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strain_terms_f.c
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strain_terms_f.c
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#include <stdio.h>
#include <math.h>
#include "parameters.h"
void strain_terms_f(double* state_var, double* strain_terms)
{
double theta=state_var[0];
double phi=state_var[1];
double psi=state_var[2];
double X=state_var[3];
double Y=state_var[4];
double Z=state_var[5];
double p10_b=state_var[6];
double p9_b=state_var[7];
double p8_b=state_var[8];
double p7_b=state_var[9];
double p6_b=state_var[10];
double p5_b=state_var[11];
double p4_b=state_var[12];
double p3_b=state_var[13];
double p2_b=state_var[14];
double p1_b=state_var[15];
double q1_b=state_var[16];
double q2_b=state_var[17];
double q3_b=state_var[18];
double q4_b=state_var[19];
double q5_b=state_var[20];
double q6_b=state_var[21];
double q7_b=state_var[22];
double q8_b=state_var[23];
double q9_b=state_var[24];
double q10_b=state_var[25];
double p10_b_dot=state_var[26];
double p9_b_dot=state_var[27];
double p8_b_dot=state_var[28];
double p7_b_dot=state_var[29];
double p6_b_dot=state_var[30];
double p5_b_dot=state_var[31];
double p4_b_dot=state_var[32];
double p3_b_dot=state_var[33];
double p2_b_dot=state_var[34];
double p1_b_dot=state_var[35];
double q1_b_dot=state_var[36];
double q2_b_dot=state_var[37];
double q3_b_dot=state_var[38];
double q4_b_dot=state_var[39];
double q5_b_dot=state_var[40];
double q6_b_dot=state_var[41];
double q7_b_dot=state_var[42];
double q8_b_dot=state_var[43];
double q9_b_dot=state_var[44];
double q10_b_dot=state_var[45];
double p10_t=state_var[46];
double p9_t=state_var[47];
double p8_t=state_var[48];
double p7_t=state_var[49];
double p6_t=state_var[50];
double p5_t=state_var[51];
double p4_t=state_var[52];
double p3_t=state_var[53];
double p2_t=state_var[54];
double p1_t=state_var[55];
double q1_t=state_var[56];
double q2_t=state_var[57];
double q3_t=state_var[58];
double q4_t=state_var[59];
double q5_t=state_var[60];
double q6_t=state_var[61];
double q7_t=state_var[62];
double q8_t=state_var[63];
double q9_t=state_var[64];
double q10_t=state_var[65];
double p10_i=state_var[66];
double p9_i=state_var[67];
double p8_i=state_var[68];
double p7_i=state_var[69];
double p6_i=state_var[70];
double p5_i=state_var[71];
double p4_i=state_var[72];
double p3_i=state_var[73];
double p2_i=state_var[74];
double p1_i=state_var[75];
double q1_i=state_var[76];
double q2_i=state_var[77];
double q3_i=state_var[78];
double q4_i=state_var[79];
double q5_i=state_var[80];
double q6_i=state_var[81];
double q7_i=state_var[82];
double q8_i=state_var[83];
double q9_i=state_var[84];
double q10_i=state_var[85];
double p10_i_dot=state_var[86];
double p9_i_dot=state_var[87];
double p8_i_dot=state_var[88];
double p7_i_dot=state_var[89];
double p6_i_dot=state_var[90];
double p5_i_dot=state_var[91];
double p4_i_dot=state_var[92];
double p3_i_dot=state_var[93];
double p2_i_dot=state_var[94];
double p1_i_dot=state_var[95];
double q1_i_dot=state_var[96];
double q2_i_dot=state_var[97];
double q3_i_dot=state_var[98];
double q4_i_dot=state_var[99];
double q5_i_dot=state_var[100];
double q6_i_dot=state_var[101];
double q7_i_dot=state_var[102];
double q8_i_dot=state_var[103];
double q9_i_dot=state_var[104];
double q10_i_dot=state_var[105];
double theta_dt=state_var[106];
double phi_dt=state_var[107];
double psi_dt=state_var[108];
double X_dt=state_var[109];
double Y_dt=state_var[110];
double Z_dt=state_var[111];
double p10_b_dt=state_var[112];
double p9_b_dt=state_var[113];
double p8_b_dt=state_var[114];
double p7_b_dt=state_var[115];
double p6_b_dt=state_var[116];
double p5_b_dt=state_var[117];
double p4_b_dt=state_var[118];
double p3_b_dt=state_var[119];
double p2_b_dt=state_var[120];
double p1_b_dt=state_var[121];
double q1_b_dt=state_var[122];
double q2_b_dt=state_var[123];
double q3_b_dt=state_var[124];
double q4_b_dt=state_var[125];
double q5_b_dt=state_var[126];
double q6_b_dt=state_var[127];
double q7_b_dt=state_var[128];
double q8_b_dt=state_var[129];
double q9_b_dt=state_var[130];
double q10_b_dt=state_var[131];
double p10_b_dot_dt=state_var[132];
double p9_b_dot_dt=state_var[133];
double p8_b_dot_dt=state_var[134];
double p7_b_dot_dt=state_var[135];
double p6_b_dot_dt=state_var[136];
double p5_b_dot_dt=state_var[137];
double p4_b_dot_dt=state_var[138];
double p3_b_dot_dt=state_var[139];
double p2_b_dot_dt=state_var[140];
double p1_b_dot_dt=state_var[141];
double q1_b_dot_dt=state_var[142];
double q2_b_dot_dt=state_var[143];
double q3_b_dot_dt=state_var[144];
double q4_b_dot_dt=state_var[145];
double q5_b_dot_dt=state_var[146];
double q6_b_dot_dt=state_var[147];
double q7_b_dot_dt=state_var[148];
double q8_b_dot_dt=state_var[149];
double q9_b_dot_dt=state_var[150];
double q10_b_dot_dt=state_var[151];
double p10_t_dt=state_var[152];
double p9_t_dt=state_var[153];
double p8_t_dt=state_var[154];
double p7_t_dt=state_var[155];
double p6_t_dt=state_var[156];
double p5_t_dt=state_var[157];
double p4_t_dt=state_var[158];
double p3_t_dt=state_var[159];
double p2_t_dt=state_var[160];
double p1_t_dt=state_var[161];
double q1_t_dt=state_var[162];
double q2_t_dt=state_var[163];
double q3_t_dt=state_var[164];
double q4_t_dt=state_var[165];
double q5_t_dt=state_var[166];
double q6_t_dt=state_var[167];
double q7_t_dt=state_var[168];
double q8_t_dt=state_var[169];
double q9_t_dt=state_var[170];
double q10_t_dt=state_var[171];
double p10_i_dt=state_var[172];
double p9_i_dt=state_var[173];
double p8_i_dt=state_var[174];
double p7_i_dt=state_var[175];
double p6_i_dt=state_var[176];
double p5_i_dt=state_var[177];
double p4_i_dt=state_var[178];
double p3_i_dt=state_var[179];
double p2_i_dt=state_var[180];
double p1_i_dt=state_var[181];
double q1_i_dt=state_var[182];
double q2_i_dt=state_var[183];
double q3_i_dt=state_var[184];
double q4_i_dt=state_var[185];
double q5_i_dt=state_var[186];
double q6_i_dt=state_var[187];
double q7_i_dt=state_var[188];
double q8_i_dt=state_var[189];
double q9_i_dt=state_var[190];
double q10_i_dt=state_var[191];
double p10_i_dot_dt=state_var[192];
double p9_i_dot_dt=state_var[193];
double p8_i_dot_dt=state_var[194];
double p7_i_dot_dt=state_var[195];
double p6_i_dot_dt=state_var[196];
double p5_i_dot_dt=state_var[197];
double p4_i_dot_dt=state_var[198];
double p3_i_dot_dt=state_var[199];
double p2_i_dot_dt=state_var[200];
double p1_i_dot_dt=state_var[201];
double q1_i_dot_dt=state_var[202];
double q2_i_dot_dt=state_var[203];
double q3_i_dot_dt=state_var[204];
double q4_i_dot_dt=state_var[205];
double q5_i_dot_dt=state_var[206];
double q6_i_dot_dt=state_var[207];
double q7_i_dot_dt=state_var[208];
double q8_i_dot_dt=state_var[209];
double q9_i_dot_dt=state_var[210];
double q10_i_dot_dt=state_var[211];
double x0 = pow(L, -3);
double x1 = A*E;
double x2 = 72*x1;
double x3 = p10_b*x2;
double x4 = p9_b*x2;
double x5 = L*x1;
double x6 = p10_b_dot*x5;
double x7 = 42*x6;
double x8 = p9_b_dot*x5;
double x9 = 30*x8;
double x10 = 36*x1;
double x11 = p10_b*x10;
double x12 = p9_b*x10;
double x13 = -x12;
double x14 = 24*x6;
double x15 = 12*x8;
double x16 = 48*x1;
double x17 = p10_b*x16;
double x18 = p9_b*x16;
double x19 = -x18;
double x20 = 24*x8;
double x21 = -x14;
double x22 = -x20;
double x23 = -x4;
double x24 = p8_b*x2;
double x25 = p8_b_dot*x5;
double x26 = 30*x25;
double x27 = 42*x8;
double x28 = p8_b*x10;
double x29 = -x28;
double x30 = 12*x25;
double x31 = p8_b*x16;
double x32 = -x31;
double x33 = 24*x25;
double x34 = p7_b*x2;
double x35 = -x24;
double x36 = p7_b_dot*x5;
double x37 = 30*x36;
double x38 = 42*x25;
double x39 = p7_b*x10;
double x40 = -x39;
double x41 = 12*x36;
double x42 = p7_b*x16;
double x43 = -x42;
double x44 = 24*x36;
double x45 = -x33;
double x46 = p6_b*x2;
double x47 = -x34;
double x48 = p6_b_dot*x5;
double x49 = 30*x48;
double x50 = 42*x36;
double x51 = p6_b*x10;
double x52 = -x51;
double x53 = 12*x48;
double x54 = p6_b*x16;
double x55 = -x54;
double x56 = 24*x48;
double x57 = -x44;
double x58 = p5_b*x2;
double x59 = -x46;
double x60 = p5_b_dot*x5;
double x61 = 30*x60;
double x62 = 42*x48;
double x63 = p5_b*x10;
double x64 = -x63;
double x65 = 12*x60;
double x66 = p5_b*x16;
double x67 = -x66;
double x68 = 24*x60;
double x69 = -x56;
double x70 = p4_b*x2;
double x71 = -x58;
double x72 = p4_b_dot*x5;
double x73 = 30*x72;
double x74 = 42*x60;
double x75 = p4_b*x10;
double x76 = -x75;
double x77 = 12*x72;
double x78 = p4_b*x16;
double x79 = -x78;
double x80 = 24*x72;
double x81 = -x68;
double x82 = p3_b*x2;
double x83 = -x70;
double x84 = p3_b_dot*x5;
double x85 = 30*x84;
double x86 = 42*x72;
double x87 = p3_b*x10;
double x88 = -x87;
double x89 = 12*x84;
double x90 = p3_b*x16;
double x91 = -x90;
double x92 = 24*x84;
double x93 = -x80;
double x94 = p2_b*x2;
double x95 = -x82;
double x96 = p2_b_dot*x5;
double x97 = 30*x96;
double x98 = 42*x84;
double x99 = p2_b*x10;
double x100 = -x99;
double x101 = 12*x96;
double x102 = p2_b*x16;
double x103 = -x102;
double x104 = 24*x96;
double x105 = -x92;
double x106 = p1_b*x2;
double x107 = -x94;
double x108 = p1_b_dot*x5;
double x109 = 30*x108;
double x110 = 42*x96;
double x111 = p1_b*x10;
double x112 = 12*x108;
double x113 = p1_b*x16;
double x114 = 24*x108;
double x115 = -x104;
double x116 = -x106;
double x117 = q1_b*x16;
double x118 = q1_b_dot*x5;
double x119 = 24*x118;
double x120 = -x119;
double x121 = q1_b*x10;
double x122 = q1_b*x2;
double x123 = -x122;
double x124 = q2_b*x2;
double x125 = 42*x118;
double x126 = q2_b_dot*x5;
double x127 = 30*x126;
double x128 = q2_b*x10;
double x129 = -x128;
double x130 = 12*x126;
double x131 = q2_b*x16;
double x132 = -x131;
double x133 = 24*x126;
double x134 = -x133;
double x135 = -x124;
double x136 = q3_b*x2;
double x137 = 42*x126;
double x138 = q3_b_dot*x5;
double x139 = 30*x138;
double x140 = q3_b*x10;
double x141 = -x140;
double x142 = 12*x138;
double x143 = q3_b*x16;
double x144 = -x143;
double x145 = 24*x138;
double x146 = -x145;
double x147 = -x136;
double x148 = q4_b*x2;
double x149 = 42*x138;
double x150 = q4_b_dot*x5;
double x151 = 30*x150;
double x152 = q4_b*x10;
double x153 = -x152;
double x154 = 12*x150;
double x155 = q4_b*x16;
double x156 = -x155;
double x157 = 24*x150;
double x158 = -x157;
double x159 = -x148;
double x160 = q5_b*x2;
double x161 = 42*x150;
double x162 = q5_b_dot*x5;
double x163 = 30*x162;
double x164 = q5_b*x10;
double x165 = -x164;
double x166 = 12*x162;
double x167 = q5_b*x16;
double x168 = -x167;
double x169 = 24*x162;
double x170 = -x169;
double x171 = -x160;
double x172 = q6_b*x2;
double x173 = 42*x162;
double x174 = q6_b_dot*x5;
double x175 = 30*x174;
double x176 = q6_b*x10;
double x177 = -x176;
double x178 = 12*x174;
double x179 = q6_b*x16;
double x180 = -x179;
double x181 = 24*x174;
double x182 = -x181;
double x183 = -x172;
double x184 = q7_b*x2;
double x185 = 42*x174;
double x186 = q7_b_dot*x5;
double x187 = 30*x186;
double x188 = q7_b*x10;
double x189 = -x188;
double x190 = 12*x186;
double x191 = q7_b*x16;
double x192 = -x191;
double x193 = 24*x186;
double x194 = -x193;
double x195 = -x184;
double x196 = q8_b*x2;
double x197 = 42*x186;
double x198 = q8_b_dot*x5;
double x199 = 30*x198;
double x200 = q8_b*x10;
double x201 = -x200;
double x202 = 12*x198;
double x203 = q8_b*x16;
double x204 = -x203;
double x205 = 24*x198;
double x206 = -x205;
double x207 = -x196;
double x208 = q9_b*x2;
double x209 = 42*x198;
double x210 = q9_b_dot*x5;
double x211 = 30*x210;
double x212 = q9_b*x10;
double x213 = -x212;
double x214 = 12*x210;
double x215 = q9_b*x16;
double x216 = -x215;
double x217 = 24*x210;
double x218 = q10_b*x2;
double x219 = -x208;
double x220 = q10_b_dot*x5;
double x221 = 30*x220;
double x222 = 42*x210;
double x223 = q10_b*x10;
double x224 = 12*x220;
double x225 = q10_b*x16;
double x226 = 24*x220;
double x227 = -x217;
double x228 = 42*x5;
double x229 = p9_b*x228;
double x230 = pow(L, 2)*x1;
double x231 = p10_b_dot*x230;
double x232 = p9_b_dot*x230;
double x233 = -18*x232;
double x234 = 12*x232;
double x235 = 24*x5;
double x236 = p9_b*x235;
double x237 = p10_b*x235 - x236;
double x238 = x0*(12*x231 + x234 + x237);
double x239 = 8*x232;
double x240 = 30*x5;
double x241 = p9_b*x240;
double x242 = 12*x5;
double x243 = p9_b*x242;
double x244 = p8_b*x228;
double x245 = p8_b_dot*x230;
double x246 = -18*x245;
double x247 = 8*x245;
double x248 = p8_b*x235;
double x249 = x236 - x248;
double x250 = 12*x245;
double x251 = x0*(x234 + x249 + x250);
double x252 = p7_b*x228;
double x253 = p7_b_dot*x230;
double x254 = -18*x253;
double x255 = 8*x253;
double x256 = p7_b*x235;
double x257 = x248 - x256;
double x258 = 12*x253;
double x259 = x0*(x250 + x257 + x258);
double x260 = p8_b*x240;
double x261 = p8_b*x242;
double x262 = p6_b*x228;
double x263 = p6_b_dot*x230;
double x264 = -18*x263;
double x265 = 8*x263;
double x266 = p6_b*x235;
double x267 = x256 - x266;
double x268 = 12*x263;
double x269 = x0*(x258 + x267 + x268);
double x270 = p7_b*x240;
double x271 = p7_b*x242;
double x272 = p5_b*x228;
double x273 = p5_b_dot*x230;
double x274 = -18*x273;
double x275 = 8*x273;
double x276 = p5_b*x235;
double x277 = x266 - x276;
double x278 = 12*x273;
double x279 = x0*(x268 + x277 + x278);
double x280 = p6_b*x240;
double x281 = p6_b*x242;
double x282 = p4_b*x228;
double x283 = p4_b_dot*x230;
double x284 = -18*x283;
double x285 = 8*x283;
double x286 = p4_b*x235;
double x287 = x276 - x286;
double x288 = 12*x283;
double x289 = x0*(x278 + x287 + x288);
double x290 = p5_b*x240;
double x291 = p5_b*x242;
double x292 = p3_b*x228;
double x293 = p3_b_dot*x230;
double x294 = -18*x293;
double x295 = 8*x293;
double x296 = p3_b*x235;
double x297 = x286 - x296;
double x298 = 12*x293;
double x299 = x0*(x288 + x297 + x298);
double x300 = p4_b*x240;
double x301 = p4_b*x242;
double x302 = p2_b*x228;
double x303 = p2_b_dot*x230;
double x304 = -18*x303;
double x305 = 8*x303;
double x306 = p2_b*x235;
double x307 = x296 - x306;
double x308 = 12*x303;
double x309 = x0*(x298 + x307 + x308);
double x310 = p3_b*x240;
double x311 = p3_b*x242;
double x312 = p1_b*x228;
double x313 = p1_b_dot*x230;
double x314 = p1_b*x235;
double x315 = x306 - x314;
double x316 = 12*x313;
double x317 = x0*(x308 + x315 + x316);
double x318 = p2_b*x240;
double x319 = p2_b*x242;
double x320 = q1_b*x240;
double x321 = q1_b_dot*x230;
double x322 = 12*x321;
double x323 = q1_b*x242;
double x324 = q1_b*x235;
double x325 = q2_b*x228;
double x326 = q2_b_dot*x230;
double x327 = -18*x326;
double x328 = 12*x326;
double x329 = q2_b*x235;
double x330 = x324 - x329;
double x331 = x0*(x322 + x328 + x330);
double x332 = 8*x326;
double x333 = q2_b*x240;
double x334 = q2_b*x242;
double x335 = q3_b*x228;
double x336 = q3_b_dot*x230;
double x337 = -18*x336;
double x338 = 12*x336;
double x339 = q3_b*x235;
double x340 = x329 - x339;
double x341 = x0*(x328 + x338 + x340);
double x342 = 8*x336;
double x343 = q3_b*x240;
double x344 = q3_b*x242;
double x345 = q4_b*x228;
double x346 = q4_b_dot*x230;
double x347 = -18*x346;
double x348 = 12*x346;
double x349 = q4_b*x235;
double x350 = x339 - x349;
double x351 = x0*(x338 + x348 + x350);
double x352 = 8*x346;
double x353 = q4_b*x240;
double x354 = q4_b*x242;
double x355 = q5_b*x228;
double x356 = q5_b_dot*x230;
double x357 = -18*x356;
double x358 = 12*x356;
double x359 = q5_b*x235;
double x360 = x349 - x359;
double x361 = x0*(x348 + x358 + x360);
double x362 = 8*x356;
double x363 = q5_b*x240;
double x364 = q5_b*x242;
double x365 = q6_b*x228;
double x366 = q6_b_dot*x230;
double x367 = -18*x366;
double x368 = 12*x366;
double x369 = q6_b*x235;
double x370 = x359 - x369;
double x371 = x0*(x358 + x368 + x370);
double x372 = 8*x366;
double x373 = q6_b*x240;
double x374 = q6_b*x242;
double x375 = q7_b*x228;
double x376 = q7_b_dot*x230;
double x377 = -18*x376;
double x378 = 12*x376;
double x379 = q7_b*x235;
double x380 = x369 - x379;
double x381 = x0*(x368 + x378 + x380);
double x382 = 8*x376;
double x383 = q7_b*x240;
double x384 = q7_b*x242;
double x385 = q8_b*x228;
double x386 = q8_b_dot*x230;
double x387 = -18*x386;
double x388 = 12*x386;
double x389 = q8_b*x235;
double x390 = x379 - x389;
double x391 = x0*(x378 + x388 + x390);
double x392 = 8*x386;
double x393 = q8_b*x240;
double x394 = q8_b*x242;
double x395 = q9_b*x228;
double x396 = q9_b_dot*x230;
double x397 = -18*x396;
double x398 = 12*x396;
double x399 = q9_b*x235;
double x400 = x389 - x399;
double x401 = x0*(x388 + x398 + x400);
double x402 = 8*x396;
double x403 = q10_b_dot*x230;
double x404 = -q10_b*x235 + x399;
double x405 = 12*x403;
double x406 = x0*(x398 + x404 + x405);
double x407 = q9_b*x240;
double x408 = q9_b*x242;
double x409 = 1.0/L;
double x410 = p9_t*x409;
double x411 = G*J;
double x412 = x411*(-p10_t*x409 + x410);
double x413 = p8_t*x409;
double x414 = x411*(-x410 + x413);
double x415 = p7_t*x409;
double x416 = x411*(-x413 + x415);
double x417 = p6_t*x409;
double x418 = x411*(-x415 + x417);
double x419 = p5_t*x409;
double x420 = x411*(-x417 + x419);
double x421 = p4_t*x409;
double x422 = x411*(-x419 + x421);
double x423 = p3_t*x409;
double x424 = x411*(-x421 + x423);
double x425 = p2_t*x409;
double x426 = x411*(-x423 + x425);
double x427 = p1_t*x409;
double x428 = x411*(-x425 + x427);
double x429 = q1_t*x409;
double x430 = q2_t*x409;
double x431 = x411*(-x429 + x430);
double x432 = q3_t*x409;
double x433 = x411*(-x430 + x432);
double x434 = q4_t*x409;
double x435 = x411*(-x432 + x434);
double x436 = q5_t*x409;
double x437 = x411*(-x434 + x436);
double x438 = q6_t*x409;
double x439 = x411*(-x436 + x438);
double x440 = q7_t*x409;
double x441 = x411*(-x438 + x440);
double x442 = q8_t*x409;
double x443 = x411*(-x440 + x442);
double x444 = q9_t*x409;
double x445 = x411*(-x442 + x444);
double x446 = x411*(q10_t*x409 - x444);
double x447 = p10_i*x2;
double x448 = p9_i*x2;
double x449 = p10_i_dot*x228;
double x450 = p9_i_dot*x240;
double x451 = p10_i*x10;
double x452 = p9_i*x10;
double x453 = -x452;
double x454 = p10_i_dot*x235;
double x455 = p9_i_dot*x242;
double x456 = p10_i*x16;
double x457 = p9_i*x16;
double x458 = -x457;
double x459 = p9_i_dot*x235;
double x460 = -x454;
double x461 = -x459;
double x462 = -x448;
double x463 = p8_i*x2;
double x464 = p8_i_dot*x240;
double x465 = p9_i_dot*x228;
double x466 = p8_i*x10;
double x467 = -x466;
double x468 = p8_i_dot*x242;
double x469 = p8_i*x16;
double x470 = -x469;
double x471 = p8_i_dot*x235;
double x472 = p7_i*x2;
double x473 = -x463;
double x474 = p7_i_dot*x240;
double x475 = p8_i_dot*x228;
double x476 = p7_i*x10;
double x477 = -x476;
double x478 = p7_i_dot*x242;
double x479 = p7_i*x16;
double x480 = -x479;
double x481 = p7_i_dot*x235;
double x482 = -x471;
double x483 = p6_i*x2;
double x484 = -x472;
double x485 = p6_i_dot*x240;
double x486 = p7_i_dot*x228;
double x487 = p6_i*x10;
double x488 = -x487;
double x489 = p6_i_dot*x242;
double x490 = p6_i*x16;
double x491 = -x490;
double x492 = p6_i_dot*x235;
double x493 = -x481;
double x494 = p5_i*x2;
double x495 = -x483;
double x496 = p5_i_dot*x240;
double x497 = p6_i_dot*x228;
double x498 = p5_i*x10;
double x499 = -x498;
double x500 = p5_i_dot*x242;
double x501 = p5_i*x16;
double x502 = -x501;
double x503 = p5_i_dot*x235;
double x504 = -x492;
double x505 = p4_i*x2;
double x506 = -x494;
double x507 = p4_i_dot*x240;
double x508 = p5_i_dot*x228;
double x509 = p4_i*x10;
double x510 = -x509;
double x511 = p4_i_dot*x242;
double x512 = p4_i*x16;
double x513 = -x512;
double x514 = p4_i_dot*x235;
double x515 = -x503;
double x516 = p3_i*x2;
double x517 = -x505;
double x518 = p3_i_dot*x240;
double x519 = p4_i_dot*x228;
double x520 = p3_i*x10;
double x521 = -x520;
double x522 = p3_i_dot*x242;
double x523 = p3_i*x16;
double x524 = -x523;
double x525 = p3_i_dot*x235;
double x526 = -x514;
double x527 = p2_i*x2;
double x528 = -x516;
double x529 = p2_i_dot*x240;
double x530 = p3_i_dot*x228;
double x531 = p2_i*x10;
double x532 = -x531;
double x533 = p2_i_dot*x242;
double x534 = p2_i*x16;
double x535 = -x534;
double x536 = p2_i_dot*x235;
double x537 = -x525;
double x538 = p1_i*x2;
double x539 = -x527;
double x540 = p1_i_dot*x240;
double x541 = p2_i_dot*x228;
double x542 = p1_i*x10;
double x543 = p1_i_dot*x242;
double x544 = p1_i*x16;
double x545 = p1_i_dot*x235;
double x546 = -x536;
double x547 = -x538;
double x548 = q1_i*x16;
double x549 = q1_i_dot*x235;
double x550 = -x549;
double x551 = q1_i*x10;
double x552 = q1_i*x2;
double x553 = -x552;
double x554 = q2_i*x2;
double x555 = q1_i_dot*x228;
double x556 = q2_i_dot*x240;
double x557 = q2_i*x10;
double x558 = -x557;
double x559 = q2_i_dot*x242;
double x560 = q2_i*x16;
double x561 = -x560;
double x562 = q2_i_dot*x235;
double x563 = -x562;
double x564 = -x554;
double x565 = q3_i*x2;
double x566 = q2_i_dot*x228;
double x567 = q3_i_dot*x240;
double x568 = q3_i*x10;
double x569 = -x568;
double x570 = q3_i_dot*x242;
double x571 = q3_i*x16;
double x572 = -x571;
double x573 = q3_i_dot*x235;
double x574 = -x573;
double x575 = -x565;
double x576 = q4_i*x2;
double x577 = q3_i_dot*x228;
double x578 = q4_i_dot*x240;
double x579 = q4_i*x10;
double x580 = -x579;
double x581 = q4_i_dot*x242;
double x582 = q4_i*x16;
double x583 = -x582;
double x584 = q4_i_dot*x235;
double x585 = -x584;
double x586 = -x576;
double x587 = q5_i*x2;
double x588 = q4_i_dot*x228;
double x589 = q5_i_dot*x240;
double x590 = q5_i*x10;
double x591 = -x590;
double x592 = q5_i_dot*x242;
double x593 = q5_i*x16;
double x594 = -x593;
double x595 = q5_i_dot*x235;
double x596 = -x595;
double x597 = -x587;
double x598 = q6_i*x2;
double x599 = q5_i_dot*x228;
double x600 = q6_i_dot*x240;
double x601 = q6_i*x10;
double x602 = -x601;
double x603 = q6_i_dot*x242;
double x604 = q6_i*x16;
double x605 = -x604;
double x606 = q6_i_dot*x235;
double x607 = -x606;
double x608 = -x598;
double x609 = q7_i*x2;
double x610 = q6_i_dot*x228;
double x611 = q7_i_dot*x240;
double x612 = q7_i*x10;
double x613 = -x612;
double x614 = q7_i_dot*x242;
double x615 = q7_i*x16;
double x616 = -x615;
double x617 = q7_i_dot*x235;
double x618 = -x617;
double x619 = -x609;
double x620 = q8_i*x2;
double x621 = q7_i_dot*x228;
double x622 = q8_i_dot*x240;
double x623 = q8_i*x10;
double x624 = -x623;
double x625 = q8_i_dot*x242;
double x626 = q8_i*x16;
double x627 = -x626;
double x628 = q8_i_dot*x235;
double x629 = -x628;
double x630 = -x620;
double x631 = q9_i*x2;
double x632 = q8_i_dot*x228;
double x633 = q9_i_dot*x240;
double x634 = q9_i*x10;
double x635 = -x634;
double x636 = q9_i_dot*x242;
double x637 = q9_i*x16;
double x638 = -x637;
double x639 = q9_i_dot*x235;
double x640 = q10_i*x2;
double x641 = -x631;
double x642 = q10_i_dot*x240;
double x643 = q9_i_dot*x228;
double x644 = q10_i*x10;
double x645 = q10_i_dot*x242;
double x646 = q10_i*x16;
double x647 = q10_i_dot*x235;
double x648 = -x639;
double x649 = p9_i*x228;
double x650 = p10_i_dot*x230;
double x651 = p9_i_dot*x230;
double x652 = -18*x651;
double x653 = 12*x651;
double x654 = p9_i*x235;
double x655 = p10_i*x235 - x654;
double x656 = x0*(12*x650 + x653 + x655);
double x657 = 8*x651;
double x658 = p9_i*x240;
double x659 = p9_i*x242;
double x660 = p8_i*x228;
double x661 = p8_i_dot*x230;
double x662 = -18*x661;
double x663 = 8*x661;
double x664 = p8_i*x235;
double x665 = x654 - x664;
double x666 = 12*x661;
double x667 = x0*(x653 + x665 + x666);
double x668 = p7_i*x228;
double x669 = p7_i_dot*x230;
double x670 = -18*x669;
double x671 = 8*x669;
double x672 = p7_i*x235;
double x673 = x664 - x672;
double x674 = 12*x669;
double x675 = x0*(x666 + x673 + x674);
double x676 = p8_i*x240;
double x677 = p8_i*x242;
double x678 = p6_i*x228;
double x679 = p6_i_dot*x230;
double x680 = -18*x679;
double x681 = 8*x679;
double x682 = p6_i*x235;
double x683 = x672 - x682;
double x684 = 12*x679;
double x685 = x0*(x674 + x683 + x684);
double x686 = p7_i*x240;
double x687 = p7_i*x242;
double x688 = p5_i*x228;
double x689 = p5_i_dot*x230;
double x690 = -18*x689;
double x691 = 8*x689;
double x692 = p5_i*x235;
double x693 = x682 - x692;
double x694 = 12*x689;
double x695 = x0*(x684 + x693 + x694);
double x696 = p6_i*x240;
double x697 = p6_i*x242;
double x698 = p4_i*x228;
double x699 = p4_i_dot*x230;
double x700 = -18*x699;
double x701 = 8*x699;
double x702 = p4_i*x235;
double x703 = x692 - x702;
double x704 = 12*x699;
double x705 = x0*(x694 + x703 + x704);
double x706 = p5_i*x240;
double x707 = p5_i*x242;
double x708 = p3_i*x228;
double x709 = p3_i_dot*x230;
double x710 = -18*x709;
double x711 = 8*x709;
double x712 = p3_i*x235;
double x713 = x702 - x712;
double x714 = 12*x709;
double x715 = x0*(x704 + x713 + x714);
double x716 = p4_i*x240;
double x717 = p4_i*x242;
double x718 = p2_i*x228;
double x719 = p2_i_dot*x230;
double x720 = -18*x719;
double x721 = 8*x719;
double x722 = p2_i*x235;
double x723 = x712 - x722;
double x724 = 12*x719;
double x725 = x0*(x714 + x723 + x724);
double x726 = p3_i*x240;
double x727 = p3_i*x242;
double x728 = p1_i*x228;
double x729 = p1_i_dot*x230;
double x730 = p1_i*x235;
double x731 = x722 - x730;
double x732 = 12*x729;
double x733 = x0*(x724 + x731 + x732);
double x734 = p2_i*x240;
double x735 = p2_i*x242;
double x736 = q1_i*x240;
double x737 = q1_i_dot*x230;
double x738 = 12*x737;
double x739 = q1_i*x242;
double x740 = q1_i*x235;
double x741 = q2_i*x228;
double x742 = q2_i_dot*x230;
double x743 = -18*x742;
double x744 = 12*x742;
double x745 = q2_i*x235;
double x746 = x740 - x745;
double x747 = x0*(x738 + x744 + x746);
double x748 = 8*x742;
double x749 = q2_i*x240;
double x750 = q2_i*x242;
double x751 = q3_i*x228;
double x752 = q3_i_dot*x230;
double x753 = -18*x752;
double x754 = 12*x752;
double x755 = q3_i*x235;
double x756 = x745 - x755;
double x757 = x0*(x744 + x754 + x756);
double x758 = 8*x752;
double x759 = q3_i*x240;
double x760 = q3_i*x242;
double x761 = q4_i*x228;
double x762 = q4_i_dot*x230;
double x763 = -18*x762;
double x764 = 12*x762;
double x765 = q4_i*x235;
double x766 = x755 - x765;
double x767 = x0*(x754 + x764 + x766);
double x768 = 8*x762;
double x769 = q4_i*x240;
double x770 = q4_i*x242;
double x771 = q5_i*x228;
double x772 = q5_i_dot*x230;
double x773 = -18*x772;
double x774 = 12*x772;
double x775 = q5_i*x235;
double x776 = x765 - x775;
double x777 = x0*(x764 + x774 + x776);
double x778 = 8*x772;
double x779 = q5_i*x240;
double x780 = q5_i*x242;
double x781 = q6_i*x228;