 + x131 = -x125 + x130 + x132 = x1 * x131 + x133 = x124 + x132 + x134 = x38 - x39 + x135 = 0.0005 * x8 + x136 = 1.0e-6 * x26 + x137 = -x10 * x136 - x135 - 1.0e-6 * x25 + 0.000631 * x38 - 0.000631 * x39 + x138 = -x124 - x132 + x139 = x24 * x75 + x26 * x88 + x140 = 0.005930025 * x1 + x141 = 0.001596 * x46 + 0.001596 * x52 + x142 = 0.10593 * x45 + x143 = x142 * x25 + x144 = 0.10593 * x52 + x145 = x143 + x144 + x146 = x47 * x76 + x147 = x106 * x3 + x148 = x146 + x147 + x149 = 0.0063355125 * x148 + x150 = 0.005930025 * x10 + x151 = x24 * x60 + x152 = x26 * x82 + x153 = -x151 + x152 + x154 = 1.8568 * x19 + x155 = x47 * x84 + x156 = -0.005375 * x147 - x155 + x157 = 1.1787 * x145 + x158 = -0.000256 * x102 + 0.000256 * x107 + 0.000399 * x38 - 0.000399 * x39 + x159 = x26 * x75 + x160 = x24 * x88 + x161 = x159 - x160 + x162 = 0.9302 * x19 + x163 = x30 * x45 + x164 = x24 * x47 + x165 = 0.006375 * x10 + x166 = x164 * x165 + x167 = x109 * x47 + x168 = x163 - x166 - x167 + x169 = -x100 + 0.063883 * x46 + 0.063883 * x52 + x98 + x170 = 0.0036447875 * x148 + x171 = 0.10593 * x102 + x172 = -0.10593 * x107 + x171 - 0.00017505 * x38 + 0.00017505 * x39 + x173 = x45 * x76 + x174 = x3 * x51 + x175 = -x173 + x174 + x176 = 0.0063355125 * x175 + x177 = 0.063883 * x102 - 0.063883 * x107 + 0.009432 * x38 - 0.009432 * x39 + x178 = 0.0036447875 * x175 + x179 = -x102 + x107 + x180 = -0.001607 * x102 + 0.001607 * x107 + 0.000256 * x38 - 0.000256 * x39 + x181 = x151 * x5 + x182 = x152 * x5 + x183 = 0.0118371 * x3 + x184 = 0.390633584 * x1 + x185 = -0.005375 * x174 + x45 * x84 + x186 = 1.1787 * x172 + x187 = 0.6781 * x177 + x188 = 0.6781 * x169 + x189 = 1.0e-6 * x47 + x190 = x189 * x25 + x191 = 0.009432 * x45 + x192 = -1.0e-6 * x107 + x190 - x191 * x25 - 0.009432 * x52 + x193 = 0.0036447875 * x57 + x194 = 0.6781 * x192 + x195 = x35 * x45 + x196 = x47 * x82 + x197 = -x195 - x196 + x198 = x111 * x47 + x199 = x26 * x48 + x200 = x199 - x49 + x201 = 0.21038 * x1 + x202 = -x106 * x17 - x198 - x200 * x201 + x203 = 0.10593 * x124 + x204 = 0.10593 * x132 + x205 = -x203 - x204 + x206 = x103 + x105 + x207 = x206 * x3 + x208 = -x146 + x207 + x209 = 0.002690725 * x208 + x210 = x1 * x206 + x211 = x155 - 0.005375 * x207 + x212 = 0.5006 * x205 + x213 = x118 * x48 + x214 = x119 * x45 + x215 = -x121 - x214 + x216 = x215 * x5 + x217 = x213 + x216 + x218 = x1 * x217 + x219 = x126 * x45 + x220 = x127 - x219 + x221 = x220 * x3 + x222 = x102 + x210 + x223 = -x143 - x144 + x224 = x203 + x204 + x225 = 0.5006 * x145 + x226 = x24 * x45 + x227 = x109 * x45 + x228 = x165 * x226 + x227 + x30 * x47 + x229 = x145 * x45 + x230 = x172 * x47 + x231 = x229 + x230 + x232 = 0.247974906 * x10 + x233 = -x163 + x166 + x167 + x234 = x35 * x47 + x235 = x45 * x82 + x236 = -x234 + x235 + x237 = x103 * x26 + x238 = -x104 - x237 + x239 = x111 * x45 - x17 * x51 - x201 * x238 + x240 = 0.195695476 * x1 + x241 = x159 * x5 + x242 = x160 * x5 + x243 = 0.005930025 * x3 + x244 = x195 + x196 + x245 = -x229 - x230 + x246 = 1.1787 * x35 + x247 = -x199 + x49 + x248 = -x17 * x206 + x198 - x201 * x247 + x249 = 0.001641 * x124 + 0.001641 * x132 + x250 = x169 * x45 + x251 = x177 * x47 + x252 = x250 + x251 + x253 = 0.142658678 * x10 + x254 = 0.00017505 * x124 + 0.00017505 * x132 + x255 = x1 * x220 + x256 = x217 * x3 + x257 = -x255 + x256 + x258 = 0.002690725 * x257 + x259 = 0.005375 * x255 - 0.005375 * x256 + x260 = 0.5006 * x259 + x261 = x145 * x47 + x262 = x172 * x45 + x263 = -x261 + x262 + x264 = 1.1787 * x82 + x265 = 0.001641 * x102 + 0.001641 * x210 - 0.000278 * x218 - 0.000278 * x221 + x266 = x118 * x47 + x267 = x19 * x215 + x268 = x165 * x220 - x266 * x30 + x267 + x269 = 0.5006 * x254 + x270 = -x250 - x251 + x271 = 0.6781 * x35 + x272 = x169 * x47 + x273 = x177 * x45 + x274 = -x272 + x273 + x275 = 0.6781 * x82 + x276 = x26 * x94 + x277 = -x24 * x261 + x24 * x262 + x276 + x278 = 0.0075142125 * x1 + x279 = x120 * x60 + x280 = x118 * x234 + x281 = x118 * x235 + x282 = x279 + x280 - x281 + x283 = 0.0075142125 * x10 + x284 = x218 + x221 + x285 = -0.000278 * x102 - 0.000278 * x210 + 0.00041 * x218 + 0.00041 * x221 + x286 = 0.045483 * x102 + 0.045483 * x210 - 0.00965 * x218 - 0.00965 * x221 + x287 = x1 * x123 + x288 = x131 * x3 + x289 = -x287 + x288 + x290 = 0.0036447875 * x289 + x291 = x171 + 0.10593 * x210 - 0.00017505 * x218 - 0.00017505 * x221 + x292 = 0.002690725 * x289 + x293 = 0.00965 * x124 + 0.00965 * x132 + x190 + 1.0e-6 * x210 + x294 = 0.0036447875 * x257 + x295 = 0.045483 * x124 + x296 = 1.0e-6 * x221 + x297 = 0.045483 * x132 + x298 = 1.0e-6 * x218 + x299 = -x295 - x296 - x297 - x298 + x300 = 0.0036447875 * x208 + x301 = 0.005375 * x287 - 0.005375 * x288 + x302 = 0.6781 * x286 + x303 = 0.5006 * x291 + x304 = 0.6781 * x293 + x305 = 0.6781 * x299 + x306 = x24 * x94 + x307 = x26 * x261 + x308 = x26 * x262 + x309 = -x306 - x307 + x308 + x310 = 1.1787 * x19 + x311 = x295 + x296 + x297 + x298 + x312 = 0.6781 * x145 + x313 = x120 * x94 + x314 = x118 * x172 + x315 = x313 - x314 + x316 = 0.5006 * x315 + x317 = x104 * x118 + x318 = x215 * x7 + x319 = x317 - x318 + x320 = -x17 * x217 - x201 * x319 + 0.006375 * x255 + x321 = q7 + x322 = math.cos(x321) + x323 = x119 * x322 + x324 = math.sin(x321) + x325 = x324 * x47 + x326 = x322 * x45 + x327 = x120 * x326 + x328 = -x325 + x327 + x329 = x24 * x328 + x330 = x323 + x329 + x331 = x3 * x330 + x332 = x324 * x45 + x333 = x322 * x47 + x334 = x120 * x333 + x335 = x332 + x334 + x336 = x335 * x7 + x337 = x126 * x322 + x338 = x26 * x328 + x339 = -x337 + x338 + x340 = x339 * x5 + x341 = -x336 + x340 + x342 = x1 * x341 + x343 = x331 + x342 + x344 = x120 * x47 + x345 = x129 * x19 + x346 = x123 * x165 + x30 * x344 + x345 + x347 = x119 * x324 + x348 = x120 * x332 + x349 = -x333 - x348 + x350 = x24 * x349 + x351 = -x347 + x350 + x352 = x3 * x351 + x353 = x120 * x325 + x354 = x326 - x353 + x355 = x354 * x7 + x356 = x126 * x324 + x357 = x26 * x349 + x358 = x356 + x357 + x359 = x358 * x5 + x360 = -x355 + x359 + x361 = x1 * x360 + x362 = 0.247974906 * x1 + x363 = x306 * x5 + x364 = x106 * x145 + x365 = x172 * x51 + x366 = 0.0075142125 * x3 + x367 = x118 * x60 + x368 = x120 * x234 + x369 = x120 * x235 + x370 = x367 - x368 + x369 + x371 = x120 * x254 + x372 = x118 * x291 + x371 + x373 = 0.5006 * x372 + x374 = x118 * x94 + x375 = x120 * x172 + x376 = x374 + x375 + x377 = x104 * x120 + x378 = x129 * x7 + x379 = -x377 - x378 + x380 = -x131 * x17 - x201 * x379 + 0.006375 * x287 + x381 = x192 * x26 + x382 = -x24 * x272 + x24 * x273 + x381 + x383 = 0.0043228875 * x1 + x384 = 0.0043228875 * x10 + x385 = x26 * x272 + x386 = x26 * x273 + x387 = x192 * x24 + x388 = -x385 + x386 - x387 + x389 = 0.6781 * x19 + x390 = x118 * x286 + x120 * x293 + x391 = 0.6781 * x390 + x392 = x118 * x254 + x393 = x120 * x291 + x394 = -x392 + x393 + x395 = 0.5006 * x172 + x396 = 0.142658678 * x1 + x397 = x177 * x51 + x398 = x106 * x169 + x399 = x387 * x5 + x400 = 0.0043228875 * x3 + x401 = x205 * x45 + x402 = x392 * x47 + x403 = x393 * x47 + x404 = -x401 - x402 + x403 + x405 = 0.105316228 * x10 + x406 = x118 * x293 + x407 = x120 * x286 + x408 = -x406 + x407 + x409 = 0.6781 * x172 + x410 = x401 + x402 - x403 + x411 = 0.5006 * x35 + x412 = x205 * x47 + x413 = x392 * x45 + x414 = x393 * x45 + x415 = x412 - x413 + x414 + x416 = 0.5006 * x82 + x417 = x123 * x291 + x220 * x254 + x24 * x412 + x418 = 0.003191325 * x1 + x419 = 0.003191325 * x10 + x420 = 0.011402 * x218 + 0.011402 * x221 - 0.029798 * x352 - 0.029798 * x361 + x421 = x1 * x330 + x422 = x3 * x341 + x423 = -x421 + x422 + x424 = 0.002690725 * x423 + x425 = -0.000281 * x218 - 0.000281 * x221 + 0.029798 * x331 + 0.029798 * x342 + x426 = x1 * x351 + x427 = x3 * x360 + x428 = -x426 + x427 + x429 = 0.002690725 * x428 + x430 = -0.011402 * x331 - 0.011402 * x342 + 0.000281 * x352 + 0.000281 * x361 + x431 = 0.005375 * x421 - 0.005375 * x422 + x432 = 0.5006 * x420 + x433 = 0.005375 * x426 - 0.005375 * x427 + x434 = 0.5006 * x425 + x435 = x26 * x412 + x436 = x215 * x254 + x437 = x129 * x291 + x438 = x435 + x436 + x437 + x439 = 0.5006 * x19 + x440 = x324 * x367 + x441 = -x326 + x353 + x442 = x35 * x441 + x443 = x349 * x82 + x444 = -x440 + x442 + x443 + x445 = x322 * x367 + x446 = -x332 - x334 + x447 = x35 * x446 + x448 = x328 * x82 + x449 = x445 + x447 + x448 + x450 = x19 * x339 + x451 = x165 * x330 + x30 * x335 + x450 + x452 = x19 * x358 + x453 = x165 * x351 + x30 * x354 + x452 + x454 = 0.5006 * x430 + x455 = x145 * x322 + x456 = x324 * x374 + x457 = x324 * x375 + x458 = x455 - x456 - x457 + x459 = x205 * x206 + x460 = x217 * x254 + x461 = x131 * x291 + x462 = 0.003191325 * x3 + x463 = x145 * x324 + x464 = x322 * x374 + x465 = x322 * x375 x466 = x463 + x464 + x465 - x467 = ( - 3.0e-6 * x202 - + 3.0e-6 * x205 - + 0.000587 * x305 - + 0.000587 * x316 - + 3.0e-6 * x324 - + 3.0e-6 * x334 + x467 = 0.105316228 * x1 + x468 = 3.0e-6 * x331 + 3.0e-6 * x342 + x469 = 0.000609 * x218 + 0.000609 * x221 + 0.000118 * x352 + 0.000118 * x361 + x468 + x470 = x205 * x322 + x471 = x291 * x324 + x472 = -x470 - x471 + x473 = x205 * x324 + x474 = x291 * x322 + x475 = -x473 + x474 + x476 = x335 * x5 + x477 = x339 * x7 + x478 = -x476 - x477 + x479 = -x17 * x341 - x201 * x478 + 0.006375 * x421 + x480 = x406 * x47 + x481 = x407 * x47 + x482 = x299 * x45 + x483 = -x480 + x481 - x482 + x484 = x354 * x5 + x485 = x358 * x7 + x486 = -x484 - x485 + x487 = -x17 * x360 - x201 * x486 + 0.006375 * x426 + x488 = x480 - x481 + x482 + x489 = x406 * x45 + x490 = x407 * x45 + x491 = x299 * x47 + x492 = -x489 + x490 + x491 + x493 = x123 * x286 + x220 * x293 + x24 * x491 + x494 = ( + 3.0e-6 * x218 + + 3.0e-6 * x221 + + 0.000587 * x331 + + 0.000587 * x342 + + 3.0e-6 * x352 + + 3.0e-6 * x361 ) - x468 = x298 * x401 + x300 * x394 - x469 = 0.000118 * x202 + 0.000118 * x205 + 0.000369 * x324 + 0.000369 * x334 + x440 - x470 = x201 * x279 - x471 = x125 * x270 - x472 = x101 * x283 - x473 = -x468 - x474 = x300 * x401 - x475 = x298 * x394 - x474 - x476 = x298 * x394 - x477 = x116 * x391 - x478 = -x114 * x474 + x114 * x476 + x477 - x479 = 0.5006 * x478 - x480 = x114 * x391 - x481 = x45 * x480 - x482 = x309 * x394 + x327 * x401 - x481 - x483 = x326 * x401 + x394 * x416 + x481 - x484 = x116 * x474 - x485 = x116 * x298 * x394 - x480 - x484 - x486 = x321 * x401 - x487 = x302 * x394 - x488 = x43 * x480 - x489 = x486 + x487 - x488 - x490 = x204 * x391 + x304 * x394 + x323 * x401 - x491 = x331 * x401 - x492 = x313 * x394 - x493 = x199 * x391 - x494 = x491 + x492 + x493 - x495 = x333 * x401 - x496 = x315 * x394 - x497 = x201 * x391 - x498 = 0.00017505 * x99 - x499 = 0.00017505 * x26 - x500 = x498 + x499 * x98 - x501 = -x500 - x502 = x24 * x501 - x503 = 0.10593 * x220 + 0.10593 * x99 - x504 = -x503 - x505 = x45 * x504 - x506 = x26 * x505 - x507 = x24 * x7 - x508 = 0.10593 * x183 - x509 = 0.10593 * x43 * x5 - 0.00017505 * x507 - x508 - x510 = x26 * x43 * x509 - x502 - x506 - x511 = 0.006375 * x507 - x512 = 0.20843 * x5 - x511 - x513 = x43 * x512 - x514 = -0.20843 * x183 + x513 - x515 = x43 * x509 - x505 - x516 = x45 * x512 - x517 = 0.20843 * x220 + x516 - x518 = -x517 - x519 = x43 * x504 - x520 = x45 * x509 + x519 - x521 = -x520 - x522 = x26 * x7 - x523 = 0.006375 * x522 - x524 = -0.21038 * x24 * x5 - x523 - x525 = 0.21038 * x100 + 0.21038 * x98 - x526 = -x525 - x527 = -0.006375 * x24 * x45 * x7 + x525 - x528 = -x527 - x529 = -0.21038 * x26 * x43 * x5 + 0.21038 * x46 - x530 = -x529 - x531 = 0.006375 * x24 - x532 = -x529 - x531 * x98 - x533 = x114 * x99 - x534 = -0.011402 * x291 + 0.029798 * x453 + 0.029798 * x454 + 0.011402 * x533 - x535 = 0.000281 * x199 * x7 - 0.029798 * x448 - 0.029798 * x449 - 0.000281 * x533 - x536 = 0.011402 * x448 + 0.011402 * x449 - 0.000281 * x453 - 0.000281 * x454 - x537 = x204 * x536 + x304 * x534 + x323 * x535 - x538 = 0.10593 * x354 + 0.10593 * x355 - x539 = x45 * x538 - x540 = -0.00017505 * x354 - 0.00017505 * x355 - x541 = 0.10593 * x182 + 0.00017505 * x291 - x508 - 0.00017505 * x533 - x542 = x119 * x541 + x204 * x540 + x24 * x539 - x543 = x26**2 - x544 = 0.006375 * x543 - x545 = x544 * x7 - x546 = x24 * x512 - x545 - x547 = x26 * x512 - x548 = x24 * x523 + x547 - x549 = 0.21038 * x26 * x5 - x511 - x550 = x331 * x535 - x551 = x313 * x534 - x552 = x199 * x536 - x553 = x550 + x551 + x552 - x554 = x26 * x539 - x555 = x199 * x540 - x556 = x123 * x541 - x557 = x554 + x555 + x556 - x558 = x116 * x540 - x559 = x114 * x541 + x558 - x560 = 0.5006 * x559 - x561 = x116 * x501 - x562 = x114 * x509 - x563 = x561 - x562 - x564 = x114 * x501 - x565 = x116 * x509 - x566 = x564 + x565 - x567 = x298 * x535 + x300 * x534 - x568 = x114 * x540 - x569 = x116 * x541 - x568 - x570 = x300 * x538 - x571 = x298 * x541 - x570 - x572 = x300 * x535 - x573 = x298 * x534 - x572 - x574 = x298 * x538 - x575 = x300 * x541 - x576 = -x574 - x575 - x577 = -x567 - x578 = 0.21038 * x328 - x579 = 0.21038 * x332 - x578 - x580 = 0.21038 * x310 - x581 = 0.21038 * x314 - x580 - x582 = 0.21038 * x197 + 0.21038 * x200 - x583 = 0.21038 * x121 - x584 = 0.21038 * x124 - x583 - x585 = 0.006375 * x7 - x586 = -x204 * x585 + x582 - x587 = x116 * x26 - x588 = x114 * x513 - x589 = 0.20843 * x114 * x26 * x45 * x7 - x585 * x587 - x588 - x590 = x298 * x534 - x591 = x116 * x536 - x592 = -x114 * x572 + x114 * x590 + x591 - x593 = 0.5006 * x592 - x594 = -x538 - x595 = x114 * x536 - x596 = x45 * x595 - x597 = x326 * x535 + x416 * x534 + x596 - x598 = x43 * x538 - x599 = x116 * x541 - x600 = x45 * x568 - x45 * x599 + x598 - x601 = 0.20843 * x522 - x602 = x321 * x512 - x603 = x319 * x585 + x326 * x601 + x602 - x604 = x302 * x512 - x605 = -x299 * x585 + x416 * x601 + x604 - x606 = x302 * x534 - x607 = x321 * x535 - x608 = x43 * x595 - x609 = x606 + x607 - x608 - x610 = x43 * x568 - x611 = x43 * x599 - x612 = x539 - x610 + x611 - x613 = x300 * x564 - x614 = x300 * x565 - x615 = x298 * x504 - x613 - x614 - x616 = x300 * x504 - x617 = x298 * x564 - x618 = x298 * x565 - x619 = x616 + x617 + x618 - x620 = x116 * x572 - x621 = x116 * x298 * x534 - x595 - x620 - x622 = -x323 * x585 + 0.21038 * x331 * x5 - x578 - x623 = -x304 * x585 + 0.21038 * x313 * x5 - x580 - x624 = -x119 * x585 + 0.21038 * x123 * x5 - x583 - x625 = -x115 * x585 + x116 * x43 * x512 - 0.20843 * x46 * x587 - x626 = 1.0e-6 * x182 - x627 = x111 * x46 - x628 = -0.00965 * x354 - 0.00965 * x355 + x626 - x627 - x629 = 0.045483 * x182 - 0.045483 * x183 + 0.00965 * x291 - 0.00965 * x533 - x630 = 1.0e-6 * x114 - x631 = 0.045483 * x116 - x632 = 1.0e-6 * x291 + 0.045483 * x355 - x630 * x99 + x631 * x99 - x633 = x45 * x632 - x634 = x119 * x629 + x204 * x628 + x24 * x633 - x635 = 0.063883 * x182 - 0.063883 * x183 + 0.009432 * x507 - x636 = x43 * x635 - x637 = x7 * x88 - x638 = -0.063883 * x220 + x637 - 0.063883 * x99 - x639 = x45 * x638 - x640 = 0.009432 * x26 - x641 = x626 - x627 + x640 * x98 + 0.009432 * x99 - x642 = x26 * x641 - x643 = x24 * x636 - x24 * x639 + x642 - x644 = x123 * x629 - x645 = x199 * x628 - x646 = x26 * x633 - x647 = x644 + x645 + x646 - x648 = x26 * x639 - x649 = x24 * x641 - x650 = x26 * x43 * x635 - x648 - x649 - x651 = x43 * x635 - x639 - x652 = x114 * x629 + x116 * x628 - x653 = 0.6781 * x652 - x654 = x114 * x628 - x655 = x116 * x629 - x654 - x656 = x43 * x638 + x45 * x635 - x657 = -x656 - x658 = -x632 - x659 = x116 * x629 - x660 = x43 * x632 - x661 = x45 * x654 - x45 * x659 + x660 - x662 = x43 * x654 - x663 = x43 * x659 - x664 = x633 - x662 + x663 - x665 = 0.075478 * x5 - 0.015006 * x507 - x666 = 1.8e-5 * x5 - x667 = -0.015006 * x522 - x666 - x668 = x24 * x665 + x26 * x667 - x669 = x26 * x665 - x670 = x24 * x667 - x671 = x669 - x670 - x672 = x26 * x501 - x673 = x43 * x509 - x674 = -x24 * x505 + x24 * x673 + x672 - x675 = x7**2 - x676 = x201 * x536 - x677 = x315 * x534 - x678 = x333 * x535 - x679 = x101 * x538 - x680 = x201 * x540 - x681 = x125 * x541 - x682 = x26 * x675 - x683 = x24 * x5 - x684 = x5 * x547 - x685 = x201 * x628 - x686 = x101 * x632 - x687 = x125 * x629 - x688 = x5 * x649 - x689 = x47 * x635 - x690 = x102 * x638 - x691 = x59 * x7 + x60 * x7 - x692 = x691 * x7 - x693 = x5 * x669 - x694 = x5 * x670 - x695 = x5 * x502 - x696 = x102 * x504 - x697 = x47 * x509 - x698 = x309 * x534 + x327 * x535 - x596 - x699 = -x600 - x700 = -x661 - x701 = -x691 - x702 = x5 * x8 - x703 = 1.1787 * x501 - x704 = -4.4e-5 * x5 + 0.006641 * x7 - x705 = 0.6781 * x54 - x706 = 0.0038888565277 * x3 - x707 = 0.004999825 * x3 - x708 = 0.0118371 * x7 - x709 = 0.0043228875 * x7 - x710 = 0.0075142125 * x7 - x711 = x26 * x5 - x712 = ( - 0.0136723 * x1 * x704 + x495 = x129 * x286 + x496 = x215 * x293 + x497 = x26 * x491 + x498 = x495 + x496 + x497 + x499 = x352 + x361 + x500 = 0.000118 * x218 + 0.000118 * x221 + 0.000369 * x352 + 0.000369 * x361 + x468 + x501 = x322 * x425 + x502 = x324 * x420 + x503 = x501 + x502 + x504 = x217 * x293 + x505 = x131 * x286 + x506 = x206 * x299 + x507 = -x501 - x502 + x508 = x324 * x425 + x509 = x322 * x420 + x510 = -x508 + x509 + x511 = x120 * x430 + x512 = -x118 * x508 + x118 * x509 + x511 + x513 = 0.5006 * x512 + x514 = x118 * x430 + x515 = x47 * x514 + x516 = x335 * x420 + x354 * x425 - x515 + x517 = x420 * x446 + x425 * x441 + x515 + x518 = x120 * x508 + x519 = x120 * x509 + x520 = -x514 - x518 + x519 + x521 = x349 * x425 + x522 = x328 * x420 + x523 = x45 * x514 + x524 = x521 + x522 - x523 + x525 = x220 * x430 + x330 * x420 + x351 * x425 + x526 = x358 * x425 + x527 = x339 * x420 + x528 = x215 * x430 + x529 = x526 + x527 + x528 + x530 = x360 * x425 + x531 = x341 * x420 + x532 = x217 * x430 + x533 = 0.00017505 * x104 + x534 = 0.00017505 * x26 + x535 = x103 * x534 + x536 = -x533 - x535 + x537 = x24 * x536 + x538 = 0.10593 * x104 + x539 = 0.10593 * x237 + x540 = -x538 - x539 + x541 = x47 * x540 + x542 = x26 * x541 + x543 = x24 * x7 + x544 = -0.10593 * x199 + 0.10593 * x49 + x545 = -0.00017505 * x543 + x544 + x546 = x45 * x545 + x547 = x26 * x546 + x548 = -x537 - x542 + x547 + x549 = 0.20843 * x5 + x550 = -0.006375 * x543 + x551 = x549 + x550 + x552 = x45 * x551 + x553 = -0.20843 * x199 + x552 + x554 = -x541 + x546 + x555 = 0.20843 * x237 + x556 = x47 * x551 + x557 = -x555 - x556 + x558 = x45 * x540 + x559 = x47 * x545 + x560 = -x558 - x559 + x561 = x26 * x7 + x562 = 0.006375 * x561 + x563 = 0.21038 * x5 + x564 = -x24 * x563 - x562 + x565 = 0.21038 * x103 + x566 = 0.21038 * x105 + x567 = -x565 - x566 + x568 = 0.006375 * x24 + x569 = x48 * x568 + x570 = x567 + x569 + x571 = -0.21038 * x48 + 0.21038 * x50 + x572 = -x103 * x568 + x571 + x573 = 0.011402 * x317 - 0.011402 * x318 + 0.029798 * x484 + 0.029798 * x485 + x574 = -0.000281 * x317 + 0.000281 * x318 - 0.029798 * x476 - 0.029798 * x477 + x575 = 0.011402 * x476 + x576 = 0.000281 * x484 + x577 = 0.011402 * x477 + x578 = 0.000281 * x485 + x579 = x575 - x576 + x577 - x578 + x580 = x220 * x579 + x330 * x573 + x351 * x574 + x581 = 0.10593 * x377 + x582 = 0.10593 * x378 + x583 = x581 + x582 + x584 = x47 * x583 + x585 = -0.00017505 * x377 - 0.00017505 * x378 + x586 = -0.00017505 * x317 + 0.00017505 * x318 + x544 + x587 = x123 * x586 + x220 * x585 + x24 * x584 + x588 = x26**2 + x589 = 0.006375 * x588 + x590 = x589 * x7 + x591 = x24 * x551 - x590 + x592 = x26 * x551 + x593 = x24 * x562 + x592 + x594 = x26 * x563 + x550 + x595 = x358 * x574 + x596 = x339 * x573 + x597 = x215 * x579 + x598 = x595 + x596 + x597 + x599 = x26 * x584 + x600 = x215 * x585 + x601 = x129 * x586 + x602 = x599 + x600 + x601 + x603 = x555 + x556 + x604 = x120 * x585 + x605 = x118 * x586 + x604 + x606 = 0.5006 * x605 + x607 = x120 * x536 + x608 = x118 * x545 + x609 = x607 - x608 + x610 = x118 * x536 + x611 = x120 * x545 + x612 = x610 + x611 + x613 = x322 * x574 + x614 = x324 * x573 + x615 = x613 + x614 + x616 = x118 * x585 + x617 = x120 * x586 + x618 = -x616 + x617 + x619 = x324 * x583 + x620 = x322 * x586 + x621 = -x619 + x620 + x622 = x324 * x574 + x623 = x322 * x573 + x624 = -x622 + x623 + x625 = x322 * x583 + x626 = x324 * x586 + x627 = -x625 - x626 + x628 = -x613 - x614 + x629 = -0.21038 * x355 + 0.21038 * x359 + x630 = -0.21038 * x336 + 0.21038 * x340 + x631 = 0.21038 * x213 + 0.21038 * x216 + x632 = -0.21038 * x125 + 0.21038 * x130 + x633 = x565 + x566 + x634 = 0.006375 * x7 + x635 = -x220 * x634 + x631 + x636 = 0.20843 * x48 + x637 = x118 * x552 + x638 = x119 * x636 - x127 * x634 - x637 + x639 = x120 * x579 + x640 = -x118 * x622 + x118 * x623 + x639 + x641 = 0.5006 * x640 + x642 = -x581 - x582 + x643 = x538 + x539 + x644 = x118 * x579 + x645 = x47 * x644 + x646 = x441 * x574 + x446 * x573 + x645 + x647 = x45 * x583 + x648 = x47 * x616 + x649 = x47 * x617 + x650 = x647 + x648 - x649 + x651 = -x569 + x633 + x652 = 0.20843 * x561 + x653 = x349 * x551 + x654 = x347 * x634 + x441 * x652 + x653 + x655 = x328 * x551 + x656 = -x323 * x634 + x446 * x652 + x655 + x657 = x328 * x573 + x658 = x349 * x574 + x659 = x45 * x644 + x660 = x657 + x658 - x659 + x661 = x45 * x616 + x662 = x45 * x617 + x663 = x584 - x661 + x662 + x664 = x322 * x540 + x665 = x324 * x610 + x666 = x324 * x611 + x667 = x664 - x665 - x666 + x668 = x324 * x540 + x669 = x322 * x610 + x670 = x322 * x611 + x671 = x668 + x669 + x670 + x672 = x120 * x622 + x673 = x120 * x623 + x674 = -x644 - x672 + x673 + x675 = -x351 * x634 + x629 + x676 = -x330 * x634 + x630 + x677 = -x123 * x634 + x632 + x678 = x120 * x552 + x679 = -x119 * x634 - x127 * x636 + x678 + x680 = 1.0e-6 * x49 + x681 = x136 * x48 + x682 = x680 - x681 + x683 = -0.00965 * x377 - 0.00965 * x378 + x682 + x684 = -0.045483 * x199 - 0.00965 * x317 + 0.00965 * x318 + 0.045483 * x49 + x685 = 1.0e-6 * x118 + x686 = x104 * x685 + x687 = 0.045483 * x120 + x688 = x104 * x687 + x689 = 0.045483 * x378 + x690 = 1.0e-6 * x318 + x691 = -x686 + x688 + x689 + x690 + x692 = x47 * x691 + x693 = x123 * x684 + x220 * x683 + x24 * x692 + x694 = -0.063883 * x199 + 0.063883 * x49 + 0.009432 * x543 + x695 = x45 * x694 + x696 = x7 * x99 + x697 = -0.063883 * x104 - 0.063883 * x237 + x696 + x698 = x47 * x697 + x699 = 0.009432 * x104 + x700 = 0.009432 * x26 + x701 = x103 * x700 + x702 = x682 + x699 + x701 + x703 = x26 * x702 + x704 = x24 * x695 - x24 * x698 + x703 + x705 = x129 * x684 + x706 = x215 * x683 + x707 = x26 * x692 + x708 = x705 + x706 + x707 + x709 = x26 * x695 + x710 = x26 * x698 + x711 = x24 * x702 + x712 = x709 - x710 - x711 + x713 = x695 - x698 + x714 = x118 * x684 + x120 * x683 + x715 = 0.6781 * x714 + x716 = x118 * x683 + x717 = x120 * x684 + x718 = -x716 + x717 + x719 = x45 * x697 + x720 = x47 * x694 + x721 = -x719 - x720 + x722 = x686 - x688 - x689 - x690 + x723 = x47 * x716 + x724 = x47 * x717 + x725 = x45 * x691 + x726 = x723 - x724 + x725 + x727 = x45 * x716 + x728 = x45 * x717 + x729 = x692 - x727 + x728 + x730 = 0.075478 * x5 + x731 = -0.015006 * x543 + x730 + x732 = 1.8e-5 * x5 + x733 = -0.015006 * x561 - x732 + x734 = x24 * x731 + x26 * x733 + x735 = x26 * x731 + x736 = x24 * x733 + x737 = x735 - x736 + x738 = x26 * x536 + x739 = -x24 * x541 + x24 * x546 + x738 + x740 = x7**2 + x741 = x217 * x579 + x742 = x341 * x573 + x743 = x360 * x574 + x744 = x206 * x583 + x745 = x217 * x585 + x746 = x131 * x586 + x747 = x26 * x740 + x748 = x24 * x5 + x749 = x5 * x592 + x750 = x217 * x683 + x751 = x206 * x691 + x752 = x131 * x684 + x753 = x5 * x711 + x754 = x51 * x694 + x755 = x106 * x697 + x756 = x67 * x7 + x757 = x69 * x7 + x758 = x756 + x757 + x759 = x7 * x758 + x760 = x5 * x735 + x761 = x5 * x736 + x762 = x5 * x537 + x763 = x106 * x540 + x764 = x51 * x545 + x765 = x335 * x573 + x354 * x574 - x645 + x766 = -x647 - x648 + x649 + x767 = x719 + x720 + x768 = -x723 + x724 - x725 + x769 = -x756 - x757 + x770 = x558 + x559 + x771 = x5 * x8 + x772 = 1.1787 * x536 + x773 = 0.006641 * x7 + x774 = 4.4e-5 * x5 + x775 = x773 - x774 + x776 = 0.6781 * x60 + x777 = 0.0038888565277 * x3 + x778 = 0.004999825 * x3 + x779 = 0.0118371 * x7 + x780 = 0.0043228875 * x7 + x781 = 0.0075142125 * x7 + x782 = x26 * x5 + x783 = ( + 0.0136723 * x1 * x775 - 9.550037552e-7 * x1 - - x105 * x708 - + 1.1636 * x12 * x704 - + 0.3819772992 * x14 - + x143 * x504 - - 0.390633584 * x153 - + 0.390633584 * x155 - + x164 * x509 - + x166 * x635 - + x171 * x638 - + x174 * x641 - + 1.17265812 * x19 - + x191 * x538 - - 0.3819772992 * x21 - + 0.195695476 * x217 - - 0.195695476 * x218 - + x248 * x536 - + x248 * x540 - - x252 * x710 - + 0.387012824 * x26 * x33 - + x271 * x629 - + x273 * x541 - + x280 * x628 - + x284 * x632 + - x113 * x779 + + 1.1636 * x12 * x775 + + 0.3819772992 * x15 + + x157 * x540 + - 0.390633584 * x181 + + 0.390633584 * x182 + + x186 * x545 + + x187 * x694 + + x188 * x697 + + x194 * x702 + + 1.17265812 * x20 + + x212 * x583 + - 0.3819772992 * x22 + + 0.195695476 * x241 + - 0.195695476 * x242 + + 0.387012824 * x26 * x36 + + x269 * x579 + + x269 * x585 + - x276 * x781 - 0.012618092064064 * x3 - - 0.247974906 * x336 - - 0.002080193929 * x35 * x675 - - x351 * x709 - - 0.142658678 * x372 - + x395 * x534 - + x402 * x535 - + x424 * x536 - + x424 * x540 - + x501 * x86 - + x512 * x77 - + x54 * x703 - - x6 * x706 - + x641 * x705 - + x665 * x76 - + x667 * x79 - - x675 * x706 - + x691 * x84 - - x692 * x707 - - 0.08141975791312 * x711 * x8 + + x302 * x684 + + x303 * x586 + + x304 * x683 + + x305 * x691 + - 0.247974906 * x363 + - 0.002080193929 * x38 * x740 + - x381 * x780 + - 0.142658678 * x399 + + x432 * x573 + + x434 * x574 + + x454 * x579 + + x454 * x585 + + x536 * x96 + + x551 * x87 + - x6 * x777 + + x60 * x772 + + x702 * x776 + + x731 * x86 + + x733 * x90 + - x740 * x777 + + x758 * x97 + - x759 * x778 + - 0.08141975791312 * x782 * x8 - 0.00020876371875 * x8 ) - x713 = x24**2 - x714 = x43 * x713 - x715 = x135 * x148 - x716 = 0.10593 * x148 - x717 = -x499 + x716 - x718 = x26 * x43 * x717 - x26 * x715 - 0.00017505 * x714 - x719 = x43 * x717 - x720 = -x715 + x719 - x721 = x43**2 - x722 = 0.10593 * x721 - x723 = x24 * x722 - x724 = x45 * x717 + x723 - x725 = -x724 - x726 = 0.006375 * x26 - x727 = 0.20843 * x207 + x45 * x726 - x728 = 0.20843 * x148 - x43 * x726 - x729 = ( - 0.029798 * x114 * x26 * x300 - + 0.011402 * x116 * x26 - - 0.011402 * x203 - - 0.029798 * x322 - ) - x730 = 0.000281 * x203 + 0.029798 * x299 + 0.029798 * x303 - 0.000281 * x587 - x731 = 0.000281 * x300 - x732 = 0.011402 * x298 - x733 = x115 * x731 + x115 * x732 - 0.000281 * x24 * x321 + 0.011402 * x303 - x734 = -x733 - x735 = x204 * x734 + x304 * x729 + x323 * x730 - x736 = 0.10593 * x115 - x737 = x117 * x135 + x736 - x738 = -x737 - x739 = x45 * x738 - x740 = 0.00017505 * x115 + 0.00017505 * x118 - x741 = 0.00017505 * x203 - x742 = -0.00017505 * x587 + x716 + x741 - x743 = x119 * x742 + x204 * x740 + x24 * x739 - x744 = 0.006375 * x713 - x745 = -x544 - x744 - x746 = x331 * x730 - x747 = x313 * x729 - x748 = x199 * x734 - x749 = x746 + x747 + x748 - x750 = x26 * x739 - x751 = x199 * x740 - x752 = x123 * x742 - x753 = x750 + x751 + x752 - x754 = x116 * x717 - x755 = x741 + x754 - x756 = x116 * x740 - x757 = x114 * x742 + x756 - x758 = 0.5006 * x757 - x759 = x114 * x740 - x760 = x116 * x742 - x759 - x761 = x300 * x738 - x762 = x298 * x742 - x761 - x763 = x300 * x730 - x764 = x298 * x729 - x763 - x765 = x298 * x730 + x300 * x729 - x766 = x114 * x717 - x767 = 0.00017505 * x116 * x24 * x43 - x766 - x768 = x298 * x738 - x769 = x300 * x742 - x770 = -x768 - x769 - x771 = -x765 - x772 = 0.006375 * x117 + 0.006375 * x198 - x773 = 0.20843 * x45 - x774 = -x122 * x773 + x772 - x775 = x298 * x729 - x776 = x116 * x734 - x777 = -x114 * x763 + x114 * x775 + x776 - x778 = 0.5006 * x777 - x779 = x43 * x587 - x780 = 0.006375 * x122 - 0.006375 * x779 - x781 = x114 * x734 - x782 = x45 * x781 - x783 = x326 * x730 + x416 * x729 + x782 - x784 = x43 * x738 - x785 = x116 * x742 - x786 = x45 * x759 - x45 * x785 + x784 - x787 = -x727 - x788 = 0.006375 * x329 + 0.006375 * x330 - x789 = -x788 - x790 = -0.006375 * x114 * x24 * x298 + 0.006375 * x312 - x791 = -x790 - x792 = x302 * x729 - x793 = x321 * x730 - x794 = x43 * x781 - x795 = x792 + x793 - x794 - x796 = x43 * x759 - x797 = x43 * x785 - x798 = x739 - x796 + x797 - x799 = x116 * x763 - x800 = x116 * x298 * x729 - x781 - x799 - x801 = x117 * x773 + x780 - x802 = 0.20843 * x24 - x803 = -x326 * x802 - x788 - x804 = -x416 * x802 - x790 - x805 = x298 * x43 - x806 = 0.00017505 * x122 - x807 = x298 * x754 - x808 = 0.10593 * x24 * x306 + x805 * x806 + x807 - x809 = x300 * x754 - x810 = 0.10593 * x24 * x298 * x43 - x306 * x806 - x809 - x811 = ( - -1.0e-6 * x114 * x24 * x43 - + 0.045483 * x115 - + 0.045483 * x117 * x43 - + 1.0e-6 * x587 - ) - x812 = -x811 - x813 = x45 * x812 - x814 = 0.045483 * x148 + 0.00965 * x203 - 0.00965 * x587 - x815 = x24 * x278 - x816 = 0.00965 * x115 + 0.00965 * x118 + x815 - x817 = x119 * x814 + x204 * x816 + x24 * x813 - x818 = -x172 * x24 + x815 - x819 = x26 * x818 - x820 = 0.063883 * x148 + x640 - x821 = x43 * x820 - x822 = x111 + 0.063883 * x207 - x823 = x45 * x822 - x824 = x24 * x821 - x24 * x823 + x819 - x825 = x26 * x813 - x826 = x123 * x814 - x827 = x199 * x816 - x828 = x825 + x826 + x827 - x829 = x24 * x818 - x830 = x26 * x823 - x831 = x26 * x43 * x820 - x829 - x830 - x832 = x821 - x823 - x833 = x114 * x814 + x116 * x816 - x834 = 0.6781 * x85 - x835 = x114 * x816 - x836 = x116 * x814 - x835 - x837 = x43 * x822 + x45 * x820 - x838 = -x837 - x839 = x116 * x814 - x840 = x43 * x812 - x841 = x45 * x835 - x45 * x839 + x840 - x842 = x43 * x839 - x843 = x43 * x835 - x844 = x813 + x842 - x843 - x845 = 0.015006 * x713 - x846 = 0.015006 * x543 - x847 = -x845 - x846 - x848 = -x135 * x45 * x713 + x207 * x499 + x24 * x719 - x849 = x201 * x734 - x850 = x315 * x729 - x851 = x333 * x730 - x852 = x101 * x738 - x853 = x201 * x740 - x854 = x125 * x742 - x855 = x3 * x7 - x856 = x5 * x829 - x857 = x47 * x820 - x858 = x102 * x822 - x859 = x101 * x812 - x860 = x125 * x814 - x861 = x201 * x816 - x862 = 0.075478 * x24 - 1.8e-5 * x26 - x863 = -x862 - x864 = 0.00017505 * x713 - x865 = x135 * x24 - x866 = x47 * x717 - x867 = x309 * x729 + x327 * x730 - x782 - x868 = -x786 - x869 = -x841 - x870 = 0.053028558 * x24 - x871 = 0.071831133 * x24 - x872 = 1.109031463125e-6 * x57 - x873 = 0.387012824 * x24 - x874 = 0.000206331435 * x43 - x875 = 0.124859691 * x24 - x876 = x7 * x863 - x877 = ( - x132 * x874 - + 0.0236742 * x132 - + 0.0198886062 * x145 - - 0.0236742 * x154 - + x164 * x717 - + x166 * x820 - + x171 * x822 - + x174 * x818 - + x191 * x738 - + x210 * x875 - - 0.0198886062 * x215 - + x248 * x734 - + x248 * x740 + x784 = x24**2 + x785 = x45 * x784 + x786 = x142 * x164 + x787 = 0.10593 * x164 + x788 = -x534 + x787 + x789 = x45 * x788 + x790 = x26 * x789 + x791 = -x26 * x786 - 0.00017505 * x785 + x790 + x792 = -x786 + x789 + x793 = x45**2 + x794 = 0.10593 * x793 + x795 = x24 * x794 + x796 = x47 * x788 + x797 = -x795 - x796 + x798 = 0.20843 * x226 + x799 = 0.006375 * x26 + x800 = x47 * x799 + x801 = x798 + x800 + x802 = 0.20843 * x164 - x45 * x799 + x803 = 0.011402 * x127 - 0.011402 * x219 + 0.029798 * x347 - 0.029798 * x350 + x804 = -0.000281 * x127 + 0.000281 * x219 + 0.029798 * x323 + 0.029798 * x329 + x805 = 0.000281 * x324 + x806 = x119 * x805 + x807 = 0.011402 * x322 + x808 = x119 * x807 + x809 = 0.011402 * x329 + x810 = 0.000281 * x350 + x811 = -x806 - x808 - x809 + x810 + x812 = x220 * x811 + x330 * x803 + x351 * x804 + x813 = 0.10593 * x119 + x814 = x121 * x142 + x815 = -x813 - x814 + x816 = x47 * x815 + x817 = 0.00017505 * x122 + x818 = 0.00017505 * x119 + x817 + x819 = 0.00017505 * x219 + x820 = -0.00017505 * x127 + x787 + x819 + x821 = x123 * x820 + x220 * x818 + x24 * x816 + x822 = 0.006375 * x784 + x823 = -x589 - x822 + x824 = x358 * x804 + x825 = x339 * x803 + x826 = x215 * x811 + x827 = x824 + x825 + x826 + x828 = x26 * x816 + x829 = x215 * x818 + x830 = x129 * x820 + x831 = x828 + x829 + x830 + x832 = x120 * x788 + x833 = x819 + x832 + x834 = x120 * x818 + x835 = x118 * x820 + x834 + x836 = 0.5006 * x835 + x837 = x118 * x818 + x838 = x120 * x820 + x839 = -x837 + x838 + x840 = x324 * x815 + x841 = x322 * x820 + x842 = -x840 + x841 + x843 = x324 * x804 + x844 = x322 * x803 + x845 = -x843 + x844 + x846 = x322 * x804 + x847 = x324 * x803 + x848 = x846 + x847 + x849 = x118 * x788 + x850 = x817 - x849 + x851 = x322 * x815 + x852 = x324 * x820 + x853 = -x851 - x852 + x854 = -x846 - x847 + x855 = 0.006375 * x121 + 0.006375 * x214 + x856 = 0.20843 * x47 + x857 = -x126 * x856 + x855 + x858 = x120 * x811 + x859 = -x118 * x843 + x118 * x844 + x858 + x860 = 0.5006 * x859 + x861 = x813 + x814 + x862 = 0.006375 * x126 - 0.006375 * x128 + x863 = x118 * x811 + x864 = x47 * x863 + x865 = x441 * x804 + x446 * x803 + x864 + x866 = x45 * x815 + x867 = x47 * x837 + x868 = x47 * x838 + x869 = x866 + x867 - x868 + x870 = -x798 - x800 + x871 = -0.006375 * x356 - 0.006375 * x357 + x872 = 0.006375 * x337 - 0.006375 * x338 + x873 = x328 * x803 + x874 = x349 * x804 + x875 = x45 * x863 + x876 = x873 + x874 - x875 + x877 = x45 * x837 + x878 = x45 * x838 + x879 = x816 - x877 + x878 + x880 = x120 * x843 + x881 = x120 * x844 + x882 = -x863 - x880 + x881 + x883 = x121 * x856 + x862 + x884 = 0.20843 * x24 + x885 = -x441 * x884 + x871 + x886 = -x446 * x884 + x872 + x887 = 0.10593 * x24 + x888 = 0.00017505 * x126 + x889 = x322 * x832 + x890 = x326 * x888 + x332 * x887 + x889 + x891 = x324 * x832 + x892 = x326 * x887 - x332 * x888 - x891 + x893 = 0.045483 * x119 + x894 = 1.0e-6 * x127 + x895 = 1.0e-6 * x45 + x896 = x126 * x895 + x897 = 0.045483 * x45 + x898 = x121 * x897 + x899 = -x893 - x894 + x896 - x898 + x900 = x47 * x899 + x901 = -0.00965 * x127 + 0.045483 * x164 + 0.00965 * x219 + x902 = x189 * x24 + x903 = 0.00965 * x119 + 0.00965 * x122 + x902 + x904 = x123 * x901 + x220 * x903 + x24 * x900 + x905 = x191 * x24 + x906 = x902 - x905 + x907 = x26 * x906 + x908 = 0.063883 * x164 + x700 + x909 = x45 * x908 + x910 = x136 + 0.063883 * x226 + x911 = x47 * x910 + x912 = x24 * x909 - x24 * x911 + x907 + x913 = x26 * x900 + x914 = x129 * x901 + x915 = x215 * x903 + x916 = x913 + x914 + x915 + x917 = x26 * x909 + x918 = x24 * x906 + x919 = x26 * x911 + x920 = x917 - x918 - x919 + x921 = x909 - x911 + x922 = x118 * x901 + x120 * x903 + x923 = 0.6781 * x94 + x924 = x120 * x901 + x925 = x118 * x903 + x926 = x924 - x925 + x927 = x47 * x908 + x928 = x45 * x910 + x929 = -x927 - x928 + x930 = x893 + x894 - x896 + x898 + x931 = x47 * x925 + x932 = x47 * x924 + x933 = x45 * x899 + x934 = x931 - x932 + x933 + x935 = x45 * x924 + x936 = x45 * x925 + x937 = x900 + x935 - x936 + x938 = 0.015006 * x784 + x939 = 0.015006 * x588 + x940 = -x938 - x939 + x941 = -x142 * x47 * x784 + x226 * x534 + x24 * x789 + x942 = x217 * x811 + x943 = x341 * x803 + x944 = x360 * x804 + x945 = x206 * x815 + x946 = x217 * x818 + x947 = x131 * x820 + x948 = x3 * x7 + x949 = x5 * x918 + x950 = x51 * x908 + x951 = x106 * x910 + x952 = x206 * x899 + x953 = x131 * x901 + x954 = x217 * x903 + x955 = 0.075478 * x24 + x956 = 1.8e-5 * x26 + x957 = -x955 + x956 + x958 = x7 * x957 + x959 = 0.00017505 * x784 + x960 = x142 * x24 + x961 = x51 * x788 + x962 = x335 * x803 + x354 * x804 - x864 + x963 = -x866 - x867 + x868 + x964 = x927 + x928 + x965 = -x931 + x932 - x933 + x966 = x955 - x956 + x967 = x795 + x796 + x968 = 0.053028558 * x24 + x969 = 0.071831133 * x24 + x970 = 1.109031463125e-6 * x57 + x971 = 0.387012824 * x24 + x972 = 0.000206331435 * x45 + x973 = 0.124859691 * x24 + x974 = ( + x151 * x972 + + 0.0236742 * x151 + - 0.0236742 * x152 + - 0.0198886062 * x159 + + 0.0198886062 * x160 + + x186 * x788 + + x187 * x908 + + x188 * x910 + + x194 * x906 + + x212 * x815 + + x229 * x973 + 0.002080193929 * x25 * x7 - - 0.0075142125 * x253 * x26 - - 0.0043228875 * x26 * x350 - + x262 * x874 - + 0.015028425 * x262 - + 0.0075142125 * x263 - + x271 * x814 - + x273 * x742 - + x280 * x816 - + x284 * x812 + + x269 * x811 + + x269 * x818 + 0.0012075857869362 * x3 - - x32 * x873 - + 0.08141975791312 * x36 - + 0.0043228875 * x360 - + 0.008645775 * x361 - + x395 * x729 - + x402 * x730 - - 0.003191325 * x410 - + x424 * x734 - + x424 * x740 - - 0.0043228875 * x465 - + x705 * x818 - - x707 * x876 - + x84 * x863 + + x302 * x901 + + x303 * x820 + + x304 * x903 + + x305 * x899 + + x306 * x972 + + 0.015028425 * x306 + + 0.0075142125 * x307 + - 0.0075142125 * x308 + - x35 * x971 + + 0.0043228875 * x385 + - 0.0043228875 * x386 + + 0.008645775 * x387 + + 0.08141975791312 * x39 + + x432 * x803 + + x434 * x804 + - 0.003191325 * x435 + + x454 * x811 + + x454 * x818 + - 0.0043228875 * x497 + + x776 * x906 + - x778 * x958 + + x957 * x97 ) - x878 = x45**2 - x879 = 0.10593 * x878 - x880 = x722 + x879 - x881 = 0.00017505 * x148 + x26 * x722 + x26 * x879 - x882 = 0.00017505 * x294 - x883 = 0.00017505 * x245 - x884 = 0.10593 * x43 - x883 - x885 = x117 * x879 + x119 * x884 - x204 * x882 - x886 = 0.000281 * x116 - x887 = 0.011402 * x116 - x888 = x301 * x886 + 0.011402 * x306 + x307 * x887 - 0.000281 * x805 - x889 = 0.011402 * x245 - 0.029798 * x325 + 0.029798 * x805 - x890 = -0.000281 * x245 - 0.029798 * x306 - 0.029798 * x308 - x891 = x204 * x888 + x304 * x889 + x323 * x890 - x892 = x123 * x884 - x893 = -x199 * x882 + x587 * x879 + x892 - x894 = x199 * x888 - x895 = x313 * x889 - x896 = x331 * x890 - x897 = x894 + x895 + x896 - x898 = x116 * x884 - x899 = x114 * x882 + x898 - x900 = x298 * x884 - x901 = -0.10593 * x325 + x900 - x902 = x116**2 - x903 = 0.00017505 * x902 - x904 = x45 * x903 - x905 = x114 * x884 - x904 - x906 = 0.5006 * x905 - x907 = x300 * x890 - x908 = x298 * x889 - x907 - x909 = x298 * x890 + x300 * x889 - x910 = x300 * x884 - x911 = -0.10593 * x308 - x910 - x912 = -x909 - x913 = x114 * x135 - x914 = -x882 - x913 - x915 = x298 * x889 - x916 = x116 * x888 - x917 = -x114 * x907 + x114 * x915 + x916 - x918 = 0.5006 * x917 - x919 = 0.10593 * x116 * x43 - x883 - x920 = x114 * x888 - x921 = x45 * x920 - x922 = x326 * x890 + x416 * x889 + x921 - x923 = 0.00017505 * x114 - x924 = x116 * x878 - x925 = -0.10593 * x116 * x43 * x45 + x45 * x898 + x923 * x924 - x926 = -x925 - x927 = -0.20843 * x307 - 0.20843 * x320 - x928 = 0.20843 * x116 * x298 * x43 - 0.20843 * x301 - x929 = x43 * x920 - x930 = x302 * x889 - x931 = x321 * x890 - x932 = -x929 + x930 + x931 - x933 = x116 * x907 - x934 = x116 * x298 * x889 - x920 - x933 - x935 = x114 * x43 - x936 = x43 * x898 - x937 = x116 * x879 + x882 * x935 + x936 - x938 = 0.00017505 * x114 * x300 * x45 - 0.10593 * x307 - 0.10593 * x320 - x939 = 0.10593 * x116 * x298 * x43 - 0.10593 * x301 - x307 * x923 - x940 = 0.063883 * x878 - x941 = 0.063883 * x721 - x942 = 1.0e-6 * x43 - x943 = 0.009432 * x45 + x942 - x944 = x26 * x943 - x945 = x24 * x940 + x24 * x941 + x944 - x946 = x114 * x278 - 0.045483 * x116 * x45 - x947 = -x946 - x948 = x45 * x947 - x949 = -0.00965 * x245 + 0.045483 * x43 - x950 = -0.00965 * x294 + x942 - x951 = x119 * x949 + x204 * x950 + x24 * x948 - x952 = x940 + x941 - x953 = x26 * x948 - x954 = x123 * x949 - x955 = x199 * x950 - x956 = x953 + x954 + x955 - x957 = x24 * x943 - x958 = x26 * x940 + x26 * x941 - x957 - x959 = x114 * x949 + x116 * x950 - x960 = x116 * x949 - x961 = x114 * x950 - x962 = x960 - x961 - x963 = x43 * x947 - x964 = -x45 * x960 + x45 * x961 + x963 - x965 = x43 * x960 - x966 = x43 * x961 - x967 = x948 + x965 - x966 - x968 = x59 + x60 - x969 = x24 * x879 - x45 * x499 + x723 - x970 = 0.10593 * x294 - x971 = x125 * x884 - x972 = x201 * x888 - x973 = x315 * x889 - x974 = x333 * x890 - x975 = x101 * x947 - x976 = x125 * x949 - x977 = x201 * x950 - x978 = x5 * x957 - x979 = 0.063883 * x45 - x980 = 0.10593 * x45 - x981 = 0.00017505 * x46 - x982 = x26 * x8 - x983 = x309 * x889 + x327 * x890 - x921 - x984 = -x964 - x985 = 0.00028502849925 * x192 - x986 = 0.053028558 * x116 - x987 = 0.000206331435 * x45 - x988 = 8.763003e-5 * x45 - x989 = ( - x174 * x943 - - 0.370536132 * x231 - + x248 * x888 - - 0.1846554453 * x249 + x975 = x47**2 + x976 = 0.10593 * x975 + x977 = x794 + x976 + x978 = 0.00017505 * x164 + x26 * x794 + x26 * x976 + x979 = 0.00017505 * x344 + x980 = -0.00017505 * x266 + x981 = x142 + x980 + x982 = x121 * x976 + x123 * x981 - x220 * x979 + x983 = 0.011402 * x332 + x984 = 0.000281 * x326 + x985 = 0.000281 * x120 + x986 = x325 * x985 + x987 = 0.011402 * x120 + x988 = x333 * x987 + x989 = x983 - x984 + x986 + x988 + x990 = 0.011402 * x266 + 0.029798 * x326 - 0.029798 * x353 + x991 = -0.000281 * x266 - 0.029798 * x332 - 0.029798 * x334 + x992 = x220 * x989 + x330 * x990 + x351 * x991 + x993 = x129 * x981 + x994 = x127 * x976 - x215 * x979 + x993 + x995 = x215 * x989 + x996 = x339 * x990 + x997 = x358 * x991 + x998 = x995 + x996 + x997 + x999 = x120 * x981 + x1000 = x118 * x979 + x999 + x1001 = x322 * x981 + x1002 = x1001 - 0.10593 * x353 + x1003 = x120**2 + x1004 = 0.00017505 * x1003 + x1005 = x1004 * x47 + x1006 = -x1005 + x1007 = x1006 + x118 * x981 + x1008 = 0.5006 * x1007 + x1009 = x322 * x990 + x1010 = x324 * x991 + x1011 = x1009 - x1010 + x1012 = x322 * x991 + x1013 = x324 * x990 + x1014 = x1012 + x1013 + x1015 = x324 * x981 + x1016 = -x1015 - 0.10593 * x334 + x1017 = -x1012 - x1013 + x1018 = x118 * x142 + x1019 = -x1018 + x1020 = x1019 - x979 + x1021 = x120 * x989 + x1022 = x1009 * x118 - x1010 * x118 + x1021 + x1023 = 0.5006 * x1022 + x1024 = x120 * x142 + x980 + x1025 = x118 * x989 + x1026 = x1025 * x47 + x1027 = x1026 + x441 * x991 + x446 * x990 + x1028 = x142 * x344 + x1029 = 0.00017505 * x118 + x1030 = x120 * x975 + x1031 = x1029 * x1030 + x1032 = x47 * x999 + x1033 = x1028 - x1031 - x1032 + x1034 = -0.20843 * x333 - 0.20843 * x348 + x1035 = -0.20843 * x325 + 0.20843 * x327 + x1036 = x1025 * x45 + x1037 = x328 * x990 + x1038 = x349 * x991 + x1039 = -x1036 + x1037 + x1038 + x1040 = x1009 * x120 + x1041 = x1010 * x120 + x1042 = -x1025 + x1040 - x1041 + x1043 = x118 * x45 + x1044 = x45 * x999 + x1045 = x1043 * x979 + x1044 + x120 * x976 + x1046 = x1029 * x325 - 0.10593 * x333 - 0.10593 * x348 + x1047 = -x1029 * x333 - 0.10593 * x325 + 0.10593 * x327 + x1048 = 0.063883 * x975 + x1049 = 0.063883 * x793 + x1050 = 0.009432 * x47 + x1051 = x1050 + x895 + x1052 = x1051 * x26 + x1053 = x1048 * x24 + x1049 * x24 + x1052 + x1054 = x118 * x189 + x1055 = x47 * x687 + x1056 = -x1054 + x1055 + x1057 = x1056 * x47 + x1058 = -0.00965 * x266 + x897 + x1059 = -0.00965 * x344 + x895 + x1060 = x1057 * x24 + x1058 * x123 + x1059 * x220 + x1061 = x1048 + x1049 + x1062 = x1057 * x26 + x1063 = x1058 * x129 + x1064 = x1059 * x215 + x1065 = x1062 + x1063 + x1064 + x1066 = x1051 * x24 + x1067 = x1048 * x26 + x1049 * x26 - x1066 + x1068 = x1058 * x118 + x1059 * x120 + x1069 = x1058 * x120 + x1070 = x1059 * x118 + x1071 = x1069 - x1070 + x1072 = x1054 - x1055 + x1073 = x1056 * x45 + x1074 = x1070 * x47 + x1075 = x1069 * x47 + x1076 = x1073 + x1074 - x1075 + x1077 = x1069 * x45 + x1078 = x1070 * x45 + x1079 = x1057 + x1077 - x1078 + x1080 = x67 + x69 + x1081 = x24 * x976 - x47 * x534 + x795 + x1082 = 0.10593 * x344 + x1083 = x131 * x981 + x1084 = x217 * x989 + x1085 = x341 * x990 + x1086 = x360 * x991 + x1087 = x1056 * x206 + x1088 = x1058 * x131 + x1089 = x1059 * x217 + x1090 = x1066 * x5 + x1091 = 0.063883 * x45 + x1092 = 0.063883 * x47 + x1093 = 0.10593 * x47 + x1094 = 0.00017505 * x48 + x1095 = x26 * x8 + x1096 = -x1026 + x335 * x990 + x354 * x991 + x1097 = -x1028 + x1031 + x1032 + x1098 = -x1073 - x1074 + x1075 + x1099 = 0.00028502849925 * x208 + x1100 = 0.053028558 * x120 + x1101 = 0.000206331435 * x47 + x1102 = 8.763003e-5 * x47 + x1103 = ( + x1051 * x194 + + x1051 * x776 + + x1056 * x305 + + x1058 * x302 + + x1059 * x304 + + x1100 * x412 + - x1101 * x60 + - x1101 * x94 + - x1102 * x371 + - x1102 * x511 - 2.512544616e-7 * x25 - + 0.370536132 * x253 - + x271 * x949 - + x273 * x884 - + x280 * x950 - + x284 * x947 - - x344 * x988 - - 0.0040207725448136 * x35 - + 0.1846554453 * x350 - + x383 * x986 - - 0.104340058 * x384 - + 0.104340058 * x385 - + x395 * x889 - + x402 * x890 - + x424 * x888 - - 0.141336383 * x458 - + 0.141336383 * x459 - - x477 * x988 - - 0.104340058 * x488 - - x54 * x987 - + x705 * x943 + - 0.370536132 * x261 + + 0.370536132 * x262 + + x269 * x989 + - 0.1846554453 * x272 + + 0.1846554453 * x273 + + x303 * x981 + - 0.0040207725448136 * x38 + - 0.104340058 * x413 + + 0.104340058 * x414 + + x432 * x990 + + x434 * x991 + + x454 * x989 + - 0.141336383 * x489 + + 0.141336383 * x490 + - 0.104340058 * x523 + 0.0942803660835216 * x8 - - x85 * x987 - ) - x990 = 0.053028558 * x114 - x991 = x114 * x731 + x114 * x732 - x992 = -x991 - x993 = x114 * x300 - x994 = x887 + 0.029798 * x993 - x995 = x114 * x298 - x996 = -x886 + 0.029798 * x995 - x997 = x204 * x992 + x304 * x994 + x323 * x996 - x998 = 0.00017505 * x116 - x999 = 0.00017505 * x114 * x204 - x119 * x998 - x122 * x980 - x1000 = x114**2 - x1001 = 0.00017505 * x1000 - x1002 = -x1001 - x903 - x1003 = x199 * x992 - x1004 = x313 * x994 - x1005 = x331 * x996 - x1006 = x1003 + x1004 + x1005 - x1007 = 0.00017505 * x114 * x199 - x123 * x998 - x45 * x736 - x1008 = x298 * x994 - x1009 = x300 * x996 - x1010 = x1008 - x1009 - x1011 = x298 * x996 + x300 * x994 - x1012 = -x1011 - x1013 = x116 * x992 - x1014 = x1008 * x114 - x1009 * x114 + x1013 - x1015 = 0.5006 * x1014 - x1016 = x300 * x998 + 0.10593 * x995 - x1017 = -x298 * x998 + 0.10593 * x993 - x1018 = x114 * x992 - x1019 = x1018 * x45 - x1020 = x1019 + x326 * x996 + x416 * x994 - x1021 = x1001 * x45 + x904 - x913 - x1022 = x1018 * x43 - x1023 = x302 * x994 - x1024 = x321 * x996 - x1025 = -x1022 + x1023 + x1024 - x1026 = x1009 * x116 - x1027 = -x1018 - x1026 + x116 * x298 * x994 - x1028 = -x1001 * x43 - 0.10593 * x245 - x43 * x903 - x1029 = -x818 - x1030 = 0.045483 * x114 + 1.0e-6 * x116 - x1031 = -x1030 - x1032 = x1031 * x45 - x1033 = 0.00965 * x116 - x1034 = 0.00965 * x114 - x1035 = x1032 * x24 - x1033 * x119 + x1034 * x204 - x1036 = -x278 + 0.009432 * x43 - x1037 = -x943 - x1038 = 0.00965 * x1000 - x1039 = 0.00965 * x902 - x1040 = -x1038 - x1039 - x1041 = -x111 * x45 + 0.009432 * x26 * x43 - x1042 = x1032 * x26 - x1043 = -x1033 * x123 + x1034 * x199 + x1042 - x1044 = x1031 * x43 - x1045 = x1038 * x45 + x1039 * x45 + x1044 - x1046 = x1031 * x45 - x1038 * x43 - x1039 * x43 - x1047 = x201 * x992 - x1048 = x315 * x994 - x1049 = x333 * x996 - x1050 = 0.10593 * x114 - x1051 = x101 * x1031 - x1052 = -x1019 + x309 * x994 + x327 * x996 - x1053 = -x1021 - x1054 = -x1045 - x1055 = x10 * x45 - x1056 = x10 * x207 - x1057 = ( - -0.00013072870670405 * x103 - + x1031 * x284 - - 8.763003e-5 * x116 * x476 - - x190 * x990 - + x248 * x992 - + 0.000459361674330197 * x35 - - 0.000459361674330197 * x36 - + 0.00017526006 * x366 - - 0.00017526006 * x375 - + 0.006662366405 * x379 - + x395 * x994 - + x402 * x996 - + x424 * x992 - + 4.33190623e-8 * x44 - - 0.006662366405 * x444 - + 4.33190623e-8 * x48 - + 0.00017526006 * x480 - + 8.763003e-5 * x484 - + 0.00013072870670405 * x96 ) - x1058 = -0.000281 * x298 + 0.011402 * x300 - x1059 = 0.029798 * x298 - x1060 = 0.029798 * x300 - x1061 = x1058 * x204 + x1059 * x304 - x1060 * x323 - x1062 = x300**2 - x1063 = 0.029798 * x1062 - x1064 = x298**2 - x1065 = 0.029798 * x1064 - x1066 = x1063 + x1065 - x1067 = 0.10593 * x116 * x26 * x43 - 0.10593 * x122 - x1068 = x1058 * x199 - x1069 = x1059 * x313 - x1060 * x331 + x1068 - x1070 = x1058 * x116 - x1071 = x1063 * x114 + x1065 * x114 + x1070 - x1072 = 0.5006 * x1071 - x1073 = x1058 * x114 - x1074 = x1073 * x45 - x1075 = x1059 * x416 - x1060 * x326 + x1074 - x1076 = x1063 * x116 + x1065 * x116 - x1073 - x1077 = x1073 * x43 - x1078 = -x1060 * x321 - x1077 + 0.029798 * x298 * x302 - x1079 = 0.045483 * x116 - x630 - x1080 = -x115 * x942 + 0.045483 * x116 * x26 * x43 - 1.0e-6 * x117 - 0.045483 * x122 - x1081 = -x114 * x942 + 0.045483 * x116 * x43 - x1082 = x1058 * x201 - x1083 = -x1060 * x327 - x1074 + 0.029798 * x298 * x309 - x1084 = x10 * x294 - x1085 = ( - x1058 * x248 - + x1058 * x424 - + 6.543665e-9 * x120 - + 6.543665e-9 * x126 - + 0.008661102849889 * x194 - - 0.0005849081642729 * x202 - - 0.0005849081642729 * x205 - - 0.0679454368 * x474 - + 0.0679454368 * x476 - + 0.008661102849889 * x96 + x1104 = 0.053028558 * x118 + x1105 = x118 * x805 + x1106 = x118 * x807 + x1107 = -x1105 - x1106 + x1108 = x118 * x324 + x1109 = 0.029798 * x1108 + x987 + x1110 = x118 * x322 + x1111 = 0.029798 * x1110 - x985 + x1112 = x1107 * x220 + x1109 * x330 + x1111 * x351 + x1113 = 0.00017505 * x120 + x1114 = x1029 * x220 - x1093 * x126 - x1113 * x123 + x1115 = x118**2 + x1116 = 0.00017505 * x1115 + x1117 = -x1004 - x1116 + x1118 = x1107 * x215 + x1119 = x1109 * x339 + x1120 = x1111 * x358 + x1121 = x1118 + x1119 + x1120 + x1122 = x1029 * x215 - x1113 * x129 - x47 * x813 + x1123 = x1109 * x322 + x1124 = x1111 * x324 + x1125 = x1123 - x1124 + x1126 = x1109 * x324 + x1127 = x1111 * x322 + x1128 = x1126 + x1127 + x1129 = -x1126 - x1127 + x1130 = x1107 * x120 + x1131 = x1123 * x118 - x1124 * x118 + x1130 + x1132 = 0.5006 * x1131 + x1133 = 0.10593 * x1110 + x1113 * x324 + x1134 = 0.10593 * x1108 - x1113 * x322 + x1135 = x1107 * x118 + x1136 = x1135 * x47 + x1137 = x1109 * x446 + x1111 * x441 + x1136 + x1138 = x1116 * x47 + x1139 = x1005 + x1019 + x1138 + x1140 = x1135 * x45 + x1141 = x1109 * x328 + x1142 = x1111 * x349 + x1143 = -x1140 + x1141 + x1142 + x1144 = x1123 * x120 + x1145 = x1124 * x120 + x1146 = -x1135 + x1144 - x1145 + x1147 = -x1004 * x45 - x1116 * x45 - 0.10593 * x266 + x1148 = -x902 + x905 + x1149 = 0.045483 * x118 + x1150 = 1.0e-6 * x120 + x1151 = -x1149 - x1150 + x1152 = x1151 * x47 + x1153 = 0.00965 * x120 + x1154 = 0.00965 * x118 + x1155 = x1152 * x24 - x1153 * x123 + x1154 * x220 + x1156 = -x189 + x191 + x1157 = x1149 + x1150 + x1158 = -x1050 - x895 + x1159 = 0.00965 * x1115 + x1160 = 0.00965 * x1003 + x1161 = -x1159 - x1160 + x1162 = -x136 * x47 + x45 * x700 + x1163 = x1152 * x26 + x1164 = -x1153 * x129 + x1154 * x215 + x1163 + x1165 = x1159 * x47 + x1166 = x1160 * x47 + x1167 = x1151 * x45 + x1168 = x1165 + x1166 + x1167 + x1169 = x1152 - x1159 * x45 - x1160 * x45 + x1170 = x1107 * x217 + x1171 = x1109 * x341 + x1172 = x1111 * x360 + x1173 = 0.10593 * x118 + x1174 = x1151 * x206 + x1175 = x1109 * x335 + x1111 * x354 - x1136 + x1176 = x1006 + x1018 - x1138 + x1177 = -x1165 - x1166 - x1167 + x1178 = x10 * x47 + x1179 = x10 * x226 + x1180 = ( + 0.00013072870670405 * x102 + - 0.00013072870670405 * x107 + - x1104 * x205 + + x1107 * x269 + + x1107 * x454 + + x1109 * x432 + + x1111 * x434 + + x1151 * x305 + + 0.000459361674330197 * x38 + - 0.000459361674330197 * x39 + + 0.00017526006 * x392 + - 0.00017526006 * x393 + + 0.006662366405 * x406 + - 0.006662366405 * x407 + + 4.33190623e-8 * x46 + + 0.00017526006 * x514 + + 8.763003e-5 * x518 + - 8.763003e-5 * x519 + + 4.33190623e-8 * x52 ) - x1086 = -x1058 - x1087 = x731 + x732 - x1088 = -x122 * x731 - x122 * x732 + 0.011402 * x26 * x302 - 0.000281 * x330 - x1089 = x298 * x887 + x300 * x886 - x1090 = 0.5006 * x991 - x1091 = -x888 - x1092 = -0.011402 * x301 + x306 * x886 + 0.000281 * x307 + x805 * x887 - x1093 = ( - 0.000674120333239 * x202 - + 0.000674120333239 * x205 - - 1.1916429428e-6 * x305 - - 1.1916429428e-6 * x316 - - 5.20822520776e-5 * x324 - - 5.20822520776e-5 * x334 + x1181 = 0.011402 * x324 + x1182 = 0.000281 * x322 + x1183 = x1181 - x1182 + x1184 = 0.029798 * x322 + x1185 = 0.029798 * x324 + x1186 = x1183 * x220 + x1184 * x330 - x1185 * x351 + x1187 = x324**2 + x1188 = 0.029798 * x1187 + x1189 = x322**2 + x1190 = 0.029798 * x1189 + x1191 = x1188 + x1190 + x1192 = -0.10593 * x126 + x127 * x142 + x1193 = x1183 * x215 + x1194 = x1184 * x339 - x1185 * x358 + x1193 + x1195 = x1183 * x120 + x1196 = x118 * x1188 + x118 * x1190 + x1195 + x1197 = 0.5006 * x1196 + x1198 = x118 * x1183 + x1199 = x1198 * x47 + x1200 = x1184 * x446 - x1185 * x441 + x1199 + x1201 = x1188 * x120 + x1190 * x120 - x1198 + x1202 = x1198 * x45 + x1203 = x1184 * x328 - x1185 * x349 - x1202 + x1204 = -x685 + x687 + x1205 = -x119 * x895 - 1.0e-6 * x121 - 0.045483 * x126 + x127 * x897 + x1206 = -x118 * x895 + x120 * x897 + x1207 = x1183 * x217 + x1208 = x1184 * x335 - x1185 * x354 - x1199 + x1209 = x10 * x344 + x1210 = ( + 0.008661102849889 * x102 + + x1183 * x269 + + x1183 * x454 + + 6.543665e-9 * x124 + + 6.543665e-9 * x132 + + 0.008661102849889 * x210 + - 0.0005849081642729 * x218 + - 0.0005849081642729 * x221 + - 0.0679454368 * x508 + + 0.0679454368 * x509 ) - x1094 = 3.0e-6 * x448 + 3.0e-6 * x449 - x1095 = ( - -x1094 - + 0.000118 * x114 * x45 * x5 - - 0.000118 * x291 - - 0.000369 * x453 - - 0.000369 * x454 + x1211 = x806 + x808 + x809 - x810 + x1212 = -x1181 + x1182 + x1213 = x805 + x807 + x1214 = -x126 * x805 - x126 * x807 + 0.011402 * x338 - 0.000281 * x357 + x1215 = x322 * x987 + x324 * x985 + x1216 = x1105 + x1106 + x1217 = 0.5006 * x1216 + x1218 = -x983 + x984 - x986 - x988 + x1219 = -0.011402 * x325 + x326 * x987 + x332 * x985 + 0.000281 * x333 + x1220 = ( + 0.000674120333239 * x218 + + 0.000674120333239 * x221 + - 1.1916429428e-6 * x331 + - 1.1916429428e-6 * x342 + - 5.20822520776e-5 * x352 + - 5.20822520776e-5 * x361 ) - x1096 = ( - 3.0e-6 * x114 * x45 * x5 - - 3.0e-6 * x291 - - 0.000587 * x448 - - 0.000587 * x449 - - 3.0e-6 * x453 - - 3.0e-6 * x454 + x1221 = -3.0e-6 * x476 - 3.0e-6 * x477 + x1222 = ( + x1221 + 0.000118 * x317 - 0.000118 * x318 - 0.000369 * x484 - 0.000369 * x485 ) - x1097 = ( - 0.00041 * x114 * x45 * x5 - - 0.000278 * x182 - + 0.000278 * x26 * x45 * x7 - - 0.00041 * x291 + x1223 = ( + 3.0e-6 * x317 + - 3.0e-6 * x318 + - 0.000587 * x476 + - 0.000587 * x477 + - 3.0e-6 * x484 + - 3.0e-6 * x485 ) - x1098 = ( - -x1094 - + 0.000609 * x114 * x45 * x5 - - 0.000609 * x291 - - 0.000118 * x453 - - 0.000118 * x454 + x1224 = 0.000278 * x199 + 0.00041 * x317 - 0.00041 * x318 - 0.000278 * x49 + x1225 = ( + x1221 + 0.000609 * x317 - 0.000609 * x318 - 0.000118 * x484 - 0.000118 * x485 ) - x1099 = -0.001641 * x354 - 0.001641 * x355 - x1100 = 0.001641 * x182 - 0.001641 * x183 + 0.000278 * x291 - 0.000278 * x533 - x1101 = -0.001607 * x182 + 0.001607 * x183 + 0.000256 * x507 - x1102 = -0.001596 * x220 - 0.001596 * x99 - x1103 = 0.0005 * x5 - x1104 = -x1103 + x111 * x7 + 0.000631 * x507 - x1105 = 0.000256 * x26 - x1106 = x1105 * x46 - 0.000256 * x182 + 0.000399 * x507 - x1107 = -0.008147 * x522 - x637 - x1108 = 1.1787 * x512 - x1109 = 1.1787 * x509 - x1110 = 1.1787 * x504 - x1111 = 0.105316228 * x5 - x1112 = 0.390633584 * x5 - x1113 = 1.8568 * x512 - x1114 = 0.5006 * x512 - x1115 = 0.5006 * x541 - x1116 = 0.5006 * x538 - x1117 = 0.5006 * x509 - x1118 = 0.5006 * x534 - x1119 = 0.5006 * x504 - x1120 = 0.5006 * x535 - x1121 = 0.5006 * x540 - x1122 = 0.5006 * x536 - x1123 = 0.142658678 * x5 - x1124 = 0.6781 * x512 - x1125 = 0.6781 * x628 - x1126 = 0.6781 * x629 - x1127 = 0.6781 * x632 - x1128 = 0.6781 * x635 - x1129 = 0.6781 * x509 - x1130 = 0.6781 * x641 - x1131 = 0.6781 * x638 - x1132 = 0.6781 * x504 - x1133 = 0.195695476 * x5 - x1134 = 0.9302 * x665 - x1135 = 0.9302 * x667 - x1136 = 0.9302 * x691 - x1137 = 0.247974906 * x5 - x1138 = 0.003191325 * x7 - x1139 = 0.105316228 * x7 - x1140 = 0.142658678 * x7 - x1141 = 0.005930025 * x7 - x1142 = 0.195695476 * x7 - x1143 = 0.247974906 * x7 - x1144 = 0.008316 * x5 - 0.0005 * x507 - x1145 = 0.104340058 * x522 - x1146 = 0.141336383 * x522 - x1147 = 0.245676441 * x522 - x1148 = 0.003191325 * x522 - x1149 = 0.0118371 * x522 - x1150 = 0.0043228875 * x522 - x1151 = -x5 - x1152 = x182 - x183 - x1153 = 0.6781 * x501 - x1154 = 0.005426895410856 * x5 - x1155 = ( - x1109 * x717 - + x1115 * x742 - + x1116 * x738 - + x1118 * x729 - + x1120 * x730 - + x1121 * x734 - + x1121 * x740 - + x1122 * x734 - + x1122 * x740 - + x1125 * x816 - + x1126 * x814 - + x1127 * x812 - + x1128 * x820 - + x1130 * x818 - + x1131 * x822 - + x1136 * x863 - - x1154 * x543 - - x1154 * x713 - - 4.34080072953e-5 * x182 * x713 - - 1.315362898125e-6 * x220 * x24 - - 0.08081600593132 * x24 * x522 - - 0.0043228875 * x26 * x636 - - 0.0075142125 * x26 * x673 + x1226 = -0.001641 * x377 - 0.001641 * x378 + x1227 = -0.001641 * x199 - 0.000278 * x317 + 0.000278 * x318 + 0.001641 * x49 + x1228 = 0.001607 * x199 - 0.001607 * x49 + 0.000256 * x543 + x1229 = -0.001596 * x104 - 0.001596 * x237 + x1230 = 0.0005 * x5 + x1231 = -x1230 + x136 * x7 + 0.000631 * x543 + x1232 = 0.000256 * x26 + x1233 = x1232 * x48 - 0.000256 * x49 + 0.000399 * x543 + x1234 = -0.008147 * x561 - x696 + x1235 = 1.1787 * x551 + x1236 = 1.1787 * x545 + x1237 = 1.1787 * x540 + x1238 = 0.105316228 * x5 + x1239 = 0.390633584 * x5 + x1240 = 1.8568 * x551 + x1241 = 0.5006 * x551 + x1242 = 0.5006 * x586 + x1243 = 0.5006 * x583 + x1244 = 0.5006 * x545 + x1245 = 0.5006 * x573 + x1246 = 0.5006 * x540 + x1247 = 0.5006 * x574 + x1248 = 0.5006 * x585 + x1249 = 0.5006 * x579 + x1250 = 0.142658678 * x5 + x1251 = 0.6781 * x551 + x1252 = 0.6781 * x683 + x1253 = 0.6781 * x684 + x1254 = 0.6781 * x691 + x1255 = 0.6781 * x694 + x1256 = 0.6781 * x545 + x1257 = 0.6781 * x702 + x1258 = 0.6781 * x697 + x1259 = 0.6781 * x540 + x1260 = 0.195695476 * x5 + x1261 = 0.9302 * x731 + x1262 = 0.9302 * x733 + x1263 = 0.9302 * x758 + x1264 = 0.247974906 * x5 + x1265 = 0.003191325 * x7 + x1266 = 0.105316228 * x7 + x1267 = 0.142658678 * x7 + x1268 = 0.005930025 * x7 + x1269 = 0.195695476 * x7 + x1270 = 0.247974906 * x7 + x1271 = 0.008316 * x5 - 0.0005 * x543 + x1272 = 0.104340058 * x561 + x1273 = 0.141336383 * x561 + x1274 = 0.245676441 * x561 + x1275 = 0.003191325 * x561 + x1276 = 0.0118371 * x561 + x1277 = 0.0043228875 * x561 + x1278 = x377 + x378 + x1279 = 0.6781 * x536 + x1280 = 0.005426895410856 * x5 + x1281 = ( + x1236 * x788 + + x1242 * x820 + + x1243 * x815 + + x1245 * x803 + + x1247 * x804 + + x1248 * x811 + + x1248 * x818 + + x1249 * x811 + + x1249 * x818 + + x1252 * x903 + + x1253 * x901 + + x1254 * x899 + + x1255 * x908 + + x1257 * x906 + + x1258 * x910 + + x1263 * x957 + - x1280 * x588 + - x1280 * x784 + - 1.315362898125e-6 * x237 * x24 + - 0.08081600593132 * x24 * x561 + - 4.34080072953e-5 * x49 * x784 - 0.0055449842710128 * x5 - + x502 * x874 - + 0.015028425 * x502 - + 0.0075142125 * x506 - - 0.16283951582624 * x507 - + x519 * x875 - - 0.0236742 * x547 - - 0.003191325 * x554 - - 0.0043228875 * x646 - + 0.0043228875 * x648 - + 0.008645775 * x649 - - 0.0198886062 * x669 - + 0.0198886062 * x670 + + x537 * x972 + + 0.015028425 * x537 + + 0.0075142125 * x542 + - 0.16283951582624 * x543 + - 0.0075142125 * x547 + + x558 * x973 + - 0.0236742 * x592 + - 0.003191325 * x599 + 2.38070011648e-5 * x7 - - x709 * x819 - - 0.142658678 * x856 + - 0.0043228875 * x707 + - 0.0043228875 * x709 + + 0.0043228875 * x710 + + 0.008645775 * x711 + - 0.0198886062 * x735 + + 0.0198886062 * x736 + - x780 * x907 + - 0.142658678 * x949 ) - x1156 = 0.01115614803204 * x101 - x1157 = ( - x1115 * x884 - + x1118 * x889 - + x1120 * x890 - + x1121 * x888 - + x1122 * x888 - + x1125 * x950 - + x1126 * x949 - + x1127 * x947 - + x1130 * x943 - + 1.315362898125e-6 * x183 - + 4.34080072953e-5 * x24 * x99 + x1282 = 0.01115614803204 * x206 + x1283 = ( + 4.34080072953e-5 * x104 * x24 + + x1051 * x1257 + - x1052 * x780 + + x1056 * x1254 + + x1058 * x1253 + + x1059 * x1252 + - 0.142658678 * x1090 + + x1100 * x584 + - x1101 * x536 + - x1102 * x604 + - x1102 * x639 + + x1242 * x981 + + x1245 * x990 + + x1247 * x991 + + x1248 * x989 + + x1249 * x989 + + 1.315362898125e-6 * x199 + 0.0942803660835216 * x5 - - x501 * x987 - - 0.370536132 * x505 - + x539 * x986 - - x558 * x988 - - x591 * x988 - - 0.104340058 * x608 - - 0.104340058 * x610 - + 0.104340058 * x611 - + 0.1846554453 * x636 - - 0.1846554453 * x639 - - 0.141336383 * x662 - + 0.141336383 * x663 - + 0.370536132 * x673 - - x709 * x944 - - 0.142658678 * x978 + - 0.370536132 * x541 + + 0.370536132 * x546 + - 0.104340058 * x659 + - 0.104340058 * x661 + + 0.104340058 * x662 + + 0.1846554453 * x695 + - 0.1846554453 * x698 + - 0.141336383 * x727 + + 0.141336383 * x728 ) - x1158 = x24 * x98 - x1159 = x182 * x26 - x1160 = ( - x1031 * x1127 - + x1118 * x994 - + x1120 * x996 - + x1121 * x992 - + x1122 * x992 - - 8.763003e-5 * x116 * x590 - + 0.00013072870670405 * x182 - + 0.000459361674330197 * x507 - - x538 * x990 - + 0.00017526006 * x568 - + 0.00017526006 * x595 - - 0.00017526006 * x599 - + 8.763003e-5 * x620 - + 0.006662366405 * x654 - - 0.006662366405 * x659 - - 4.33190623e-8 * x99 + x1284 = x103 * x24 + x1285 = ( + -4.33190623e-8 * x104 + - x1104 * x583 + + x1107 * x1248 + + x1107 * x1249 + + x1109 * x1245 + + x1111 * x1247 + + x1151 * x1254 + + 0.00013072870670405 * x49 + + 0.000459361674330197 * x543 + + 0.00017526006 * x616 + - 0.00017526006 * x617 + + 0.00017526006 * x644 + + 8.763003e-5 * x672 + - 8.763003e-5 * x673 + + 0.006662366405 * x716 + - 0.006662366405 * x717 ) - x1161 = x116 * x513 - x1162 = 0.00033805705725 * x115 - x1163 = x46 * x587 - x1164 = ( - x1058 * x1121 - + x1058 * x1122 - + 0.008661102849889 * x182 - - 0.008661102849889 * x183 - + 0.0005849081642729 * x291 - - 6.543665e-9 * x354 - - 6.543665e-9 * x355 - - 0.0005849081642729 * x533 - - 0.0679454368 * x572 - + 0.0679454368 * x590 + x1286 = 0.00033805705725 * x119 + x1287 = x127 * x48 + x1288 = ( + x1183 * x1248 + + x1183 * x1249 + - 0.008661102849889 * x199 + - 0.0005849081642729 * x317 + + 0.0005849081642729 * x318 + - 6.543665e-9 * x377 + - 6.543665e-9 * x378 + + 0.008661102849889 * x49 + - 0.0679454368 * x622 + + 0.0679454368 * x623 ) - x1165 = ( - -0.000674120333239 * x291 - + 1.1916429428e-6 * x448 - + 1.1916429428e-6 * x449 - + 5.20822520776e-5 * x453 - + 5.20822520776e-5 * x454 - + 0.000674120333239 * x533 + x1289 = ( + 0.000674120333239 * x317 + - 0.000674120333239 * x318 + + 1.1916429428e-6 * x476 + + 1.1916429428e-6 * x477 + + 5.20822520776e-5 * x484 + + 5.20822520776e-5 * x485 ) - x1166 = 0.000631 * x26 - x88 - x1167 = -x111 + 0.008147 * x24 - x1168 = -0.001607 * x148 + 0.000256 * x26 - x1169 = -0.000256 * x148 + 0.000399 * x26 - x1170 = 3.0e-6 * x298 - x1171 = x115 * x1170 + 3.0e-6 * x303 - x1172 = ( - x1171 - 0.000118 * x203 - 0.000369 * x319 + 0.000369 * x322 + 0.000118 * x587 + x1290 = 0.000631 * x26 - x99 + x1291 = -x136 + 0.008147 * x24 + x1292 = x1232 - 0.001607 * x164 + x1293 = -0.000256 * x164 + 0.000399 * x26 + x1294 = 3.0e-6 * x322 + x1295 = x119 * x1294 + 3.0e-6 * x329 + x1296 = ( + 0.000118 * x127 + x1295 - 0.000118 * x219 - 0.000369 * x347 + 0.000369 * x350 ) - x1173 = 3.0e-6 * x300 - x1174 = ( - -x115 * x1173 - - 3.0e-6 * x203 - + 0.000587 * x299 - + 0.000587 * x303 - + 3.0e-6 * x322 - + 3.0e-6 * x587 + x1297 = 3.0e-6 * x324 + x1298 = ( + -x119 * x1297 + + 3.0e-6 * x127 + - 3.0e-6 * x219 + + 0.000587 * x323 + + 0.000587 * x329 + + 3.0e-6 * x350 ) - x1175 = 0.00041 * x116 * x26 - 0.000278 * x148 - 0.00041 * x203 - x1176 = ( - x1171 - 0.000609 * x203 - 0.000118 * x319 + 0.000118 * x322 + 0.000609 * x587 + x1299 = 0.00041 * x127 - 0.000278 * x164 - 0.00041 * x219 + x1300 = ( + 0.000609 * x127 + x1295 - 0.000609 * x219 - 0.000118 * x347 + 0.000118 * x350 ) - x1177 = 0.001641 * x115 + 0.001641 * x117 * x43 - x1178 = 0.000278 * x43 - x1179 = x1178 * x122 + 0.001641 * x148 - 0.000278 * x587 - x1180 = 0.0257956812 * x24 - x1181 = 1.1787 * x717 - x1182 = 0.003191325 * x24 - x1183 = 0.5006 * x717 - x1184 = 0.5006 * x742 - x1185 = 0.5006 * x738 - x1186 = 0.5006 * x729 - x1187 = 0.5006 * x730 - x1188 = 0.5006 * x740 - x1189 = 0.5006 * x734 - x1190 = 0.0043228875 * x24 - x1191 = 0.6781 * x820 - x1192 = 0.6781 * x822 - x1193 = 0.6781 * x717 - x1194 = 0.6781 * x816 - x1195 = 0.6781 * x814 - x1196 = 0.6781 * x812 - x1197 = 0.6781 * x818 - x1198 = 0.104340058 * x24 - x1199 = 0.0257956812 * x26 - x1200 = 0.003191325 * x26 - x1201 = 0.141336383 * x24 - x1202 = 0.245676441 * x24 - x1203 = 0.0043228875 * x26 - x1204 = 0.0075142125 * x26 - x1205 = 0.053028558 * x207 - x1206 = 0.000206331435 * x207 - x1207 = 0.000118701405 * x207 - x1208 = 0.071831133 * x207 - x1209 = 8.763003e-5 * x207 - x1210 = 0.001596 * x207 - x1211 = 0.124859691 * x207 - x1212 = x26 * x43 - x1213 = x148 * x43 - x1214 = 0.0010721395522875 * x26 - x1215 = ( - -0.00561731514894 * x118 * x45 - + x1184 * x884 - + x1186 * x889 - + x1187 * x890 - + x1188 * x888 - + x1189 * x888 - + x1194 * x950 - + x1195 * x949 - + x1196 * x947 - + x1197 * x943 - - x1214 * x721 - - x1214 * x878 - - 2.63072579625e-6 * x148 + x1301 = 0.001641 * x45 + x1302 = 0.001641 * x119 + x121 * x1301 + x1303 = 0.000278 * x45 + x1304 = x126 * x1303 - 0.000278 * x127 + 0.001641 * x164 + x1305 = 0.0257956812 * x24 + x1306 = 1.1787 * x788 + x1307 = 0.003191325 * x24 + x1308 = 0.5006 * x788 + x1309 = 0.5006 * x820 + x1310 = 0.5006 * x815 + x1311 = 0.5006 * x803 + x1312 = 0.5006 * x804 + x1313 = 0.5006 * x818 + x1314 = 0.5006 * x811 + x1315 = 0.0043228875 * x24 + x1316 = 0.6781 * x908 + x1317 = 0.6781 * x910 + x1318 = 0.6781 * x788 + x1319 = 0.6781 * x903 + x1320 = 0.6781 * x901 + x1321 = 0.6781 * x899 + x1322 = 0.6781 * x906 + x1323 = 0.104340058 * x24 + x1324 = 0.0257956812 * x26 + x1325 = 0.003191325 * x26 + x1326 = 0.141336383 * x24 + x1327 = 0.245676441 * x24 + x1328 = 0.0043228875 * x26 + x1329 = 0.0075142125 * x26 + x1330 = 0.053028558 * x226 + x1331 = 0.000206331435 * x226 + x1332 = 0.000118701405 * x226 + x1333 = 0.071831133 * x226 + x1334 = 8.763003e-5 * x226 + x1335 = 0.001596 * x226 + x1336 = 0.124859691 * x226 + x1337 = x26 * x45 + x1338 = -x119 - x122 + x1339 = x164 * x45 + x1340 = 0.0010721395522875 * x26 + x1341 = ( + x1051 * x1322 + + x1056 * x1321 + + x1058 * x1320 + + x1059 * x1319 + - 0.0043228875 * x1062 + + 0.008645775 * x1066 + + x1100 * x816 + - x1102 * x834 + - x1102 * x858 + - 0.00561731514894 * x122 * x47 + - 0.00033805705725 * x127 * x975 + + x1309 * x981 + + x1311 * x990 + + x1312 * x991 + + x1313 * x989 + + x1314 * x989 + - x1340 * x793 + - x1340 * x975 + - 2.63072579625e-6 * x164 - 3.579949116e-7 * x24 - 0.0069355657247636 * x26 - - 0.00033805705725 * x587 * x878 - + 0.370536132 * x719 - + x739 * x986 - - x756 * x988 - - x776 * x988 - - 0.104340058 * x794 - - 0.104340058 * x796 - + 0.104340058 * x797 - + 0.1846554453 * x821 - - 0.1846554453 * x823 - + 0.141336383 * x842 - - 0.141336383 * x843 - - 0.0043228875 * x953 - + 0.008645775 * x957 + + 0.370536132 * x789 + - 0.104340058 * x875 + - 0.104340058 * x877 + + 0.104340058 * x878 + + 0.1846554453 * x909 + - 0.1846554453 * x911 + + 0.141336383 * x935 + - 0.141336383 * x936 ) - x1216 = x26 * x45 - x1217 = ( - x1031 * x1196 - - 0.0043228875 * x1042 - - 8.763003e-5 * x116 * x775 - + x1162 * x45 - + x1186 * x994 - + x1187 * x996 - + x1188 * x992 - + x1189 * x992 - + 0.00561731514894 * x203 + x1342 = x26 * x47 + x1343 = ( + -x1104 * x815 + + x1107 * x1313 + + x1107 * x1314 + + x1109 * x1311 + + x1111 * x1312 + + x1151 * x1321 + - 0.0043228875 * x1163 + + x1286 * x47 + + 0.00561731514894 * x219 + 0.000459361674330197 * x26 - - x738 * x990 - + 0.00017526006 * x759 - + 0.00017526006 * x781 - - 0.00017526006 * x785 - + 8.763003e-5 * x799 - + 0.006662366405 * x835 - - 0.006662366405 * x839 + + 0.00017526006 * x837 + - 0.00017526006 * x838 + + 0.00017526006 * x863 + + 8.763003e-5 * x880 + - 8.763003e-5 * x881 + - 0.006662366405 * x924 + + 0.006662366405 * x925 ) - x1218 = x117 * x45 - x1219 = ( - x1058 * x1188 - + x1058 * x1189 - + 6.543665e-9 * x115 - + 0.008661102849889 * x148 - - 0.0005849081642729 * x587 - - 0.0679454368 * x763 - + 0.0679454368 * x775 + x1344 = x121 * x47 + x1345 = ( + x1183 * x1313 + + x1183 * x1314 + + 6.543665e-9 * x119 + - 0.0005849081642729 * x127 + + 0.008661102849889 * x164 + - 0.0679454368 * x843 + + 0.0679454368 * x844 ) - x1220 = ( - -0.000674120333239 * x203 - - 1.1916429428e-6 * x299 - - 1.1916429428e-6 * x303 - + 5.20822520776e-5 * x319 - - 5.20822520776e-5 * x322 - + 0.000674120333239 * x587 + x1346 = ( + 0.000674120333239 * x127 + - 0.000674120333239 * x219 + - 1.1916429428e-6 * x323 + - 1.1916429428e-6 * x329 + + 5.20822520776e-5 * x347 + - 5.20822520776e-5 * x350 ) - x1221 = -0.000278 * x245 + 0.001641 * x43 - x1222 = -x1178 + 0.00041 * x245 - x1223 = 3.0e-6 * x116 - x1224 = x1223 * x307 + 3.0e-6 * x306 - x1225 = ( - 0.000118 * x114 * x45 + 0.000369 * x116 * x300 * x45 - x1224 - 0.000369 * x805 + x1347 = x1301 - 0.000278 * x266 + x1348 = -x1303 + 0.00041 * x266 + x1349 = 3.0e-6 * x120 + x1350 = -x1349 * x333 - 3.0e-6 * x332 + x1351 = x1350 + 0.000118 * x266 - 0.000369 * x326 + 0.000369 * x353 + x1352 = ( + x1349 * x325 + 3.0e-6 * x266 - 3.0e-6 * x326 - 0.000587 * x332 - 0.000587 * x334 ) - x1226 = ( - 3.0e-6 * x114 * x45 - + 3.0e-6 * x116 * x300 * x45 - - 0.000587 * x306 - - 0.000587 * x308 - - 3.0e-6 * x805 + x1353 = 0.000118 * x120 + x1354 = x1350 + x1353 * x325 + 0.000609 * x266 - 0.000118 * x326 + x1355 = 0.053028558 * x45 + x1356 = 0.5006 * x981 + x1357 = 0.5006 * x990 + x1358 = 0.5006 * x991 + x1359 = 0.5006 * x989 + x1360 = 0.071831133 * x45 + x1361 = 0.1681787533 * x45 + x1362 = 0.6781 * x1051 + x1363 = 0.6781 * x1059 + x1364 = 0.6781 * x1058 + x1365 = 0.6781 * x1056 + x1366 = 0.053028558 * x47 + x1367 = 0.001607 * x45 + x1368 = 0.000118701405 * x47 + x1369 = 0.071831133 * x47 + x1370 = 0.1681787533 * x47 + x1371 = 0.001596 * x47 + x1372 = 0.053028558 * x344 + x1373 = 0.001641 * x344 + x1374 = 8.763003e-5 * x344 + x1375 = x118 * x344 + x1376 = 0.0013821608231029 * x45 + x1377 = ( + -x1003 * x1376 + + 0.00017526006 * x1025 + - 8.763003e-5 * x1040 + + 8.763003e-5 * x1041 + - 0.006662366405 * x1069 + + 0.006662366405 * x1070 + - x1102 * x1130 + + x1107 * x1359 + + x1109 * x1357 + + x1111 * x1358 + - x1115 * x1376 + - 0.104340058 * x1140 + + x1151 * x1365 + - 0.01667005749288 * x266 + + 0.001420807810163 * x45 + - 1.846554453e-7 * x47 + - 0.00017526006 * x999 ) - x1227 = ( - 0.000609 * x114 * x45 + 0.000118 * x116 * x300 * x45 - x1224 - 0.000118 * x805 + x1378 = x120 * x45 + x1379 = ( + 0.0679454368 * x1009 + - 0.0679454368 * x1010 + - x1102 * x1195 + + x1183 * x1359 + - 0.104340058 * x1202 + + 0.008661102849889 * x45 ) - x1228 = 0.053028558 * x43 - x1229 = 0.5006 * x884 - x1230 = 0.5006 * x889 - x1231 = 0.5006 * x890 - x1232 = 0.5006 * x888 - x1233 = 0.071831133 * x43 - x1234 = 0.1681787533 * x43 - x1235 = 0.6781 * x943 - x1236 = 0.6781 * x950 - x1237 = 0.6781 * x949 - x1238 = 0.6781 * x947 - x1239 = 0.053028558 * x45 - x1240 = 0.001607 * x43 - x1241 = 0.000118701405 * x45 - x1242 = 0.071831133 * x45 - x1243 = 0.1681787533 * x45 - x1244 = 0.001596 * x45 - x1245 = 0.053028558 * x294 - x1246 = 0.001641 * x294 - x1247 = 8.763003e-5 * x294 - x1248 = -x43 - x1249 = x114 * x294 - x1250 = 0.0013821608231029 * x43 - x1251 = ( - -x1000 * x1250 - - x1013 * x988 - - 0.104340058 * x1022 - + x1031 * x1238 - - 8.763003e-5 * x116 * x915 - + x1230 * x994 - + x1231 * x996 - + x1232 * x992 - - x1250 * x902 - - 0.01667005749288 * x245 - + 0.001420807810163 * x43 - - 1.846554453e-7 * x45 - - 0.00017526006 * x898 - + 0.00017526006 * x920 - + 8.763003e-5 * x933 - - 0.006662366405 * x960 - + 0.006662366405 * x961 + x1380 = 0.000674120333239 * x266 + 5.20822520776e-5 * x326 + 1.1916429428e-6 * x332 + x1381 = 3.0e-6 * x1110 + x1382 = -0.000369 * x1108 + x1353 + x1381 + x1383 = -3.0e-6 * x1108 + 0.000587 * x1110 + x1349 + x1384 = -0.000118 * x1108 + 0.000609 * x120 + x1381 + x1385 = 0.001641 * x118 + x1386 = 0.00041 * x120 + x1387 = 0.5006 * x1109 + x1388 = 0.5006 * x1111 + x1389 = 0.5006 * x1107 + x1390 = 0.6781 * x1151 + x1391 = 0.00663129503 * x118 + x1392 = 1.42658678e-7 * x1 + x1393 = 0.000278 * x120 + x1394 = 8.763003e-5 * x120 + x1395 = 0.00663129503 * x120 + x1396 = 1.42658678e-7 * x10 + x1397 = 2.61119963394e-6 * x120 + x1398 = ( + 0.0679454368 * x1123 + - 0.0679454368 * x1124 + + 6.662366405e-9 * x118 + + x1183 * x1389 + - x1187 * x1397 + - x1189 * x1397 + + 0.00017526006 * x1198 + - 0.000599589709354415 * x120 ) - x1252 = x1070 * x988 - x1253 = 0.104340058 * x1077 - x1254 = 0.0679454368 * x907 - x1255 = x116 * x805 - x1256 = 0.000674120333239 * x245 + 1.1916429428e-6 * x306 + 5.20822520776e-5 * x805 - x1257 = 3.0e-6 * x995 - x1258 = 0.000118 * x116 + x1257 - 0.000369 * x993 - x1259 = x1223 - 3.0e-6 * x993 + 0.000587 * x995 - x1260 = 0.000609 * x116 + x1257 - 0.000118 * x993 - x1261 = 0.001641 * x114 - x1262 = 0.00041 * x116 - x1263 = 0.5006 * x994 - x1264 = 0.5006 * x996 - x1265 = 0.5006 * x992 - x1266 = 0.6781 * x1031 - x1267 = 0.00663129503 * x114 - x1268 = 1.42658678e-7 * x1 - x1269 = 0.000278 * x116 - x1270 = 8.763003e-5 * x116 - x1271 = 0.00663129503 * x116 - x1272 = 1.42658678e-7 * x10 - x1273 = 0.000599589709354415 * x116 - x1274 = 2.61119963394e-6 * x116 - x1275 = x1062 * x1274 - x1276 = x1064 * x1274 - x1277 = 0.0679454368 * x1009 - x1278 = -0.000674120333239 * x116 - x1279 = x116 * x300 - x1280 = x116 * x298 - x1281 = -x1170 - 0.000587 * x300 - x1282 = -x1173 - 0.000118 * x298 - x1283 = -x1173 - 0.000369 * x298 - x1284 = 0.0149168788 * x298 - x1285 = 0.5006 * x1058 - x1286 = 0.0149168788 * x300 - x1287 = 0.0005346749494125 * x119 - x1288 = 4.3228875e-9 * x204 - x1289 = 0.0006567138703936 * x298 + 1.60926677408e-5 * x300 - x1290 = 3.638748765e-5 * x304 - x1291 = 8.96762325e-7 * x323 - x1292 = 0.001189685341316 * x416 - x1293 = 2.9319556298e-5 * x326 + x1399 = 0.000674120333239 * x120 + x1400 = x120 * x324 + x1401 = x120 * x322 + x1402 = -x1294 - 0.000587 * x324 + x1403 = -x1297 + x1404 = x1403 - 0.000118 * x322 + x1405 = x1403 - 0.000369 * x322 + x1406 = 0.0149168788 * x322 + x1407 = 0.5006 * x1183 + x1408 = 0.0149168788 * x324 + x1409 = 0.0005346749494125 * x123 + x1410 = 4.3228875e-9 * x220 + x1411 = 0.0006567138703936 * x322 + 1.60926677408e-5 * x324 + x1412 = 3.638748765e-5 * x330 + x1413 = 8.96762325e-7 * x351 + x1414 = 0.001189685341316 * x446 + x1415 = 2.9319556298e-5 * x441 mass = numpy.array( [ [ 0.0273446 * x1 * x12 + x1 * (0.011088 * x1 + 5.0e-6 * x3) - - 0.58632906 * x1 * (-x1 * x38 - x18 * x7) + - 0.58632906 * x1 * (-x1 * x41 - x19 * x7) + x10 * x11 - + 0.58632906 * x10 * x30 - - 0.390633584 * x10 * x32 - + x10 * x34 - + x104 * x175 - + x106 * x107 - + x106 * x108 - + x109 * x112 - + x109 * x144 - + 0.00561733048857675 * x127**2 - + x127 * x230 - + x128 * x129 - + x128 * x130 - + 1.1636 * x13 * x37 - + x131 * x49 - + x133 * x134 - - x136 * x140 - - x14 * x15 - + x142 * x143 - + x142 * x171 - + x143 * x152 - + x143 * x180 - + x143 * x186 - + x146 * x147 - + x15 * x21 - + x151 * x191 - + x151 * x284 - + x152 * x171 - - x156 * (-x153 + x155 + x33) - - x157 * (x132 * x7 - x154 * x7 + x32 * x5) - - x158 * x159 - + x161 * x164 - + x161 * x166 - - x163 * x169 - + x164 * x209 - + x164 * x214 - + x164 * x223 - - x165 * x170 - + x166 * x209 - + x166 * x214 - + x166 * x223 - + x171 * x180 - + x171 * x186 - - x173 * x176 - + 1.3562 * x173 * x54 - + x174 * x52 - + x174 * x82 - + x174 * x83 - + x179 * x191 - + x179 * x284 - + 2.787 * x18 * x37 - + x188 * x191 - + x188 * x284 - + x189 * x196 - - 0.02996025 * x19 * x3 - - x190 * x193 - + x191 * x195 - + x191 * x227 - + x191 * x473 - + x195 * x284 - + x196 * x468 + + 0.58632906 * x10 * x32 + - 0.390633584 * x10 * x35 + + x10 * x37 + + x101 * x28 + + x110 * x86 + + x110 * x87 + + x112 * x86 + + x112 * x87 + + x114 * x115 + + x114 * x116 + - x13 * x8 + + 1.53396367515e-8 * x133**2 + + x133 * x249 + + x134 * x137 + + x134 * x158 + + 0.00561731514894 * x138**2 + + x139 * x140 + + x139 * x150 + + 1.1636 * x14 * x40 + + x141 * x53 + - x145 * x149 + - x15 * x16 + + x153 * x154 + + x156 * x157 + + x156 * x188 + + x157 * x168 + + x157 * x197 + + x157 * x202 + + x16 * x22 + + x161 * x162 + + x168 * x188 + - x169 * x170 + - x172 * x176 + - x177 * x178 + + x179 * x180 + - x183 * (-x181 + x182 + x36) + - x184 * (x151 * x7 - x152 * x7 + x35 * x5) + + x185 * x186 + + x185 * x187 + + x186 * x228 + + x186 * x236 + + x186 * x239 + + x187 * x228 + + x187 * x236 + + x187 * x239 + + x188 * x197 + + x188 * x202 + + 2.787 * x19 * x40 + - x192 * x193 + + 1.3562 * x192 * x60 + + x194 * x61 + + x194 * x92 + + x194 * x93 + 0.0004175274375 * x2 * x5 + 0.123465173064675 * x2 * x6 + 0.175655079983077 * x2 - + 1.1636 * x20 * x30 + - 0.02996025 * x20 * x3 + - x205 * x209 + + 1.1636 * x21 * x32 + x211 * x212 - - x216 * (x145 * x7 - x215 * x7 + x5 * x62) - - x219 * (x217 - x218 + x64) - - x22 * x8 + + x211 * x305 + + x212 * x223 + + x212 * x233 + + x212 * x244 + + x212 * x248 + + x212 * x507 + + x222 * x265 + + x223 * x305 + x224 * x225 - + x227 * x284 - + x228 * x229 - + x229 * x447 - + x232 * x233 - + x234 * x237 - - x234 * x240 - + x234 * x290 - + 1.0012 * x234 * x391 - + x236 * x280 - + x237 * x391 - - x240 * x391 - + x241 * x242 - + x243 * x244 - + x244 * x446 - + x247 * x248 - + x247 * x280 - + x247 * x424 - + x248 * x260 - + x248 * x293 - + x250 * x251 - + x251 * x461 - + x254 * x255 - + x254 * x261 - + x260 * x280 - + x260 * x424 - + x264 * x265 - + x266 * x267 - + x266 * x441 - + x269 * x271 - + x269 * x273 - - x270 * x276 - + x271 * x296 - + x271 * x343 - + x271 * x349 - + x271 * x358 - - x272 * x277 - + x273 * x296 - + x273 * x343 - + x273 * x349 - + x273 * x358 - + x273 * x475 - - x279 * x281 - + 0.08074054441882 * x28**2 - + x28 * x90 - + x280 * x289 - + x280 * x293 - + x282 * x286 - - x283 * x285 - + x290 * x391 - + x293 * x424 + + x225 * x503 + + x231 * x232 + + x233 * x305 + - x240 * (-x159 * x7 + x160 * x7 + x5 * x71) + - x243 * (x241 - x242 + x73) + + x244 * x305 + + x245 * x246 + + x248 * x305 + + x252 * x253 + + x253 * x483 + - x254 * x258 + + x254 * x260 + + x254 * x316 + + 1.0012 * x254 * x430 + - x258 * x430 + + x259 * x304 + + x260 * x430 + + x263 * x264 + + x268 * x269 + + x268 * x304 + + x268 * x454 + + x269 * x282 + + x269 * x320 + + x270 * x271 + + x271 * x488 + + x274 * x275 + + x275 * x492 + + x277 * x278 + + x277 * x283 + + 7.54615125e-5 * x28**2 + + x282 * x304 + + x282 * x454 + + x284 * x285 + + x284 * x469 + - x286 * x290 + + 0.08066508290632 * x29**2 + - x291 * x292 + - x293 * x294 + - 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- x219 * (x692 + x693 - x694) - - x22 * x5 - + x225 * x521 - + x226 * x242 - + x229 * x656 - + x229 * x700 - + x230 * x357 - + x233 * x515 - - x240 * x536 - - x240 * x540 - + x244 * x657 - + x244 * x661 - + x248 * x563 - + x248 * x582 - + x248 * x586 - + x248 * x589 - + x251 * x651 - + x251 * x664 - + x255 * x674 - + x261 * x674 - + x265 * x510 - + x267 * x292 - + x271 * x566 - + x271 * x584 - + x271 * x624 - + x271 * x625 - + x273 * x566 - + x273 * x573 - + x273 * x584 - + x273 * x624 - + x273 * x625 - - x276 * x629 - - x277 * x541 - + x280 * x563 - + x280 * x582 - + x280 * x586 - + x280 * x589 - - x281 * x628 - + x284 * x503 - + x284 * x517 - + x284 * x525 - + x284 * x527 - - x285 * x632 - + x286 * x658 - + x292 * x441 - - x318 * (x184 * x504 + x222 * x509 + x502 * x7) - + 0.781267168 * x33 - - x339 * (-x695 + x696 + x697) - + x353 * x634 - + x353 * x643 - + x359 * x634 - + x359 * x643 - + x363 * x647 - + x363 * x650 - + x368 * x569 - + x368 * x621 - - x369 * (x184 * x638 + x222 * x635 + x649 * x7) - - x369 * (x226 * x632 + x292 * x628 + x357 * x629) - - x373 * (x685 + x686 + x687) - - x373 * (-x688 + x689 + x690) - + x378 * x698 - + x378 * x699 - + x381 * x655 - + x382 * x597 - + x382 * x600 - + x387 * x609 - + x387 * x612 - + x389 * x537 - + x389 * x542 - - x39 * (x38 + 0.21038 * x675) - + x390 * x537 - + x390 * x542 - + x395 * x571 - + x395 * x581 - + x395 * x605 - + x395 * x619 - + x395 * x623 - - x398 * x534 - + x40 * x5 - + x402 * x576 - + x402 * x579 - + x402 * x603 - + x402 * x615 - + x402 * x622 - - x405 * x535 - + x414 * x553 - + x414 * x557 - + x424 * x563 - + x424 * x582 - + x424 * x586 - + x424 * x589 - - x435 * (x676 + x677 + x678) - - x435 * (x679 + x680 + x681) - - x436 * (x226 * x538 + x292 * x540 + x357 * x541) - - x436 * (x292 * x536 + x451 * x534 + x456 * x535) - + x451 * x467 - + x456 * x469 - - x501 * x93 - - x512 * x72 - + 6.36244125e-5 * x522 * x57 - - x522 * x90 - + x524 * x55 - + x524 * x79 - + x524 * x86 - + x54 * x560 - + x54 * x593 - + x54 * x653 - + x549 * x76 - 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x209 * x815 + + x212 * x854 + + x212 * x870 + + x220 * x285 + + x220 * x469 + + x225 * x848 + + x225 * x861 + - x226 * x970 + + x232 * x967 - 0.00013865178645 * x24 * x57 - + x24 * x90 - - x240 * x734 - - x240 * x740 - + x244 * x838 - + x244 * x841 - + x248 * x767 - + x248 * x772 - + x248 * x774 - + x251 * x832 - + x251 * x844 - + x255 * x848 - + 0.00013865178645 * x26 * x67 - + x261 * x848 - + x265 * x718 - + x271 * x755 - + x271 * x780 - + x271 * x801 - + x273 * x755 - + x273 * x764 - + x273 * x780 - + x273 * x801 - - x276 * x814 - - x277 * x742 - + x280 * x767 - + x280 * x772 - + x280 * x774 - - x281 * x816 - + x284 * x787 - - x285 * x812 - + x286 * x811 - + x304 * x467 - - x318 * (x184 * x865 + x222 * x717 + x864 * x98) - + x323 * x469 - - x339 * (x102 * x865 - x182 * x864 + x866) - + x353 * x817 - + x353 * x824 - + x359 * x817 - + x359 * x824 - + x363 * x828 - + x363 * x831 - + x368 * x760 - + x368 * x800 - - x369 * (x184 * x822 + x222 * x820 + x7 * x829) - - x369 * (x226 * x812 + x292 * x816 + x357 * x814) - - x373 * (-x856 + x857 + x858) - - x373 * (x859 + x860 + x861) - - x374 * x870 - + x378 * x867 - + x378 * x868 - + x381 * x836 - + x382 * x783 - + x382 * x786 - + x387 * x795 - + x387 * x798 - + x389 * x735 - + x389 * x743 - + x390 * x735 - + x390 * x743 - + x395 * x762 - + x395 * x791 - + x395 * x804 - + x395 * x808 - - x398 * x729 - + x402 * x770 - + x402 * x789 - + x402 * x803 - + x402 * x810 - - x405 * x730 - + x414 * x749 - + x414 * x753 - + x424 * x767 - + x424 * x772 - + x424 * x774 - - x435 * (x849 + x850 + x851) - - x435 * (x852 + x853 + x854) - - x436 * (x226 * x738 + x292 * x740 + x357 * x742) - - x436 * (x292 * x734 + x451 * x729 + x456 * x730) - - x445 * x871 - + x54 * x758 - + x54 * x778 - - x56 * (0.006641 * x5 + 4.4e-5 * x7) - + x58 * x704 - + x63 * x862 - + x705 * x833 - + x758 * x85 - + x778 * x85 + - x240 * (x5 * x957 + x7 * x938 + x7 * x939) + - x243 * (-x5 * x938 - x5 * x939 + x958) + + x246 * x797 + + x253 * x964 + + x253 * x965 + - x258 * x811 + - x258 * x818 + + 0.00013865178645 * x26 * x78 + + x264 * x792 + + x269 * x850 + + x269 * x855 + + x269 * x857 + + x271 * x929 + + x271 * x934 + + x275 * x921 + + x275 * x937 + + x278 * x941 + + x283 * x941 + - x290 * x901 + - x292 * x820 + - x294 * x903 + - x300 * x899 + + x302 * x833 + + x302 * x862 + + x302 * x883 + + x303 * x833 + + x303 * x845 + + x303 * x862 + + x303 * x883 + + x304 * x850 + + x304 * x855 + + x304 * x857 + + x305 * x870 + + x310 * x791 + + x312 * x930 + + x330 * x494 + + x351 * x500 + - x362 * (x103 * x959 + x200 * x960 + x238 * x788) + - x366 * (x106 * x960 - x49 * x959 + x961) + + x383 * x904 + + x383 * x912 + + x384 * x904 + + x384 * x912 + + x389 * x916 + + x389 * x920 + + x395 * x839 + + x395 * x882 + - x396 * (x200 * x910 + x238 * x908 + x7 * x918) + - x396 * (x247 * x899 + x319 * x903 + x379 * x901) + - x400 * (-x949 + x950 + x951) + - x400 * (x952 + x953 + x954) + - x401 * x968 + + x405 * x962 + + x405 * x963 + + x409 * x926 + + x411 * x865 + + x411 * x869 + + x416 * x876 + + x416 * x879 + + x418 * x812 + + x418 * x821 + + x419 * x812 + + x419 * x821 + - x424 * x803 + - x429 * x804 + + x432 * x842 + + x432 * x872 + + x432 * x886 + + x432 * x890 + + x434 * x853 + + x434 * x871 + + x434 * x885 + + x434 * x892 + + x439 * x827 + + x439 * x831 + + x454 * x850 + + x454 * x855 + + x454 * x857 + - x462 * (x942 + x943 + x944) + - x462 * (x945 + x946 + x947) + - x467 * (x247 * x815 + x319 * x818 + x379 * x820) + - x467 * (x319 * x811 + x478 * x803 + x486 * x804) + - x482 * x969 + + x60 * x836 + + x60 * x860 + - x63 * (0.006641 * x5 + 4.4e-5 * x7) + - x64 * (-x773 + x774) + + x72 * x966 + + x776 * x922 - 0.0071706889047008 * x8 - + x833 * x834 - - 2.751914e-7 * x855 - + x877 - + 0.0001672285804 * x9, - x129 * x862 - + x130 * x862 - - x131 * x45 - + 0.0009039607989875 * x139 * x45 - + x147 * x968 - - 0.0009039607989875 * x168 * x43 - - x175 * x43 - - x176 * x943 - + x191 * x912 - + x196 * x909 - - x216 * x701 - - x219 * (x24 * x666 + 0.075478 * x26 * x5) - + x229 * x984 - - x230 * x294 - - x231 * x986 - + x233 * x880 - + 4.7101141125e-7 * x239 * x294 - - x240 * x888 - + x242 * x43 - + x244 * x964 - + x245 * x267 - + x245 * x441 - + x248 * x914 - + x251 * x952 - + x251 * x967 - + x255 * x969 - + x261 * x969 - + x265 * x881 + + x836 * x94 + + x860 * x94 + + 0.0001672285804 * x9 + + x922 * x923 + - 2.751914e-7 * x948 + + x974, + x1000 * x395 + + x1002 * x432 + + x1008 * x60 + + x1008 * x94 + + x1011 * x303 + + x1014 * x225 + + x1016 * x434 + + x1017 * x212 + + x1020 * x269 + + x1020 * x304 + + x1020 * x454 + + x1023 * x60 + + x1023 * x94 + + x1024 * x302 + + x1024 * x303 + + x1027 * x411 + + x1033 * x411 + + x1034 * x434 + + x1035 * x432 + + x1039 * x416 + + x1042 * x395 + + x1045 * x416 + + x1046 * x434 + + x1047 * x432 + - x1051 * x193 + + x1053 * x383 + + x1053 * x384 + - x1056 * x300 + - x1058 * x290 + - x1059 * x294 + + x1060 * x383 + + x1060 * x384 + + x1061 * x275 + + x1065 * x389 + + x1067 * x389 + + x1068 * x776 + + x1068 * x923 + + x1071 * x409 + + x1072 * x312 + + x1076 * x271 + + x1079 * x275 + + x1080 * x162 + + x1081 * x278 + + x1081 * x283 + + 0.387012824 * x109 + + 0.08141975791312 * x1095 + + x1096 * x405 + + x1097 * x405 + + x1098 * x253 + - x1099 * x344 + - x1100 * x261 + + x1103 + + x140 * x966 + - x141 * x47 + + 0.0009039607989875 * x148 * x47 + + x150 * x966 + - 0.0009039607989875 * x175 * x45 + - x180 * x45 + - x240 * x769 + - x243 * (x24 * x732 + x26 * x730) + - x249 * x344 + + 4.7101141125e-7 * x257 * x344 + - x258 * x989 + + x264 * x977 + + x265 * x45 + + x266 * x285 + + x266 * x469 - 2.512544616e-7 * x27 - + x271 * x919 - + x273 * x908 - + x273 * x919 - - x276 * x949 - - x277 * x884 - + x280 * x914 - - x281 * x950 - - x285 * x947 - + x286 * x946 - - x294 * x985 - - x318 * (-x184 * x980 + 0.10593 * x222 * x43 - x24 * x981) - + x326 * x469 - - x339 * (-x102 * x980 + x135 * x47 + x24 * x498) - + x353 * x945 - + x353 * x951 - + x359 * x945 - + x359 * x951 - + 0.0064879792978136 * x36 - + x363 * x956 - + x363 * x958 - + x368 * x899 - + x368 * x934 - - x369 * (-x184 * x979 + 0.063883 * x222 * x43 + x7 * x957) - - x369 * (x226 * x947 + x292 * x950 + x357 * x949) - - x373 * (x975 + x976 + x977) - - x373 * (-x102 * x979 + 0.063883 * x43 * x47 - x978) - + x378 * x925 - + x378 * x983 - + x381 * x962 - + x382 * x922 - + x382 * x926 - + 0.157368616 * x383 - + x387 * x932 - + x387 * x937 - + x389 * x885 - + x389 * x891 - + x390 * x885 - + x390 * x891 - + x395 * x901 - + x395 * x928 - + x395 * x939 - - x398 * x889 - + x402 * x911 - + x402 * x927 - + x402 * x938 - - x405 * x890 - + x414 * x893 - + x414 * x897 - + x416 * x467 - + x424 * x914 - - x435 * (x972 + x973 + x974) - - x435 * (x101 * x970 - x201 * x882 + x971) - - x436 * (x226 * x970 - x292 * x882 + x357 * x884) - - x436 * (x292 * x888 + x451 * x889 + x456 * x890) - + x45 * x872 - + 0.213167516 * x460 - - 8.999685e-8 * x50 - - 8.999685e-8 * x51 - + x54 * x906 - + x54 * x918 - + 0.00492477747335 * x66 - + x705 * x959 - - 0.00492477747335 * x74 - + x834 * x959 - + x85 * x906 - + x85 * x918 - + 0.387012824 * x91 - + 0.08141975791312 * x982 - + x989, - x1002 * x368 - + x1006 * x414 - + x1007 * x414 - + x1010 * x273 - + x1011 * x196 - + x1012 * x191 - + x1015 * x54 - + x1015 * x85 - + x1016 * x402 - + x1017 * x395 - + x1020 * x382 - + x1021 * x382 - + x1025 * x387 - + x1027 * x368 - + x1028 * x387 - + x1029 * x353 - + x1029 * x359 - + x1030 * x286 - - x1031 * x285 - + x1035 * x353 - + x1035 * x359 - + x1036 * x251 - + x1037 * x244 - + x1040 * x381 - + x1041 * x363 - + x1043 * x363 - + x1045 * x244 - + x1046 * x251 - + x1052 * x378 - + x1053 * x378 - + x1054 * x229 - - 4.34080072953e-5 * x1055 - - 1.315362898125e-6 * x1056 - + x1057 - + x114 * x230 - - 3.564321078625e-5 * x114 * x239 - + x114 * x985 - + x116 * x267 - + 3.564321078625e-5 * x116 * x275 - + x116 * x441 - + x136 * x990 - - 3.6447875e-9 * x137 - - 3.6447875e-9 * x138 - - 3.3268604236875e-5 * x160 - + 3.195324133875e-5 * x167 - - 0.000206331435 * x208 - + 0.000206331435 * x213 - + x229 * x943 - - x240 * x992 - - 0.000206331435 * x258 - - x318 * x500 - - x339 * (-x182 * x499 + x981) - + x369 * x641 - - x369 * (x1031 * x226 - x1033 * x357 + x1034 * x292) - - x373 * (-x1033 * x125 + x1034 * x201 + x1051) - - x373 - * ( - -x111 * x99 - + 0.009432 * x26 * x43 * x5 - - 0.009432 * x46 - - 1.0e-6 * x98 - ) - + x389 * x997 - + x389 * x999 - + x390 * x997 - + x390 * x999 - - x398 * x994 - - x405 * x996 - - x435 * (x1047 + x1048 + x1049) - - x435 * (-x101 * x1050 + 0.00017505 * x114 * x201 - x125 * x998) - - x436 * (-x1050 * x226 + 0.00017505 * x114 * x292 - x357 * x998) - - x436 * (x292 * x992 + x451 * x994 + x456 * x996) - + x467 * x995 - - x469 * x993, - x1030 * x705 - + x1030 * x834 - - x1058 * x240 - + x1061 * x389 - + x1061 * x390 - + x1066 * x273 - + x1067 * x414 - + x1069 * x414 - + x1072 * x54 - + x1072 * x85 - + x1075 * x382 - + x1076 * x368 - + x1078 * x387 - + x1079 * x381 - + x1080 * x363 - + x1081 * x251 - + x1083 * x378 - + 0.01115614803204 * x1084 - + x1085 - + x229 * x947 - - 3.6447875e-9 * x235 - + 3.6447875e-9 * x238 - + x244 * x946 - - 0.0004508043691125 * x268 - + 0.0004508043691125 * x274 - - 8.017822355e-5 * x298 * x397 - - x298 * x469 - + 8.017822355e-5 * x300 * x404 - - x300 * x467 - + 0.053028558 * x340 - - 0.053028558 * x341 - + 0.053028558 * x342 - + 0.053028558 * x347 - + 0.053028558 * x348 - + x353 * x811 - + x359 * x811 - - x369 * x658 - - x373 * (0.045483 * x124 + 1.0e-6 * x200 + x46 * x630 - x46 * x631) - + x389 * x737 - + x390 * x737 - - x435 * (-0.10593 * x121 + 0.10593 * x124) - - x435 * (x1059 * x315 - x1060 * x333 + x1082) - - x436 * x594 - - x436 * (x1058 * x292 + x1059 * x451 - x1060 * x456), - x1058 * x196 - + x1086 * x191 - + x1087 * x273 - + x1088 * x414 - + x1089 * x368 - + x1090 * x54 - + x1090 * x85 - + x1091 * x382 - + x1092 * x387 - + x1093 - + x378 * x888 - + x389 * x733 - + x390 * x733 - - 3.067964645e-5 * x392 - + 3.067964645e-5 * x396 - + 7.56093725e-7 * x399 - - 7.56093725e-7 * x403 - - x435 + - x292 * x981 + + x310 * x978 + - x362 * (-x1093 * x200 - x1094 * x24 + x142 * x238) + - x366 * (-x106 * x1093 + x142 * x51 + x24 * x533) + + 0.0064879792978136 * x39 + - x396 * (x1056 * x247 + x1058 * x379 + x1059 * x319) + - x396 * (x1066 * x7 + x1091 * x238 - x1092 * x200) + - x400 * (x1087 + x1088 + x1089) + - x400 * (-x106 * x1092 - x1090 + x1091 * x51) + + 0.157368616 * x412 + + x418 * x982 + + x418 * x992 + + x419 * x982 + + x419 * x992 + - x424 * x990 + - x429 * x991 + + x439 * x994 + + x439 * x998 + + x441 * x500 + + x446 * x494 + - x462 * (x1084 + x1085 + x1086) + - x462 * (x1082 * x206 + x1083 - x217 * x979) + - x467 * (x1082 * x247 - x319 * x979 + x379 * x981) + - x467 * (x319 * x989 + x478 * x990 + x486 * x991) + + x47 * x970 + + 0.213167516 * x491 + - 8.999685e-8 * x55 + - 8.999685e-8 * x56 + + 0.00492477747335 * x76 + - 0.00492477747335 * x77, + x1051 * x253 + + x1099 * x118 + + x1104 * x145 + - x1107 * x258 + - x1108 * x500 + - x1109 * x424 + + x1110 * x494 + - x1111 * x429 + + x1112 * x418 + + x1112 * x419 + + x1114 * x418 + + x1114 * x419 + + x1117 * x395 + + x1121 * x439 + + x1122 * x439 + + x1125 * x303 + + x1128 * x225 + + x1129 * x212 + + x1132 * x60 + + x1132 * x94 + + x1133 * x434 + + x1134 * x432 + + x1137 * x411 + + x1139 * x411 + + x1143 * x416 + + x1146 * x395 + + x1147 * x416 + + x1148 * x383 + + x1148 * x384 + - x1151 * x300 + + x1155 * x383 + + x1155 * x384 + + x1156 * x275 + + x1157 * x312 + + x1158 * x271 + + x1161 * x409 + + x1162 * x389 + + x1164 * x389 + + x1168 * x271 + + x1169 * x275 + + x1175 * x405 + + x1176 * x405 + + x1177 * x253 + - 4.34080072953e-5 * x1178 + - 1.315362898125e-6 * x1179 + + x118 * x249 + - 3.564321078625e-5 * x118 * x257 + + x1180 + + x120 * x285 + + 3.564321078625e-5 * x120 * x289 + + x120 * x469 + - 3.6447875e-9 * x146 + - 3.6447875e-9 * x147 + + 3.195324133875e-5 * x173 + - 3.3268604236875e-5 * x174 + - 0.000206331435 * x227 + + 0.000206331435 * x234 + - 0.000206331435 * x235 + - x362 * (x533 + x535) + - x366 * (x1094 - x49 * x534) + - x396 * (x1151 * x247 - x1153 * x379 + x1154 * x319) + - x396 * (-x680 + x681 - x699 - x701) + - x400 * (-x1153 * x131 + x1154 * x217 + x1174) + - x400 * (-1.0e-6 * x103 - x104 * x136 - 0.009432 * x48 + x49 * x700) + - x462 * (x1170 + x1171 + x1172) + - x462 * (x1029 * x217 - x1113 * x131 - x1173 * x206) + - x467 * (x1029 * x319 - x1113 * x379 - x1173 * x247) + - x467 * (x1107 * x319 + x1109 * x478 + x1111 * x486), + x1056 * x253 + + x1072 * x271 + + x1157 * x776 + + x1157 * x923 + - x1183 * x258 + + x1186 * x418 + + x1186 * x419 + + x1191 * x303 + + x1192 * x439 + + x1194 * x439 + + x1197 * x60 + + x1197 * x94 + + x1200 * x411 + + x1201 * x395 + + x1203 * x416 + + x1204 * x409 + + x1205 * x389 + + x1206 * x275 + + x1208 * x405 + + 0.01115614803204 * x1209 + + x1210 + + 3.6447875e-9 * x255 + - 3.6447875e-9 * x256 + + 0.0004508043691125 * x287 + - 0.0004508043691125 * x288 + - 8.017822355e-5 * x322 * x423 + - x322 * x500 + + 8.017822355e-5 * x324 * x428 + - x324 * x494 + + 0.053028558 * x367 + - 0.053028558 * x368 + + 0.053028558 * x369 + + 0.053028558 * x374 + + 0.053028558 * x375 + + x383 * x930 + + x384 * x930 + - x396 * x722 + - x400 * (0.045483 * x130 + 1.0e-6 * x216 + x48 * x685 - x48 * x687) + + x418 * x861 + + x419 * x861 + - x462 * (-0.10593 * x125 + 0.10593 * x130) + - x462 * (x1184 * x341 - x1185 * x360 + x1207) + - x467 * x642 + - x467 * (x1183 * x319 + x1184 * x478 - x1185 * x486), + x1183 * x225 + + x1211 * x418 + + x1211 * x419 + + x1212 * x212 + + x1213 * x303 + + x1214 * x439 + + x1215 * x395 + + x1217 * x60 + + x1217 * x94 + + x1218 * x411 + + x1219 * x416 + + x1220 + + x405 * x989 + + 3.067964645e-5 * x421 + - 3.067964645e-5 * x422 + - 7.56093725e-7 * x426 + + 7.56093725e-7 * x427 + - x462 * ( - -0.011402 * x310 - + 0.011402 * x314 - + 0.000281 * x328 - - 0.000281 * x332 + -0.011402 * x336 + + 0.011402 * x340 + + 0.000281 * x355 + - 0.000281 * x359 ) - + x436 * x536, + - x467 * (-x575 + x576 - x577 + x578), ], [ - x104 * x1101 - - x106 * x708 - + x109 * x1104 - + x109 * x1106 - + x1095 * x335 - + x1096 * x317 - + x1097 * x266 - + x1098 * x266 - + x1099 * x127 - + x1100 * x241 - + x1102 * x49 - + x1107 * x28 - + x1108 * x232 - + x1109 * x161 - + x1109 * x209 - + x1109 * x214 - + x1109 * x223 - + x1110 * x142 - + x1110 * x152 - + x1110 * x180 - + x1110 * x186 - + x1111 * x413 - + x1111 * x494 - + x1112 * x133 - + x1113 * x75 - + x1113 * x92 - + x1113 * x95 - + x1114 * x386 - + x1114 * x489 - + x1115 * x269 - + x1115 * x296 - + x1115 * x343 - + x1115 * x349 - + x1115 * x358 - + x1115 * x475 - + x1116 * x151 - + x1116 * x179 - + x1116 * x188 - + x1116 * x195 - + x1116 * x227 - + x1116 * x473 - + x1117 * x367 - + x1117 * x485 - + x1118 * x393 - + x1118 * x419 - + x1118 * x421 - + x1118 * x431 - + x1118 * x443 - + x1118 * x452 - + x1119 * x189 - + x1119 * x468 - + x1120 * x400 - + x1120 * x409 - + x1120 * x423 - + x1120 * x427 - + x1120 * x439 - + x1120 * x457 - + x1121 * x247 - + x1121 * x260 - + x1121 * x293 - + x1122 * x247 - + x1122 * x260 - + x1122 * x293 - + x1123 * x362 - + x1123 * x466 - + x1124 * x250 - + x1124 * x461 - + x1125 * x236 - + x1125 * x247 - + x1125 * x260 - + x1125 * x289 - + x1125 * x293 - + x1126 * x269 - + x1126 * x296 - + x1126 * x343 - + x1126 * x349 - + x1126 * x358 - + x1127 * x151 - + x1127 * x179 - + x1127 * x188 - + x1127 * x195 - + x1127 * x227 - + x1128 * x161 - + x1128 * x209 - + x1128 * x214 - + x1128 * x223 - + x1129 * x380 - + x1130 * x52 - + x1130 * x82 - + x1130 * x83 - + x1131 * x142 - + x1131 * x152 - + x1131 * x180 - + x1131 * x186 - + x1132 * x282 - + x1133 * x146 - + x1134 * x75 - + x1134 * x92 - + x1134 * x95 - + x1135 * x52 - + x1135 * x82 - + x1135 * x83 - + x1136 * x41 - + x1137 * x264 - - x1138 * x388 - - x1138 * x490 - - x1139 * x377 - - x1139 * x482 - - x1140 * x228 - - x1140 * x447 - - x1141 * x128 - - x1142 * x61 - - x1143 * x211 - + x1144 * x8 - + x1145 * x376 - 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** 2 + * (x1278 - 2.19862366158785e-5 * x317 + 2.19862366158785e-5 * x318) ** 2 + 6.314636725e-5 + * (-0.000103626943005181 * x199 + x379 + 0.000103626943005181 * x49) + ** 2 + + 0.0014027877002709 + * (x247 - 0.212167183343227 * x317 + 0.212167183343227 * x318) ** 2 + + 0.00561731514894 + * (x247 - 0.00165250637213254 * x317 + 0.00165250637213254 * x318) ** 2 + + 0.0004444931544824 + * (-0.00943016309819451 * x317 + 0.00943016309819451 * x318 + x478) ** 2 + + 6.03255553344e-5 * ( - -0.000103626943005181 * x183 - - x356 - + 0.000103626943005181 * x43 * x5 + x104 + - 0.000106022052586938 * x199 + + x237 + + 0.000106022052586938 * x49 ) ** 2 + 0.0004444931544824 - * (-0.382643130411437 * x291 + x455 + 0.382643130411437 * x533) ** 2 - + 0.0014027877002709 - * (2.19862366158785e-5 * x291 + x356 - 2.19862366158785e-5 * x533) ** 2 + * (0.382643130411437 * x317 - 0.382643130411437 * x318 + x484 + x485) + ** 2 + 6.50808053624e-5 - * (x450 - 0.0246447991580424 * x453 - 0.0246447991580424 * x454) ** 2 - 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2.462403843e-8 * x118 * x325 + - 9.9915760206e-7 * x118 * x333 + + x1380 + - 0.001794316959632 * x325 + + 0.001794316959632 * x327 + + 4.4220581096e-5 * x333 + + 1.60926677408e-5 * x334 + + 4.4220581096e-5 * x348 + - 0.0006567138703936 * x353, + 0.0006567138703936 * x1108 + - 1.60926677408e-5 * x1110 + + x1399 + - 4.924807686e-8 * x1400 + - 1.99831520412e-6 * x1401, + x1411, 0.000674120333239, ], ] diff --git a/kinova_gen3/kinematics/forward_kinematics.py b/kinova_gen3/kinematics/forward_kinematics.py index f146290..dee502b 100644 --- a/kinova_gen3/kinematics/forward_kinematics.py +++ b/kinova_gen3/kinematics/forward_kinematics.py @@ -36,102 +36,110 @@ def forward_kinematics(q): x0 = math.sin(q1) x1 = math.cos(q3) x2 = x0 * x1 - x3 = math.sin(q2) - x4 = math.cos(q1) - x5 = math.cos(q4) - x6 = math.cos(q2) - x7 = math.sin(q3) - x8 = x4 * x7 - x9 = x6 * x8 - x10 = math.cos(q5) - x11 = x2 + x9 - x12 = x10 * x11 - x13 = math.sin(q4) - x14 = x0 * x7 - x15 = x1 * x4 * x6 - x14 - x16 = math.sin(q5) - x17 = x3 * x4 - x18 = -x13 * x17 + x15 * x5 - x19 = x16 * x18 - x20 = math.cos(q6) - x21 = -x13 * x15 - x17 * x5 + x3 = math.cos(q1) + x4 = math.sin(q2) + x5 = x3 * x4 + x6 = math.cos(q4) + x7 = x5 * x6 + x8 = math.cos(q2) + x9 = math.sin(q3) + x10 = x3 * x9 + x11 = x10 * x8 + x12 = math.cos(q5) + x13 = x11 + x2 + x14 = x12 * x13 + x15 = math.sin(q4) + x16 = x0 * x9 + x17 = x1 * x3 + x18 = -x16 + x17 * x8 + x19 = x15 * x18 + x20 = math.sin(q5) + x21 = -x15 * x5 + x18 * x6 x22 = x20 * x21 - x23 = math.sin(q6) - x24 = x10 * x18 - x11 * x16 - x25 = x0 * x3 - x26 = x1 * x4 - x14 * x6 - x27 = x10 * x26 - x28 = -x2 * x6 - x8 - x29 = x13 * x25 + x28 * x5 - x30 = x16 * x29 - x31 = x0 * x3 * x5 - x13 * x28 - x32 = x20 * x31 - x33 = x10 * x29 - x16 * x26 - x34 = x3 * x7 - x35 = x5 * x6 - x36 = x10 * x34 - x37 = x1 * x3 - x38 = x13 * x37 - x39 = -x35 + x38 - x40 = x20 * x39 - x41 = -x13 * x6 - x37 * x5 - x42 = x16 * x41 - x43 = x10 * x41 + x16 * x34 - x44 = x23 * x43 - x45 = math.sin(q7) - x46 = x12 + x19 - x47 = math.cos(q7) - x48 = x20 * x24 + x21 * x23 - x49 = x27 + x30 - x50 = x20 * x33 + x23 * x31 - x51 = -x36 + x42 - x52 = x20 * x43 + x23 * x39 + x23 = math.cos(q6) + x24 = -x19 - x7 + x25 = x23 * x24 + x26 = math.sin(q6) + x27 = x12 * x21 - x13 * x20 + x28 = x26 * x27 + x29 = x0 * x4 + x30 = x29 * x6 + x31 = x16 * x8 + x32 = x17 - x31 + x33 = x12 * x32 + x34 = -x10 - x2 * x8 + x35 = x15 * x34 + x36 = x15 * x29 + x34 * x6 + x37 = x20 * x36 + x38 = x30 - x35 + x39 = x23 * x38 + x40 = x12 * x36 - x20 * x32 + x41 = x26 * x40 + x42 = x4 * x9 + x43 = x6 * x8 + x44 = x12 * x42 + x45 = x1 * x4 + x46 = x15 * x45 + x47 = -x43 + x46 + x48 = x23 * x47 + x49 = -x15 * x8 - x45 * x6 + x50 = x20 * x49 + x51 = x12 * x49 + x20 * x42 + x52 = x26 * x51 + x53 = math.sin(q7) + x54 = x14 + x22 + x55 = math.cos(q7) + x56 = x23 * x27 + x24 * x26 + x57 = x33 + x37 + x58 = x23 * x40 + x26 * x38 + x59 = -x44 + x50 + x60 = x23 * x51 + x26 * x47 position = numpy.array( [ [ -0.01175 * x0 - - 0.0003501 * x12 - + 0.31436 * x13 * x15 - - 0.0003501 * x19 + - 0.01275 * x11 + - 0.0003501 * x14 + + 0.31436 * x19 - 0.01275 * x2 - - 0.167455 * x22 - + 0.167455 * x23 * x24 - + 0.31436 * x3 * x4 * x5 - + 0.42076 * x3 * x4 - - 0.01275 * x9 + - 0.0003501 * x22 + - 0.16743 * x25 + + 0.16743 * x28 + + 0.42076 * x5 + + 0.31436 * x7 ], [ - 0.01275 * x0 * x6 * x7 - - 0.01275 * x1 * x4 - + 0.31436 * x13 * x28 - + 0.167455 * x23 * x33 - - 0.31436 * x25 * x5 - - 0.42076 * x25 - - 0.0003501 * x27 - - 0.0003501 * x30 - - 0.167455 * x32 - - 0.01175 * x4 + -0.01275 * x17 + - 0.42076 * x29 + - 0.01175 * x3 + - 0.31436 * x30 + + 0.01275 * x31 + - 0.0003501 * x33 + + 0.31436 * x35 + - 0.0003501 * x37 + - 0.16743 * x39 + + 0.16743 * x41 ], [ - 0.01275 * x34 - + 0.31436 * x35 - + 0.0003501 * x36 - - 0.31436 * x38 - - 0.167455 * x40 - - 0.0003501 * x42 - + 0.167455 * x44 - + 0.42076 * x6 + 0.01275 * x42 + + 0.31436 * x43 + + 0.0003501 * x44 + - 0.31436 * x46 + - 0.16743 * x48 + - 0.0003501 * x50 + + 0.16743 * x52 + + 0.42076 * x8 + 0.28481 ], ] ).flatten() - + rotation = numpy.array( [ - [x45 * x46 - x47 * x48, -x45 * x48 - x46 * x47, -x22 + x23 * x24], - [x45 * x49 - x47 * x50, -x45 * x50 - x47 * x49, x23 * x33 - x32], - [x45 * x51 - x47 * x52, -x45 * x52 - x47 * x51, -x40 + x44], + [-x53 * x54 + x55 * x56, x53 * x56 + x54 * x55, -x25 + x28], + [-x53 * x57 + x55 * x58, x53 * x58 + x55 * x57, -x39 + x41], + [-x53 * x59 + x55 * x60, x53 * x60 + x55 * x59, -x48 + x52], ] ) diff --git a/kinova_gen3/kinematics/jacobian.py b/kinova_gen3/kinematics/jacobian.py index bfe2d01..5231e9d 100644 --- a/kinova_gen3/kinematics/jacobian.py +++ b/kinova_gen3/kinematics/jacobian.py @@ -39,195 +39,230 @@ def jacobian(q): x5 = x0 * x4 x6 = 0.01275 * x5 x7 = math.cos(q4) - x8 = x2 * x7 - x9 = x1 * x8 - x10 = math.sin(q3) - x11 = math.cos(q2) - x12 = math.cos(q5) - x13 = x1 * x10 - x14 = -x0 * x4 + x11 * x13 - x15 = -x14 - x16 = x12 * x15 + x8 = x1 * x2 + x9 = x7 * x8 + x10 = math.cos(q2) + x11 = math.sin(q3) + x12 = x1 * x11 + x13 = x10 * x12 + x14 = math.cos(q5) + x15 = 0.0003501 * x5 + x16 = 0.0003501 * x13 - x15 x17 = math.sin(q4) - x18 = x0 * x10 - x19 = x1 * x4 - x20 = x11 * x19 - x21 = x18 + x20 - x22 = -x21 - x23 = math.sin(q5) - x24 = x17 * x2 - x25 = x1 * x24 - x26 = x22 * x7 - x27 = x25 + x26 - x28 = x23 * x27 - x29 = x1 * x2 * x7 - x17 * x22 - x30 = math.cos(q6) - x31 = 0.167455 * x30 - x32 = math.sin(q6) - x33 = x15 * x23 - x34 = -x33 - x35 = x12 * x27 - x36 = x34 + x35 - x37 = 0.42076 * x11 - x38 = 0.01275 * x18 - x39 = x11 * x7 - x40 = x0 * x39 - x41 = 0.0003501 * x12 - x42 = x2 * x41 - x43 = x24 * x5 - x44 = x11 * x17 - x45 = -x0 * x44 - x5 * x8 - x46 = 0.0003501 * x23 - x47 = x2 * x23 - x48 = 0.167455 * x32 - x49 = 0.01275 * x13 - x50 = -x0 * x11 * x4 + x13 - x51 = -x50 - x52 = x11 * x18 - x53 = x19 + x52 - x54 = -x53 - x55 = 0.31436 * x17 - x56 = x17 * x31 - x57 = x23 * x54 - x58 = x0 * x24 - x59 = -x0 * x17 * x2 + x51 * x7 - x60 = x0 * x8 - x61 = -x17 * x51 - x60 - x62 = x23 * x53 - x63 = x12 * x59 - x64 = x12 * x53 + x23 * x59 - x65 = -x62 + x63 - x66 = x17 * x50 - x67 = x50 * x7 + x58 - x68 = x1 * x44 + x19 * x8 - x69 = x14 * x7 - x70 = x29 * x48 - x71 = 0.31436 * x8 - x72 = x4 * x44 - x73 = x24 - x39 * x4 - x74 = x2 * x4 - x75 = x10 * x24 - x76 = x10 * x8 - x77 = x4 * x8 + x44 - x78 = x24 * x4 - x39 - x79 = x10 * x2 - x80 = -x77 - x81 = x12 * x80 - x82 = x12 * x79 - x83 = x17 * x21 + x9 - x84 = -x21 * x7 + x25 + x18 = x0 * x11 + x19 = 0.31436 * x18 + x20 = x1 * x4 + x21 = x10 * x20 + x22 = -x19 - 0.31436 * x21 + x23 = math.cos(q6) + x24 = -0.16743 * x9 + x25 = x18 + x21 + x26 = x17 * x25 + x27 = math.sin(q5) + x28 = x17 * x2 + x29 = x1 * x28 + x30 = -x18 - x21 + x31 = x30 * x7 + x32 = -0.0003501 * x29 - 0.0003501 * x31 + x33 = math.sin(q6) + x34 = x13 - x5 + x35 = 0.16743 * x27 + x36 = x29 + x31 + x37 = 0.16743 * x14 + x38 = x36 * x37 + x39 = 0.42076 * x10 + x40 = 0.01275 * x18 + x41 = x10 * x7 + x42 = 0.31436 * x41 + x43 = 0.0003501 * x18 + x44 = x14 * x2 + x45 = 0.31436 * x5 + x46 = 0.16743 * x41 + x47 = 0.16743 * x28 + x48 = x10 * x17 + x49 = x0 * x48 + x50 = x2 * x7 + x51 = x2 * x35 + x52 = 0.01275 * x12 + x53 = 0.0003501 * x12 + x54 = 0.31436 * x20 + x55 = x10 * x18 + x56 = x20 + x55 + x57 = 0.16743 * x23 + x58 = x17 * x57 + x59 = -x20 - x55 + x60 = 0.0003501 * x7 + x61 = x27 * x60 + x62 = x10 * x5 + x63 = x12 - x62 + x64 = x37 * x59 + x65 = x0 * x28 + x66 = 0.31436 * x12 + x67 = 0.31436 * x62 + x68 = x0 * x2 + x69 = x68 * x7 + x70 = -x12 + x62 + x71 = x17 * x70 + x72 = x63 * x7 + x73 = -x69 - x71 + x74 = x33 * x37 + x75 = 0.0003501 * x20 + x76 = 0.0003501 * x55 + x77 = 0.0003501 * x65 + x78 = x7 * x70 + x79 = -x65 + x78 + x80 = x27 * x79 + x81 = 0.16743 * x69 + x82 = 0.16743 * x71 + x83 = x27 * x56 + x84 = 0.16743 * x83 + x85 = x14 * x79 + x86 = x1 * x48 + x87 = -x13 + x5 + x88 = x34 * x37 + x89 = x25 * x7 + x90 = x17 * x30 + x91 = x27 * x87 + x92 = 0.31436 * x50 + x93 = x10 * x11 + x94 = 0.0003501 * x14 + x95 = 0.31436 * x48 + x96 = 0.0003501 * x28 + x97 = x4 * x41 + x98 = 0.16743 * x50 + x99 = 0.16743 * x48 + x100 = x2 * x4 + x101 = x11 * x28 + x102 = x11 * x2 + x103 = x102 * x27 + x104 = x102 * x37 + x105 = x28 * x4 + x106 = x105 - x41 + x107 = x4 * x50 + x108 = -x107 - x48 + x109 = x26 + x9 + x110 = x29 - x89 + x111 = x107 + x48 analytical_jacobian = numpy.array( [ [ -0.01175 * x0 - + 0.01275 * x1 * x10 * x11 - x1 * x3 - - 0.0003501 * x16 - + 0.31436 * x17 * x22 - - 0.0003501 * x28 - - x29 * x31 - + 0.167455 * x32 * x36 + + 0.01275 * x13 + + x14 * x16 + + x17 * x22 + + x23 * (x24 - 0.16743 * x26) + + x27 * x32 + + x33 * (x34 * x35 + x38) - x6 - 0.31436 * x9, - x0 * x37 - + x18 * x42 - + x2 * x38 - - x31 * (-x40 + x43) - + 0.31436 * x40 - - 0.31436 * x43 - - x45 * x46 - + x48 * (x12 * x45 + x18 * x47), - -x11 * x6 - - x41 * x51 - + x48 * (x12 * x54 * x7 - x23 * x51) - + x49 - + x54 * x55 - + x54 * x56 - - 0.0003501 * x57 * x7, - 0.167455 * x12 * x32 * x61 - + x31 * x59 - - x46 * x61 - + 0.31436 * x51 * x7 - - 0.31436 * x58, - -x48 * x64 + 0.0003501 * x62 - 0.0003501 * x63, - x31 * x65 + x48 * x61, + x0 * x39 + + x0 * x42 + + x2 * x40 + + x23 * (x0 * x46 - x47 * x5) + + x27 * (x15 * x50 + 0.0003501 * x49) + - x28 * x45 + + x33 * (x18 * x51 + x37 * (-x49 - x5 * x50)) + + x43 * x44, + -x10 * x6 + + x14 * (-x10 * x15 + x53) + + x17 * (-x10 * x19 - x54) + + x33 * (x35 * x63 + x64 * x7) + + x52 + - x56 * x58 + - x59 * x61, + x23 * (-0.16743 * x65 - 0.16743 * x72) + + x27 * (0.0003501 * x69 + 0.0003501 * x71) + - 0.31436 * x65 + + x7 * (-x66 + x67) + + x73 * x74, + x14 * (x77 - 0.0003501 * x78) + - x27 * (-x75 - x76) + + x33 * (x64 - 0.16743 * x80), + x23 * (-x84 + 0.16743 * x85) - x33 * (x81 + x82), 0, ], [ -x0 * x3 + 0.01175 * x1 - - 0.0003501 * x12 * x54 - + 0.01275 * x19 - - x31 * (x60 - x66) - - x46 * x67 - + x48 * (x12 * x67 - x57) - + 0.01275 * x52 - - 0.31436 * x60 - + 0.31436 * x66, - 0.31436 * x1 * x17 * x2 * x4 - - x1 * x37 - - 0.31436 * x1 * x39 - - x13 * x42 - - x2 * x49 - - x31 * (x1 * x11 * x7 - x19 * x24) - + 0.167455 * x32 * (x12 * x68 - x13 * x47) - - x46 * x68, - x14 * x55 - + x14 * x56 + + x14 * (x75 + x76) + + x17 * (x66 - x67) + 0.01275 * x20 - - x22 * x41 - + x38 - - x46 * x69 - + x48 * (x12 * x69 - x22 * x23), - x12 * x70 + 0.31436 * x25 + 0.31436 * x26 + x27 * x31 - x29 * x46, - 0.0003501 * x33 - 0.0003501 * x35 + x48 * (-x16 - x28), - x31 * x36 + x70, + + x23 * (-x81 - x82) + + x27 * (-0.0003501 * x72 - x77) + + x33 * (x37 * (x65 + x72) + x84) + + 0.01275 * x55 + - 0.31436 * x69, + -x1 * x39 + - x1 * x42 + - x2 * x52 + + x23 * (-x1 * x46 + x20 * x47) + + x27 * (-x50 * x75 - 0.0003501 * x86) + + x28 * x54 + + x33 * (-x12 * x51 + x37 * (x20 * x50 + x86)) + - x44 * x53, + x14 * (0.0003501 * x21 + x43) + + x17 * (0.31436 * x13 - x45) + + 0.01275 * x21 + + x33 * (x25 * x35 + x7 * x88) + - x34 * x61 + + x40 + - x58 * x87, + x22 * x7 + + x23 * (0.16743 * x29 - 0.16743 * x89) + + x27 * (-0.0003501 * x9 + 0.0003501 * x90) + + 0.31436 * x29 + + x74 * (x9 - x90), + x14 * x32 - x16 * x27 + x33 * (-x35 * x36 + x88), + x23 * (x38 - 0.16743 * x91) - x33 * (x24 + 0.16743 * x90), 0, ], [ 0, - 0.0003501 * x10 * x11 * x12 - + 0.01275 * x10 * x11 + x23 * (-x4 * x99 - x98) + + x27 * (-x96 + 0.0003501 * x97) - x3 - - x31 * (x72 + x8) - + 0.167455 * x32 * (x10 * x11 * x23 + x12 * x73) - - x46 * x73 - - x71 - - 0.31436 * x72, - x31 * x75 - + x41 * x74 - - x46 * x76 - + x48 * (x12 * x76 + x23 * x74) - + 0.01275 * x74 - + 0.31436 * x75, - 0.167455 * x12 * x32 * x78 - - x31 * x77 - - x4 * x71 - - 0.31436 * x44 - - x46 * x78, - 0.167455 * x32 * (-x23 * x80 + x82) - x46 * x79 - 0.0003501 * x81, - x31 * (x23 * x79 + x81) + x48 * x78, + + x33 * (x35 * x93 + x37 * (x28 - x97)) + - x4 * x95 + - x92 + + x93 * x94 + + 0.01275 * x93, + x100 * x94 + + 0.01275 * x100 + + x101 * x57 + + 0.31436 * x101 + - x103 * x60 + + x33 * (x100 * x35 + x104 * x7), + x106 * x74 + + x23 * (-x4 * x98 - x99) + + x27 * (-x4 * x96 + 0.0003501 * x41) + - x4 * x92 + - x95, + -0.0003501 * x103 + + x14 * (0.0003501 * x107 + 0.0003501 * x48) + + x33 * (x104 - x108 * x35), + x23 * (x102 * x35 + x108 * x37) - x33 * (-0.16743 * x105 + x46), 0, ], - [0, x1, -x0 * x2, x53, x61, x64, x30 * x61 - x32 * x65], + [0, x1, -x68, x56, x73, x14 * x56 + x80, x23 * x73 - x33 * (-x83 + x85)], [ 0, x0, - x1 * x2, - x15, - x83, - x16 + x23 * x84, - x30 * x83 - x32 * (x12 * x84 + x34), + x8, + x87, + x109, + x110 * x27 + x14 * x87, + x109 * x23 - x33 * (x110 * x14 - x91), ], [ -1, 0, - -x11, - -x79, - x78, - -x23 * x77 - x82, - x30 * x78 - x32 * (x10 * x2 * x23 - x12 * x77), + -x10, + -x102, + x106, + -x102 * x14 - x111 * x27, + x106 * x23 - x33 * (x103 - x111 * x14), ], ] ) diff --git a/pyproject.toml b/pyproject.toml index b90cc59..a7df7f4 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -1,6 +1,6 @@ [project] name = "pyKinovaGen3" -version = "0.0.7" +version = "0.0.8" authors = [ { name="Ozan Tokatli", email="ozan.tokatli@gmail.com" }, ]