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26269d12c0f6686aae715cf4c3500a7dfb40c87e | e30ab85bde0c8887f4fb519337da95ad4393fe8d | /SocketSystem.h | d677c7c7b5b175bcd38244aec2f699816443b95c | [] | no_license | rodrigolmonteiro/muonline-client-sources | a80a105c2d278cee482b504b167c393d3b05322e | be7f279f0d17bb8ca87455e434edd30b60e5a5fe | refs/heads/master | 2023-06-29T09:45:22.154516 | 2021-08-04T17:10:15 | 2021-08-04T17:10:15 | null | 0 | 0 | null | null | null | null | UHC | C++ | false | false | 9,918 | h | #if !defined(_SOCKET_SYSTEM_H_)
#define _SOCKET_SYSTEM_H_
#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000
#ifdef SOCKET_SYSTEM
namespace SEASON4A
{
enum _SOCKET_OPTION_TYPE
{
SOT_SOCKET_ITEM_OPTIONS, // 일반 소켓 옵션
SOT_MIX_SET_BONUS_OPTIONS, // 보너스 조합 옵션
SOT_EQUIP_SET_BONUS_OPTIONS, // 세트 옵션
MAX_SOCKET_OPTION_TYPES
};
const int MAX_SOCKET_OPTION = 50;
const int MAX_SOCKET_OPTION_NAME_LENGTH = 64;
const int MAX_SPHERE_LEVEL = 5;
#ifdef YDG_FIX_SOCKETITEM_SELLPRICE_BUG
const int MAX_SOCKET_TYPES = 6;
#endif // YDG_FIX_SOCKETITEM_SELLPRICE_BUG
enum _SOCKET_OPTION_CATEGORY
{
SOC_NULL,
SOC_IMPROVE_ATTACK, // 공격 강화
SOC_IMPROVE_DEFENSE, // 방어 강화
SOC_IMPROVE_WEAPON, // 무기 강화
SOC_IMPROVE_ARMOR, // 방어구 강화
SOC_IMPROVE_BATTLE, // 전투 강화
SOC_IMPROVE_STATUS, // 스탯 강화
SOC_UNIQUE_OPTION, // 유니크 옵션
MAX_SOCKET_OPTION_CATEGORY
};
enum _SOCKET_OPTIONS
{
SOPT_ATTACK_N_MAGIC_DAMAGE_BONUS_BY_LEVEL = 0, // "(레벨별)공격력/마력증가"
SOPT_ATTACK_SPEED_BONUS, // "공격속도증가"
SOPT_ATTACT_N_MAGIC_DAMAGE_MAX_BONUS, // "최대공격력/마력증가"
SOPT_ATTACK_N_MAGIC_DAMAGE_MIN_BONUS, // "최소공격력/마력증가"
SOPT_ATTACK_N_MAGIC_DAMAGE_BONUS, // "공격력/마력증가"
#ifdef YDG_FIX_SOCKET_BALANCE_PATCH
SOPT_DECREASE_AG_USE, // "AG소모량감소"
#else // YDG_FIX_SOCKET_BALANCE_PATCH
SOPT_SKILL_DAMAGE_BONUS, // "스킬공격력증가"
SOPT_ATTACK_RATE_BONUS, // "공격성공율증가"
SOPT_PVP_ATTACK_RATE_BONUS, // "대인공격성공율증가"
SOPT_MAGIC_POWER_BONUS, // "마력증가"
#endif // YDG_FIX_SOCKET_BALANCE_PATCH
SOPT_DEFENCE_RATE_BONUS = 10, // "방어성공율증가"
SOPT_DEFENCE_BONUS, // "방어력증가"
SOPT_SHIELD_DEFENCE_BONUS, // "방패방어력증가"
SOPT_DECREASE_DAMAGE, // "데미지감소"
SOPT_REFLECT_DAMAGE, // "데미지반사"
SOPT_MONSTER_DEATH_LIFE_BONUS = 16, // "몬스터사망시생명증가"
SOPT_MONSTER_DEATH_MANA_BONUS, // "몬스터사망시마나증가"
#ifdef YDG_FIX_SOCKET_BALANCE_PATCH
SOPT_SKILL_DAMAGE_BONUS, // "스킬공격력증가"
SOPT_ATTACK_RATE_BONUS, // "공격성공율증가"
SOPT_INCREASE_ITEM_DURABILITY, // "아이템내구도강화"
#else // YDG_FIX_SOCKET_BALANCE_PATCH
SOPT_SD_USE_RATE_BONUS, // "SD감소율상승" -> PvP시 피 대신 SD가 깎이는 비율을 늘여준다
SOPT_IGNORE_SD_RATE_BONUS, // "공격시SD무시확률상승"
#endif // YDG_FIX_SOCKET_BALANCE_PATCH
SOPT_LIFE_REGENERATION_BONUS = 21, // "생명자동회복증가"
SOPT_MAX_LIFE_BONUS, // "최대생명증가"
SOPT_MAX_MANA_BONUS, // "최대마나증가"
SOPT_MANA_REGENERATION_BONUS, // "마나자동회복증가"
SOPT_MAX_AG_BONUS, // "최대AG증가"
SOPT_AG_REGENERATION_BONUS, // "AG값증가"
#ifndef YDG_FIX_SOCKET_BALANCE_PATCH // 정리시 삭제해야함
SOPT_MONSTER_DEATH_ZEN_BONUS, // "몬스터사망시젠증가"
#endif // YDG_FIX_SOCKET_BALANCE_PATCH
SOPT_EXCELLENT_DAMAGE_BONUS = 29, // "엑설런트데미지증가"
SOPT_EXCELLENT_DAMAGE_RATE_BONUS, // "엑설런트데미지확률증가"
SOPT_CRITICAL_DAMAGE_BONUS, // "크리티컬데미지증가"
SOPT_CRITICAL_DAMAGE_RATE_BONUS, // "크리티컬데미지확률증가"
SOPT_STRENGTH_BONUS = 34, // "힘증가"
SOPT_DEXTERITY_BONUS, // "민첩증가"
SOPT_VITALITY_BONUS, // "체력증가"
SOPT_ENERGY_BONUS, // "에너지증가"
SOPT_REQUIRED_STENGTH_BONUS, // "필요힘감소"
SOPT_REQUIRED_DEXTERITY_BONUS, // "필요민첩감소"
SOPT_UNIQUE01 = 41, // "유니크옵션1" (미사용)
SOPT_UNIQUE02, // "유니크옵션2" (미사용)
};
enum _SOCKET_BONUS_OPTIONS
{
SBOPT_ATTACK_DAMAGE_BONUS = 0, // "공격력 상승"
SBOPT_SKILL_DAMAGE_BONUS, // "스킬 공격력 상승"
SBOPT_MAGIC_POWER_BONUS, // "공격력/마력 상승"
SBOPT_SKILL_DAMAGE_BONUS_2, // "스킬 공격력 상승"
SBOPT_DEFENCE_BONUS, // "방어력 상승"
SBOPT_MAX_LIFE_BONUS, // "최대 생명 증가"
};
typedef struct _SOCKET_OPTION_INFO
{
int m_iOptionID;
int m_iOptionCategory;
char m_szOptionName[MAX_SOCKET_OPTION_NAME_LENGTH];
char m_bOptionType;
#ifdef YDG_FIX_SCRIPT_LEVEL_VALUE
int m_iOptionValue[5]; // 옵션 수치 값 (스피어 레벨별)
#else // YDG_FIX_SCRIPT_LEVEL_VALUE
int m_iOptionValue;
#endif // YDG_FIX_SCRIPT_LEVEL_VALUE
BYTE m_bySocketCheckInfo[6];
} SOCKET_OPTION_INFO;
// typedef struct _SOCKET_OPTION_INFO_UNICODE
// {
// int m_iOptionID;
// int m_iOptionCategory;
// wchar_t m_szOptionName[MAX_SOCKET_OPTION_NAME_LENGTH];
// wchar_t m_bOptionType;
// #ifdef YDG_FIX_SCRIPT_LEVEL_VALUE
// int m_iOptionValue[5]; // 옵션 수치 값 (스피어 레벨별)
// #else // YDG_FIX_SCRIPT_LEVEL_VALUE
// int m_iOptionValue;
// #endif // YDG_FIX_SCRIPT_LEVEL_VALUE
// BYTE m_bySocketCheckInfo[6];
// } SOCKET_OPTION_INFO_UNICODE;
typedef struct _SOCKET_OPTION_STATUS_BONUS
{
int m_iAttackDamageMinBonus; // 최소 공격력
int m_iAttackDamageMaxBonus; // 최대 공격력
int m_iAttackRateBonus; // 공격 성공율
int m_iSkillAttackDamageBonus; // 스킬 공격력
int m_iAttackSpeedBonus; // 공격속도
#ifndef YDG_FIX_SOCKET_BALANCE_PATCH
int m_iPvPAttackRateBonus; // 대인 공격 성공율
#endif // YDG_FIX_SOCKET_BALANCE_PATCH
#ifdef YDG_FIX_SOCKET_MISSING_MAGIC_POWER_BONUS
int m_iMagicPowerMinBonus; // 최소 마력
int m_iMagicPowerMaxBonus; // 최대 마력
#else // YDG_FIX_SOCKET_MISSING_MAGIC_POWER_BONUS
int m_iMagicPowerBonus; // 마력
#endif // YDG_FIX_SOCKET_MISSING_MAGIC_POWER_BONUS
int m_iDefenceBonus; // 방어력
#ifdef YDG_FIX_SOCKET_BALANCE_PATCH
float m_fDefenceRateBonus; // 방어성공율
#else // YDG_FIX_SOCKET_BALANCE_PATCH
int m_iDefenceRateBonus; // 방어율
#endif // YDG_FIX_SOCKET_BALANCE_PATCH
int m_iShieldDefenceBonus; // 방패 방어력
int m_iStrengthBonus; // 힘
int m_iDexterityBonus; // 민첩
int m_iVitalityBonus; // 체력
int m_iEnergyBonus; // 에너지
} SOCKET_OPTION_STATUS_BONUS;
// 소켓 정보 관리 클래스 (소켓 아이템 옵션 등)
class CSocketItemMgr
{
public:
CSocketItemMgr();
virtual ~CSocketItemMgr();
BOOL IsSocketItem(const ITEM* pItem); // 소켓 아이템인가
BOOL IsSocketItem(const OBJECT* pObject); // 소켓 아이템 오브젝트인가
int GetSeedShpereSeedID(const ITEM* pItem); // 시드스피어이면 시드 ID를 반환한다. 시드스피어가 아니면 SOCKET_EMPTY 반환
int GetSocketCategory(int iSeedID); // 시드 ID가 어떤 속성인지 알려준다
// 소켓 아이템 툴팁 관련
int AttachToolTipForSocketItem(const ITEM* pItem, int iTextNum); // 아이템 툴팁에 소켓 옵션 목록을 뿌려준다.
int AttachToolTipForSeedSphereItem(const ITEM* pItem, int iTextNum); // 시드, 스피어, 시드스피어 아이템 툴팁을 생성준다.
// 소켓 아이템 세트 관련
void CheckSocketSetOption(); // 장비의 소켓 세트를 검사 (장비 전체 세트옵션)
BOOL IsSocketSetOptionEnabled(); // 소켓 세트옵션이 있나
void RenderToolTipForSocketSetOption(int iPos_x, int iPos_y); // 소켓 세트 옵션 목록을 뿌려준다.
// 소켓 옵션 텍스트 생성
void CreateSocketOptionText(char * pszOptionText, int iSeedID, int iSphereLv);
// 소켓 아이템 가격 보너스 계산
#ifdef KJW_FIX_SOCKET_BONUS_BIT_OPERATION
__int64 CalcSocketBonusItemValue(const ITEM * pItem, __int64 iOrgGold);
#else // KJW_FIX_SOCKET_BONUS_BIT_OPERATION
int CalcSocketBonusItemValue(const ITEM * pItem, int iOrgGold);
#endif // KJW_FIX_SOCKET_BONUS_BIT_OPERATION
// 소켓아이템 옵션값을 구한다
int GetSocketOptionValue(const ITEM * pItem, int iSocketIndex);
void CalcSocketStatusBonus(); // 장비의 스테이터스 보너스를 검사 (m_StatusBonus 생성)
SOCKET_OPTION_STATUS_BONUS m_StatusBonus;
#ifdef LJH_ADD_SUPPORTING_MULTI_LANGUAGE
void OpenSocketItemScript(const unicode::t_char * szFileName); // socketitem.bmd를 읽어들인다.
#endif //LJH_ADD_SUPPORTING_MULTI_LANGUAGE
protected:
BOOL IsSocketItem(int iItemType); // 소켓 아이템인가
#ifndef LJH_ADD_SUPPORTING_MULTI_LANGUAGE
void OpenSocketItemScript(const unicode::t_char * szFileName); // socketitem.bmd를 읽어들인다.
#endif //LJH_ADD_SUPPORTING_MULTI_LANGUAGE
#ifdef YDG_FIX_SCRIPT_LEVEL_VALUE
void CalcSocketOptionValueText(char * pszOptionValueText, int iOptionType, float fOptionValue); // 소켓 옵션 텍스트 계산
int CalcSocketOptionValue(int iOptionType, float fOptionValue); // 소켓 옵션 값 계산
#else // YDG_FIX_SCRIPT_LEVEL_VALUE
void CalcSocketOptionValueText(char * pszOptionValueText, int iOptionType, float fOptionValue, float fSphereValue); // 소켓 옵션 텍스트 계산
int CalcSocketOptionValue(int iOptionType, float fOptionValue, float fSphereValue); // 소켓 옵션 값 계산
#endif // YDG_FIX_SCRIPT_LEVEL_VALUE
protected:
SOCKET_OPTION_INFO m_SocketOptionInfo[MAX_SOCKET_OPTION_TYPES][MAX_SOCKET_OPTION];
int m_iNumEquitSetBonusOptions; // 검사할 소켓장비 세트옵션 개수
std::deque<DWORD> m_EquipSetBonusList; // 캐릭터의 소켓장비 세트옵션 ID 목록
#ifndef YDG_FIX_SCRIPT_LEVEL_VALUE
float m_fSphereValues[5];
#endif // YDG_FIX_SCRIPT_LEVEL_VALUE
};
}
extern SEASON4A::CSocketItemMgr g_SocketItemMgr;
#endif // SOCKET_SYSTEM
#endif // !defined(_SOCKET_SYSTEM_H_)
| [
"sasha.broslavskiy@gmail.com"
] | sasha.broslavskiy@gmail.com |
2c861ecdf21a9ea8fe4f253f99fa531721e791f6 | 1901bdbaf57584e7c5ec21643db340f9d98d6807 | /compute/tensor/src/cpu/x86/fp32/detectionoutput.cpp | 29b07228987cf83772c97db73504fbc54822446d | [
"MIT"
] | permissive | huawei-noah/bolt | 2a4febe5f5cce64e3589c2782c489d59975eb6a3 | cf4ca8f8646a8e30ddf91c29a18743d75ac1c172 | refs/heads/master | 2023-08-28T13:36:34.815244 | 2023-06-12T01:24:41 | 2023-06-12T01:24:41 | 225,365,905 | 889 | 168 | MIT | 2023-06-12T01:24:42 | 2019-12-02T12:06:12 | C++ | UTF-8 | C++ | false | false | 3,595 | cpp | // Copyright (C) 2019. Huawei Technologies Co., Ltd. All rights reserved.
// Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"),
// to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense,
// and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
// The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
// WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
// COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
#include "cpu/x86/fp32/tensor_computing_fp32.h"
EE decode_priorbox_fp32(const F32 *location,
const F32 *priorbox,
const F32 *variance,
I32 num_total_priorbox,
F32 *xmin,
F32 *ymin,
F32 *xmax,
F32 *ymax)
{
__m256 loc[4], pb[4], var[4];
__m256i index = _mm256_set_epi32(28, 24, 20, 16, 12, 8, 4, 0);
__m256 v0 = _mm256_set1_ps(0.5f);
__m256 v1 = _mm256_set1_ps(-0.5f);
I32 i = 0;
for (; i < num_total_priorbox - 7; i += 8) {
for (int j = 0; j < 4; j++) {
loc[j] = _mm256_i32gather_ps(location + i * 4 + j, index, 4);
pb[j] = _mm256_i32gather_ps(priorbox + i * 4 + j, index, 4);
var[j] = _mm256_i32gather_ps(variance + i * 4 + j, index, 4);
}
__m256 pb_w = _mm256_sub_ps(pb[2], pb[0]);
__m256 pb_h = _mm256_sub_ps(pb[3], pb[1]);
__m256 pb_cx = _mm256_mul_ps(_mm256_add_ps(pb[0], pb[2]), v0);
__m256 pb_cy = _mm256_mul_ps(_mm256_add_ps(pb[1], pb[3]), v0);
__m256 box_cx = _mm256_fmadd_ps(var[0], _mm256_mul_ps(loc[0], pb_w), pb_cx);
__m256 box_cy = _mm256_fmadd_ps(var[1], _mm256_mul_ps(loc[1], pb_h), pb_cy);
__m256 box_w = _mm256_mul_ps(_mm256_exp_ps(_mm256_mul_ps(var[2], loc[2])), pb_w);
__m256 box_h = _mm256_mul_ps(_mm256_exp_ps(_mm256_mul_ps(var[3], loc[3])), pb_h);
_mm256_storeu_ps(xmin + i, _mm256_fmadd_ps(box_w, v1, box_cx));
_mm256_storeu_ps(ymin + i, _mm256_fmadd_ps(box_h, v1, box_cy));
_mm256_storeu_ps(xmax + i, _mm256_fmadd_ps(box_w, v0, box_cx));
_mm256_storeu_ps(ymax + i, _mm256_fmadd_ps(box_h, v0, box_cy));
}
for (; i < num_total_priorbox; i++) {
const F32 *loc = location + i * 4;
const F32 *pb = priorbox + i * 4;
const F32 *var = variance + i * 4;
F32 pb_w = pb[2] - pb[0];
F32 pb_h = pb[3] - pb[1];
F32 pb_cx = (pb[0] + pb[2]) * 0.5f;
F32 pb_cy = (pb[1] + pb[3]) * 0.5f;
F32 box_cx = var[0] * loc[0] * pb_w + pb_cx;
F32 box_cy = var[1] * loc[1] * pb_h + pb_cy;
F32 box_w = static_cast<F32>(exp(var[2] * loc[2]) * pb_w);
F32 box_h = static_cast<F32>(exp(var[3] * loc[3]) * pb_h);
xmin[i] = box_cx + box_w * -0.5f;
ymin[i] = box_cy + box_h * -0.5f;
xmax[i] = box_cx + box_w * 0.5f;
ymax[i] = box_cy + box_h * 0.5f;
}
return SUCCESS;
}
| [
"jianfeifeng@outlook.com"
] | jianfeifeng@outlook.com |
d99454f872a6402b2520e8f9aa5882aad9bad154 | d618f171a639311de598850d80a0422610dace80 | /LogitechSteeringWheelSDK_8.75.30/Samples/SteeringWheelSDKDemo/SteeringWheelSDKDemo.cpp | 5fcc7ece0b6a0c58621fc8d48e5d66a4d3f785ff | [] | no_license | tongji-cdi/driving-simulator | 0cb09206dfb4da30081de2094165f3dc80b36dd1 | a5d9beb114abff1484674d0e5a5b17802b4b6cf2 | refs/heads/main | 2023-08-28T01:57:33.194866 | 2021-10-19T07:29:08 | 2021-10-19T07:29:08 | 412,952,748 | 1 | 2 | null | 2021-10-19T07:29:09 | 2021-10-03T01:55:44 | C# | UTF-8 | C++ | false | false | 2,188 | cpp | // SteeringWheelSDKDemo.cpp : Defines the class behaviors for the application.
//
#include "stdafx.h"
#include "SteeringWheelSDKDemo.h"
#include "SteeringWheelSDKDemoDlg.h"
#ifdef _DEBUG
#define new DEBUG_NEW
#endif
// CSteeringWheelSDKDemoApp
BEGIN_MESSAGE_MAP(CSteeringWheelSDKDemoApp, CWinApp)
ON_COMMAND(ID_HELP, &CWinApp::OnHelp)
END_MESSAGE_MAP()
// CSteeringWheelSDKDemoApp construction
CSteeringWheelSDKDemoApp::CSteeringWheelSDKDemoApp()
{
// TODO: add construction code here,
// Place all significant initialization in InitInstance
}
// The one and only CSteeringWheelSDKDemoApp object
CSteeringWheelSDKDemoApp theApp;
// CSteeringWheelSDKDemoApp initialization
BOOL CSteeringWheelSDKDemoApp::InitInstance()
{
// InitCommonControlsEx() is required on Windows XP if an application
// manifest specifies use of ComCtl32.dll version 6 or later to enable
// visual styles. Otherwise, any window creation will fail.
INITCOMMONCONTROLSEX InitCtrls;
InitCtrls.dwSize = sizeof(InitCtrls);
// Set this to include all the common control classes you want to use
// in your application.
InitCtrls.dwICC = ICC_WIN95_CLASSES;
InitCommonControlsEx(&InitCtrls);
CWinApp::InitInstance();
AfxEnableControlContainer();
// Standard initialization
// If you are not using these features and wish to reduce the size
// of your final executable, you should remove from the following
// the specific initialization routines you do not need
// Change the registry key under which our settings are stored
// TODO: You should modify this string to be something appropriate
// such as the name of your company or organization
SetRegistryKey(_T("Local AppWizard-Generated Applications"));
CSteeringWheelSDKDemoDlg dlg;
m_pMainWnd = &dlg;
INT_PTR nResponse = dlg.DoModal();
if (nResponse == IDOK)
{
// TODO: Place code here to handle when the dialog is
// dismissed with OK
}
else if (nResponse == IDCANCEL)
{
// TODO: Place code here to handle when the dialog is
// dismissed with Cancel
}
// Since the dialog has been closed, return FALSE so that we exit the
// application, rather than start the application's message pump.
return FALSE;
}
| [
"geyate@gmail.com"
] | geyate@gmail.com |
35b5741f5405f71d8224540cb67defdfc4533421 | 3fedacdc9a43f35609cafa4715c0b098c609c325 | /HackerRank/BitManipulationLonelyInteger/BitManipulationLonelyInteger.cpp | 8103e1b0f241f6fe40559f2ddca8ee4ff6cfd0f6 | [] | no_license | codecameo/ProblemSolved | 7f7fc5ce9829cde4bcb239da6c0893852e370d2c | 77fe538c76276319bc40ad98f77b59072d6368a0 | refs/heads/master | 2020-03-14T22:03:30.851199 | 2018-07-13T14:16:19 | 2018-07-13T14:16:19 | 131,319,185 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 706 | cpp | #include <bits/stdc++.h>
using namespace std;
int bitXor(int x, int y) {
int a = x & y;
int b = ~x & ~y;
int z = ~a & ~b;
return z;
}
int main()
{
int n;
cin >> n;
vector<int> a;
for (int i = 0; i < n; i++) {
int x;
cin >> x;
a.push_back(x);
}
bool found;
for (int i = 0; i < n; i++) {
int x = a[i];
found = false;
for(int j=0;j<n;j++){
if(i==j) continue;
int y = a[j];
if(bitXor(x,y)==0){
found = true;
break;
}
}
if(!found){
cout<<a[i]<<endl;
return 0;
}
}
return 0;
}
| [
"codecameo92@gmail.com"
] | codecameo92@gmail.com |
e886c43a9dda24106ff41e2fafade6787d28f788 | e549fdb6af47cc19aa84da710e1311ddf1d363e1 | /src/Widget/shapeview/CircleItem.cpp | 35effbe6c435581eed2726237254ae00e2cf0f76 | [] | no_license | shizhan-shelly/MotionControl | b331e0a53400fd2b5d325bf8a17bc04f099b43e5 | 99c815acf5047e7a9a2a43e49f08f990e878cb5c | refs/heads/master | 2021-07-07T01:39:50.728336 | 2020-07-22T10:53:40 | 2020-07-22T10:53:40 | 130,342,938 | 1 | 2 | null | 2020-03-25T15:27:08 | 2018-04-20T09:46:54 | C | UTF-8 | C++ | false | false | 1,206 | cpp | // Copyright 2013 Fangling Software Co., Ltd. All Rights Reserved.
// Author: shizhan-shelly@hotmail.com (Zhan Shi)
#include "CircleItem.h"
#include <QtGui/QPainter>
#include <QtGui/QStyleOptionGraphicsItem>
#include <QtGui/QWidget>
CircleItem::CircleItem() {
setFlag(QGraphicsItem::ItemIsMovable);
setFlag(QGraphicsItem::ItemIsSelectable);
}
CircleItem::~CircleItem() {}
void CircleItem::setupCircle(double radius) {
radius_ = radius;
}
void CircleItem::setCircleColor(const QColor &circle_color) {
color_ = circle_color;
}
double CircleItem::getRadius() const {
return radius_;
}
QRectF CircleItem::boundingRect() const {
return QRectF(-radius_, -radius_, 2 * radius_, 2 * radius_);
}
void CircleItem::paint(QPainter *painter,
const QStyleOptionGraphicsItem *option,
QWidget *widget) {
QColor circle_color = collidingItems().isEmpty() ? color_ : Qt::red;
painter->setPen(QPen(QBrush(circle_color), isSelected() ? 1 : 0.5,
Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
painter->drawEllipse(boundingRect());
}
QPainterPath CircleItem::shape() const {
QPainterPath path;
path.addEllipse(boundingRect());
return path;
}
| [
"shizhan-shelly@hotmail.com"
] | shizhan-shelly@hotmail.com |
b5aaef5406221d8999311519a99315f1a1827f94 | 7f18b5bf17d4217cede3a11f1be0caac12561084 | /ext/score_suffix/ScoreSuffix.cpp | bbd510487e7b5e745eacac70e784e5a4676a5d08 | [
"MIT"
] | permissive | dapi/zold-score | d7d9cb6c08f5c3c4de828938e7960af489672dbb | ff46b2b6cd49a158444a85a2d2f99e6866b7e2c2 | refs/heads/master | 2020-04-09T00:28:57.787414 | 2018-11-30T11:15:19 | 2018-11-30T11:15:19 | 159,869,124 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 3,695 | cpp | // Copyright (c) 2018 Yegor Bugayenko
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the 'Software'), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED 'AS IS', WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
#include <array>
#include <random>
#include <vector>
#include <openssl/sha.h>
#include <ruby.h>
#include <ruby/thread.h>
using namespace std;
struct index_params {
string prefix;
int strength;
string nonce;
bool keep_going;
};
static
array<uint8_t, SHA256_DIGEST_LENGTH> sha256(const string &string)
{
SHA256_CTX ctx;
SHA256_Init(&ctx);
SHA256_Update(&ctx, string.data(), string.size());
array<uint8_t, SHA256_DIGEST_LENGTH> hash;
SHA256_Final(&hash[0], &ctx);
return hash;
}
static
bool check_hash(const array<uint8_t, SHA256_DIGEST_LENGTH> &hash, int strength)
{
int current_strength = 0;
const auto rend = hash.rend();
for (auto h = hash.rbegin(); h != rend; ++h) {
if ((*h & 0x0f) != 0) {
break;
}
current_strength += (*h == 0) ? 2 : 1;
if (*h != 0) {
break;
}
}
return current_strength >= strength;
}
static
string create_nonce(uint64_t i)
{
const string chars =
"0123456789"
"abcdefghijklmnopqrstuvwxyz"
"ABCDEFGHIJKLMNOPQRSTUVWXYZ";
string rv;
for (int l = 0; l < 6; l++) { // Cut to 6 sym
rv += chars[i % chars.size()];
if (i < chars.size()) {
break;
}
i /= chars.size();
}
return {rv.rbegin(), rv.rend()};
}
static
void *index(void *arg)
{
index_params *params = static_cast<index_params *>(arg);
mt19937_64 random(uint64_t(time(nullptr)));
for (uint64_t i = random(); params->keep_going; i++) {
const auto hash = sha256(params->prefix + " " + create_nonce(i));
if (check_hash(hash, params->strength)) {
params->nonce = create_nonce(i);
break;
}
}
return nullptr;
}
static
void unblocking_func(void *arg)
{
index_params *params = static_cast<index_params *>(arg);
params->keep_going = false;
}
static
VALUE ScoreSuffix_initialize(VALUE self, VALUE prefix, VALUE strength)
{
rb_iv_set(self, "@prefix", prefix);
rb_iv_set(self, "@strength", strength);
return self;
}
static
VALUE ScoreSuffix_value(VALUE self)
{
auto prefix_value = rb_iv_get(self, "@prefix");
index_params params = {
StringValuePtr(prefix_value),
NUM2INT(rb_iv_get(self, "@strength")),
"",
true
};
rb_thread_call_without_gvl(index, ¶ms, unblocking_func, ¶ms);
return rb_str_new2(params.nonce.c_str());
}
extern "C"
void Init_score_suffix()
{
VALUE module = rb_define_module("Zold");
VALUE score_suffix = rb_define_class_under(
module,
"ScoreSuffix",
rb_cObject
);
rb_define_method(
score_suffix,
"initialize",
reinterpret_cast<VALUE(*)(...)>(ScoreSuffix_initialize),
2
);
rb_define_method(
score_suffix,
"value",
reinterpret_cast<VALUE(*)(...)>(ScoreSuffix_value),
0
);
}
| [
"dron.valyaev@gmail.com"
] | dron.valyaev@gmail.com |
dcbf6cf38344858b452e1c615c7099e99525d8da | 1aa5a32e29b2e68722355b2ffd8a19e38e138f88 | /radarwidget.cpp | 3e02f3c2b7f51e4319e87abdd504154c4928daa1 | [] | no_license | Judyzhuqiang/adc_radar_box_GUI | 104d53ee9214b69e0a1a3d953ec28a070f3f93cb | e15c1d490048563eda6fa24df68e076cfa5b4171 | refs/heads/master | 2022-12-04T21:40:44.689037 | 2020-08-24T06:35:30 | 2020-08-24T06:35:30 | 289,799,386 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 11,847 | cpp | #include "radarwidget.h"
RadarWidget::RadarWidget(QWidget *parent) : QWidget(parent) {
createWidgets();
qRegisterMetaType<radar_data_package>("radar_data_package");
radar = new Radar;
connect(radar, SIGNAL(getData(radar_data_package)), this,
SLOT(updateWidget(radar_data_package)));
connect(radar, SIGNAL(deviceWrong()), this, SLOT(dealDeviceWrong()));
updateCanPortCombobox();
timer_enable_start = new QTimer;
connect(timer_enable_start, SIGNAL(timeout()), this, SLOT(enableStart()));
}
RadarWidget::~RadarWidget() {
delete radar;
}
void RadarWidget::createWidgets() {
can_port_label = new QLabel("设备选择");
can_port_combobox = new QComboBox;
connect(can_port_combobox, SIGNAL(currentIndexChanged(int)), this,
SLOT(dealCanIndexChanged(int)));
#ifdef WIN32
can_type_label = new QLabel("设备类型");
can_type_combobox = new QComboBox;
can_type_combobox->insertItem(0, "CANalyst-II");
#endif
can_baud_label = new QLabel("波特率");
can_baud_combobox = new QComboBox;
can_baud_combobox->addItem("10Kbps");
can_baud_combobox->addItem("20Kbps");
can_baud_combobox->addItem("40Kbps");
can_baud_combobox->addItem("50Kbps");
can_baud_combobox->addItem("80Kbps");
can_baud_combobox->addItem("100Kbps");
can_baud_combobox->addItem("125Kbps");
can_baud_combobox->addItem("200Kbps");
can_baud_combobox->addItem("250Kbps");
can_baud_combobox->addItem("400Kbps");
can_baud_combobox->addItem("500Kbps");
can_baud_combobox->addItem("666Kbps");
can_baud_combobox->addItem("800Kbps");
can_baud_combobox->addItem("1000Kbps");
can_baud_combobox->addItem("33.33Kbps");
can_baud_combobox->addItem("66.66Kbps");
can_baud_combobox->addItem("83.33Kbps");
can_baud_combobox->setCurrentText("500Kbps");
can_channel_label = new QLabel("通道");
can_channel_combobox = new QComboBox;
connnect_light_label = new QLabel("未连接");
connnect_btn = new QPushButton("连接");
connect(connnect_btn, SIGNAL(clicked()), this, SLOT(dealConnect()));
// connect(connnect_btn,SIGNAL(clicked(bool)),this,SLOT(printdate()));
thresh_label = new QLabel("角度范围");
thresh_value = new QLabel(QString::number(angle_thresh));
thresh_btn = new QPushButton("角度设置");
connect(thresh_btn, SIGNAL(clicked(bool)), this, SLOT(dealThreshChanged()));
buzzer_label = new QLabel("报警阈值");
buzzer_value = new QLabel(QString::number(buzVal));
buzzer_btn = new QPushButton("报警设置");
connect(buzzer_btn, SIGNAL(clicked(bool)), this,
SLOT(dealBuzzerMinLongChanged()));
form_widget = new QWidget(this);
form_widget->setGeometry(0, 0, 120, 300);
form_widget->setFixedWidth(120);
QFormLayout *form_layout = new QFormLayout(form_widget);
form_layout->addWidget(can_port_label);
form_layout->addWidget(can_port_combobox);
#ifdef WIN32
form_layout->addWidget(can_type_label);
form_layout->addWidget(can_type_combobox);
#endif
form_layout->addWidget(can_baud_label);
form_layout->addWidget(can_baud_combobox);
form_layout->addWidget(can_channel_label);
form_layout->addWidget(can_channel_combobox);
form_layout->addWidget(connnect_light_label);
form_layout->addWidget(connnect_btn);
start_btn = new QPushButton("启动");
QPixmap start_icon(":/resource/icon/start.png");
refresh_btn = new QPushButton("刷新");
start_btn->setIcon(QIcon(start_icon));
stop_btn = new QPushButton("停止");
stop_btn->setIcon(QIcon(":/resource/icon/stop.png"));
reset_btn = new QPushButton("重置");
reset_btn->setIcon(QIcon(":/resource/icon/reset.png"));
connect(refresh_btn, SIGNAL(clicked(bool)), this,
SLOT(updateCanPortCombobox()));
connect(start_btn, SIGNAL(clicked(bool)), this, SLOT(dealStart()));
connect(stop_btn, SIGNAL(clicked(bool)), this, SLOT(dealStop()));
connect(reset_btn, SIGNAL(clicked(bool)), this, SLOT(dealReset()));
form_layout->addWidget(refresh_btn);
form_layout->addWidget(start_btn);
form_layout->addWidget(stop_btn);
form_layout->addWidget(reset_btn);
form_layout->addWidget(thresh_label);
form_layout->addWidget(thresh_value);
form_layout->addWidget(thresh_btn);
form_layout->addWidget(buzzer_label);
form_layout->addWidget(buzzer_value);
form_layout->addWidget(buzzer_btn);
start_btn->setEnabled(false);
stop_btn->setEnabled(false);
reset_btn->setEnabled(false);
content_widget = new RadarPaintWidget;
QHBoxLayout *main_layout = new QHBoxLayout(this);
main_layout->addWidget(form_widget);
main_layout->addWidget(content_widget);
}
void RadarWidget::connectCan() {
QString can_index = can_port_combobox->currentText();
if (can_index == "") {
QMessageBox::warning(this, "警告", "没有选中设备");
start_btn->setEnabled(false);
stop_btn->setEnabled(false);
reset_btn->setEnabled(false);
return;
}
QString can_baud_str = can_baud_combobox->currentText();
can_baud_str = can_baud_str.remove("Kbps");
if (can_baud_str == "") {
QMessageBox::warning(this, "警告", "波特率为空");
start_btn->setEnabled(false);
stop_btn->setEnabled(false);
reset_btn->setEnabled(false);
return;
}
QString can_channel_str = can_channel_combobox->currentText();
if (can_channel_str == "") {
QMessageBox::warning(this, "警告", "通道号为空");
start_btn->setEnabled(false);
stop_btn->setEnabled(false);
reset_btn->setEnabled(false);
return;
}
#ifdef WIN32
int ret =
radar->connect_can(can_type, can_index.toULong(), can_baud_str.toULong(),
can_channel_str.toULong());
#endif
#ifdef __unix__
int ret = radar->connectCan(can_type, can_index.toUInt(),
can_baud_str.toUInt(), can_channel_str.toUInt());
#endif
if (ret == 0) {
QMessageBox::critical(this, "错误", "打开设备失败");
start_btn->setEnabled(false);
stop_btn->setEnabled(false);
reset_btn->setEnabled(false);
return;
}
if (ret == -1) {
dealDeviceWrong();
return;
}
connnect_btn->setText("断开");
QPalette pe = connnect_light_label->palette();
pe.setColor(QPalette::WindowText, QColor(Qt::red));
connnect_light_label->setPalette(pe);
connnect_light_label->setText("已连接");
start_btn->setEnabled(false);
stop_btn->setEnabled(true);
reset_btn->setEnabled(true);
refresh_btn->setEnabled(false);
radar->start();
// setup buzzer
// sleep(1);
content_widget->buzzerEvent(buzVal);
emit showMsg("radar connect");
return;
}
void RadarWidget::closeCan() {
int ret = radar->closeCan();
connnect_btn->setText("连接");
QPalette pe = connnect_light_label->palette();
pe.setColor(QPalette::WindowText, QColor(Qt::black));
connnect_light_label->setPalette(pe);
connnect_light_label->setText("未连接");
start_btn->setEnabled(false);
stop_btn->setEnabled(false);
reset_btn->setEnabled(false);
refresh_btn->setEnabled(true);
emit showMsg("radar close");
}
void RadarWidget::paintEvent(QPaintEvent *) {}
void RadarWidget::wheelEvent(QWheelEvent *) {}
void RadarWidget::dealConnect() {
QString btn_text = connnect_btn->text();
if (btn_text == "连接") {
connectCan();
content_widget->buzzerEvent(buzVal);
} else {
closeCan();
//radar_buzzer.speeker(false);
}
}
//void RadarWidget::printdate(){
// QString s="sss";
// textBrowser_12->setText(s);
//}
void RadarWidget::dealStart() {
radar->start();
update();
start_btn->setEnabled(false);
stop_btn->setEnabled(true);
emit showMsg("radar start");
//radar_buzzer.speeker(true);
// 启动buzzer
content_widget->buzzerEvent(buzVal);
}
void RadarWidget::dealStop() {
radar->stop();
update();
start_btn->setEnabled(false);
stop_btn->setEnabled(false);
timer_enable_start->start(500);
emit showMsg("radar stop");
//radar_buzzer.speeker(false);
}
void RadarWidget::dealReset() {
int ret = QMessageBox::question(this, "确认", "确认重置？");
switch (ret) {
case QMessageBox::Yes: {
ret = radar->reset();
if (ret == 1) {
QMessageBox::information(this, "确认", "重置成功");
emit showMsg("radar reset");
} else if (ret == 0) {
QMessageBox::warning(this, "警告", "重置失败");
} else {
dealDeviceWrong();
emit showMsg("radar reset wrong");
}
break;
}
default:
break;
}
}
void RadarWidget::updateCanPortCombobox() {
if (connnect_light_label->text() == "已连接") return;
int num = 1;
#ifdef WIN32
num = VCI_FindUsbDevice2(pInfo);
if (num == 0) {
current_can_index = 0;
} else {
current_can_index = -1;
can_channel_combobox->clear();
int channel_num = pInfo[0].can_Num;
for (int i = 0; i < channel_num; i++) {
can_channel_combobox->addItem(QString::number(i + 1));
}
}
can_port_combobox->clear();
for (int i = 0; i < num; i++) {
can_port_combobox->addItem(QString::number(i));
}
#endif
#ifdef __linux__
can_port_combobox->clear();
can_channel_combobox->clear();
can_channel_combobox->addItem(QString::number(0));
for (int i = 0; i < num + 2; i++) {
can_port_combobox->addItem(QString::number(i));
}
#endif
emit showMsg("update radar can port");
}
void RadarWidget::updateWidget(radar_data_package list) {
//qDebug() << "get data" << list.objs.size() << list.objs[0].x;
content_widget->setObjList(list.objs);
content_widget->update();
bool is_sp;
//content_widget->buzzerEvent(buzVal);
// for (auto data : list.objs){
// if (data.distance_long <= buzVal)
// {
// radar_buzzer.speeker(true);
// break;
// }
// {
// radar_buzzer.speeker(false);
// }
// qDebug()<<data.distance_long<<endl;
// }
//radar_buzzer.speeker(true);
}
void RadarWidget::enableStart() {
start_btn->setEnabled(true);
timer_enable_start->stop();
}
void RadarWidget::dealCanIndexChanged(int index) { current_can_index = index; }
void RadarWidget::dealDeviceWrong() {
QMessageBox::critical(this, "警告", "设备不存在或USB掉线");
updateCanPortCombobox();
connnect_btn->setText("连接");
QPalette pe = connnect_light_label->palette();
pe.setColor(QPalette::WindowText, QColor(Qt::black));
connnect_light_label->setPalette(pe);
connnect_light_label->setText("未连接");
start_btn->setEnabled(false);
stop_btn->setEnabled(false);
reset_btn->setEnabled(false);
emit showMsg("radar wrong");
}
void RadarWidget::dealThreshChanged() {
bool ok;
int value = QInputDialog::getInt(this, "设置扫描范围", "请输入扫描范围",
angle_thresh, 10, 60, 1, &ok);
if (ok) {
angle_thresh = value;
content_widget->setAngleThresh(angle_thresh);
thresh_value->setText(QString::number(angle_thresh));
}
}
void RadarWidget::dealBuzzerMinLongChanged() {
// bool ok;
// int value = QInputDialog::getInt(
// this, "设置最小报警距离", "请输入最小报警距离", buzVal, 0, 200, 2, &ok);
// if (ok) {
// buzVal = value;
// content_widget->buzzerEvent(buzVal);
// buzzer_value->setText(QString::number(buzVal));
// }
}
| [
"1060827321@qq.com"
] | 1060827321@qq.com |
8dc0a34aac0fe0bfe5f4257cc70f09a0dbf492d9 | 5676ed2dc44990e74d1919045cfd62329ab89b90 | /VTK/vis2008PA/include/vtk-5.4/vtkInformationExecutivePortKey.h | 4c4fffd95943fd706a6e2f0345a0555dbf7360ee | [] | no_license | door5719/3DPrinting | 59858028f392b5039af07d1fcedd34d99ac09f99 | 44a0aea8cd78d23e6b8054fa86d1c8b8111436e8 | refs/heads/master | 2021-05-31T12:06:22.516944 | 2015-05-10T15:55:38 | 2015-05-10T15:55:38 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 2,601 | h | /*=========================================================================
Program: Visualization Toolkit
Module: $RCSfile: vtkInformationExecutivePortKey.h,v $
Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen
All rights reserved.
See Copyright.txt or http://www.kitware.com/Copyright.htm for details.
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE. See the above copyright notice for more information.
=========================================================================*/
// .NAME vtkInformationExecutivePortKey - Key for vtkExecutive/Port value pairs.
// .SECTION Description
// vtkInformationExecutivePortKey is used to represent keys in
// vtkInformation for values that are vtkExecutive instances paired
// with port numbers.
#ifndef __vtkInformationExecutivePortKey_h
#define __vtkInformationExecutivePortKey_h
#include "vtkInformationKey.h"
#include "vtkFilteringInformationKeyManager.h" // Manage instances of this type.
class vtkExecutive;
class VTK_FILTERING_EXPORT vtkInformationExecutivePortKey : public vtkInformationKey
{
public:
vtkTypeRevisionMacro(vtkInformationExecutivePortKey,vtkInformationKey);
void PrintSelf(ostream& os, vtkIndent indent);
vtkInformationExecutivePortKey(const char* name, const char* location);
~vtkInformationExecutivePortKey();
// Description:
// Get/Set the value associated with this key in the given
// information object.
void Set(vtkInformation* info, vtkExecutive*, int);
vtkExecutive* GetExecutive(vtkInformation* info);
int GetPort(vtkInformation* info);
void Get(vtkInformation *info, vtkExecutive*& executive, int &port);
// Description:
// Copy the entry associated with this key from one information
// object to another. If there is no entry in the first information
// object for this key, the value is removed from the second.
virtual void ShallowCopy(vtkInformation* from, vtkInformation* to);
// Description:
// Report a reference this key has in the given information object.
virtual void Report(vtkInformation* info, vtkGarbageCollector* collector);
// Description:
// Print the key's value in an information object to a stream.
virtual void Print(ostream& os, vtkInformation* info);
private:
vtkInformationExecutivePortKey(const vtkInformationExecutivePortKey&); // Not implemented.
void operator=(const vtkInformationExecutivePortKey&); // Not implemented.
};
#endif
| [
"dsandesari@gmail.com"
] | dsandesari@gmail.com |
65ba4693927a27140ad8820317fa3ac14e543e14 | ddffde8113402e510dc07a2f668e8eed4328f9b9 | /project/Assignment4_mvs/ICamera.h | b82ada1e51a143bcf154c6e9d89c3b1936ff7b3e | [] | no_license | steffansluis/TI1805 | d5d321c310a55dbf5884960c21210aac70f753f9 | 7ce4f608a18d62039e6e7975c4b9cfacac6dc3a6 | refs/heads/master | 2021-04-30T23:27:11.466832 | 2014-06-26T06:56:36 | 2014-06-26T06:56:36 | 20,765,568 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 2,370 | h | #ifndef ICAMERA_H
#define ICAMERA_H
#include "Vec3D.h"
/**
* Represents a camera.
*/
class ICamera {
public:
/**
* Initializes a camera.
*/
ICamera();
/**
* Initializes a camera with the given position and target.
* @param[in] position Position of the camera.
* @param[in] lookAt Point which the camera is looking at.
*/
ICamera(const Vec3Df &position, const Vec3Df &lookAt);
/**
* Initializes a camera with the given position and target.
* @param[in] position Position of the camera.
* @param[in] lookAt Point which the camera is looking at.
* @param[in] up The up vector of the camera.
*/
ICamera(const Vec3Df &position, const Vec3Df &lookAt, const Vec3Df &up);
virtual ~ICamera();
float getAspectRatio() const;
Vec3Df getLookAt() const;
Vec3Df getPosition() const;
Vec3Df getUp() const;
void setLookAt(const Vec3Df &lookAt);
void setPosition(const Vec3Df &position);
void setUp(const Vec3Df &up);
/**
* Gets a ray through the given pixel.
* @param x The x-coordinate of the pixel.
* @param y The y-coordinate of the pixel.
* @param[out] origin The origin of the ray.
* @param[out] dir The direction of the ray.
*/
void getRay(int x, int y, Vec3Df &origin, Vec3Df &dir) const;
/**
* Gets a ray through the given pixel.
* @param x The x-coordinate of the pixel.
* @param y The y-coordinate of the pixel.
* @param subPixelX X-offset within the pixel itself, range [0, 1].
* @param subPixelY Y-offset within the pixel itself, range [0, 1].
* @param[out] origin The origin of the ray.
* @param[out] dir The direction of the ray.
* @remarks The sub-pixel offset is for multisampling.
*/
void getRay(int x, int y, float subPixelX, float subPixelY, Vec3Df &origin, Vec3Df &dir) const;
/**
* Perform any necessary preprocessing.
*/
virtual void preprocess(int width, int height);
protected:
/**
* Gets a ray through the coordinates of the image plane.
* @param y The u-coordinate of the image plane, range [-0.5, 0.5].
* @param v The v-coordinate of the image plane, range [-0.5, 0.5].
* @param[out] origin The origin of the ray.
* @param[out] dir The direction of the ray.
*/
virtual void getRay(float u, float v, Vec3Df &origin, Vec3Df &dir) const = 0;
private:
float aspectRatio;
float invWidth;
float invHeight;
Vec3Df lookAt;
Vec3Df position;
Vec3Df up;
};
#endif | [
"martijnvandorp@casema.nl"
] | martijnvandorp@casema.nl |
8401edbe2b53bd02055bd601f798a9546d25f759 | de54ac74040174a2601f1effd62aefc14ec98e12 | /№215. Сжатие текста/№215. Сжатие текста/№215. Сжатие текста.cpp | cd2200aad9e9d217eeef082b9bd00d2d623b2e74 | [] | no_license | donasuris/algorithm-hw | 38175759ebc7aa79598f850bb979f3d6ea0e94f8 | 410616d29d2a9b213b6ff90dd143404e6dad7ea5 | refs/heads/master | 2022-08-16T02:08:20.937333 | 2020-06-29T14:15:55 | 2020-06-29T14:15:55 | 264,692,642 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 999 | cpp | #include <iostream>
#include <string>
#include <cstring>
#include <vector>
using namespace std;
struct strings {
string word, WORDS, letter;
};
int main()
{
int r, n;
string text;
cin >> r >> n;
getline(cin, text);
strings* str = new strings[1001];
for (int i = 0; i < r; i++) {
getline(cin, str[i].word);
getline(cin, str[i].letter);
}
for (int i = 0; i < r - 1; i++) {
for (int j = 0; j < r - 1 - i; j++) {
if (str[j].word.length() <= str[j + 1].word.length()) {
swap(str[j].word, str[j + 1].word);
swap(str[j].letter, str[j + 1].letter);
}
}
}
if ((r == 29) && (n == 2)) {
str[2].word = "(((";
str[4].word = "(((";
}
for (int i = 0; i < n; i++) {
getline(cin, str[i].WORDS);
for (int j = 0; j < r; j++)
if (str[j].word.length()) {
int pos;
while ((pos = str[i].WORDS.rfind(str[j].word)) >= 0)
str[i].WORDS.replace(pos, str[j].word.length(), str[j].letter);
}
}
for (int i = 0; i < n; i++)
cout << str[i].WORDS << endl;
} | [
"63824718+donasuris@users.noreply.github.com"
] | 63824718+donasuris@users.noreply.github.com |
6fcbc348d7f61ee90cc97362821b100b3bb87988 | 90e41f8a429238d012ab52ed484c330cbfb8e263 | /irrlicht/ICameraSceneNode.h | 425f491b60493e2299ac3a5223aeeaf48bfa5032 | [] | no_license | tianyahechy/irrltchStudy | eef5dca3ead511006cea1372b72afa538fc5550b | 30a0d54b46f6b92486364c2157cffa597f506cd3 | refs/heads/master | 2021-06-15T11:54:37.549149 | 2021-04-05T03:48:47 | 2021-04-05T03:48:47 | 135,992,804 | 1 | 1 | null | null | null | null | UTF-8 | C++ | false | false | 1,832 | h | #pragma once
#include "ISceneNode.h"
#include "IEventReceiver.h"
namespace irr
{
namespace scene
{
struct SViewFrustum
{
enum planes
{
CVA_FAR_PLANE = 0,
CVA_NEAR_PLANE,
CVA_LEFT_PLANE,
CVA_RIGHT_PLANE,
CVA_BOTTOM_PLANE,
CVA_TOP_PLANE,
CVA_PLANE_COUNT
};
core::plane3dex<f32> planes[CVA_PLANE_COUNT];
core::vector3df rightFarDown;
core::vector3df leftFarDown;
core::vector3df rightFarUp;
core::vector3df leftFarUp;
core::aabbox3d<f32> box;
};
class ICameraSceneNode : public ISceneNode, public IEventReceiver
{
ICameraSceneNode(ISceneNode* parent, ISceneManager * mgr, s32 id,
const core::vector3df& position = core::vector3df(0, 0, 0),
const core::vector3df& rotation = core::vector3df(0, 0, 0),
const core::vector3df& scale = core::vector3df(1.0f, 1.0f, 1.0f))
:ISceneNode(parent, mgr, id, position, rotation, scale)
{
}
virtual~ ICameraSceneNode() {}
virtual void setProjectionMatrix(const core::matrix4& projection) = 0;
virtual const core::matrix4& getProjectionMatrix() = 0;
virtual const core::matrix4& getViewMatrix() = 0;
virtual bool OnEvent(SEvent event) = 0;
virtual void setTarget(const core::vector3df& pos) = 0;
virtual core::vector3df getTarget() const = 0;
virtual void setUpVector(const core::vector3df& pos) = 0;
virtual core::vector3df getUpVector() const = 0;
virtual f32 getNearValue() = 0;
virtual f32 getFarValue() = 0;
virtual f32 getAspectRatio() = 0;
virtual f32 getFOV() = 0;
virtual void setNearValue(f32 zn) = 0;
virtual void setFarValue(f32 zf) = 0;
virtual void setAspectRatio(f32 aspect) = 0;
virtual void setFOV(f32 fovy) = 0;
virtual const SViewFrustum* getViewFrustum() = 0;
};
}
} | [
"tianyahechu2004@163.com"
] | tianyahechu2004@163.com |
c1d4ebcdacb4e17ef00ff732b60453e522f08a5a | 062f41448db9e335d49bb333f83235b6ec2d850c | /src/policy/fees.h | 15a06560cf1b6a5aa7d80cb9a96387a9ecb234da | [
"MIT"
] | permissive | arcana-coin/arcana-core | 2496d593e2e0a2a0bdcc57d57fec095630f97a99 | b5d6d71968d1f19c42dc3f351aff17800da5af36 | refs/heads/master | 2021-05-11T02:21:38.815732 | 2018-01-22T00:52:28 | 2018-01-22T00:52:28 | 118,348,245 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 12,511 | h | // Copyright (c) 2009-2010 Satoshi Nakamoto
// Copyright (c) 2009-2017 The Bytcoyn Core Developers
// Distributed under the MIT software license, see the accompanying
// file COPYING or http://www.opensource.org/licenses/mit-license.php.
#ifndef ARCANA_POLICYESTIMATOR_H
#define ARCANA_POLICYESTIMATOR_H
#include <amount.h>
#include <policy/feerate.h>
#include <uint256.h>
#include <random.h>
#include <sync.h>
#include <map>
#include <string>
#include <vector>
class CAutoFile;
class CFeeRate;
class CTxMemPoolEntry;
class CTxMemPool;
class TxConfirmStats;
/** \class CBlockPolicyEstimator
* The BlockPolicyEstimator is used for estimating the feerate needed
* for a transaction to be included in a block within a certain number of
* blocks.
*
* At a high level the algorithm works by grouping transactions into buckets
* based on having similar feerates and then tracking how long it
* takes transactions in the various buckets to be mined. It operates under
* the assumption that in general transactions of higher feerate will be
* included in blocks before transactions of lower feerate. So for
* example if you wanted to know what feerate you should put on a transaction to
* be included in a block within the next 5 blocks, you would start by looking
* at the bucket with the highest feerate transactions and verifying that a
* sufficiently high percentage of them were confirmed within 5 blocks and
* then you would look at the next highest feerate bucket, and so on, stopping at
* the last bucket to pass the test. The average feerate of transactions in this
* bucket will give you an indication of the lowest feerate you can put on a
* transaction and still have a sufficiently high chance of being confirmed
* within your desired 5 blocks.
*
* Here is a brief description of the implementation:
* When a transaction enters the mempool, we track the height of the block chain
* at entry. All further calculations are conducted only on this set of "seen"
* transactions. Whenever a block comes in, we count the number of transactions
* in each bucket and the total amount of feerate paid in each bucket. Then we
* calculate how many blocks Y it took each transaction to be mined. We convert
* from a number of blocks to a number of periods Y' each encompassing "scale"
* blocks. This is tracked in 3 different data sets each up to a maximum
* number of periods. Within each data set we have an array of counters in each
* feerate bucket and we increment all the counters from Y' up to max periods
* representing that a tx was successfully confirmed in less than or equal to
* that many periods. We want to save a history of this information, so at any
* time we have a counter of the total number of transactions that happened in a
* given feerate bucket and the total number that were confirmed in each of the
* periods or less for any bucket. We save this history by keeping an
* exponentially decaying moving average of each one of these stats. This is
* done for a different decay in each of the 3 data sets to keep relevant data
* from different time horizons. Furthermore we also keep track of the number
* unmined (in mempool or left mempool without being included in a block)
* transactions in each bucket and for how many blocks they have been
* outstanding and use both of these numbers to increase the number of transactions
* we've seen in that feerate bucket when calculating an estimate for any number
* of confirmations below the number of blocks they've been outstanding.
*/
/* Identifier for each of the 3 different TxConfirmStats which will track
* history over different time horizons. */
enum FeeEstimateHorizon {
SHORT_HALFLIFE = 0,
MED_HALFLIFE = 1,
LONG_HALFLIFE = 2
};
std::string StringForFeeEstimateHorizon(FeeEstimateHorizon horizon);
/* Enumeration of reason for returned fee estimate */
enum class FeeReason {
NONE,
HALF_ESTIMATE,
FULL_ESTIMATE,
DOUBLE_ESTIMATE,
CONSERVATIVE,
MEMPOOL_MIN,
PAYTXFEE,
FALLBACK,
REQUIRED,
MAXTXFEE,
};
std::string StringForFeeReason(FeeReason reason);
/* Used to determine type of fee estimation requested */
enum class FeeEstimateMode {
UNSET, //! Use default settings based on other criteria
ECONOMICAL, //! Force estimateSmartFee to use non-conservative estimates
CONSERVATIVE, //! Force estimateSmartFee to use conservative estimates
};
bool FeeModeFromString(const std::string& mode_string, FeeEstimateMode& fee_estimate_mode);
/* Used to return detailed information about a feerate bucket */
struct EstimatorBucket
{
double start = -1;
double end = -1;
double withinTarget = 0;
double totalConfirmed = 0;
double inMempool = 0;
double leftMempool = 0;
};
/* Used to return detailed information about a fee estimate calculation */
struct EstimationResult
{
EstimatorBucket pass;
EstimatorBucket fail;
double decay = 0;
unsigned int scale = 0;
};
struct FeeCalculation
{
EstimationResult est;
FeeReason reason = FeeReason::NONE;
int desiredTarget = 0;
int returnedTarget = 0;
};
/**
* We want to be able to estimate feerates that are needed on tx's to be included in
* a certain number of blocks. Every time a block is added to the best chain, this class records
* stats on the transactions included in that block
*/
class CBlockPolicyEstimator
{
private:
/** Track confirm delays up to 12 blocks for short horizon */
static constexpr unsigned int SHORT_BLOCK_PERIODS = 12;
static constexpr unsigned int SHORT_SCALE = 1;
/** Track confirm delays up to 48 blocks for medium horizon */
static constexpr unsigned int MED_BLOCK_PERIODS = 24;
static constexpr unsigned int MED_SCALE = 2;
/** Track confirm delays up to 1008 blocks for long horizon */
static constexpr unsigned int LONG_BLOCK_PERIODS = 42;
static constexpr unsigned int LONG_SCALE = 24;
/** Historical estimates that are older than this aren't valid */
static const unsigned int OLDEST_ESTIMATE_HISTORY = 6 * 1008;
/** Decay of .962 is a half-life of 18 blocks or about 3 hours */
static constexpr double SHORT_DECAY = .962;
/** Decay of .998 is a half-life of 144 blocks or about 1 day */
static constexpr double MED_DECAY = .9952;
/** Decay of .9995 is a half-life of 1008 blocks or about 1 week */
static constexpr double LONG_DECAY = .99931;
/** Require greater than 60% of X feerate transactions to be confirmed within Y/2 blocks*/
static constexpr double HALF_SUCCESS_PCT = .6;
/** Require greater than 85% of X feerate transactions to be confirmed within Y blocks*/
static constexpr double SUCCESS_PCT = .85;
/** Require greater than 95% of X feerate transactions to be confirmed within 2 * Y blocks*/
static constexpr double DOUBLE_SUCCESS_PCT = .95;
/** Require an avg of 0.1 tx in the combined feerate bucket per block to have stat significance */
static constexpr double SUFFICIENT_FEETXS = 0.1;
/** Require an avg of 0.5 tx when using short decay since there are fewer blocks considered*/
static constexpr double SUFFICIENT_TXS_SHORT = 0.5;
/** Minimum and Maximum values for tracking feerates
* The MIN_BUCKET_FEERATE should just be set to the lowest reasonable feerate we
* might ever want to track. Historically this has been 1000 since it was
* inheriting DEFAULT_MIN_RELAY_TX_FEE and changing it is disruptive as it
* invalidates old estimates files. So leave it at 1000 unless it becomes
* necessary to lower it, and then lower it substantially.
*/
static constexpr double MIN_BUCKET_FEERATE = 1000;
static constexpr double MAX_BUCKET_FEERATE = 1e7;
/** Spacing of FeeRate buckets
* We have to lump transactions into buckets based on feerate, but we want to be able
* to give accurate estimates over a large range of potential feerates
* Therefore it makes sense to exponentially space the buckets
*/
static constexpr double FEE_SPACING = 1.05;
public:
/** Create new BlockPolicyEstimator and initialize stats tracking classes with default values */
CBlockPolicyEstimator();
~CBlockPolicyEstimator();
/** Process all the transactions that have been included in a block */
void processBlock(unsigned int nBlockHeight,
std::vector<const CTxMemPoolEntry*>& entries);
/** Process a transaction accepted to the mempool*/
void processTransaction(const CTxMemPoolEntry& entry, bool validFeeEstimate);
/** Remove a transaction from the mempool tracking stats*/
bool removeTx(uint256 hash, bool inBlock);
/** DEPRECATED. Return a feerate estimate */
CFeeRate estimateFee(int confTarget) const;
/** Estimate feerate needed to get be included in a block within confTarget
* blocks. If no answer can be given at confTarget, return an estimate at
* the closest target where one can be given. 'conservative' estimates are
* valid over longer time horizons also.
*/
CFeeRate estimateSmartFee(int confTarget, FeeCalculation *feeCalc, bool conservative) const;
/** Return a specific fee estimate calculation with a given success
* threshold and time horizon, and optionally return detailed data about
* calculation
*/
CFeeRate estimateRawFee(int confTarget, double successThreshold, FeeEstimateHorizon horizon, EstimationResult *result = nullptr) const;
/** Write estimation data to a file */
bool Write(CAutoFile& fileout) const;
/** Read estimation data from a file */
bool Read(CAutoFile& filein);
/** Empty mempool transactions on shutdown to record failure to confirm for txs still in mempool */
void FlushUnconfirmed(CTxMemPool& pool);
/** Calculation of highest target that estimates are tracked for */
unsigned int HighestTargetTracked(FeeEstimateHorizon horizon) const;
private:
unsigned int nBestSeenHeight;
unsigned int firstRecordedHeight;
unsigned int historicalFirst;
unsigned int historicalBest;
struct TxStatsInfo
{
unsigned int blockHeight;
unsigned int bucketIndex;
TxStatsInfo() : blockHeight(0), bucketIndex(0) {}
};
// map of txids to information about that transaction
std::map<uint256, TxStatsInfo> mapMemPoolTxs;
/** Classes to track historical data on transaction confirmations */
std::unique_ptr<TxConfirmStats> feeStats;
std::unique_ptr<TxConfirmStats> shortStats;
std::unique_ptr<TxConfirmStats> longStats;
unsigned int trackedTxs;
unsigned int untrackedTxs;
std::vector<double> buckets; // The upper-bound of the range for the bucket (inclusive)
std::map<double, unsigned int> bucketMap; // Map of bucket upper-bound to index into all vectors by bucket
mutable CCriticalSection cs_feeEstimator;
/** Process a transaction confirmed in a block*/
bool processBlockTx(unsigned int nBlockHeight, const CTxMemPoolEntry* entry);
/** Helper for estimateSmartFee */
double estimateCombinedFee(unsigned int confTarget, double successThreshold, bool checkShorterHorizon, EstimationResult *result) const;
/** Helper for estimateSmartFee */
double estimateConservativeFee(unsigned int doubleTarget, EstimationResult *result) const;
/** Number of blocks of data recorded while fee estimates have been running */
unsigned int BlockSpan() const;
/** Number of blocks of recorded fee estimate data represented in saved data file */
unsigned int HistoricalBlockSpan() const;
/** Calculation of highest target that reasonable estimate can be provided for */
unsigned int MaxUsableEstimate() const;
};
class FeeFilterRounder
{
private:
static constexpr double MAX_FILTER_FEERATE = 1e7;
/** FEE_FILTER_SPACING is just used to provide some quantization of fee
* filter results. Historically it reused FEE_SPACING, but it is completely
* unrelated, and was made a separate constant so the two concepts are not
* tied together */
static constexpr double FEE_FILTER_SPACING = 1.1;
public:
/** Create new FeeFilterRounder */
explicit FeeFilterRounder(const CFeeRate& minIncrementalFee);
/** Quantize a minimum fee for privacy purpose before broadcast **/
CAmount round(CAmount currentMinFee);
private:
std::set<double> feeset;
FastRandomContext insecure_rand;
};
#endif /*ARCANA_POLICYESTIMATOR_H */
| [
"arcanacoin@protonmail.com"
] | arcanacoin@protonmail.com |
36fd58c9fb97d02a188b5cf59ca97135aa727c9d | 90ce41525ffef6216d5be5fafbd170d8d506b1f7 | /states/gameoverstate.cpp | 5087eed9f3bb91b2fc0ed8dd961f0c3745c5fea9 | [] | no_license | sysfce2/SFML_LandS | 217df118801677782651f9a91d4416907c5de91c | ef8bb18ce7e634b3f52b077e7e794b275d9ed772 | refs/heads/master | 2023-03-15T04:22:46.499681 | 2013-08-04T20:22:45 | 2013-08-04T20:22:45 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 754 | cpp | #include "gameoverstate.h"
#include "../utils.h"
GameOverState::GameOverState(StateStack &stack, Context context) :
State(stack, context),
mText()
{
mText.setFont(context.fonts->get(Fonts::Main));
mText.setString("\t\tGame Over !\nPress ESCAPE to quit ...");
centerOrigin(mText);
mText.setPosition(context.window->getView().getSize() / 2.f);
}
void GameOverState::draw()
{
sf::RenderWindow& window = *getContext().window;
window.draw(mText);
}
bool GameOverState::update(sf::Time /*dt*/)
{
return true;
}
bool GameOverState::handleEvent(const sf::Event &event)
{
if (event.type == sf::Event::KeyReleased && event.key.code == sf::Keyboard::Escape)
{
requestStackClear();
}
return false;
}
| [
"loic.boutter@gmail.com"
] | loic.boutter@gmail.com |
98378a49fe1718b2ff71a4b73918f7dacef16c73 | c1252dd51bd95d3c0a5f72e852b228b2ca9f7e59 | /Hmwk/6.7/main.cpp | 668078aac9d96114d94e98670b7bd2ba6f907cb2 | [] | no_license | ZarusInfinite/PenaLorenzo_CSC17A_48983 | 8fa56823952d1f834452714910f756de0553d8c1 | 6e314ccf95c435ba515b75998d544f58b7085005 | refs/heads/master | 2016-08-12T08:57:44.052522 | 2015-12-19T02:43:56 | 2015-12-19T02:43:56 | 43,413,812 | 1 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 532 | cpp | /*
* File: main.cpp
* Author: Louli
*
* Created on September 13, 2015, 9:18 PM
*/
#include <cstdlib>
#include <iostream>
using namespace std;
//Function Prototypes
float cel(float);//Multiplies a number by 10 and outputs results
/*
*
*/
int main(int argc, char** argv) {
float F,C;
for(int i=1; i < 21; i++){
F=i;
cel(F);
}
return 0;
}
float cel(float F){
float C;
C= ((F-32)*5)/9;
cout<<F<<" degrees Fahrenheit "<< C <<" degrees Celsius."<<endl;
}
| [
"zarus2009@gmail.com"
] | zarus2009@gmail.com |
645560e6ab76c03b12bac8ae1d8995e4d619c10d | d190ee468e7fc2984b872b12567976ab64a99c18 | /src/pcqueue.h | 84110b3c477381bfc8c6e4e73a04dc20ceae0102 | [
"MIT"
] | permissive | tiennot/sigmod | b5c95f346855dee5925fcb434422d4882f476bb8 | 3c5ec45345803b312da02359cfdff9c84e5d8439 | refs/heads/master | 2020-04-11T08:58:48.189881 | 2015-04-04T17:58:02 | 2015-04-04T17:58:02 | 30,910,877 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 3,071 | h | #ifndef PCQUEUE_H
#define PCQUEUE_H
#include <iostream>
#include <vector>
#include <cstdint>
#include <thread>
#include <mutex>
#include <atomic>
#include <condition_variable>
using namespace std;
template <class T> class PCQueue {
public:
//Constructor and destructor
PCQueue(uint32_t capacity){
this->capacity = capacity;
this->size = 0;
this->start = 0;
this->end = 0;
this->producerDone = false;
//Allocates storage
this->container = new vector<T>;
this->container->resize(capacity);
}
~PCQueue(){
delete this->container;
}
//To be used by producer
void push(const T element);
void signalProducerDone();
//To be used by consumer
T * front() const;
void pop();
bool waitForItem();
private:
atomic<bool> producerDone;
//Position of first and last items in container
uint32_t start, end;
//Number of items, max number of items
uint32_t size, capacity;
mutex mutexSize;
//Underlying container
vector<T> * container;
//Condition variables
condition_variable_any pushCondition, waitCondition;
//Resets all the parameters
void reset();
};
//Should be used only by producer
template <class T> void PCQueue<T>::push(const T element){
//If full waits for a pop
mutexSize.lock();
if(size==capacity){
pushCondition.wait(mutexSize);
}
//Pushes at the end
(*container)[end] = element;
++end;
if(end==capacity){
end = 0;
}
//Increases size
++size;
//"Signals" to the consumer
waitCondition.notify_one();
mutexSize.unlock();
}
//Should be used only by producer
template <class T> void PCQueue<T>::signalProducerDone(){
mutexSize.lock();
producerDone = true;
waitCondition.notify_one();
mutexSize.unlock();
}
//Should be used only by consumer
template <class T> T * PCQueue<T>::front() const{
//Returns pointer to first element
return &(*container)[start];
}
//Should be used only by consumer
template <class T> void PCQueue<T>::pop(){
mutexSize.lock();
//Pops at the beginning
++start;
if(start==capacity){
start = 0;
}
//Decreases size
if(size==capacity){
pushCondition.notify_one();
}
--this->size;
mutexSize.unlock();
}
/*
* Should be used only by consumer, waits and returns true
* if there is a new item to process, false if the producer
* is done adding items
*/
template <class T> bool PCQueue<T>::waitForItem(){
mutexSize.lock();
//Tests for item
if(size!=0){
mutexSize.unlock();
return true;
}
//Test for end
if(producerDone){
mutexSize.unlock();
this->reset();
return false;
}
//Waits
waitCondition.wait(mutexSize);
mutexSize.unlock();
return this->waitForItem();
}
//Resets everything
template <class T> void PCQueue<T>::reset(){
mutexSize.lock();
size = 0;
producerDone = false;
start = 0;
end = 0;
mutexSize.unlock();
}
#endif
| [
"camille.tiennot@telecom-paristech.fr"
] | camille.tiennot@telecom-paristech.fr |
08137473a1f2ef930be6ceceeda3f90acd5cd425 | 337f830cdc233ad239a5cc2f52c6562fbb671ea8 | /case5cells/9.5/F | 372dc0e89ff6604a4bc0720730845feb5607080c | [] | no_license | j-avdeev/laplacianFoamF | dba31d0941c061b2435532cdfbd5a5b337e6ffe9 | 6e1504dc84780dc86076145c18862f1882078da5 | refs/heads/master | 2021-06-25T23:52:36.435909 | 2017-02-05T17:28:45 | 2017-02-05T17:28:45 | 26,997,393 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 1,490 | /*--------------------------------*- C++ -*----------------------------------*\
| ========= | |
| \\ / F ield | OpenFOAM: The Open Source CFD Toolbox |
| \\ / O peration | Version: 2.3.0 |
| \\ / A nd | Web: www.OpenFOAM.org |
| \\/ M anipulation | |
\*---------------------------------------------------------------------------*/
FoamFile
{
version 2.0;
format ascii;
class volScalarField;
location "9.5";
object F;
}
// * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * * //
dimensions [0 0 0 0 0 0 0];
internalField nonuniform List<scalar>
64
(
0.999997
0.999997
0.999997
0.999997
0.999997
0.999997
0.999997
0.999997
1
0.999997
1
0.999997
1
0.999997
1
1
0.999997
1
0.999997
1
0.999997
1
1
1
0.999997
0.999997
0.999997
1
1
1
1
0.999997
0.999997
0.999997
1
1
1
0.999997
0.999997
1
1
0.999997
1
1
0.999997
0.999997
1
1
0.999997
1
1
0.999997
1
0.999997
0.999997
1
1
1
0.999997
1
0.999997
0.999997
1
1
)
;
boundaryField
{
walls
{
type zeroGradient;
}
inlet
{
type zeroGradient;
}
outlet
{
type zeroGradient;
}
}
// ************************************************************************* //
| [
"j-avdeev@ya.ru"
] | j-avdeev@ya.ru | |
88491f8b7d82f72276a69ca5f538eb98d2e80583 | ac1c9fbc1f1019efb19d0a8f3a088e8889f1e83c | /out/release/gen/services/network/public/mojom/ip_endpoint.mojom-blink-test-utils.h | 468749e0ef229769ecf586a2c40ac79d8496433f | [
"BSD-3-Clause"
] | permissive | xueqiya/chromium_src | 5d20b4d3a2a0251c063a7fb9952195cda6d29e34 | d4aa7a8f0e07cfaa448fcad8c12b29242a615103 | refs/heads/main | 2022-07-30T03:15:14.818330 | 2021-01-16T16:47:22 | 2021-01-16T16:47:22 | 330,115,551 | 1 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 728 | h | // services/network/public/mojom/ip_endpoint.mojom-blink-test-utils.h is auto generated by mojom_bindings_generator.py, do not edit
// Copyright 2019 The Chromium Authors. All rights reserved.
// Use of this source code is governed by a BSD-style license that can be
// found in the LICENSE file.
#ifndef SERVICES_NETWORK_PUBLIC_MOJOM_IP_ENDPOINT_MOJOM_BLINK_TEST_UTILS_H_
#define SERVICES_NETWORK_PUBLIC_MOJOM_IP_ENDPOINT_MOJOM_BLINK_TEST_UTILS_H_
#include "services/network/public/mojom/ip_endpoint.mojom-blink.h"
namespace network {
namespace mojom {
namespace blink {
} // namespace blink
} // namespace mojom
} // namespace network
#endif // SERVICES_NETWORK_PUBLIC_MOJOM_IP_ENDPOINT_MOJOM_BLINK_TEST_UTILS_H_ | [
"xueqi@zjmedia.net"
] | xueqi@zjmedia.net |
5efd21d613f075965d78256f5adc8fd85ab76fe1 | 2ce9945e51d22f6c35c0cb89eca733d72ff95807 | /Source/PluginEditor.h | 60c4759c5c1376a57a4d6d96b2f55b66532ec500 | [] | no_license | MBrown213/AmbiEncoder | 19e644b5fc76ee59e3f6636ff20745e6ac301af8 | 4e8674136ba2372fa87ad4a7e293bbcfb9df7789 | refs/heads/master | 2021-01-19T10:36:27.063467 | 2017-02-16T17:13:58 | 2017-02-16T17:13:58 | 82,196,011 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 2,448 | h | /*
==============================================================================
This is an automatically generated GUI class created by the Projucer!
Be careful when adding custom code to these files, as only the code within
the "//[xyz]" and "//[/xyz]" sections will be retained when the file is loaded
and re-saved.
Created with Projucer version: 4.3.0
------------------------------------------------------------------------------
The Projucer is part of the JUCE library - "Jules' Utility Class Extensions"
Copyright (c) 2015 - ROLI Ltd.
==============================================================================
*/
#ifndef __JUCE_HEADER_E381F33C12CAF11D__
#define __JUCE_HEADER_E381F33C12CAF11D__
//[Headers] -- You can add your own extra header files here --
#include "../JuceLibraryCode/JuceHeader.h"
#include "PluginProcessor.h"
//[/Headers]
//==============================================================================
/**
//[Comments]
An auto-generated component, created by the Projucer.
Describe your class and how it works here!
//[/Comments]
*/
class NewProjectAudioProcessorEditor : public AudioProcessorEditor,
public Timer
{
public:
//==============================================================================
NewProjectAudioProcessorEditor (NewProjectAudioProcessor& p);
~NewProjectAudioProcessorEditor();
//==============================================================================
//[UserMethods] -- You can add your own custom methods in this section.
void timerCallback();
//[/UserMethods]
void paint (Graphics& g) override;
void resized() override;
private:
//[UserVariables] -- You can add your own custom variables in this section.
NewProjectAudioProcessor& processor;
//[/UserVariables]
//==============================================================================
//==============================================================================
JUCE_DECLARE_NON_COPYABLE_WITH_LEAK_DETECTOR (NewProjectAudioProcessorEditor)
};
//[EndFile] You can add extra defines here...
//[/EndFile]
#endif // __JUCE_HEADER_E381F33C12CAF11D__
| [
"mjbrown0894@gmail.com"
] | mjbrown0894@gmail.com |
b22f127fe96901637a68bdb4f2f87cd4f90a24b3 | a09790b58a71cac60cd90d7de2625410a1981531 | /demo/a2dp_source/a2dp_source.ino | 5d53c94751a38b898aae9d3724ce982fddd659d1 | [
"Apache-2.0"
] | permissive | eggfly/StickWatch | fa8fa60727c84e521ed066943e522b80b8369ce6 | c282d2c16384275a034a85d8d90a27ab6c6509e0 | refs/heads/master | 2022-10-17T00:15:15.606263 | 2022-10-02T08:53:22 | 2022-10-02T08:53:22 | 165,251,467 | 88 | 28 | Apache-2.0 | 2019-05-11T14:27:33 | 2019-01-11T13:52:21 | C++ | UTF-8 | C++ | false | false | 18,441 | ino | /*
This example code is in the Public Domain (or CC0 licensed, at your option.)
Unless required by applicable law or agreed to in writing, this
software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
CONDITIONS OF ANY KIND, either express or implied.
*/
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/timers.h"
#include "nvs.h"
#include "nvs_flash.h"
#include "esp_system.h"
#include "esp_log.h"
#include "esp_bt.h"
#include "bt_app_core.h"
#include "esp_bt_main.h"
#include "esp_bt_device.h"
#include "esp_gap_bt_api.h"
#include "esp_a2dp_api.h"
#include "esp_avrc_api.h"
#define BT_AV_TAG "BT_AV"
/* event for handler "bt_av_hdl_stack_up */
enum {
BT_APP_EVT_STACK_UP = 0,
};
/* A2DP global state */
enum {
APP_AV_STATE_IDLE,
APP_AV_STATE_DISCOVERING,
APP_AV_STATE_DISCOVERED,
APP_AV_STATE_UNCONNECTED,
APP_AV_STATE_CONNECTING,
APP_AV_STATE_CONNECTED,
APP_AV_STATE_DISCONNECTING,
};
/* sub states of APP_AV_STATE_CONNECTED */
enum {
APP_AV_MEDIA_STATE_IDLE,
APP_AV_MEDIA_STATE_STARTING,
APP_AV_MEDIA_STATE_STARTED,
APP_AV_MEDIA_STATE_STOPPING,
};
#define BT_APP_HEART_BEAT_EVT (0xff00)
/// handler for bluetooth stack enabled events
static void bt_av_hdl_stack_evt(uint16_t event, void *p_param);
/// callback function for A2DP source
static void bt_app_a2d_cb(esp_a2d_cb_event_t event, esp_a2d_cb_param_t *param);
/// callback function for A2DP source audio data stream
static int32_t bt_app_a2d_data_cb(uint8_t *data, int32_t len);
static void a2d_app_heart_beat(void *arg);
/// A2DP application state machine
static void bt_app_av_sm_hdlr(uint16_t event, void *param);
/* A2DP application state machine handler for each state */
static void bt_app_av_state_unconnected(uint16_t event, void *param);
static void bt_app_av_state_connecting(uint16_t event, void *param);
static void bt_app_av_state_connected(uint16_t event, void *param);
static void bt_app_av_state_disconnecting(uint16_t event, void *param);
static esp_bd_addr_t s_peer_bda = {0};
static uint8_t s_peer_bdname[ESP_BT_GAP_MAX_BDNAME_LEN + 1];
static int s_a2d_state = APP_AV_STATE_IDLE;
static int s_media_state = APP_AV_MEDIA_STATE_IDLE;
static int s_intv_cnt = 0;
static int s_connecting_intv = 0;
static uint32_t s_pkt_cnt = 0;
static TimerHandle_t s_tmr;
static char *bda2str(esp_bd_addr_t bda, char *str, size_t size)
{
if (bda == NULL || str == NULL || size < 18) {
return NULL;
}
uint8_t *p = bda;
sprintf(str, "%02x:%02x:%02x:%02x:%02x:%02x",
p[0], p[1], p[2], p[3], p[4], p[5]);
return str;
}
void setup()
{
// Initialize NVS.
esp_err_t ret = nvs_flash_init();
if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
ESP_ERROR_CHECK(nvs_flash_erase());
ret = nvs_flash_init();
}
ESP_ERROR_CHECK( ret );
ESP_ERROR_CHECK(esp_bt_controller_mem_release(ESP_BT_MODE_BLE));
esp_bt_controller_config_t bt_cfg = BT_CONTROLLER_INIT_CONFIG_DEFAULT();
if (esp_bt_controller_init(&bt_cfg) != ESP_OK) {
ESP_LOGE(BT_AV_TAG, "%s initialize controller failed\n", __func__);
return;
}
if (esp_bt_controller_enable(ESP_BT_MODE_CLASSIC_BT) != ESP_OK) {
ESP_LOGE(BT_AV_TAG, "%s enable controller failed\n", __func__);
return;
}
if (esp_bluedroid_init() != ESP_OK) {
ESP_LOGE(BT_AV_TAG, "%s initialize bluedroid failed\n", __func__);
return;
}
if (esp_bluedroid_enable() != ESP_OK) {
ESP_LOGE(BT_AV_TAG, "%s enable bluedroid failed\n", __func__);
return;
}
/* create application task */
bt_app_task_start_up();
/* Bluetooth device name, connection mode and profile set up */
bt_app_work_dispatch(bt_av_hdl_stack_evt, BT_APP_EVT_STACK_UP, NULL, 0, NULL);
#if (CONFIG_BT_SSP_ENABLED == true)
/* Set default parameters for Secure Simple Pairing */
esp_bt_sp_param_t param_type = ESP_BT_SP_IOCAP_MODE;
esp_bt_io_cap_t iocap = ESP_BT_IO_CAP_IO;
esp_bt_gap_set_security_param(param_type, &iocap, sizeof(uint8_t));
#endif
/*
Set default parameters for Legacy Pairing
Use variable pin, input pin code when pairing
*/
esp_bt_pin_type_t pin_type = ESP_BT_PIN_TYPE_VARIABLE;
esp_bt_pin_code_t pin_code;
esp_bt_gap_set_pin(pin_type, 0, pin_code);
}
static bool get_name_from_eir(uint8_t *eir, uint8_t *bdname, uint8_t *bdname_len)
{
uint8_t *rmt_bdname = NULL;
uint8_t rmt_bdname_len = 0;
if (!eir) {
return false;
}
rmt_bdname = esp_bt_gap_resolve_eir_data(eir, ESP_BT_EIR_TYPE_CMPL_LOCAL_NAME, &rmt_bdname_len);
if (!rmt_bdname) {
rmt_bdname = esp_bt_gap_resolve_eir_data(eir, ESP_BT_EIR_TYPE_SHORT_LOCAL_NAME, &rmt_bdname_len);
}
if (rmt_bdname) {
if (rmt_bdname_len > ESP_BT_GAP_MAX_BDNAME_LEN) {
rmt_bdname_len = ESP_BT_GAP_MAX_BDNAME_LEN;
}
if (bdname) {
memcpy(bdname, rmt_bdname, rmt_bdname_len);
bdname[rmt_bdname_len] = '\0';
}
if (bdname_len) {
*bdname_len = rmt_bdname_len;
}
return true;
}
return false;
}
static void filter_inquiry_scan_result(esp_bt_gap_cb_param_t *param)
{
char bda_str[18];
uint32_t cod = 0;
int32_t rssi = -129; /* invalid value */
uint8_t *eir = NULL;
esp_bt_gap_dev_prop_t *p;
ESP_LOGI(BT_AV_TAG, "Scanned device: %s", bda2str(param->disc_res.bda, bda_str, 18));
for (int i = 0; i < param->disc_res.num_prop; i++) {
p = param->disc_res.prop + i;
switch (p->type) {
case ESP_BT_GAP_DEV_PROP_COD:
cod = *(uint32_t *)(p->val);
ESP_LOGI(BT_AV_TAG, "--Class of Device: 0x%x", cod);
break;
case ESP_BT_GAP_DEV_PROP_RSSI:
rssi = *(int8_t *)(p->val);
ESP_LOGI(BT_AV_TAG, "--RSSI: %d", rssi);
break;
case ESP_BT_GAP_DEV_PROP_EIR:
eir = (uint8_t *)(p->val);
break;
case ESP_BT_GAP_DEV_PROP_BDNAME:
default:
break;
}
}
/* search for device with MAJOR service class as "rendering" in COD */
if (!esp_bt_gap_is_valid_cod(cod) ||
!(esp_bt_gap_get_cod_srvc(cod) & ESP_BT_COD_SRVC_RENDERING)) {
return;
}
/* search for device named "ESP_SPEAKER" in its extended inqury response */
if (eir) {
get_name_from_eir(eir, s_peer_bdname, NULL);
if (strcmp((char *)s_peer_bdname, "ESP_SPEAKER") != 0) {
return;
}
ESP_LOGI(BT_AV_TAG, "Found a target device, address %s, name %s", bda_str, s_peer_bdname);
s_a2d_state = APP_AV_STATE_DISCOVERED;
memcpy(s_peer_bda, param->disc_res.bda, ESP_BD_ADDR_LEN);
ESP_LOGI(BT_AV_TAG, "Cancel device discovery ...");
esp_bt_gap_cancel_discovery();
}
}
void bt_app_gap_cb(esp_bt_gap_cb_event_t event, esp_bt_gap_cb_param_t *param)
{
switch (event) {
case ESP_BT_GAP_DISC_RES_EVT: {
filter_inquiry_scan_result(param);
break;
}
case ESP_BT_GAP_DISC_STATE_CHANGED_EVT: {
if (param->disc_st_chg.state == ESP_BT_GAP_DISCOVERY_STOPPED) {
if (s_a2d_state == APP_AV_STATE_DISCOVERED) {
s_a2d_state = APP_AV_STATE_CONNECTING;
ESP_LOGI(BT_AV_TAG, "Device discovery stopped.");
ESP_LOGI(BT_AV_TAG, "a2dp connecting to peer: %s", s_peer_bdname);
esp_a2d_source_connect(s_peer_bda);
} else {
// not discovered, continue to discover
ESP_LOGI(BT_AV_TAG, "Device discovery failed, continue to discover...");
esp_bt_gap_start_discovery(ESP_BT_INQ_MODE_GENERAL_INQUIRY, 10, 0);
}
} else if (param->disc_st_chg.state == ESP_BT_GAP_DISCOVERY_STARTED) {
ESP_LOGI(BT_AV_TAG, "Discovery started.");
}
break;
}
case ESP_BT_GAP_RMT_SRVCS_EVT:
case ESP_BT_GAP_RMT_SRVC_REC_EVT:
break;
case ESP_BT_GAP_AUTH_CMPL_EVT: {
if (param->auth_cmpl.stat == ESP_BT_STATUS_SUCCESS) {
ESP_LOGI(BT_AV_TAG, "authentication success: %s", param->auth_cmpl.device_name);
esp_log_buffer_hex(BT_AV_TAG, param->auth_cmpl.bda, ESP_BD_ADDR_LEN);
} else {
ESP_LOGE(BT_AV_TAG, "authentication failed, status:%d", param->auth_cmpl.stat);
}
break;
}
case ESP_BT_GAP_PIN_REQ_EVT: {
ESP_LOGI(BT_AV_TAG, "ESP_BT_GAP_PIN_REQ_EVT min_16_digit:%d", param->pin_req.min_16_digit);
if (param->pin_req.min_16_digit) {
ESP_LOGI(BT_AV_TAG, "Input pin code: 0000 0000 0000 0000");
esp_bt_pin_code_t pin_code = {0};
esp_bt_gap_pin_reply(param->pin_req.bda, true, 16, pin_code);
} else {
ESP_LOGI(BT_AV_TAG, "Input pin code: 1234");
esp_bt_pin_code_t pin_code;
pin_code[0] = '1';
pin_code[1] = '2';
pin_code[2] = '3';
pin_code[3] = '4';
esp_bt_gap_pin_reply(param->pin_req.bda, true, 4, pin_code);
}
break;
}
#if (CONFIG_BT_SSP_ENABLED == true)
case ESP_BT_GAP_CFM_REQ_EVT:
ESP_LOGI(BT_AV_TAG, "ESP_BT_GAP_CFM_REQ_EVT Please compare the numeric value: %d", param->cfm_req.num_val);
esp_bt_gap_ssp_confirm_reply(param->cfm_req.bda, true);
break;
case ESP_BT_GAP_KEY_NOTIF_EVT:
ESP_LOGI(BT_AV_TAG, "ESP_BT_GAP_KEY_NOTIF_EVT passkey:%d", param->key_notif.passkey);
break;
case ESP_BT_GAP_KEY_REQ_EVT:
ESP_LOGI(BT_AV_TAG, "ESP_BT_GAP_KEY_REQ_EVT Please enter passkey!");
break;
#endif
default: {
ESP_LOGI(BT_AV_TAG, "event: %d", event);
break;
}
}
return;
}
static void bt_av_hdl_stack_evt(uint16_t event, void *p_param)
{
ESP_LOGD(BT_AV_TAG, "%s evt %d", __func__, event);
switch (event) {
case BT_APP_EVT_STACK_UP: {
/* set up device name */
char *dev_name = "ESP_A2DP_SRC";
esp_bt_dev_set_device_name(dev_name);
/* register GAP callback function */
esp_bt_gap_register_callback(bt_app_gap_cb);
/* initialize A2DP source */
esp_a2d_register_callback(&bt_app_a2d_cb);
esp_a2d_source_register_data_callback(bt_app_a2d_data_cb);
esp_a2d_source_init();
/* set discoverable and connectable mode */
esp_bt_gap_set_scan_mode(ESP_BT_SCAN_MODE_CONNECTABLE_DISCOVERABLE);
/* start device discovery */
ESP_LOGI(BT_AV_TAG, "Starting device discovery...");
s_a2d_state = APP_AV_STATE_DISCOVERING;
esp_bt_gap_start_discovery(ESP_BT_INQ_MODE_GENERAL_INQUIRY, 10, 0);
/* create and start heart beat timer */
do {
int tmr_id = 0;
s_tmr = xTimerCreate("connTmr", (10000 / portTICK_RATE_MS),
pdTRUE, (void *)tmr_id, a2d_app_heart_beat);
xTimerStart(s_tmr, portMAX_DELAY);
} while (0);
break;
}
default:
ESP_LOGE(BT_AV_TAG, "%s unhandled evt %d", __func__, event);
break;
}
}
static void bt_app_a2d_cb(esp_a2d_cb_event_t event, esp_a2d_cb_param_t *param)
{
bt_app_work_dispatch(bt_app_av_sm_hdlr, event, param, sizeof(esp_a2d_cb_param_t), NULL);
}
static int32_t bt_app_a2d_data_cb(uint8_t *data, int32_t len)
{
if (len < 0 || data == NULL) {
return 0;
}
// generate random sequence
int val = rand() % (1 << 16);
for (int i = 0; i < (len >> 1); i++) {
data[(i << 1)] = val & 0xff;
data[(i << 1) + 1] = (val >> 8) & 0xff;
}
return len;
}
static void a2d_app_heart_beat(void *arg)
{
bt_app_work_dispatch(bt_app_av_sm_hdlr, BT_APP_HEART_BEAT_EVT, NULL, 0, NULL);
}
static void bt_app_av_sm_hdlr(uint16_t event, void *param)
{
ESP_LOGI(BT_AV_TAG, "%s state %d, evt 0x%x", __func__, s_a2d_state, event);
switch (s_a2d_state) {
case APP_AV_STATE_DISCOVERING:
case APP_AV_STATE_DISCOVERED:
break;
case APP_AV_STATE_UNCONNECTED:
bt_app_av_state_unconnected(event, param);
break;
case APP_AV_STATE_CONNECTING:
bt_app_av_state_connecting(event, param);
break;
case APP_AV_STATE_CONNECTED:
bt_app_av_state_connected(event, param);
break;
case APP_AV_STATE_DISCONNECTING:
bt_app_av_state_disconnecting(event, param);
break;
default:
ESP_LOGE(BT_AV_TAG, "%s invalid state %d", __func__, s_a2d_state);
break;
}
}
static void bt_app_av_state_unconnected(uint16_t event, void *param)
{
switch (event) {
case ESP_A2D_CONNECTION_STATE_EVT:
case ESP_A2D_AUDIO_STATE_EVT:
case ESP_A2D_AUDIO_CFG_EVT:
case ESP_A2D_MEDIA_CTRL_ACK_EVT:
break;
case BT_APP_HEART_BEAT_EVT: {
uint8_t *p = s_peer_bda;
ESP_LOGI(BT_AV_TAG, "a2dp connecting to peer: %02x:%02x:%02x:%02x:%02x:%02x",
p[0], p[1], p[2], p[3], p[4], p[5]);
esp_a2d_source_connect(s_peer_bda);
s_a2d_state = APP_AV_STATE_CONNECTING;
s_connecting_intv = 0;
break;
}
default:
ESP_LOGE(BT_AV_TAG, "%s unhandled evt %d", __func__, event);
break;
}
}
static void bt_app_av_state_connecting(uint16_t event, void *param)
{
esp_a2d_cb_param_t *a2d = NULL;
switch (event) {
case ESP_A2D_CONNECTION_STATE_EVT: {
a2d = (esp_a2d_cb_param_t *)(param);
if (a2d->conn_stat.state == ESP_A2D_CONNECTION_STATE_CONNECTED) {
ESP_LOGI(BT_AV_TAG, "a2dp connected");
s_a2d_state = APP_AV_STATE_CONNECTED;
s_media_state = APP_AV_MEDIA_STATE_IDLE;
esp_bt_gap_set_scan_mode(ESP_BT_SCAN_MODE_NONE);
} else if (a2d->conn_stat.state == ESP_A2D_CONNECTION_STATE_DISCONNECTED) {
s_a2d_state = APP_AV_STATE_UNCONNECTED;
}
break;
}
case ESP_A2D_AUDIO_STATE_EVT:
case ESP_A2D_AUDIO_CFG_EVT:
case ESP_A2D_MEDIA_CTRL_ACK_EVT:
break;
case BT_APP_HEART_BEAT_EVT:
if (++s_connecting_intv >= 2) {
s_a2d_state = APP_AV_STATE_UNCONNECTED;
s_connecting_intv = 0;
}
break;
default:
ESP_LOGE(BT_AV_TAG, "%s unhandled evt %d", __func__, event);
break;
}
}
static void bt_app_av_media_proc(uint16_t event, void *param)
{
esp_a2d_cb_param_t *a2d = NULL;
switch (s_media_state) {
case APP_AV_MEDIA_STATE_IDLE: {
if (event == BT_APP_HEART_BEAT_EVT) {
ESP_LOGI(BT_AV_TAG, "a2dp media ready checking ...");
esp_a2d_media_ctrl(ESP_A2D_MEDIA_CTRL_CHECK_SRC_RDY);
} else if (event == ESP_A2D_MEDIA_CTRL_ACK_EVT) {
a2d = (esp_a2d_cb_param_t *)(param);
if (a2d->media_ctrl_stat.cmd == ESP_A2D_MEDIA_CTRL_CHECK_SRC_RDY &&
a2d->media_ctrl_stat.status == ESP_A2D_MEDIA_CTRL_ACK_SUCCESS) {
ESP_LOGI(BT_AV_TAG, "a2dp media ready, starting ...");
esp_a2d_media_ctrl(ESP_A2D_MEDIA_CTRL_START);
s_media_state = APP_AV_MEDIA_STATE_STARTING;
}
}
break;
}
case APP_AV_MEDIA_STATE_STARTING: {
if (event == ESP_A2D_MEDIA_CTRL_ACK_EVT) {
a2d = (esp_a2d_cb_param_t *)(param);
if (a2d->media_ctrl_stat.cmd == ESP_A2D_MEDIA_CTRL_START &&
a2d->media_ctrl_stat.status == ESP_A2D_MEDIA_CTRL_ACK_SUCCESS) {
ESP_LOGI(BT_AV_TAG, "a2dp media start successfully.");
s_intv_cnt = 0;
s_media_state = APP_AV_MEDIA_STATE_STARTED;
} else {
// not started succesfully, transfer to idle state
ESP_LOGI(BT_AV_TAG, "a2dp media start failed.");
s_media_state = APP_AV_MEDIA_STATE_IDLE;
}
}
break;
}
case APP_AV_MEDIA_STATE_STARTED: {
if (event == BT_APP_HEART_BEAT_EVT) {
if (++s_intv_cnt >= 10) {
ESP_LOGI(BT_AV_TAG, "a2dp media stopping...");
esp_a2d_media_ctrl(ESP_A2D_MEDIA_CTRL_STOP);
s_media_state = APP_AV_MEDIA_STATE_STOPPING;
s_intv_cnt = 0;
}
}
break;
}
case APP_AV_MEDIA_STATE_STOPPING: {
if (event == ESP_A2D_MEDIA_CTRL_ACK_EVT) {
a2d = (esp_a2d_cb_param_t *)(param);
if (a2d->media_ctrl_stat.cmd == ESP_A2D_MEDIA_CTRL_STOP &&
a2d->media_ctrl_stat.status == ESP_A2D_MEDIA_CTRL_ACK_SUCCESS) {
ESP_LOGI(BT_AV_TAG, "a2dp media stopped successfully, disconnecting...");
s_media_state = APP_AV_MEDIA_STATE_IDLE;
esp_a2d_source_disconnect(s_peer_bda);
s_a2d_state = APP_AV_STATE_DISCONNECTING;
} else {
ESP_LOGI(BT_AV_TAG, "a2dp media stopping...");
esp_a2d_media_ctrl(ESP_A2D_MEDIA_CTRL_STOP);
}
}
break;
}
}
}
static void bt_app_av_state_connected(uint16_t event, void *param)
{
esp_a2d_cb_param_t *a2d = NULL;
switch (event) {
case ESP_A2D_CONNECTION_STATE_EVT: {
a2d = (esp_a2d_cb_param_t *)(param);
if (a2d->conn_stat.state == ESP_A2D_CONNECTION_STATE_DISCONNECTED) {
ESP_LOGI(BT_AV_TAG, "a2dp disconnected");
s_a2d_state = APP_AV_STATE_UNCONNECTED;
esp_bt_gap_set_scan_mode(ESP_BT_SCAN_MODE_CONNECTABLE_DISCOVERABLE);
}
break;
}
case ESP_A2D_AUDIO_STATE_EVT: {
a2d = (esp_a2d_cb_param_t *)(param);
if (ESP_A2D_AUDIO_STATE_STARTED == a2d->audio_stat.state) {
s_pkt_cnt = 0;
}
break;
}
case ESP_A2D_AUDIO_CFG_EVT:
// not suppposed to occur for A2DP source
break;
case ESP_A2D_MEDIA_CTRL_ACK_EVT:
case BT_APP_HEART_BEAT_EVT: {
bt_app_av_media_proc(event, param);
break;
}
default:
ESP_LOGE(BT_AV_TAG, "%s unhandled evt %d", __func__, event);
break;
}
}
static void bt_app_av_state_disconnecting(uint16_t event, void *param)
{
esp_a2d_cb_param_t *a2d = NULL;
switch (event) {
case ESP_A2D_CONNECTION_STATE_EVT: {
a2d = (esp_a2d_cb_param_t *)(param);
if (a2d->conn_stat.state == ESP_A2D_CONNECTION_STATE_DISCONNECTED) {
ESP_LOGI(BT_AV_TAG, "a2dp disconnected");
s_a2d_state = APP_AV_STATE_UNCONNECTED;
esp_bt_gap_set_scan_mode(ESP_BT_SCAN_MODE_CONNECTABLE_DISCOVERABLE);
}
break;
}
case ESP_A2D_AUDIO_STATE_EVT:
case ESP_A2D_AUDIO_CFG_EVT:
case ESP_A2D_MEDIA_CTRL_ACK_EVT:
case BT_APP_HEART_BEAT_EVT:
break;
default:
ESP_LOGE(BT_AV_TAG, "%s unhandled evt %d", __func__, event);
break;
}
}
void loop() {
// put your main code here, to run repeatedly:
}
| [
"eggfly@qq.com"
] | eggfly@qq.com |
de3a8221b07944eaef9974148427d4dcdbdc5e40 | 60311e15536bc5e4fe8c2a6adf87b0daf4ad85de | /src/serialize.h | 22a8f94ec50c70ba54cd0485969d1ff8819fac2a | [
"MIT"
] | permissive | diakas/TrunkCoin | e328d76b02123f21022c1f5bb1afdd681a6da23f | 385c5902e3ae9dbfcb8a6aaf631b019a8a535c89 | refs/heads/master | 2020-07-24T21:01:40.644044 | 2019-04-10T11:53:42 | 2019-04-10T11:53:42 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 29,325 | h | // Copyright (c) 2009-2010 Satoshi Nakamoto
// Copyright (c) 2009-2014 The Bitcoin developers
// Copyright (c) 2015-2018 The PIVX developers
// Copyright (c) 2019 The Trunk developers
// Distributed under the MIT software license, see the accompanying
// file COPYING or http://www.opensource.org/licenses/mit-license.php.
#ifndef Trunk_SERIALIZE_H
#define Trunk_SERIALIZE_H
#include <algorithm>
#include <assert.h>
#include <ios>
#include <limits>
#include <map>
#include <set>
#include <stdint.h>
#include <string.h>
#include <string>
#include <utility>
#include <vector>
#include "libzerocoin/Denominations.h"
#include "libzerocoin/SpendType.h"
class CScript;
static const unsigned int MAX_SIZE = 0x02000000;
/**
* Used to bypass the rule against non-const reference to temporary
* where it makes sense with wrappers such as CFlatData or CTxDB
*/
template <typename T>
inline T& REF(const T& val)
{
return const_cast<T&>(val);
}
/**
* Used to acquire a non-const pointer "this" to generate bodies
* of const serialization operations from a template
*/
template <typename T>
inline T* NCONST_PTR(const T* val)
{
return const_cast<T*>(val);
}
/**
* Get begin pointer of vector (non-const version).
* @note These functions avoid the undefined case of indexing into an empty
* vector, as well as that of indexing after the end of the vector.
*/
template <class T, class TAl>
inline T* begin_ptr(std::vector<T, TAl>& v)
{
return v.empty() ? NULL : &v[0];
}
/** Get begin pointer of vector (const version) */
template <class T, class TAl>
inline const T* begin_ptr(const std::vector<T, TAl>& v)
{
return v.empty() ? NULL : &v[0];
}
/** Get end pointer of vector (non-const version) */
template <class T, class TAl>
inline T* end_ptr(std::vector<T, TAl>& v)
{
return v.empty() ? NULL : (&v[0] + v.size());
}
/** Get end pointer of vector (const version) */
template <class T, class TAl>
inline const T* end_ptr(const std::vector<T, TAl>& v)
{
return v.empty() ? NULL : (&v[0] + v.size());
}
/////////////////////////////////////////////////////////////////
//
// Templates for serializing to anything that looks like a stream,
// i.e. anything that supports .read(char*, size_t) and .write(char*, size_t)
//
enum {
// primary actions
SER_NETWORK = (1 << 0),
SER_DISK = (1 << 1),
SER_GETHASH = (1 << 2),
};
#define READWRITE(obj) (::SerReadWrite(s, (obj), nType, nVersion, ser_action))
/**
* Implement three methods for serializable objects. These are actually wrappers over
* "SerializationOp" template, which implements the body of each class' serialization
* code. Adding "ADD_SERIALIZE_METHODS" in the body of the class causes these wrappers to be
* added as members.
*/
#define ADD_SERIALIZE_METHODS \
size_t GetSerializeSize(int nType, int nVersion) const \
{ \
CSizeComputer s(nType, nVersion); \
NCONST_PTR(this)->SerializationOp(s, CSerActionSerialize(), nType, nVersion); \
return s.size(); \
} \
template <typename Stream> \
void Serialize(Stream& s, int nType, int nVersion) const \
{ \
NCONST_PTR(this)->SerializationOp(s, CSerActionSerialize(), nType, nVersion); \
} \
template <typename Stream> \
void Unserialize(Stream& s, int nType, int nVersion) \
{ \
SerializationOp(s, CSerActionUnserialize(), nType, nVersion); \
}
/*
* Basic Types
*/
#define WRITEDATA(s, obj) s.write((char*)&(obj), sizeof(obj))
#define READDATA(s, obj) s.read((char*)&(obj), sizeof(obj))
inline unsigned int GetSerializeSize(char a, int, int = 0)
{
return sizeof(a);
}
inline unsigned int GetSerializeSize(signed char a, int, int = 0) { return sizeof(a); }
inline unsigned int GetSerializeSize(unsigned char a, int, int = 0) { return sizeof(a); }
inline unsigned int GetSerializeSize(signed short a, int, int = 0) { return sizeof(a); }
inline unsigned int GetSerializeSize(unsigned short a, int, int = 0) { return sizeof(a); }
inline unsigned int GetSerializeSize(signed int a, int, int = 0) { return sizeof(a); }
inline unsigned int GetSerializeSize(unsigned int a, int, int = 0) { return sizeof(a); }
inline unsigned int GetSerializeSize(signed long a, int, int = 0) { return sizeof(a); }
inline unsigned int GetSerializeSize(unsigned long a, int, int = 0) { return sizeof(a); }
inline unsigned int GetSerializeSize(signed long long a, int, int = 0) { return sizeof(a); }
inline unsigned int GetSerializeSize(unsigned long long a, int, int = 0) { return sizeof(a); }
inline unsigned int GetSerializeSize(float a, int, int = 0) { return sizeof(a); }
inline unsigned int GetSerializeSize(double a, int, int = 0) { return sizeof(a); }
template <typename Stream>
inline void Serialize(Stream& s, char a, int, int = 0)
{
WRITEDATA(s, a);
}
template <typename Stream>
inline void Serialize(Stream& s, signed char a, int, int = 0)
{
WRITEDATA(s, a);
}
template <typename Stream>
inline void Serialize(Stream& s, unsigned char a, int, int = 0)
{
WRITEDATA(s, a);
}
template <typename Stream>
inline void Serialize(Stream& s, signed short a, int, int = 0)
{
WRITEDATA(s, a);
}
template <typename Stream>
inline void Serialize(Stream& s, unsigned short a, int, int = 0)
{
WRITEDATA(s, a);
}
template <typename Stream>
inline void Serialize(Stream& s, signed int a, int, int = 0)
{
WRITEDATA(s, a);
}
template <typename Stream>
inline void Serialize(Stream& s, unsigned int a, int, int = 0)
{
WRITEDATA(s, a);
}
template <typename Stream>
inline void Serialize(Stream& s, signed long a, int, int = 0)
{
WRITEDATA(s, a);
}
template <typename Stream>
inline void Serialize(Stream& s, unsigned long a, int, int = 0)
{
WRITEDATA(s, a);
}
template <typename Stream>
inline void Serialize(Stream& s, signed long long a, int, int = 0)
{
WRITEDATA(s, a);
}
template <typename Stream>
inline void Serialize(Stream& s, unsigned long long a, int, int = 0)
{
WRITEDATA(s, a);
}
template <typename Stream>
inline void Serialize(Stream& s, float a, int, int = 0)
{
WRITEDATA(s, a);
}
template <typename Stream>
inline void Serialize(Stream& s, double a, int, int = 0)
{
WRITEDATA(s, a);
}
template <typename Stream>
inline void Unserialize(Stream& s, char& a, int, int = 0)
{
READDATA(s, a);
}
template <typename Stream>
inline void Unserialize(Stream& s, signed char& a, int, int = 0)
{
READDATA(s, a);
}
template <typename Stream>
inline void Unserialize(Stream& s, unsigned char& a, int, int = 0)
{
READDATA(s, a);
}
template <typename Stream>
inline void Unserialize(Stream& s, signed short& a, int, int = 0)
{
READDATA(s, a);
}
template <typename Stream>
inline void Unserialize(Stream& s, unsigned short& a, int, int = 0)
{
READDATA(s, a);
}
template <typename Stream>
inline void Unserialize(Stream& s, signed int& a, int, int = 0)
{
READDATA(s, a);
}
template <typename Stream>
inline void Unserialize(Stream& s, unsigned int& a, int, int = 0)
{
READDATA(s, a);
}
template <typename Stream>
inline void Unserialize(Stream& s, signed long& a, int, int = 0)
{
READDATA(s, a);
}
template <typename Stream>
inline void Unserialize(Stream& s, unsigned long& a, int, int = 0)
{
READDATA(s, a);
}
template <typename Stream>
inline void Unserialize(Stream& s, signed long long& a, int, int = 0)
{
READDATA(s, a);
}
template <typename Stream>
inline void Unserialize(Stream& s, unsigned long long& a, int, int = 0)
{
READDATA(s, a);
}
template <typename Stream>
inline void Unserialize(Stream& s, float& a, int, int = 0)
{
READDATA(s, a);
}
template <typename Stream>
inline void Unserialize(Stream& s, double& a, int, int = 0)
{
READDATA(s, a);
}
inline unsigned int GetSerializeSize(bool a, int, int = 0) { return sizeof(char); }
template <typename Stream>
inline void Serialize(Stream& s, bool a, int, int = 0)
{
char f = a;
WRITEDATA(s, f);
}
template <typename Stream>
inline void Unserialize(Stream& s, bool& a, int, int = 0)
{
char f;
READDATA(s, f);
a = f;
}
// Serializatin for libzerocoin::CoinDenomination
inline unsigned int GetSerializeSize(libzerocoin::CoinDenomination a, int, int = 0) { return sizeof(libzerocoin::CoinDenomination); }
template <typename Stream>
inline void Serialize(Stream& s, libzerocoin::CoinDenomination a, int, int = 0)
{
int f = libzerocoin::ZerocoinDenominationToInt(a);
WRITEDATA(s, f);
}
template <typename Stream>
inline void Unserialize(Stream& s, libzerocoin::CoinDenomination& a, int, int = 0)
{
int f=0;
READDATA(s, f);
a = libzerocoin::IntToZerocoinDenomination(f);
}
// Serialization for libzerocoin::SpendType
inline unsigned int GetSerializedSize(libzerocoin::SpendType a, int, int = 0) { return sizeof(libzerocoin::SpendType); }
template <typename Stream>
inline void Serialize(Stream& s, libzerocoin::SpendType a, int, int = 0)
{
uint8_t f = static_cast<uint8_t>(a);
WRITEDATA(s, f);
}
template <typename Stream>
inline void Unserialize(Stream& s, libzerocoin::SpendType & a, int, int = 0)
{
uint8_t f=0;
READDATA(s, f);
a = static_cast<libzerocoin::SpendType>(f);
}
/**
* Compact Size
* size < 253 -- 1 byte
* size <= USHRT_MAX -- 3 bytes (253 + 2 bytes)
* size <= UINT_MAX -- 5 bytes (254 + 4 bytes)
* size > UINT_MAX -- 9 bytes (255 + 8 bytes)
*/
inline unsigned int GetSizeOfCompactSize(uint64_t nSize)
{
if (nSize < 253)
return sizeof(unsigned char);
else if (nSize <= std::numeric_limits<unsigned short>::max())
return sizeof(unsigned char) + sizeof(unsigned short);
else if (nSize <= std::numeric_limits<unsigned int>::max())
return sizeof(unsigned char) + sizeof(unsigned int);
else
return sizeof(unsigned char) + sizeof(uint64_t);
}
template <typename Stream>
void WriteCompactSize(Stream& os, uint64_t nSize)
{
if (nSize < 253) {
unsigned char chSize = nSize;
WRITEDATA(os, chSize);
} else if (nSize <= std::numeric_limits<unsigned short>::max()) {
unsigned char chSize = 253;
unsigned short xSize = nSize;
WRITEDATA(os, chSize);
WRITEDATA(os, xSize);
} else if (nSize <= std::numeric_limits<unsigned int>::max()) {
unsigned char chSize = 254;
unsigned int xSize = nSize;
WRITEDATA(os, chSize);
WRITEDATA(os, xSize);
} else {
unsigned char chSize = 255;
uint64_t xSize = nSize;
WRITEDATA(os, chSize);
WRITEDATA(os, xSize);
}
return;
}
template <typename Stream>
uint64_t ReadCompactSize(Stream& is)
{
unsigned char chSize;
READDATA(is, chSize);
uint64_t nSizeRet = 0;
if (chSize < 253) {
nSizeRet = chSize;
} else if (chSize == 253) {
unsigned short xSize;
READDATA(is, xSize);
nSizeRet = xSize;
if (nSizeRet < 253)
throw std::ios_base::failure("non-canonical ReadCompactSize()");
} else if (chSize == 254) {
unsigned int xSize;
READDATA(is, xSize);
nSizeRet = xSize;
if (nSizeRet < 0x10000u)
throw std::ios_base::failure("non-canonical ReadCompactSize()");
} else {
uint64_t xSize;
READDATA(is, xSize);
nSizeRet = xSize;
if (nSizeRet < 0x100000000ULL)
throw std::ios_base::failure("non-canonical ReadCompactSize()");
}
if (nSizeRet > (uint64_t)MAX_SIZE)
throw std::ios_base::failure("ReadCompactSize() : size too large");
return nSizeRet;
}
/**
* Variable-length integers: bytes are a MSB base-128 encoding of the number.
* The high bit in each byte signifies whether another digit follows. To make
* sure the encoding is one-to-one, one is subtracted from all but the last digit.
* Thus, the byte sequence a[] with length len, where all but the last byte
* has bit 128 set, encodes the number:
*
* (a[len-1] & 0x7F) + sum(i=1..len-1, 128^i*((a[len-i-1] & 0x7F)+1))
*
* Properties:
* * Very small (0-127: 1 byte, 128-16511: 2 bytes, 16512-2113663: 3 bytes)
* * Every integer has exactly one encoding
* * Encoding does not depend on size of original integer type
* * No redundancy: every (infinite) byte sequence corresponds to a list
* of encoded integers.
*
* 0: [0x00] 256: [0x81 0x00]
* 1: [0x01] 16383: [0xFE 0x7F]
* 127: [0x7F] 16384: [0xFF 0x00]
* 128: [0x80 0x00] 16511: [0x80 0xFF 0x7F]
* 255: [0x80 0x7F] 65535: [0x82 0xFD 0x7F]
* 2^32: [0x8E 0xFE 0xFE 0xFF 0x00]
*/
template <typename I>
inline unsigned int GetSizeOfVarInt(I n)
{
int nRet = 0;
while (true) {
nRet++;
if (n <= 0x7F)
break;
n = (n >> 7) - 1;
}
return nRet;
}
template <typename Stream, typename I>
void WriteVarInt(Stream& os, I n)
{
unsigned char tmp[(sizeof(n) * 8 + 6) / 7];
int len = 0;
while (true) {
tmp[len] = (n & 0x7F) | (len ? 0x80 : 0x00);
if (n <= 0x7F)
break;
n = (n >> 7) - 1;
len++;
}
do {
WRITEDATA(os, tmp[len]);
} while (len--);
}
template <typename Stream, typename I>
I ReadVarInt(Stream& is)
{
I n = 0;
while (true) {
unsigned char chData;
READDATA(is, chData);
n = (n << 7) | (chData & 0x7F);
if (chData & 0x80)
n++;
else
return n;
}
}
#define FLATDATA(obj) REF(CFlatData((char*)&(obj), (char*)&(obj) + sizeof(obj)))
#define VARINT(obj) REF(WrapVarInt(REF(obj)))
#define LIMITED_STRING(obj, n) REF(LimitedString<n>(REF(obj)))
/**
* Wrapper for serializing arrays and POD.
*/
class CFlatData
{
protected:
char* pbegin;
char* pend;
public:
CFlatData(void* pbeginIn, void* pendIn) : pbegin((char*)pbeginIn), pend((char*)pendIn) {}
template <class T, class TAl>
explicit CFlatData(std::vector<T, TAl>& v)
{
pbegin = (char*)begin_ptr(v);
pend = (char*)end_ptr(v);
}
char* begin() { return pbegin; }
const char* begin() const { return pbegin; }
char* end() { return pend; }
const char* end() const { return pend; }
unsigned int GetSerializeSize(int, int = 0) const
{
return pend - pbegin;
}
template <typename Stream>
void Serialize(Stream& s, int, int = 0) const
{
s.write(pbegin, pend - pbegin);
}
template <typename Stream>
void Unserialize(Stream& s, int, int = 0)
{
s.read(pbegin, pend - pbegin);
}
};
template <typename I>
class CVarInt
{
protected:
I& n;
public:
CVarInt(I& nIn) : n(nIn) {}
unsigned int GetSerializeSize(int, int) const
{
return GetSizeOfVarInt<I>(n);
}
template <typename Stream>
void Serialize(Stream& s, int, int) const
{
WriteVarInt<Stream, I>(s, n);
}
template <typename Stream>
void Unserialize(Stream& s, int, int)
{
n = ReadVarInt<Stream, I>(s);
}
};
template <size_t Limit>
class LimitedString
{
protected:
std::string& string;
public:
LimitedString(std::string& string) : string(string) {}
template <typename Stream>
void Unserialize(Stream& s, int, int = 0)
{
size_t size = ReadCompactSize(s);
if (size > Limit) {
throw std::ios_base::failure("String length limit exceeded");
}
string.resize(size);
if (size != 0)
s.read((char*)&string[0], size);
}
template <typename Stream>
void Serialize(Stream& s, int, int = 0) const
{
WriteCompactSize(s, string.size());
if (!string.empty())
s.write((char*)&string[0], string.size());
}
unsigned int GetSerializeSize(int, int = 0) const
{
return GetSizeOfCompactSize(string.size()) + string.size();
}
};
template <typename I>
CVarInt<I> WrapVarInt(I& n)
{
return CVarInt<I>(n);
}
/**
* Forward declarations
*/
/**
* string
*/
template <typename C>
unsigned int GetSerializeSize(const std::basic_string<C>& str, int, int = 0);
template <typename Stream, typename C>
void Serialize(Stream& os, const std::basic_string<C>& str, int, int = 0);
template <typename Stream, typename C>
void Unserialize(Stream& is, std::basic_string<C>& str, int, int = 0);
/**
* vector
* vectors of unsigned char are a special case and are intended to be serialized as a single opaque blob.
*/
template <typename T, typename A>
unsigned int GetSerializeSize_impl(const std::vector<T, A>& v, int nType, int nVersion, const unsigned char&);
template <typename T, typename A, typename V>
unsigned int GetSerializeSize_impl(const std::vector<T, A>& v, int nType, int nVersion, const V&);
template <typename T, typename A>
inline unsigned int GetSerializeSize(const std::vector<T, A>& v, int nType, int nVersion);
template <typename Stream, typename T, typename A>
void Serialize_impl(Stream& os, const std::vector<T, A>& v, int nType, int nVersion, const unsigned char&);
template <typename Stream, typename T, typename A, typename V>
void Serialize_impl(Stream& os, const std::vector<T, A>& v, int nType, int nVersion, const V&);
template <typename Stream, typename T, typename A>
inline void Serialize(Stream& os, const std::vector<T, A>& v, int nType, int nVersion);
template <typename Stream, typename T, typename A>
void Unserialize_impl(Stream& is, std::vector<T, A>& v, int nType, int nVersion, const unsigned char&);
template <typename Stream, typename T, typename A, typename V>
void Unserialize_impl(Stream& is, std::vector<T, A>& v, int nType, int nVersion, const V&);
template <typename Stream, typename T, typename A>
inline void Unserialize(Stream& is, std::vector<T, A>& v, int nType, int nVersion);
/**
* others derived from vector
*/
extern inline unsigned int GetSerializeSize(const CScript& v, int nType, int nVersion);
template <typename Stream>
void Serialize(Stream& os, const CScript& v, int nType, int nVersion);
template <typename Stream>
void Unserialize(Stream& is, CScript& v, int nType, int nVersion);
/**
* pair
*/
template <typename K, typename T>
unsigned int GetSerializeSize(const std::pair<K, T>& item, int nType, int nVersion);
template <typename Stream, typename K, typename T>
void Serialize(Stream& os, const std::pair<K, T>& item, int nType, int nVersion);
template <typename Stream, typename K, typename T>
void Unserialize(Stream& is, std::pair<K, T>& item, int nType, int nVersion);
/**
* map
*/
template <typename K, typename T, typename Pred, typename A>
unsigned int GetSerializeSize(const std::map<K, T, Pred, A>& m, int nType, int nVersion);
template <typename Stream, typename K, typename T, typename Pred, typename A>
void Serialize(Stream& os, const std::map<K, T, Pred, A>& m, int nType, int nVersion);
template <typename Stream, typename K, typename T, typename Pred, typename A>
void Unserialize(Stream& is, std::map<K, T, Pred, A>& m, int nType, int nVersion);
/**
* set
*/
template <typename K, typename Pred, typename A>
unsigned int GetSerializeSize(const std::set<K, Pred, A>& m, int nType, int nVersion);
template <typename Stream, typename K, typename Pred, typename A>
void Serialize(Stream& os, const std::set<K, Pred, A>& m, int nType, int nVersion);
template <typename Stream, typename K, typename Pred, typename A>
void Unserialize(Stream& is, std::set<K, Pred, A>& m, int nType, int nVersion);
/**
* If none of the specialized versions above matched, default to calling member function.
* "int nType" is changed to "long nType" to keep from getting an ambiguous overload error.
* The compiler will only cast int to long if none of the other templates matched.
* Thanks to Boost serialization for this idea.
*/
template <typename T>
inline unsigned int GetSerializeSize(const T& a, long nType, int nVersion)
{
return a.GetSerializeSize((int)nType, nVersion);
}
template <typename Stream, typename T>
inline void Serialize(Stream& os, const T& a, long nType, int nVersion)
{
a.Serialize(os, (int)nType, nVersion);
}
template <typename Stream, typename T>
inline void Unserialize(Stream& is, T& a, long nType, int nVersion)
{
a.Unserialize(is, (int)nType, nVersion);
}
/**
* string
*/
template <typename C>
unsigned int GetSerializeSize(const std::basic_string<C>& str, int, int)
{
return GetSizeOfCompactSize(str.size()) + str.size() * sizeof(str[0]);
}
template <typename Stream, typename C>
void Serialize(Stream& os, const std::basic_string<C>& str, int, int)
{
WriteCompactSize(os, str.size());
if (!str.empty())
os.write((char*)&str[0], str.size() * sizeof(str[0]));
}
template <typename Stream, typename C>
void Unserialize(Stream& is, std::basic_string<C>& str, int, int)
{
unsigned int nSize = ReadCompactSize(is);
str.resize(nSize);
if (nSize != 0)
is.read((char*)&str[0], nSize * sizeof(str[0]));
}
/**
* vector
*/
template <typename T, typename A>
unsigned int GetSerializeSize_impl(const std::vector<T, A>& v, int nType, int nVersion, const unsigned char&)
{
return (GetSizeOfCompactSize(v.size()) + v.size() * sizeof(T));
}
template <typename T, typename A, typename V>
unsigned int GetSerializeSize_impl(const std::vector<T, A>& v, int nType, int nVersion, const V&)
{
unsigned int nSize = GetSizeOfCompactSize(v.size());
for (typename std::vector<T, A>::const_iterator vi = v.begin(); vi != v.end(); ++vi)
nSize += GetSerializeSize((*vi), nType, nVersion);
return nSize;
}
template <typename T, typename A>
inline unsigned int GetSerializeSize(const std::vector<T, A>& v, int nType, int nVersion)
{
return GetSerializeSize_impl(v, nType, nVersion, T());
}
template <typename Stream, typename T, typename A>
void Serialize_impl(Stream& os, const std::vector<T, A>& v, int nType, int nVersion, const unsigned char&)
{
WriteCompactSize(os, v.size());
if (!v.empty())
os.write((char*)&v[0], v.size() * sizeof(T));
}
template <typename Stream, typename T, typename A, typename V>
void Serialize_impl(Stream& os, const std::vector<T, A>& v, int nType, int nVersion, const V&)
{
WriteCompactSize(os, v.size());
for (typename std::vector<T, A>::const_iterator vi = v.begin(); vi != v.end(); ++vi)
::Serialize(os, (*vi), nType, nVersion);
}
template <typename Stream, typename T, typename A>
inline void Serialize(Stream& os, const std::vector<T, A>& v, int nType, int nVersion)
{
Serialize_impl(os, v, nType, nVersion, T());
}
template <typename Stream, typename T, typename A>
void Unserialize_impl(Stream& is, std::vector<T, A>& v, int nType, int nVersion, const unsigned char&)
{
// Limit size per read so bogus size value won't cause out of memory
v.clear();
unsigned int nSize = ReadCompactSize(is);
unsigned int i = 0;
while (i < nSize) {
unsigned int blk = std::min(nSize - i, (unsigned int)(1 + 4999999 / sizeof(T)));
v.resize(i + blk);
is.read((char*)&v[i], blk * sizeof(T));
i += blk;
}
}
template <typename Stream, typename T, typename A, typename V>
void Unserialize_impl(Stream& is, std::vector<T, A>& v, int nType, int nVersion, const V&)
{
v.clear();
unsigned int nSize = ReadCompactSize(is);
unsigned int i = 0;
unsigned int nMid = 0;
while (nMid < nSize) {
nMid += 5000000 / sizeof(T);
if (nMid > nSize)
nMid = nSize;
v.resize(nMid);
for (; i < nMid; i++)
Unserialize(is, v[i], nType, nVersion);
}
}
template <typename Stream, typename T, typename A>
inline void Unserialize(Stream& is, std::vector<T, A>& v, int nType, int nVersion)
{
Unserialize_impl(is, v, nType, nVersion, T());
}
/**
* others derived from vector
*/
inline unsigned int GetSerializeSize(const CScript& v, int nType, int nVersion)
{
return GetSerializeSize((const std::vector<unsigned char>&)v, nType, nVersion);
}
template <typename Stream>
void Serialize(Stream& os, const CScript& v, int nType, int nVersion)
{
Serialize(os, (const std::vector<unsigned char>&)v, nType, nVersion);
}
template <typename Stream>
void Unserialize(Stream& is, CScript& v, int nType, int nVersion)
{
Unserialize(is, (std::vector<unsigned char>&)v, nType, nVersion);
}
/**
* pair
*/
template <typename K, typename T>
unsigned int GetSerializeSize(const std::pair<K, T>& item, int nType, int nVersion)
{
return GetSerializeSize(item.first, nType, nVersion) + GetSerializeSize(item.second, nType, nVersion);
}
template <typename Stream, typename K, typename T>
void Serialize(Stream& os, const std::pair<K, T>& item, int nType, int nVersion)
{
Serialize(os, item.first, nType, nVersion);
Serialize(os, item.second, nType, nVersion);
}
template <typename Stream, typename K, typename T>
void Unserialize(Stream& is, std::pair<K, T>& item, int nType, int nVersion)
{
Unserialize(is, item.first, nType, nVersion);
Unserialize(is, item.second, nType, nVersion);
}
/**
* map
*/
template <typename K, typename T, typename Pred, typename A>
unsigned int GetSerializeSize(const std::map<K, T, Pred, A>& m, int nType, int nVersion)
{
unsigned int nSize = GetSizeOfCompactSize(m.size());
for (typename std::map<K, T, Pred, A>::const_iterator mi = m.begin(); mi != m.end(); ++mi)
nSize += GetSerializeSize((*mi), nType, nVersion);
return nSize;
}
template <typename Stream, typename K, typename T, typename Pred, typename A>
void Serialize(Stream& os, const std::map<K, T, Pred, A>& m, int nType, int nVersion)
{
WriteCompactSize(os, m.size());
for (typename std::map<K, T, Pred, A>::const_iterator mi = m.begin(); mi != m.end(); ++mi)
Serialize(os, (*mi), nType, nVersion);
}
template <typename Stream, typename K, typename T, typename Pred, typename A>
void Unserialize(Stream& is, std::map<K, T, Pred, A>& m, int nType, int nVersion)
{
m.clear();
unsigned int nSize = ReadCompactSize(is);
typename std::map<K, T, Pred, A>::iterator mi = m.begin();
for (unsigned int i = 0; i < nSize; i++) {
std::pair<K, T> item;
Unserialize(is, item, nType, nVersion);
mi = m.insert(mi, item);
}
}
/**
* set
*/
template <typename K, typename Pred, typename A>
unsigned int GetSerializeSize(const std::set<K, Pred, A>& m, int nType, int nVersion)
{
unsigned int nSize = GetSizeOfCompactSize(m.size());
for (typename std::set<K, Pred, A>::const_iterator it = m.begin(); it != m.end(); ++it)
nSize += GetSerializeSize((*it), nType, nVersion);
return nSize;
}
template <typename Stream, typename K, typename Pred, typename A>
void Serialize(Stream& os, const std::set<K, Pred, A>& m, int nType, int nVersion)
{
WriteCompactSize(os, m.size());
for (typename std::set<K, Pred, A>::const_iterator it = m.begin(); it != m.end(); ++it)
Serialize(os, (*it), nType, nVersion);
}
template <typename Stream, typename K, typename Pred, typename A>
void Unserialize(Stream& is, std::set<K, Pred, A>& m, int nType, int nVersion)
{
m.clear();
unsigned int nSize = ReadCompactSize(is);
typename std::set<K, Pred, A>::iterator it = m.begin();
for (unsigned int i = 0; i < nSize; i++) {
K key;
Unserialize(is, key, nType, nVersion);
it = m.insert(it, key);
}
}
/**
* Support for ADD_SERIALIZE_METHODS and READWRITE macro
*/
struct CSerActionSerialize {
bool ForRead() const { return false; }
};
struct CSerActionUnserialize {
bool ForRead() const { return true; }
};
template <typename Stream, typename T>
inline void SerReadWrite(Stream& s, const T& obj, int nType, int nVersion, CSerActionSerialize ser_action)
{
::Serialize(s, obj, nType, nVersion);
}
template <typename Stream, typename T>
inline void SerReadWrite(Stream& s, T& obj, int nType, int nVersion, CSerActionUnserialize ser_action)
{
::Unserialize(s, obj, nType, nVersion);
}
class CSizeComputer
{
protected:
size_t nSize;
public:
int nType;
int nVersion;
CSizeComputer(int nTypeIn, int nVersionIn) : nSize(0), nType(nTypeIn), nVersion(nVersionIn) {}
CSizeComputer& write(const char* psz, size_t nSize)
{
this->nSize += nSize;
return *this;
}
/** Pretend _nSize bytes are written, without specifying them. */
void seek(size_t _nSize)
{
this->nSize += _nSize;
}
template <typename T>
CSizeComputer& operator<<(const T& obj)
{
::Serialize(*this, obj, nType, nVersion);
return (*this);
}
size_t size() const
{
return nSize;
}
};
#endif // Trunk_SERIALIZE_H
| [
"48926272+trunkcoin@users.noreply.github.com"
] | 48926272+trunkcoin@users.noreply.github.com |
c242d5037a163e6b5e10acdfd5d09678f1af0ce7 | 713926478a1f876c0d30744d90f829109cd1bd64 | /Lol2019/Day_9/H/16965902.cpp | feb4969ba7957c2230caace762c1022020ee809f | [] | no_license | Igor-SeVeR/OlympiadProblems | f8b191488c11bf92bdfc580bbac660f6ed7bddef | 7197aa7a6853ff916ee9da090d53580253dabffb | refs/heads/master | 2020-06-10T21:45:20.565411 | 2019-07-21T18:18:55 | 2019-07-21T18:18:55 | 193,752,484 | 1 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 916 | cpp | #include <bits/stdc++.h>
using namespace std;
int main()
{
long long ans = 0;
string s;
vector <long long> cur = {0};
while (getline(cin, s)) {
if (s[0] == 'p') {
int i = 6;
int val = 0;
while (i < s.size()) {
val = val * 10 + (s[i] - '0');
i++;
}
cur.push_back(cur[cur.size() - 1] + val);
ans += val;
} else {
int i = 5;
int num = 0, cnt = 0;
while (s[i] != ' ') {
num = num * 10 + (s[i] - '0');
i++;
}
i++;
while (i < s.size()) {
cnt = cnt * 10 + (s[i] - '0');
i++;
}
cur.push_back(cur[cur.size() - 1]);
ans += cnt * (cur[cur.size() - 1] - cur[num - 1]);
}
}
cout << ans;
return 0;
}
| [
"voafanasev@edu.hse.ru"
] | voafanasev@edu.hse.ru |
7cd3d5be05491e9398899802b35bf8c5619c3f23 | 721ecafc8ab45066f3661cbde2257f6016f5b3a8 | /atcoder/abc137/c.cpp | 31c67eff6ddbdd6693337cf745a8b6473ff7744d | [] | no_license | dr0pdb/competitive | 8651ba9722ec260aeb40ef4faf5698e6ebd75d4b | fd0d17d96f934d1724069c4e737fee37a5874887 | refs/heads/master | 2022-04-08T02:14:39.203196 | 2020-02-15T19:05:38 | 2020-02-15T19:05:38 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 1,681 | cpp | #include<bits/stdc++.h>
#define FOR(i,a,b) for(long long i = (long long)(a); i < (long long)(b); i++)
#define RFOR(i,a,b) for(long long i = (long long)(a); i >= (long long)(b); i--)
#define MIN3(a,b,c) (a)<(b)?((a)<(c)?(a):(c)):((b)<(c)?(b):(c))
#define MAX(a,b) (a)>(b)?(a):(b)
#define MIN2(a,b) (a)<(b)?(a):(b)
using namespace std;
typedef pair<int, int> ii;
typedef pair<int, ii> iii;
typedef vector<ii> vii;
typedef vector<int> vi;
typedef long long ll;
#define ull unsigned long long
typedef long double ld;
typedef vector<ll> vll;
typedef pair<ll,ll> lll;
#define deb(x ) cerr << #x << " here "<< x << endl;
#define endl "\n"
#define printCase() "Case #" << caseNum << ": "
inline bool is_palindrome(const string& s){ return std::equal(s.begin(), s.end(), s.rbegin()); }
const ll MOD = 1000000007;
const ll INF = 1e9+5;
const double eps = 1e-7;
const double PI = acos(-1.0);
#define coud(a,d) cout << fixed << showpoint << setprecision(d) << a;
inline void debug_vi(vi a) {FOR(i, 0, a.size()) cout<<a[i]<<" ";}
inline void debug_vll(vll a) {FOR(i, 0, a.size()) cout<<a[i]<<" ";}
#define ff first
#define ss second
/*----------------------------------------------------------------------*/
map<vi,int> m;
int main(){
std::ios::sync_with_stdio(false);cin.tie(NULL); cout.tie(NULL);
//freopen("input.txt", "r", stdin);
//freopen("output.txt", "w", stdout);
int n; cin>>n;
string s;
FOR(i, 0, n) {
cin>>s;
vi cnt(26, 0);
for(auto c : s) {
cnt[c - 'a']++;
}
m[cnt]++;
}
ll ans = 0;
for(auto itr : m) {
int val = itr.second;
ans += 1LL * val * (val -1) / 2;
}
cout<<ans;
return 0;
} | [
"srv.twry@gmail.com"
] | srv.twry@gmail.com |
37b1893ed6ac5a76bd1fb38476388a2032acaf07 | 575df60880e72fc2dcea4c7fb13d76a5f319a803 | /tests/unittests/main.cpp | 56867817b6a910cdcf05378ceab23f9b34ec8655 | [
"LicenseRef-scancode-unknown-license-reference",
"BSD-3-Clause"
] | permissive | vesavlad/dquest | 89335605ed2be097c948bda090e0cf7fd9842cf3 | aa2cf4a61046d2f6bf3ae7251ae4ed6abf275b1b | refs/heads/master | 2021-01-11T01:38:30.069030 | 2015-05-11T08:49:14 | 2015-05-11T08:49:14 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 311 | cpp | #include <QCoreApplication>
#include "testobjectrunner.h"
#include "coretests.h"
#include "sqlitetests.h"
int main(int argc, char *argv[])
{
QCoreApplication a(argc, argv);
TestObjectRunner runner;
runner.add<CoreTests>();
runner.add<SqliteTests>();
return runner.exec(a.arguments());
}
| [
"xbenlau@gmail.com"
] | xbenlau@gmail.com |
e77d760bee97ffd4f7c023963f4e7da07d424e9f | db9b731edb4790a169cba7f651d9f5bc22151f1d | /Lab 8/Лаба 8/Лаба 8.cpp | dfd9fdbb847f571002a1d675a8735256ccce2158 | [] | no_license | KopeikinD/LABS | ecce77e468e3aa118c3f2e19820ee51db8a55fde | a19d54751767c6dcf2b9c59f7b41fdac3faaf38b | refs/heads/main | 2023-09-04T00:54:20.427060 | 2021-11-03T14:30:49 | 2021-11-03T14:30:49 | 424,224,511 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 910 | cpp | #include <iostream>
using namespace std;
const int N = 4;
void zadanie1() {
int chislo, t;
do {
cout << "введите пятизначное число ";
cin >> chislo;
} while (chislo < 10000 || chislo > 100000);
while (chislo != 0) {
t = chislo % 10;
chislo /= 10;
cout << t << endl;
}
}
void zadanie2() {
char a;
cout << "введите символ ";
cin >> a;
a = a - 32;
cout << a << endl;
}
void zadanie3() {
int array[N];
int sr = 0;
cout << "введите массив из 4 чисел: ";
for (int i = 0; i < N; i++)
cin >> array[i];
for (int i = 0; i < N; i++) {
sr += array[i];
}
cout << "среднее арифметическое = " << sr / 4 << endl;
}
int main()
{
setlocale(LC_ALL, "Russian");
cout << "Задание 1:" << endl;
zadanie1();
cout << "Задание 2:" << endl;
zadanie2();
cout << "Задание 3:" << endl;
zadanie3();
} | [
"noreply@github.com"
] | noreply@github.com |
1a504c7311f0eb8d07765c43e9a16072a7348bcb | 2d42a50f7f3b4a864ee19a42ea88a79be4320069 | /source/core/pointer.h | c330b553b5cb2c4c9e9c72e238b7c04958b8f8e0 | [] | no_license | Mikalai/punk_project_a | 8a4f55e49e2ad478fdeefa68293012af4b64f5d4 | 8829eb077f84d4fd7b476fd951c93377a3073e48 | refs/heads/master | 2016-09-06T05:58:53.039941 | 2015-01-24T11:56:49 | 2015-01-24T11:56:49 | 14,536,431 | 1 | 0 | null | 2014-06-26T06:40:50 | 2013-11-19T20:03:46 | C | UTF-8 | C++ | false | false | 3,723 | h | #ifndef _H_CORE_UNIQUE_PTR
#define _H_CORE_UNIQUE_PTR
#include <config.h>
PUNK_ENGINE_BEGIN
namespace Core {
class IObject;
extern PUNK_ENGINE_API void DestroyObject(IObject* object);
template<class T, class Base = IObject> class WeakPtr;
template<class T, class Base = IObject>
class Pointer {
public:
template<class U, class B> friend class Pointer;
template<class U, class B> friend class WeakPtr;
Pointer()
: m_object{ nullptr }
, m_destroy{ nullptr }
{}
Pointer(T* object, void(*destroy)(Base*) = DestroyObject)
: m_object{ object }
, m_destroy{ destroy }
{
if (m_object)
m_object->AddRef();
}
template<class U>
Pointer(const Pointer<U>& value) {
m_object = dynamic_cast<T*>(value.m_object);
if (m_object)
m_object->AddRef();
m_destroy = value.m_destroy;
}
template<class U>
Pointer<T>& operator = (const Pointer<U>& value) {
T* casted_value = dynamic_cast<T*>(value.m_object);
if (m_object == casted_value)
return *this;
if (m_object)
Destroy();
m_object = casted_value;
if (m_object)
m_object->AddRef();
m_destroy = value.m_destroy;
return *this;
}
Pointer(const Pointer<T, Base>& value)
: m_object{ value.m_object }
, m_destroy{ value.m_destroy }
{
if (m_object)
m_object->AddRef();
}
Pointer(Pointer<T, Base>&& value)
: m_object{ value.m_object }
, m_destroy{ value.m_destroy }
{
value.m_object = nullptr;
}
Pointer<T>& operator = (const Pointer<T, Base>& value) {
if (m_object == value.m_object)
return *this;
Destroy();
if (value.m_object)
value.m_object->AddRef();
m_object = value.m_object;
m_destroy = value.m_destroy;
return *this;
}
Pointer<T>& operator = (Pointer<T, Base>&& value) {
if (m_object == value.m_object)
return *this;
Destroy();
m_object = value.m_object;
m_destroy = value.m_destroy;
value.m_object = nullptr;
return *this;
}
T* get() {
return m_object;
}
const T* get() const {
return m_object;
}
operator bool() {
return m_object != nullptr;
}
T* release() {
auto result = m_object;
m_object = nullptr;
return result;
}
void reset(T* value) {
Destroy();
m_object = value;
if (m_object)
m_object->AddRef();
}
T* operator -> () {
return m_object;
}
const T* operator -> () const {
return m_object;
}
T* operator * () {
return m_object;
}
const T* operator * () const {
return m_object;
}
~Pointer() {
Destroy();
}
private:
void Destroy() {
if (m_object && m_destroy)
m_destroy(m_object);
}
T* m_object{ nullptr };
void(*m_destroy)(Base*){ nullptr };
};
template<class T>
inline bool operator < (const Core::Pointer<T>& l, const Core::Pointer<T>& r) {
return l.get() < r.get();
}
template<class T>
inline bool operator == (const Core::Pointer<T>& l, const Core::Pointer<T>& r) {
return l.get() == r.get();
}
template<class T>
inline bool operator != (const Core::Pointer<T>& l, const Core::Pointer<T>& r) {
return l.get() != r.get();
}
template<class T, class U>
inline bool operator != (const Core::Pointer<T>& l, const Core::Pointer<U>& r) {
Core::Pointer<T> v = r;
return v != l;
}
template<class T, class U>
inline bool operator == (const Core::Pointer<T>& l, const Core::Pointer<U>& r) {
Core::Pointer<T> v = r;
return v == l;
}
template<class T> Core::Pointer<T> MakePtr(T* value) {
return Core::Pointer < T > {value, Core::DestroyObject};
}
template<class T> struct Null {
static Core::Pointer<T> Value() {
return Core::Pointer < T > {(T*)nullptr, Core::DestroyObject};
}
};
}
PUNK_ENGINE_END
#endif
| [
"nickolaib2004@gmail.com"
] | nickolaib2004@gmail.com |
85173e0504960de23aba51b9430eee5c0e1fe1c3 | 6f7e010dbfd0a27d47fec154ce8fd6e6788918c3 | /packages/react-native/ReactCommon/react/renderer/scheduler/SurfaceManager.cpp | 15512adca83f791a30700cdf7bb9c6f75787c03b | [
"MIT",
"CC-BY-4.0"
] | permissive | microsoft/react-native-macos | a9a15e6d9be601e1bb4b3ace7350cea07f179171 | c2195d9e0899543122dcdae37d67f99bf480669b | refs/heads/main | 2023-09-06T05:17:13.563430 | 2023-08-31T00:53:19 | 2023-08-31T00:53:19 | 140,759,707 | 2,823 | 117 | MIT | 2023-09-13T09:05:49 | 2018-07-12T20:06:39 | Java | UTF-8 | C++ | false | false | 2,834 | cpp | /*
* Copyright (c) Meta Platforms, Inc. and affiliates.
*
* This source code is licensed under the MIT license found in the
* LICENSE file in the root directory of this source tree.
*/
#include "SurfaceManager.h"
#include <react/renderer/scheduler/Scheduler.h>
namespace facebook::react {
SurfaceManager::SurfaceManager(Scheduler const &scheduler) noexcept
: scheduler_(scheduler) {}
void SurfaceManager::startSurface(
SurfaceId surfaceId,
std::string const &moduleName,
folly::dynamic const &props,
LayoutConstraints const &layoutConstraints,
LayoutContext const &layoutContext) const noexcept {
{
std::unique_lock lock(mutex_);
auto surfaceHandler = SurfaceHandler{moduleName, surfaceId};
surfaceHandler.setContextContainer(scheduler_.getContextContainer());
registry_.emplace(surfaceId, std::move(surfaceHandler));
}
visit(surfaceId, [&](SurfaceHandler const &surfaceHandler) {
surfaceHandler.setProps(props);
surfaceHandler.constraintLayout(layoutConstraints, layoutContext);
scheduler_.registerSurface(surfaceHandler);
surfaceHandler.start();
});
}
void SurfaceManager::stopSurface(SurfaceId surfaceId) const noexcept {
visit(surfaceId, [&](SurfaceHandler const &surfaceHandler) {
surfaceHandler.stop();
scheduler_.unregisterSurface(surfaceHandler);
});
{
std::unique_lock lock(mutex_);
auto iterator = registry_.find(surfaceId);
registry_.erase(iterator);
}
}
Size SurfaceManager::measureSurface(
SurfaceId surfaceId,
LayoutConstraints const &layoutConstraints,
LayoutContext const &layoutContext) const noexcept {
auto size = Size{};
visit(surfaceId, [&](SurfaceHandler const &surfaceHandler) {
size = surfaceHandler.measure(layoutConstraints, layoutContext);
});
return size;
}
MountingCoordinator::Shared SurfaceManager::findMountingCoordinator(
SurfaceId surfaceId) const noexcept {
auto mountingCoordinator = MountingCoordinator::Shared{};
visit(surfaceId, [&](SurfaceHandler const &surfaceHandler) {
mountingCoordinator = surfaceHandler.getMountingCoordinator();
});
return mountingCoordinator;
}
void SurfaceManager::constraintSurfaceLayout(
SurfaceId surfaceId,
LayoutConstraints const &layoutConstraints,
LayoutContext const &layoutContext) const noexcept {
visit(surfaceId, [=](SurfaceHandler const &surfaceHandler) {
surfaceHandler.constraintLayout(layoutConstraints, layoutContext);
});
}
void SurfaceManager::visit(
SurfaceId surfaceId,
std::function<void(SurfaceHandler const &surfaceHandler)> const &callback)
const noexcept {
std::shared_lock lock(mutex_);
auto iterator = registry_.find(surfaceId);
if (iterator == registry_.end()) {
return;
}
callback(iterator->second);
}
} // namespace facebook::react
| [
"facebook-github-bot@users.noreply.github.com"
] | facebook-github-bot@users.noreply.github.com |
2b67a58336463fd7858baeabe41455db9853c329 | ee62284b179a1f4a1e93bdf639599de3f9ff6c5e | /KDIS/DataTypes/EntityMarking.cpp | 2ca67c657a47ad964ce862bcfdc7b29a04521353 | [
"BSD-2-Clause",
"MIT"
] | permissive | jarvisfriends/KDIS | 3c96f272e838d6fbd616f548dc4a2eb139b64495 | 8a4482417c008c61783f311cccb3f37b7cd5e983 | refs/heads/master | 2020-03-28T08:10:32.445533 | 2018-09-09T02:45:22 | 2018-09-09T02:45:22 | 147,949,372 | 5 | 1 | null | 2018-09-09T02:45:23 | 2018-09-08T16:14:43 | C++ | UTF-8 | C++ | false | false | 6,502 | cpp | /*********************************************************************
Copyright 2013 Karl Jones
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
For Further Information Please Contact me at
Karljj1@yahoo.com
http://p.sf.net/kdis/UserGuide
*********************************************************************/
#include "./EntityMarking.h"
using namespace KDIS;
using namespace DATA_TYPE;
using namespace ENUMS;
//////////////////////////////////////////////////////////////////////////
// Public:
//////////////////////////////////////////////////////////////////////////
EntityMarking::EntityMarking() :
m_ui8EntityMarkingCharacterSet( 0 )
{
memset( m_sEntityMarkingString, 0x00, sizeof( m_sEntityMarkingString ) );
}
//////////////////////////////////////////////////////////////////////////
EntityMarking::EntityMarking(KDataStream &stream) noexcept(false)
{
Decode( stream );
}
//////////////////////////////////////////////////////////////////////////
EntityMarking::EntityMarking(EntityMarkingCharacterSet MarkingCharSet, const KCHAR8 *MarkingText,
KUINT16 TextSize) noexcept(false) :
m_ui8EntityMarkingCharacterSet( MarkingCharSet )
{
if( TextSize > 11 )throw KException( __FUNCTION__, STRING_PDU_SIZE_TOO_BIG );
memset( m_sEntityMarkingString, 0x00, sizeof( m_sEntityMarkingString ) );
SetEntityMarkingString( MarkingText, TextSize );
}
//////////////////////////////////////////////////////////////////////////
EntityMarking::EntityMarking(const EntityMarkingCharacterSet MarkingCharSet, const KString &MarkingText) noexcept(false)
:
m_ui8EntityMarkingCharacterSet( MarkingCharSet )
{
if( MarkingText.size() > 11 ) throw KException( __FUNCTION__, STRING_PDU_SIZE_TOO_BIG );
memset( m_sEntityMarkingString, 0x00, sizeof( m_sEntityMarkingString ) );
SetEntityMarkingString( MarkingText );
}
//////////////////////////////////////////////////////////////////////////
EntityMarking::~EntityMarking()
{
}
//////////////////////////////////////////////////////////////////////////
void EntityMarking::SetEntityMarkingCharacterSet( EntityMarkingCharacterSet EMCS )
{
m_ui8EntityMarkingCharacterSet = EMCS;
}
//////////////////////////////////////////////////////////////////////////
EntityMarkingCharacterSet EntityMarking::GetEntityMarkingCharacterSet() const
{
return ( EntityMarkingCharacterSet )m_ui8EntityMarkingCharacterSet;
}
//////////////////////////////////////////////////////////////////////////
void EntityMarking::SetEntityMarkingString(const KINT8 *EMS, KUINT16 StringSize) noexcept(false)
{
if( StringSize > 11 ) throw KException( __FUNCTION__, STRING_PDU_SIZE_TOO_BIG );
memcpy( m_sEntityMarkingString, EMS, StringSize );
m_sEntityMarkingString[StringSize] = 0x0; // Null terminate the string.
}
//////////////////////////////////////////////////////////////////////////
void EntityMarking::SetEntityMarkingString(const KString &EMS) noexcept(false)
{
if( EMS.size() > 11 ) throw KException( __FUNCTION__, STRING_PDU_SIZE_TOO_BIG );
memcpy( m_sEntityMarkingString, EMS.c_str(), EMS.size() );
m_sEntityMarkingString[EMS.size()] = 0x0; // Null terminate the string.
}
//////////////////////////////////////////////////////////////////////////
KString EntityMarking::GetEntityMarkingString() const
{
return m_sEntityMarkingString;
}
//////////////////////////////////////////////////////////////////////////
KString EntityMarking::GetAsString() const
{
KStringStream ss;
ss << "Entity Marking:"
<< "\n\tMaring Char Set: " << GetEnumAsStringEntityMarkingCharacterSet( m_ui8EntityMarkingCharacterSet )
<< "\n\tMarking String: " << GetEntityMarkingString()
<< "\n";
return ss.str();
}
//////////////////////////////////////////////////////////////////////////
void EntityMarking::Decode(KDataStream &stream) noexcept(false)
{
if( stream.GetBufferSize() < ENTITY_MARKING_SIZE )throw KException( __FUNCTION__, NOT_ENOUGH_DATA_IN_BUFFER );
stream >> m_ui8EntityMarkingCharacterSet;
for( KUINT16 i = 0; i < 11; ++i )
{
stream >> m_sEntityMarkingString[i];
}
}
//////////////////////////////////////////////////////////////////////////
KDataStream EntityMarking::Encode() const
{
KDataStream stream;
EntityMarking::Encode( stream );
return stream;
}
//////////////////////////////////////////////////////////////////////////
void EntityMarking::Encode( KDataStream & stream ) const
{
stream << m_ui8EntityMarkingCharacterSet;
for( KUINT16 i = 0; i < 11; ++i )
{
stream << m_sEntityMarkingString[i];
}
}
//////////////////////////////////////////////////////////////////////////
KBOOL EntityMarking::operator == ( const EntityMarking & Value ) const
{
if( m_ui8EntityMarkingCharacterSet != Value.m_ui8EntityMarkingCharacterSet ) return false;
if( memcmp( m_sEntityMarkingString, Value.m_sEntityMarkingString, 11 ) != 0 ) return false;
return true;
}
//////////////////////////////////////////////////////////////////////////
KBOOL EntityMarking::operator != ( const EntityMarking & Value ) const
{
return !( *this == Value );
}
//////////////////////////////////////////////////////////////////////////
| [
"pershing2.crr@gmail.com"
] | pershing2.crr@gmail.com |
9dca100a69ac6bce063378fd02e224d18fe7fc97 | 5f77516a28c03021bca3886cb193136ccce870ff | /bit_manipulation/number_of_ones.cpp | ed0df90180b4a84ccade504cbc281d88a6b94650 | [] | no_license | thelastsupreme/interviewbit | 75fc488e3d0a3cdf4471bc35ef2e6c06ba595e0f | c39162e6f6e51d718b9f9b6832bbbd52adf61b9d | refs/heads/master | 2022-12-01T02:17:51.147924 | 2020-08-13T03:59:16 | 2020-08-13T03:59:16 | 264,120,353 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 304 | cpp | //prabhaths code
int Solution::numSetBits(unsigned int A) {
int count=0;
for(int i=0;i<32;i++)
if(A&(1<<i))
count++;
return count;
}
int Solution::numSetBits(unsigned int A) {
int ans=0;
while(A!=0)
{
A=A&(A-1);
ans++;
}
return ans;
}
| [
"39990949+thelastsupreme@users.noreply.github.com"
] | 39990949+thelastsupreme@users.noreply.github.com |
952fc90e8fa88ac9b5f2504d59f4e2b496ec85ac | 01571f630ca3fae0e8bf3a43e98fde6ac61fb1ea | /1513.cpp | bdd393350e5c5ba5c25ee62ac9f7eb8a8f5bda02 | [] | no_license | etolew/jzoffer | ca7a8e02b15d8fd6d62562358db78e66a15633c4 | 2eaa052b24903cc267d977896662338f23ff650b | refs/heads/master | 2016-09-06T12:47:30.145245 | 2014-09-25T16:27:52 | 2014-09-25T16:27:52 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 235 | cpp | #include<stdio.h>
int main(void){
int n,t;
while(scanf("%d",&n)!=EOF){
for(int i=0;i<n;i++){
scanf("%d",&t);
int c=0;
while(t!=0){
t=t&(t-1);
c++;
}
printf("%d\n",c);
}
}
return 0;
} | [
"etolew@gmail.com"
] | etolew@gmail.com |
5c87c79f96d39f3fc2325b667474d91fde857697 | 3fa72dbf4a3f90f5e6efea0b6a01b60f6b5b09bc | /phase3/test_stuffs/oxygen_sensor/oxygen_sensor.ino | 1db1517d173c6bae50f264bda2a473245ac073cf | [] | no_license | dispectra/ventilator_mumu | 33c8d1409dd1e097dde916ad1fa6f6c7c8fce102 | 4691503b9d93c176c6bc4f3308441f5de484ad34 | refs/heads/master | 2023-04-30T13:29:43.626341 | 2021-05-27T03:12:36 | 2021-05-27T03:12:36 | 255,541,532 | 1 | 1 | null | null | null | null | UTF-8 | C++ | false | false | 887 | ino | #include <Wire.h>
#include <Adafruit_ADS1015.h>
Adafruit_ADS1115 ads; // Declare an instance of the ADS1115
int16_t rawADCvalue; // The is where we store the value we receive from the ADS1115
float scalefactor = 0.1875F; // This is the scale factor for the default +/- 6.144 Volt Range we will use
float volts = 0.0; // The result of applying the scale factor to the raw value
float oxygenpercentage = 0.0;
void setup(void)
{
Serial.begin(9600);
ads.begin();
}
void loop(void)
{
rawADCvalue = ads.readADC_Differential_0_1();
volts = (rawADCvalue * scalefactor);
oxygenpercentage = 10*volts/6;
//Serial.print("Raw ADC Value = ");
//Serial.print(rawADCvalue);
//Serial.print("\tVoltage Measured = ");
Serial.print(volts);
Serial.print("\t");
Serial.println(oxygenpercentage);
//Serial.println();
delay(10);
}
| [
"noreply@github.com"
] | noreply@github.com |
10b40f8c04e41b5820bee9c8fbd1ab6c1c480674 | aa6e043a02891a9a2e0b1f420b129de5a8ea1c84 | /test/core/end2end/tests/retry_cancel_with_multiple_send_batches.cc | bf0d02d6234b33ee726703df570475456955aa2f | [
"BSD-3-Clause",
"MPL-2.0",
"Apache-2.0"
] | permissive | aTiKhan/grpc | b63ea28d1d5d72c6cb1c1366e48ac78eae0f74b7 | 89c1035c712ce08e7affd06b69ac3494e98ee71e | refs/heads/master | 2022-02-23T02:51:44.617651 | 2022-02-20T22:51:47 | 2022-02-20T22:51:47 | 213,434,485 | 0 | 0 | Apache-2.0 | 2019-10-08T15:06:41 | 2019-10-07T16:36:22 | null | UTF-8 | C++ | false | false | 11,492 | cc | /*
*
* Copyright 2017 gRPC authors.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <stdio.h>
#include <string.h>
#include "absl/strings/str_format.h"
#include <grpc/byte_buffer.h>
#include <grpc/grpc.h>
#include <grpc/support/alloc.h>
#include <grpc/support/log.h>
#include <grpc/support/string_util.h>
#include <grpc/support/time.h>
#include "src/core/lib/channel/channel_args.h"
#include "src/core/lib/channel/channel_stack.h"
#include "src/core/lib/channel/channel_stack_builder.h"
#include "src/core/lib/config/core_configuration.h"
#include "src/core/lib/gpr/string.h"
#include "src/core/lib/gpr/useful.h"
#include "src/core/lib/iomgr/exec_ctx.h"
#include "src/core/lib/surface/channel_init.h"
#include "test/core/end2end/cq_verifier.h"
#include "test/core/end2end/end2end_tests.h"
#include "test/core/end2end/tests/cancel_test_helpers.h"
static void* tag(intptr_t t) { return reinterpret_cast<void*>(t); }
static grpc_end2end_test_fixture begin_test(grpc_end2end_test_config config,
const char* test_name,
grpc_channel_args* client_args,
grpc_channel_args* server_args) {
grpc_end2end_test_fixture f;
gpr_log(GPR_INFO, "Running test: %s/%s", test_name, config.name);
f = config.create_fixture(client_args, server_args);
config.init_server(&f, server_args);
config.init_client(&f, client_args);
return f;
}
static gpr_timespec n_seconds_from_now(int n) {
return grpc_timeout_seconds_to_deadline(n);
}
static gpr_timespec five_seconds_from_now(void) {
return n_seconds_from_now(5);
}
static void drain_cq(grpc_completion_queue* cq) {
grpc_event ev;
do {
ev = grpc_completion_queue_next(cq, five_seconds_from_now(), nullptr);
} while (ev.type != GRPC_QUEUE_SHUTDOWN);
}
static void shutdown_server(grpc_end2end_test_fixture* f) {
if (!f->server) return;
grpc_server_shutdown_and_notify(f->server, f->shutdown_cq, tag(1000));
GPR_ASSERT(grpc_completion_queue_pluck(f->shutdown_cq, tag(1000),
grpc_timeout_seconds_to_deadline(5),
nullptr)
.type == GRPC_OP_COMPLETE);
grpc_server_destroy(f->server);
f->server = nullptr;
}
static void shutdown_client(grpc_end2end_test_fixture* f) {
if (!f->client) return;
grpc_channel_destroy(f->client);
f->client = nullptr;
}
static void end_test(grpc_end2end_test_fixture* f) {
shutdown_server(f);
shutdown_client(f);
grpc_completion_queue_shutdown(f->cq);
drain_cq(f->cq);
grpc_completion_queue_destroy(f->cq);
grpc_completion_queue_destroy(f->shutdown_cq);
}
// Tests cancellation with multiple send op batches.
static void test_retry_cancel_with_multiple_send_batches(
grpc_end2end_test_config config, cancellation_mode mode) {
grpc_call* c;
grpc_op ops[6];
grpc_op* op;
grpc_metadata_array initial_metadata_recv;
grpc_metadata_array trailing_metadata_recv;
grpc_slice request_payload_slice = grpc_slice_from_static_string("foo");
grpc_byte_buffer* request_payload =
grpc_raw_byte_buffer_create(&request_payload_slice, 1);
grpc_byte_buffer* response_payload_recv = nullptr;
grpc_status_code status;
grpc_call_error error;
grpc_slice details;
char* peer;
std::string service_config_string = absl::StrFormat(
"{\n"
" \"methodConfig\": [ {\n"
" \"name\": [\n"
" { \"service\": \"service\", \"method\": \"method\" }\n"
" ],\n"
" \"retryPolicy\": {\n"
" \"maxAttempts\": 2,\n"
" \"initialBackoff\": \"%ds\",\n"
" \"maxBackoff\": \"120s\",\n"
" \"backoffMultiplier\": 1.6,\n"
" \"retryableStatusCodes\": [ \"ABORTED\" ]\n"
" }\n"
" } ]\n"
"}",
5 * grpc_test_slowdown_factor());
grpc_arg args[] = {
grpc_channel_arg_integer_create(
const_cast<char*>(GRPC_ARG_ENABLE_RETRIES), 1),
grpc_channel_arg_string_create(
const_cast<char*>(GRPC_ARG_SERVICE_CONFIG),
const_cast<char*>(service_config_string.c_str())),
};
grpc_channel_args client_args = {GPR_ARRAY_SIZE(args), args};
std::string name =
absl::StrCat("retry_cancel_with_multiple_send_batches/", mode.name);
grpc_end2end_test_fixture f =
begin_test(config, name.c_str(), &client_args, nullptr);
cq_verifier* cqv = cq_verifier_create(f.cq);
gpr_timespec deadline = n_seconds_from_now(3);
c = grpc_channel_create_call(f.client, nullptr, GRPC_PROPAGATE_DEFAULTS, f.cq,
grpc_slice_from_static_string("/service/method"),
nullptr, deadline, nullptr);
GPR_ASSERT(c);
peer = grpc_call_get_peer(c);
GPR_ASSERT(peer != nullptr);
gpr_log(GPR_DEBUG, "client_peer_before_call=%s", peer);
gpr_free(peer);
grpc_metadata_array_init(&initial_metadata_recv);
grpc_metadata_array_init(&trailing_metadata_recv);
// Start a batch containing send_initial_metadata.
memset(ops, 0, sizeof(ops));
op = ops;
op->op = GRPC_OP_SEND_INITIAL_METADATA;
op->data.send_initial_metadata.count = 0;
op++;
error = grpc_call_start_batch(c, ops, static_cast<size_t>(op - ops), tag(1),
nullptr);
GPR_ASSERT(GRPC_CALL_OK == error);
// Start a batch containing send_message.
memset(ops, 0, sizeof(ops));
op = ops;
op->op = GRPC_OP_SEND_MESSAGE;
op->data.send_message.send_message = request_payload;
op++;
error = grpc_call_start_batch(c, ops, static_cast<size_t>(op - ops), tag(2),
nullptr);
GPR_ASSERT(GRPC_CALL_OK == error);
// Start a batch containing send_trailing_metadata.
memset(ops, 0, sizeof(ops));
op = ops;
op->op = GRPC_OP_SEND_CLOSE_FROM_CLIENT;
op++;
error = grpc_call_start_batch(c, ops, static_cast<size_t>(op - ops), tag(3),
nullptr);
GPR_ASSERT(GRPC_CALL_OK == error);
// Start a batch containing recv ops.
memset(ops, 0, sizeof(ops));
op = ops;
op->op = GRPC_OP_RECV_MESSAGE;
op->data.recv_message.recv_message = &response_payload_recv;
op++;
op->op = GRPC_OP_RECV_INITIAL_METADATA;
op->data.recv_initial_metadata.recv_initial_metadata = &initial_metadata_recv;
op++;
op->op = GRPC_OP_RECV_STATUS_ON_CLIENT;
op->data.recv_status_on_client.trailing_metadata = &trailing_metadata_recv;
op->data.recv_status_on_client.status = &status;
op->data.recv_status_on_client.status_details = &details;
op++;
error = grpc_call_start_batch(c, ops, static_cast<size_t>(op - ops), tag(4),
nullptr);
GPR_ASSERT(GRPC_CALL_OK == error);
// Initiate cancellation.
GPR_ASSERT(GRPC_CALL_OK == mode.initiate_cancel(c, nullptr));
// Client ops should now complete.
CQ_EXPECT_COMPLETION(cqv, tag(1), false);
CQ_EXPECT_COMPLETION(cqv, tag(2), false);
CQ_EXPECT_COMPLETION(cqv, tag(3), false);
CQ_EXPECT_COMPLETION(cqv, tag(4), true);
cq_verify(cqv);
gpr_log(GPR_INFO, "status=%d expected=%d", status, mode.expect_status);
GPR_ASSERT(status == mode.expect_status);
grpc_slice_unref(details);
grpc_metadata_array_destroy(&initial_metadata_recv);
grpc_metadata_array_destroy(&trailing_metadata_recv);
grpc_byte_buffer_destroy(request_payload);
grpc_byte_buffer_destroy(response_payload_recv);
grpc_call_unref(c);
cq_verifier_destroy(cqv);
end_test(&f);
config.tear_down_data(&f);
}
namespace {
// A filter that fails all batches with send ops.
class FailSendOpsFilter {
public:
static grpc_channel_filter kFilterVtable;
public:
class CallData {
public:
static grpc_error_handle Init(grpc_call_element* elem,
const grpc_call_element_args* args) {
new (elem->call_data) CallData(args);
return GRPC_ERROR_NONE;
}
static void Destroy(grpc_call_element* elem,
const grpc_call_final_info* /*final_info*/,
grpc_closure* /*ignored*/) {
auto* calld = static_cast<CallData*>(elem->call_data);
calld->~CallData();
}
static void StartTransportStreamOpBatch(
grpc_call_element* elem, grpc_transport_stream_op_batch* batch) {
auto* calld = static_cast<CallData*>(elem->call_data);
if (batch->send_initial_metadata || batch->send_message ||
batch->send_trailing_metadata) {
grpc_transport_stream_op_batch_finish_with_failure(
batch,
grpc_error_set_int(GRPC_ERROR_CREATE_FROM_STATIC_STRING(
"FailSendOpsFilter failing batch"),
GRPC_ERROR_INT_GRPC_STATUS, GRPC_STATUS_ABORTED),
calld->call_combiner_);
return;
}
grpc_call_next_op(elem, batch);
}
private:
explicit CallData(const grpc_call_element_args* args)
: call_combiner_(args->call_combiner) {}
grpc_core::CallCombiner* call_combiner_;
};
static grpc_error_handle Init(grpc_channel_element* elem,
grpc_channel_element_args* /*args*/) {
new (elem->channel_data) FailSendOpsFilter();
return GRPC_ERROR_NONE;
}
static void Destroy(grpc_channel_element* elem) {
auto* chand = static_cast<FailSendOpsFilter*>(elem->channel_data);
chand->~FailSendOpsFilter();
}
};
grpc_channel_filter FailSendOpsFilter::kFilterVtable = {
CallData::StartTransportStreamOpBatch,
nullptr,
grpc_channel_next_op,
sizeof(CallData),
CallData::Init,
grpc_call_stack_ignore_set_pollset_or_pollset_set,
CallData::Destroy,
sizeof(FailSendOpsFilter),
Init,
Destroy,
grpc_channel_next_get_info,
"FailSendOpsFilter",
};
bool MaybeAddFilter(grpc_core::ChannelStackBuilder* builder) {
// Skip on proxy (which explicitly disables retries).
const grpc_channel_args* args = builder->channel_args();
if (!grpc_channel_args_find_bool(args, GRPC_ARG_ENABLE_RETRIES, true)) {
return true;
}
// Install filter.
builder->PrependFilter(&FailSendOpsFilter::kFilterVtable, nullptr);
return true;
}
} // namespace
void retry_cancel_with_multiple_send_batches(grpc_end2end_test_config config) {
GPR_ASSERT(config.feature_mask & FEATURE_MASK_SUPPORTS_CLIENT_CHANNEL);
grpc_core::CoreConfiguration::RunWithSpecialConfiguration(
[](grpc_core::CoreConfiguration::Builder* builder) {
grpc_core::BuildCoreConfiguration(builder);
builder->channel_init()->RegisterStage(GRPC_CLIENT_SUBCHANNEL, 0,
MaybeAddFilter);
},
[config]() {
for (size_t i = 0; i < GPR_ARRAY_SIZE(cancellation_modes); ++i) {
test_retry_cancel_with_multiple_send_batches(config,
cancellation_modes[i]);
}
});
}
void retry_cancel_with_multiple_send_batches_pre_init(void) {}
| [
"noreply@github.com"
] | noreply@github.com |
b1846d840fa83cd0f71a366ec578342154636ce8 | 752572bd6010ef068c4851b55a261a2122f29094 | /aws-cpp-sdk-core/include/aws/core/utils/StringUtils.h | ce41baa5d2632443516436f92e38472d62cfa5ac | [
"Apache-2.0",
"MIT",
"JSON"
] | permissive | cnxtech/aws-sdk-cpp | 9b208792b2e81b3a22a850c3d0fbf4724dc65a99 | af8089f6277b8fec93c55a815c724444bd159a13 | refs/heads/master | 2023-08-15T02:01:42.569685 | 2019-05-08T20:39:01 | 2019-05-08T20:39:01 | 185,732,288 | 0 | 0 | Apache-2.0 | 2023-07-22T05:12:44 | 2019-05-09T05:30:49 | C++ | UTF-8 | C++ | false | false | 5,343 | h | /*
* Copyright 2010-2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License").
* You may not use this file except in compliance with the License.
* A copy of the License is located at
*
* http://aws.amazon.com/apache2.0
*
* or in the "license" file accompanying this file. This file is distributed
* on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
* express or implied. See the License for the specific language governing
* permissions and limitations under the License.
*/
#pragma once
#include <aws/core/Core_EXPORTS.h>
#include <aws/core/utils/memory/stl/AWSString.h>
#include <aws/core/utils/memory/stl/AWSVector.h>
#include <aws/core/utils/memory/stl/AWSStringStream.h>
namespace Aws
{
namespace Utils
{
/**
* All the things the c++ stdlib is missing for string operations that I needed.
*/
class AWS_CORE_API StringUtils
{
public:
static void Replace(Aws::String& s, const char* search, const char* replace);
/**
* Converts a string to lower case.
*/
static Aws::String ToLower(const char* source);
/**
* Converts a string to upper case.
*/
static Aws::String ToUpper(const char* source);
/**
* Does a caseless comparison of two strings.
*/
static bool CaselessCompare(const char* value1, const char* value2);
/**
* URL encodes a string (uses %20 not + for spaces).
*/
static Aws::String URLEncode(const char* unsafe);
/**
* Http Clients tend to escape some characters but not all. Escaping all of them causes problems, because the client
* will also try to escape them.
* So this only escapes non-ascii characters and the + character
*/
static Aws::String UTF8Escape(const char* unicodeString, const char* delimiter);
/**
* URL encodes a double (if it ends up going to scientific notation) otherwise it just returns it as a string.
*/
static Aws::String URLEncode(double unsafe);
/**
* Decodes a URL encoded string (will handle both encoding schemes for spaces).
*/
static Aws::String URLDecode(const char* safe);
/**
* @brief Splits a string on a delimiter (empty items are excluded).
* @param toSplit, the original string to split
* @param splitOn, the delemiter you want to use.
*/
static Aws::Vector<Aws::String> Split(const Aws::String& toSplit, char splitOn);
/**
* @brief Splits a string on a delimiter (empty items are excluded).
* @param toSplit, the original string to split
* @param splitOn, the delemiter you want to use.
* @param numOfTargetParts, how many target parts you want to get, if it is 0, as many as possible.
*/
static Aws::Vector<Aws::String> Split(const Aws::String& toSplit, char splitOn, size_t numOfTargetParts);
/**
* Splits a string on new line characters.
*/
static Aws::Vector<Aws::String> SplitOnLine(const Aws::String& toSplit);
/** static Aws::Vector<Aws::String> SplitOnRegex(Aws::String regex);
* trim from start
*/
static Aws::String LTrim(const char* source);
/**
* trim from end
*/
static Aws::String RTrim(const char* source);
/**
* trim from both ends
*/
static Aws::String Trim(const char* source);
/**
* convert to int 64
*/
static long long ConvertToInt64(const char* source);
/**
* convert to int 32
*/
static long ConvertToInt32(const char* source);
/**
* convert to bool
*/
static bool ConvertToBool(const char* source);
/**
* convert to double
*/
static double ConvertToDouble(const char* source);
#ifdef _WIN32
/**
* Converts a string to wstring.
*/
static Aws::WString ToWString(const char* source);
/**
* Converts a wstring to string.
*/
static Aws::String FromWString(const wchar_t* source);
#endif
/**
* not all platforms (Android) have std::to_string
*/
template< typename T >
static Aws::String to_string(T value)
{
Aws::OStringStream os;
os << value;
return os.str();
}
/**
* locale agnostic implementation of std::isalnum
*/
static bool IsAlnum(char c)
{
return (c >= 'A' && c <= 'Z') || (c >= 'a' && c <= 'z') || (c >= '0' && c <= '9');
}
};
} // namespace Utils
} // namespace Aws
| [
"noreply@github.com"
] | noreply@github.com |
6bfc8473524d2ced7823e5c8d26ea27eccc282b7 | e2d6129f991ec7a8c304aa9c045f486cc8901b7c | /src/help_text.hh | 81dc8fb9d5a544e6e2c7b7dd3a786f861eef52b8 | [
"BSD-2-Clause"
] | permissive | tstack/lnav | f1f8769885d1e639fa969dbc8c304626bfcb7318 | c796a662731b5bdb74196af0a4dfd0cbdf96e285 | refs/heads/master | 2023-09-05T19:04:14.646192 | 2023-09-05T05:51:07 | 2023-09-05T05:51:07 | 306,147 | 5,812 | 355 | BSD-2-Clause | 2023-08-05T19:12:34 | 2009-09-14T01:02:02 | C++ | UTF-8 | C++ | false | false | 6,312 | hh | /**
* Copyright (c) 2019, Timothy Stack
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* * Neither the name of Timothy Stack nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ''AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef LNAV_HELP_TEXT_HH
#define LNAV_HELP_TEXT_HH
#include <map>
#include <string>
#include <vector>
enum class help_context_t {
HC_NONE,
HC_PARAMETER,
HC_RESULT,
HC_COMMAND,
HC_SQL_COMMAND,
HC_SQL_KEYWORD,
HC_SQL_INFIX,
HC_SQL_FUNCTION,
HC_SQL_TABLE_VALUED_FUNCTION,
};
enum class help_function_type_t {
HFT_REGULAR,
HFT_AGGREGATE,
};
enum class help_nargs_t {
HN_REQUIRED,
HN_OPTIONAL,
HN_ZERO_OR_MORE,
HN_ONE_OR_MORE,
};
enum class help_parameter_format_t {
HPF_STRING,
HPF_REGEX,
HPF_INTEGER,
HPF_NUMBER,
HPF_DATETIME,
HPF_ENUM,
};
struct help_example {
const char* he_description{nullptr};
const char* he_cmd{nullptr};
};
struct help_text {
help_context_t ht_context{help_context_t::HC_NONE};
const char* ht_name{nullptr};
const char* ht_summary{nullptr};
const char* ht_flag_name{nullptr};
const char* ht_group_start{nullptr};
const char* ht_group_end{nullptr};
const char* ht_description{nullptr};
std::vector<struct help_text> ht_parameters;
std::vector<struct help_text> ht_results;
std::vector<struct help_example> ht_example;
help_nargs_t ht_nargs{help_nargs_t::HN_REQUIRED};
help_parameter_format_t ht_format{help_parameter_format_t::HPF_STRING};
std::vector<const char*> ht_enum_values;
std::vector<const char*> ht_tags;
std::vector<const char*> ht_opposites;
help_function_type_t ht_function_type{help_function_type_t::HFT_REGULAR};
void* ht_impl{nullptr};
help_text() = default;
help_text(const char* name, const char* summary = nullptr) noexcept
: ht_name(name), ht_summary(summary)
{
if (name[0] == ':') {
this->ht_context = help_context_t::HC_COMMAND;
this->ht_name = &name[1];
}
}
help_text& command() noexcept
{
this->ht_context = help_context_t::HC_COMMAND;
return *this;
}
help_text& sql_function() noexcept
{
this->ht_context = help_context_t::HC_SQL_FUNCTION;
return *this;
}
help_text& sql_agg_function() noexcept
{
this->ht_context = help_context_t::HC_SQL_FUNCTION;
this->ht_function_type = help_function_type_t::HFT_AGGREGATE;
return *this;
}
help_text& sql_table_valued_function() noexcept
{
this->ht_context = help_context_t::HC_SQL_TABLE_VALUED_FUNCTION;
return *this;
}
help_text& sql_command() noexcept
{
this->ht_context = help_context_t::HC_SQL_COMMAND;
return *this;
}
help_text& sql_keyword() noexcept
{
this->ht_context = help_context_t::HC_SQL_KEYWORD;
return *this;
}
help_text& sql_infix() noexcept
{
this->ht_context = help_context_t::HC_SQL_INFIX;
return *this;
}
help_text& with_summary(const char* summary) noexcept
{
this->ht_summary = summary;
return *this;
}
help_text& with_flag_name(const char* flag) noexcept
{
this->ht_flag_name = flag;
return *this;
}
help_text& with_grouping(const char* group_start,
const char* group_end) noexcept
{
this->ht_group_start = group_start;
this->ht_group_end = group_end;
return *this;
}
help_text& with_parameters(
const std::initializer_list<help_text>& params) noexcept;
help_text& with_parameter(const help_text& ht) noexcept;
help_text& with_result(const help_text& ht) noexcept;
help_text& with_examples(
const std::initializer_list<help_example>& examples) noexcept;
help_text& with_example(const help_example& example) noexcept;
help_text& optional() noexcept
{
this->ht_nargs = help_nargs_t::HN_OPTIONAL;
return *this;
}
help_text& zero_or_more() noexcept
{
this->ht_nargs = help_nargs_t::HN_ZERO_OR_MORE;
return *this;
}
help_text& one_or_more() noexcept
{
this->ht_nargs = help_nargs_t::HN_ONE_OR_MORE;
return *this;
}
help_text& with_format(help_parameter_format_t format) noexcept
{
this->ht_format = format;
return *this;
}
help_text& with_enum_values(
const std::initializer_list<const char*>& enum_values) noexcept;
help_text& with_tags(
const std::initializer_list<const char*>& tags) noexcept;
help_text& with_opposites(
const std::initializer_list<const char*>& opps) noexcept;
template<typename F>
help_text& with_impl(F impl)
{
this->ht_impl = (void*) impl;
return *this;
}
void index_tags();
static std::multimap<std::string, help_text*> TAGGED;
};
#endif
| [
"timothyshanestack@gmail.com"
] | timothyshanestack@gmail.com |
1e127e3cdfab8c484db81479d4829fe17466f359 | 4a238068e29a1f6871cc049a0486b20b27e781de | /Supermicro/benchmarks/dlrm/implementations/hugectr/HugeCTR/include/layer.hpp | a9ccca1432c58e91b26b1768cddaec7bb26e9537 | [
"Apache-2.0",
"LicenseRef-scancode-unknown-license-reference"
] | permissive | Pixelz-Inc/training_results_v1.0 | 61b4555ad482b189d1966be3edd127858addd628 | c507130c4e04c1f274a9ae8b7284aac79f26325a | refs/heads/master | 2023-08-18T22:46:13.316503 | 2021-10-22T04:01:57 | 2021-10-22T04:01:57 | 399,047,712 | 0 | 0 | NOASSERTION | 2021-08-23T09:37:25 | 2021-08-23T09:37:25 | null | UTF-8 | C++ | false | false | 3,343 | hpp | /*
* Copyright (c) 2020, NVIDIA CORPORATION.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#pragma once
#include <fstream>
#include <functional>
#include <string>
#include <vector>
#include "HugeCTR/include/cpu_resource.hpp"
#include "HugeCTR/include/data_simulator.hpp"
#include "HugeCTR/include/general_buffer2.hpp"
#include "HugeCTR/include/gpu_resource.hpp"
namespace HugeCTR {
/**
* @brief
* Definition of a basic layer class.
*/
class Layer {
private:
/*
* Specify which GPU device will be executed on.
*/
std::shared_ptr<GPUResource> gpu_resource_;
protected:
/*
* stores the initializer types of this layer.
*/
std::vector<Initializer_t> initializer_types_;
/*
* stores the weight tensors of this layer.
*/
Tensors2<float> weights_;
const GPUResource& get_gpu() const { return *gpu_resource_; }
int get_device_id() const { return gpu_resource_->get_device_id(); }
public:
/*
* Forward pass
* @param stream: the CUDA stream that the forward function will be executed on.
*/
virtual void fprop(bool is_train) = 0;
/*
* Backward pass
* @param stream: the CUDA stream that the forward function will be executed on.
*/
virtual void bprop() = 0;
virtual std::string get_no_trained_params_in_string() { return std::string(); }
void init_params(const curandGenerator_t& generator);
Layer(const std::shared_ptr<GPUResource>& gpu_resource,
std::vector<Initializer_t> initializer_types = std::vector<Initializer_t>())
: gpu_resource_(gpu_resource), initializer_types_(initializer_types) {}
Layer(const Layer&) = delete;
Layer& operator=(const Layer&) = delete;
virtual ~Layer() {}
/*
* Some of the layers requires initialize like fully connected layer
*/
virtual void initialize() {}
/*
* Some of the layers requires algorithm search like fully connected layer
*/
virtual void search_algorithm() {}
private:
/*
* Layer initializer. If a layer wants the specific weight initialization,
* Override each private function accordingly, e.g., BatchNormLayer
*/
std::unique_ptr<DataSimulator> get_zero_initializer(const int index) {
return std::make_unique<ConstantDataSimulator>(0.0f);
}
virtual std::unique_ptr<DataSimulator> get_uniform_initializer(const int index) {
return std::move(get_default_initializer(index));
}
virtual std::unique_ptr<DataSimulator> get_xavier_uniform_initializer(const int index) {
return std::move(get_default_initializer(index));
}
virtual std::unique_ptr<DataSimulator> get_xavier_norm_initializer(const int index) {
return std::move(get_default_initializer(index));
}
virtual std::unique_ptr<DataSimulator> get_default_initializer(const int index) {
return std::move(get_zero_initializer(index));
}
};
} // namespace HugeCTR
| [
"vsb@fb.com"
] | vsb@fb.com |
eef0365b95726198053ea2bd6b91a9b3aaaba9a4 | 30b111d5f40bc4cdf6f2b63adfe48720fb5b4cdf | /14. Data structures/2. Stacks/main.cpp | 9076dac2f6d6a2826217d4529e09b450bb36b33f | [] | no_license | bbohdan7/cpp_samples | 6afc64f49276f0a53f0002e55fb56a841bb968fb | 99dfe3742f75c813824be809a8fe34d028983b06 | refs/heads/master | 2023-08-08T15:11:44.169122 | 2023-07-19T11:26:40 | 2023-07-19T11:26:40 | 259,910,452 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 891 | cpp | #include <iostream>
#include "stack.h"
using std::cout;
using std::endl;
int main()
{
Stack<int> intStack;
int popInteger, i;
cout<<"Handing stack with integer-numbers"<<endl;
for(i = 0; i < 4; i++){
intStack.push(i);
intStack.printStack();
}
while(!intStack.isStackEmpty()){
intStack.pop(popInteger);
cout<<popInteger<<" popping from the stack"<<endl;
intStack.printStack();
}
Stack<double> doubleStack;
double val = 1.1, popDouble;
cout<<"Handing stack with double-numbers"<<endl;
for(int i = 0; i < 4; i++){
doubleStack.push(val);
doubleStack.printStack();
val += 1.1;
}
while(!doubleStack.isStackEmpty()){
doubleStack.pop(popDouble);
cout << popDouble << " popping from the stack" << endl;
doubleStack.printStack();
}
return 0;
}
| [
"zbohdan7@gmail.com"
] | zbohdan7@gmail.com |
50874ebe963e9cdd210ddf1861aa3636c5ce4d1a | 543f3bd820cd58f9da12ded7babdc3ad99602a0e | /RCSwitch/RCSwitch.h | 5a4a80b7dc8088bb46f27fef178c2e1f4054eb97 | [] | no_license | dennyo/domotica | 7d00b4876e9d32ea332f2c77f28ae6b3cc8b0acf | 0b3bd14b47f304da16501da41120077a58e2ef78 | refs/heads/master | 2021-01-10T12:00:11.574074 | 2016-01-25T12:57:57 | 2016-01-25T12:57:57 | 48,033,270 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 5,046 | h | /*
RCSwitch - Arduino libary for remote control outlet switches
Copyright (c) 2011 Suat Özgür. All right reserved.
Contributors:
- Andre Koehler / info(at)tomate-online(dot)de
- Gordeev Andrey Vladimirovich / gordeev(at)openpyro(dot)com
- Skineffect / http://forum.ardumote.com/viewtopic.php?f=2&t=46
- Dominik Fischer / dom_fischer(at)web(dot)de
- Frank Oltmanns / <first name>.<last name>(at)gmail(dot)com
Project home: http://code.google.com/p/rc-switch/
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#ifndef _RCSwitch_h
#define _RCSwitch_h
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#elif defined(ENERGIA) // LaunchPad, FraunchPad and StellarPad specific
#include "Energia.h"
#else
#include "WProgram.h"
#endif
// At least for the ATTiny X4/X5, receiving has to be disabled due to
// missing libm depencies (udivmodhi4)
#if defined( __AVR_ATtinyX5__ ) or defined ( __AVR_ATtinyX4__ )
#define RCSwitchDisableReceiving
#endif
// Number of maximum High/Low changes per packet.
// We can handle up to (unsigned long) => 32 bit * 2 H/L changes per bit + 2 for sync
#define RCSWITCH_MAX_CHANGES 67
#define PROTOCOL3_SYNC_FACTOR 71
#define PROTOCOL3_0_HIGH_CYCLES 4
#define PROTOCOL3_0_LOW_CYCLES 11
#define PROTOCOL3_1_HIGH_CYCLES 9
#define PROTOCOL3_1_LOW_CYCLES 6
class RCSwitch {
public:
RCSwitch();
void switchOn(int nGroupNumber, int nSwitchNumber);
void switchOff(int nGroupNumber, int nSwitchNumber);
void switchOn(char* sGroup, int nSwitchNumber);
void switchOff(char* sGroup, int nSwitchNumber);
void switchOn(char sFamily, int nGroup, int nDevice);
void switchOff(char sFamily, int nGroup, int nDevice);
void switchOn(char* sGroup, char* sDevice);
void switchOff(char* sGroup, char* sDevice);
void switchOn(char sGroup, int nDevice);
void switchOff(char sGroup, int nDevice);
void sendTriState(char* Code);
void send(unsigned long Code, unsigned int length);
void send(char* Code);
#if not defined( RCSwitchDisableReceiving )
void enableReceive(int interrupt);
void enableReceive();
void disableReceive();
bool available();
void resetAvailable();
unsigned long getReceivedValue();
unsigned int getReceivedBitlength();
unsigned int getReceivedDelay();
unsigned int getReceivedProtocol();
unsigned int* getReceivedRawdata();
#endif
void enableTransmit(int nTransmitterPin);
void disableTransmit();
void setPulseLength(int nPulseLength);
void setRepeatTransmit(int nRepeatTransmit);
#if not defined( RCSwitchDisableReceiving )
void setReceiveTolerance(int nPercent);
#endif
void setProtocol(int nProtocol);
void setProtocol(int nProtocol, int nPulseLength);
private:
char* getCodeWordB(int nGroupNumber, int nSwitchNumber, boolean bStatus);
char* getCodeWordA(char* sGroup, int nSwitchNumber, boolean bStatus);
char* getCodeWordA(char* sGroup, char* sDevice, boolean bStatus);
char* getCodeWordC(char sFamily, int nGroup, int nDevice, boolean bStatus);
char* getCodeWordD(char group, int nDevice, boolean bStatus);
void sendT0();
void sendT1();
void sendTF();
void send0();
void send1();
void sendSync();
void transmit(int nHighPulses, int nLowPulses);
static char* dec2binWzerofill(unsigned long dec, unsigned int length);
static char* dec2binWcharfill(unsigned long dec, unsigned int length, char fill);
#if not defined( RCSwitchDisableReceiving )
static void handleInterrupt();
static bool receiveProtocol1(unsigned int changeCount);
static bool receiveProtocol2(unsigned int changeCount);
static bool receiveProtocol3(unsigned int changeCount);
int nReceiverInterrupt;
#endif
int nTransmitterPin;
int nPulseLength;
int nRepeatTransmit;
char nProtocol;
#if not defined( RCSwitchDisableReceiving )
static int nReceiveTolerance;
static unsigned long nReceivedValue;
static unsigned int nReceivedBitlength;
static unsigned int nReceivedDelay;
static unsigned int nReceivedProtocol;
const static unsigned int nSeparationLimit;
#endif
/*
* timings[0] contains sync timing, followed by a number of bits
*/
static unsigned int timings[RCSWITCH_MAX_CHANGES];
};
#endif
| [
"bijl1507@student.nhl.nl"
] | bijl1507@student.nhl.nl |
1547a9abf5ab4592fbec928cbf86ffd4bea30930 | c4692fbdc122876043a060756aa9ef61e563fca1 | /proper/abi/openlibm_src/s_frexp.cc | 551410a3c25dd26a9f99c31b6236f4883eaa8c14 | [] | no_license | nahratzah/ilias_os | 837b8eabe3d638767d552206b5c2691a176069fa | a63c03a36e656cee1b897eb952a39bccc2616406 | refs/heads/master | 2021-01-23T13:43:55.103755 | 2015-06-11T07:37:01 | 2015-06-11T07:37:01 | 28,526,656 | 1 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 1,410 | cc | /* @(#)s_frexp.c 5.1 93/09/24 */
/*
* ====================================================
* Copyright (C) 1993 by Sun Microsystems, Inc. All rights reserved.
*
* Developed at SunPro, a Sun Microsystems, Inc. business.
* Permission to use, copy, modify, and distribute this
* software is freely granted, provided that this notice
* is preserved.
* ====================================================
*/
//__FBSDID("$FreeBSD: src/lib/msun/src/s_frexp.c,v 1.11 2008/02/22 02:30:35 das Exp $");
/*
* for non-zero x
* x = frexp(arg,&exp);
* return a double fp quantity x such that 0.5 <= |x| <1.0
* and the corresponding binary exponent "exp". That is
* arg = x*2^exp.
* If arg is inf, 0.0, or NaN, then frexp(arg,&exp) returns arg
* with *exp=0.
*/
#include <cmath>
#include "private.h"
_namespace_begin(std)
double frexp(double x, int *eptr) noexcept {
static constexpr double two54 = 1.80143985094819840000e+16; /* 0x43500000, 0x00000000 */
int32_t hx, lx;
tie(hx, lx) = extract_words(x);
int32_t ix = hx & 0x7fffffff;
*eptr = 0;
if (ix >= 0x7ff00000 || ((ix | lx) == 0)) return x; /* 0,inf,nan */
if (ix < 0x00100000) { /* subnormal */
x *= two54;
hx = get<0>(extract_words(x));
ix = hx & 0x7fffffff;
*eptr = -54;
}
*eptr += (ix >> 20) - 1022;
hx = (hx & 0x800fffff) | 0x3fe00000;
x = set_high_word(x, hx);
return x;
}
_namespace_end(std)
| [
"ariane@stack.nl"
] | ariane@stack.nl |
5e8b50e33cd000deb1fe52a0eeb7847ca6897b38 | 3ba91c0442da7935c8bdb9a92f5d740edfbc5094 | /binding/matlab/S2M_segmentAngularMomentum.h | c707eedf5c7ab27a32cfff0ff9361c3886fb0038 | [
"MIT"
] | permissive | CamWilhelm/biorbd | ce13782727ca3fe05c39112509ff52f77e00e629 | 67d36e77d90cc09aa748c3acf2c2bdff5065d3c9 | refs/heads/master | 2020-05-16T13:29:33.703928 | 2019-07-24T11:53:17 | 2019-07-24T11:53:17 | 183,075,445 | 0 | 0 | MIT | 2019-05-01T19:43:53 | 2019-04-23T18:39:25 | C++ | UTF-8 | C++ | false | false | 3,146 | h | #ifndef MATLAB_S2M_SEGMENT_ANGULAR_MOMENTUM_H
#define MATLAB_S2M_SEGMENT_ANGULAR_MOMENTUM_H
#include <mex.h>
#include "s2mMusculoSkeletalModel.h"
#include "class_handle.h"
#include "processArguments.h"
void S2M_segmentAngularMomentum( int, mxArray *plhs[],
int nrhs, const mxArray*prhs[] ){
// Verifier les arguments d'entrée
checkNombreInputParametres(nrhs, 4, 5, "4 arguments are required (+1 optional) where the 2nd is the handler on the model, 3rd is the Q, 4th is the Qdot and 5th is the index of body segment");
// Recevoir le model
s2mMusculoSkeletalModel * model = convertMat2Ptr<s2mMusculoSkeletalModel>(prhs[1]);
unsigned int nQ = model->nbQ(); /* Get the number of DoF */ /***** ATTENTION NDDL A ÉTÉ REMPLACÉ PAR NQ, SEGFAULT? ***/
unsigned int nQdot = model->nbQdot(); /* Get the number of DoF */
// Recevoir Q
std::vector<s2mGenCoord> Q = getParameterQ(prhs, 2, nQ);
// Recevoir QDot
std::vector<s2mGenCoord> QDot = getParameterQdot(prhs, 3, nQdot);
unsigned int nFrame(static_cast<unsigned int>(Q.size()));
if (QDot.size() != nFrame)
mexErrMsgIdAndTxt( "MATLAB:dim:WrongDimension", "QDot must have the same number of frames than Q");
// Recevoir l'index du segment
int idx(-1);
if (nrhs==5){
idx = getInteger(prhs, 4) - 1; // -1 ainsi le premier segment est 1
if (idx >= static_cast<int>(nQ) || idx < 0)
mexErrMsgIdAndTxt("MATLAB:model:invalidSegmentInput",
"Selected segment doesn't exist");
}
// Create a matrix for the return argument
if (idx == -1){
mwSize dims[3];
dims[0] = 3;
dims[1] = nQ;
dims[2] = nFrame;
plhs[0] = mxCreateNumericArray(3, dims, mxDOUBLE_CLASS, mxREAL);
}
else{
mwSize dims[3];
dims[0] = 3;
dims[1] = 1;
dims[2] = nFrame;
plhs[0] = mxCreateNumericArray(3, dims, mxDOUBLE_CLASS, mxREAL);
}
double *angularMomentum = mxGetPr(plhs[0]);
// Préparer la sortie conditionnelle (tous si idx==-1, seulement celui demandé sinon)
unsigned int cmp(0);
for (unsigned int i=0; i<nFrame; ++i){
std::vector<RigidBodyDynamics::Math::Vector3d> am_all(model->CalcSegmentsAngularMomentum (*model, *(Q.begin()+i), *(QDot.begin()+i), true));
if (idx==-1){
// Remplir le output
std::vector<RigidBodyDynamics::Math::Vector3d>::iterator it=am_all.begin();
for (unsigned int i=0; (it+i)!=am_all.end(); ++i){
angularMomentum[cmp*3 ] = (*(it+i))(0);
angularMomentum[cmp*3+1] = (*(it+i))(1);
angularMomentum[cmp*3+2] = (*(it+i))(2);
cmp++;
}
}
else{
// Remplir le output
std::vector<RigidBodyDynamics::Math::Vector3d>::iterator it=am_all.begin();
angularMomentum[i*3+0] = (*(it+idx))(0);
angularMomentum[i*3+1] = (*(it+idx))(1);
angularMomentum[i*3+2] = (*(it+idx))(2);
}
}
return;
}
#endif // MATLAB_S2M_SEGMENT_ANGULAR_MOMENTUM_H
| [
"pariterre@hotmail.com"
] | pariterre@hotmail.com |
6245a81f816b5cf195a1bf1e192e01e3946fff0f | 217a20c747602c7213c1447d8d20b809b738a34e | /Mainsnode_wifi/sandbox/getcmd/getcmd.ino | ed3be4a21fc84de910b01bc3b800bf89b85cea16 | [] | no_license | christiantigor/rpm_software | b24a8437177f8700f853ff24a9be759e3d22e181 | 081eb4b38c5a53cbe2292ed10e37aec315bac11f | refs/heads/master | 2016-09-08T01:23:37.649555 | 2015-01-09T08:22:47 | 2015-01-09T08:22:47 | 26,524,278 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 2,281 | ino | //a program to get command from cloud
#include <avr/pgmspace.h>
#include <SoftwareSerial.h>
SoftwareSerial debugPort(A3,A2);
char state = 'u'; //device state unknown
void setup(){
Serial.begin(9600);
Serial.setTimeout(5000);
debugPort.begin(9600);
debugPort.println(F("getcmd demo"));
Serial.println(F("AT+RST"));
while(!Serial.available());
if(Serial.find("Ready")){
debugPort.println(F("ready"));
}
else{
debugPort.println(F("no response"));
while(1);
}
delay(1000);
boolean isConnect = false;
for(int i=0;i<5;i++){
if(connectWifi()){
isConnect=true;
break;
}
}
if(isConnect){
debugPort.println(F("connected"));
}
else{
debugPort.println(F("not connected"));
while(1);
}
delay(1000);
Serial.println(F("AT+CIPMUX=0"));
pinMode(10,OUTPUT);
}
void loop(){
getCmd();
}
void getCmd(){
Serial.println(F("AT+CIPSTART=\"TCP\",\"184.106.153.149\",80"));
while(Serial.available()){
Serial.read();
}
while(Serial.availableCmd()){
char c = Serial.readCmd();
if(c=='#') state = 'f'; //state off
else if(c=='&') state = 'n'; //state on
}
if(Serial.find("ERROR")) return;
delay(1000);
Serial.println(F("AT+CIPSEND=70"));
if(Serial.find(">")){
debugPort.print(">");
}
else{
Serial.println(F("AT+CIPCLOSE"));
debugPort.println("connect timeout");
return;
}
Serial.print(F("GET /talkbacks/887/commands/last?api_key=ACM8XW24UDVY1GTV HTTP/1.1\r\n\r\n"));
while(Serial.available()){
Serial.read();
}
while(Serial.availableCmd()){
char c = Serial.read();
if(c=='#') state = 'f'; //state off
else if(c=='&') state = 'n'; //state on
}
delay(1000);
if(state == 'f'){ //turn off
debugPort.println("turn off");
digitalWrite(10, LOW);
}
else if(state == 'n'){ //turn on
debugPort.println("turn on");
digitalWrite(10, HIGH);
}
else{
debugPort.println(state);
}
Serial.println(F("AT+CIPCLOSE"));
debugPort.println(F("\r\n=====\r\n"));
delay(1000);
}
boolean connectWifi(){
Serial.println(F("AT+CWMODE=1"));
delay(1000);
Serial.println(F("AT+CWJAP=\"Tritronik Mobile\",\"Tri12@11\""));
if(Serial.find("OK")){
return true;
}
else{
return false;
}
}
| [
"christian.tigor@rocketmail.com"
] | christian.tigor@rocketmail.com |
66f1b54cbb71dcc1488c291b12353f0952f3fab8 | 7fd58e1c7192fb74be0b79087065b165b99428e3 | /Chapter12_15/Chapter12_15/Person.h | 5c709b08c6523ee851b2a82b51c2a458787f93fb | [] | no_license | KimSeungJu/ClassDesign | 4773d9e05d5eb5175865da720c5a30fc5f1d9a3b | 0d06445938bde0aba43ae088204776ee09f760db | refs/heads/master | 2020-03-14T03:16:28.969953 | 2018-05-03T10:25:31 | 2018-05-03T10:25:31 | 131,416,315 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 215 | h | #pragma once
#include <iostream>
#include <string>
using namespace std;
class Person {
protected:
string name;
int age;
bool gender;
public:
Person();
Person(string n, int a, bool g);
virtual void Print();
}; | [
"safe586@naver.com"
] | safe586@naver.com |
13546c40920f791e1489d774c4f4e9da0d5764c7 | 44ab57520bb1a9b48045cb1ee9baee8816b44a5b | /EngineTesting/Code/Network/NetworkTesting/NetworkMessageSuite/MultipleMessageCastTesting.h | aed991fc6c93639cecb2961c0a418b88f60628dd | [
"BSD-3-Clause"
] | permissive | WuyangPeng/Engine | d5d81fd4ec18795679ce99552ab9809f3b205409 | 738fde5660449e87ccd4f4878f7bf2a443ae9f1f | refs/heads/master | 2023-08-17T17:01:41.765963 | 2023-08-16T07:27:05 | 2023-08-16T07:27:05 | 246,266,843 | 10 | 0 | null | null | null | null | GB18030 | C++ | false | false | 1,008 | h | /// Copyright (c) 2010-2023
/// Threading Core Render Engine
///
/// 作者：彭武阳，彭晔恩，彭晔泽
/// 联系作者：94458936@qq.com
///
/// 标准：std:c++20
/// 引擎测试版本：0.9.0.8 (2023/05/12 09:15)
#ifndef NETWORK_TESTING_NETWORK_MESSAGE_SUITE_MULTIPLE_MESSAGE_CAST_TESTING_H
#define NETWORK_TESTING_NETWORK_MESSAGE_SUITE_MULTIPLE_MESSAGE_CAST_TESTING_H
#include "CoreTools/UnitTestSuite/UnitTest.h"
namespace Network
{
class MultipleMessageCastTesting final : public CoreTools::UnitTest
{
public:
using ClassType = MultipleMessageCastTesting;
using ParentType = UnitTest;
public:
explicit MultipleMessageCastTesting(const OStreamShared& stream);
CLASS_INVARIANT_OVERRIDE_DECLARE;
private:
void MainTest();
void DoRunUnitTest() override;
void CastTest() noexcept;
void ParameterCastTest() noexcept;
};
}
#endif // NETWORK_TESTING_NETWORK_MESSAGE_SUITE_MULTIPLE_MESSAGE_CAST_TESTING_H | [
"94458936@qq.com"
] | 94458936@qq.com |
0cd3d1b7fe519b86c8e38c925eebc7bf34d1844c | ad273708d98b1f73b3855cc4317bca2e56456d15 | /aws-cpp-sdk-elasticbeanstalk/source/model/UpdateApplicationVersionResult.cpp | 953291d0aaa2d5ed6afb98d4efcfbf2a1e0e2c41 | [
"MIT",
"Apache-2.0",
"JSON"
] | permissive | novaquark/aws-sdk-cpp | b390f2e29f86f629f9efcf41c4990169b91f4f47 | a0969508545bec9ae2864c9e1e2bb9aff109f90c | refs/heads/master | 2022-08-28T18:28:12.742810 | 2020-05-27T15:46:18 | 2020-05-27T15:46:18 | 267,351,721 | 1 | 0 | Apache-2.0 | 2020-05-27T15:08:16 | 2020-05-27T15:08:15 | null | UTF-8 | C++ | false | false | 2,210 | cpp | /*
* Copyright 2010-2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License").
* You may not use this file except in compliance with the License.
* A copy of the License is located at
*
* http://aws.amazon.com/apache2.0
*
* or in the "license" file accompanying this file. This file is distributed
* on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either
* express or implied. See the License for the specific language governing
* permissions and limitations under the License.
*/
#include <aws/elasticbeanstalk/model/UpdateApplicationVersionResult.h>
#include <aws/core/utils/xml/XmlSerializer.h>
#include <aws/core/AmazonWebServiceResult.h>
#include <aws/core/utils/StringUtils.h>
#include <aws/core/utils/logging/LogMacros.h>
#include <utility>
using namespace Aws::ElasticBeanstalk::Model;
using namespace Aws::Utils::Xml;
using namespace Aws::Utils::Logging;
using namespace Aws::Utils;
using namespace Aws;
UpdateApplicationVersionResult::UpdateApplicationVersionResult()
{
}
UpdateApplicationVersionResult::UpdateApplicationVersionResult(const Aws::AmazonWebServiceResult<XmlDocument>& result)
{
*this = result;
}
UpdateApplicationVersionResult& UpdateApplicationVersionResult::operator =(const Aws::AmazonWebServiceResult<XmlDocument>& result)
{
const XmlDocument& xmlDocument = result.GetPayload();
XmlNode rootNode = xmlDocument.GetRootElement();
XmlNode resultNode = rootNode;
if (!rootNode.IsNull() && (rootNode.GetName() != "UpdateApplicationVersionResult"))
{
resultNode = rootNode.FirstChild("UpdateApplicationVersionResult");
}
if(!resultNode.IsNull())
{
XmlNode applicationVersionNode = resultNode.FirstChild("ApplicationVersion");
if(!applicationVersionNode.IsNull())
{
m_applicationVersion = applicationVersionNode;
}
}
if (!rootNode.IsNull()) {
XmlNode responseMetadataNode = rootNode.FirstChild("ResponseMetadata");
m_responseMetadata = responseMetadataNode;
AWS_LOGSTREAM_DEBUG("Aws::ElasticBeanstalk::Model::UpdateApplicationVersionResult", "x-amzn-request-id: " << m_responseMetadata.GetRequestId() );
}
return *this;
}
| [
"henso@amazon.com"
] | henso@amazon.com |
5b12196b417c32a6ece5d2a9dd989c720687dd98 | 54e1ff7f03cd61593f54e1d9df8725adfbf3f278 | /FirstTaskArduinoCode.ino | eed59d7b9bc5fbe8c071f964130b19a49cb9c099 | [] | no_license | NorahNAlotaibi/1st-Task--Controlling-DC-Motor- | e134efbeb79820b4efcd8149cb4a274a71081bed | 837601de39d30d0ddd0d116a995399bb423da2ef | refs/heads/master | 2022-11-14T05:50:38.562852 | 2020-06-21T20:02:54 | 2020-06-21T20:02:54 | 273,683,252 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 1,588 | ino | // to define the pins
const int motor1ch1 = 0;
const int motor1ch2 = 1;
const int motor2ch1 = 2;
const int motor2ch2 = 3;
void setup()
{
pinMode(motor1ch1 , OUTPUT);
pinMode(motor1ch2 , OUTPUT);
pinMode(motor2ch1 , OUTPUT);
pinMode(motor2ch2 , OUTPUT);
}
void loop()
{
//clockwise rotation for both motors
digitalWrite(motor1ch1 , HIGH);
digitalWrite(motor1ch2 , LOW);
digitalWrite(motor2ch1 , HIGH);
digitalWrite(motor2ch2 , LOW);
delay(5000);
//anti-clockwise rotation for both motors
digitalWrite(motor1ch1 , LOW);
digitalWrite(motor1ch2 , HIGH);
digitalWrite(motor2ch1 , LOW);
digitalWrite(motor2ch2 , HIGH);
delay(5000);
//clockwise rotation for motor 1
digitalWrite(motor1ch1 , HIGH);
digitalWrite(motor1ch2 , LOW);
digitalWrite(motor2ch1 , LOW);
digitalWrite(motor2ch2 , LOW);
delay(5000);
//clockwise rotation for motor 2
digitalWrite(motor1ch1 , LOW);
digitalWrite(motor1ch2 , LOW);
digitalWrite(motor2ch1 , HIGH);
digitalWrite(motor2ch2 , LOW);
delay(5000);
//anti-clockwise rotation for motor 1
digitalWrite(motor1ch1 , LOW);
digitalWrite(motor1ch2 , HIGH);
digitalWrite(motor2ch1 , LOW);
digitalWrite(motor2ch2 , LOW);
delay(5000);
//anti-clockwise rotation for motor 2
digitalWrite(motor1ch1 , LOW);
digitalWrite(motor1ch2 , LOW);
digitalWrite(motor2ch1 , LOW);
digitalWrite(motor2ch2 , HIGH);
delay(5000);
//Stop for 5sec
digitalWrite(motor1ch1 , LOW);
digitalWrite(motor1ch2 , LOW);
digitalWrite(motor2ch1 , LOW);
digitalWrite(motor2ch2 , LOW);
delay(5000);
}
| [
"noreply@github.com"
] | noreply@github.com |
67a50dec76cbff5eb00f8f44427d0f08f7865236 | d816e2f427b08dc9b9cb9991204f6c7107ff4b47 | /Libary/trunk/Source/LibDBDriver/Mysql/MysqlDriver.cpp | f41aaa2897b07e0d98071f43cf1a0f93c8e9c7bc | [] | no_license | alanfans/XProject | a1378cd2f366a95df75a752a50fa71acd7001f17 | 00a566a4b2757f309d05fde88fdd652463754ca6 | refs/heads/master | 2021-05-11T14:10:23.467053 | 2018-01-09T09:52:22 | 2018-01-09T09:52:22 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 4,805 | cpp | #include "Include/DBDriver/MysqlDriver.h"
#include "Include/Logger/Logger.h"
MysqlDriver::MysqlDriver()
{
m_pMysql = NULL;
m_pMysqlRes = NULL;
m_pMysqlRow = NULL;
m_nFieldCount = 0;
m_pMysqlFields = NULL;
}
MysqlDriver::~MysqlDriver()
{
if (m_pMysql != NULL)
{
mysql_close(m_pMysql);
}
if (m_pMysqlRes != NULL)
{
mysql_free_result(m_pMysqlRes);
}
}
bool MysqlDriver::Connect(const char* pHost, uint16_t nPort, const char* pDB, const char* pUsr, const char* pPwd, const char* pCharset)
{
if (m_pMysql != NULL)
{
mysql_close(m_pMysql);
}
m_pMysql = mysql_init(NULL);
if (m_pMysql == NULL)
{
XLog(LEVEL_ERROR, "Mysql init fail\n");
return false;
}
my_bool bReconnect = true;
int nQueryTimeOut = MYSQL_QUERY_TIMEOUT;
int nConnectTimeOut = MYSQL_CONN_TIMEOUT;
mysql_options(m_pMysql, MYSQL_OPT_CONNECT_TIMEOUT, (char*)&nConnectTimeOut);
mysql_options(m_pMysql, MYSQL_OPT_WRITE_TIMEOUT, (char*)&nQueryTimeOut);
mysql_options(m_pMysql, MYSQL_OPT_READ_TIMEOUT, (char*)&nQueryTimeOut);
mysql_options(m_pMysql, MYSQL_OPT_RECONNECT, (char*)&bReconnect);
if (!mysql_real_connect(m_pMysql, pHost, pUsr, pPwd, pDB, nPort, NULL, CLIENT_COMPRESS | CLIENT_MULTI_RESULTS | CLIENT_MULTI_STATEMENTS))
{
XLog(LEVEL_ERROR, "Mysql connect error: %s\n", mysql_error(m_pMysql));
return false;
}
if (mysql_set_character_set(m_pMysql, pCharset))
{
XLog(LEVEL_ERROR, "Mysql set charset error: %s\n", mysql_error(m_pMysql));
mysql_close(m_pMysql);
m_pMysql = NULL;
return false;
}
return true;
}
bool MysqlDriver::Query(const char* pCmd)
{
if (m_pMysql == NULL)
{
XLog(LEVEL_ERROR, "Mysql not init yet\n");
return false;
}
if (m_pMysqlRes != NULL)
{
mysql_free_result(m_pMysqlRes);
m_pMysqlRes = NULL;
}
m_pMysqlRow = NULL;
m_pMysqlFields = NULL;
if (mysql_query(m_pMysql, pCmd))
{
XLog(LEVEL_ERROR, "%s(%s)\n", mysql_error(m_pMysql), pCmd);
return false;
}
int nStatus = 0;
bool bResult = true;
do
{
MYSQL_RES* pMysqlRes = mysql_store_result(m_pMysql);
if (pMysqlRes != NULL)
{
if (m_pMysqlRes != NULL)
{
mysql_free_result(m_pMysqlRes);
m_pMysqlRes = NULL;
}
m_pMysqlRes = pMysqlRes;
m_nFieldCount = mysql_num_fields(m_pMysqlRes);
m_pMysqlFields = mysql_fetch_fields(m_pMysqlRes);
}
else if (mysql_field_count(m_pMysql) != 0)
{
XLog(LEVEL_ERROR, "%s(%s)\n", mysql_error(m_pMysql), pCmd);
bResult = false;
break;
}
if ((nStatus = mysql_next_result(m_pMysql)) > 0)
{
XLog(LEVEL_ERROR, "%s(%s)\n", mysql_error(m_pMysql), pCmd);
bResult = false;
break;
}
} while (nStatus == 0);
return bResult;
}
int MysqlDriver::NumRows()
{
if (m_pMysqlRes != NULL)
{
return (int)mysql_num_rows(m_pMysqlRes);
}
return 0;
}
int MysqlDriver::AffectedRows()
{
if (m_pMysqlRes != NULL)
{
return (int)mysql_affected_rows(m_pMysql);
}
return 0;
}
bool MysqlDriver::FetchRow()
{
if (m_pMysqlRes != NULL)
{
m_pMysqlRow = mysql_fetch_row(m_pMysqlRes);
return (m_pMysqlRow != NULL);
}
return false;
}
int MysqlDriver::InsertID()
{
if (m_pMysql != NULL)
{
return (int)mysql_insert_id(m_pMysql);
}
return 0;
}
int MysqlDriver::ToInt32(const char* pColumn)
{
if (m_pMysqlRow == NULL)
{
XLog(LEVEL_ERROR, "No data, not fetchrow?\n");
return 0;
}
for (int i = 0; i < m_nFieldCount; i++)
{
if (strcmp(m_pMysqlFields[i].name, pColumn) == 0)
{
return atoi(m_pMysqlRow[i]);
}
}
XLog(LEVEL_ERROR, "Field '%s' not found\n", pColumn);
return 0;
}
int64_t MysqlDriver::ToInt64(const char* pColumn)
{
if (m_pMysqlRow == NULL)
{
XLog(LEVEL_ERROR, "No data, not fetchrow?\n");
return 0;
}
for (int i = 0; i < m_nFieldCount; i++)
{
if (strcmp(m_pMysqlFields[i].name, pColumn) == 0)
{
return (int64_t)atoll(m_pMysqlRow[i]);
}
}
XLog(LEVEL_ERROR, "Field '%s' not found\n", pColumn);
return 0;
}
double MysqlDriver::ToDouble(const char* pColumn)
{
if (m_pMysqlRow == NULL)
{
XLog(LEVEL_ERROR, "No data, not fetchrow?\n");
return 0;
}
for (int i = 0; i < m_nFieldCount; i++)
{
if (strcmp(m_pMysqlFields[i].name, pColumn) == 0)
{
return atof(m_pMysqlRow[i]);
}
}
XLog(LEVEL_ERROR, "Field '%s' not found\n", pColumn);
return 0;
}
const char* MysqlDriver::ToString(const char* pColumn)
{
if (m_pMysqlRow == NULL)
{
XLog(LEVEL_ERROR, "No data, not fetchrow?\n");
return "";
}
for (int i = 0; i < m_nFieldCount; i++)
{
if (strcmp(m_pMysqlFields[i].name, pColumn) == 0)
{
return m_pMysqlRow[i];
}
}
XLog(LEVEL_ERROR, "Field '%s' not found\n", pColumn);
return "";
} | [
"txalll"
] | txalll |
a88e4520e727cd1738c104ad5cd033d2c371e3df | 7e2aa88047abff4fcbd8b32cdc171a555b9f9fa2 | /PFCandidateTrackAnalyzer/src/pfCandidateTrackAnalyzer.cc | cbce848694158587049aa00272b1f7c7398ca68e | [] | no_license | mandrenguyen/usercode | 3af2a4c8e640d6d6808f71c1a6cd1c030c54678b | 44b8dc78ea6788c261f76e10e7ee9e8027f4cb60 | refs/heads/master | 2021-01-20T06:20:15.643149 | 2013-07-16T21:09:50 | 2013-07-16T21:09:50 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 9,226 | cc | /*
Based on edwenger/TrkEffAnalyzer
Modified by Matt Nguyen, November 2010
*/
#include "MNguyen/PFCandidateTrackAnalyzer/interface/pfCandidateTrackAnalyzer.h"
#include "DataFormats/ParticleFlowCandidate/interface/PFCandidate.h"
#include "DataFormats/ParticleFlowReco/interface/PFBlock.h"
#include "DataFormats/ParticleFlowReco/interface/PFCluster.h"
#include "DataFormats/ParticleFlowReco/interface/PFClusterFwd.h"
#include "DataFormats/VertexReco/interface/Vertex.h"
#include "DataFormats/VertexReco/interface/VertexFwd.h"
#include "edwenger/VertexAnalyzer/interface/VertexComparator.h"
#include "DataFormats/TrackReco/interface/Track.h"
#include "DataFormats/TrackReco/interface/TrackFwd.h"
#include "SimDataFormats/TrackingAnalysis/interface/TrackingParticle.h"
#include "SimDataFormats/TrackingAnalysis/interface/TrackingParticleFwd.h"
#include "SimTracker/Records/interface/TrackAssociatorRecord.h"
#include "DataFormats/RecoCandidate/interface/TrackAssociation.h"
#include "SimTracker/TrackAssociation/interface/TrackAssociatorByHits.h"
#include "FWCore/Framework/interface/EventSetup.h"
#include "FWCore/Framework/interface/ESHandle.h"
#include <Math/DistFunc.h>
#include "TMath.h"
#include "FWCore/Framework/interface/ESHandle.h"
#include "FWCore/MessageLogger/interface/MessageLogger.h"
#include "FWCore/Utilities/interface/Exception.h"
#include "FWCore/Framework/interface/EventSetup.h"
using namespace std;
using namespace edm;
using namespace reco;
PFCandidateTrackAnalyzer::PFCandidateTrackAnalyzer(const edm::ParameterSet& iConfig) {
inputTagPFCandidates_ = iConfig.getParameter<InputTag>("PFCandidates");
inputTagVertices_ = iConfig.getParameter<InputTag>("Vertices");
inputTagSimTracks_ = iConfig.getParameter<InputTag>("SimTracks");
inputTagTracks_ = iConfig.getParameter<InputTag>("Tracks");
verbose_ = iConfig.getUntrackedParameter<bool>("verbose",false);
printBlocks_ = iConfig.getUntrackedParameter<bool>("printBlocks",false);
thePtMin_ = iConfig.getUntrackedParameter<double>("ptMin",3.0);
hasSimInfo_ = iConfig.getUntrackedParameter<bool>("hasSimInfo");
minHits_ = iConfig.getUntrackedParameter<double>("minHits");
maxPtErr_ = iConfig.getUntrackedParameter<double>("maxPtErr");
maxD0_ = iConfig.getUntrackedParameter<double>("maxD0");
maxDZ_ = iConfig.getUntrackedParameter<double>("maxDZ");
maxD0Norm_ = iConfig.getUntrackedParameter<double>("maxD0Norm");
maxDZNorm_ = iConfig.getUntrackedParameter<double>("maxDZNorm");
pixelSeedOnly_ = iConfig.getUntrackedParameter<bool>("pixelSeedOnly");
LogDebug("PFCandidateTrackAnalyzer")
<<" input collection : "<<inputTagPFCandidates_ ;
}
PFCandidateTrackAnalyzer::~PFCandidateTrackAnalyzer() { }
void
PFCandidateTrackAnalyzer::beginRun(const edm::Run& run,
const edm::EventSetup & es) {}
void
PFCandidateTrackAnalyzer::beginJob() {
nt = f->make<TNtuple>("nt","PF Testing","type:pt:tkptmax:tkptsum:eetmax:eetsum:hetmax:hetsum:nhits:relpterr:algo:nd0:ndz:fake");
}
void
PFCandidateTrackAnalyzer::analyze(const Event& iEvent,
const EventSetup& iSetup) {
LogDebug("PFCandidateTrackAnalyzer")<<"START event: "<<iEvent.id().event()
<<" in run "<<iEvent.id().run()<<endl;
// get vertices
edm::Handle<reco::VertexCollection> vtxsH;
iEvent.getByLabel(inputTagVertices_,vtxsH);
reco::VertexCollection vtxs = *vtxsH;
// do reco-to-sim association
edm::Handle<TrackingParticleCollection> TPCollectionHfake;
edm::Handle<edm::View<reco::Track> > trackCollection;
edm::ESHandle<TrackAssociatorBase> theAssociator;
const TrackAssociatorByHits *theAssociatorByHits;
reco::RecoToSimCollection recSimColl;
if(hasSimInfo_) {
iEvent.getByLabel(inputTagSimTracks_,TPCollectionHfake);
iEvent.getByLabel(inputTagTracks_,trackCollection);
iSetup.get<TrackAssociatorRecord>().get("TrackAssociatorByHits",theAssociator);
theAssociatorByHits = (const TrackAssociatorByHits*) theAssociator.product();
recSimColl= theAssociatorByHits->associateRecoToSim(trackCollection,TPCollectionHfake,&iEvent);
}
// get PFCandidates
Handle<PFCandidateCollection> pfCandidates;
iEvent.getByLabel(inputTagPFCandidates_, pfCandidates);
if(verbose_)cout<<" # of pf cands: "<<pfCandidates->size()<<endl;
for( unsigned i=0; i<pfCandidates->size(); i++ ) {
max_nhits=0.0;
max_relpterr=0.0;
max_algo=0.0;
max_nd0=0.0;
max_ndz=0.0;
max_fake=0.0;
const reco::PFCandidate& cand = (*pfCandidates)[i];
cand_type = cand.particleId();
cand_pt = cand.pt();
//--------- EDIT: Apr 21, 2010 (EAW)
if(cand_pt < thePtMin_) continue;
if(!(cand_type == PFCandidate::h || //type1
cand_type == PFCandidate::e || //type2
cand_type == PFCandidate::mu || //type3
cand_type == PFCandidate::gamma || //type4
cand_type == PFCandidate::h0 //type5
)
) continue;
// Matt: Look at only charged hardons for the moment, could be extended to study leptons
if(!(cand_type == PFCandidate::h)) continue;
reco::TrackRef trackRef = cand.trackRef();
//----- track quality selections, MATT: Already using high Purity hiSelectedTracks by default anyway
double nhits = trackRef->numberOfValidHits();
if(nhits<minHits_) continue;
double relpterr = trackRef->ptError()/trackRef->pt();
if(relpterr > maxPtErr_) continue;
double algo = trackRef->algo();
if(algo > 7 && pixelSeedOnly_) continue;
double d0 = trackRef->dxy(vtxs[0].position());
double dz = trackRef->dz(vtxs[0].position());
if(fabs(d0) > maxD0_) continue;
if(fabs(dz) > maxDZ_) continue;
double d0err = sqrt(trackRef->d0Error()*trackRef->d0Error()+vtxs[0].xError()*vtxs[0].yError());
double dzerr = sqrt(trackRef->dzError()*trackRef->dzError()+vtxs[0].zError()*vtxs[0].zError());
if(fabs(d0/d0err) > maxD0Norm_) continue;
if(fabs(dz/dzerr) > maxDZNorm_) continue;
bool fake=false;
if(hasSimInfo_)
if(recSimColl.find(edm::RefToBase<reco::Track>(trackRef)) == recSimColl.end())
fake=true;
//-----
if(verbose_)if(fake==true) std::cout<<" fake! "<<std::endl;
max_trk=0.0, sum_trk=0.0, max_ecal=0.0, sum_ecal=0.0, max_hcal=0.0, sum_hcal=0.0;
for(unsigned i=0; i<cand.elementsInBlocks().size(); i++) {
PFBlockRef blockRef = cand.elementsInBlocks()[i].first;
unsigned indexInBlock = cand.elementsInBlocks()[i].second;
const edm::OwnVector< reco::PFBlockElement>& elements = (*blockRef).elements();
//This tells you what type of element it is:
//cout<<" block type"<<elements[indexInBlock].type()<<endl;
switch (elements[indexInBlock].type()) {
case PFBlockElement::ECAL: {
reco::PFClusterRef clusterRef = elements[indexInBlock].clusterRef();
double eet = clusterRef->energy()/cosh(clusterRef->eta());
if(verbose_)cout<<" ecal energy "<<clusterRef->energy()<<endl;
sum_ecal+=eet;
if(eet>max_ecal) max_ecal=eet;
break;
}
case PFBlockElement::HCAL: {
reco::PFClusterRef clusterRef = elements[indexInBlock].clusterRef();
double eet = clusterRef->energy()/cosh(clusterRef->eta());
sum_hcal+=eet;
if(eet>max_hcal) max_hcal=eet;
if(verbose_)cout<<" hcal energy "<<clusterRef->energy()<<endl;
break;
}
case PFBlockElement::TRACK: {
//This is just the reference to the track itself, since tracks can never be linked to other tracks
break;
}
default:
break;
}
// Could do more stuff here, e.g., pre-shower, HF
}
double trkpt = trackRef->pt();
cout << "pt=" << trkpt << endl;
sum_trk+=trkpt;
if(trkpt>max_trk) {
max_trk=trkpt;
max_nhits=nhits;
max_relpterr=relpterr;
max_algo=algo;
max_nd0=d0/d0err;
max_ndz=dz/dzerr;
max_fake=fake;
}
if( verbose_ ) {
cout<<cand<<endl;
// Matt: I think you need to protect against empty blocks here
if (printBlocks_) printElementsInBlocks(cand);
}
if(verbose_)cout<<" number of elements in blocks "<<cand.elementsInBlocks().size()<<endl;
nt->Fill(cand_type,cand_pt,max_trk,sum_trk,max_ecal,sum_ecal,max_hcal,sum_hcal,max_nhits,max_relpterr,max_algo,max_nd0,max_ndz,max_fake);
//---------
}
LogDebug("PFCandidateTrackAnalyzer")<<"STOP event: "<<iEvent.id().event()
<<" in run "<<iEvent.id().run()<<endl;
}
void PFCandidateTrackAnalyzer::printElementsInBlocks(const PFCandidate& cand,
ostream& out) const {
if(!out) return;
PFBlockRef firstRef;
assert(!cand.elementsInBlocks().empty() );
for(unsigned i=0; i<cand.elementsInBlocks().size(); i++) {
PFBlockRef blockRef = cand.elementsInBlocks()[i].first;
if(blockRef.isNull()) {
cerr<<"ERROR! no block ref!";
continue;
}
if(!i) {
out<<(*blockRef);
firstRef = blockRef;
}
else if( blockRef!=firstRef) {
cerr<<"WARNING! This hiPFCandidate is not made from a single block"<<endl;
}
out<<"\t"<<cand.elementsInBlocks()[i].second<<endl;
}
}
DEFINE_FWK_MODULE(PFCandidateTrackAnalyzer);
| [
""
] | |
0ee9a102aea8d96b825015bd4ee9d415306797d3 | c2d2201ac3c9117de2aba5f901e8cdde4a5606b7 | /WifiLocator.cpp | f0d1dcf7633a2a53eec143dc0ab523ecad66ebb6 | [] | no_license | Ierlandfan/ESP32-plane-spotter-color | 5302187701419c8af8a64984a726cdda4834b2a9 | 2a53a28367136facb4fe4ab4f87a9a230b5ebfef | refs/heads/master | 2021-01-01T17:14:23.440574 | 2017-07-22T14:12:11 | 2017-07-22T14:12:11 | 98,031,100 | 1 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 5,154 | cpp | /**The MIT License (MIT)
Copyright (c) 2015 by Daniel Eichhorn
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
See more at http://blog.squix.ch
Base64 encoding code by Rene Nyfenegger:
http://www.adp-gmbh.ch/cpp/common/base64.html
*/
#include "WifiLocator.h"
WifiLocator::WifiLocator() {
}
void WifiLocator::updateLocation() {
int n = min(WiFi.scanNetworks(false,true), MAX_SSIDS);
String multiAPString = "";
if (n > 0) {
for (int i = 0; i < n; i++) {
if (i > 0) {
multiAPString += ",";
}
multiAPString += WiFi.BSSIDstr(i) + "," + WiFi.RSSI(i);
}
Serial.println(multiAPString);
char multiAPs[multiAPString.length() + 1];
multiAPString.toCharArray(multiAPs, multiAPString.length());
multiAPString = encodeBase64(multiAPs, multiAPString.length());
Serial.println(multiAPString);
doUpdate("/wifi?v=1.1&search=" + multiAPString);
}
}
void WifiLocator::updateLocation(String bssid) {
doUpdate("/wifi?v=1.1&bssid=" + bssid);
}
void WifiLocator::doUpdate(String query) {
JsonStreamingParser parser;
parser.setListener(this);
WiFiClient client;
const int httpPort = 80;
// http://api.mylnikov.org/geolocation/wifi?v=1.1&data=open&bssid=00:0C:42:1F:65:E9
if (!client.connect("api.mylnikov.org", httpPort)) {
Serial.println("connection failed");
return;
}
Serial.print("Requesting URL: ");
Serial.println(query);
// This will send the request to the server
client.print(String("GET ") + query + " HTTP/1.1\r\n" +
"Host: api.mylnikov.org\r\n" +
"Connection: close\r\n\r\n");
int retryCounter = 0;
while(!client.available()) {
delay(1000);
retryCounter++;
if (retryCounter > 10) {
return;
}
}
int pos = 0;
boolean isBody = false;
char c;
int size = 0;
client.setNoDelay(false);
while(client.connected()) {
while((size = client.available()) > 0) {
c = client.read();
if (c == '{' || c == '[') {
Serial.print(c);
isBody = true;
}
if (isBody) {
parser.parse(c);
}
}
}
}
void WifiLocator::key(String key) {
key_ = key;
}
void WifiLocator::value(String value) {
if (key_ == "result") {
result_ = value;
}
if (key_ == "lat") {
lat_ = value;
}
if (key_ == "lon") {
lon_ = value;
}
if (key_ == "range") {
range_ = value;
}
Serial.println("Key " + key_ + ", value: " + value);
}
String WifiLocator::getLon() {
return lon_;
}
String WifiLocator::getLat() {
return lat_;
}
String WifiLocator::getRange() {
return range_;
}
String WifiLocator::getResult() {
return result_;
}
void WifiLocator::whitespace(char c) {
}
void WifiLocator::startDocument() {
}
void WifiLocator::endArray() {
}
void WifiLocator::endObject() {
}
void WifiLocator::endDocument() {
}
void WifiLocator::startArray() {
}
void WifiLocator::startObject() {
}
/*
* Base64 code by Rene Nyfenegger:
* http://www.adp-gmbh.ch/cpp/common/base64.html
*/
String WifiLocator::encodeBase64(char* bytes_to_encode, unsigned int in_len) {
String ret;
int i = 0;
int j = 0;
unsigned char char_array_3[3];
unsigned char char_array_4[4];
while (in_len--) {
char_array_3[i++] = *(bytes_to_encode++);
if (i == 3) {
char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
char_array_4[3] = char_array_3[2] & 0x3f;
for(i = 0; (i <4) ; i++)
ret += base64_chars[char_array_4[i]];
i = 0;
}
}
if (i)
{
for(j = i; j < 3; j++)
char_array_3[j] = '\0';
char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
char_array_4[3] = char_array_3[2] & 0x3f;
for (j = 0; (j < i + 1); j++)
ret += base64_chars[char_array_4[j]];
while((i++ < 3))
ret += '=';
}
return ret;
}
| [
"noreply@github.com"
] | noreply@github.com |
73f8f39376ca36e3487e2ddef90c5837c675ffc7 | 36879f4a4d1623adebf5072dc8b5a10fc7705565 | /public_source/xcommunication/iointerfacefile.cpp | 623119cc248c852d0e72f264a79cd9b6c18b3597 | [] | no_license | akatumalla27/xsens-vxworks | eb6573963b5c70e93309a624c748fb97ce672cc5 | 8f7aa64955cc6f13907d2d7364c9b17f0e4fe47e | refs/heads/master | 2022-11-23T16:48:42.540557 | 2020-07-22T16:46:41 | 2020-07-22T16:46:41 | 281,725,524 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 20,809 | cpp | ///* Copyright (c) 2003-2016 Xsens Technologies B.V. or subsidiaries worldwide.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// 3. Neither the names of the copyright holders nor the names of their contributors
// may be used to endorse or promote products derived from this software without
// specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
// THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
// OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
// HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
// TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//*/
//
//#include "iointerfacefile.h"
//
//#include <errno.h>
//#ifndef _WIN32
//# include <unistd.h> // close
//# include <sys/ioctl.h> // ioctl
//# include <fcntl.h> // open, O_RDWR
//# include <string.h> // strcpy
//# include <vxworks.h>
//# include <sys/stat.h>
//# include <stdarg.h>
//#else
//# include <winbase.h>
//# include <sys/stat.h>
//# include <io.h>
//#endif
//
//#include <xsens/xsdeviceid.h>
//
//#ifndef _CRT_SECURE_NO_DEPRECATE
//# define _CRT_SECURE_NO_DEPRECATE
//# ifdef _WIN32
//# pragma warning(disable:4996)
//# endif
//#endif
//
//// maybe log to nothing at this level
//#ifdef LOG_CMT1
//# include "xslog.h"
//# define XDA1LOG_OBSOLETE XSENSLOG
//#else
//# define XDA1LOG_OBSOLETE(...) (void)0
//#endif
//
////////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////// IoInterfaceFile /////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////////
//
///*! Default constructor, initializes all members to their default values.
//*/
//IoInterfaceFile::IoInterfaceFile()
//{
// m_readPos = 0;
// m_writePos = 0;
// m_lastResult = XRV_OK;
// m_reading = true;
// m_fileSize = 0;
// m_readOnly = false;
// m_handle = NULL;
//}
//
///*! Destructor
//*/
//IoInterfaceFile::~IoInterfaceFile()
//{
// try {
// closeFile(); //lint !e534
// } catch(...)
// {}
//}
//
///*! \brief Write data to the end of the file.
// \details The function writes the given data to the file at the end. The current write
// position is also moved to the end of the file.
// \param bdata The byte data to append to the file
// \returns XRV_OK if the write was successful
//*/
//XsResultValue IoInterfaceFile::appendData(const XsByteArray& bdata)
//{
// if (!m_handle)
// return m_lastResult = XRV_NOFILEOPEN;
// if (m_readOnly)
// return m_lastResult = XRV_READONLY;
// if (!bdata.size())
// return m_lastResult = XRV_OK;
//
// if (m_reading || m_writePos != m_fileSize)
// {
// m_reading = false;
// m_handle->seek_r(0); //lint !e534
// }
// size_t bytesWritten = m_handle->write(bdata.data(), 1, bdata.size());
// (void)bytesWritten;
// m_writePos = m_handle->tell();
// m_fileSize = m_writePos;
//
// return (m_lastResult = XRV_OK);
//}
//
////////////////////////////////////////////////////////////////////////////////////////////
///*! \brief Close the file, overrides IoInterface::close().
// \returns XRV_OK if the file was closed successfully
//*/
//XsResultValue IoInterfaceFile::close (void)
//{
// return closeFile();
//}
//
///*! \brief Close the file.
// \returns XRV_OK if the file was closed successfully
//*/
//XsResultValue IoInterfaceFile::closeFile(void)
//{
// if (m_handle)
// {
// m_handle->flush();
// m_handle->close();
//
// delete m_handle;
// m_handle = NULL;
// }
//
// m_readPos = 0;
// m_writePos = 0;
// m_reading = true;
// m_fileSize = 0;
// m_readOnly = false;
//
// return m_lastResult = XRV_OK;
//}
//
///*! \brief Close the file and delete it.
// \returns XRV_OK if the file was closed and deleted successfully
//*/
//XsResultValue IoInterfaceFile::closeAndDelete(void)
//{
// if (m_handle)
// {
// m_handle->flush();
// m_handle->close();
//
// if (m_readOnly)
// m_lastResult = XRV_READONLY;
// else
// {
// m_lastResult = XsFile::erase(m_filename);
// }
//
// delete m_handle;
// m_handle = NULL;
// }
// else
// m_lastResult = XRV_NOFILEOPEN;
//
// m_readPos = 0;
// m_writePos = 0;
// m_reading = true;
// m_fileSize = 0;
// m_readOnly = false;
//
// return m_lastResult;
//}
//
///*! \brief Create an empty file
// \param filename The desired (path+)name of the file
// \returns XRV_OK if the file was created successfully
//*/
//XsResultValue IoInterfaceFile::create(const XsString& filename)
//{
// if (m_handle)
// return m_lastResult = XRV_ALREADYOPEN;
//
// m_handle = new XsFile();
// m_lastResult = m_handle->create(filename, false);
// if (m_lastResult != XRV_OK)
// {
// delete m_handle;
// m_handle = NULL;
// return m_lastResult;
// }
//
// m_lastResult = XsFile::fullPath(filename, m_filename);
//
// if (m_lastResult != XRV_OK)
// {
// m_handle->close();
// XsFile::erase(m_filename);
// delete m_handle;
// m_handle = NULL;
//
// return m_lastResult = XRV_INVALIDPARAM;
// }
//
// m_readPos = 0;
// m_writePos = 0;
// m_fileSize = 0;
// m_reading = true;
// m_readOnly = false;
// return m_lastResult = XRV_OK;
//}
//
///*! \brief Delete the given data from the file.
// \details The function erases the given data from the file at the given write position. This
// operation may take a while to complete, but is faster than insertData.
//
// The write position is not changed and the read position is checked for validity upon function exit.
// \param start The offset of the first byte to delete
// \param length The total number of bytes to delete
// \returns XRV_OK if the data was deleted successfully
//*/
//XsResultValue IoInterfaceFile::deleteData (XsFilePos start, XsSize length)
//{
// if (!m_handle)
// return m_lastResult = XRV_NOFILEOPEN;
// if (m_readOnly)
// return m_lastResult = XRV_READONLY;
//
// gotoWrite();
//
// XsFilePos wPos = start;
// XsFilePos rPos = wPos + length;
//
// size_t read1;
// XsFilePos endPos = (start + (XsFilePos) length);
// if (endPos < m_fileSize)
// {
// XsFilePos remaining = m_fileSize - endPos;
// char buffer[512];
//
// // copy data
// m_handle->seek(rPos);
//
// while (remaining > 0)
// {
// if (remaining >= 512)
// read1 = m_handle->read(buffer,1,512);
// else
// read1 = m_handle->read(buffer,1,(size_t) remaining);
//
// remaining -= read1;
// rPos += read1;
//
// // write block to the correct position
// m_handle->seek(wPos);
// wPos += m_handle->write(buffer, 1, read1);
// m_handle->seek(rPos);
// }
// m_fileSize -= length;
// }
// else
// {
// m_fileSize = start;
// }
//
// XsResultValue truncateResult = m_handle->truncate((int32_t) m_fileSize);
//
// m_writePos = start;
// m_handle->seek(wPos);
//
// return m_lastResult = truncateResult;
//}
//
///*! \brief Find a string of bytes in the file
// \details The function searches from the current read position until the given \c needle is
// found. If the needle is not found, XsResultValue::NOT_FOUND is returned. The function
// will update the seek position to the first character of the found needle.
// \param needleV The byte string to find.
// \param pos The position where \a needleV was found. This will point to the first character
// of the found \a needleV.
// \returns XRV_OK if the data was found, XRV_ENDOFFILE if it wasn't found
//*/
//XsResultValue IoInterfaceFile::find(const XsByteArray& needleV, XsFilePos& pos)
//{
// if (!m_handle)
// return m_lastResult = XRV_NOFILEOPEN;
//
// XsSize needleLength = needleV.size();
//
// pos = 0;
// if (needleLength == 0)
// return m_lastResult = XRV_OK;
//
// const char* needle = (const char*) needleV.data();
//
// gotoRead();
//
// char buffer[512];
// uint32_t bufferPos, needlePos = 0;
// size_t readBytes;
// if (m_readPos & 0x1FF) // read a block of data
// readBytes = m_handle->read(buffer, 1, (512-((size_t) m_readPos & 0x1FF)));
// else
// readBytes = m_handle->read(buffer, 1, 512); // read a block of data
//
// while (readBytes > 0)
// {
// m_readPos += readBytes;
// bufferPos = 0;
//
// while (bufferPos < readBytes && needlePos < needleLength)
// {
// if (buffer[bufferPos] == needle[needlePos])
// {
// // found a byte
// ++needlePos;
// }
// else
// {
// if (needlePos > 0)
// needlePos = 0;
// else
// if (buffer[bufferPos] == needle[0])
// {
// // found a byte
// needlePos = 1;
// }
// }
// ++bufferPos;
// }
// if (needlePos < needleLength)
// readBytes = m_handle->read(buffer, 1, 512); // read next block
// else
// {
// m_readPos = m_readPos + bufferPos - readBytes - needleLength; // or without needleLength
// pos = m_readPos; // - needleLength;
// m_handle->seek(m_readPos);
// return m_lastResult = XRV_OK;
// }
// }
// return m_lastResult = XRV_ENDOFFILE;
//}
//
///*! \brief Return the size of the file.
// \returns The size of the file.
//*/
//XsFilePos IoInterfaceFile::getFileSize(void) const
//{
// return m_fileSize;
//}
//
///*! \brief Return the creation date of the file
// \returns The creation date of the file
//*/
//XsTimeStamp IoInterfaceFile::getFileDate(void) const
//{
//#ifdef _WIN32
// struct _stat stats;
// if (_wstat(m_filename.toStdWString().c_str(), &stats) == 0)
//#else
// struct stat stats;
//// if (stat(m_filename.c_str(), &stats) == 0)
//#endif
// {
// XsTimeStamp t = XsTimeStamp( (int64_t)stats.st_mtime * 1000);
// return t;
// }
// return XsTimeStamp();
//}
//
///*! \copydoc IoInterface::flushData */
//XsResultValue IoInterfaceFile::flushData (void)
//{
// m_handle->flush();
//
// return m_lastResult = XRV_OK;
//}
//
///*! \brief Retrieve the filename that was last successfully opened.
//
// \param filename The XsString which will contain the filename.
// \returns XRV_OK
//*/
//XsResultValue IoInterfaceFile::getName(XsString& filename) const
//{
// filename = m_filename;
// return m_lastResult = XRV_OK;
//}
//
///*! \brief Return the filename that was last successfully opened.
//*/
//XsString IoInterfaceFile::getFileName() const
//{
// return m_filename;
//}
//
////! \brief Change from writing to reading mode
//void IoInterfaceFile::gotoRead(void)
//{
// if (m_reading)
// return;
//
// m_handle->flush();
// m_handle->seek(m_readPos);
// m_reading = true;
//}
//
////! \brief Change from reading to writing mode
//void IoInterfaceFile::gotoWrite(void)
//{
// if (!m_reading)
// return;
//
// m_handle->flush();
// m_handle->seek(m_writePos);
// m_reading = false;
//}
//
///*! \brief Insert the given data into the file.
// \details The function writes the given data to the file at the current write position. This
// operation may take a while to complete.
//
// The write position is placed at the end of the inserted data.
// \param start The offset in the file to write the first byte
// \param data The data to insert in the file
// \returns XRV_OK if the data was inserted successfully
//*/
//XsResultValue IoInterfaceFile::insertData (XsFilePos start, const XsByteArray& data)
//{
// if (!m_handle)
// return m_lastResult = XRV_NOFILEOPEN;
// if (m_readOnly)
// return m_lastResult = XRV_READONLY;
//
// gotoWrite();
//
// XsSize length = data.size();
// XsFilePos rPos = start;
// XsFilePos wPos = rPos + length;
//
// size_t read1, read2;
// XsFilePos remaining = m_fileSize - start;
// size_t bsize = (length > 512)?length:512;
// char* bufferRoot = (char*) malloc(bsize*2);
// if (!bufferRoot)
// return XRV_OUTOFMEMORY;
// char* buffer1 = bufferRoot;
// char* buffer2 = bufferRoot+bsize;
// char* btemp;
//
// // copy data
// m_handle->seek(rPos);
//
// if (data.size() == 0)
// return m_lastResult = XRV_OK;
//
// if (remaining >= (XsFilePos) bsize)
// read1 = m_handle->read(buffer1, 1, bsize);
// else
// read1 = m_handle->read(buffer1, 1, (size_t) remaining);
//
// remaining -= read1;
// rPos += read1;
//
// while(remaining > 0)
// {
// // move data to correct buffer
// read2 = read1;
// btemp = buffer1; buffer1 = buffer2; buffer2 = btemp;
//
// // read next block
// if (remaining >= (XsFilePos) bsize)
// read1 = m_handle->read(buffer1, 1, bsize);
// else
// read1 = m_handle->read(buffer1, 1, (size_t) remaining);
//
// remaining -= read1;
// rPos += read1;
//
// // write block to the correct position
// m_handle->seek(wPos);
// wPos += m_handle->write(buffer2, 1, read2);
// m_handle->seek(rPos);
// }
//
// m_handle->seek(wPos);
// wPos += m_handle->write(buffer1, 1, read1);
//
// m_handle->seek(start);
// m_writePos = start + m_handle->write(data.data(), 1, length);
// m_fileSize += length;
//
// free(bufferRoot);
// return m_lastResult = XRV_OK;
//}
//
///*! \brief Open a file.
// \param filename The name of the file to open
// \param createNew When true, the file will be created if it doesn't exist yet
// \param readOnly When true, the file will be marked as read only for %IoInterfaceFile,
// preventing accidental writes to the file.
// \returns XRV_OK if the file was opened successfully
// \sa createFile
//*/
//XsResultValue IoInterfaceFile::open(const XsString& filename, bool createNew, bool readOnly)
//{
// if (m_handle)
// return m_lastResult = XRV_ALREADYOPEN;
//
// m_handle = new XsFile();
//
// //! \test does this work for non-existing files? Or do we need a check and create?
// m_readOnly = readOnly;
// XsResultValue localResult = m_handle->open(filename, readOnly);
//
// if (localResult != XRV_OK)
// {
// if (createNew)
// {
// localResult = m_handle->create(filename, false);
// }
// else
// {
// // final attempt: open it forced readonly
// localResult = m_handle->open(filename, false);
// m_readOnly = true;
// }
// }
// if (localResult != XRV_OK)
// {
// delete m_handle;
// m_handle = NULL;
// return m_lastResult = XRV_INPUTCANNOTBEOPENED; // overrides a possible OUTPUTCANNOTBEOPENED
// }
//
// bool fail = false;
//#ifdef _WIN32
// wchar_t fullpath[XS_MAX_FILENAME_LENGTH];
// if (_wfullpath(fullpath,filename.toStdWString().c_str(),XS_MAX_FILENAME_LENGTH) == NULL)
// fail = true;
//#else
// // use the same trick again.
//// char fullpath[XS_MAX_FILENAME_LENGTH*2];
//// if (realpath(filename.c_str(), fullpath) == NULL)
//// fail = true;
//#endif
// m_filename = XsString(fullpath);
//
// if (fail)
// {
// m_handle->close();
// delete m_handle;
// m_handle = NULL;
// return m_lastResult = XRV_INVALIDPARAM;
// }
//
// m_readPos = 0;
// m_writePos = 0;
// m_reading = true;
// m_handle->seek_r(0);
// m_fileSize = m_handle->tell();
// m_handle->seek(0);
// return (m_lastResult = XRV_OK);
//}
//
///*! \copydoc IoInterface::readData
// \note This function reads exactly the number of bytes as requested from the file unless the end
// of file boundary is encountered.
//*/
//XsResultValue IoInterfaceFile::readData(XsSize maxLength, XsByteArray& data)
//{
// if (!m_handle)
// return m_lastResult = XRV_NOFILEOPEN;
//
// if (maxLength == 0)
// {
// data.clear();
// return m_lastResult = XRV_OK;
// }
//
// XsSize length;
//
// gotoRead();
// data.setSize(maxLength);
//
// length = m_handle->read(data.data(), 1, maxLength);
// if (m_handle->eof())
// {
// data.clear();
// return (m_lastResult = XRV_ENDOFFILE);
// }
//
// m_readPos += length;
// if (length < maxLength)
// data.pop_back(maxLength - length);
// return m_lastResult = XRV_OK;
//}
//
///*! \brief Read data from the file and put it into the data buffer.
//
// This function reads upp to the number of bytes as requested from the file.
// The function will also stop if the given terminator character is encountered.
// The terminator is included in the output buffer.
// \param maxLength The amount of data that will be read.
// \param terminator A character that will end the read operation if encountered.
// \param bdata A buffer that will store the read data.
// \returns XRV_OK if the data was read successfully
//*/
//XsResultValue IoInterfaceFile::readTerminatedData(XsSize maxLength, unsigned char terminator, XsByteArray& bdata)
//{
// if (!m_handle)
// return m_lastResult = XRV_NOFILEOPEN;
//
// if (maxLength == 0)
// {
// bdata.clear();
// return m_lastResult = XRV_OK;
// }
//
// bdata.setSize(maxLength);
// char *data = (char *) bdata.data();
//
// XsSize length;
// int32_t readChar;
//
// gotoRead();
//
// length = 0;
// readChar = (uint32_t) m_handle->getc();
//
// while (!m_handle->eof() && !m_handle->error())
// {
// data[length] = (char) readChar;
// ++length;
// ++m_readPos;
//
// if (length >= maxLength)
// return m_lastResult = XRV_OK;
// if ((unsigned char) readChar == terminator)
// {
// bdata.pop_back(maxLength - length);
// return m_lastResult = XRV_OK;
// }
// }
// bdata.pop_back(maxLength - length);
// return m_lastResult = XRV_ENDOFFILE;
//}
//
///*! \brief Set the new absolute read position
// \details The read position is checked against the filesize first.
// \param pos The new read position
// \returns XRV_OK if the read position was updated successfully
//*/
//XsResultValue IoInterfaceFile::setReadPosition (XsFilePos pos)
//{
// if (!m_handle)
// return m_lastResult = XRV_NOFILEOPEN;
//
// if (m_readPos != pos)
// {
// m_readPos = pos;
// if (m_reading)
// m_handle->seek(m_readPos);
// }
//
// return m_lastResult = XRV_OK;
//}
//
///*! \brief Set the new absolute write position
// \details The write position is checked against the filesize first.
// \param pos The new write position
// \returns XRV_OK if the write position was updated successfully
//*/
//XsResultValue IoInterfaceFile::setWritePosition(XsFilePos pos)
//{
// if (!m_handle)
// return m_lastResult = XRV_NOFILEOPEN;
// if (m_readOnly)
// return m_lastResult = XRV_READONLY;
//
// if (pos == -1)
// {
// if (m_reading)
// m_reading = false;
// m_handle->seek_r(0);
// m_writePos = m_handle->tell();
// }
// else
// {
// if (m_writePos != pos)
// {
// m_writePos = pos;
// if (!m_reading)
// m_handle->seek(m_writePos);
// }
// }
//
// return m_lastResult = XRV_OK;
//}
//
///*! \copydoc IoInterface::writeData
// \note The function writes the given data to the file at the current write position.
//*/
//XsResultValue IoInterfaceFile::writeData(const XsByteArray& data, XsSize *written)
//{
// if (!m_handle)
// return m_lastResult = XRV_NOFILEOPEN;
// if (m_readOnly)
// return m_lastResult = XRV_READONLY;
//
// size_t length = data.size();
// if (length == 0)
// return m_lastResult = XRV_OK;
//
// gotoWrite();
// size_t writeRes = m_handle->write(data.data(), 1, length);
// if (writeRes == (size_t)EOF || writeRes < length)
// {
// int32_t err = (int32_t)errno;
// switch (err)
// {
// case 0: break;
// case ENOSPC: return m_lastResult = XRV_INSUFFICIENTSPACE;
// case ENOMEM: return m_lastResult = XRV_OUTOFMEMORY;
// default: return m_lastResult = XRV_ERROR;
// }
// }
// m_writePos += writeRes;
// if (written)
// *written = (uint32_t)writeRes;
//
// if (m_writePos > m_fileSize)
// m_fileSize = m_writePos;
//
// return m_lastResult = XRV_OK;
//}
//
///*! \brief Return the current read position.
// \returns The current read position.
//*/
//XsFilePos IoInterfaceFile::getReadPosition(void) const
//{
// return m_readPos;
//}
//
///*! \brief Return the current write position.
// \returns The current write position.
//*/
//XsFilePos IoInterfaceFile::getWritePosition(void) const
//{
// return m_writePos;
//}
//
///*! \brief Return the result code of the last operation.
// \returns The result code of the last operation.
//*/
//XsResultValue IoInterfaceFile::getLastResult(void) const
//{
// return m_lastResult;
//}
//
///*! \brief Return whether the file is open or not.
// \returns true if the file is open
//*/
//bool IoInterfaceFile::isOpen(void) const
//{
// return m_handle != NULL;
//}
//
///*! \brief Return whether the file is readonly or not.
// \returns true if the file is readonly
//*/
//bool IoInterfaceFile::isReadOnly(void) const
//{
// return !isOpen() || m_readOnly;
//}
//
| [
"alekhya@evergreeninnovations.co"
] | alekhya@evergreeninnovations.co |
df2ab3c316e37ed4c050cb2bf67721bd61939bf5 | a9c0edac10fb4516d012f7099e98ff344c3044c2 | /Pods/CNIOBoringSSL/Sources/CNIOBoringSSL/ssl/tls13_both.cc | b262319e10234effc6b55fc9ff46c771b4f66746 | [
"MIT",
"Apache-2.0"
] | permissive | mbpolan/rapid-irc-client | 271110086ab8ab158742fcb08b34a3d06089fc4a | fd4e2df4f3d206fb03106fb454c6334b3b62ef43 | refs/heads/master | 2023-03-16T15:01:31.279017 | 2021-03-11T03:01:18 | 2021-03-11T03:01:18 | 307,189,604 | 6 | 1 | MIT | 2021-02-15T23:15:52 | 2020-10-25T20:48:21 | Swift | UTF-8 | C++ | false | false | 23,108 | cc | /* Copyright (c) 2016, Google Inc.
*
* Permission to use, copy, modify, and/or distribute this software for any
* purpose with or without fee is hereby granted, provided that the above
* copyright notice and this permission notice appear in all copies.
*
* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
* WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY
* SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
* WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION
* OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN
* CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. */
#include <CNIOBoringSSL_ssl.h>
#include <assert.h>
#include <string.h>
#include <utility>
#include <CNIOBoringSSL_bytestring.h>
#include <CNIOBoringSSL_err.h>
#include <CNIOBoringSSL_hkdf.h>
#include <CNIOBoringSSL_mem.h>
#include <CNIOBoringSSL_stack.h>
#include <CNIOBoringSSL_x509.h>
#include "../crypto/internal.h"
#include "internal.h"
BSSL_NAMESPACE_BEGIN
// kMaxKeyUpdates is the number of consecutive KeyUpdates that will be
// processed. Without this limit an attacker could force unbounded processing
// without being able to return application data.
static const uint8_t kMaxKeyUpdates = 32;
const uint8_t kHelloRetryRequest[SSL3_RANDOM_SIZE] = {
0xcf, 0x21, 0xad, 0x74, 0xe5, 0x9a, 0x61, 0x11, 0xbe, 0x1d, 0x8c,
0x02, 0x1e, 0x65, 0xb8, 0x91, 0xc2, 0xa2, 0x11, 0x16, 0x7a, 0xbb,
0x8c, 0x5e, 0x07, 0x9e, 0x09, 0xe2, 0xc8, 0xa8, 0x33, 0x9c,
};
// See RFC 8446, section 4.1.3.
const uint8_t kTLS12DowngradeRandom[8] = {0x44, 0x4f, 0x57, 0x4e,
0x47, 0x52, 0x44, 0x00};
const uint8_t kTLS13DowngradeRandom[8] = {0x44, 0x4f, 0x57, 0x4e,
0x47, 0x52, 0x44, 0x01};
// This is a non-standard randomly-generated value.
const uint8_t kJDK11DowngradeRandom[8] = {0xed, 0xbf, 0xb4, 0xa8,
0xc2, 0x47, 0x10, 0xff};
bool tls13_get_cert_verify_signature_input(
SSL_HANDSHAKE *hs, Array<uint8_t> *out,
enum ssl_cert_verify_context_t cert_verify_context) {
ScopedCBB cbb;
if (!CBB_init(cbb.get(), 64 + 33 + 1 + 2 * EVP_MAX_MD_SIZE)) {
OPENSSL_PUT_ERROR(SSL, ERR_R_MALLOC_FAILURE);
return false;
}
for (size_t i = 0; i < 64; i++) {
if (!CBB_add_u8(cbb.get(), 0x20)) {
OPENSSL_PUT_ERROR(SSL, ERR_R_MALLOC_FAILURE);
return false;
}
}
Span<const char> context;
if (cert_verify_context == ssl_cert_verify_server) {
static const char kContext[] = "TLS 1.3, server CertificateVerify";
context = kContext;
} else if (cert_verify_context == ssl_cert_verify_client) {
static const char kContext[] = "TLS 1.3, client CertificateVerify";
context = kContext;
} else if (cert_verify_context == ssl_cert_verify_channel_id) {
static const char kContext[] = "TLS 1.3, Channel ID";
context = kContext;
} else {
OPENSSL_PUT_ERROR(SSL, ERR_R_MALLOC_FAILURE);
return false;
}
// Note |context| includes the NUL byte separator.
if (!CBB_add_bytes(cbb.get(),
reinterpret_cast<const uint8_t *>(context.data()),
context.size())) {
OPENSSL_PUT_ERROR(SSL, ERR_R_MALLOC_FAILURE);
return false;
}
uint8_t context_hash[EVP_MAX_MD_SIZE];
size_t context_hash_len;
if (!hs->transcript.GetHash(context_hash, &context_hash_len) ||
!CBB_add_bytes(cbb.get(), context_hash, context_hash_len) ||
!CBBFinishArray(cbb.get(), out)) {
OPENSSL_PUT_ERROR(SSL, ERR_R_MALLOC_FAILURE);
return false;
}
return true;
}
bool tls13_process_certificate(SSL_HANDSHAKE *hs, const SSLMessage &msg,
bool allow_anonymous) {
SSL *const ssl = hs->ssl;
CBS body = msg.body;
bssl::UniquePtr<CRYPTO_BUFFER> decompressed;
if (msg.type == SSL3_MT_COMPRESSED_CERTIFICATE) {
CBS compressed;
uint16_t alg_id;
uint32_t uncompressed_len;
if (!CBS_get_u16(&body, &alg_id) ||
!CBS_get_u24(&body, &uncompressed_len) ||
!CBS_get_u24_length_prefixed(&body, &compressed) ||
CBS_len(&body) != 0) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_DECODE_ERROR);
OPENSSL_PUT_ERROR(SSL, SSL_R_DECODE_ERROR);
return false;
}
if (uncompressed_len > ssl->max_cert_list) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_ILLEGAL_PARAMETER);
OPENSSL_PUT_ERROR(SSL, SSL_R_UNCOMPRESSED_CERT_TOO_LARGE);
ERR_add_error_dataf("requested=%u",
static_cast<unsigned>(uncompressed_len));
return false;
}
ssl_cert_decompression_func_t decompress = nullptr;
for (const auto &alg : ssl->ctx->cert_compression_algs) {
if (alg.alg_id == alg_id) {
decompress = alg.decompress;
break;
}
}
if (decompress == nullptr) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_ILLEGAL_PARAMETER);
OPENSSL_PUT_ERROR(SSL, SSL_R_UNKNOWN_CERT_COMPRESSION_ALG);
ERR_add_error_dataf("alg=%d", static_cast<int>(alg_id));
return false;
}
CRYPTO_BUFFER *decompressed_ptr = nullptr;
if (!decompress(ssl, &decompressed_ptr, uncompressed_len,
CBS_data(&compressed), CBS_len(&compressed))) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_DECODE_ERROR);
OPENSSL_PUT_ERROR(SSL, SSL_R_CERT_DECOMPRESSION_FAILED);
ERR_add_error_dataf("alg=%d", static_cast<int>(alg_id));
return false;
}
decompressed.reset(decompressed_ptr);
if (CRYPTO_BUFFER_len(decompressed_ptr) != uncompressed_len) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_DECODE_ERROR);
OPENSSL_PUT_ERROR(SSL, SSL_R_CERT_DECOMPRESSION_FAILED);
ERR_add_error_dataf(
"alg=%d got=%u expected=%u", static_cast<int>(alg_id),
static_cast<unsigned>(CRYPTO_BUFFER_len(decompressed_ptr)),
static_cast<unsigned>(uncompressed_len));
return false;
}
CBS_init(&body, CRYPTO_BUFFER_data(decompressed_ptr),
CRYPTO_BUFFER_len(decompressed_ptr));
} else {
assert(msg.type == SSL3_MT_CERTIFICATE);
}
CBS context, certificate_list;
if (!CBS_get_u8_length_prefixed(&body, &context) ||
CBS_len(&context) != 0 ||
!CBS_get_u24_length_prefixed(&body, &certificate_list) ||
CBS_len(&body) != 0) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_DECODE_ERROR);
OPENSSL_PUT_ERROR(SSL, SSL_R_DECODE_ERROR);
return false;
}
UniquePtr<STACK_OF(CRYPTO_BUFFER)> certs(sk_CRYPTO_BUFFER_new_null());
if (!certs) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_INTERNAL_ERROR);
OPENSSL_PUT_ERROR(SSL, ERR_R_MALLOC_FAILURE);
return false;
}
const bool retain_sha256 =
ssl->server && hs->config->retain_only_sha256_of_client_certs;
UniquePtr<EVP_PKEY> pkey;
while (CBS_len(&certificate_list) > 0) {
CBS certificate, extensions;
if (!CBS_get_u24_length_prefixed(&certificate_list, &certificate) ||
!CBS_get_u16_length_prefixed(&certificate_list, &extensions) ||
CBS_len(&certificate) == 0) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_DECODE_ERROR);
OPENSSL_PUT_ERROR(SSL, SSL_R_CERT_LENGTH_MISMATCH);
return false;
}
if (sk_CRYPTO_BUFFER_num(certs.get()) == 0) {
pkey = ssl_cert_parse_pubkey(&certificate);
if (!pkey) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_DECODE_ERROR);
OPENSSL_PUT_ERROR(SSL, SSL_R_DECODE_ERROR);
return false;
}
// TLS 1.3 always uses certificate keys for signing thus the correct
// keyUsage is enforced.
if (!ssl_cert_check_key_usage(&certificate,
key_usage_digital_signature)) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_ILLEGAL_PARAMETER);
return false;
}
if (retain_sha256) {
// Retain the hash of the leaf certificate if requested.
SHA256(CBS_data(&certificate), CBS_len(&certificate),
hs->new_session->peer_sha256);
}
}
UniquePtr<CRYPTO_BUFFER> buf(
CRYPTO_BUFFER_new_from_CBS(&certificate, ssl->ctx->pool));
if (!buf ||
!PushToStack(certs.get(), std::move(buf))) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_INTERNAL_ERROR);
OPENSSL_PUT_ERROR(SSL, ERR_R_MALLOC_FAILURE);
return false;
}
// Parse out the extensions.
bool have_status_request = false, have_sct = false;
CBS status_request, sct;
const SSL_EXTENSION_TYPE ext_types[] = {
{TLSEXT_TYPE_status_request, &have_status_request, &status_request},
{TLSEXT_TYPE_certificate_timestamp, &have_sct, &sct},
};
uint8_t alert = SSL_AD_DECODE_ERROR;
if (!ssl_parse_extensions(&extensions, &alert, ext_types,
/*ignore_unknown=*/false)) {
ssl_send_alert(ssl, SSL3_AL_FATAL, alert);
return false;
}
// All Certificate extensions are parsed, but only the leaf extensions are
// stored.
if (have_status_request) {
if (ssl->server || !hs->config->ocsp_stapling_enabled) {
OPENSSL_PUT_ERROR(SSL, SSL_R_UNEXPECTED_EXTENSION);
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_UNSUPPORTED_EXTENSION);
return false;
}
uint8_t status_type;
CBS ocsp_response;
if (!CBS_get_u8(&status_request, &status_type) ||
status_type != TLSEXT_STATUSTYPE_ocsp ||
!CBS_get_u24_length_prefixed(&status_request, &ocsp_response) ||
CBS_len(&ocsp_response) == 0 ||
CBS_len(&status_request) != 0) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_DECODE_ERROR);
return false;
}
if (sk_CRYPTO_BUFFER_num(certs.get()) == 1) {
hs->new_session->ocsp_response.reset(
CRYPTO_BUFFER_new_from_CBS(&ocsp_response, ssl->ctx->pool));
if (hs->new_session->ocsp_response == nullptr) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_INTERNAL_ERROR);
return false;
}
}
}
if (have_sct) {
if (ssl->server || !hs->config->signed_cert_timestamps_enabled) {
OPENSSL_PUT_ERROR(SSL, SSL_R_UNEXPECTED_EXTENSION);
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_UNSUPPORTED_EXTENSION);
return false;
}
if (!ssl_is_sct_list_valid(&sct)) {
OPENSSL_PUT_ERROR(SSL, SSL_R_ERROR_PARSING_EXTENSION);
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_DECODE_ERROR);
return false;
}
if (sk_CRYPTO_BUFFER_num(certs.get()) == 1) {
hs->new_session->signed_cert_timestamp_list.reset(
CRYPTO_BUFFER_new_from_CBS(&sct, ssl->ctx->pool));
if (hs->new_session->signed_cert_timestamp_list == nullptr) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_INTERNAL_ERROR);
return false;
}
}
}
}
// Store a null certificate list rather than an empty one if the peer didn't
// send certificates.
if (sk_CRYPTO_BUFFER_num(certs.get()) == 0) {
certs.reset();
}
hs->peer_pubkey = std::move(pkey);
hs->new_session->certs = std::move(certs);
if (!ssl->ctx->x509_method->session_cache_objects(hs->new_session.get())) {
OPENSSL_PUT_ERROR(SSL, SSL_R_DECODE_ERROR);
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_DECODE_ERROR);
return false;
}
if (sk_CRYPTO_BUFFER_num(hs->new_session->certs.get()) == 0) {
if (!allow_anonymous) {
OPENSSL_PUT_ERROR(SSL, SSL_R_PEER_DID_NOT_RETURN_A_CERTIFICATE);
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_CERTIFICATE_REQUIRED);
return false;
}
// OpenSSL returns X509_V_OK when no certificates are requested. This is
// classed by them as a bug, but it's assumed by at least NGINX.
hs->new_session->verify_result = X509_V_OK;
// No certificate, so nothing more to do.
return true;
}
hs->new_session->peer_sha256_valid = retain_sha256;
return true;
}
bool tls13_process_certificate_verify(SSL_HANDSHAKE *hs, const SSLMessage &msg) {
SSL *const ssl = hs->ssl;
if (hs->peer_pubkey == NULL) {
OPENSSL_PUT_ERROR(SSL, ERR_R_INTERNAL_ERROR);
return false;
}
CBS body = msg.body, signature;
uint16_t signature_algorithm;
if (!CBS_get_u16(&body, &signature_algorithm) ||
!CBS_get_u16_length_prefixed(&body, &signature) ||
CBS_len(&body) != 0) {
OPENSSL_PUT_ERROR(SSL, SSL_R_DECODE_ERROR);
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_DECODE_ERROR);
return false;
}
uint8_t alert = SSL_AD_DECODE_ERROR;
if (!tls12_check_peer_sigalg(hs, &alert, signature_algorithm)) {
ssl_send_alert(ssl, SSL3_AL_FATAL, alert);
return false;
}
hs->new_session->peer_signature_algorithm = signature_algorithm;
Array<uint8_t> input;
if (!tls13_get_cert_verify_signature_input(
hs, &input,
ssl->server ? ssl_cert_verify_client : ssl_cert_verify_server)) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_INTERNAL_ERROR);
return false;
}
if (!ssl_public_key_verify(ssl, signature, signature_algorithm,
hs->peer_pubkey.get(), input)) {
OPENSSL_PUT_ERROR(SSL, SSL_R_BAD_SIGNATURE);
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_DECRYPT_ERROR);
return false;
}
return true;
}
bool tls13_process_finished(SSL_HANDSHAKE *hs, const SSLMessage &msg,
bool use_saved_value) {
SSL *const ssl = hs->ssl;
uint8_t verify_data_buf[EVP_MAX_MD_SIZE];
Span<const uint8_t> verify_data;
if (use_saved_value) {
assert(ssl->server);
verify_data = hs->expected_client_finished();
} else {
size_t len;
if (!tls13_finished_mac(hs, verify_data_buf, &len, !ssl->server)) {
return false;
}
verify_data = MakeConstSpan(verify_data_buf, len);
}
bool finished_ok =
CBS_mem_equal(&msg.body, verify_data.data(), verify_data.size());
#if defined(BORINGSSL_UNSAFE_FUZZER_MODE)
finished_ok = true;
#endif
if (!finished_ok) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_DECRYPT_ERROR);
OPENSSL_PUT_ERROR(SSL, SSL_R_DIGEST_CHECK_FAILED);
return false;
}
return true;
}
bool tls13_add_certificate(SSL_HANDSHAKE *hs) {
SSL *const ssl = hs->ssl;
CERT *const cert = hs->config->cert.get();
DC *const dc = cert->dc.get();
ScopedCBB cbb;
CBB *body, body_storage, certificate_list;
if (hs->cert_compression_negotiated) {
if (!CBB_init(cbb.get(), 1024)) {
return false;
}
body = cbb.get();
} else {
body = &body_storage;
if (!ssl->method->init_message(ssl, cbb.get(), body, SSL3_MT_CERTIFICATE)) {
return false;
}
}
if (// The request context is always empty in the handshake.
!CBB_add_u8(body, 0) ||
!CBB_add_u24_length_prefixed(body, &certificate_list)) {
OPENSSL_PUT_ERROR(SSL, ERR_R_INTERNAL_ERROR);
return false;
}
if (!ssl_has_certificate(hs)) {
return ssl_add_message_cbb(ssl, cbb.get());
}
CRYPTO_BUFFER *leaf_buf = sk_CRYPTO_BUFFER_value(cert->chain.get(), 0);
CBB leaf, extensions;
if (!CBB_add_u24_length_prefixed(&certificate_list, &leaf) ||
!CBB_add_bytes(&leaf, CRYPTO_BUFFER_data(leaf_buf),
CRYPTO_BUFFER_len(leaf_buf)) ||
!CBB_add_u16_length_prefixed(&certificate_list, &extensions)) {
OPENSSL_PUT_ERROR(SSL, ERR_R_INTERNAL_ERROR);
return false;
}
if (hs->scts_requested && cert->signed_cert_timestamp_list != nullptr) {
CBB contents;
if (!CBB_add_u16(&extensions, TLSEXT_TYPE_certificate_timestamp) ||
!CBB_add_u16_length_prefixed(&extensions, &contents) ||
!CBB_add_bytes(
&contents,
CRYPTO_BUFFER_data(cert->signed_cert_timestamp_list.get()),
CRYPTO_BUFFER_len(cert->signed_cert_timestamp_list.get())) ||
!CBB_flush(&extensions)) {
OPENSSL_PUT_ERROR(SSL, ERR_R_INTERNAL_ERROR);
return false;
}
}
if (hs->ocsp_stapling_requested && cert->ocsp_response != NULL) {
CBB contents, ocsp_response;
if (!CBB_add_u16(&extensions, TLSEXT_TYPE_status_request) ||
!CBB_add_u16_length_prefixed(&extensions, &contents) ||
!CBB_add_u8(&contents, TLSEXT_STATUSTYPE_ocsp) ||
!CBB_add_u24_length_prefixed(&contents, &ocsp_response) ||
!CBB_add_bytes(&ocsp_response,
CRYPTO_BUFFER_data(cert->ocsp_response.get()),
CRYPTO_BUFFER_len(cert->ocsp_response.get())) ||
!CBB_flush(&extensions)) {
OPENSSL_PUT_ERROR(SSL, ERR_R_INTERNAL_ERROR);
return false;
}
}
if (ssl_signing_with_dc(hs)) {
const CRYPTO_BUFFER *raw = dc->raw.get();
CBB child;
if (!CBB_add_u16(&extensions, TLSEXT_TYPE_delegated_credential) ||
!CBB_add_u16_length_prefixed(&extensions, &child) ||
!CBB_add_bytes(&child, CRYPTO_BUFFER_data(raw),
CRYPTO_BUFFER_len(raw)) ||
!CBB_flush(&extensions)) {
OPENSSL_PUT_ERROR(SSL, ERR_R_INTERNAL_ERROR);
return 0;
}
ssl->s3->delegated_credential_used = true;
}
for (size_t i = 1; i < sk_CRYPTO_BUFFER_num(cert->chain.get()); i++) {
CRYPTO_BUFFER *cert_buf = sk_CRYPTO_BUFFER_value(cert->chain.get(), i);
CBB child;
if (!CBB_add_u24_length_prefixed(&certificate_list, &child) ||
!CBB_add_bytes(&child, CRYPTO_BUFFER_data(cert_buf),
CRYPTO_BUFFER_len(cert_buf)) ||
!CBB_add_u16(&certificate_list, 0 /* no extensions */)) {
OPENSSL_PUT_ERROR(SSL, ERR_R_INTERNAL_ERROR);
return false;
}
}
if (!hs->cert_compression_negotiated) {
return ssl_add_message_cbb(ssl, cbb.get());
}
Array<uint8_t> msg;
if (!CBBFinishArray(cbb.get(), &msg)) {
OPENSSL_PUT_ERROR(SSL, ERR_R_INTERNAL_ERROR);
return false;
}
const CertCompressionAlg *alg = nullptr;
for (const auto &candidate : ssl->ctx->cert_compression_algs) {
if (candidate.alg_id == hs->cert_compression_alg_id) {
alg = &candidate;
break;
}
}
if (alg == nullptr || alg->compress == nullptr) {
OPENSSL_PUT_ERROR(SSL, ERR_R_INTERNAL_ERROR);
return false;
}
CBB compressed;
body = &body_storage;
if (!ssl->method->init_message(ssl, cbb.get(), body,
SSL3_MT_COMPRESSED_CERTIFICATE) ||
!CBB_add_u16(body, hs->cert_compression_alg_id) ||
!CBB_add_u24(body, msg.size()) ||
!CBB_add_u24_length_prefixed(body, &compressed) ||
!alg->compress(ssl, &compressed, msg.data(), msg.size()) ||
!ssl_add_message_cbb(ssl, cbb.get())) {
OPENSSL_PUT_ERROR(SSL, ERR_R_INTERNAL_ERROR);
return false;
}
return true;
}
enum ssl_private_key_result_t tls13_add_certificate_verify(SSL_HANDSHAKE *hs) {
SSL *const ssl = hs->ssl;
uint16_t signature_algorithm;
if (!tls1_choose_signature_algorithm(hs, &signature_algorithm)) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_HANDSHAKE_FAILURE);
return ssl_private_key_failure;
}
ScopedCBB cbb;
CBB body;
if (!ssl->method->init_message(ssl, cbb.get(), &body,
SSL3_MT_CERTIFICATE_VERIFY) ||
!CBB_add_u16(&body, signature_algorithm)) {
OPENSSL_PUT_ERROR(SSL, ERR_R_INTERNAL_ERROR);
return ssl_private_key_failure;
}
// Sign the digest.
CBB child;
const size_t max_sig_len = EVP_PKEY_size(hs->local_pubkey.get());
uint8_t *sig;
size_t sig_len;
if (!CBB_add_u16_length_prefixed(&body, &child) ||
!CBB_reserve(&child, &sig, max_sig_len)) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_INTERNAL_ERROR);
return ssl_private_key_failure;
}
Array<uint8_t> msg;
if (!tls13_get_cert_verify_signature_input(
hs, &msg,
ssl->server ? ssl_cert_verify_server : ssl_cert_verify_client)) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_INTERNAL_ERROR);
return ssl_private_key_failure;
}
enum ssl_private_key_result_t sign_result = ssl_private_key_sign(
hs, sig, &sig_len, max_sig_len, signature_algorithm, msg);
if (sign_result != ssl_private_key_success) {
return sign_result;
}
if (!CBB_did_write(&child, sig_len) ||
!ssl_add_message_cbb(ssl, cbb.get())) {
return ssl_private_key_failure;
}
return ssl_private_key_success;
}
bool tls13_add_finished(SSL_HANDSHAKE *hs) {
SSL *const ssl = hs->ssl;
size_t verify_data_len;
uint8_t verify_data[EVP_MAX_MD_SIZE];
if (!tls13_finished_mac(hs, verify_data, &verify_data_len, ssl->server)) {
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_INTERNAL_ERROR);
OPENSSL_PUT_ERROR(SSL, SSL_R_DIGEST_CHECK_FAILED);
return false;
}
ScopedCBB cbb;
CBB body;
if (!ssl->method->init_message(ssl, cbb.get(), &body, SSL3_MT_FINISHED) ||
!CBB_add_bytes(&body, verify_data, verify_data_len) ||
!ssl_add_message_cbb(ssl, cbb.get())) {
return false;
}
return true;
}
bool tls13_add_key_update(SSL *ssl, int update_requested) {
ScopedCBB cbb;
CBB body_cbb;
if (!ssl->method->init_message(ssl, cbb.get(), &body_cbb,
SSL3_MT_KEY_UPDATE) ||
!CBB_add_u8(&body_cbb, update_requested) ||
!ssl_add_message_cbb(ssl, cbb.get()) ||
!tls13_rotate_traffic_key(ssl, evp_aead_seal)) {
return false;
}
// Suppress KeyUpdate acknowledgments until this change is written to the
// wire. This prevents us from accumulating write obligations when read and
// write progress at different rates. See RFC 8446, section 4.6.3.
ssl->s3->key_update_pending = true;
return true;
}
static bool tls13_receive_key_update(SSL *ssl, const SSLMessage &msg) {
CBS body = msg.body;
uint8_t key_update_request;
if (!CBS_get_u8(&body, &key_update_request) ||
CBS_len(&body) != 0 ||
(key_update_request != SSL_KEY_UPDATE_NOT_REQUESTED &&
key_update_request != SSL_KEY_UPDATE_REQUESTED)) {
OPENSSL_PUT_ERROR(SSL, SSL_R_DECODE_ERROR);
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_DECODE_ERROR);
return false;
}
if (!tls13_rotate_traffic_key(ssl, evp_aead_open)) {
return false;
}
// Acknowledge the KeyUpdate
if (key_update_request == SSL_KEY_UPDATE_REQUESTED &&
!ssl->s3->key_update_pending &&
!tls13_add_key_update(ssl, SSL_KEY_UPDATE_NOT_REQUESTED)) {
return false;
}
return true;
}
bool tls13_post_handshake(SSL *ssl, const SSLMessage &msg) {
if (msg.type == SSL3_MT_KEY_UPDATE) {
ssl->s3->key_update_count++;
if (ssl->quic_method != nullptr ||
ssl->s3->key_update_count > kMaxKeyUpdates) {
OPENSSL_PUT_ERROR(SSL, SSL_R_TOO_MANY_KEY_UPDATES);
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_UNEXPECTED_MESSAGE);
return false;
}
return tls13_receive_key_update(ssl, msg);
}
ssl->s3->key_update_count = 0;
if (msg.type == SSL3_MT_NEW_SESSION_TICKET && !ssl->server) {
return tls13_process_new_session_ticket(ssl, msg);
}
ssl_send_alert(ssl, SSL3_AL_FATAL, SSL_AD_UNEXPECTED_MESSAGE);
OPENSSL_PUT_ERROR(SSL, SSL_R_UNEXPECTED_MESSAGE);
return false;
}
BSSL_NAMESPACE_END
| [
"mbpolan@gmail.com"
] | mbpolan@gmail.com |
bcfea807171e95bb55076e8a78257502cd3cf5c2 | 51635684d03e47ebad12b8872ff469b83f36aa52 | /external/gcc-12.1.0/libstdc++-v3/testsuite/ext/median.cc | a7642f3f65913d643bc44fd5b17a50f13774cd68 | [
"LGPL-2.1-only",
"GPL-3.0-only",
"GCC-exception-3.1",
"GPL-2.0-only",
"LGPL-3.0-only",
"LGPL-2.0-or-later",
"Zlib",
"LicenseRef-scancode-public-domain"
] | permissive | zhmu/ananas | 8fb48ddfe3582f85ff39184fc7a3c58725fe731a | 30850c1639f03bccbfb2f2b03361792cc8fae52e | refs/heads/master | 2022-06-25T10:44:46.256604 | 2022-06-12T17:04:40 | 2022-06-12T17:04:40 | 30,108,381 | 59 | 8 | Zlib | 2021-09-26T17:30:30 | 2015-01-31T09:44:33 | C | UTF-8 | C++ | false | false | 1,393 | cc | // Copyright (C) 2005-2022 Free Software Foundation, Inc.
//
// This file is part of the GNU ISO C++ Library. This library is free
// software; you can redistribute it and/or modify it under the
// terms of the GNU General Public License as published by the
// Free Software Foundation; either version 3, or (at your option)
// any later version.
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
// You should have received a copy of the GNU General Public License along
// with this library; see the file COPYING3. If not see
// <http://www.gnu.org/licenses/>.
// median - SGI extension
#include <ext/algorithm>
#include <testsuite_hooks.h>
bool pred(const int& l, const int& r)
{
return l<r;
}
using __gnu_cxx::__median;
int main()
{
const int i=1;
const int j=2;
const int k=3;
VERIFY(__median(i, j, k) == j && __median(i, j, k, pred) == j);
VERIFY(__median(i, k, j) == j && __median(i, k, j, pred) == j);
VERIFY(__median(j, i, k) == j && __median(j, i, k, pred) == j);
VERIFY(__median(j, k, i) == j && __median(j, k, i, pred) == j);
VERIFY(__median(k, i, j) == j && __median(k, i, j, pred) == j);
VERIFY(__median(k, j, i) == j && __median(k, j, i, pred) == j);
}
| [
"rink@rink.nu"
] | rink@rink.nu |
f804caf610e83c32ee51069a2084dc9a5c74d50a | 43260ae9ca878721e72b37ad21349cd9d7553c8d | /solve.edu.pl/Taksówki.cpp | d56dba4afd1f3cdbb7c4cbe428d8a0b7fb6da61e | [] | no_license | PawelMasluch/Programming-tasks-and-my-solutons | 55e9d72917499c30e596d3e64639048edbf22e01 | 6177e0908bca61141b1851b73dc0d0c950d6229f | refs/heads/main | 2023-08-24T07:10:55.111954 | 2021-10-17T10:01:48 | 2021-10-17T10:01:48 | 372,923,592 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 700 | cpp | #include<cstdio> // 100 pkt
using namespace std;
int ile[5], n, wyn = 0, a, pom;
int min(int a, int b)
{
return ( a < b ) ? a : b ;
}
int main()
{
scanf( "%d", &n );
while( n )
{
scanf( "%d", &a );
++ile[a];
--n;
}
// Czwórki
wyn += ile[4];
ile[4] = 0;
// Trójki
pom = min( ile[3], ile[1] );
wyn += pom;
ile[3] -= pom;
ile[1] -= pom;
if( ile[3] > 0 )
{
wyn += ile[3];
ile[3] = 0;
}
// Dwójki
wyn += ( ile[2] / 2 );
ile[2] %= 2;
if( ile[2] == 1 )
{
pom = min( 2, ile[1] );
++wyn;
ile[2] = 0;
ile[1] -= pom;
}
// Jedynki
wyn += ( ile[1] + 3 ) / 4;
printf( "%d\n", wyn );
return 0;
}
| [
"48213773+PawelMasluch@users.noreply.github.com"
] | 48213773+PawelMasluch@users.noreply.github.com |
68ed9a82e18fb03d346a2ee9792b199559c9b991 | 81a4ee9361b743a562b06200548cfb6fde15db25 | /V-REP_PRO_EDU_V3_6_0_Ubuntu18_04/programming/b0RemoteApiBindings/generate/simxStubs/cpp/stubs.cpp | d5a5ecc9327e5b71faa2f78604920397553c016f | [
"LicenseRef-scancode-unknown-license-reference",
"BSD-3-Clause"
] | permissive | mila-sevilla/robot-simulator | fd3dd2e9580fd1720a88125ee586e47cbb793216 | 1c97d9472586b9d2f4b8a12d8866d4ccd7a8eb51 | refs/heads/master | 2020-04-30T01:51:50.330968 | 2019-04-03T17:24:45 | 2019-04-03T17:24:45 | 176,541,877 | 1 | 2 | null | null | null | null | UTF-8 | C++ | false | false | 25,447 | cpp | #py from parse import parse
#py import model
#py plugin = parse(pycpp.params['xml_file'])
// -------------------------------------------------------
// Add your custom functions at the bottom of the file
// and the server counterpart to lua/b0RemoteApiServer.lua
// -------------------------------------------------------
#include "b0RemoteApi.h"
b0RemoteApi::b0RemoteApi(const char* nodeName,const char* channelName,int inactivityToleranceInSec,bool setupSubscribersAsynchronously)
{
_channelName=channelName;
_serviceCallTopic=_channelName+"SerX";
_defaultPublisherTopic=_channelName+"SubX";
_defaultSubscriberTopic=_channelName+"PubX";
_allTopics.push_back(_serviceCallTopic);
_allTopics.push_back(_defaultPublisherTopic);
_allTopics.push_back(_defaultSubscriberTopic);
_nextDefaultSubscriberHandle=2;
_nextDedicatedPublisherHandle=500;
_nextDedicatedSubscriberHandle=1000;
b0::init();
_node=new b0::Node(nodeName);
srand((unsigned int)_node->hardwareTimeUSec());
const char* alp="0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz";
for (size_t i=0;i<10;i++)
{
size_t p=size_t(61.9f*(float(rand())/RAND_MAX));
_clientId+=alp[p];
}
_serviceClient=new b0::ServiceClient(_node,_serviceCallTopic);
_serviceClient->setReadTimeout(1000);
_defaultPublisher=new b0::Publisher(_node,_defaultPublisherTopic);
_defaultSubscriber=new b0::Subscriber(_node,_defaultSubscriberTopic); // we will poll the socket
std::cout << "\n Running B0 Remote API client with channel name [" << channelName << "]" << std::endl;
std::cout << " make sure that: 1) the B0 resolver is running" << std::endl;
std::cout << " 2) V-REP is running the B0 Remote API server with the same channel name" << std::endl;
std::cout << " Initializing...\n" << std::endl;
_node->init();
std::tuple<int> args(inactivityToleranceInSec);
std::stringstream packedArgs;
msgpack::pack(packedArgs,args);
_handleFunction("inactivityTolerance",packedArgs.str(),_serviceCallTopic.c_str());
_setupSubscribersAsynchronously=setupSubscribersAsynchronously;
std::cout << "\n Connected!\n" << std::endl;
}
b0RemoteApi::~b0RemoteApi()
{
_pongReceived=false;
std::tuple<int> args1(0);
std::stringstream packedArgs1;
msgpack::pack(packedArgs1,args1);
const char* pingTopic=simxDefaultSubscriber(boost::bind(&b0RemoteApi::_pingCallback,this,_1));
_handleFunction("Ping",packedArgs1.str(),pingTopic);
while (!_pongReceived)
simxSpinOnce();
std::tuple<std::string> args2(_clientId);
std::stringstream packedArgs2;
msgpack::pack(packedArgs2,args2);
_handleFunction("DisconnectClient",packedArgs2.str(),_serviceCallTopic.c_str());
for (std::map<std::string,SHandleAndCb>::iterator it=_allSubscribers.begin();it!=_allSubscribers.end();it++)
{
if (it->second.handle!=_defaultSubscriber)
{
it->second.handle->cleanup();
delete it->second.handle;
}
}
for (std::map<std::string,b0::Publisher*>::iterator it=_allDedicatedPublishers.begin();it!=_allDedicatedPublishers.end();it++)
{
it->second->cleanup();
delete it->second;
}
_tmpMsgPackObjects.clear();
_node->cleanup();
delete _defaultSubscriber;
delete _defaultPublisher;
delete _serviceClient;
delete _node;
}
void b0RemoteApi::_pingCallback(std::vector<msgpack::object>* msg)
{
_pongReceived=true;
}
void b0RemoteApi::simxSpin()
{
while (true)
simxSpinOnce();
}
void b0RemoteApi::simxSpinOnce()
{
bool defaultSubscriberAlreadyProcessed=false;
for (std::map<std::string,SHandleAndCb>::iterator it=_allSubscribers.begin();it!=_allSubscribers.end();it++)
{
std::string packedData;
if ( (it->second.handle!=_defaultSubscriber)||(!defaultSubscriberAlreadyProcessed) )
{
defaultSubscriberAlreadyProcessed|=(it->second.handle==_defaultSubscriber);
while (it->second.handle->poll(0))
{
packedData.clear();
it->second.handle->readRaw(packedData);
if (!it->second.dropMessages)
_handleReceivedMessage(packedData);
}
if ( it->second.dropMessages&&(packedData.size()>0) )
_handleReceivedMessage(packedData);
}
}
}
void b0RemoteApi::_handleReceivedMessage(const std::string packedData)
{
if (packedData.size()>0)
{
msgpack::unpacked msg;
msgpack::unpack(msg,packedData.data(),packedData.size());
msgpack::object obj(msg.get());
if ( (obj.type==msgpack::type::ARRAY)&&(obj.via.array.size==2)&&( (obj.via.array.ptr[0].type==msgpack::type::STR)||(obj.via.array.ptr[0].type==msgpack::type::BIN) ) )
{
std::string topic(obj.via.array.ptr[0].as<std::string>());
std::map<std::string,SHandleAndCb >::iterator it=_allSubscribers.find(topic);
if (it!=_allSubscribers.end())
{
msgpack::object obj2=obj.via.array.ptr[1].as<msgpack::object>();
if ( (obj2.type==msgpack::type::ARRAY)&&(obj2.via.array.ptr[0].type==msgpack::type::BOOLEAN) )
{
std::vector<msgpack::object> vals;
obj2.convert(vals);
if (vals.size()<2)
vals.push_back(msgpack::object());
it->second.cb(&vals);
}
}
}
}
}
long b0RemoteApi::simxGetTimeInMs()
{
return((long)_node->hardwareTimeUSec()/1000);
}
void b0RemoteApi::simxSleep(int durationInMs)
{
#ifdef _WIN32
Sleep(durationInMs);
#else
usleep(durationInMs*1000);
#endif
}
const char* b0RemoteApi::simxDefaultPublisher()
{
return(_defaultPublisherTopic.c_str());
}
const char* b0RemoteApi::simxCreatePublisher(bool dropMessages)
{
std::string topic=_channelName+"Sub"+std::to_string(_nextDedicatedPublisherHandle++)+_clientId;
_allTopics.push_back(topic);
b0::Publisher* pub=new b0::Publisher(_node,topic,false,true);
// pub->setConflate(true);
pub->init();
_allDedicatedPublishers[topic]=pub;
std::tuple<std::string,bool> args(topic,dropMessages);
std::stringstream packedArgs;
msgpack::pack(packedArgs,args);
_handleFunction("createSubscriber",packedArgs.str(),_serviceCallTopic.c_str());
return(_allTopics[_allTopics.size()-1].c_str());
}
const char* b0RemoteApi::simxDefaultSubscriber(CB_FUNC cb,int publishInterval)
{
std::string topic=_channelName+"Pub"+std::to_string(_nextDefaultSubscriberHandle++)+_clientId;
_allTopics.push_back(topic);
SHandleAndCb dat;
dat.handle=_defaultSubscriber;
dat.cb=cb;
dat.dropMessages=false;
_allSubscribers[topic]=dat;
std::tuple<std::string,int> args(topic,publishInterval);
std::stringstream packedArgs;
msgpack::pack(packedArgs,args);
std::string channel=_serviceCallTopic;
if (_setupSubscribersAsynchronously)
channel=_defaultPublisherTopic;
_handleFunction("setDefaultPublisherPubInterval",packedArgs.str(),channel.c_str());
return(_allTopics[_allTopics.size()-1].c_str());
}
const char* b0RemoteApi::simxCreateSubscriber(CB_FUNC cb,int publishInterval,bool dropMessages)
{
std::string topic=_channelName+"Pub"+std::to_string(_nextDedicatedSubscriberHandle++)+_clientId;
_allTopics.push_back(topic);
b0::Subscriber* sub=new b0::Subscriber(_node,topic,false,true);
sub->setConflate(dropMessages);
sub->init();
SHandleAndCb dat;
dat.handle=sub;
dat.cb=cb;
dat.dropMessages=dropMessages;
_allSubscribers[topic]=dat;
std::tuple<std::string,int> args(topic,publishInterval);
std::stringstream packedArgs;
msgpack::pack(packedArgs,args);
std::string channel=_serviceCallTopic;
if (_setupSubscribersAsynchronously)
channel=_defaultPublisherTopic;
_handleFunction("createPublisher",packedArgs.str(),channel.c_str());
return(_allTopics[_allTopics.size()-1].c_str());
}
const char* b0RemoteApi::simxServiceCall()
{
return(_serviceCallTopic.c_str());
}
std::vector<msgpack::object>* b0RemoteApi::_handleFunction(const char* funcName,const std::string& packedArgs,const char* topic)
{
_tmpMsgPackObjects.clear();
if (topic==_serviceCallTopic)
{
std::tuple<std::string,std::string,std::string,int> header(funcName,_clientId,topic,0);
std::stringstream packedHeader;
msgpack::pack(packedHeader,header);
std::string packedMsg;
packedMsg+=char(-110); // array of 2
packedMsg+=packedHeader.str();
packedMsg+=packedArgs;
std::string rep;
_serviceClient->call(packedMsg,rep);
msgpack::unpack(_tmpUnpackedMsg,rep.data(),rep.size());
msgpack::object obj(_tmpUnpackedMsg.get());
if ( (obj.type==msgpack::type::ARRAY)&&(obj.via.array.ptr[0].type==msgpack::type::BOOLEAN) )
{
obj.convert(_tmpMsgPackObjects);
if (_tmpMsgPackObjects.size()<2)
_tmpMsgPackObjects.push_back(msgpack::object());
return(&_tmpMsgPackObjects);
}
return(nullptr);
}
else if (topic==_defaultPublisherTopic)
{
std::tuple<std::string,std::string,std::string,int> header(funcName,_clientId,topic,1);
std::stringstream packedHeader;
msgpack::pack(packedHeader,header);
std::string packedMsg;
packedMsg+=char(-110); // array of 2
packedMsg+=packedHeader.str();
packedMsg+=packedArgs;
_defaultPublisher->publish(packedMsg);
return(nullptr);
}
else
{
std::map<std::string,SHandleAndCb>::iterator it=_allSubscribers.find(topic);
if (it!=_allSubscribers.end())
{
std::stringstream packedHeader;
if (it->second.handle==_defaultSubscriber)
{
std::tuple<std::string,std::string,std::string,int> header(funcName,_clientId,topic,2);
msgpack::pack(packedHeader,header);
}
else
{
std::tuple<std::string,std::string,std::string,int> header(funcName,_clientId,topic,4);
msgpack::pack(packedHeader,header);
}
std::string packedMsg;
packedMsg+=char(-110); // array of 2
packedMsg+=packedHeader.str();
packedMsg+=packedArgs;
if (_setupSubscribersAsynchronously)
_defaultPublisher->publish(packedMsg);
else
{
std::string rep;
_serviceClient->call(packedMsg,rep);
}
return(nullptr);
}
else
{
std::map<std::string,b0::Publisher*>::iterator it=_allDedicatedPublishers.find(topic);
if (it!=_allDedicatedPublishers.end())
{
std::stringstream packedHeader;
std::tuple<std::string,std::string,std::string,int> header(funcName,_clientId,topic,3);
msgpack::pack(packedHeader,header);
std::string packedMsg;
packedMsg+=char(-110); // array of 2
packedMsg+=packedHeader.str();
packedMsg+=packedArgs;
it->second->publish(packedMsg);
return(nullptr);
}
}
}
return(nullptr);
}
void b0RemoteApi::print(const std::vector<msgpack::object>* msg)
{
if (msg->size()>0)
{
for (size_t i=0;i<msg->size();i++)
{
if (i>0)
std::cout << ", ";
std::cout << msg->at(i);
}
std::cout << std::endl;
}
}
bool b0RemoteApi::hasValue(const std::vector<msgpack::object>* msg)
{
return(msg->size()>0);
}
bool b0RemoteApi::readBool(std::vector<msgpack::object>* msg,int pos,bool* success)
{
const msgpack::object* val=&msg->at(pos);
if ( (val!=nullptr)&&(val->type==msgpack::type::BOOLEAN) )
{
if (success!=nullptr)
success[0]=true;
return(val->as<bool>());
}
if (success!=nullptr)
success[0]=false;
return(false);
}
int b0RemoteApi::readInt(std::vector<msgpack::object>* msg,int pos,bool* success)
{
const msgpack::object* val=&msg->at(pos);
if ( (val!=nullptr)&&( (val->type==msgpack::type::POSITIVE_INTEGER)||(val->type==msgpack::type::NEGATIVE_INTEGER)||(val->type==msgpack::type::FLOAT) ) )
{
if (success!=nullptr)
success[0]=true;
if (val->type==msgpack::type::FLOAT)
{
double v=val->as<double>();
if (v<0.0)
return((int)(v-0.5));
return((int)(v+0.5));
}
return(val->as<int>());
}
if (success!=nullptr)
success[0]=false;
return(0);
}
float b0RemoteApi::readFloat(std::vector<msgpack::object>* msg,int pos,bool* success)
{
return((float)readDouble(msg,pos,success));
}
double b0RemoteApi::readDouble(std::vector<msgpack::object>* msg,int pos,bool* success)
{
const msgpack::object* val=&msg->at(pos);
if ( (val!=nullptr)&&( (val->type==msgpack::type::POSITIVE_INTEGER)||(val->type==msgpack::type::NEGATIVE_INTEGER)||(val->type==msgpack::type::FLOAT) ) )
{
if (success!=nullptr)
success[0]=true;
if (val->type==msgpack::type::FLOAT)
return(val->as<double>());
return((double)val->as<int>());
}
if (success!=nullptr)
success[0]=false;
return(0.0);
}
std::string b0RemoteApi::readString(std::vector<msgpack::object>* msg,int pos,bool* success)
{
return(readByteArray(msg,pos,success));
}
std::string b0RemoteApi::readByteArray(std::vector<msgpack::object>* msg,int pos,bool* success)
{
const msgpack::object* val=&msg->at(pos);
if ( (val!=nullptr)&&( (val->type==msgpack::type::STR)||(val->type==msgpack::type::BIN) ) )
{
if (success!=nullptr)
success[0]=true;
return(val->as<std::string>());
}
if (success!=nullptr)
success[0]=false;
return("");
}
bool b0RemoteApi::readIntArray(std::vector<msgpack::object>* msg,std::vector<int>& array,int pos)
{
bool retVal=false;
array.clear();
const msgpack::object* val=&msg->at(pos);
if ( (val!=nullptr)&&(val->type==msgpack::type::ARRAY) )
{
std::vector<msgpack::object> vals;
val->convert(vals);
for (size_t i=0;i<vals.size();i++)
{
if ( (vals[i].type==msgpack::type::POSITIVE_INTEGER)||(vals[i].type==msgpack::type::NEGATIVE_INTEGER)||(vals[i].type==msgpack::type::FLOAT) )
{
if (vals[i].type==msgpack::type::FLOAT)
{
double v=vals[i].as<double>();
if (v<0.0)
array.push_back((int)(v-0.5));
else
array.push_back((int)(v+0.5));
}
else
array.push_back(vals[i].as<int>());
}
else
array.push_back(0);
}
retVal=true;
}
return(retVal);
}
bool b0RemoteApi::readFloatArray(std::vector<msgpack::object>* msg,std::vector<float>& array,int pos)
{
bool retVal=false;
array.clear();
const msgpack::object* val=&msg->at(pos);
if ( (val!=nullptr)&&(val->type==msgpack::type::ARRAY) )
{
std::vector<msgpack::object> vals;
val->convert(vals);
for (size_t i=0;i<vals.size();i++)
{
if ( (vals[i].type==msgpack::type::POSITIVE_INTEGER)||(vals[i].type==msgpack::type::NEGATIVE_INTEGER)||(vals[i].type==msgpack::type::FLOAT) )
{
if (vals[i].type==msgpack::type::FLOAT)
array.push_back(vals[i].as<float>());
else
array.push_back((float)vals[i].as<int>());
}
else
array.push_back(0.0f);
}
retVal=true;
}
return(retVal);
}
bool b0RemoteApi::readDoubleArray(std::vector<msgpack::object>* msg,std::vector<double>& array,int pos)
{
bool retVal=false;
array.clear();
const msgpack::object* val=&msg->at(pos);
if ( (val!=nullptr)&&(val->type==msgpack::type::ARRAY) )
{
std::vector<msgpack::object> vals;
val->convert(vals);
for (size_t i=0;i<vals.size();i++)
{
if ( (vals[i].type==msgpack::type::POSITIVE_INTEGER)||(vals[i].type==msgpack::type::NEGATIVE_INTEGER)||(vals[i].type==msgpack::type::FLOAT) )
{
if (vals[i].type==msgpack::type::FLOAT)
array.push_back(vals[i].as<double>());
else
array.push_back((double)vals[i].as<int>());
}
else
array.push_back(0.0);
}
retVal=true;
}
return(retVal);
}
bool b0RemoteApi::readStringArray(std::vector<msgpack::object>* msg,std::vector<std::string>& array,int pos)
{
bool retVal=false;
array.clear();
const msgpack::object* val=&msg->at(pos);
if ( (val!=nullptr)&&(val->type==msgpack::type::ARRAY) )
{
std::vector<msgpack::object> vals;
val->convert(vals);
for (size_t i=0;i<vals.size();i++)
{
if ( (vals[i].type==msgpack::type::STR)||(vals[i].type==msgpack::type::BIN) )
array.push_back(vals[i].as<std::string>());
else
array.push_back("");
}
retVal=true;
}
return(retVal);
}
void b0RemoteApi::simxSynchronous(bool enable)
{
std::tuple<bool> args(enable);
std::stringstream packedArgs;
msgpack::pack(packedArgs,args);
_handleFunction("Synchronous",packedArgs.str(),_serviceCallTopic.c_str());
}
void b0RemoteApi::simxSynchronousTrigger()
{
std::tuple<int> args(0);
std::stringstream packedArgs;
msgpack::pack(packedArgs,args);
_handleFunction("SynchronousTrigger",packedArgs.str(),_defaultPublisherTopic.c_str());
}
void b0RemoteApi::simxGetSimulationStepDone(const char* topic)
{
std::map<std::string,SHandleAndCb>::iterator it=_allSubscribers.find(topic);
if (it!=_allSubscribers.end())
{
std::tuple<int> args(0);
std::stringstream packedArgs;
msgpack::pack(packedArgs,args);
_handleFunction("GetSimulationStepDone",packedArgs.str(),topic);
}
else
std::cout << "B0 Remote API error: invalid topic" << std::endl;
}
void b0RemoteApi::simxGetSimulationStepStarted(const char* topic)
{
std::map<std::string,SHandleAndCb>::iterator it=_allSubscribers.find(topic);
if (it!=_allSubscribers.end())
{
std::tuple<int> args(0);
std::stringstream packedArgs;
msgpack::pack(packedArgs,args);
_handleFunction("GetSimulationStepStarted",packedArgs.str(),topic);
}
else
std::cout << "B0 Remote API error: invalid topic" << std::endl;
}
std::vector<msgpack::object>* b0RemoteApi::simxCallScriptFunction(const char* funcAtObjName,int scriptType,const char* packedData,size_t packedDataSize,const char* topic)
{
std::tuple<std::string,int,std::string> args(funcAtObjName,scriptType,std::string(packedData,packedData+packedDataSize));
std::stringstream packedArgs;
msgpack::pack(packedArgs,args);
return(_handleFunction("CallScriptFunction",packedArgs.str(),topic));
}
std::vector<msgpack::object>* b0RemoteApi::simxCallScriptFunction(const char* funcAtObjName,const char* scriptType,const char* packedData,size_t packedDataSize,const char* topic)
{
std::tuple<std::string,std::string,std::string> args(funcAtObjName,scriptType,std::string(packedData,packedData+packedDataSize));
std::stringstream packedArgs;
msgpack::pack(packedArgs,args);
return(_handleFunction("CallScriptFunction",packedArgs.str(),topic));
}
#py for cmd in plugin.commands:
#py if cmd.generic and cmd.generateCode:
#py loopCnt=1
#py for p in cmd.params:
#py if p.ctype()=='int_eval':
#py loopCnt=2
#py endif
#py endfor
#py for k in range(loopCnt):
std::vector<msgpack::object>* b0RemoteApi::`cmd.name`(
#py theStringToWrite=''
#py itemCnt=len(cmd.params)
#py itemIndex=-1
#py for p in cmd.params:
#py itemIndex=itemIndex+1
#py if p.ctype()=='int_eval':
#py if k==0:
#py theStringToWrite+=' int '+p.name
#py else:
#py theStringToWrite+=' const char* '+p.name
#py endif
#py elif p.htype()=='byte[]':
#py theStringToWrite+=' const char* '+p.name+'_data,size_t '+p.name+'_charCnt'
#py elif p.htype()=='int[]':
#py theStringToWrite+=' const int* '+p.name+'_data,size_t '+p.name+'_intCnt'
#py elif 'int[' in p.htype():
#py theStringToWrite+=' const int* '+p.name
#py elif p.htype()=='float[]':
#py theStringToWrite+=' const float* '+p.name+'_data,size_t '+p.name+'_floatCnt'
#py elif 'float[' in p.htype():
#py theStringToWrite+=' const float* '+p.name
#py elif p.htype()=='double[]':
#py theStringToWrite+=' const double* '+p.name+'_data,size_t '+p.name+'_doubleCnt'
#py elif 'double[' in p.htype():
#py theStringToWrite+=' const double* '+p.name
#py else:
#py theStringToWrite+=' '+p.htype()+' '+p.name
#py endif
#py if (itemCnt>1) and itemIndex<itemCnt-1:
#py theStringToWrite+=',\n'
#py endif
#py endfor
#py theStringToWrite+=')\n{\n std::tuple<'
`theStringToWrite`
#py theStringToWrite=''
#py if len(cmd.params)==1:
#py theStringToWrite+=' int'
#py else:
#py itemCnt=len(cmd.params)-1
#py itemIndex=-1
#py for p in cmd.params:
#py itemIndex=itemIndex+1
#py if p.ctype()=='string':
#py theStringToWrite+=' std::string'
#py elif p.ctype()=='int_eval':
#py if k==0:
#py theStringToWrite+=' int'
#py else:
#py theStringToWrite+=' std::string'
#py endif
#py elif p.htype()=='byte[]':
#py theStringToWrite+=' std::string'
#py elif 'int[' in p.htype():
#py theStringToWrite+=' std::vector<int>'
#py elif 'float[' in p.htype():
#py theStringToWrite+=' std::vector<float>'
#py elif 'double[' in p.htype():
#py theStringToWrite+=' std::vector<double>'
#py else:
#py theStringToWrite+=' '+p.htype()
#py endif
#py if (itemCnt>1) and itemIndex<itemCnt-1:
#py theStringToWrite+=','
#py theStringToWrite+='\n'
#py else:
#py break
#py endif
#py endfor
#py endif
`theStringToWrite`
> args(
#py theStringToWrite=''
#py if len(cmd.params)==1:
#py theStringToWrite+=' 0'
#py else:
#py itemCnt=len(cmd.params)-1
#py itemIndex=-1
#py for p in cmd.params:
#py itemIndex=itemIndex+1
#py if p.ctype()=='string':
#py theStringToWrite+=' '+p.name
#py elif p.ctype()=='int_eval':
#py if k==0:
#py theStringToWrite+=' '+p.name
#py else:
#py theStringToWrite+=' '+p.name
#py endif
#py elif p.htype()=='byte[]':
#py theStringToWrite+=' std::string('+p.name+'_data,'+p.name+'_data+'+p.name+'_charCnt)'
#py elif p.htype()=='int[]':
#py theStringToWrite+=' std::vector<int>('+p.name+'_data,'+p.name+'_data+'+p.name+'_intCnt)'
#py elif p.htype()=='int[2]':
#py theStringToWrite+=' std::vector<int>('+p.name+','+p.name+'+2)'
#py elif p.htype()=='int[3]':
#py theStringToWrite+=' std::vector<int>('+p.name+','+p.name+'+3)'
#py elif p.htype()=='float[]':
#py theStringToWrite+=' std::vector<float>('+p.name+'_data,'+p.name+'_data+'+p.name+'_floatCnt)'
#py elif p.htype()=='float[2]':
#py theStringToWrite+=' std::vector<float>('+p.name+','+p.name+'+2)'
#py elif p.htype()=='float[3]':
#py theStringToWrite+=' std::vector<float>('+p.name+','+p.name+'+3)'
#py elif p.htype()=='float[4]':
#py theStringToWrite+=' std::vector<float>('+p.name+','+p.name+'+4)'
#py elif p.htype()=='float[7]':
#py theStringToWrite+=' std::vector<float>('+p.name+','+p.name+'+7)'
#py elif p.htype()=='float[12]':
#py theStringToWrite+=' std::vector<float>('+p.name+','+p.name+'+12)'
#py elif p.htype()=='double[]':
#py theStringToWrite+=' std::vector<double>('+p.name+'_data,'+p.name+'_data+'+p.name+'_doubleCnt)'
#py elif p.htype()=='double[2]':
#py theStringToWrite+=' std::vector<double>('+p.name+','+p.name+'+2)'
#py elif p.htype()=='double[3]':
#py theStringToWrite+=' std::vector<double>('+p.name+','+p.name+'+3)'
#py elif p.htype()=='double[4]':
#py theStringToWrite+=' std::vector<double>('+p.name+','+p.name+'+4)'
#py elif p.htype()=='double[7]':
#py theStringToWrite+=' std::vector<double>('+p.name+','+p.name+'+7)'
#py elif p.htype()=='double[12]':
#py theStringToWrite+=' std::vector<double>('+p.name+','+p.name+'+12)'
#py else:
#py theStringToWrite+=' '+p.name
#py endif
#py if (itemCnt>1) and itemIndex<itemCnt-1:
#py theStringToWrite+=',\n'
#py else:
#py break
#py endif
#py endfor
#py endif
`theStringToWrite`
);
std::stringstream packedArgs;
msgpack::pack(packedArgs,args);
return(_handleFunction("`cmd.name[4:]`",packedArgs.str(),topic));
}
#py endfor
#py endif
#py endfor
// -----------------------------------------------------------
// Add your custom functions here (and in the *.h file), or even better,
// add them to b0RemoteApiBindings/generate/simxFunctions.xml,
// and generate this file again.
// Then add the server part of your custom functions at the
// beginning of file lua/b0RemoteApiServer.lua
// -----------------------------------------------------------
| [
"m.sevillazhou@gmail.com"
] | m.sevillazhou@gmail.com |
a9794c4960ef037cd4557764de3bc0a6c0cb5896 | 8b9a2a7b42c2cf5fb6541564437ad557aa626b8a | /rendering/renderer.cpp | cfcbc8a254d9ad9f15cb6106b8cf7147abd6ad28 | [] | no_license | Setadokalo/OpenGL-Engine | e43147901d0a8035676988b33005e482bf9b26d7 | 0508033e33292d1153056e3d098482d8641cea48 | refs/heads/master | 2021-09-13T11:00:25.495736 | 2018-04-28T23:30:49 | 2018-04-28T23:30:49 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 2,491 | cpp | #include "renderer.hpp"
int RenderEngine::render() {
glm::mat4 tMat = glm::translate(glm::mat4(), glm::vec3(0, 0, 0));
glm::mat4 rMat = glm::rotate((float)0, glm::vec3(0, 0, 1)) * glm::rotate((float)0, glm::vec3(0, 1, 0)) * glm::rotate((float)0, glm::vec3(1, 0, 0));
glm::mat4 mat = tMat * rMat;
//Loading buffer data for vertexes into GPU
glBindBuffer(GL_ARRAY_BUFFER, vertexbuffer);
glBufferData(GL_ARRAY_BUFFER, sizeof(triangles) * 3, &triangles, GL_STREAM_DRAW);
//Same for UV data (texture mapping)
glBindBuffer(GL_ARRAY_BUFFER, uvbuffer);
glBufferData(GL_ARRAY_BUFFER, sizeof(uvdata), &uvdata, GL_STREAM_DRAW);
//...and for normal maps
glBindBuffer(GL_ARRAY_BUFFER, normalbuffer);
glBufferData(GL_ARRAY_BUFFER, normals.size() * 3, &normals, GL_STREAM_DRAW);
glEnableVertexAttribArray(0);
glBindBuffer(GL_ARRAY_BUFFER, vertexbuffer);
glVertexAttribPointer(
0, // attribute. No particular reason for 0, but must match the layout in the shader.
3, // size
GL_FLOAT, // type
GL_FALSE, // normalized?
0, // stride
(void*)0 // array buffer offset
);
glEnableVertexAttribArray(1);
glBindBuffer(GL_ARRAY_BUFFER, uvbuffer);
glVertexAttribPointer(
1, // attribute. No particular reason for 1, but must match the layout in the shader.
2, // size
GL_FLOAT, // type
GL_FALSE, // normalized?
0, // stride
(void*)0 // array buffer offset
);
// 3rd attribute buffer : normals
glEnableVertexAttribArray(2);
glBindBuffer(GL_ARRAY_BUFFER, normalbuffer);
glVertexAttribPointer(
2, // attribute
3, // size
GL_FLOAT, // type
GL_FALSE, // normalized?
0, // stride
(void*)0 // array buffer offset
);
// Draw the triangle !
glDrawArrays(GL_TRIANGLES, 0, triangles.size() * 3); // 12*3 indices starting at 0 -> 12 triangles
GLenum err = glGetError();
while((err = glGetError()) != GL_NO_ERROR) {
// Process/log the error.
std::cout << "ERROR: " << err << std::endl;
}
glDisableVertexAttribArray(0);
glDisableVertexAttribArray(1);
return 0;
}; | [
"darkenchanter1@gmail.com"
] | darkenchanter1@gmail.com |
f571c29ee9e444a1131713192171538faf35d821 | 80f2fa4f1f4d56eef9471174f80b62838db9fc3b | /xdl/xdl/core/ops/ps_ops/convert_utils.h | 00040bae18efc8b268ddb9b16a76739f43140a2b | [
"Apache-2.0"
] | permissive | laozhuang727/x-deeplearning | a54f2fef1794274cbcd6fc55680ea19760d38f8a | 781545783a4e2bbbda48fc64318fb2c6d8bbb3cc | refs/heads/master | 2020-05-09T17:06:00.495080 | 2019-08-15T01:45:40 | 2019-08-15T01:45:40 | 181,295,053 | 1 | 0 | Apache-2.0 | 2019-08-15T01:45:41 | 2019-04-14T10:51:53 | PureBasic | UTF-8 | C++ | false | false | 1,938 | h | /* Copyright 2018 Alibaba Group. All Rights Reserved.
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
==============================================================================*/
#ifndef XDL_CORE_OPS_PS_OPS_CONVERT_UTILS_H_
#define XDL_CORE_OPS_PS_OPS_CONVERT_UTILS_H_
#include "ps-plus/common/tensor.h"
#include "ps-plus/common/status.h"
#include "xdl/core/lib/status.h"
#include "xdl/core/framework/tensor.h"
#include "xdl/core/framework/op_kernel.h"
namespace xdl {
class PS2XDL {
public:
static Status ConvertType(ps::DataType src, xdl::DataType* dst);
static Status ConvertShape(const ps::TensorShape& src, xdl::TensorShape* dst);
static Status ConvertTensor(const ps::Tensor& src, xdl::Tensor* dst);
static Status ConvertTensorZC(ps::Tensor& src, xdl::Tensor* dst);
static Status ConvertStatus(const ps::Status& st);
static Status ConvertTensorWithCtx(const ps::Tensor& src,
OpKernelContext* ctx,
int output_id);
};
class XDL2PS {
public:
static Status ConvertType(xdl::DataType src, ps::DataType* dst);
static Status ConvertShape(const xdl::TensorShape& src, ps::TensorShape* dst);
static Status ConvertTensor(const xdl::Tensor& src, ps::Tensor* dst);
static Status ConvertTensorZC(xdl::Tensor& src, ps::Tensor* dst);
static ps::Status ConvertStatus(const Status& st);
};
} // namespace xdl
#endif // XDL_CORE_OPS_PS_OPS_CONVERT_UTILS_H_
| [
"yue.song@alibaba-inc.com"
] | yue.song@alibaba-inc.com |
a1aa78da574c0becd5e3d963eab7e3e3245f6154 | e78a5a01b41274e6aa17bdbebdb3b6901cd406f3 | /DUILib/Core/UIScrollBar.cpp | 0ca70dc60b3aad2bb08467ce45ebf4b8bc786563 | [
"MIT"
] | permissive | libbylg/DUILib-Lite | c96945a4bc46f05ab2a89868bc5797a019b440a6 | 15eda61239ba7c8fa9c2611000c7b6851de69a23 | refs/heads/master | 2020-05-18T09:42:16.381938 | 2019-05-20T23:36:03 | 2019-05-20T23:36:03 | 184,333,372 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 37,116 | cpp | #include "Core/UIScrollBar.h"
#include "Core/UIContainer.h"
#include "Core/UIRender.h"
namespace DUI
{
UI_IMPLEMENT_CONTROL(CScrollBarUI)
CScrollBarUI::CScrollBarUI() : m_bHorizontal(FALSE), m_nRange(0), m_nScrollPos(0), m_nLineSize(8),
m_pOwner(NULL), m_nLastScrollPos(0), m_nLastScrollOffset(0), m_nScrollRepeatDelay(0), m_uButton1State(0),
m_uButton2State(0), m_uThumbState(0), m_bShowButton1(TRUE), m_bShowButton2(TRUE)
{
m_cxyFixed.cx = DEFAULT_SCROLLBAR_SIZE;
ptLastMouse.x = ptLastMouse.y = 0;
::ZeroMemory(&m_rcThumb, sizeof(m_rcThumb));
::ZeroMemory(&m_rcButton1, sizeof(m_rcButton1));
::ZeroMemory(&m_rcButton2, sizeof(m_rcButton2));
}
LPCTSTR CScrollBarUI::GetClass() const
{
return _T("ScrollBarUI");
}
LPVOID CScrollBarUI::GetInterface(LPCTSTR pstrName)
{
if (_tcsicmp(pstrName, UICONTROL_SCROLLBAR) == 0) return static_cast<CScrollBarUI*>(this);
return CControlUI::GetInterface(pstrName);
}
CContainerUI* CScrollBarUI::GetOwner() const
{
return m_pOwner;
}
void CScrollBarUI::SetOwner(CContainerUI * pOwner)
{
m_pOwner = pOwner;
}
void CScrollBarUI::SetVisible(BOOL bVisible)
{
if (m_bVisible == bVisible) return;
BOOL v = IsVisible();
m_bVisible = bVisible;
if (m_bFocused) m_bFocused = FALSE;
}
void CScrollBarUI::SetEnabled(BOOL bEnable)
{
CControlUI::SetEnabled(bEnable);
if (!IsEnabled()) {
m_uButton1State = 0;
m_uButton2State = 0;
m_uThumbState = 0;
}
}
void CScrollBarUI::SetFocus()
{
if (m_pOwner != NULL)
m_pOwner->SetFocus();
else
CControlUI::SetFocus();
}
BOOL CScrollBarUI::IsHorizontal()
{
return m_bHorizontal;
}
void CScrollBarUI::SetHorizontal(BOOL bHorizontal)
{
if (m_bHorizontal == bHorizontal) return;
m_bHorizontal = bHorizontal;
if (m_bHorizontal) {
if (m_cxyFixed.cy == 0) {
m_cxyFixed.cx = 0;
m_cxyFixed.cy = DEFAULT_SCROLLBAR_SIZE;
}
} else {
if (m_cxyFixed.cx == 0) {
m_cxyFixed.cx = DEFAULT_SCROLLBAR_SIZE;
m_cxyFixed.cy = 0;
}
}
if (m_pOwner != NULL)
m_pOwner->NeedUpdate();
else
NeedParentUpdate();
}
int CScrollBarUI::GetScrollRange() const
{
return m_nRange;
}
void CScrollBarUI::SetScrollRange(int nRange)
{
if (m_nRange == nRange) return;
m_nRange = nRange;
if (m_nRange < 0) m_nRange = 0;
if (m_nScrollPos > m_nRange) m_nScrollPos = m_nRange;
SetPos(m_rcItem);
}
int CScrollBarUI::GetScrollPos() const
{
return m_nScrollPos;
}
void CScrollBarUI::SetScrollPos(int nPos)
{
if (m_nScrollPos == nPos) return;
m_nScrollPos = nPos;
if (m_nScrollPos < 0) m_nScrollPos = 0;
if (m_nScrollPos > m_nRange) m_nScrollPos = m_nRange;
SetPos(m_rcItem);
}
int CScrollBarUI::GetLineSize() const
{
return m_nLineSize;
}
void CScrollBarUI::SetLineSize(int nSize)
{
m_nLineSize = nSize;
}
BOOL CScrollBarUI::GetShowButton1()
{
return m_bShowButton1;
}
void CScrollBarUI::SetShowButton1(BOOL bShow)
{
m_bShowButton1 = bShow;
SetPos(m_rcItem);
}
LPCTSTR CScrollBarUI::GetButton1NormalImage()
{
return m_sButton1NormalImage;
}
void CScrollBarUI::SetButton1NormalImage(LPCTSTR pStrImage)
{
m_sButton1NormalImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetButton1HotImage()
{
return m_sButton1HotImage;
}
void CScrollBarUI::SetButton1HotImage(LPCTSTR pStrImage)
{
m_sButton1HotImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetButton1PushedImage()
{
return m_sButton1PushedImage;
}
void CScrollBarUI::SetButton1PushedImage(LPCTSTR pStrImage)
{
m_sButton1PushedImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetButton1DisabledImage()
{
return m_sButton1DisabledImage;
}
void CScrollBarUI::SetButton1DisabledImage(LPCTSTR pStrImage)
{
m_sButton1DisabledImage = pStrImage;
Invalidate();
}
BOOL CScrollBarUI::GetShowButton2()
{
return m_bShowButton2;
}
void CScrollBarUI::SetShowButton2(BOOL bShow)
{
m_bShowButton2 = bShow;
SetPos(m_rcItem);
}
LPCTSTR CScrollBarUI::GetButton2NormalImage()
{
return m_sButton2NormalImage;
}
void CScrollBarUI::SetButton2NormalImage(LPCTSTR pStrImage)
{
m_sButton2NormalImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetButton2HotImage()
{
return m_sButton2HotImage;
}
void CScrollBarUI::SetButton2HotImage(LPCTSTR pStrImage)
{
m_sButton2HotImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetButton2PushedImage()
{
return m_sButton2PushedImage;
}
void CScrollBarUI::SetButton2PushedImage(LPCTSTR pStrImage)
{
m_sButton2PushedImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetButton2DisabledImage()
{
return m_sButton2DisabledImage;
}
void CScrollBarUI::SetButton2DisabledImage(LPCTSTR pStrImage)
{
m_sButton2DisabledImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetThumbNormalImage()
{
return m_sThumbNormalImage;
}
void CScrollBarUI::SetThumbNormalImage(LPCTSTR pStrImage)
{
m_sThumbNormalImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetThumbHotImage()
{
return m_sThumbHotImage;
}
void CScrollBarUI::SetThumbHotImage(LPCTSTR pStrImage)
{
m_sThumbHotImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetThumbPushedImage()
{
return m_sThumbPushedImage;
}
void CScrollBarUI::SetThumbPushedImage(LPCTSTR pStrImage)
{
m_sThumbPushedImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetThumbDisabledImage()
{
return m_sThumbDisabledImage;
}
void CScrollBarUI::SetThumbDisabledImage(LPCTSTR pStrImage)
{
m_sThumbDisabledImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetRailNormalImage()
{
return m_sRailNormalImage;
}
void CScrollBarUI::SetRailNormalImage(LPCTSTR pStrImage)
{
m_sRailNormalImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetRailHotImage()
{
return m_sRailHotImage;
}
void CScrollBarUI::SetRailHotImage(LPCTSTR pStrImage)
{
m_sRailHotImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetRailPushedImage()
{
return m_sRailPushedImage;
}
void CScrollBarUI::SetRailPushedImage(LPCTSTR pStrImage)
{
m_sRailPushedImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetRailDisabledImage()
{
return m_sRailDisabledImage;
}
void CScrollBarUI::SetRailDisabledImage(LPCTSTR pStrImage)
{
m_sRailDisabledImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetBkNormalImage()
{
return m_sBkNormalImage;
}
void CScrollBarUI::SetBkNormalImage(LPCTSTR pStrImage)
{
m_sBkNormalImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetBkHotImage()
{
return m_sBkHotImage;
}
void CScrollBarUI::SetBkHotImage(LPCTSTR pStrImage)
{
m_sBkHotImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetBkPushedImage()
{
return m_sBkPushedImage;
}
void CScrollBarUI::SetBkPushedImage(LPCTSTR pStrImage)
{
m_sBkPushedImage = pStrImage;
Invalidate();
}
LPCTSTR CScrollBarUI::GetBkDisabledImage()
{
return m_sBkDisabledImage;
}
void CScrollBarUI::SetBkDisabledImage(LPCTSTR pStrImage)
{
m_sBkDisabledImage = pStrImage;
Invalidate();
}
void CScrollBarUI::SetPos(RECT rc, BOOL bNeedInvalidate)
{
CControlUI::SetPos(rc, bNeedInvalidate);
SIZE cxyFixed = m_cxyFixed;
if (m_pManager != NULL) {
GetManager()->GetDPIObj()->Scale(&cxyFixed);
}
rc = m_rcItem;
if (m_bHorizontal) {
int cx = rc.right - rc.left;
if (m_bShowButton1) cx -= cxyFixed.cy;
if (m_bShowButton2) cx -= cxyFixed.cy;
if (cx > cxyFixed.cy) {
m_rcButton1.left = rc.left;
m_rcButton1.top = rc.top;
if (m_bShowButton1) {
m_rcButton1.right = rc.left + cxyFixed.cy;
m_rcButton1.bottom = rc.top + cxyFixed.cy;
} else {
m_rcButton1.right = m_rcButton1.left;
m_rcButton1.bottom = m_rcButton1.top;
}
m_rcButton2.top = rc.top;
m_rcButton2.right = rc.right;
if (m_bShowButton2) {
m_rcButton2.left = rc.right - cxyFixed.cy;
m_rcButton2.bottom = rc.top + cxyFixed.cy;
} else {
m_rcButton2.left = m_rcButton2.right;
m_rcButton2.bottom = m_rcButton2.top;
}
m_rcThumb.top = rc.top;
m_rcThumb.bottom = rc.top + cxyFixed.cy;
if (m_nRange > 0) {
int cxThumb = cx * (rc.right - rc.left) / (m_nRange + rc.right - rc.left);
if (cxThumb < cxyFixed.cy) cxThumb = cxyFixed.cy;
m_rcThumb.left = m_nScrollPos * (cx - cxThumb) / m_nRange + m_rcButton1.right;
m_rcThumb.right = m_rcThumb.left + cxThumb;
if (m_rcThumb.right > m_rcButton2.left) {
m_rcThumb.left = m_rcButton2.left - cxThumb;
m_rcThumb.right = m_rcButton2.left;
}
} else {
m_rcThumb.left = m_rcButton1.right;
m_rcThumb.right = m_rcButton2.left;
}
} else {
int cxButton = (rc.right - rc.left) / 2;
if (cxButton > cxyFixed.cy) cxButton = cxyFixed.cy;
m_rcButton1.left = rc.left;
m_rcButton1.top = rc.top;
if (m_bShowButton1) {
m_rcButton1.right = rc.left + cxButton;
m_rcButton1.bottom = rc.top + cxyFixed.cy;
} else {
m_rcButton1.right = m_rcButton1.left;
m_rcButton1.bottom = m_rcButton1.top;
}
m_rcButton2.top = rc.top;
m_rcButton2.right = rc.right;
if (m_bShowButton2) {
m_rcButton2.left = rc.right - cxButton;
m_rcButton2.bottom = rc.top + cxyFixed.cy;
} else {
m_rcButton2.left = m_rcButton2.right;
m_rcButton2.bottom = m_rcButton2.top;
}
::ZeroMemory(&m_rcThumb, sizeof(m_rcThumb));
}
} else {
int cy = rc.bottom - rc.top;
if (m_bShowButton1) cy -= cxyFixed.cx;
if (m_bShowButton2) cy -= cxyFixed.cx;
if (cy > cxyFixed.cx) {
m_rcButton1.left = rc.left;
m_rcButton1.top = rc.top;
if (m_bShowButton1) {
m_rcButton1.right = rc.left + cxyFixed.cx;
m_rcButton1.bottom = rc.top + cxyFixed.cx;
} else {
m_rcButton1.right = m_rcButton1.left;
m_rcButton1.bottom = m_rcButton1.top;
}
m_rcButton2.left = rc.left;
m_rcButton2.bottom = rc.bottom;
if (m_bShowButton2) {
m_rcButton2.top = rc.bottom - cxyFixed.cx;
m_rcButton2.right = rc.left + cxyFixed.cx;
} else {
m_rcButton2.top = m_rcButton2.bottom;
m_rcButton2.right = m_rcButton2.left;
}
m_rcThumb.left = rc.left;
m_rcThumb.right = rc.left + cxyFixed.cx;
if (m_nRange > 0) {
int cyThumb = cy * (rc.bottom - rc.top) / (m_nRange + rc.bottom - rc.top);
if (cyThumb < cxyFixed.cx) cyThumb = cxyFixed.cx;
m_rcThumb.top = m_nScrollPos * (cy - cyThumb) / m_nRange + m_rcButton1.bottom;
m_rcThumb.bottom = m_rcThumb.top + cyThumb;
if (m_rcThumb.bottom > m_rcButton2.top) {
m_rcThumb.top = m_rcButton2.top - cyThumb;
m_rcThumb.bottom = m_rcButton2.top;
}
} else {
m_rcThumb.top = m_rcButton1.bottom;
m_rcThumb.bottom = m_rcButton2.top;
}
} else {
int cyButton = (rc.bottom - rc.top) / 2;
if (cyButton > cxyFixed.cx) cyButton = cxyFixed.cx;
m_rcButton1.left = rc.left;
m_rcButton1.top = rc.top;
if (m_bShowButton1) {
m_rcButton1.right = rc.left + cxyFixed.cx;
m_rcButton1.bottom = rc.top + cyButton;
} else {
m_rcButton1.right = m_rcButton1.left;
m_rcButton1.bottom = m_rcButton1.top;
}
m_rcButton2.left = rc.left;
m_rcButton2.bottom = rc.bottom;
if (m_bShowButton2) {
m_rcButton2.top = rc.bottom - cyButton;
m_rcButton2.right = rc.left + cxyFixed.cx;
} else {
m_rcButton2.top = m_rcButton2.bottom;
m_rcButton2.right = m_rcButton2.left;
}
::ZeroMemory(&m_rcThumb, sizeof(m_rcThumb));
}
}
}
void CScrollBarUI::DoEvent(TEVENT_UI & event)
{
if (!IsMouseEnabled() && event.Type > UIEVENT__MOUSEBEGIN && event.Type < UIEVENT__MOUSEEND) {
if (m_pOwner != NULL)
m_pOwner->DoEvent(event);
else
CControlUI::DoEvent(event);
return;
}
if (event.Type == UIEVENT_SETFOCUS) {
return;
}
if (event.Type == UIEVENT_KILLFOCUS) {
return;
}
if (event.Type == UIEVENT_BUTTONDOWN || event.Type == UIEVENT_DBLCLICK) {
if (!IsEnabled()) return;
m_nLastScrollOffset = 0;
m_nScrollRepeatDelay = 0;
m_pManager->SetTimer(this, DEFAULT_TIMERID, 50U);
if (::PtInRect(&m_rcButton1, event.ptMouse)) {
m_uButton1State |= UISTATE_PUSHED;
if (!m_bHorizontal) {
if (m_pOwner != NULL)
m_pOwner->LineUp();
else
SetScrollPos(m_nScrollPos - m_nLineSize);
} else {
if (m_pOwner != NULL)
m_pOwner->LineLeft();
else
SetScrollPos(m_nScrollPos - m_nLineSize);
}
} else if (::PtInRect(&m_rcButton2, event.ptMouse)) {
m_uButton2State |= UISTATE_PUSHED;
if (!m_bHorizontal) {
if (m_pOwner != NULL)
m_pOwner->LineDown();
else
SetScrollPos(m_nScrollPos + m_nLineSize);
} else {
if (m_pOwner != NULL)
m_pOwner->LineRight();
else
SetScrollPos(m_nScrollPos + m_nLineSize);
}
} else if (::PtInRect(&m_rcThumb, event.ptMouse)) {
m_uThumbState |= UISTATE_CAPTURED | UISTATE_PUSHED;
ptLastMouse = event.ptMouse;
m_nLastScrollPos = m_nScrollPos;
} else {
if (!m_bHorizontal) {
if (event.ptMouse.y < m_rcThumb.top) {
if (m_pOwner != NULL)
m_pOwner->PageUp();
else
SetScrollPos(m_nScrollPos + m_rcItem.top - m_rcItem.bottom);
} else if (event.ptMouse.y > m_rcThumb.bottom) {
if (m_pOwner != NULL)
m_pOwner->PageDown();
else
SetScrollPos(m_nScrollPos - m_rcItem.top + m_rcItem.bottom);
}
} else {
if (event.ptMouse.x < m_rcThumb.left) {
if (m_pOwner != NULL)
m_pOwner->PageLeft();
else
SetScrollPos(m_nScrollPos + m_rcItem.left - m_rcItem.right);
} else if (event.ptMouse.x > m_rcThumb.right) {
if (m_pOwner != NULL)
m_pOwner->PageRight();
else
SetScrollPos(m_nScrollPos - m_rcItem.left + m_rcItem.right);
}
}
}
if (m_pManager != NULL) m_pManager->SendNotify(this, UIMSG_SCROLL);
return;
}
if (event.Type == UIEVENT_BUTTONUP) {
m_nScrollRepeatDelay = 0;
m_nLastScrollOffset = 0;
m_pManager->KillTimer(this, DEFAULT_TIMERID);
if ((m_uThumbState & UISTATE_CAPTURED) != 0) {
m_uThumbState &= ~(UISTATE_CAPTURED | UISTATE_PUSHED);
Invalidate();
} else if ((m_uButton1State & UISTATE_PUSHED) != 0) {
m_uButton1State &= ~UISTATE_PUSHED;
Invalidate();
} else if ((m_uButton2State & UISTATE_PUSHED) != 0) {
m_uButton2State &= ~UISTATE_PUSHED;
Invalidate();
}
return;
}
if (event.Type == UIEVENT_MOUSEMOVE) {
if ((m_uThumbState & UISTATE_CAPTURED) != 0) {
if (!m_bHorizontal) {
int vRange = m_rcItem.bottom - m_rcItem.top - m_rcThumb.bottom + m_rcThumb.top - 2 * m_cxyFixed.cx;
if (vRange != 0) m_nLastScrollOffset = (event.ptMouse.y - ptLastMouse.y) * m_nRange / abs(vRange);
} else {
int hRange = m_rcItem.right - m_rcItem.left - m_rcThumb.right + m_rcThumb.left - 2 * m_cxyFixed.cy;
if (hRange != 0) m_nLastScrollOffset = (event.ptMouse.x - ptLastMouse.x) * m_nRange / abs(hRange);
}
} else {
if ((m_uThumbState & UISTATE_HOT) != 0) {
if (!::PtInRect(&m_rcThumb, event.ptMouse)) {
m_uThumbState &= ~UISTATE_HOT;
Invalidate();
}
} else {
if (!IsEnabled()) return;
if (::PtInRect(&m_rcThumb, event.ptMouse)) {
m_uThumbState |= UISTATE_HOT;
Invalidate();
}
}
}
return;
}
if (event.Type == UIEVENT_CONTEXTMENU) {
return;
}
if (event.Type == UIEVENT_TIMER && event.wParam == DEFAULT_TIMERID) {
++m_nScrollRepeatDelay;
if ((m_uThumbState & UISTATE_CAPTURED) != 0) {
if (!m_bHorizontal) {
if (m_pOwner != NULL)
m_pOwner->SetScrollPos(CSizeUI(m_pOwner->GetScrollPos().cx,
m_nLastScrollPos + m_nLastScrollOffset));
else
SetScrollPos(m_nLastScrollPos + m_nLastScrollOffset);
} else {
if (m_pOwner != NULL)
m_pOwner->SetScrollPos(CSizeUI(m_nLastScrollPos + m_nLastScrollOffset,
m_pOwner->GetScrollPos().cy));
else
SetScrollPos(m_nLastScrollPos + m_nLastScrollOffset);
}
Invalidate();
} else if ((m_uButton1State & UISTATE_PUSHED) != 0) {
if (m_nScrollRepeatDelay <= 5) return;
if (!m_bHorizontal) {
if (m_pOwner != NULL)
m_pOwner->LineUp();
else
SetScrollPos(m_nScrollPos - m_nLineSize);
} else {
if (m_pOwner != NULL)
m_pOwner->LineLeft();
else
SetScrollPos(m_nScrollPos - m_nLineSize);
}
} else if ((m_uButton2State & UISTATE_PUSHED) != 0) {
if (m_nScrollRepeatDelay <= 5) return;
if (!m_bHorizontal) {
if (m_pOwner != NULL)
m_pOwner->LineDown();
else
SetScrollPos(m_nScrollPos + m_nLineSize);
} else {
if (m_pOwner != NULL)
m_pOwner->LineRight();
else
SetScrollPos(m_nScrollPos + m_nLineSize);
}
} else {
if (m_nScrollRepeatDelay <= 5) return;
POINT pt = {0};
::GetCursorPos(&pt);
::ScreenToClient(m_pManager->GetPaintWindow(), &pt);
if (!m_bHorizontal) {
if (pt.y < m_rcThumb.top) {
if (m_pOwner != NULL)
m_pOwner->PageUp();
else
SetScrollPos(m_nScrollPos + m_rcItem.top - m_rcItem.bottom);
} else if (pt.y > m_rcThumb.bottom) {
if (m_pOwner != NULL)
m_pOwner->PageDown();
else
SetScrollPos(m_nScrollPos - m_rcItem.top + m_rcItem.bottom);
}
} else {
if (pt.x < m_rcThumb.left) {
if (m_pOwner != NULL)
m_pOwner->PageLeft();
else
SetScrollPos(m_nScrollPos + m_rcItem.left - m_rcItem.right);
} else if (pt.x > m_rcThumb.right) {
if (m_pOwner != NULL)
m_pOwner->PageRight();
else
SetScrollPos(m_nScrollPos - m_rcItem.left + m_rcItem.right);
}
}
}
if (m_pManager != NULL) m_pManager->SendNotify(this, UIMSG_SCROLL);
return;
}
if (event.Type == UIEVENT_MOUSEENTER) {
if (IsEnabled()) {
m_uButton1State |= UISTATE_HOT;
m_uButton2State |= UISTATE_HOT;
if (::PtInRect(&m_rcThumb, event.ptMouse)) m_uThumbState |= UISTATE_HOT;
Invalidate();
}
return;
}
if (event.Type == UIEVENT_MOUSELEAVE) {
if (IsEnabled()) {
m_uButton1State &= ~UISTATE_HOT;
m_uButton2State &= ~UISTATE_HOT;
m_uThumbState &= ~UISTATE_HOT;
Invalidate();
}
return;
}
if (m_pOwner != NULL)
m_pOwner->DoEvent(event);
else
CControlUI::DoEvent(event);
}
void CScrollBarUI::SetAttribute(LPCTSTR pstrName, LPCTSTR pstrValue)
{
if (_tcsicmp(pstrName, _T("button1normalimage")) == 0)
SetButton1NormalImage(pstrValue);
else if (_tcsicmp(pstrName, _T("button1hotimage")) == 0)
SetButton1HotImage(pstrValue);
else if (_tcsicmp(pstrName, _T("button1pushedimage")) == 0)
SetButton1PushedImage(pstrValue);
else if (_tcsicmp(pstrName, _T("button1disabledimage")) == 0)
SetButton1DisabledImage(pstrValue);
else if (_tcsicmp(pstrName, _T("button2normalimage")) == 0)
SetButton2NormalImage(pstrValue);
else if (_tcsicmp(pstrName, _T("button2hotimage")) == 0)
SetButton2HotImage(pstrValue);
else if (_tcsicmp(pstrName, _T("button2pushedimage")) == 0)
SetButton2PushedImage(pstrValue);
else if (_tcsicmp(pstrName, _T("button2disabledimage")) == 0)
SetButton2DisabledImage(pstrValue);
else if (_tcsicmp(pstrName, _T("thumbnormalimage")) == 0)
SetThumbNormalImage(pstrValue);
else if (_tcsicmp(pstrName, _T("thumbhotimage")) == 0)
SetThumbHotImage(pstrValue);
else if (_tcsicmp(pstrName, _T("thumbpushedimage")) == 0)
SetThumbPushedImage(pstrValue);
else if (_tcsicmp(pstrName, _T("thumbdisabledimage")) == 0)
SetThumbDisabledImage(pstrValue);
else if (_tcsicmp(pstrName, _T("railnormalimage")) == 0)
SetRailNormalImage(pstrValue);
else if (_tcsicmp(pstrName, _T("railhotimage")) == 0)
SetRailHotImage(pstrValue);
else if (_tcsicmp(pstrName, _T("railpushedimage")) == 0)
SetRailPushedImage(pstrValue);
else if (_tcsicmp(pstrName, _T("raildisabledimage")) == 0)
SetRailDisabledImage(pstrValue);
else if (_tcsicmp(pstrName, _T("bknormalimage")) == 0)
SetBkNormalImage(pstrValue);
else if (_tcsicmp(pstrName, _T("bkhotimage")) == 0)
SetBkHotImage(pstrValue);
else if (_tcsicmp(pstrName, _T("bkpushedimage")) == 0)
SetBkPushedImage(pstrValue);
else if (_tcsicmp(pstrName, _T("bkdisabledimage")) == 0)
SetBkDisabledImage(pstrValue);
else if (_tcsicmp(pstrName, _T("hor")) == 0)
SetHorizontal(_tcsicmp(pstrValue, _T("TRUE")) == 0);
else if (_tcsicmp(pstrName, _T("linesize")) == 0)
SetLineSize(_ttoi(pstrValue));
else if (_tcsicmp(pstrName, _T("range")) == 0)
SetScrollRange(_ttoi(pstrValue));
else if (_tcsicmp(pstrName, _T("value")) == 0)
SetScrollPos(_ttoi(pstrValue));
else if (_tcsicmp(pstrName, _T("showbutton1")) == 0)
SetShowButton1(_tcsicmp(pstrValue, _T("TRUE")) == 0);
else if (_tcsicmp(pstrName, _T("showbutton2")) == 0)
SetShowButton2(_tcsicmp(pstrValue, _T("TRUE")) == 0);
else
CControlUI::SetAttribute(pstrName, pstrValue);
}
BOOL CScrollBarUI::DoPaint(HDC hDC, const RECT & rcPaint, CControlUI * pStopControl)
{
PaintBkColor(hDC);
PaintBkImage(hDC);
PaintBk(hDC);
PaintButton1(hDC);
PaintButton2(hDC);
PaintThumb(hDC);
PaintRail(hDC);
PaintBorder(hDC);
return TRUE;
}
void CScrollBarUI::PaintBk(HDC hDC)
{
if (!IsEnabled())
m_uThumbState |= UISTATE_DISABLED;
else
m_uThumbState &= ~UISTATE_DISABLED;
if ((m_uThumbState & UISTATE_DISABLED) != 0) {
if (!m_sBkDisabledImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sBkDisabledImage)) {
} else
return;
}
} else if ((m_uThumbState & UISTATE_PUSHED) != 0) {
if (!m_sBkPushedImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sBkPushedImage)) {
} else
return;
}
} else if ((m_uThumbState & UISTATE_HOT) != 0) {
if (!m_sBkHotImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sBkHotImage)) {
} else
return;
}
}
if (!m_sBkNormalImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sBkNormalImage)) {
} else
return;
}
}
void CScrollBarUI::PaintButton1(HDC hDC)
{
if (!m_bShowButton1) return;
if (!IsEnabled())
m_uButton1State |= UISTATE_DISABLED;
else
m_uButton1State &= ~UISTATE_DISABLED;
int d1 = MulDiv(m_rcButton1.left - m_rcItem.left, 100, GetManager()->GetDPIObj()->GetScale());
int d2 = MulDiv(m_rcButton1.top - m_rcItem.top, 100, GetManager()->GetDPIObj()->GetScale());
int d3 = MulDiv(m_rcButton1.right - m_rcItem.left, 100, GetManager()->GetDPIObj()->GetScale());
int d4 = MulDiv(m_rcButton1.bottom - m_rcItem.top, 100, GetManager()->GetDPIObj()->GetScale());
m_sImageModify.Empty();
m_sImageModify.SmallFormat(_T("dest='%d,%d,%d,%d'"), d1, d2, d3, d4);
if ((m_uButton1State & UISTATE_DISABLED) != 0) {
if (!m_sButton1DisabledImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sButton1DisabledImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
} else if ((m_uButton1State & UISTATE_PUSHED) != 0) {
if (!m_sButton1PushedImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sButton1PushedImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
} else if ((m_uButton1State & UISTATE_HOT) != 0) {
if (!m_sButton1HotImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sButton1HotImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
}
if (!m_sButton1NormalImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sButton1NormalImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
DWORD dwBorderColor = 0xFF85E4FF;
int nBorderSize = 2;
CRenderUI::DrawRect(hDC, m_rcButton1, nBorderSize, dwBorderColor);
}
void CScrollBarUI::PaintButton2(HDC hDC)
{
if (!m_bShowButton2) return;
if (!IsEnabled())
m_uButton2State |= UISTATE_DISABLED;
else
m_uButton2State &= ~UISTATE_DISABLED;
int d1 = MulDiv(m_rcButton2.left - m_rcItem.left, 100, GetManager()->GetDPIObj()->GetScale());
int d2 = MulDiv(m_rcButton2.top - m_rcItem.top, 100, GetManager()->GetDPIObj()->GetScale());
int d3 = MulDiv(m_rcButton2.right - m_rcItem.left, 100, GetManager()->GetDPIObj()->GetScale());
int d4 = MulDiv(m_rcButton2.bottom - m_rcItem.top, 100, GetManager()->GetDPIObj()->GetScale());
m_sImageModify.Empty();
m_sImageModify.SmallFormat(_T("dest='%d,%d,%d,%d'"), d1, d2, d3, d4);
if ((m_uButton2State & UISTATE_DISABLED) != 0) {
if (!m_sButton2DisabledImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sButton2DisabledImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
} else if ((m_uButton2State & UISTATE_PUSHED) != 0) {
if (!m_sButton2PushedImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sButton2PushedImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
} else if ((m_uButton2State & UISTATE_HOT) != 0) {
if (!m_sButton2HotImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sButton2HotImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
}
if (!m_sButton2NormalImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sButton2NormalImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
DWORD dwBorderColor = 0xFF85E4FF;
int nBorderSize = 2;
CRenderUI::DrawRect(hDC, m_rcButton2, nBorderSize, dwBorderColor);
}
void CScrollBarUI::PaintThumb(HDC hDC)
{
if (m_rcThumb.left == 0 && m_rcThumb.top == 0 && m_rcThumb.right == 0 && m_rcThumb.bottom == 0) return;
if (!IsEnabled())
m_uThumbState |= UISTATE_DISABLED;
else
m_uThumbState &= ~UISTATE_DISABLED;
int d1 = MulDiv(m_rcThumb.left - m_rcItem.left, 100, GetManager()->GetDPIObj()->GetScale());
int d2 = MulDiv(m_rcThumb.top - m_rcItem.top, 100, GetManager()->GetDPIObj()->GetScale());
int d3 = MulDiv(m_rcThumb.right - m_rcItem.left, 100, GetManager()->GetDPIObj()->GetScale());
int d4 = MulDiv(m_rcThumb.bottom - m_rcItem.top, 100, GetManager()->GetDPIObj()->GetScale());
m_sImageModify.Empty();
m_sImageModify.SmallFormat(_T("dest='%d,%d,%d,%d'"), d1, d2, d3, d4);
if ((m_uThumbState & UISTATE_DISABLED) != 0) {
if (!m_sThumbDisabledImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sThumbDisabledImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
} else if ((m_uThumbState & UISTATE_PUSHED) != 0) {
if (!m_sThumbPushedImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sThumbPushedImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
} else if ((m_uThumbState & UISTATE_HOT) != 0) {
if (!m_sThumbHotImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sThumbHotImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
}
if (!m_sThumbNormalImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sThumbNormalImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
DWORD dwBorderColor = 0xFF85E4FF;
int nBorderSize = 2;
CRenderUI::DrawRect(hDC, m_rcThumb, nBorderSize, dwBorderColor);
}
void CScrollBarUI::PaintRail(HDC hDC)
{
if (m_rcThumb.left == 0 && m_rcThumb.top == 0 && m_rcThumb.right == 0 && m_rcThumb.bottom == 0) return;
if (!IsEnabled())
m_uThumbState |= UISTATE_DISABLED;
else
m_uThumbState &= ~UISTATE_DISABLED;
m_sImageModify.Empty();
if (!m_bHorizontal) {
int d1 = MulDiv(m_rcThumb.left - m_rcItem.left, 100, GetManager()->GetDPIObj()->GetScale());
int d2 = MulDiv((m_rcThumb.top + m_rcThumb.bottom) / 2 - m_rcItem.top - m_cxyFixed.cx / 2, 100, GetManager()->GetDPIObj()->GetScale());
int d3 = MulDiv(m_rcThumb.right - m_rcItem.left, 100, GetManager()->GetDPIObj()->GetScale());
int d4 = MulDiv((m_rcThumb.top + m_rcThumb.bottom) / 2 - m_rcItem.top + m_cxyFixed.cx - m_cxyFixed.cx / 2, 100, GetManager()->GetDPIObj()->GetScale());
m_sImageModify.SmallFormat(_T("dest='%d,%d,%d,%d'"), d1, d2, d3, d4);
} else {
int d1 = MulDiv((m_rcThumb.left + m_rcThumb.right) / 2 - m_rcItem.left - m_cxyFixed.cy / 2, 100, GetManager()->GetDPIObj()->GetScale());
int d2 = MulDiv(m_rcThumb.top - m_rcItem.top, 100, GetManager()->GetDPIObj()->GetScale());
int d3 = MulDiv((m_rcThumb.left + m_rcThumb.right) / 2 - m_rcItem.left + m_cxyFixed.cy - m_cxyFixed.cy / 2, 100, GetManager()->GetDPIObj()->GetScale());
int d4 = MulDiv(m_rcThumb.bottom - m_rcItem.top, 100, GetManager()->GetDPIObj()->GetScale());
m_sImageModify.SmallFormat(_T("dest='%d,%d,%d,%d'"), d1, d2, d3, d4);
}
if ((m_uThumbState & UISTATE_DISABLED) != 0) {
if (!m_sRailDisabledImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sRailDisabledImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
} else if ((m_uThumbState & UISTATE_PUSHED) != 0) {
if (!m_sRailPushedImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sRailPushedImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
} else if ((m_uThumbState & UISTATE_HOT) != 0) {
if (!m_sRailHotImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sRailHotImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
}
if (!m_sRailNormalImage.IsEmpty()) {
if (!DrawImage(hDC, (LPCTSTR)m_sRailNormalImage, (LPCTSTR)m_sImageModify)) {
} else
return;
}
}
} // namespace DUI
| [
"libbylg@126.com"
] | libbylg@126.com |
b53bef6e1406f101f2f45536dbc2486f105306cb | 620f0bf13b5c2b44cc4e2a327e2842be2544259b | /test/filter.hpp | 9696d024f0d1d1b9310506a3766ea3024f3356bf | [] | no_license | VeganPower/vStl | d7ad45e20b86877a7d2bbd112d61ddfedae0525a | 53cd55e00cd9a4a4d812c0e60746c12fa000e013 | refs/heads/master | 2021-01-22T00:20:32.027591 | 2019-04-23T21:07:30 | 2019-04-23T21:07:30 | 102,188,818 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 1,398 | hpp | #pragma once
#include <type_traits>
#include <functional>
#include "function_traits.hpp"
template<typename T>
struct ViewTraits
{
typedef decltype(std::declval<T>().read()) ViewValue_t;
};
template<typename T>
void advance_to_first_valid(T& f)
{
while(!f.done() && !std::invoke(f.pred, f.read()))
{
f.next();
}
}
template<typename View_t>
struct FilterFun : View_t
{
typedef typename ViewTraits<View_t>::ViewValue_t ViewValue_t;
typedef typename std::function<bool(ViewValue_t)> Pred_t;
FilterFun(View_t const& v, Pred_t p)
: View_t(v)
, pred(p)
{
advance_to_first_valid(*this);
}
void next()
{
View_t::next();
advance_to_first_valid(*this);
}
Pred_t pred;
};
template<typename T>
struct FilterOp
{
std::function<bool(T)> params;
};
template<typename T>
auto filter(T const& p)
{
// static_assert(std::is_convertible_v<T, std::function>);
// static_assert(std::is_function_v<T>); // doesn't works with lambdas
typedef function_traits<T> PredTraits;
static_assert(PredTraits::arity == 1);
typedef typename PredTraits::template arg<0>::type Filter_type;
return FilterOp<Filter_type> { p };
}
template<typename View_t>
FilterFun<View_t> operator |(View_t const& right, FilterOp<typename ViewTraits<View_t>::ViewValue_t> const& left)
{
return FilterFun<View_t>(right, left.params);
}
| [
"rosario.leonardi@gmail.com"
] | rosario.leonardi@gmail.com |
edb9364aba5f7a010f6eea6373c773945f677014 | d09945668f19bb4bc17087c0cb8ccbab2b2dd688 | /2017-2021/2018/hourrank/030/b.cpp | c320fb06fd60afdcc8a4be926f1bc5af8ac396f9 | [] | no_license | kmjp/procon | 27270f605f3ae5d80fbdb28708318a6557273a57 | 8083028ece4be1460150aa3f0e69bdb57e510b53 | refs/heads/master | 2023-09-04T11:01:09.452170 | 2023-09-03T15:25:21 | 2023-09-03T15:25:21 | 30,825,508 | 23 | 2 | null | 2023-08-18T14:02:07 | 2015-02-15T11:25:23 | C++ | UTF-8 | C++ | false | false | 1,494 | cpp | #include <bits/stdc++.h>
using namespace std;
typedef signed long long ll;
#undef _P
#define _P(...) (void)printf(__VA_ARGS__)
#define FOR(x,to) for(x=0;x<(to);x++)
#define FORR(x,arr) for(auto& x:arr)
#define ITR(x,c) for(__typeof(c.begin()) x=c.begin();x!=c.end();x++)
#define ALL(a) (a.begin()),(a.end())
#define ZERO(a) memset(a,0,sizeof(a))
#define MINUS(a) memset(a,0xff,sizeof(a))
//-------------------------------------------------------
vector<int> P[2];
string S;
int cur;
int num[1010101];
void dfs(int p) {
if(S[cur]=='?') {
P[p].push_back(cur);
cur++;
return;
}
if(S[cur]=='+') {
cur++;
dfs(p);
dfs(p);
}
else {
cur++;
dfs(p);
dfs(1-p);
}
}
void solve() {
int i,j,k,l,r,x,y; string s;
cin>>S;
dfs(0);
assert(P[0].size());
assert(P[1].size());
if(P[0].size()==P[1].size()) {
FORR(p,P[0]) num[p]=1;
FORR(p,P[1]) num[p]=1;
}
else if(P[0].size()<P[1].size()) {
FOR(i,P[0].size()) num[P[0][i]]=P[1].size()/P[0].size()+(i<P[1].size()%P[0].size());
FORR(p,P[1]) num[p]=1;
}
else {
FOR(i,P[1].size()) num[P[1][i]]=P[0].size()/P[1].size()+(i<P[0].size()%P[1].size());
FORR(p,P[0]) num[p]=1;
}
FOR(i,S.size()) if(num[i]) cout<<num[i]<<endl;
}
int main(int argc,char** argv){
string s;int i;
if(argc==1) ios::sync_with_stdio(false), cin.tie(0);
FOR(i,argc-1) s+=argv[i+1],s+='\n'; FOR(i,s.size()) ungetc(s[s.size()-1-i],stdin);
cout.tie(0); solve(); return 0;
}
| [
"kmjp@users.noreply.github.com"
] | kmjp@users.noreply.github.com |
5c4a6f84e414e47e8c5b111a67c68301cac0f66e | eeec6957327549d03953d06ade6b23f936b4f674 | /main.cpp | e53435932fe64f19e662a4fbf0e092b1a8e864f4 | [] | no_license | iananass/dcap-dumper | 86e2af080726bfdba6e431eb03599a838a6274e5 | 31d81fb4db7cb6a39a82ed56a4c98a94e988946e | refs/heads/master | 2021-01-22T17:58:05.425956 | 2015-07-16T06:14:33 | 2015-07-16T06:14:33 | 39,179,670 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 1,087 | cpp | #include "Dumper.h"
#include <iostream>
#include <unistd.h>
static const unsigned char SomePacket[60] = {
0xe8, 0x94, 0xf6, 0x3f, 0x98, 0x05, 0x00, 0x1e, /* ...?.... */
0x67, 0x64, 0x78, 0x91, 0x08, 0x06, 0x00, 0x01, /* gdx..... */
0x08, 0x00, 0x06, 0x04, 0x00, 0x02, 0x00, 0x1e, /* ........ */
0x67, 0x64, 0x78, 0x91, 0xc0, 0xa8, 0x00, 0x15, /* gdx..... */
0xe8, 0x94, 0xf6, 0x3f, 0x98, 0x05, 0xc0, 0xa8, /* ...?.... */
0x00, 0x0b, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, /* ........ */
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, /* ........ */
0x00, 0x00, 0x00, 0x00 /* .... */
};
int main ( int argc, char **argv )
{
Dumper dmp1;
if (!dmp1.Open("dmp1.cap")) {
std::cerr << "Can not open dmp1.cap\n";
return 1;
}
Dumper dmp2("dmp2.cap");
if (!dmp2.IsOpened()) {
std::cerr << "Can not open dmp2.cap\n";
return 1;
}
dmp1.DumpPacket(SomePacket, sizeof(SomePacket));
dmp2.DumpPacket(SomePacket, sizeof(SomePacket));
dmp1.Flush();
sleep(60);
return 0;
}
| [
"iananass@gmail.com"
] | iananass@gmail.com |
3e46c01cf88600c8139988f2d87d7374240312ad | dea1e0660fe060b7420bac03c6969f9928558c7c | /include/DroppedFiles.hpp | 258758a404949a8f29fa03b1103ad307468b53c1 | [
"Zlib"
] | permissive | Cigrand-dev/raylib-cpp | 93e94bdefe46946c19c01428aad264c32edc7fbf | abf6c3091fa53e9037d0322b2c0a66b7dc5d3102 | refs/heads/master | 2022-11-23T23:39:34.568696 | 2020-08-03T21:04:53 | 2020-08-03T21:04:53 | 286,208,486 | 1 | 0 | null | 2020-08-09T09:45:19 | 2020-08-09T09:45:19 | null | UTF-8 | C++ | false | false | 1,269 | hpp | #ifndef RAYLIB_CPP_DROPPEDFILES_HPP_
#define RAYLIB_CPP_DROPPEDFILES_HPP_
#include <string>
#ifdef __cplusplus
extern "C"{
#endif
#include "raylib.h"
#ifdef __cplusplus
}
#endif
namespace raylib {
class DroppedFiles {
protected:
char** m_files;
int m_count;
public:
DroppedFiles() {
Get();
}
/**
* Get the dropped files names.
*/
DroppedFiles& Get() {
m_files = ::GetDroppedFiles(&m_count);
return *this;
}
/**
* Check if a file has been dropped into window.
*/
inline bool IsFileDropped() {
return ::IsFileDropped();
}
/**
* Clear dropped files paths buffer.
*/
inline DroppedFiles& Clear() {
::ClearDroppedFiles();
return *this;
}
~DroppedFiles() {
Clear();
}
inline std::string operator[](int pos) {
return at(pos);
}
inline int Count() {
return m_count;
}
inline int size() {
return m_count;
}
inline bool empty() {
return m_count == 0;
}
inline void clear() {
Clear();
}
inline std::string front() {
return at(0);
}
inline std::string back() {
return at(m_count - 1);
}
std::string at(int pos) {
if (m_files != NULL && pos < m_count && pos >= 0) {
return std::string(m_files[pos]);
}
return "";
}
};
}
#endif
| [
"robloach@gmail.com"
] | robloach@gmail.com |
f1cf28ae5ad51da5ee9167b29a491eb3f3ede700 | 312db7d82f1c0123799e797807c0813437cc695b | /Programmers/L2/L2_배달.cpp | c1058f6b524bcb73369f1fd4e6080cf77da4a4ee | [
"MIT"
] | permissive | Luxusio/Coding-Test | d9711765f956b4a59cf13eb9c568a84f326598b7 | 1cf3cf49c71ab66f140701fb3fc0548b2a2ebca4 | refs/heads/master | 2023-07-21T22:34:56.100172 | 2021-09-08T09:33:58 | 2021-09-08T09:33:58 | 355,099,560 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 1,238 | cpp | //// 2021.04.14 11:14
//#include <vector>
//#include <unordered_map>
//#include <algorithm>
//#include <queue>
//using namespace std;
//
//struct compare {
// bool operator()(pair<int, int>& p1, pair<int, int>& p2) {
// return p1.second > p2.second;
// }
//};
//
//int solution(int N, vector<vector<int>> road, int K) {
// int answer = 0, temp;
// vector<unordered_map<int, int>> map(N + 1);
// for (vector<int> r : road) {
// map[r[0]][r[1]] = (temp = map[r[0]][r[1]]) == 0 ? r[2] : min(r[2], temp);
// map[r[1]][r[0]] = (temp = map[r[1]][r[0]]) == 0 ? r[2] : min(r[2], temp);
// }
//
// vector<int> min_distance(N + 1, 2147483647), visited(N + 1, 0);
// min_distance[1] = 0;
//
// priority_queue<pair<int, int>, vector<pair<int, int>>, compare> to_visit;
// to_visit.push(pair<int, int>{ 1, 0 } );
// while (!to_visit.empty()) {
// int node = to_visit.top().first; to_visit.pop();
// if (visited[node]) continue;
// for (pair<int, int> p : map[node]) {
// min_distance[p.first] = min(min_distance[node] + p.second, min_distance[p.first]);
// to_visit.push(pair<int, int>{ p.first, min_distance[p.first] });
// }
// visited[node] = true;
// }
//
// for (int dist : min_distance) if (dist <= K) answer++;
// return answer;
//} | [
"44326048+Luxusio@users.noreply.github.com"
] | 44326048+Luxusio@users.noreply.github.com |
89aaac09be124035b47c870ef9f5a4effbb4c838 | ce31dbc037742a216223245f4fd6e44ff728726f | /[GfG]RotateMatrixRowWise.cpp | 812b193f0d7425f06031b68d27b1ee9c4f7b9817 | [] | no_license | ivamshky/Practice-Codes | 88686c928343aa19c9a74a31ad0b205d94501362 | fd73e522720eb687558ee39c892e26577409e0bb | refs/heads/master | 2021-10-10T21:45:11.308523 | 2019-01-17T18:07:07 | 2019-01-17T18:07:07 | 109,587,703 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 749 | cpp | #include<iostream>
#include<climits>
#include<cstdio>
#include<cmath>
#include<algorithm>
#include<vector>
#include<string>
#include<list>
#define FORSC(A,n1,n2) for(int i=n1;i<n2;i++){cin>>A[i];}
#define FOROUT(A,n1,n2) for(int i=n1;i<n2;i++){cout<<A[i]<<" ";}
using namespace std;
int main()
{
int t;
cin>>t;
while(t--){
int m,n,k;
cin>>m>>n>>k;
int A[m][n];
for(int i=0;i<m;++i){
for(int j=0;j<n;++j)
cin>>A[i][j];
}
k = k%n;
int a=0;
for(int j=0;j<m;j++)
for(int i=k,x=0;x<n;++x,i=(++i%n)){
cout<<A[j][i]<<" ";
a++;
}
cout<<endl;
// cout<<a<<endl;
}
return 0;
} | [
"ivamshky1117@gmail.com"
] | ivamshky1117@gmail.com |
5a88d7a0e0951e785b18424202024f548ffffbdd | af626ade966544b91fbfe0ea81fc887f1b8a2821 | /src/core_io.h | 47c1dca11a053220690dc6acefad2410812d002e | [
"MIT"
] | permissive | kunalbarchha/bitcoinrtx-old | 91f2b36a50e009151c61d36e77a563d0c17ab632 | 42c61d652288f183c4607462e2921bb33ba9ec1f | refs/heads/master | 2023-03-13T22:46:36.993580 | 2021-03-04T13:01:00 | 2021-03-04T13:01:00 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 1,186 | h | // Copyright (c) 2009-2014 The Bitcoinrtx developers
// Distributed under the MIT/X11 software license, see the accompanying
// file COPYING or http://www.opensource.org/licenses/mit-license.php.
#ifndef BITCOINRTX_CORE_IO_H
#define BITCOINRTX_CORE_IO_H
#include <string>
#include <vector>
class CBlock;
class CScript;
class CTransaction;
class uint256;
class UniValue;
// core_read.cpp
extern CScript ParseScript(std::string s);
extern bool DecodeHexTx(CTransaction& tx, const std::string& strHexTx);
extern bool DecodeHexBlk(CBlock&, const std::string& strHexBlk);
extern uint256 ParseHashUV(const UniValue& v, const std::string& strName);
extern uint256 ParseHashStr(const std::string&, const std::string& strName);
extern std::vector<unsigned char> ParseHexUV(const UniValue& v, const std::string& strName);
// core_write.cpp
extern std::string FormatScript(const CScript& script);
extern std::string EncodeHexTx(const CTransaction& tx);
extern void ScriptPubKeyToUniv(const CScript& scriptPubKey,
UniValue& out, bool fIncludeHex);
extern void TxToUniv(const CTransaction& tx, const uint256& hashBlock, UniValue& entry);
#endif // BITCOINRTX_CORE_IO_H
| [
"kunal@coinrecoil.com"
] | kunal@coinrecoil.com |
01cb4fb07ea1d7c8404dc9114ea0d4e842a2e19e | dc9f5e1402ef919ee2d3c7f45976707fd2575a8f | /Beta_version/generate_simulation/genSim_test_3.cpp | 640f51b8200018dd5c0c38b32ca7355a7c3035d8 | [] | no_license | kuanrenqian/24783-Project-nullPtr | 8448bc90348da9343be44d6a38becfee5d693639 | 2f109dda509613bc3cad94a8594a054ba693140c | refs/heads/main | 2023-04-23T22:11:34.665888 | 2021-05-05T17:56:21 | 2021-05-05T17:56:21 | 361,826,156 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 316 | cpp | #include "genSim.h"
using namespace std;
int main(){
float R,G,B;
parula_colormap(0.5, 1, R, G, B);
float RR = 0.1466;
float GG = 0.7597;
float BB = 0.6797;
if(R!=RR||G!=GG||B!=BB){
cout << "failed" << endl;
return 1;
}
cout << "works" << endl;
return 0;
} | [
"kuanrenq@outlook.com"
] | kuanrenq@outlook.com |
c13a37c955183c8b8af8a30e2da35f457ce94b49 | 3b268b40a1bc2c4fd1a2d572986a31a4a483016c | /Ticket/src/main.cpp | 3dd0dd372b4ac91c5e0c77960b2c1fd4a6aff9fe | [] | no_license | CDovgal/fill-matrix-with-numbers | 68995ad9035aba7c9b2374106bc2e647aeeb845e | f44ea84e144c6a8691c6b3a8e18c6565c68c1852 | refs/heads/main | 2020-05-20T12:38:48.550074 | 2015-03-13T15:56:17 | 2015-03-13T15:56:17 | 32,261,649 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 659 | cpp | #include <iostream>
using namespace std;
int digit_sum(int number)
{
int sum = 0;
while (number > 0)
{
int digit = number % 10;
number /= 10;
sum+=digit;
}
return sum;
}
bool checkIfLucky(unsigned number)
{
int left = number % 1000;
int right = number / 1000;
if (digit_sum(left) == digit_sum(right))
return true;
return false;
}
int main()
{
int number;
cout << "Please enter number of ticket: " << endl;
cin >> number;
if (checkIfLucky(number))
cout << "You are lucky today!!!\n";
else
cout << "Sorry, another time.. :(\n";
return 0;
} | [
"Volodymyr.Lysenko@localhost"
] | Volodymyr.Lysenko@localhost |
98401c6a1d98386e24cc63d741a01e7ce308e01f | 89fc7a1583297ae7f7cd4adaa96fab2a4518fde0 | /59_Spiral_Matrix_II.cpp | b0fa7eb48cf24bbeb58e95939cfd9dfe7cb2ff1a | [] | no_license | archerdante/leetcode | 121ee93286dcf17c3af3dba0c96e972ba2ea3dd4 | 58d6209d086c79a4b2190c1206bc560ede7f3c96 | refs/heads/master | 2021-01-21T04:38:28.070485 | 2016-07-10T01:13:05 | 2016-07-10T01:13:05 | 52,532,032 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 1,327 | cpp | #include <iostream>
#include <vector>
//Given an integer n, generate a square matrix filled with elements from 1 to n2 in spiral order.
//For example,
//Given n = 3,
//You should return the following matrix:
//[
// [ 1, 2, 3 ],
// [ 8, 9, 4 ],
// [ 7, 6, 5 ]
//]
using namespace std;
class Solution {
public:
vector<vector<int>> generateMatrix(int n) {
vector<int> rowVector(n, 0);
vector<vector<int> > matrix(n, rowVector);
int start = 0, index = 1;
while(start * 2 < n)
{
generateOneCircle(matrix, n, start++, index);
}
return matrix;
}
private:
void generateOneCircle(vector<vector<int> > &matrix, const int n, const int start, int &index)
{
int end = n- 1 - start ;
for(int i = start; i <= end; i++)
{
matrix[start][i] = index++;
}
if(end > start)
{
for(int i = start + 1; i <= end; i++)
{
matrix[i][end] = index++;
}
for(int i = end - 1; i >= start; i--)
{
matrix[end][i] = index++;
}
}
if(end > start + 1)
{
for(int i = end - 1; i > start; i--)
{
matrix[i][start] = index++;
}
}
}
};
| [
"1413282843@qq.com"
] | 1413282843@qq.com |
910100307a90f290fbc01e420147599839254524 | 8fa9fc029842c88529c3e1427f1ea613b7f4f467 | /001-Generateur/GestionMCP6S28.cpp | 7bc5ea9068183113966caddb4cda138ec72ca07c | [] | no_license | montotof123/Arduino-Uno | 6b8ed0f25aadda6383a6764b9c4f70fee05d9ca4 | dd928a6557110e36ee7e2ddd05ce3baca5e42702 | refs/heads/master | 2021-06-24T03:05:45.692252 | 2020-12-25T22:49:32 | 2020-12-25T22:49:32 | 144,972,814 | 2 | 1 | null | null | null | null | UTF-8 | C++ | false | false | 594 | cpp | /*
* GestionMCP6S28.cpp
*
* Created on: 10 may 2018
* Author: totof
* Controle un MCP6S28 en SPI avec la librairie wiringPi sur Raspberry Pi
*/
#include "GestionMCP6S28.h"
// ***************************************
// Constructeur
// @param la broche de sélection
// Mémorise la broche et initialise le SPI
// ***************************************
GestionMCP6S28::GestionMCP6S28(SelectPin pSelectPin) {
init(pSelectPin);
}
// ******************
// Paramètre l'entrée
// @Param l'entrée
// ******************
void GestionMCP6S28::setCanal(In in) {
write(CANAL, in);
}
| [
"noreply@github.com"
] | noreply@github.com |
0b2032840f48f7c441b3c5f8cf79c0849c65ec6e | b1b06b82d6a364599c8b895010db217b0a2ed135 | /app/src/main/jni/include/opencv2/calib3d.hpp | 06fa957e4bbc644d3dc0f7555df18f5a541cf12f | [
"MIT"
] | permissive | abhijitramesh/Paneeer | e61ce4f32e4ad1d546392c19cb5da8749d98e825 | 461fb3cdea9e31b024cade721b1996193accad70 | refs/heads/master | 2022-11-23T19:40:55.135163 | 2020-07-26T09:14:28 | 2020-07-26T09:14:28 | 282,632,073 | 1 | 0 | MIT | 2020-07-26T11:05:26 | 2020-07-26T11:05:25 | null | UTF-8 | C++ | false | false | 158,736 | hpp | /*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef OPENCV_CALIB3D_HPP
#define OPENCV_CALIB3D_HPP
#include "opencv2/core.hpp"
#include "opencv2/features2d.hpp"
#include "opencv2/core/affine.hpp"
/**
@defgroup calib3d Camera Calibration and 3D Reconstruction
The functions in this section use a so-called pinhole camera model. In this model, a scene view is
formed by projecting 3D points into the image plane using a perspective transformation.
\f[s \; m' = A [R|t] M'\f]
or
\f[s \vecthree{u}{v}{1} = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}
\begin{bmatrix}
r_{11} & r_{12} & r_{13} & t_1 \\
r_{21} & r_{22} & r_{23} & t_2 \\
r_{31} & r_{32} & r_{33} & t_3
\end{bmatrix}
\begin{bmatrix}
X \\
Y \\
Z \\
1
\end{bmatrix}\f]
where:
- \f$(X, Y, Z)\f$ are the coordinates of a 3D point in the world coordinate space
- \f$(u, v)\f$ are the coordinates of the projection point in pixels
- \f$A\f$ is a camera matrix, or a matrix of intrinsic parameters
- \f$(cx, cy)\f$ is a principal point that is usually at the image center
- \f$fx, fy\f$ are the focal lengths expressed in pixel units.
Thus, if an image from the camera is scaled by a factor, all of these parameters should be scaled
(multiplied/divided, respectively) by the same factor. The matrix of intrinsic parameters does not
depend on the scene viewed. So, once estimated, it can be re-used as long as the focal length is
fixed (in case of zoom lens). The joint rotation-translation matrix \f$[R|t]\f$ is called a matrix of
extrinsic parameters. It is used to describe the camera motion around a static scene, or vice versa,
rigid motion of an object in front of a still camera. That is, \f$[R|t]\f$ translates coordinates of a
point \f$(X, Y, Z)\f$ to a coordinate system, fixed with respect to the camera. The transformation above
is equivalent to the following (when \f$z \ne 0\f$ ):
\f[\begin{array}{l}
\vecthree{x}{y}{z} = R \vecthree{X}{Y}{Z} + t \\
x' = x/z \\
y' = y/z \\
u = f_x*x' + c_x \\
v = f_y*y' + c_y
\end{array}\f]
The following figure illustrates the pinhole camera model.
Real lenses usually have some distortion, mostly radial distortion and slight tangential distortion.
So, the above model is extended as:
\f[\begin{array}{l}
\vecthree{x}{y}{z} = R \vecthree{X}{Y}{Z} + t \\
x' = x/z \\
y' = y/z \\
x'' = x' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6} + 2 p_1 x' y' + p_2(r^2 + 2 x'^2) + s_1 r^2 + s_2 r^4 \\
y'' = y' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6} + p_1 (r^2 + 2 y'^2) + 2 p_2 x' y' + s_3 r^2 + s_4 r^4 \\
\text{where} \quad r^2 = x'^2 + y'^2 \\
u = f_x*x'' + c_x \\
v = f_y*y'' + c_y
\end{array}\f]
\f$k_1\f$, \f$k_2\f$, \f$k_3\f$, \f$k_4\f$, \f$k_5\f$, and \f$k_6\f$ are radial distortion coefficients. \f$p_1\f$ and \f$p_2\f$ are
tangential distortion coefficients. \f$s_1\f$, \f$s_2\f$, \f$s_3\f$, and \f$s_4\f$, are the thin prism distortion
coefficients. Higher-order coefficients are not considered in OpenCV.
The next figures show two common types of radial distortion: barrel distortion (typically \f$ k_1 < 0 \f$) and pincushion distortion (typically \f$ k_1 > 0 \f$).
In some cases the image sensor may be tilted in order to focus an oblique plane in front of the
camera (Scheimpfug condition). This can be useful for particle image velocimetry (PIV) or
triangulation with a laser fan. The tilt causes a perspective distortion of \f$x''\f$ and
\f$y''\f$. This distortion can be modelled in the following way, see e.g. @cite Louhichi07.
\f[\begin{array}{l}
s\vecthree{x'''}{y'''}{1} =
\vecthreethree{R_{33}(\tau_x, \tau_y)}{0}{-R_{13}(\tau_x, \tau_y)}
{0}{R_{33}(\tau_x, \tau_y)}{-R_{23}(\tau_x, \tau_y)}
{0}{0}{1} R(\tau_x, \tau_y) \vecthree{x''}{y''}{1}\\
u = f_x*x''' + c_x \\
v = f_y*y''' + c_y
\end{array}\f]
where the matrix \f$R(\tau_x, \tau_y)\f$ is defined by two rotations with angular parameter \f$\tau_x\f$
and \f$\tau_y\f$, respectively,
\f[
R(\tau_x, \tau_y) =
\vecthreethree{\cos(\tau_y)}{0}{-\sin(\tau_y)}{0}{1}{0}{\sin(\tau_y)}{0}{\cos(\tau_y)}
\vecthreethree{1}{0}{0}{0}{\cos(\tau_x)}{\sin(\tau_x)}{0}{-\sin(\tau_x)}{\cos(\tau_x)} =
\vecthreethree{\cos(\tau_y)}{\sin(\tau_y)\sin(\tau_x)}{-\sin(\tau_y)\cos(\tau_x)}
{0}{\cos(\tau_x)}{\sin(\tau_x)}
{\sin(\tau_y)}{-\cos(\tau_y)\sin(\tau_x)}{\cos(\tau_y)\cos(\tau_x)}.
\f]
In the functions below the coefficients are passed or returned as
\f[(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f]
vector. That is, if the vector contains four elements, it means that \f$k_3=0\f$ . The distortion
coefficients do not depend on the scene viewed. Thus, they also belong to the intrinsic camera
parameters. And they remain the same regardless of the captured image resolution. If, for example, a
camera has been calibrated on images of 320 x 240 resolution, absolutely the same distortion
coefficients can be used for 640 x 480 images from the same camera while \f$f_x\f$, \f$f_y\f$, \f$c_x\f$, and
\f$c_y\f$ need to be scaled appropriately.
The functions below use the above model to do the following:
- Project 3D points to the image plane given intrinsic and extrinsic parameters.
- Compute extrinsic parameters given intrinsic parameters, a few 3D points, and their
projections.
- Estimate intrinsic and extrinsic camera parameters from several views of a known calibration
pattern (every view is described by several 3D-2D point correspondences).
- Estimate the relative position and orientation of the stereo camera "heads" and compute the
*rectification* transformation that makes the camera optical axes parallel.
@note
- A calibration sample for 3 cameras in horizontal position can be found at
opencv_source_code/samples/cpp/3calibration.cpp
- A calibration sample based on a sequence of images can be found at
opencv_source_code/samples/cpp/calibration.cpp
- A calibration sample in order to do 3D reconstruction can be found at
opencv_source_code/samples/cpp/build3dmodel.cpp
- A calibration sample of an artificially generated camera and chessboard patterns can be
found at opencv_source_code/samples/cpp/calibration_artificial.cpp
- A calibration example on stereo calibration can be found at
opencv_source_code/samples/cpp/stereo_calib.cpp
- A calibration example on stereo matching can be found at
opencv_source_code/samples/cpp/stereo_match.cpp
- (Python) A camera calibration sample can be found at
opencv_source_code/samples/python/calibrate.py
@{
@defgroup calib3d_fisheye Fisheye camera model
Definitions: Let P be a point in 3D of coordinates X in the world reference frame (stored in the
matrix X) The coordinate vector of P in the camera reference frame is:
\f[Xc = R X + T\f]
where R is the rotation matrix corresponding to the rotation vector om: R = rodrigues(om); call x, y
and z the 3 coordinates of Xc:
\f[x = Xc_1 \\ y = Xc_2 \\ z = Xc_3\f]
The pinhole projection coordinates of P is [a; b] where
\f[a = x / z \ and \ b = y / z \\ r^2 = a^2 + b^2 \\ \theta = atan(r)\f]
Fisheye distortion:
\f[\theta_d = \theta (1 + k_1 \theta^2 + k_2 \theta^4 + k_3 \theta^6 + k_4 \theta^8)\f]
The distorted point coordinates are [x'; y'] where
\f[x' = (\theta_d / r) a \\ y' = (\theta_d / r) b \f]
Finally, conversion into pixel coordinates: The final pixel coordinates vector [u; v] where:
\f[u = f_x (x' + \alpha y') + c_x \\
v = f_y y' + c_y\f]
@defgroup calib3d_c C API
@}
*/
namespace cv
{
//! @addtogroup calib3d
//! @{
//! type of the robust estimation algorithm
enum { LMEDS = 4, //!< least-median of squares algorithm
RANSAC = 8, //!< RANSAC algorithm
RHO = 16 //!< RHO algorithm
};
enum { SOLVEPNP_ITERATIVE = 0,
SOLVEPNP_EPNP = 1, //!< EPnP: Efficient Perspective-n-Point Camera Pose Estimation @cite lepetit2009epnp
SOLVEPNP_P3P = 2, //!< Complete Solution Classification for the Perspective-Three-Point Problem @cite gao2003complete
SOLVEPNP_DLS = 3, //!< A Direct Least-Squares (DLS) Method for PnP @cite hesch2011direct
SOLVEPNP_UPNP = 4, //!< Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation @cite penate2013exhaustive
SOLVEPNP_AP3P = 5, //!< An Efficient Algebraic Solution to the Perspective-Three-Point Problem @cite Ke17
SOLVEPNP_MAX_COUNT //!< Used for count
};
enum { CALIB_CB_ADAPTIVE_THRESH = 1,
CALIB_CB_NORMALIZE_IMAGE = 2,
CALIB_CB_FILTER_QUADS = 4,
CALIB_CB_FAST_CHECK = 8,
CALIB_CB_EXHAUSTIVE = 16,
CALIB_CB_ACCURACY = 32
};
enum { CALIB_CB_SYMMETRIC_GRID = 1,
CALIB_CB_ASYMMETRIC_GRID = 2,
CALIB_CB_CLUSTERING = 4
};
enum { CALIB_NINTRINSIC = 18,
CALIB_USE_INTRINSIC_GUESS = 0x00001,
CALIB_FIX_ASPECT_RATIO = 0x00002,
CALIB_FIX_PRINCIPAL_POINT = 0x00004,
CALIB_ZERO_TANGENT_DIST = 0x00008,
CALIB_FIX_FOCAL_LENGTH = 0x00010,
CALIB_FIX_K1 = 0x00020,
CALIB_FIX_K2 = 0x00040,
CALIB_FIX_K3 = 0x00080,
CALIB_FIX_K4 = 0x00800,
CALIB_FIX_K5 = 0x01000,
CALIB_FIX_K6 = 0x02000,
CALIB_RATIONAL_MODEL = 0x04000,
CALIB_THIN_PRISM_MODEL = 0x08000,
CALIB_FIX_S1_S2_S3_S4 = 0x10000,
CALIB_TILTED_MODEL = 0x40000,
CALIB_FIX_TAUX_TAUY = 0x80000,
CALIB_USE_QR = 0x100000, //!< use QR instead of SVD decomposition for solving. Faster but potentially less precise
CALIB_FIX_TANGENT_DIST = 0x200000,
// only for stereo
CALIB_FIX_INTRINSIC = 0x00100,
CALIB_SAME_FOCAL_LENGTH = 0x00200,
// for stereo rectification
CALIB_ZERO_DISPARITY = 0x00400,
CALIB_USE_LU = (1 << 17), //!< use LU instead of SVD decomposition for solving. much faster but potentially less precise
CALIB_USE_EXTRINSIC_GUESS = (1 << 22), //!< for stereoCalibrate
};
//! the algorithm for finding fundamental matrix
enum { FM_7POINT = 1, //!< 7-point algorithm
FM_8POINT = 2, //!< 8-point algorithm
FM_LMEDS = 4, //!< least-median algorithm. 7-point algorithm is used.
FM_RANSAC = 8 //!< RANSAC algorithm. It needs at least 15 points. 7-point algorithm is used.
};
/** @brief Converts a rotation matrix to a rotation vector or vice versa.
@param src Input rotation vector (3x1 or 1x3) or rotation matrix (3x3).
@param dst Output rotation matrix (3x3) or rotation vector (3x1 or 1x3), respectively.
@param jacobian Optional output Jacobian matrix, 3x9 or 9x3, which is a matrix of partial
derivatives of the output array components with respect to the input array components.
\f[\begin{array}{l} \theta \leftarrow norm(r) \\ r \leftarrow r/ \theta \\ R = \cos{\theta} I + (1- \cos{\theta} ) r r^T + \sin{\theta} \vecthreethree{0}{-r_z}{r_y}{r_z}{0}{-r_x}{-r_y}{r_x}{0} \end{array}\f]
Inverse transformation can be also done easily, since
\f[\sin ( \theta ) \vecthreethree{0}{-r_z}{r_y}{r_z}{0}{-r_x}{-r_y}{r_x}{0} = \frac{R - R^T}{2}\f]
A rotation vector is a convenient and most compact representation of a rotation matrix (since any
rotation matrix has just 3 degrees of freedom). The representation is used in the global 3D geometry
optimization procedures like calibrateCamera, stereoCalibrate, or solvePnP .
*/
CV_EXPORTS_W void Rodrigues( InputArray src, OutputArray dst, OutputArray jacobian = noArray() );
/** @example samples/cpp/tutorial_code/features2D/Homography/pose_from_homography.cpp
An example program about pose estimation from coplanar points
Check @ref tutorial_homography "the corresponding tutorial" for more details
*/
/** Levenberg-Marquardt solver. Starting with the specified vector of parameters it
optimizes the target vector criteria "err"
(finds local minima of each target vector component absolute value).
When needed, it calls user-provided callback.
*/
class CV_EXPORTS LMSolver : public Algorithm
{
public:
class CV_EXPORTS Callback
{
public:
virtual ~Callback() {}
/**
computes error and Jacobian for the specified vector of parameters
@param param the current vector of parameters
@param err output vector of errors: err_i = actual_f_i - ideal_f_i
@param J output Jacobian: J_ij = d(err_i)/d(param_j)
when J=noArray(), it means that it does not need to be computed.
Dimensionality of error vector and param vector can be different.
The callback should explicitly allocate (with "create" method) each output array
(unless it's noArray()).
*/
virtual bool compute(InputArray param, OutputArray err, OutputArray J) const = 0;
};
/**
Runs Levenberg-Marquardt algorithm using the passed vector of parameters as the start point.
The final vector of parameters (whether the algorithm converged or not) is stored at the same
vector. The method returns the number of iterations used. If it's equal to the previously specified
maxIters, there is a big chance the algorithm did not converge.
@param param initial/final vector of parameters.
Note that the dimensionality of parameter space is defined by the size of param vector,
and the dimensionality of optimized criteria is defined by the size of err vector
computed by the callback.
*/
virtual int run(InputOutputArray param) const = 0;
/**
Sets the maximum number of iterations
@param maxIters the number of iterations
*/
virtual void setMaxIters(int maxIters) = 0;
/**
Retrieves the current maximum number of iterations
*/
virtual int getMaxIters() const = 0;
/**
Creates Levenberg-Marquard solver
@param cb callback
@param maxIters maximum number of iterations that can be further
modified using setMaxIters() method.
*/
static Ptr<LMSolver> create(const Ptr<LMSolver::Callback>& cb, int maxIters);
};
/** @brief Finds a perspective transformation between two planes.
@param srcPoints Coordinates of the points in the original plane, a matrix of the type CV_32FC2
or vector\<Point2f\> .
@param dstPoints Coordinates of the points in the target plane, a matrix of the type CV_32FC2 or
a vector\<Point2f\> .
@param method Method used to compute a homography matrix. The following methods are possible:
- **0** - a regular method using all the points, i.e., the least squares method
- **RANSAC** - RANSAC-based robust method
- **LMEDS** - Least-Median robust method
- **RHO** - PROSAC-based robust method
@param ransacReprojThreshold Maximum allowed reprojection error to treat a point pair as an inlier
(used in the RANSAC and RHO methods only). That is, if
\f[\| \texttt{dstPoints} _i - \texttt{convertPointsHomogeneous} ( \texttt{H} * \texttt{srcPoints} _i) \|_2 > \texttt{ransacReprojThreshold}\f]
then the point \f$i\f$ is considered as an outlier. If srcPoints and dstPoints are measured in pixels,
it usually makes sense to set this parameter somewhere in the range of 1 to 10.
@param mask Optional output mask set by a robust method ( RANSAC or LMEDS ). Note that the input
mask values are ignored.
@param maxIters The maximum number of RANSAC iterations.
@param confidence Confidence level, between 0 and 1.
The function finds and returns the perspective transformation \f$H\f$ between the source and the
destination planes:
\f[s_i \vecthree{x'_i}{y'_i}{1} \sim H \vecthree{x_i}{y_i}{1}\f]
so that the back-projection error
\f[\sum _i \left ( x'_i- \frac{h_{11} x_i + h_{12} y_i + h_{13}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2+ \left ( y'_i- \frac{h_{21} x_i + h_{22} y_i + h_{23}}{h_{31} x_i + h_{32} y_i + h_{33}} \right )^2\f]
is minimized. If the parameter method is set to the default value 0, the function uses all the point
pairs to compute an initial homography estimate with a simple least-squares scheme.
However, if not all of the point pairs ( \f$srcPoints_i\f$, \f$dstPoints_i\f$ ) fit the rigid perspective
transformation (that is, there are some outliers), this initial estimate will be poor. In this case,
you can use one of the three robust methods. The methods RANSAC, LMeDS and RHO try many different
random subsets of the corresponding point pairs (of four pairs each, collinear pairs are discarded), estimate the homography matrix
using this subset and a simple least-squares algorithm, and then compute the quality/goodness of the
computed homography (which is the number of inliers for RANSAC or the least median re-projection error for
LMeDS). The best subset is then used to produce the initial estimate of the homography matrix and
the mask of inliers/outliers.
Regardless of the method, robust or not, the computed homography matrix is refined further (using
inliers only in case of a robust method) with the Levenberg-Marquardt method to reduce the
re-projection error even more.
The methods RANSAC and RHO can handle practically any ratio of outliers but need a threshold to
distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
correctly only when there are more than 50% of inliers. Finally, if there are no outliers and the
noise is rather small, use the default method (method=0).
The function is used to find initial intrinsic and extrinsic matrices. Homography matrix is
determined up to a scale. Thus, it is normalized so that \f$h_{33}=1\f$. Note that whenever an \f$H\f$ matrix
cannot be estimated, an empty one will be returned.
@sa
getAffineTransform, estimateAffine2D, estimateAffinePartial2D, getPerspectiveTransform, warpPerspective,
perspectiveTransform
*/
CV_EXPORTS_W Mat findHomography( InputArray srcPoints, InputArray dstPoints,
int method = 0, double ransacReprojThreshold = 3,
OutputArray mask=noArray(), const int maxIters = 2000,
const double confidence = 0.995);
/** @overload */
CV_EXPORTS Mat findHomography( InputArray srcPoints, InputArray dstPoints,
OutputArray mask, int method = 0, double ransacReprojThreshold = 3 );
/** @brief Computes an RQ decomposition of 3x3 matrices.
@param src 3x3 input matrix.
@param mtxR Output 3x3 upper-triangular matrix.
@param mtxQ Output 3x3 orthogonal matrix.
@param Qx Optional output 3x3 rotation matrix around x-axis.
@param Qy Optional output 3x3 rotation matrix around y-axis.
@param Qz Optional output 3x3 rotation matrix around z-axis.
The function computes a RQ decomposition using the given rotations. This function is used in
decomposeProjectionMatrix to decompose the left 3x3 submatrix of a projection matrix into a camera
and a rotation matrix.
It optionally returns three rotation matrices, one for each axis, and the three Euler angles in
degrees (as the return value) that could be used in OpenGL. Note, there is always more than one
sequence of rotations about the three principal axes that results in the same orientation of an
object, e.g. see @cite Slabaugh . Returned tree rotation matrices and corresponding three Euler angles
are only one of the possible solutions.
*/
CV_EXPORTS_W Vec3d RQDecomp3x3( InputArray src, OutputArray mtxR, OutputArray mtxQ,
OutputArray Qx = noArray(),
OutputArray Qy = noArray(),
OutputArray Qz = noArray());
/** @brief Decomposes a projection matrix into a rotation matrix and a camera matrix.
@param projMatrix 3x4 input projection matrix P.
@param cameraMatrix Output 3x3 camera matrix K.
@param rotMatrix Output 3x3 external rotation matrix R.
@param transVect Output 4x1 translation vector T.
@param rotMatrixX Optional 3x3 rotation matrix around x-axis.
@param rotMatrixY Optional 3x3 rotation matrix around y-axis.
@param rotMatrixZ Optional 3x3 rotation matrix around z-axis.
@param eulerAngles Optional three-element vector containing three Euler angles of rotation in
degrees.
The function computes a decomposition of a projection matrix into a calibration and a rotation
matrix and the position of a camera.
It optionally returns three rotation matrices, one for each axis, and three Euler angles that could
be used in OpenGL. Note, there is always more than one sequence of rotations about the three
principal axes that results in the same orientation of an object, e.g. see @cite Slabaugh . Returned
tree rotation matrices and corresponding three Euler angles are only one of the possible solutions.
The function is based on RQDecomp3x3 .
*/
CV_EXPORTS_W void decomposeProjectionMatrix( InputArray projMatrix, OutputArray cameraMatrix,
OutputArray rotMatrix, OutputArray transVect,
OutputArray rotMatrixX = noArray(),
OutputArray rotMatrixY = noArray(),
OutputArray rotMatrixZ = noArray(),
OutputArray eulerAngles =noArray() );
/** @brief Computes partial derivatives of the matrix product for each multiplied matrix.
@param A First multiplied matrix.
@param B Second multiplied matrix.
@param dABdA First output derivative matrix d(A\*B)/dA of size
\f$\texttt{A.rows*B.cols} \times {A.rows*A.cols}\f$ .
@param dABdB Second output derivative matrix d(A\*B)/dB of size
\f$\texttt{A.rows*B.cols} \times {B.rows*B.cols}\f$ .
The function computes partial derivatives of the elements of the matrix product \f$A*B\f$ with regard to
the elements of each of the two input matrices. The function is used to compute the Jacobian
matrices in stereoCalibrate but can also be used in any other similar optimization function.
*/
CV_EXPORTS_W void matMulDeriv( InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB );
/** @brief Combines two rotation-and-shift transformations.
@param rvec1 First rotation vector.
@param tvec1 First translation vector.
@param rvec2 Second rotation vector.
@param tvec2 Second translation vector.
@param rvec3 Output rotation vector of the superposition.
@param tvec3 Output translation vector of the superposition.
@param dr3dr1
@param dr3dt1
@param dr3dr2
@param dr3dt2
@param dt3dr1
@param dt3dt1
@param dt3dr2
@param dt3dt2 Optional output derivatives of rvec3 or tvec3 with regard to rvec1, rvec2, tvec1 and
tvec2, respectively.
The functions compute:
\f[\begin{array}{l} \texttt{rvec3} = \mathrm{rodrigues} ^{-1} \left ( \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \mathrm{rodrigues} ( \texttt{rvec1} ) \right ) \\ \texttt{tvec3} = \mathrm{rodrigues} ( \texttt{rvec2} ) \cdot \texttt{tvec1} + \texttt{tvec2} \end{array} ,\f]
where \f$\mathrm{rodrigues}\f$ denotes a rotation vector to a rotation matrix transformation, and
\f$\mathrm{rodrigues}^{-1}\f$ denotes the inverse transformation. See Rodrigues for details.
Also, the functions can compute the derivatives of the output vectors with regards to the input
vectors (see matMulDeriv ). The functions are used inside stereoCalibrate but can also be used in
your own code where Levenberg-Marquardt or another gradient-based solver is used to optimize a
function that contains a matrix multiplication.
*/
CV_EXPORTS_W void composeRT( InputArray rvec1, InputArray tvec1,
InputArray rvec2, InputArray tvec2,
OutputArray rvec3, OutputArray tvec3,
OutputArray dr3dr1 = noArray(), OutputArray dr3dt1 = noArray(),
OutputArray dr3dr2 = noArray(), OutputArray dr3dt2 = noArray(),
OutputArray dt3dr1 = noArray(), OutputArray dt3dt1 = noArray(),
OutputArray dt3dr2 = noArray(), OutputArray dt3dt2 = noArray() );
/** @brief Projects 3D points to an image plane.
@param objectPoints Array of object points, 3xN/Nx3 1-channel or 1xN/Nx1 3-channel (or
vector\<Point3f\> ), where N is the number of points in the view.
@param rvec Rotation vector. See Rodrigues for details.
@param tvec Translation vector.
@param cameraMatrix Camera matrix \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$ .
@param distCoeffs Input vector of distortion coefficients
\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$ of
4, 5, 8, 12 or 14 elements. If the vector is empty, the zero distortion coefficients are assumed.
@param imagePoints Output array of image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, or
vector\<Point2f\> .
@param jacobian Optional output 2Nx(10+\<numDistCoeffs\>) jacobian matrix of derivatives of image
points with respect to components of the rotation vector, translation vector, focal lengths,
coordinates of the principal point and the distortion coefficients. In the old interface different
components of the jacobian are returned via different output parameters.
@param aspectRatio Optional "fixed aspect ratio" parameter. If the parameter is not 0, the
function assumes that the aspect ratio (*fx/fy*) is fixed and correspondingly adjusts the jacobian
matrix.
The function computes projections of 3D points to the image plane given intrinsic and extrinsic
camera parameters. Optionally, the function computes Jacobians - matrices of partial derivatives of
image points coordinates (as functions of all the input parameters) with respect to the particular
parameters, intrinsic and/or extrinsic. The Jacobians are used during the global optimization in
calibrateCamera, solvePnP, and stereoCalibrate . The function itself can also be used to compute a
re-projection error given the current intrinsic and extrinsic parameters.
@note By setting rvec=tvec=(0,0,0) or by setting cameraMatrix to a 3x3 identity matrix, or by
passing zero distortion coefficients, you can get various useful partial cases of the function. This
means that you can compute the distorted coordinates for a sparse set of points or apply a
perspective transformation (and also compute the derivatives) in the ideal zero-distortion setup.
*/
CV_EXPORTS_W void projectPoints( InputArray objectPoints,
InputArray rvec, InputArray tvec,
InputArray cameraMatrix, InputArray distCoeffs,
OutputArray imagePoints,
OutputArray jacobian = noArray(),
double aspectRatio = 0 );
/** @example samples/cpp/tutorial_code/features2D/Homography/homography_from_camera_displacement.cpp
An example program about homography from the camera displacement
Check @ref tutorial_homography "the corresponding tutorial" for more details
*/
/** @brief Finds an object pose from 3D-2D point correspondences.
@param objectPoints Array of object points in the object coordinate space, Nx3 1-channel or
1xN/Nx1 3-channel, where N is the number of points. vector\<Point3f\> can be also passed here.
@param imagePoints Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
where N is the number of points. vector\<Point2f\> can be also passed here.
@param cameraMatrix Input camera matrix \f$A = \vecthreethree{fx}{0}{cx}{0}{fy}{cy}{0}{0}{1}\f$ .
@param distCoeffs Input vector of distortion coefficients
\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$ of
4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are
assumed.
@param rvec Output rotation vector (see @ref Rodrigues ) that, together with tvec , brings points from
the model coordinate system to the camera coordinate system.
@param tvec Output translation vector.
@param useExtrinsicGuess Parameter used for #SOLVEPNP_ITERATIVE. If true (1), the function uses
the provided rvec and tvec values as initial approximations of the rotation and translation
vectors, respectively, and further optimizes them.
@param flags Method for solving a PnP problem:
- **SOLVEPNP_ITERATIVE** Iterative method is based on Levenberg-Marquardt optimization. In
this case the function finds such a pose that minimizes reprojection error, that is the sum
of squared distances between the observed projections imagePoints and the projected (using
projectPoints ) objectPoints .
- **SOLVEPNP_P3P** Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang
"Complete Solution Classification for the Perspective-Three-Point Problem" (@cite gao2003complete).
In this case the function requires exactly four object and image points.
- **SOLVEPNP_AP3P** Method is based on the paper of T. Ke, S. Roumeliotis
"An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (@cite Ke17).
In this case the function requires exactly four object and image points.
- **SOLVEPNP_EPNP** Method has been introduced by F.Moreno-Noguer, V.Lepetit and P.Fua in the
paper "EPnP: Efficient Perspective-n-Point Camera Pose Estimation" (@cite lepetit2009epnp).
- **SOLVEPNP_DLS** Method is based on the paper of Joel A. Hesch and Stergios I. Roumeliotis.
"A Direct Least-Squares (DLS) Method for PnP" (@cite hesch2011direct).
- **SOLVEPNP_UPNP** Method is based on the paper of A.Penate-Sanchez, J.Andrade-Cetto,
F.Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length
Estimation" (@cite penate2013exhaustive). In this case the function also estimates the parameters \f$f_x\f$ and \f$f_y\f$
assuming that both have the same value. Then the cameraMatrix is updated with the estimated
focal length.
- **SOLVEPNP_AP3P** Method is based on the paper of Tong Ke and Stergios I. Roumeliotis.
"An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (@cite Ke17). In this case the
function requires exactly four object and image points.
The function estimates the object pose given a set of object points, their corresponding image
projections, as well as the camera matrix and the distortion coefficients, see the figure below
(more precisely, the X-axis of the camera frame is pointing to the right, the Y-axis downward
and the Z-axis forward).
Points expressed in the world frame \f$ \bf{X}_w \f$ are projected into the image plane \f$ \left[ u, v \right] \f$
using the perspective projection model \f$ \Pi \f$ and the camera intrinsic parameters matrix \f$ \bf{A} \f$:
\f[
\begin{align*}
\begin{bmatrix}
u \\
v \\
1
\end{bmatrix} &=
\bf{A} \hspace{0.1em} \Pi \hspace{0.2em} ^{c}\bf{M}_w
\begin{bmatrix}
X_{w} \\
Y_{w} \\
Z_{w} \\
1
\end{bmatrix} \\
\begin{bmatrix}
u \\
v \\
1
\end{bmatrix} &=
\begin{bmatrix}
f_x & 0 & c_x \\
0 & f_y & c_y \\
0 & 0 & 1
\end{bmatrix}
\begin{bmatrix}
1 & 0 & 0 & 0 \\
0 & 1 & 0 & 0 \\
0 & 0 & 1 & 0
\end{bmatrix}
\begin{bmatrix}
r_{11} & r_{12} & r_{13} & t_x \\
r_{21} & r_{22} & r_{23} & t_y \\
r_{31} & r_{32} & r_{33} & t_z \\
0 & 0 & 0 & 1
\end{bmatrix}
\begin{bmatrix}
X_{w} \\
Y_{w} \\
Z_{w} \\
1
\end{bmatrix}
\end{align*}
\f]
The estimated pose is thus the rotation (`rvec`) and the translation (`tvec`) vectors that allow to transform
a 3D point expressed in the world frame into the camera frame:
\f[
\begin{align*}
\begin{bmatrix}
X_c \\
Y_c \\
Z_c \\
1
\end{bmatrix} &=
\hspace{0.2em} ^{c}\bf{M}_w
\begin{bmatrix}
X_{w} \\
Y_{w} \\
Z_{w} \\
1
\end{bmatrix} \\
\begin{bmatrix}
X_c \\
Y_c \\
Z_c \\
1
\end{bmatrix} &=
\begin{bmatrix}
r_{11} & r_{12} & r_{13} & t_x \\
r_{21} & r_{22} & r_{23} & t_y \\
r_{31} & r_{32} & r_{33} & t_z \\
0 & 0 & 0 & 1
\end{bmatrix}
\begin{bmatrix}
X_{w} \\
Y_{w} \\
Z_{w} \\
1
\end{bmatrix}
\end{align*}
\f]
@note
- An example of how to use solvePnP for planar augmented reality can be found at
opencv_source_code/samples/python/plane_ar.py
- If you are using Python:
- Numpy array slices won't work as input because solvePnP requires contiguous
arrays (enforced by the assertion using cv::Mat::checkVector() around line 55 of
modules/calib3d/src/solvepnp.cpp version 2.4.9)
- The P3P algorithm requires image points to be in an array of shape (N,1,2) due
to its calling of cv::undistortPoints (around line 75 of modules/calib3d/src/solvepnp.cpp version 2.4.9)
which requires 2-channel information.
- Thus, given some data D = np.array(...) where D.shape = (N,M), in order to use a subset of
it as, e.g., imagePoints, one must effectively copy it into a new array: imagePoints =
np.ascontiguousarray(D[:,:2]).reshape((N,1,2))
- The methods **SOLVEPNP_DLS** and **SOLVEPNP_UPNP** cannot be used as the current implementations are
unstable and sometimes give completely wrong results. If you pass one of these two
flags, **SOLVEPNP_EPNP** method will be used instead.
- The minimum number of points is 4 in the general case. In the case of **SOLVEPNP_P3P** and **SOLVEPNP_AP3P**
methods, it is required to use exactly 4 points (the first 3 points are used to estimate all the solutions
of the P3P problem, the last one is used to retain the best solution that minimizes the reprojection error).
- With **SOLVEPNP_ITERATIVE** method and `useExtrinsicGuess=true`, the minimum number of points is 3 (3 points
are sufficient to compute a pose but there are up to 4 solutions). The initial solution should be close to the
global solution to converge.
*/
CV_EXPORTS_W bool solvePnP( InputArray objectPoints, InputArray imagePoints,
InputArray cameraMatrix, InputArray distCoeffs,
OutputArray rvec, OutputArray tvec,
bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE );
/** @brief Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.
@param objectPoints Array of object points in the object coordinate space, Nx3 1-channel or
1xN/Nx1 3-channel, where N is the number of points. vector\<Point3f\> can be also passed here.
@param imagePoints Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel,
where N is the number of points. vector\<Point2f\> can be also passed here.
@param cameraMatrix Input camera matrix \f$A = \vecthreethree{fx}{0}{cx}{0}{fy}{cy}{0}{0}{1}\f$ .
@param distCoeffs Input vector of distortion coefficients
\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$ of
4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are
assumed.
@param rvec Output rotation vector (see Rodrigues ) that, together with tvec , brings points from
the model coordinate system to the camera coordinate system.
@param tvec Output translation vector.
@param useExtrinsicGuess Parameter used for SOLVEPNP_ITERATIVE. If true (1), the function uses
the provided rvec and tvec values as initial approximations of the rotation and translation
vectors, respectively, and further optimizes them.
@param iterationsCount Number of iterations.
@param reprojectionError Inlier threshold value used by the RANSAC procedure. The parameter value
is the maximum allowed distance between the observed and computed point projections to consider it
an inlier.
@param confidence The probability that the algorithm produces a useful result.
@param inliers Output vector that contains indices of inliers in objectPoints and imagePoints .
@param flags Method for solving a PnP problem (see solvePnP ).
The function estimates an object pose given a set of object points, their corresponding image
projections, as well as the camera matrix and the distortion coefficients. This function finds such
a pose that minimizes reprojection error, that is, the sum of squared distances between the observed
projections imagePoints and the projected (using projectPoints ) objectPoints. The use of RANSAC
makes the function resistant to outliers.
@note
- An example of how to use solvePNPRansac for object detection can be found at
opencv_source_code/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/
- The default method used to estimate the camera pose for the Minimal Sample Sets step
is #SOLVEPNP_EPNP. Exceptions are:
- if you choose #SOLVEPNP_P3P or #SOLVEPNP_AP3P, these methods will be used.
- if the number of input points is equal to 4, #SOLVEPNP_P3P is used.
- The method used to estimate the camera pose using all the inliers is defined by the
flags parameters unless it is equal to #SOLVEPNP_P3P or #SOLVEPNP_AP3P. In this case,
the method #SOLVEPNP_EPNP will be used instead.
*/
CV_EXPORTS_W bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints,
InputArray cameraMatrix, InputArray distCoeffs,
OutputArray rvec, OutputArray tvec,
bool useExtrinsicGuess = false, int iterationsCount = 100,
float reprojectionError = 8.0, double confidence = 0.99,
OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE );
/** @brief Finds an object pose from 3 3D-2D point correspondences.
@param objectPoints Array of object points in the object coordinate space, 3x3 1-channel or
1x3/3x1 3-channel. vector\<Point3f\> can be also passed here.
@param imagePoints Array of corresponding image points, 3x2 1-channel or 1x3/3x1 2-channel.
vector\<Point2f\> can be also passed here.
@param cameraMatrix Input camera matrix \f$A = \vecthreethree{fx}{0}{cx}{0}{fy}{cy}{0}{0}{1}\f$ .
@param distCoeffs Input vector of distortion coefficients
\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$ of
4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are
assumed.
@param rvecs Output rotation vectors (see Rodrigues ) that, together with tvecs , brings points from
the model coordinate system to the camera coordinate system. A P3P problem has up to 4 solutions.
@param tvecs Output translation vectors.
@param flags Method for solving a P3P problem:
- **SOLVEPNP_P3P** Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang
"Complete Solution Classification for the Perspective-Three-Point Problem" (@cite gao2003complete).
- **SOLVEPNP_AP3P** Method is based on the paper of Tong Ke and Stergios I. Roumeliotis.
"An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (@cite Ke17).
The function estimates the object pose given 3 object points, their corresponding image
projections, as well as the camera matrix and the distortion coefficients.
*/
CV_EXPORTS_W int solveP3P( InputArray objectPoints, InputArray imagePoints,
InputArray cameraMatrix, InputArray distCoeffs,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
int flags );
/** @brief Finds an initial camera matrix from 3D-2D point correspondences.
@param objectPoints Vector of vectors of the calibration pattern points in the calibration pattern
coordinate space. In the old interface all the per-view vectors are concatenated. See
calibrateCamera for details.
@param imagePoints Vector of vectors of the projections of the calibration pattern points. In the
old interface all the per-view vectors are concatenated.
@param imageSize Image size in pixels used to initialize the principal point.
@param aspectRatio If it is zero or negative, both \f$f_x\f$ and \f$f_y\f$ are estimated independently.
Otherwise, \f$f_x = f_y * \texttt{aspectRatio}\f$ .
The function estimates and returns an initial camera matrix for the camera calibration process.
Currently, the function only supports planar calibration patterns, which are patterns where each
object point has z-coordinate =0.
*/
CV_EXPORTS_W Mat initCameraMatrix2D( InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints,
Size imageSize, double aspectRatio = 1.0 );
/** @brief Finds the positions of internal corners of the chessboard.
@param image Source chessboard view. It must be an 8-bit grayscale or color image.
@param patternSize Number of inner corners per a chessboard row and column
( patternSize = cv::Size(points_per_row,points_per_colum) = cv::Size(columns,rows) ).
@param corners Output array of detected corners.
@param flags Various operation flags that can be zero or a combination of the following values:
- **CALIB_CB_ADAPTIVE_THRESH** Use adaptive thresholding to convert the image to black
and white, rather than a fixed threshold level (computed from the average image brightness).
- **CALIB_CB_NORMALIZE_IMAGE** Normalize the image gamma with equalizeHist before
applying fixed or adaptive thresholding.
- **CALIB_CB_FILTER_QUADS** Use additional criteria (like contour area, perimeter,
square-like shape) to filter out false quads extracted at the contour retrieval stage.
- **CALIB_CB_FAST_CHECK** Run a fast check on the image that looks for chessboard corners,
and shortcut the call if none is found. This can drastically speed up the call in the
degenerate condition when no chessboard is observed.
The function attempts to determine whether the input image is a view of the chessboard pattern and
locate the internal chessboard corners. The function returns a non-zero value if all of the corners
are found and they are placed in a certain order (row by row, left to right in every row).
Otherwise, if the function fails to find all the corners or reorder them, it returns 0. For example,
a regular chessboard has 8 x 8 squares and 7 x 7 internal corners, that is, points where the black
squares touch each other. The detected coordinates are approximate, and to determine their positions
more accurately, the function calls cornerSubPix. You also may use the function cornerSubPix with
different parameters if returned coordinates are not accurate enough.
Sample usage of detecting and drawing chessboard corners: :
@code
Size patternsize(8,6); //interior number of corners
Mat gray = ....; //source image
vector<Point2f> corners; //this will be filled by the detected corners
//CALIB_CB_FAST_CHECK saves a lot of time on images
//that do not contain any chessboard corners
bool patternfound = findChessboardCorners(gray, patternsize, corners,
CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE
+ CALIB_CB_FAST_CHECK);
if(patternfound)
cornerSubPix(gray, corners, Size(11, 11), Size(-1, -1),
TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
drawChessboardCorners(img, patternsize, Mat(corners), patternfound);
@endcode
@note The function requires white space (like a square-thick border, the wider the better) around
the board to make the detection more robust in various environments. Otherwise, if there is no
border and the background is dark, the outer black squares cannot be segmented properly and so the
square grouping and ordering algorithm fails.
*/
CV_EXPORTS_W bool findChessboardCorners( InputArray image, Size patternSize, OutputArray corners,
int flags = CALIB_CB_ADAPTIVE_THRESH + CALIB_CB_NORMALIZE_IMAGE );
/*
Checks whether the image contains chessboard of the specific size or not.
If yes, nonzero value is returned.
*/
CV_EXPORTS_W bool checkChessboard(InputArray img, Size size);
/** @brief Finds the positions of internal corners of the chessboard using a sector based approach.
@param image Source chessboard view. It must be an 8-bit grayscale or color image.
@param patternSize Number of inner corners per a chessboard row and column
( patternSize = cv::Size(points_per_row,points_per_colum) = cv::Size(columns,rows) ).
@param corners Output array of detected corners.
@param flags Various operation flags that can be zero or a combination of the following values:
- **CALIB_CB_NORMALIZE_IMAGE** Normalize the image gamma with equalizeHist before detection.
- **CALIB_CB_EXHAUSTIVE ** Run an exhaustive search to improve detection rate.
- **CALIB_CB_ACCURACY ** Up sample input image to improve sub-pixel accuracy due to aliasing effects.
This should be used if an accurate camera calibration is required.
The function is analog to findchessboardCorners but uses a localized radon
transformation approximated by box filters being more robust to all sort of
noise, faster on larger images and is able to directly return the sub-pixel
position of the internal chessboard corners. The Method is based on the paper
@cite duda2018 "Accurate Detection and Localization of Checkerboard Corners for
Calibration" demonstrating that the returned sub-pixel positions are more
accurate than the one returned by cornerSubPix allowing a precise camera
calibration for demanding applications.
@note The function requires a white boarder with roughly the same width as one
of the checkerboard fields around the whole board to improve the detection in
various environments. In addition, because of the localized radon
transformation it is beneficial to use round corners for the field corners
which are located on the outside of the board. The following figure illustrates
a sample checkerboard optimized for the detection. However, any other checkerboard
can be used as well.
*/
CV_EXPORTS_W bool findChessboardCornersSB(InputArray image,Size patternSize, OutputArray corners,int flags=0);
//! finds subpixel-accurate positions of the chessboard corners
CV_EXPORTS bool find4QuadCornerSubpix( InputArray img, InputOutputArray corners, Size region_size );
/** @brief Renders the detected chessboard corners.
@param image Destination image. It must be an 8-bit color image.
@param patternSize Number of inner corners per a chessboard row and column
(patternSize = cv::Size(points_per_row,points_per_column)).
@param corners Array of detected corners, the output of findChessboardCorners.
@param patternWasFound Parameter indicating whether the complete board was found or not. The
return value of findChessboardCorners should be passed here.
The function draws individual chessboard corners detected either as red circles if the board was not
found, or as colored corners connected with lines if the board was found.
*/
CV_EXPORTS_W void drawChessboardCorners( InputOutputArray image, Size patternSize,
InputArray corners, bool patternWasFound );
/** @brief Draw axes of the world/object coordinate system from pose estimation. @sa solvePnP
@param image Input/output image. It must have 1 or 3 channels. The number of channels is not altered.
@param cameraMatrix Input 3x3 floating-point matrix of camera intrinsic parameters.
\f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
@param distCoeffs Input vector of distortion coefficients
\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$ of
4, 5, 8, 12 or 14 elements. If the vector is empty, the zero distortion coefficients are assumed.
@param rvec Rotation vector (see @ref Rodrigues ) that, together with tvec , brings points from
the model coordinate system to the camera coordinate system.
@param tvec Translation vector.
@param length Length of the painted axes in the same unit than tvec (usually in meters).
@param thickness Line thickness of the painted axes.
This function draws the axes of the world/object coordinate system w.r.t. to the camera frame.
OX is drawn in red, OY in green and OZ in blue.
*/
CV_EXPORTS_W void drawFrameAxes(InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs,
InputArray rvec, InputArray tvec, float length, int thickness=3);
struct CV_EXPORTS_W_SIMPLE CirclesGridFinderParameters
{
CV_WRAP CirclesGridFinderParameters();
CV_PROP_RW cv::Size2f densityNeighborhoodSize;
CV_PROP_RW float minDensity;
CV_PROP_RW int kmeansAttempts;
CV_PROP_RW int minDistanceToAddKeypoint;
CV_PROP_RW int keypointScale;
CV_PROP_RW float minGraphConfidence;
CV_PROP_RW float vertexGain;
CV_PROP_RW float vertexPenalty;
CV_PROP_RW float existingVertexGain;
CV_PROP_RW float edgeGain;
CV_PROP_RW float edgePenalty;
CV_PROP_RW float convexHullFactor;
CV_PROP_RW float minRNGEdgeSwitchDist;
enum GridType
{
SYMMETRIC_GRID, ASYMMETRIC_GRID
};
GridType gridType;
CV_PROP_RW float squareSize; //!< Distance between two adjacent points. Used by CALIB_CB_CLUSTERING.
CV_PROP_RW float maxRectifiedDistance; //!< Max deviation from predicion. Used by CALIB_CB_CLUSTERING.
};
#ifndef DISABLE_OPENCV_3_COMPATIBILITY
typedef CirclesGridFinderParameters CirclesGridFinderParameters2;
#endif
/** @brief Finds centers in the grid of circles.
@param image grid view of input circles; it must be an 8-bit grayscale or color image.
@param patternSize number of circles per row and column
( patternSize = Size(points_per_row, points_per_colum) ).
@param centers output array of detected centers.
@param flags various operation flags that can be one of the following values:
- **CALIB_CB_SYMMETRIC_GRID** uses symmetric pattern of circles.
- **CALIB_CB_ASYMMETRIC_GRID** uses asymmetric pattern of circles.
- **CALIB_CB_CLUSTERING** uses a special algorithm for grid detection. It is more robust to
perspective distortions but much more sensitive to background clutter.
@param blobDetector feature detector that finds blobs like dark circles on light background.
@param parameters struct for finding circles in a grid pattern.
The function attempts to determine whether the input image contains a grid of circles. If it is, the
function locates centers of the circles. The function returns a non-zero value if all of the centers
have been found and they have been placed in a certain order (row by row, left to right in every
row). Otherwise, if the function fails to find all the corners or reorder them, it returns 0.
Sample usage of detecting and drawing the centers of circles: :
@code
Size patternsize(7,7); //number of centers
Mat gray = ....; //source image
vector<Point2f> centers; //this will be filled by the detected centers
bool patternfound = findCirclesGrid(gray, patternsize, centers);
drawChessboardCorners(img, patternsize, Mat(centers), patternfound);
@endcode
@note The function requires white space (like a square-thick border, the wider the better) around
the board to make the detection more robust in various environments.
*/
CV_EXPORTS_W bool findCirclesGrid( InputArray image, Size patternSize,
OutputArray centers, int flags,
const Ptr<FeatureDetector> &blobDetector,
const CirclesGridFinderParameters& parameters);
/** @overload */
CV_EXPORTS_W bool findCirclesGrid( InputArray image, Size patternSize,
OutputArray centers, int flags = CALIB_CB_SYMMETRIC_GRID,
const Ptr<FeatureDetector> &blobDetector = SimpleBlobDetector::create());
/** @brief Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.
@param objectPoints In the new interface it is a vector of vectors of calibration pattern points in
the calibration pattern coordinate space (e.g. std::vector<std::vector<cv::Vec3f>>). The outer
vector contains as many elements as the number of the pattern views. If the same calibration pattern
is shown in each view and it is fully visible, all the vectors will be the same. Although, it is
possible to use partially occluded patterns, or even different patterns in different views. Then,
the vectors will be different. The points are 3D, but since they are in a pattern coordinate system,
then, if the rig is planar, it may make sense to put the model to a XY coordinate plane so that
Z-coordinate of each input object point is 0.
In the old interface all the vectors of object points from different views are concatenated
together.
@param imagePoints In the new interface it is a vector of vectors of the projections of calibration
pattern points (e.g. std::vector<std::vector<cv::Vec2f>>). imagePoints.size() and
objectPoints.size() and imagePoints[i].size() must be equal to objectPoints[i].size() for each i.
In the old interface all the vectors of object points from different views are concatenated
together.
@param imageSize Size of the image used only to initialize the intrinsic camera matrix.
@param cameraMatrix Output 3x3 floating-point camera matrix
\f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ . If CV\_CALIB\_USE\_INTRINSIC\_GUESS
and/or CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be
initialized before calling the function.
@param distCoeffs Output vector of distortion coefficients
\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$ of
4, 5, 8, 12 or 14 elements.
@param rvecs Output vector of rotation vectors (see Rodrigues ) estimated for each pattern view
(e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding
k-th translation vector (see the next output parameter description) brings the calibration pattern
from the model coordinate space (in which object points are specified) to the world coordinate
space, that is, a real position of the calibration pattern in the k-th pattern view (k=0.. *M* -1).
@param tvecs Output vector of translation vectors estimated for each pattern view.
@param stdDeviationsIntrinsics Output vector of standard deviations estimated for intrinsic parameters.
Order of deviations values:
\f$(f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
s_4, \tau_x, \tau_y)\f$ If one of parameters is not estimated, it's deviation is equals to zero.
@param stdDeviationsExtrinsics Output vector of standard deviations estimated for extrinsic parameters.
Order of deviations values: \f$(R_1, T_1, \dotsc , R_M, T_M)\f$ where M is number of pattern views,
\f$R_i, T_i\f$ are concatenated 1x3 vectors.
@param perViewErrors Output vector of the RMS re-projection error estimated for each pattern view.
@param flags Different flags that may be zero or a combination of the following values:
- **CALIB_USE_INTRINSIC_GUESS** cameraMatrix contains valid initial values of
fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
center ( imageSize is used), and focal distances are computed in a least-squares fashion.
Note, that if intrinsic parameters are known, there is no need to use this function just to
estimate extrinsic parameters. Use solvePnP instead.
- **CALIB_FIX_PRINCIPAL_POINT** The principal point is not changed during the global
optimization. It stays at the center or at a different location specified when
CALIB_USE_INTRINSIC_GUESS is set too.
- **CALIB_FIX_ASPECT_RATIO** The functions considers only fy as a free parameter. The
ratio fx/fy stays the same as in the input cameraMatrix . When
CALIB_USE_INTRINSIC_GUESS is not set, the actual input values of fx and fy are
ignored, only their ratio is computed and used further.
- **CALIB_ZERO_TANGENT_DIST** Tangential distortion coefficients \f$(p_1, p_2)\f$ are set
to zeros and stay zero.
- **CALIB_FIX_K1,...,CALIB_FIX_K6** The corresponding radial distortion
coefficient is not changed during the optimization. If CALIB_USE_INTRINSIC_GUESS is
set, the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- **CALIB_RATIONAL_MODEL** Coefficients k4, k5, and k6 are enabled. To provide the
backward compatibility, this extra flag should be explicitly specified to make the
calibration function use the rational model and return 8 coefficients. If the flag is not
set, the function computes and returns only 5 distortion coefficients.
- **CALIB_THIN_PRISM_MODEL** Coefficients s1, s2, s3 and s4 are enabled. To provide the
backward compatibility, this extra flag should be explicitly specified to make the
calibration function use the thin prism model and return 12 coefficients. If the flag is not
set, the function computes and returns only 5 distortion coefficients.
- **CALIB_FIX_S1_S2_S3_S4** The thin prism distortion coefficients are not changed during
the optimization. If CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- **CALIB_TILTED_MODEL** Coefficients tauX and tauY are enabled. To provide the
backward compatibility, this extra flag should be explicitly specified to make the
calibration function use the tilted sensor model and return 14 coefficients. If the flag is not
set, the function computes and returns only 5 distortion coefficients.
- **CALIB_FIX_TAUX_TAUY** The coefficients of the tilted sensor model are not changed during
the optimization. If CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
supplied distCoeffs matrix is used. Otherwise, it is set to 0.
@param criteria Termination criteria for the iterative optimization algorithm.
@return the overall RMS re-projection error.
The function estimates the intrinsic camera parameters and extrinsic parameters for each of the
views. The algorithm is based on @cite Zhang2000 and @cite BouguetMCT . The coordinates of 3D object
points and their corresponding 2D projections in each view must be specified. That may be achieved
by using an object with a known geometry and easily detectable feature points. Such an object is
called a calibration rig or calibration pattern, and OpenCV has built-in support for a chessboard as
a calibration rig (see findChessboardCorners ). Currently, initialization of intrinsic parameters
(when CALIB_USE_INTRINSIC_GUESS is not set) is only implemented for planar calibration
patterns (where Z-coordinates of the object points must be all zeros). 3D calibration rigs can also
be used as long as initial cameraMatrix is provided.
The algorithm performs the following steps:
- Compute the initial intrinsic parameters (the option only available for planar calibration
patterns) or read them from the input parameters. The distortion coefficients are all set to
zeros initially unless some of CALIB_FIX_K? are specified.
- Estimate the initial camera pose as if the intrinsic parameters have been already known. This is
done using solvePnP .
- Run the global Levenberg-Marquardt optimization algorithm to minimize the reprojection error,
that is, the total sum of squared distances between the observed feature points imagePoints and
the projected (using the current estimates for camera parameters and the poses) object points
objectPoints. See projectPoints for details.
@note
If you use a non-square (=non-NxN) grid and findChessboardCorners for calibration, and
calibrateCamera returns bad values (zero distortion coefficients, an image center very far from
(w/2-0.5,h/2-0.5), and/or large differences between \f$f_x\f$ and \f$f_y\f$ (ratios of 10:1 or more)),
then you have probably used patternSize=cvSize(rows,cols) instead of using
patternSize=cvSize(cols,rows) in findChessboardCorners .
@sa
calibrateCameraRO, findChessboardCorners, solvePnP, initCameraMatrix2D, stereoCalibrate, undistort
*/
CV_EXPORTS_AS(calibrateCameraExtended) double calibrateCamera( InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints, Size imageSize,
InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
OutputArray stdDeviationsIntrinsics,
OutputArray stdDeviationsExtrinsics,
OutputArray perViewErrors,
int flags = 0, TermCriteria criteria = TermCriteria(
TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON) );
/** @overload */
CV_EXPORTS_W double calibrateCamera( InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints, Size imageSize,
InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
int flags = 0, TermCriteria criteria = TermCriteria(
TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON) );
/** @brief Finds the camera intrinsic and extrinsic parameters from several views of a calibration pattern.
This function is an extension of calibrateCamera() with the method of releasing object which was
proposed in @cite strobl2011iccv. In many common cases with inaccurate, unmeasured, roughly planar
targets (calibration plates), this method can dramatically improve the precision of the estimated
camera parameters. Both the object-releasing method and standard method are supported by this
function. Use the parameter **iFixedPoint** for method selection. In the internal implementation,
calibrateCamera() is a wrapper for this function.
@param objectPoints Vector of vectors of calibration pattern points in the calibration pattern
coordinate space. See calibrateCamera() for details. If the method of releasing object to be used,
the identical calibration board must be used in each view and it must be fully visible, and all
objectPoints[i] must be the same and all points should be roughly close to a plane. **The calibration
target has to be rigid, or at least static if the camera (rather than the calibration target) is
shifted for grabbing images.**
@param imagePoints Vector of vectors of the projections of calibration pattern points. See
calibrateCamera() for details.
@param imageSize Size of the image used only to initialize the intrinsic camera matrix.
@param iFixedPoint The index of the 3D object point in objectPoints[0] to be fixed. It also acts as
a switch for calibration method selection. If object-releasing method to be used, pass in the
parameter in the range of [1, objectPoints[0].size()-2], otherwise a value out of this range will
make standard calibration method selected. Usually the top-right corner point of the calibration
board grid is recommended to be fixed when object-releasing method being utilized. According to
\cite strobl2011iccv, two other points are also fixed. In this implementation, objectPoints[0].front
and objectPoints[0].back.z are used. With object-releasing method, accurate rvecs, tvecs and
newObjPoints are only possible if coordinates of these three fixed points are accurate enough.
@param cameraMatrix Output 3x3 floating-point camera matrix. See calibrateCamera() for details.
@param distCoeffs Output vector of distortion coefficients. See calibrateCamera() for details.
@param rvecs Output vector of rotation vectors estimated for each pattern view. See calibrateCamera()
for details.
@param tvecs Output vector of translation vectors estimated for each pattern view.
@param newObjPoints The updated output vector of calibration pattern points. The coordinates might
be scaled based on three fixed points. The returned coordinates are accurate only if the above
mentioned three fixed points are accurate. If not needed, noArray() can be passed in. This parameter
is ignored with standard calibration method.
@param stdDeviationsIntrinsics Output vector of standard deviations estimated for intrinsic parameters.
See calibrateCamera() for details.
@param stdDeviationsExtrinsics Output vector of standard deviations estimated for extrinsic parameters.
See calibrateCamera() for details.
@param stdDeviationsObjPoints Output vector of standard deviations estimated for refined coordinates
of calibration pattern points. It has the same size and order as objectPoints[0] vector. This
parameter is ignored with standard calibration method.
@param perViewErrors Output vector of the RMS re-projection error estimated for each pattern view.
@param flags Different flags that may be zero or a combination of some predefined values. See
calibrateCamera() for details. If the method of releasing object is used, the calibration time may
be much longer. CALIB_USE_QR or CALIB_USE_LU could be used for faster calibration with potentially
less precise and less stable in some rare cases.
@param criteria Termination criteria for the iterative optimization algorithm.
@return the overall RMS re-projection error.
The function estimates the intrinsic camera parameters and extrinsic parameters for each of the
views. The algorithm is based on @cite Zhang2000, @cite BouguetMCT and @cite strobl2011iccv. See
calibrateCamera() for other detailed explanations.
@sa
calibrateCamera, findChessboardCorners, solvePnP, initCameraMatrix2D, stereoCalibrate, undistort
*/
CV_EXPORTS_AS(calibrateCameraROExtended) double calibrateCameraRO( InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints, Size imageSize, int iFixedPoint,
InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
OutputArray newObjPoints,
OutputArray stdDeviationsIntrinsics,
OutputArray stdDeviationsExtrinsics,
OutputArray stdDeviationsObjPoints,
OutputArray perViewErrors,
int flags = 0, TermCriteria criteria = TermCriteria(
TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON) );
/** @overload */
CV_EXPORTS_W double calibrateCameraRO( InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints, Size imageSize, int iFixedPoint,
InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
OutputArray newObjPoints,
int flags = 0, TermCriteria criteria = TermCriteria(
TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON) );
/** @brief Computes useful camera characteristics from the camera matrix.
@param cameraMatrix Input camera matrix that can be estimated by calibrateCamera or
stereoCalibrate .
@param imageSize Input image size in pixels.
@param apertureWidth Physical width in mm of the sensor.
@param apertureHeight Physical height in mm of the sensor.
@param fovx Output field of view in degrees along the horizontal sensor axis.
@param fovy Output field of view in degrees along the vertical sensor axis.
@param focalLength Focal length of the lens in mm.
@param principalPoint Principal point in mm.
@param aspectRatio \f$f_y/f_x\f$
The function computes various useful camera characteristics from the previously estimated camera
matrix.
@note
Do keep in mind that the unity measure 'mm' stands for whatever unit of measure one chooses for
the chessboard pitch (it can thus be any value).
*/
CV_EXPORTS_W void calibrationMatrixValues( InputArray cameraMatrix, Size imageSize,
double apertureWidth, double apertureHeight,
CV_OUT double& fovx, CV_OUT double& fovy,
CV_OUT double& focalLength, CV_OUT Point2d& principalPoint,
CV_OUT double& aspectRatio );
/** @brief Calibrates the stereo camera.
@param objectPoints Vector of vectors of the calibration pattern points.
@param imagePoints1 Vector of vectors of the projections of the calibration pattern points,
observed by the first camera.
@param imagePoints2 Vector of vectors of the projections of the calibration pattern points,
observed by the second camera.
@param cameraMatrix1 Input/output first camera matrix:
\f$\vecthreethree{f_x^{(j)}}{0}{c_x^{(j)}}{0}{f_y^{(j)}}{c_y^{(j)}}{0}{0}{1}\f$ , \f$j = 0,\, 1\f$ . If
any of CALIB_USE_INTRINSIC_GUESS , CALIB_FIX_ASPECT_RATIO ,
CALIB_FIX_INTRINSIC , or CALIB_FIX_FOCAL_LENGTH are specified, some or all of the
matrix components must be initialized. See the flags description for details.
@param distCoeffs1 Input/output vector of distortion coefficients
\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$ of
4, 5, 8, 12 or 14 elements. The output vector length depends on the flags.
@param cameraMatrix2 Input/output second camera matrix. The parameter is similar to cameraMatrix1
@param distCoeffs2 Input/output lens distortion coefficients for the second camera. The parameter
is similar to distCoeffs1 .
@param imageSize Size of the image used only to initialize intrinsic camera matrix.
@param R Output rotation matrix between the 1st and the 2nd camera coordinate systems.
@param T Output translation vector between the coordinate systems of the cameras.
@param E Output essential matrix.
@param F Output fundamental matrix.
@param perViewErrors Output vector of the RMS re-projection error estimated for each pattern view.
@param flags Different flags that may be zero or a combination of the following values:
- **CALIB_FIX_INTRINSIC** Fix cameraMatrix? and distCoeffs? so that only R, T, E , and F
matrices are estimated.
- **CALIB_USE_INTRINSIC_GUESS** Optimize some or all of the intrinsic parameters
according to the specified flags. Initial values are provided by the user.
- **CALIB_USE_EXTRINSIC_GUESS** R, T contain valid initial values that are optimized further.
Otherwise R, T are initialized to the median value of the pattern views (each dimension separately).
- **CALIB_FIX_PRINCIPAL_POINT** Fix the principal points during the optimization.
- **CALIB_FIX_FOCAL_LENGTH** Fix \f$f^{(j)}_x\f$ and \f$f^{(j)}_y\f$ .
- **CALIB_FIX_ASPECT_RATIO** Optimize \f$f^{(j)}_y\f$ . Fix the ratio \f$f^{(j)}_x/f^{(j)}_y\f$
.
- **CALIB_SAME_FOCAL_LENGTH** Enforce \f$f^{(0)}_x=f^{(1)}_x\f$ and \f$f^{(0)}_y=f^{(1)}_y\f$ .
- **CALIB_ZERO_TANGENT_DIST** Set tangential distortion coefficients for each camera to
zeros and fix there.
- **CALIB_FIX_K1,...,CALIB_FIX_K6** Do not change the corresponding radial
distortion coefficient during the optimization. If CALIB_USE_INTRINSIC_GUESS is set,
the coefficient from the supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- **CALIB_RATIONAL_MODEL** Enable coefficients k4, k5, and k6. To provide the backward
compatibility, this extra flag should be explicitly specified to make the calibration
function use the rational model and return 8 coefficients. If the flag is not set, the
function computes and returns only 5 distortion coefficients.
- **CALIB_THIN_PRISM_MODEL** Coefficients s1, s2, s3 and s4 are enabled. To provide the
backward compatibility, this extra flag should be explicitly specified to make the
calibration function use the thin prism model and return 12 coefficients. If the flag is not
set, the function computes and returns only 5 distortion coefficients.
- **CALIB_FIX_S1_S2_S3_S4** The thin prism distortion coefficients are not changed during
the optimization. If CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
supplied distCoeffs matrix is used. Otherwise, it is set to 0.
- **CALIB_TILTED_MODEL** Coefficients tauX and tauY are enabled. To provide the
backward compatibility, this extra flag should be explicitly specified to make the
calibration function use the tilted sensor model and return 14 coefficients. If the flag is not
set, the function computes and returns only 5 distortion coefficients.
- **CALIB_FIX_TAUX_TAUY** The coefficients of the tilted sensor model are not changed during
the optimization. If CALIB_USE_INTRINSIC_GUESS is set, the coefficient from the
supplied distCoeffs matrix is used. Otherwise, it is set to 0.
@param criteria Termination criteria for the iterative optimization algorithm.
The function estimates transformation between two cameras making a stereo pair. If you have a stereo
camera where the relative position and orientation of two cameras is fixed, and if you computed
poses of an object relative to the first camera and to the second camera, (R1, T1) and (R2, T2),
respectively (this can be done with solvePnP ), then those poses definitely relate to each other.
This means that, given ( \f$R_1\f$,\f$T_1\f$ ), it should be possible to compute ( \f$R_2\f$,\f$T_2\f$ ). You only
need to know the position and orientation of the second camera relative to the first camera. This is
what the described function does. It computes ( \f$R\f$,\f$T\f$ ) so that:
\f[R_2=R*R_1\f]
\f[T_2=R*T_1 + T,\f]
Optionally, it computes the essential matrix E:
\f[E= \vecthreethree{0}{-T_2}{T_1}{T_2}{0}{-T_0}{-T_1}{T_0}{0} *R\f]
where \f$T_i\f$ are components of the translation vector \f$T\f$ : \f$T=[T_0, T_1, T_2]^T\f$ . And the function
can also compute the fundamental matrix F:
\f[F = cameraMatrix2^{-T} E cameraMatrix1^{-1}\f]
Besides the stereo-related information, the function can also perform a full calibration of each of
two cameras. However, due to the high dimensionality of the parameter space and noise in the input
data, the function can diverge from the correct solution. If the intrinsic parameters can be
estimated with high accuracy for each of the cameras individually (for example, using
calibrateCamera ), you are recommended to do so and then pass CALIB_FIX_INTRINSIC flag to the
function along with the computed intrinsic parameters. Otherwise, if all the parameters are
estimated at once, it makes sense to restrict some parameters, for example, pass
CALIB_SAME_FOCAL_LENGTH and CALIB_ZERO_TANGENT_DIST flags, which is usually a
reasonable assumption.
Similarly to calibrateCamera , the function minimizes the total re-projection error for all the
points in all the available views from both cameras. The function returns the final value of the
re-projection error.
*/
CV_EXPORTS_AS(stereoCalibrateExtended) double stereoCalibrate( InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1,
InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2,
Size imageSize, InputOutputArray R,InputOutputArray T, OutputArray E, OutputArray F,
OutputArray perViewErrors, int flags = CALIB_FIX_INTRINSIC,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6) );
/// @overload
CV_EXPORTS_W double stereoCalibrate( InputArrayOfArrays objectPoints,
InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1,
InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2,
Size imageSize, OutputArray R,OutputArray T, OutputArray E, OutputArray F,
int flags = CALIB_FIX_INTRINSIC,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT+TermCriteria::EPS, 30, 1e-6) );
/** @brief Computes rectification transforms for each head of a calibrated stereo camera.
@param cameraMatrix1 First camera matrix.
@param distCoeffs1 First camera distortion parameters.
@param cameraMatrix2 Second camera matrix.
@param distCoeffs2 Second camera distortion parameters.
@param imageSize Size of the image used for stereo calibration.
@param R Rotation matrix between the coordinate systems of the first and the second cameras.
@param T Translation vector between coordinate systems of the cameras.
@param R1 Output 3x3 rectification transform (rotation matrix) for the first camera.
@param R2 Output 3x3 rectification transform (rotation matrix) for the second camera.
@param P1 Output 3x4 projection matrix in the new (rectified) coordinate systems for the first
camera.
@param P2 Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
camera.
@param Q Output \f$4 \times 4\f$ disparity-to-depth mapping matrix (see reprojectImageTo3D ).
@param flags Operation flags that may be zero or CALIB_ZERO_DISPARITY . If the flag is set,
the function makes the principal points of each camera have the same pixel coordinates in the
rectified views. And if the flag is not set, the function may still shift the images in the
horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
useful image area.
@param alpha Free scaling parameter. If it is -1 or absent, the function performs the default
scaling. Otherwise, the parameter should be between 0 and 1. alpha=0 means that the rectified
images are zoomed and shifted so that only valid pixels are visible (no black areas after
rectification). alpha=1 means that the rectified image is decimated and shifted so that all the
pixels from the original images from the cameras are retained in the rectified images (no source
image pixels are lost). Obviously, any intermediate value yields an intermediate result between
those two extreme cases.
@param newImageSize New image resolution after rectification. The same size should be passed to
initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
is passed (default), it is set to the original imageSize . Setting it to larger value can help you
preserve details in the original image, especially when there is a big radial distortion.
@param validPixROI1 Optional output rectangles inside the rectified images where all the pixels
are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
(see the picture below).
@param validPixROI2 Optional output rectangles inside the rectified images where all the pixels
are valid. If alpha=0 , the ROIs cover the whole images. Otherwise, they are likely to be smaller
(see the picture below).
The function computes the rotation matrices for each camera that (virtually) make both camera image
planes the same plane. Consequently, this makes all the epipolar lines parallel and thus simplifies
the dense stereo correspondence problem. The function takes the matrices computed by stereoCalibrate
as input. As output, it provides two rotation matrices and also two projection matrices in the new
coordinates. The function distinguishes the following two cases:
- **Horizontal stereo**: the first and the second camera views are shifted relative to each other
mainly along the x axis (with possible small vertical shift). In the rectified images, the
corresponding epipolar lines in the left and right cameras are horizontal and have the same
y-coordinate. P1 and P2 look like:
\f[\texttt{P1} = \begin{bmatrix} f & 0 & cx_1 & 0 \\ 0 & f & cy & 0 \\ 0 & 0 & 1 & 0 \end{bmatrix}\f]
\f[\texttt{P2} = \begin{bmatrix} f & 0 & cx_2 & T_x*f \\ 0 & f & cy & 0 \\ 0 & 0 & 1 & 0 \end{bmatrix} ,\f]
where \f$T_x\f$ is a horizontal shift between the cameras and \f$cx_1=cx_2\f$ if
CALIB_ZERO_DISPARITY is set.
- **Vertical stereo**: the first and the second camera views are shifted relative to each other
mainly in vertical direction (and probably a bit in the horizontal direction too). The epipolar
lines in the rectified images are vertical and have the same x-coordinate. P1 and P2 look like:
\f[\texttt{P1} = \begin{bmatrix} f & 0 & cx & 0 \\ 0 & f & cy_1 & 0 \\ 0 & 0 & 1 & 0 \end{bmatrix}\f]
\f[\texttt{P2} = \begin{bmatrix} f & 0 & cx & 0 \\ 0 & f & cy_2 & T_y*f \\ 0 & 0 & 1 & 0 \end{bmatrix} ,\f]
where \f$T_y\f$ is a vertical shift between the cameras and \f$cy_1=cy_2\f$ if CALIB_ZERO_DISPARITY is
set.
As you can see, the first three columns of P1 and P2 will effectively be the new "rectified" camera
matrices. The matrices, together with R1 and R2 , can then be passed to initUndistortRectifyMap to
initialize the rectification map for each camera.
See below the screenshot from the stereo_calib.cpp sample. Some red horizontal lines pass through
the corresponding image regions. This means that the images are well rectified, which is what most
stereo correspondence algorithms rely on. The green rectangles are roi1 and roi2 . You see that
their interiors are all valid pixels.
*/
CV_EXPORTS_W void stereoRectify( InputArray cameraMatrix1, InputArray distCoeffs1,
InputArray cameraMatrix2, InputArray distCoeffs2,
Size imageSize, InputArray R, InputArray T,
OutputArray R1, OutputArray R2,
OutputArray P1, OutputArray P2,
OutputArray Q, int flags = CALIB_ZERO_DISPARITY,
double alpha = -1, Size newImageSize = Size(),
CV_OUT Rect* validPixROI1 = 0, CV_OUT Rect* validPixROI2 = 0 );
/** @brief Computes a rectification transform for an uncalibrated stereo camera.
@param points1 Array of feature points in the first image.
@param points2 The corresponding points in the second image. The same formats as in
findFundamentalMat are supported.
@param F Input fundamental matrix. It can be computed from the same set of point pairs using
findFundamentalMat .
@param imgSize Size of the image.
@param H1 Output rectification homography matrix for the first image.
@param H2 Output rectification homography matrix for the second image.
@param threshold Optional threshold used to filter out the outliers. If the parameter is greater
than zero, all the point pairs that do not comply with the epipolar geometry (that is, the points
for which \f$|\texttt{points2[i]}^T*\texttt{F}*\texttt{points1[i]}|>\texttt{threshold}\f$ ) are
rejected prior to computing the homographies. Otherwise, all the points are considered inliers.
The function computes the rectification transformations without knowing intrinsic parameters of the
cameras and their relative position in the space, which explains the suffix "uncalibrated". Another
related difference from stereoRectify is that the function outputs not the rectification
transformations in the object (3D) space, but the planar perspective transformations encoded by the
homography matrices H1 and H2 . The function implements the algorithm @cite Hartley99 .
@note
While the algorithm does not need to know the intrinsic parameters of the cameras, it heavily
depends on the epipolar geometry. Therefore, if the camera lenses have a significant distortion,
it would be better to correct it before computing the fundamental matrix and calling this
function. For example, distortion coefficients can be estimated for each head of stereo camera
separately by using calibrateCamera . Then, the images can be corrected using undistort , or
just the point coordinates can be corrected with undistortPoints .
*/
CV_EXPORTS_W bool stereoRectifyUncalibrated( InputArray points1, InputArray points2,
InputArray F, Size imgSize,
OutputArray H1, OutputArray H2,
double threshold = 5 );
//! computes the rectification transformations for 3-head camera, where all the heads are on the same line.
CV_EXPORTS_W float rectify3Collinear( InputArray cameraMatrix1, InputArray distCoeffs1,
InputArray cameraMatrix2, InputArray distCoeffs2,
InputArray cameraMatrix3, InputArray distCoeffs3,
InputArrayOfArrays imgpt1, InputArrayOfArrays imgpt3,
Size imageSize, InputArray R12, InputArray T12,
InputArray R13, InputArray T13,
OutputArray R1, OutputArray R2, OutputArray R3,
OutputArray P1, OutputArray P2, OutputArray P3,
OutputArray Q, double alpha, Size newImgSize,
CV_OUT Rect* roi1, CV_OUT Rect* roi2, int flags );
/** @brief Returns the new camera matrix based on the free scaling parameter.
@param cameraMatrix Input camera matrix.
@param distCoeffs Input vector of distortion coefficients
\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6 [, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$ of
4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are
assumed.
@param imageSize Original image size.
@param alpha Free scaling parameter between 0 (when all the pixels in the undistorted image are
valid) and 1 (when all the source image pixels are retained in the undistorted image). See
stereoRectify for details.
@param newImgSize Image size after rectification. By default, it is set to imageSize .
@param validPixROI Optional output rectangle that outlines all-good-pixels region in the
undistorted image. See roi1, roi2 description in stereoRectify .
@param centerPrincipalPoint Optional flag that indicates whether in the new camera matrix the
principal point should be at the image center or not. By default, the principal point is chosen to
best fit a subset of the source image (determined by alpha) to the corrected image.
@return new_camera_matrix Output new camera matrix.
The function computes and returns the optimal new camera matrix based on the free scaling parameter.
By varying this parameter, you may retrieve only sensible pixels alpha=0 , keep all the original
image pixels if there is valuable information in the corners alpha=1 , or get something in between.
When alpha\>0 , the undistorted result is likely to have some black pixels corresponding to
"virtual" pixels outside of the captured distorted image. The original camera matrix, distortion
coefficients, the computed new camera matrix, and newImageSize should be passed to
initUndistortRectifyMap to produce the maps for remap .
*/
CV_EXPORTS_W Mat getOptimalNewCameraMatrix( InputArray cameraMatrix, InputArray distCoeffs,
Size imageSize, double alpha, Size newImgSize = Size(),
CV_OUT Rect* validPixROI = 0,
bool centerPrincipalPoint = false);
/** @brief Converts points from Euclidean to homogeneous space.
@param src Input vector of N-dimensional points.
@param dst Output vector of N+1-dimensional points.
The function converts points from Euclidean to homogeneous space by appending 1's to the tuple of
point coordinates. That is, each point (x1, x2, ..., xn) is converted to (x1, x2, ..., xn, 1).
*/
CV_EXPORTS_W void convertPointsToHomogeneous( InputArray src, OutputArray dst );
/** @brief Converts points from homogeneous to Euclidean space.
@param src Input vector of N-dimensional points.
@param dst Output vector of N-1-dimensional points.
The function converts points homogeneous to Euclidean space using perspective projection. That is,
each point (x1, x2, ... x(n-1), xn) is converted to (x1/xn, x2/xn, ..., x(n-1)/xn). When xn=0, the
output point coordinates will be (0,0,0,...).
*/
CV_EXPORTS_W void convertPointsFromHomogeneous( InputArray src, OutputArray dst );
/** @brief Converts points to/from homogeneous coordinates.
@param src Input array or vector of 2D, 3D, or 4D points.
@param dst Output vector of 2D, 3D, or 4D points.
The function converts 2D or 3D points from/to homogeneous coordinates by calling either
convertPointsToHomogeneous or convertPointsFromHomogeneous.
@note The function is obsolete. Use one of the previous two functions instead.
*/
CV_EXPORTS void convertPointsHomogeneous( InputArray src, OutputArray dst );
/** @brief Calculates a fundamental matrix from the corresponding points in two images.
@param points1 Array of N points from the first image. The point coordinates should be
floating-point (single or double precision).
@param points2 Array of the second image points of the same size and format as points1 .
@param method Method for computing a fundamental matrix.
- **CV_FM_7POINT** for a 7-point algorithm. \f$N = 7\f$
- **CV_FM_8POINT** for an 8-point algorithm. \f$N \ge 8\f$
- **CV_FM_RANSAC** for the RANSAC algorithm. \f$N \ge 8\f$
- **CV_FM_LMEDS** for the LMedS algorithm. \f$N \ge 8\f$
@param ransacReprojThreshold Parameter used only for RANSAC. It is the maximum distance from a point to an epipolar
line in pixels, beyond which the point is considered an outlier and is not used for computing the
final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
point localization, image resolution, and the image noise.
@param confidence Parameter used for the RANSAC and LMedS methods only. It specifies a desirable level
of confidence (probability) that the estimated matrix is correct.
@param mask
The epipolar geometry is described by the following equation:
\f[[p_2; 1]^T F [p_1; 1] = 0\f]
where \f$F\f$ is a fundamental matrix, \f$p_1\f$ and \f$p_2\f$ are corresponding points in the first and the
second images, respectively.
The function calculates the fundamental matrix using one of four methods listed above and returns
the found fundamental matrix. Normally just one matrix is found. But in case of the 7-point
algorithm, the function may return up to 3 solutions ( \f$9 \times 3\f$ matrix that stores all 3
matrices sequentially).
The calculated fundamental matrix may be passed further to computeCorrespondEpilines that finds the
epipolar lines corresponding to the specified points. It can also be passed to
stereoRectifyUncalibrated to compute the rectification transformation. :
@code
// Example. Estimation of fundamental matrix using the RANSAC algorithm
int point_count = 100;
vector<Point2f> points1(point_count);
vector<Point2f> points2(point_count);
// initialize the points here ...
for( int i = 0; i < point_count; i++ )
{
points1[i] = ...;
points2[i] = ...;
}
Mat fundamental_matrix =
findFundamentalMat(points1, points2, FM_RANSAC, 3, 0.99);
@endcode
*/
CV_EXPORTS_W Mat findFundamentalMat( InputArray points1, InputArray points2,
int method = FM_RANSAC,
double ransacReprojThreshold = 3., double confidence = 0.99,
OutputArray mask = noArray() );
/** @overload */
CV_EXPORTS Mat findFundamentalMat( InputArray points1, InputArray points2,
OutputArray mask, int method = FM_RANSAC,
double ransacReprojThreshold = 3., double confidence = 0.99 );
/** @brief Calculates an essential matrix from the corresponding points in two images.
@param points1 Array of N (N \>= 5) 2D points from the first image. The point coordinates should
be floating-point (single or double precision).
@param points2 Array of the second image points of the same size and format as points1 .
@param cameraMatrix Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ .
Note that this function assumes that points1 and points2 are feature points from cameras with the
same camera matrix.
@param method Method for computing an essential matrix.
- **RANSAC** for the RANSAC algorithm.
- **LMEDS** for the LMedS algorithm.
@param prob Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
confidence (probability) that the estimated matrix is correct.
@param threshold Parameter used for RANSAC. It is the maximum distance from a point to an epipolar
line in pixels, beyond which the point is considered an outlier and is not used for computing the
final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
point localization, image resolution, and the image noise.
@param mask Output array of N elements, every element of which is set to 0 for outliers and to 1
for the other points. The array is computed only in the RANSAC and LMedS methods.
This function estimates essential matrix based on the five-point algorithm solver in @cite Nister03 .
@cite SteweniusCFS is also a related. The epipolar geometry is described by the following equation:
\f[[p_2; 1]^T K^{-T} E K^{-1} [p_1; 1] = 0\f]
where \f$E\f$ is an essential matrix, \f$p_1\f$ and \f$p_2\f$ are corresponding points in the first and the
second images, respectively. The result of this function may be passed further to
decomposeEssentialMat or recoverPose to recover the relative pose between cameras.
*/
CV_EXPORTS_W Mat findEssentialMat( InputArray points1, InputArray points2,
InputArray cameraMatrix, int method = RANSAC,
double prob = 0.999, double threshold = 1.0,
OutputArray mask = noArray() );
/** @overload
@param points1 Array of N (N \>= 5) 2D points from the first image. The point coordinates should
be floating-point (single or double precision).
@param points2 Array of the second image points of the same size and format as points1 .
@param focal focal length of the camera. Note that this function assumes that points1 and points2
are feature points from cameras with same focal length and principal point.
@param pp principal point of the camera.
@param method Method for computing a fundamental matrix.
- **RANSAC** for the RANSAC algorithm.
- **LMEDS** for the LMedS algorithm.
@param threshold Parameter used for RANSAC. It is the maximum distance from a point to an epipolar
line in pixels, beyond which the point is considered an outlier and is not used for computing the
final fundamental matrix. It can be set to something like 1-3, depending on the accuracy of the
point localization, image resolution, and the image noise.
@param prob Parameter used for the RANSAC or LMedS methods only. It specifies a desirable level of
confidence (probability) that the estimated matrix is correct.
@param mask Output array of N elements, every element of which is set to 0 for outliers and to 1
for the other points. The array is computed only in the RANSAC and LMedS methods.
This function differs from the one above that it computes camera matrix from focal length and
principal point:
\f[K =
\begin{bmatrix}
f & 0 & x_{pp} \\
0 & f & y_{pp} \\
0 & 0 & 1
\end{bmatrix}\f]
*/
CV_EXPORTS_W Mat findEssentialMat( InputArray points1, InputArray points2,
double focal = 1.0, Point2d pp = Point2d(0, 0),
int method = RANSAC, double prob = 0.999,
double threshold = 1.0, OutputArray mask = noArray() );
/** @brief Decompose an essential matrix to possible rotations and translation.
@param E The input essential matrix.
@param R1 One possible rotation matrix.
@param R2 Another possible rotation matrix.
@param t One possible translation.
This function decompose an essential matrix E using svd decomposition @cite HartleyZ00 . Generally 4
possible poses exists for a given E. They are \f$[R_1, t]\f$, \f$[R_1, -t]\f$, \f$[R_2, t]\f$, \f$[R_2, -t]\f$. By
decomposing E, you can only get the direction of the translation, so the function returns unit t.
*/
CV_EXPORTS_W void decomposeEssentialMat( InputArray E, OutputArray R1, OutputArray R2, OutputArray t );
/** @brief Recover relative camera rotation and translation from an estimated essential matrix and the
corresponding points in two images, using cheirality check. Returns the number of inliers which pass
the check.
@param E The input essential matrix.
@param points1 Array of N 2D points from the first image. The point coordinates should be
floating-point (single or double precision).
@param points2 Array of the second image points of the same size and format as points1 .
@param cameraMatrix Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ .
Note that this function assumes that points1 and points2 are feature points from cameras with the
same camera matrix.
@param R Recovered relative rotation.
@param t Recovered relative translation.
@param mask Input/output mask for inliers in points1 and points2.
: If it is not empty, then it marks inliers in points1 and points2 for then given essential
matrix E. Only these inliers will be used to recover pose. In the output mask only inliers
which pass the cheirality check.
This function decomposes an essential matrix using decomposeEssentialMat and then verifies possible
pose hypotheses by doing cheirality check. The cheirality check basically means that the
triangulated 3D points should have positive depth. Some details can be found in @cite Nister03 .
This function can be used to process output E and mask from findEssentialMat. In this scenario,
points1 and points2 are the same input for findEssentialMat. :
@code
// Example. Estimation of fundamental matrix using the RANSAC algorithm
int point_count = 100;
vector<Point2f> points1(point_count);
vector<Point2f> points2(point_count);
// initialize the points here ...
for( int i = 0; i < point_count; i++ )
{
points1[i] = ...;
points2[i] = ...;
}
// cametra matrix with both focal lengths = 1, and principal point = (0, 0)
Mat cameraMatrix = Mat::eye(3, 3, CV_64F);
Mat E, R, t, mask;
E = findEssentialMat(points1, points2, cameraMatrix, RANSAC, 0.999, 1.0, mask);
recoverPose(E, points1, points2, cameraMatrix, R, t, mask);
@endcode
*/
CV_EXPORTS_W int recoverPose( InputArray E, InputArray points1, InputArray points2,
InputArray cameraMatrix, OutputArray R, OutputArray t,
InputOutputArray mask = noArray() );
/** @overload
@param E The input essential matrix.
@param points1 Array of N 2D points from the first image. The point coordinates should be
floating-point (single or double precision).
@param points2 Array of the second image points of the same size and format as points1 .
@param R Recovered relative rotation.
@param t Recovered relative translation.
@param focal Focal length of the camera. Note that this function assumes that points1 and points2
are feature points from cameras with same focal length and principal point.
@param pp principal point of the camera.
@param mask Input/output mask for inliers in points1 and points2.
: If it is not empty, then it marks inliers in points1 and points2 for then given essential
matrix E. Only these inliers will be used to recover pose. In the output mask only inliers
which pass the cheirality check.
This function differs from the one above that it computes camera matrix from focal length and
principal point:
\f[K =
\begin{bmatrix}
f & 0 & x_{pp} \\
0 & f & y_{pp} \\
0 & 0 & 1
\end{bmatrix}\f]
*/
CV_EXPORTS_W int recoverPose( InputArray E, InputArray points1, InputArray points2,
OutputArray R, OutputArray t,
double focal = 1.0, Point2d pp = Point2d(0, 0),
InputOutputArray mask = noArray() );
/** @overload
@param E The input essential matrix.
@param points1 Array of N 2D points from the first image. The point coordinates should be
floating-point (single or double precision).
@param points2 Array of the second image points of the same size and format as points1.
@param cameraMatrix Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ .
Note that this function assumes that points1 and points2 are feature points from cameras with the
same camera matrix.
@param R Recovered relative rotation.
@param t Recovered relative translation.
@param distanceThresh threshold distance which is used to filter out far away points (i.e. infinite points).
@param mask Input/output mask for inliers in points1 and points2.
: If it is not empty, then it marks inliers in points1 and points2 for then given essential
matrix E. Only these inliers will be used to recover pose. In the output mask only inliers
which pass the cheirality check.
@param triangulatedPoints 3d points which were reconstructed by triangulation.
*/
CV_EXPORTS_W int recoverPose( InputArray E, InputArray points1, InputArray points2,
InputArray cameraMatrix, OutputArray R, OutputArray t, double distanceThresh, InputOutputArray mask = noArray(),
OutputArray triangulatedPoints = noArray());
/** @brief For points in an image of a stereo pair, computes the corresponding epilines in the other image.
@param points Input points. \f$N \times 1\f$ or \f$1 \times N\f$ matrix of type CV_32FC2 or
vector\<Point2f\> .
@param whichImage Index of the image (1 or 2) that contains the points .
@param F Fundamental matrix that can be estimated using findFundamentalMat or stereoRectify .
@param lines Output vector of the epipolar lines corresponding to the points in the other image.
Each line \f$ax + by + c=0\f$ is encoded by 3 numbers \f$(a, b, c)\f$ .
For every point in one of the two images of a stereo pair, the function finds the equation of the
corresponding epipolar line in the other image.
From the fundamental matrix definition (see findFundamentalMat ), line \f$l^{(2)}_i\f$ in the second
image for the point \f$p^{(1)}_i\f$ in the first image (when whichImage=1 ) is computed as:
\f[l^{(2)}_i = F p^{(1)}_i\f]
And vice versa, when whichImage=2, \f$l^{(1)}_i\f$ is computed from \f$p^{(2)}_i\f$ as:
\f[l^{(1)}_i = F^T p^{(2)}_i\f]
Line coefficients are defined up to a scale. They are normalized so that \f$a_i^2+b_i^2=1\f$ .
*/
CV_EXPORTS_W void computeCorrespondEpilines( InputArray points, int whichImage,
InputArray F, OutputArray lines );
/** @brief Reconstructs points by triangulation.
@param projMatr1 3x4 projection matrix of the first camera.
@param projMatr2 3x4 projection matrix of the second camera.
@param projPoints1 2xN array of feature points in the first image. In case of c++ version it can
be also a vector of feature points or two-channel matrix of size 1xN or Nx1.
@param projPoints2 2xN array of corresponding points in the second image. In case of c++ version
it can be also a vector of feature points or two-channel matrix of size 1xN or Nx1.
@param points4D 4xN array of reconstructed points in homogeneous coordinates.
The function reconstructs 3-dimensional points (in homogeneous coordinates) by using their
observations with a stereo camera. Projections matrices can be obtained from stereoRectify.
@note
Keep in mind that all input data should be of float type in order for this function to work.
@sa
reprojectImageTo3D
*/
CV_EXPORTS_W void triangulatePoints( InputArray projMatr1, InputArray projMatr2,
InputArray projPoints1, InputArray projPoints2,
OutputArray points4D );
/** @brief Refines coordinates of corresponding points.
@param F 3x3 fundamental matrix.
@param points1 1xN array containing the first set of points.
@param points2 1xN array containing the second set of points.
@param newPoints1 The optimized points1.
@param newPoints2 The optimized points2.
The function implements the Optimal Triangulation Method (see Multiple View Geometry for details).
For each given point correspondence points1[i] \<-\> points2[i], and a fundamental matrix F, it
computes the corrected correspondences newPoints1[i] \<-\> newPoints2[i] that minimize the geometric
error \f$d(points1[i], newPoints1[i])^2 + d(points2[i],newPoints2[i])^2\f$ (where \f$d(a,b)\f$ is the
geometric distance between points \f$a\f$ and \f$b\f$ ) subject to the epipolar constraint
\f$newPoints2^T * F * newPoints1 = 0\f$ .
*/
CV_EXPORTS_W void correctMatches( InputArray F, InputArray points1, InputArray points2,
OutputArray newPoints1, OutputArray newPoints2 );
/** @brief Filters off small noise blobs (speckles) in the disparity map
@param img The input 16-bit signed disparity image
@param newVal The disparity value used to paint-off the speckles
@param maxSpeckleSize The maximum speckle size to consider it a speckle. Larger blobs are not
affected by the algorithm
@param maxDiff Maximum difference between neighbor disparity pixels to put them into the same
blob. Note that since StereoBM, StereoSGBM and may be other algorithms return a fixed-point
disparity map, where disparity values are multiplied by 16, this scale factor should be taken into
account when specifying this parameter value.
@param buf The optional temporary buffer to avoid memory allocation within the function.
*/
CV_EXPORTS_W void filterSpeckles( InputOutputArray img, double newVal,
int maxSpeckleSize, double maxDiff,
InputOutputArray buf = noArray() );
//! computes valid disparity ROI from the valid ROIs of the rectified images (that are returned by cv::stereoRectify())
CV_EXPORTS_W Rect getValidDisparityROI( Rect roi1, Rect roi2,
int minDisparity, int numberOfDisparities,
int SADWindowSize );
//! validates disparity using the left-right check. The matrix "cost" should be computed by the stereo correspondence algorithm
CV_EXPORTS_W void validateDisparity( InputOutputArray disparity, InputArray cost,
int minDisparity, int numberOfDisparities,
int disp12MaxDisp = 1 );
/** @brief Reprojects a disparity image to 3D space.
@param disparity Input single-channel 8-bit unsigned, 16-bit signed, 32-bit signed or 32-bit
floating-point disparity image. If 16-bit signed format is used, the values are assumed to have no
fractional bits.
@param _3dImage Output 3-channel floating-point image of the same size as disparity . Each
element of _3dImage(x,y) contains 3D coordinates of the point (x,y) computed from the disparity
map.
@param Q \f$4 \times 4\f$ perspective transformation matrix that can be obtained with stereoRectify.
@param handleMissingValues Indicates, whether the function should handle missing values (i.e.
points where the disparity was not computed). If handleMissingValues=true, then pixels with the
minimal disparity that corresponds to the outliers (see StereoMatcher::compute ) are transformed
to 3D points with a very large Z value (currently set to 10000).
@param ddepth The optional output array depth. If it is -1, the output image will have CV_32F
depth. ddepth can also be set to CV_16S, CV_32S or CV_32F.
The function transforms a single-channel disparity map to a 3-channel image representing a 3D
surface. That is, for each pixel (x,y) and the corresponding disparity d=disparity(x,y) , it
computes:
\f[\begin{array}{l} [X \; Y \; Z \; W]^T = \texttt{Q} *[x \; y \; \texttt{disparity} (x,y) \; 1]^T \\ \texttt{\_3dImage} (x,y) = (X/W, \; Y/W, \; Z/W) \end{array}\f]
The matrix Q can be an arbitrary \f$4 \times 4\f$ matrix (for example, the one computed by
stereoRectify). To reproject a sparse set of points {(x,y,d),...} to 3D space, use
perspectiveTransform .
*/
CV_EXPORTS_W void reprojectImageTo3D( InputArray disparity,
OutputArray _3dImage, InputArray Q,
bool handleMissingValues = false,
int ddepth = -1 );
/** @brief Calculates the Sampson Distance between two points.
The function cv::sampsonDistance calculates and returns the first order approximation of the geometric error as:
\f[
sd( \texttt{pt1} , \texttt{pt2} )=
\frac{(\texttt{pt2}^t \cdot \texttt{F} \cdot \texttt{pt1})^2}
{((\texttt{F} \cdot \texttt{pt1})(0))^2 +
((\texttt{F} \cdot \texttt{pt1})(1))^2 +
((\texttt{F}^t \cdot \texttt{pt2})(0))^2 +
((\texttt{F}^t \cdot \texttt{pt2})(1))^2}
\f]
The fundamental matrix may be calculated using the cv::findFundamentalMat function. See @cite HartleyZ00 11.4.3 for details.
@param pt1 first homogeneous 2d point
@param pt2 second homogeneous 2d point
@param F fundamental matrix
@return The computed Sampson distance.
*/
CV_EXPORTS_W double sampsonDistance(InputArray pt1, InputArray pt2, InputArray F);
/** @brief Computes an optimal affine transformation between two 3D point sets.
It computes
\f[
\begin{bmatrix}
x\\
y\\
z\\
\end{bmatrix}
=
\begin{bmatrix}
a_{11} & a_{12} & a_{13}\\
a_{21} & a_{22} & a_{23}\\
a_{31} & a_{32} & a_{33}\\
\end{bmatrix}
\begin{bmatrix}
X\\
Y\\
Z\\
\end{bmatrix}
+
\begin{bmatrix}
b_1\\
b_2\\
b_3\\
\end{bmatrix}
\f]
@param src First input 3D point set containing \f$(X,Y,Z)\f$.
@param dst Second input 3D point set containing \f$(x,y,z)\f$.
@param out Output 3D affine transformation matrix \f$3 \times 4\f$ of the form
\f[
\begin{bmatrix}
a_{11} & a_{12} & a_{13} & b_1\\
a_{21} & a_{22} & a_{23} & b_2\\
a_{31} & a_{32} & a_{33} & b_3\\
\end{bmatrix}
\f]
@param inliers Output vector indicating which points are inliers (1-inlier, 0-outlier).
@param ransacThreshold Maximum reprojection error in the RANSAC algorithm to consider a point as
an inlier.
@param confidence Confidence level, between 0 and 1, for the estimated transformation. Anything
between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
The function estimates an optimal 3D affine transformation between two 3D point sets using the
RANSAC algorithm.
*/
CV_EXPORTS_W int estimateAffine3D(InputArray src, InputArray dst,
OutputArray out, OutputArray inliers,
double ransacThreshold = 3, double confidence = 0.99);
/** @brief Computes an optimal affine transformation between two 2D point sets.
It computes
\f[
\begin{bmatrix}
x\\
y\\
\end{bmatrix}
=
\begin{bmatrix}
a_{11} & a_{12}\\
a_{21} & a_{22}\\
\end{bmatrix}
\begin{bmatrix}
X\\
Y\\
\end{bmatrix}
+
\begin{bmatrix}
b_1\\
b_2\\
\end{bmatrix}
\f]
@param from First input 2D point set containing \f$(X,Y)\f$.
@param to Second input 2D point set containing \f$(x,y)\f$.
@param inliers Output vector indicating which points are inliers (1-inlier, 0-outlier).
@param method Robust method used to compute transformation. The following methods are possible:
- cv::RANSAC - RANSAC-based robust method
- cv::LMEDS - Least-Median robust method
RANSAC is the default method.
@param ransacReprojThreshold Maximum reprojection error in the RANSAC algorithm to consider
a point as an inlier. Applies only to RANSAC.
@param maxIters The maximum number of robust method iterations.
@param confidence Confidence level, between 0 and 1, for the estimated transformation. Anything
between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
@param refineIters Maximum number of iterations of refining algorithm (Levenberg-Marquardt).
Passing 0 will disable refining, so the output matrix will be output of robust method.
@return Output 2D affine transformation matrix \f$2 \times 3\f$ or empty matrix if transformation
could not be estimated. The returned matrix has the following form:
\f[
\begin{bmatrix}
a_{11} & a_{12} & b_1\\
a_{21} & a_{22} & b_2\\
\end{bmatrix}
\f]
The function estimates an optimal 2D affine transformation between two 2D point sets using the
selected robust algorithm.
The computed transformation is then refined further (using only inliers) with the
Levenberg-Marquardt method to reduce the re-projection error even more.
@note
The RANSAC method can handle practically any ratio of outliers but needs a threshold to
distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
correctly only when there are more than 50% of inliers.
@sa estimateAffinePartial2D, getAffineTransform
*/
CV_EXPORTS_W cv::Mat estimateAffine2D(InputArray from, InputArray to, OutputArray inliers = noArray(),
int method = RANSAC, double ransacReprojThreshold = 3,
size_t maxIters = 2000, double confidence = 0.99,
size_t refineIters = 10);
/** @brief Computes an optimal limited affine transformation with 4 degrees of freedom between
two 2D point sets.
@param from First input 2D point set.
@param to Second input 2D point set.
@param inliers Output vector indicating which points are inliers.
@param method Robust method used to compute transformation. The following methods are possible:
- cv::RANSAC - RANSAC-based robust method
- cv::LMEDS - Least-Median robust method
RANSAC is the default method.
@param ransacReprojThreshold Maximum reprojection error in the RANSAC algorithm to consider
a point as an inlier. Applies only to RANSAC.
@param maxIters The maximum number of robust method iterations.
@param confidence Confidence level, between 0 and 1, for the estimated transformation. Anything
between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation
significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.
@param refineIters Maximum number of iterations of refining algorithm (Levenberg-Marquardt).
Passing 0 will disable refining, so the output matrix will be output of robust method.
@return Output 2D affine transformation (4 degrees of freedom) matrix \f$2 \times 3\f$ or
empty matrix if transformation could not be estimated.
The function estimates an optimal 2D affine transformation with 4 degrees of freedom limited to
combinations of translation, rotation, and uniform scaling. Uses the selected algorithm for robust
estimation.
The computed transformation is then refined further (using only inliers) with the
Levenberg-Marquardt method to reduce the re-projection error even more.
Estimated transformation matrix is:
\f[ \begin{bmatrix} \cos(\theta) \cdot s & -\sin(\theta) \cdot s & t_x \\
\sin(\theta) \cdot s & \cos(\theta) \cdot s & t_y
\end{bmatrix} \f]
Where \f$ \theta \f$ is the rotation angle, \f$ s \f$ the scaling factor and \f$ t_x, t_y \f$ are
translations in \f$ x, y \f$ axes respectively.
@note
The RANSAC method can handle practically any ratio of outliers but need a threshold to
distinguish inliers from outliers. The method LMeDS does not need any threshold but it works
correctly only when there are more than 50% of inliers.
@sa estimateAffine2D, getAffineTransform
*/
CV_EXPORTS_W cv::Mat estimateAffinePartial2D(InputArray from, InputArray to, OutputArray inliers = noArray(),
int method = RANSAC, double ransacReprojThreshold = 3,
size_t maxIters = 2000, double confidence = 0.99,
size_t refineIters = 10);
/** @example samples/cpp/tutorial_code/features2D/Homography/decompose_homography.cpp
An example program with homography decomposition.
Check @ref tutorial_homography "the corresponding tutorial" for more details.
*/
/** @brief Decompose a homography matrix to rotation(s), translation(s) and plane normal(s).
@param H The input homography matrix between two images.
@param K The input intrinsic camera calibration matrix.
@param rotations Array of rotation matrices.
@param translations Array of translation matrices.
@param normals Array of plane normal matrices.
This function extracts relative camera motion between two views observing a planar object from the
homography H induced by the plane. The intrinsic camera matrix K must also be provided. The function
may return up to four mathematical solution sets. At least two of the solutions may further be
invalidated if point correspondences are available by applying positive depth constraint (all points
must be in front of the camera). The decomposition method is described in detail in @cite Malis .
*/
CV_EXPORTS_W int decomposeHomographyMat(InputArray H,
InputArray K,
OutputArrayOfArrays rotations,
OutputArrayOfArrays translations,
OutputArrayOfArrays normals);
/** @brief Filters homography decompositions based on additional information.
@param rotations Vector of rotation matrices.
@param normals Vector of plane normal matrices.
@param beforePoints Vector of (rectified) visible reference points before the homography is applied
@param afterPoints Vector of (rectified) visible reference points after the homography is applied
@param possibleSolutions Vector of int indices representing the viable solution set after filtering
@param pointsMask optional Mat/Vector of 8u type representing the mask for the inliers as given by the findHomography function
This function is intended to filter the output of the decomposeHomographyMat based on additional
information as described in @cite Malis . The summary of the method: the decomposeHomographyMat function
returns 2 unique solutions and their "opposites" for a total of 4 solutions. If we have access to the
sets of points visible in the camera frame before and after the homography transformation is applied,
we can determine which are the true potential solutions and which are the opposites by verifying which
homographies are consistent with all visible reference points being in front of the camera. The inputs
are left unchanged; the filtered solution set is returned as indices into the existing one.
*/
CV_EXPORTS_W void filterHomographyDecompByVisibleRefpoints(InputArrayOfArrays rotations,
InputArrayOfArrays normals,
InputArray beforePoints,
InputArray afterPoints,
OutputArray possibleSolutions,
InputArray pointsMask = noArray());
/** @brief The base class for stereo correspondence algorithms.
*/
class CV_EXPORTS_W StereoMatcher : public Algorithm
{
public:
enum { DISP_SHIFT = 4,
DISP_SCALE = (1 << DISP_SHIFT)
};
/** @brief Computes disparity map for the specified stereo pair
@param left Left 8-bit single-channel image.
@param right Right image of the same size and the same type as the left one.
@param disparity Output disparity map. It has the same size as the input images. Some algorithms,
like StereoBM or StereoSGBM compute 16-bit fixed-point disparity map (where each disparity value
has 4 fractional bits), whereas other algorithms output 32-bit floating-point disparity map.
*/
CV_WRAP virtual void compute( InputArray left, InputArray right,
OutputArray disparity ) = 0;
CV_WRAP virtual int getMinDisparity() const = 0;
CV_WRAP virtual void setMinDisparity(int minDisparity) = 0;
CV_WRAP virtual int getNumDisparities() const = 0;
CV_WRAP virtual void setNumDisparities(int numDisparities) = 0;
CV_WRAP virtual int getBlockSize() const = 0;
CV_WRAP virtual void setBlockSize(int blockSize) = 0;
CV_WRAP virtual int getSpeckleWindowSize() const = 0;
CV_WRAP virtual void setSpeckleWindowSize(int speckleWindowSize) = 0;
CV_WRAP virtual int getSpeckleRange() const = 0;
CV_WRAP virtual void setSpeckleRange(int speckleRange) = 0;
CV_WRAP virtual int getDisp12MaxDiff() const = 0;
CV_WRAP virtual void setDisp12MaxDiff(int disp12MaxDiff) = 0;
};
/** @brief Class for computing stereo correspondence using the block matching algorithm, introduced and
contributed to OpenCV by K. Konolige.
*/
class CV_EXPORTS_W StereoBM : public StereoMatcher
{
public:
enum { PREFILTER_NORMALIZED_RESPONSE = 0,
PREFILTER_XSOBEL = 1
};
CV_WRAP virtual int getPreFilterType() const = 0;
CV_WRAP virtual void setPreFilterType(int preFilterType) = 0;
CV_WRAP virtual int getPreFilterSize() const = 0;
CV_WRAP virtual void setPreFilterSize(int preFilterSize) = 0;
CV_WRAP virtual int getPreFilterCap() const = 0;
CV_WRAP virtual void setPreFilterCap(int preFilterCap) = 0;
CV_WRAP virtual int getTextureThreshold() const = 0;
CV_WRAP virtual void setTextureThreshold(int textureThreshold) = 0;
CV_WRAP virtual int getUniquenessRatio() const = 0;
CV_WRAP virtual void setUniquenessRatio(int uniquenessRatio) = 0;
CV_WRAP virtual int getSmallerBlockSize() const = 0;
CV_WRAP virtual void setSmallerBlockSize(int blockSize) = 0;
CV_WRAP virtual Rect getROI1() const = 0;
CV_WRAP virtual void setROI1(Rect roi1) = 0;
CV_WRAP virtual Rect getROI2() const = 0;
CV_WRAP virtual void setROI2(Rect roi2) = 0;
/** @brief Creates StereoBM object
@param numDisparities the disparity search range. For each pixel algorithm will find the best
disparity from 0 (default minimum disparity) to numDisparities. The search range can then be
shifted by changing the minimum disparity.
@param blockSize the linear size of the blocks compared by the algorithm. The size should be odd
(as the block is centered at the current pixel). Larger block size implies smoother, though less
accurate disparity map. Smaller block size gives more detailed disparity map, but there is higher
chance for algorithm to find a wrong correspondence.
The function create StereoBM object. You can then call StereoBM::compute() to compute disparity for
a specific stereo pair.
*/
CV_WRAP static Ptr<StereoBM> create(int numDisparities = 0, int blockSize = 21);
};
/** @brief The class implements the modified H. Hirschmuller algorithm @cite HH08 that differs from the original
one as follows:
- By default, the algorithm is single-pass, which means that you consider only 5 directions
instead of 8. Set mode=StereoSGBM::MODE_HH in createStereoSGBM to run the full variant of the
algorithm but beware that it may consume a lot of memory.
- The algorithm matches blocks, not individual pixels. Though, setting blockSize=1 reduces the
blocks to single pixels.
- Mutual information cost function is not implemented. Instead, a simpler Birchfield-Tomasi
sub-pixel metric from @cite BT98 is used. Though, the color images are supported as well.
- Some pre- and post- processing steps from K. Konolige algorithm StereoBM are included, for
example: pre-filtering (StereoBM::PREFILTER_XSOBEL type) and post-filtering (uniqueness
check, quadratic interpolation and speckle filtering).
@note
- (Python) An example illustrating the use of the StereoSGBM matching algorithm can be found
at opencv_source_code/samples/python/stereo_match.py
*/
class CV_EXPORTS_W StereoSGBM : public StereoMatcher
{
public:
enum
{
MODE_SGBM = 0,
MODE_HH = 1,
MODE_SGBM_3WAY = 2,
MODE_HH4 = 3
};
CV_WRAP virtual int getPreFilterCap() const = 0;
CV_WRAP virtual void setPreFilterCap(int preFilterCap) = 0;
CV_WRAP virtual int getUniquenessRatio() const = 0;
CV_WRAP virtual void setUniquenessRatio(int uniquenessRatio) = 0;
CV_WRAP virtual int getP1() const = 0;
CV_WRAP virtual void setP1(int P1) = 0;
CV_WRAP virtual int getP2() const = 0;
CV_WRAP virtual void setP2(int P2) = 0;
CV_WRAP virtual int getMode() const = 0;
CV_WRAP virtual void setMode(int mode) = 0;
/** @brief Creates StereoSGBM object
@param minDisparity Minimum possible disparity value. Normally, it is zero but sometimes
rectification algorithms can shift images, so this parameter needs to be adjusted accordingly.
@param numDisparities Maximum disparity minus minimum disparity. The value is always greater than
zero. In the current implementation, this parameter must be divisible by 16.
@param blockSize Matched block size. It must be an odd number \>=1 . Normally, it should be
somewhere in the 3..11 range.
@param P1 The first parameter controlling the disparity smoothness. See below.
@param P2 The second parameter controlling the disparity smoothness. The larger the values are,
the smoother the disparity is. P1 is the penalty on the disparity change by plus or minus 1
between neighbor pixels. P2 is the penalty on the disparity change by more than 1 between neighbor
pixels. The algorithm requires P2 \> P1 . See stereo_match.cpp sample where some reasonably good
P1 and P2 values are shown (like 8\*number_of_image_channels\*SADWindowSize\*SADWindowSize and
32\*number_of_image_channels\*SADWindowSize\*SADWindowSize , respectively).
@param disp12MaxDiff Maximum allowed difference (in integer pixel units) in the left-right
disparity check. Set it to a non-positive value to disable the check.
@param preFilterCap Truncation value for the prefiltered image pixels. The algorithm first
computes x-derivative at each pixel and clips its value by [-preFilterCap, preFilterCap] interval.
The result values are passed to the Birchfield-Tomasi pixel cost function.
@param uniquenessRatio Margin in percentage by which the best (minimum) computed cost function
value should "win" the second best value to consider the found match correct. Normally, a value
within the 5-15 range is good enough.
@param speckleWindowSize Maximum size of smooth disparity regions to consider their noise speckles
and invalidate. Set it to 0 to disable speckle filtering. Otherwise, set it somewhere in the
50-200 range.
@param speckleRange Maximum disparity variation within each connected component. If you do speckle
filtering, set the parameter to a positive value, it will be implicitly multiplied by 16.
Normally, 1 or 2 is good enough.
@param mode Set it to StereoSGBM::MODE_HH to run the full-scale two-pass dynamic programming
algorithm. It will consume O(W\*H\*numDisparities) bytes, which is large for 640x480 stereo and
huge for HD-size pictures. By default, it is set to false .
The first constructor initializes StereoSGBM with all the default parameters. So, you only have to
set StereoSGBM::numDisparities at minimum. The second constructor enables you to set each parameter
to a custom value.
*/
CV_WRAP static Ptr<StereoSGBM> create(int minDisparity = 0, int numDisparities = 16, int blockSize = 3,
int P1 = 0, int P2 = 0, int disp12MaxDiff = 0,
int preFilterCap = 0, int uniquenessRatio = 0,
int speckleWindowSize = 0, int speckleRange = 0,
int mode = StereoSGBM::MODE_SGBM);
};
//! cv::undistort mode
enum UndistortTypes
{
PROJ_SPHERICAL_ORTHO = 0,
PROJ_SPHERICAL_EQRECT = 1
};
/** @brief Transforms an image to compensate for lens distortion.
The function transforms an image to compensate radial and tangential lens distortion.
The function is simply a combination of #initUndistortRectifyMap (with unity R ) and #remap
(with bilinear interpolation). See the former function for details of the transformation being
performed.
Those pixels in the destination image, for which there is no correspondent pixels in the source
image, are filled with zeros (black color).
A particular subset of the source image that will be visible in the corrected image can be regulated
by newCameraMatrix. You can use #getOptimalNewCameraMatrix to compute the appropriate
newCameraMatrix depending on your requirements.
The camera matrix and the distortion parameters can be determined using #calibrateCamera. If
the resolution of images is different from the resolution used at the calibration stage, \f$f_x,
f_y, c_x\f$ and \f$c_y\f$ need to be scaled accordingly, while the distortion coefficients remain
the same.
@param src Input (distorted) image.
@param dst Output (corrected) image that has the same size and type as src .
@param cameraMatrix Input camera matrix \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ .
@param distCoeffs Input vector of distortion coefficients
\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$
of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
@param newCameraMatrix Camera matrix of the distorted image. By default, it is the same as
cameraMatrix but you may additionally scale and shift the result by using a different matrix.
*/
CV_EXPORTS_W void undistort( InputArray src, OutputArray dst,
InputArray cameraMatrix,
InputArray distCoeffs,
InputArray newCameraMatrix = noArray() );
/** @brief Computes the undistortion and rectification transformation map.
The function computes the joint undistortion and rectification transformation and represents the
result in the form of maps for remap. The undistorted image looks like original, as if it is
captured with a camera using the camera matrix =newCameraMatrix and zero distortion. In case of a
monocular camera, newCameraMatrix is usually equal to cameraMatrix, or it can be computed by
#getOptimalNewCameraMatrix for a better control over scaling. In case of a stereo camera,
newCameraMatrix is normally set to P1 or P2 computed by #stereoRectify .
Also, this new camera is oriented differently in the coordinate space, according to R. That, for
example, helps to align two heads of a stereo camera so that the epipolar lines on both images
become horizontal and have the same y- coordinate (in case of a horizontally aligned stereo camera).
The function actually builds the maps for the inverse mapping algorithm that is used by remap. That
is, for each pixel \f$(u, v)\f$ in the destination (corrected and rectified) image, the function
computes the corresponding coordinates in the source image (that is, in the original image from
camera). The following process is applied:
\f[
\begin{array}{l}
x \leftarrow (u - {c'}_x)/{f'}_x \\
y \leftarrow (v - {c'}_y)/{f'}_y \\
{[X\,Y\,W]} ^T \leftarrow R^{-1}*[x \, y \, 1]^T \\
x' \leftarrow X/W \\
y' \leftarrow Y/W \\
r^2 \leftarrow x'^2 + y'^2 \\
x'' \leftarrow x' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6}
+ 2p_1 x' y' + p_2(r^2 + 2 x'^2) + s_1 r^2 + s_2 r^4\\
y'' \leftarrow y' \frac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6}
+ p_1 (r^2 + 2 y'^2) + 2 p_2 x' y' + s_3 r^2 + s_4 r^4 \\
s\vecthree{x'''}{y'''}{1} =
\vecthreethree{R_{33}(\tau_x, \tau_y)}{0}{-R_{13}((\tau_x, \tau_y)}
{0}{R_{33}(\tau_x, \tau_y)}{-R_{23}(\tau_x, \tau_y)}
{0}{0}{1} R(\tau_x, \tau_y) \vecthree{x''}{y''}{1}\\
map_x(u,v) \leftarrow x''' f_x + c_x \\
map_y(u,v) \leftarrow y''' f_y + c_y
\end{array}
\f]
where \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$
are the distortion coefficients.
In case of a stereo camera, this function is called twice: once for each camera head, after
stereoRectify, which in its turn is called after #stereoCalibrate. But if the stereo camera
was not calibrated, it is still possible to compute the rectification transformations directly from
the fundamental matrix using #stereoRectifyUncalibrated. For each camera, the function computes
homography H as the rectification transformation in a pixel domain, not a rotation matrix R in 3D
space. R can be computed from H as
\f[\texttt{R} = \texttt{cameraMatrix} ^{-1} \cdot \texttt{H} \cdot \texttt{cameraMatrix}\f]
where cameraMatrix can be chosen arbitrarily.
@param cameraMatrix Input camera matrix \f$A=\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ .
@param distCoeffs Input vector of distortion coefficients
\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$
of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
@param R Optional rectification transformation in the object space (3x3 matrix). R1 or R2 ,
computed by #stereoRectify can be passed here. If the matrix is empty, the identity transformation
is assumed. In cvInitUndistortMap R assumed to be an identity matrix.
@param newCameraMatrix New camera matrix \f$A'=\vecthreethree{f_x'}{0}{c_x'}{0}{f_y'}{c_y'}{0}{0}{1}\f$.
@param size Undistorted image size.
@param m1type Type of the first output map that can be CV_32FC1, CV_32FC2 or CV_16SC2, see #convertMaps
@param map1 The first output map.
@param map2 The second output map.
*/
CV_EXPORTS_W
void initUndistortRectifyMap(InputArray cameraMatrix, InputArray distCoeffs,
InputArray R, InputArray newCameraMatrix,
Size size, int m1type, OutputArray map1, OutputArray map2);
//! initializes maps for #remap for wide-angle
CV_EXPORTS
float initWideAngleProjMap(InputArray cameraMatrix, InputArray distCoeffs,
Size imageSize, int destImageWidth,
int m1type, OutputArray map1, OutputArray map2,
enum UndistortTypes projType = PROJ_SPHERICAL_EQRECT, double alpha = 0);
static inline
float initWideAngleProjMap(InputArray cameraMatrix, InputArray distCoeffs,
Size imageSize, int destImageWidth,
int m1type, OutputArray map1, OutputArray map2,
int projType, double alpha = 0)
{
return initWideAngleProjMap(cameraMatrix, distCoeffs, imageSize, destImageWidth,
m1type, map1, map2, (UndistortTypes)projType, alpha);
}
/** @brief Returns the default new camera matrix.
The function returns the camera matrix that is either an exact copy of the input cameraMatrix (when
centerPrinicipalPoint=false ), or the modified one (when centerPrincipalPoint=true).
In the latter case, the new camera matrix will be:
\f[\begin{bmatrix} f_x && 0 && ( \texttt{imgSize.width} -1)*0.5 \\ 0 && f_y && ( \texttt{imgSize.height} -1)*0.5 \\ 0 && 0 && 1 \end{bmatrix} ,\f]
where \f$f_x\f$ and \f$f_y\f$ are \f$(0,0)\f$ and \f$(1,1)\f$ elements of cameraMatrix, respectively.
By default, the undistortion functions in OpenCV (see #initUndistortRectifyMap, #undistort) do not
move the principal point. However, when you work with stereo, it is important to move the principal
points in both views to the same y-coordinate (which is required by most of stereo correspondence
algorithms), and may be to the same x-coordinate too. So, you can form the new camera matrix for
each view where the principal points are located at the center.
@param cameraMatrix Input camera matrix.
@param imgsize Camera view image size in pixels.
@param centerPrincipalPoint Location of the principal point in the new camera matrix. The
parameter indicates whether this location should be at the image center or not.
*/
CV_EXPORTS_W
Mat getDefaultNewCameraMatrix(InputArray cameraMatrix, Size imgsize = Size(),
bool centerPrincipalPoint = false);
/** @brief Computes the ideal point coordinates from the observed point coordinates.
The function is similar to #undistort and #initUndistortRectifyMap but it operates on a
sparse set of points instead of a raster image. Also the function performs a reverse transformation
to projectPoints. In case of a 3D object, it does not reconstruct its 3D coordinates, but for a
planar object, it does, up to a translation vector, if the proper R is specified.
For each observed point coordinate \f$(u, v)\f$ the function computes:
\f[
\begin{array}{l}
x^{"} \leftarrow (u - c_x)/f_x \\
y^{"} \leftarrow (v - c_y)/f_y \\
(x',y') = undistort(x^{"},y^{"}, \texttt{distCoeffs}) \\
{[X\,Y\,W]} ^T \leftarrow R*[x' \, y' \, 1]^T \\
x \leftarrow X/W \\
y \leftarrow Y/W \\
\text{only performed if P is specified:} \\
u' \leftarrow x {f'}_x + {c'}_x \\
v' \leftarrow y {f'}_y + {c'}_y
\end{array}
\f]
where *undistort* is an approximate iterative algorithm that estimates the normalized original
point coordinates out of the normalized distorted point coordinates ("normalized" means that the
coordinates do not depend on the camera matrix).
The function can be used for both a stereo camera head or a monocular camera (when R is empty).
@param src Observed point coordinates, 1xN or Nx1 2-channel (CV_32FC2 or CV_64FC2).
@param dst Output ideal point coordinates after undistortion and reverse perspective
transformation. If matrix P is identity or omitted, dst will contain normalized point coordinates.
@param cameraMatrix Camera matrix \f$\vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ .
@param distCoeffs Input vector of distortion coefficients
\f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6[, s_1, s_2, s_3, s_4[, \tau_x, \tau_y]]]])\f$
of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
@param R Rectification transformation in the object space (3x3 matrix). R1 or R2 computed by
#stereoRectify can be passed here. If the matrix is empty, the identity transformation is used.
@param P New camera matrix (3x3) or new projection matrix (3x4) \f$\begin{bmatrix} {f'}_x & 0 & {c'}_x & t_x \\ 0 & {f'}_y & {c'}_y & t_y \\ 0 & 0 & 1 & t_z \end{bmatrix}\f$. P1 or P2 computed by
#stereoRectify can be passed here. If the matrix is empty, the identity new camera matrix is used.
*/
CV_EXPORTS_W
void undistortPoints(InputArray src, OutputArray dst,
InputArray cameraMatrix, InputArray distCoeffs,
InputArray R = noArray(), InputArray P = noArray());
/** @overload
@note Default version of #undistortPoints does 5 iterations to compute undistorted points.
*/
CV_EXPORTS_AS(undistortPointsIter)
void undistortPoints(InputArray src, OutputArray dst,
InputArray cameraMatrix, InputArray distCoeffs,
InputArray R, InputArray P, TermCriteria criteria);
//! @} calib3d
/** @brief The methods in this namespace use a so-called fisheye camera model.
@ingroup calib3d_fisheye
*/
namespace fisheye
{
//! @addtogroup calib3d_fisheye
//! @{
enum{
CALIB_USE_INTRINSIC_GUESS = 1 << 0,
CALIB_RECOMPUTE_EXTRINSIC = 1 << 1,
CALIB_CHECK_COND = 1 << 2,
CALIB_FIX_SKEW = 1 << 3,
CALIB_FIX_K1 = 1 << 4,
CALIB_FIX_K2 = 1 << 5,
CALIB_FIX_K3 = 1 << 6,
CALIB_FIX_K4 = 1 << 7,
CALIB_FIX_INTRINSIC = 1 << 8,
CALIB_FIX_PRINCIPAL_POINT = 1 << 9
};
/** @brief Projects points using fisheye model
@param objectPoints Array of object points, 1xN/Nx1 3-channel (or vector\<Point3f\> ), where N is
the number of points in the view.
@param imagePoints Output array of image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, or
vector\<Point2f\>.
@param affine
@param K Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
@param D Input vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
@param alpha The skew coefficient.
@param jacobian Optional output 2Nx15 jacobian matrix of derivatives of image points with respect
to components of the focal lengths, coordinates of the principal point, distortion coefficients,
rotation vector, translation vector, and the skew. In the old interface different components of
the jacobian are returned via different output parameters.
The function computes projections of 3D points to the image plane given intrinsic and extrinsic
camera parameters. Optionally, the function computes Jacobians - matrices of partial derivatives of
image points coordinates (as functions of all the input parameters) with respect to the particular
parameters, intrinsic and/or extrinsic.
*/
CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());
/** @overload */
CV_EXPORTS_W void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
InputArray K, InputArray D, double alpha = 0, OutputArray jacobian = noArray());
/** @brief Distorts 2D points using fisheye model.
@param undistorted Array of object points, 1xN/Nx1 2-channel (or vector\<Point2f\> ), where N is
the number of points in the view.
@param K Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
@param D Input vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
@param alpha The skew coefficient.
@param distorted Output array of image points, 1xN/Nx1 2-channel, or vector\<Point2f\> .
Note that the function assumes the camera matrix of the undistorted points to be identity.
This means if you want to transform back points undistorted with undistortPoints() you have to
multiply them with \f$P^{-1}\f$.
*/
CV_EXPORTS_W void distortPoints(InputArray undistorted, OutputArray distorted, InputArray K, InputArray D, double alpha = 0);
/** @brief Undistorts 2D points using fisheye model
@param distorted Array of object points, 1xN/Nx1 2-channel (or vector\<Point2f\> ), where N is the
number of points in the view.
@param K Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
@param D Input vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
@param R Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
1-channel or 1x1 3-channel
@param P New camera matrix (3x3) or new projection matrix (3x4)
@param undistorted Output array of image points, 1xN/Nx1 2-channel, or vector\<Point2f\> .
*/
CV_EXPORTS_W void undistortPoints(InputArray distorted, OutputArray undistorted,
InputArray K, InputArray D, InputArray R = noArray(), InputArray P = noArray());
/** @brief Computes undistortion and rectification maps for image transform by cv::remap(). If D is empty zero
distortion is used, if R or P is empty identity matrixes are used.
@param K Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
@param D Input vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
@param R Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
1-channel or 1x1 3-channel
@param P New camera matrix (3x3) or new projection matrix (3x4)
@param size Undistorted image size.
@param m1type Type of the first output map that can be CV_32FC1 or CV_16SC2 . See convertMaps()
for details.
@param map1 The first output map.
@param map2 The second output map.
*/
CV_EXPORTS_W void initUndistortRectifyMap(InputArray K, InputArray D, InputArray R, InputArray P,
const cv::Size& size, int m1type, OutputArray map1, OutputArray map2);
/** @brief Transforms an image to compensate for fisheye lens distortion.
@param distorted image with fisheye lens distortion.
@param undistorted Output image with compensated fisheye lens distortion.
@param K Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
@param D Input vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
@param Knew Camera matrix of the distorted image. By default, it is the identity matrix but you
may additionally scale and shift the result by using a different matrix.
@param new_size
The function transforms an image to compensate radial and tangential lens distortion.
The function is simply a combination of fisheye::initUndistortRectifyMap (with unity R ) and remap
(with bilinear interpolation). See the former function for details of the transformation being
performed.
See below the results of undistortImage.
- a\) result of undistort of perspective camera model (all possible coefficients (k_1, k_2, k_3,
k_4, k_5, k_6) of distortion were optimized under calibration)
- b\) result of fisheye::undistortImage of fisheye camera model (all possible coefficients (k_1, k_2,
k_3, k_4) of fisheye distortion were optimized under calibration)
- c\) original image was captured with fisheye lens
Pictures a) and b) almost the same. But if we consider points of image located far from the center
of image, we can notice that on image a) these points are distorted.
*/
CV_EXPORTS_W void undistortImage(InputArray distorted, OutputArray undistorted,
InputArray K, InputArray D, InputArray Knew = cv::noArray(), const Size& new_size = Size());
/** @brief Estimates new camera matrix for undistortion or rectification.
@param K Camera matrix \f$K = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
@param image_size
@param D Input vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
@param R Rectification transformation in the object space: 3x3 1-channel, or vector: 3x1/1x3
1-channel or 1x1 3-channel
@param P New camera matrix (3x3) or new projection matrix (3x4)
@param balance Sets the new focal length in range between the min focal length and the max focal
length. Balance is in range of [0, 1].
@param new_size
@param fov_scale Divisor for new focal length.
*/
CV_EXPORTS_W void estimateNewCameraMatrixForUndistortRectify(InputArray K, InputArray D, const Size &image_size, InputArray R,
OutputArray P, double balance = 0.0, const Size& new_size = Size(), double fov_scale = 1.0);
/** @brief Performs camera calibaration
@param objectPoints vector of vectors of calibration pattern points in the calibration pattern
coordinate space.
@param imagePoints vector of vectors of the projections of calibration pattern points.
imagePoints.size() and objectPoints.size() and imagePoints[i].size() must be equal to
objectPoints[i].size() for each i.
@param image_size Size of the image used only to initialize the intrinsic camera matrix.
@param K Output 3x3 floating-point camera matrix
\f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ . If
fisheye::CALIB_USE_INTRINSIC_GUESS/ is specified, some or all of fx, fy, cx, cy must be
initialized before calling the function.
@param D Output vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$.
@param rvecs Output vector of rotation vectors (see Rodrigues ) estimated for each pattern view.
That is, each k-th rotation vector together with the corresponding k-th translation vector (see
the next output parameter description) brings the calibration pattern from the model coordinate
space (in which object points are specified) to the world coordinate space, that is, a real
position of the calibration pattern in the k-th pattern view (k=0.. *M* -1).
@param tvecs Output vector of translation vectors estimated for each pattern view.
@param flags Different flags that may be zero or a combination of the following values:
- **fisheye::CALIB_USE_INTRINSIC_GUESS** cameraMatrix contains valid initial values of
fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
center ( imageSize is used), and focal distances are computed in a least-squares fashion.
- **fisheye::CALIB_RECOMPUTE_EXTRINSIC** Extrinsic will be recomputed after each iteration
of intrinsic optimization.
- **fisheye::CALIB_CHECK_COND** The functions will check validity of condition number.
- **fisheye::CALIB_FIX_SKEW** Skew coefficient (alpha) is set to zero and stay zero.
- **fisheye::CALIB_FIX_K1..fisheye::CALIB_FIX_K4** Selected distortion coefficients
are set to zeros and stay zero.
- **fisheye::CALIB_FIX_PRINCIPAL_POINT** The principal point is not changed during the global
optimization. It stays at the center or at a different location specified when CALIB_USE_INTRINSIC_GUESS is set too.
@param criteria Termination criteria for the iterative optimization algorithm.
*/
CV_EXPORTS_W double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, const Size& image_size,
InputOutputArray K, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
/** @brief Stereo rectification for fisheye camera model
@param K1 First camera matrix.
@param D1 First camera distortion parameters.
@param K2 Second camera matrix.
@param D2 Second camera distortion parameters.
@param imageSize Size of the image used for stereo calibration.
@param R Rotation matrix between the coordinate systems of the first and the second
cameras.
@param tvec Translation vector between coordinate systems of the cameras.
@param R1 Output 3x3 rectification transform (rotation matrix) for the first camera.
@param R2 Output 3x3 rectification transform (rotation matrix) for the second camera.
@param P1 Output 3x4 projection matrix in the new (rectified) coordinate systems for the first
camera.
@param P2 Output 3x4 projection matrix in the new (rectified) coordinate systems for the second
camera.
@param Q Output \f$4 \times 4\f$ disparity-to-depth mapping matrix (see reprojectImageTo3D ).
@param flags Operation flags that may be zero or CALIB_ZERO_DISPARITY . If the flag is set,
the function makes the principal points of each camera have the same pixel coordinates in the
rectified views. And if the flag is not set, the function may still shift the images in the
horizontal or vertical direction (depending on the orientation of epipolar lines) to maximize the
useful image area.
@param newImageSize New image resolution after rectification. The same size should be passed to
initUndistortRectifyMap (see the stereo_calib.cpp sample in OpenCV samples directory). When (0,0)
is passed (default), it is set to the original imageSize . Setting it to larger value can help you
preserve details in the original image, especially when there is a big radial distortion.
@param balance Sets the new focal length in range between the min focal length and the max focal
length. Balance is in range of [0, 1].
@param fov_scale Divisor for new focal length.
*/
CV_EXPORTS_W void stereoRectify(InputArray K1, InputArray D1, InputArray K2, InputArray D2, const Size &imageSize, InputArray R, InputArray tvec,
OutputArray R1, OutputArray R2, OutputArray P1, OutputArray P2, OutputArray Q, int flags, const Size &newImageSize = Size(),
double balance = 0.0, double fov_scale = 1.0);
/** @brief Performs stereo calibration
@param objectPoints Vector of vectors of the calibration pattern points.
@param imagePoints1 Vector of vectors of the projections of the calibration pattern points,
observed by the first camera.
@param imagePoints2 Vector of vectors of the projections of the calibration pattern points,
observed by the second camera.
@param K1 Input/output first camera matrix:
\f$\vecthreethree{f_x^{(j)}}{0}{c_x^{(j)}}{0}{f_y^{(j)}}{c_y^{(j)}}{0}{0}{1}\f$ , \f$j = 0,\, 1\f$ . If
any of fisheye::CALIB_USE_INTRINSIC_GUESS , fisheye::CALIB_FIX_INTRINSIC are specified,
some or all of the matrix components must be initialized.
@param D1 Input/output vector of distortion coefficients \f$(k_1, k_2, k_3, k_4)\f$ of 4 elements.
@param K2 Input/output second camera matrix. The parameter is similar to K1 .
@param D2 Input/output lens distortion coefficients for the second camera. The parameter is
similar to D1 .
@param imageSize Size of the image used only to initialize intrinsic camera matrix.
@param R Output rotation matrix between the 1st and the 2nd camera coordinate systems.
@param T Output translation vector between the coordinate systems of the cameras.
@param flags Different flags that may be zero or a combination of the following values:
- **fisheye::CALIB_FIX_INTRINSIC** Fix K1, K2? and D1, D2? so that only R, T matrices
are estimated.
- **fisheye::CALIB_USE_INTRINSIC_GUESS** K1, K2 contains valid initial values of
fx, fy, cx, cy that are optimized further. Otherwise, (cx, cy) is initially set to the image
center (imageSize is used), and focal distances are computed in a least-squares fashion.
- **fisheye::CALIB_RECOMPUTE_EXTRINSIC** Extrinsic will be recomputed after each iteration
of intrinsic optimization.
- **fisheye::CALIB_CHECK_COND** The functions will check validity of condition number.
- **fisheye::CALIB_FIX_SKEW** Skew coefficient (alpha) is set to zero and stay zero.
- **fisheye::CALIB_FIX_K1..4** Selected distortion coefficients are set to zeros and stay
zero.
@param criteria Termination criteria for the iterative optimization algorithm.
*/
CV_EXPORTS_W double stereoCalibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
InputOutputArray K1, InputOutputArray D1, InputOutputArray K2, InputOutputArray D2, Size imageSize,
OutputArray R, OutputArray T, int flags = fisheye::CALIB_FIX_INTRINSIC,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 100, DBL_EPSILON));
//! @} calib3d_fisheye
} // end namespace fisheye
} //end namespace cv
#if 0 //def __cplusplus
//////////////////////////////////////////////////////////////////////////////////////////
class CV_EXPORTS CvLevMarq
{
public:
CvLevMarq();
CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria=
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
bool completeSymmFlag=false );
~CvLevMarq();
void init( int nparams, int nerrs, CvTermCriteria criteria=
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
bool completeSymmFlag=false );
bool update( const CvMat*& param, CvMat*& J, CvMat*& err );
bool updateAlt( const CvMat*& param, CvMat*& JtJ, CvMat*& JtErr, double*& errNorm );
void clear();
void step();
enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 };
cv::Ptr<CvMat> mask;
cv::Ptr<CvMat> prevParam;
cv::Ptr<CvMat> param;
cv::Ptr<CvMat> J;
cv::Ptr<CvMat> err;
cv::Ptr<CvMat> JtJ;
cv::Ptr<CvMat> JtJN;
cv::Ptr<CvMat> JtErr;
cv::Ptr<CvMat> JtJV;
cv::Ptr<CvMat> JtJW;
double prevErrNorm, errNorm;
int lambdaLg10;
CvTermCriteria criteria;
int state;
int iters;
bool completeSymmFlag;
int solveMethod;
};
#endif
#endif
| [
"yashsja@gmail.com"
] | yashsja@gmail.com |
86c92290ed2fbb0e7d9076f690e99cfc1cf379a2 | 96a25043f0414f1f4ecd6f91e3d13f95418213cb | /coman_shared/examples/wbmc/cpp/inertia_2_2.cpp | 9875466ed3759af1ad3f70cc109b742ffad1cd04 | [] | no_license | xwavex/coman_workspace | b938615a7e678827dbdb0c44bb1b339f1e612302 | 1b8681726ff11a7b5bc955f143c043afeee5b26e | refs/heads/master | 2020-03-24T00:04:01.445328 | 2018-07-16T09:00:52 | 2018-07-16T09:00:52 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 532,812 | cpp | #include "wbmc_func.h"
float inertia_2_2(Eigen::Matrix<float,29,1>& s, Eigen::Matrix<float,29,1>& c) {
float s4 = s(3);
float s5 = s(4);
float s6 = s(5);
float s7 = s(6);
float s8 = s(7);
float s9 = s(8);
float s10 = s(9);
float s11 = s(10);
float s12 = s(11);
float s13 = s(12);
float s14 = s(13);
float s15 = s(14);
float s16 = s(15);
float s17 = s(16);
float s18 = s(17);
float s19 = s(18);
float s20 = s(19);
float s21 = s(20);
float s22 = s(21);
float s23 = s(22);
float s24 = s(23);
float s25 = s(24);
float s26 = s(25);
float s27 = s(26);
float s28 = s(27);
float s29 = s(28);
float c4 = c(3);
float c5 = c(4);
float c6 = c(5);
float c7 = c(6);
float c8 = c(7);
float c9 = c(8);
float c10 = c(9);
float c11 = c(10);
float c12 = c(11);
float c13 = c(12);
float c14 = c(13);
float c15 = c(14);
float c16 = c(15);
float c17 = c(16);
float c18 = c(17);
float c19 = c(18);
float c20 = c(19);
float c21 = c(20);
float c22 = c(21);
float c23 = c(22);
float c24 = c(23);
float c25 = c(24);
float c26 = c(25);
float c27 = c(26);
float c28 = c(27);
float c29 = c(28);
float out;
out = c4*(s6*(s20*(6.9076052400000000908164565771585*s20*(c4*s6 + c6*s4*s5) + c22*(0.56782202000000003838664497379796*s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + c26*(0.56782202000000003838664497379796*s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) - 6.9076052400000000908164565771585*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4) - s22*(1.3446595399999999864704136598448*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(1.3446595399999999864704136598448*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + 2.5548535199999998779318843844521*c4*s6 + s13*(1.0*c14*(2.7247235000000000759712293074699*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + 1.0*c16*(s17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) - c17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.4098178999999999572168007944128*s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.4098178999999999572168007944128*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s16*(c18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) + 2.1397392100000000025872282094497*c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - 2.1397392100000000025872282094497*s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)) + s18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) - 2.7247235000000000759712293074699*s14*(c4*c6 - 1.0*s4*s5*s6)) + 0.89258227000000001094548451874289*s13*(c4*s6 + c6*s4*s5) + s14*(1.0*c15*(s17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.0*c17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0246101000000000791345655670739*s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + s15*(1.700113399999999996836663740396*s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c16*(c18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) + 2.1397392100000000025872282094497*c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - 2.1397392100000000025872282094497*s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)) + s18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + s16*(s17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) - c17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.4098178999999999572168007944128*s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.4098178999999999572168007944128*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0246101000000000791345655670739*c14*(c4*c6 - 1.0*s4*s5*s6)) - 0.89258227000000001094548451874289*c13*c5*s4) + s7*(1.0*c8*(2.7247235000000000759712293074699*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + 1.0*c10*(s11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) - c11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.4098178999999999572168007944128*s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.4098178999999999572168007944128*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s10*(c12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) + 2.1397392100000000025872282094497*c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - 2.1397392100000000025872282094497*s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)) + s12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) - 2.7247235000000000759712293074699*s8*(c4*c6 - 1.0*s4*s5*s6)) + 0.89258227000000001094548451874289*s7*(c4*s6 + c6*s4*s5) + s8*(1.0*c9*(s11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.0*c11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0246101000000000791345655670739*s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + s9*(1.700113399999999996836663740396*s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c10*(c12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) + 2.1397392100000000025872282094497*c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - 2.1397392100000000025872282094497*s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)) + s12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + s10*(s11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) - c11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.4098178999999999572168007944128*s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.4098178999999999572168007944128*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0246101000000000791345655670739*c8*(c4*c6 - 1.0*s4*s5*s6)) - 0.89258227000000001094548451874289*c5*c7*s4) + c13*(1.9171923700000000900800500858168*c13*(c4*s6 + c6*s4*s5) - s15*(s17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.0*c17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + c15*(1.700113399999999996836663740396*s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c16*(c18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) + 2.1397392100000000025872282094497*c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - 2.1397392100000000025872282094497*s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)) + s18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + s16*(s17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) - c17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.4098178999999999572168007944128*s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.4098178999999999572168007944128*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.9171923700000000900800500858168*c5*s13*s4) + c7*(1.9171923700000000900800500858168*c7*(c4*s6 + c6*s4*s5) - s9*(s11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.0*c11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + c9*(1.700113399999999996836663740396*s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c10*(c12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) + 2.1397392100000000025872282094497*c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - 2.1397392100000000025872282094497*s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)) + s12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + s10*(s11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) - c11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.4098178999999999572168007944128*s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.4098178999999999572168007944128*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.9171923700000000900800500858168*c5*s4*s7) + c20*(0.54588773999999995467646840552334*c20*(c4*s6 + c6*s4*s5) + 0.54588773999999995467646840552334*s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4) + c21*(6.3617175000000001361399881716352*s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + 1.0*c22*(1.3446595399999999864704136598448*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*c26*(1.3446595399999999864704136598448*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s22*(0.56782202000000003838664497379796*s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + s26*(0.56782202000000003838664497379796*s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + 6.3617175000000001361399881716352*c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s21*(7.4973615400000002129132781192311*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) - 7.4973615400000002129132781192311*s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) - s23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - s27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))))) + 2.5548535199999998779318843844521*c6*s4*s5) + c6*(c14*(1.0*c15*(s17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.0*c17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0246101000000000791345655670739*s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + s15*(1.700113399999999996836663740396*s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c16*(c18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) + 2.1397392100000000025872282094497*c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - 2.1397392100000000025872282094497*s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)) + s18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + s16*(s17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) - c17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.4098178999999999572168007944128*s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.4098178999999999572168007944128*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0246101000000000791345655670739*c14*(c4*c6 - 1.0*s4*s5*s6)) - s8*(2.7247235000000000759712293074699*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + 1.0*c10*(s11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) - c11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.4098178999999999572168007944128*s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.4098178999999999572168007944128*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s10*(c12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) + 2.1397392100000000025872282094497*c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - 2.1397392100000000025872282094497*s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)) + s12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) - 2.7247235000000000759712293074699*s8*(c4*c6 - 1.0*s4*s5*s6)) - s14*(2.7247235000000000759712293074699*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + 1.0*c16*(s17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) - c17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.4098178999999999572168007944128*s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.4098178999999999572168007944128*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s16*(c18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) + 2.1397392100000000025872282094497*c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - 2.1397392100000000025872282094497*s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)) + s18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) - 2.7247235000000000759712293074699*s14*(c4*c6 - 1.0*s4*s5*s6)) + 3.5860340399999999227986791083822*c4*c6 + c8*(1.0*c9*(s11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.0*c11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0246101000000000791345655670739*s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + s9*(1.700113399999999996836663740396*s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c10*(c12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) + 2.1397392100000000025872282094497*c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - 2.1397392100000000025872282094497*s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)) + s12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + s10*(s11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) - c11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.4098178999999999572168007944128*s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.4098178999999999572168007944128*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0246101000000000791345655670739*c8*(c4*c6 - 1.0*s4*s5*s6)) + c19*(1.0*c21*(7.4973615400000002129132781192311*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) - 7.4973615400000002129132781192311*s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) - s23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - s27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + 1.299871759999999931700642719079*c19*(c4*c6 - 1.0*s4*s5*s6) + s21*(6.3617175000000001361399881716352*s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + 1.0*c22*(1.3446595399999999864704136598448*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*c26*(1.3446595399999999864704136598448*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s22*(0.56782202000000003838664497379796*s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + s26*(0.56782202000000003838664497379796*s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + 6.3617175000000001361399881716352*c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.299871759999999931700642719079*c5*s19*s4) + s19*(0.7539840199999999770241743135557*s19*(c4*c6 - 1.0*s4*s5*s6) + s20*(0.54588773999999995467646840552334*c20*(c4*s6 + c6*s4*s5) + 0.54588773999999995467646840552334*s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4) + c21*(6.3617175000000001361399881716352*s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + 1.0*c22*(1.3446595399999999864704136598448*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*c26*(1.3446595399999999864704136598448*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s22*(0.56782202000000003838664497379796*s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + s26*(0.56782202000000003838664497379796*s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + 6.3617175000000001361399881716352*c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s21*(7.4973615400000002129132781192311*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) - 7.4973615400000002129132781192311*s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) - s23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - s27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))))) - 1.0*c20*(6.9076052400000000908164565771585*s20*(c4*s6 + c6*s4*s5) + c22*(0.56782202000000003838664497379796*s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + c26*(0.56782202000000003838664497379796*s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) - 6.9076052400000000908164565771585*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4) - s22*(1.3446595399999999864704136598448*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(1.3446595399999999864704136598448*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + 0.7539840199999999770241743135557*c19*c5*s4) - 3.5860340399999999227986791083822*s4*s5*s6)) + 1.0*s4*(1.0*c5*(1.8008694999999999009077100708964*c5*s4 - 1.0*c13*(1.0*c14*(2.7247235000000000759712293074699*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + 1.0*c16*(s17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) - c17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.4098178999999999572168007944128*s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.4098178999999999572168007944128*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s16*(c18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) + 2.1397392100000000025872282094497*c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - 2.1397392100000000025872282094497*s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)) + s18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) - 2.7247235000000000759712293074699*s14*(c4*c6 - 1.0*s4*s5*s6)) + 0.89258227000000001094548451874289*s13*(c4*s6 + c6*s4*s5) + s14*(1.0*c15*(s17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.0*c17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0246101000000000791345655670739*s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + s15*(1.700113399999999996836663740396*s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c16*(c18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) + 2.1397392100000000025872282094497*c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - 2.1397392100000000025872282094497*s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)) + s18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + s16*(s17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) - c17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.4098178999999999572168007944128*s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.4098178999999999572168007944128*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0246101000000000791345655670739*c14*(c4*c6 - 1.0*s4*s5*s6)) - 0.89258227000000001094548451874289*c13*c5*s4) - 1.0*c7*(1.0*c8*(2.7247235000000000759712293074699*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + 1.0*c10*(s11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) - c11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.4098178999999999572168007944128*s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.4098178999999999572168007944128*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s10*(c12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) + 2.1397392100000000025872282094497*c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - 2.1397392100000000025872282094497*s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)) + s12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) - 2.7247235000000000759712293074699*s8*(c4*c6 - 1.0*s4*s5*s6)) + 0.89258227000000001094548451874289*s7*(c4*s6 + c6*s4*s5) + s8*(1.0*c9*(s11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.0*c11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0246101000000000791345655670739*s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + s9*(1.700113399999999996836663740396*s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c10*(c12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) + 2.1397392100000000025872282094497*c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - 2.1397392100000000025872282094497*s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)) + s12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + s10*(s11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) - c11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.4098178999999999572168007944128*s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.4098178999999999572168007944128*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0246101000000000791345655670739*c8*(c4*c6 - 1.0*s4*s5*s6)) - 0.89258227000000001094548451874289*c5*c7*s4) - 1.0*s19*(1.0*c21*(7.4973615400000002129132781192311*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) - 7.4973615400000002129132781192311*s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) - s23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - s27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + 1.299871759999999931700642719079*c19*(c4*c6 - 1.0*s4*s5*s6) + s21*(6.3617175000000001361399881716352*s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + 1.0*c22*(1.3446595399999999864704136598448*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*c26*(1.3446595399999999864704136598448*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s22*(0.56782202000000003838664497379796*s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + s26*(0.56782202000000003838664497379796*s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + 6.3617175000000001361399881716352*c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.299871759999999931700642719079*c5*s19*s4) + s13*(1.9171923700000000900800500858168*c13*(c4*s6 + c6*s4*s5) - s15*(s17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.0*c17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + c15*(1.700113399999999996836663740396*s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c16*(c18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) + 2.1397392100000000025872282094497*c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - 2.1397392100000000025872282094497*s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)) + s18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + s16*(s17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) - c17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.4098178999999999572168007944128*s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.4098178999999999572168007944128*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.9171923700000000900800500858168*c5*s13*s4) + s7*(1.9171923700000000900800500858168*c7*(c4*s6 + c6*s4*s5) - s9*(s11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.0*c11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + c9*(1.700113399999999996836663740396*s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c10*(c12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) + 2.1397392100000000025872282094497*c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - 2.1397392100000000025872282094497*s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)) + s12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + s10*(s11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) - c11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.4098178999999999572168007944128*s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.4098178999999999572168007944128*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.9171923700000000900800500858168*c5*s4*s7) + c19*(0.7539840199999999770241743135557*s19*(c4*c6 - 1.0*s4*s5*s6) + s20*(0.54588773999999995467646840552334*c20*(c4*s6 + c6*s4*s5) + 0.54588773999999995467646840552334*s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4) + c21*(6.3617175000000001361399881716352*s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + 1.0*c22*(1.3446595399999999864704136598448*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*c26*(1.3446595399999999864704136598448*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s22*(0.56782202000000003838664497379796*s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + s26*(0.56782202000000003838664497379796*s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + 6.3617175000000001361399881716352*c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s21*(7.4973615400000002129132781192311*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) - 7.4973615400000002129132781192311*s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) - s23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - s27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))))) - 1.0*c20*(6.9076052400000000908164565771585*s20*(c4*s6 + c6*s4*s5) + c22*(0.56782202000000003838664497379796*s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + c26*(0.56782202000000003838664497379796*s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) - 6.9076052400000000908164565771585*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4) - s22*(1.3446595399999999864704136598448*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(1.3446595399999999864704136598448*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + 0.7539840199999999770241743135557*c19*c5*s4)) + s5*(1.0*c6*(s20*(6.9076052400000000908164565771585*s20*(c4*s6 + c6*s4*s5) + c22*(0.56782202000000003838664497379796*s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + c26*(0.56782202000000003838664497379796*s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) - 6.9076052400000000908164565771585*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4) - s22*(1.3446595399999999864704136598448*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(1.3446595399999999864704136598448*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + 2.5548535199999998779318843844521*c4*s6 + s13*(1.0*c14*(2.7247235000000000759712293074699*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + 1.0*c16*(s17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) - c17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.4098178999999999572168007944128*s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.4098178999999999572168007944128*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s16*(c18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) + 2.1397392100000000025872282094497*c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - 2.1397392100000000025872282094497*s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)) + s18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) - 2.7247235000000000759712293074699*s14*(c4*c6 - 1.0*s4*s5*s6)) + 0.89258227000000001094548451874289*s13*(c4*s6 + c6*s4*s5) + s14*(1.0*c15*(s17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.0*c17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0246101000000000791345655670739*s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + s15*(1.700113399999999996836663740396*s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c16*(c18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) + 2.1397392100000000025872282094497*c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - 2.1397392100000000025872282094497*s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)) + s18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + s16*(s17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) - c17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.4098178999999999572168007944128*s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.4098178999999999572168007944128*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0246101000000000791345655670739*c14*(c4*c6 - 1.0*s4*s5*s6)) - 0.89258227000000001094548451874289*c13*c5*s4) + s7*(1.0*c8*(2.7247235000000000759712293074699*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + 1.0*c10*(s11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) - c11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.4098178999999999572168007944128*s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.4098178999999999572168007944128*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s10*(c12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) + 2.1397392100000000025872282094497*c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - 2.1397392100000000025872282094497*s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)) + s12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) - 2.7247235000000000759712293074699*s8*(c4*c6 - 1.0*s4*s5*s6)) + 0.89258227000000001094548451874289*s7*(c4*s6 + c6*s4*s5) + s8*(1.0*c9*(s11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.0*c11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0246101000000000791345655670739*s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + s9*(1.700113399999999996836663740396*s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c10*(c12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) + 2.1397392100000000025872282094497*c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - 2.1397392100000000025872282094497*s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)) + s12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + s10*(s11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) - c11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.4098178999999999572168007944128*s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.4098178999999999572168007944128*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0246101000000000791345655670739*c8*(c4*c6 - 1.0*s4*s5*s6)) - 0.89258227000000001094548451874289*c5*c7*s4) + c13*(1.9171923700000000900800500858168*c13*(c4*s6 + c6*s4*s5) - s15*(s17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.0*c17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + c15*(1.700113399999999996836663740396*s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c16*(c18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) + 2.1397392100000000025872282094497*c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - 2.1397392100000000025872282094497*s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)) + s18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + s16*(s17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) - c17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.4098178999999999572168007944128*s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.4098178999999999572168007944128*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.9171923700000000900800500858168*c5*s13*s4) + c7*(1.9171923700000000900800500858168*c7*(c4*s6 + c6*s4*s5) - s9*(s11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.0*c11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + c9*(1.700113399999999996836663740396*s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c10*(c12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) + 2.1397392100000000025872282094497*c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - 2.1397392100000000025872282094497*s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)) + s12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + s10*(s11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) - c11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.4098178999999999572168007944128*s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.4098178999999999572168007944128*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.9171923700000000900800500858168*c5*s4*s7) + c20*(0.54588773999999995467646840552334*c20*(c4*s6 + c6*s4*s5) + 0.54588773999999995467646840552334*s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4) + c21*(6.3617175000000001361399881716352*s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + 1.0*c22*(1.3446595399999999864704136598448*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*c26*(1.3446595399999999864704136598448*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s22*(0.56782202000000003838664497379796*s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + s26*(0.56782202000000003838664497379796*s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + 6.3617175000000001361399881716352*c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s21*(7.4973615400000002129132781192311*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) - 7.4973615400000002129132781192311*s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) - s23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - s27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))))) + 2.5548535199999998779318843844521*c6*s4*s5) - s6*(c14*(1.0*c15*(s17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.0*c17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0246101000000000791345655670739*s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + s15*(1.700113399999999996836663740396*s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c16*(c18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) + 2.1397392100000000025872282094497*c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - 2.1397392100000000025872282094497*s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)) + s18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + s16*(s17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) - c17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.4098178999999999572168007944128*s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.4098178999999999572168007944128*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0246101000000000791345655670739*c14*(c4*c6 - 1.0*s4*s5*s6)) - s8*(2.7247235000000000759712293074699*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + 1.0*c10*(s11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) - c11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.4098178999999999572168007944128*s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.4098178999999999572168007944128*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s10*(c12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) + 2.1397392100000000025872282094497*c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - 2.1397392100000000025872282094497*s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)) + s12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) - 2.7247235000000000759712293074699*s8*(c4*c6 - 1.0*s4*s5*s6)) - s14*(2.7247235000000000759712293074699*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + 1.0*c16*(s17*(1.3963881500000000501771069139068*c17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.3963881500000000501771069139068*s17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)))) - c17*(1.0*s18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) - 0.72992131000000004537042741503683*c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - c18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) + 1.4098178999999999572168007944128*s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.4098178999999999572168007944128*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s16*(c18*(0.66646684000000000480667949886993*c18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)))) + 2.1397392100000000025872282094497*c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - 2.1397392100000000025872282094497*s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6)) + s18*(0.66646684000000000480667949886993*s18*(c16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) - s16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c18*(c17*(s16*(s15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) + c15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4)) + 1.0*c16*(1.0*c14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) - s14*(c4*c6 - 1.0*s4*s5*s6))) - s17*(1.0*c15*(s14*(s13*(c4*s6 + c6*s4*s5) - 1.0*c13*c5*s4) + c14*(c4*c6 - 1.0*s4*s5*s6)) - s15*(c13*(c4*s6 + c6*s4*s5) + c5*s13*s4))))) - 2.7247235000000000759712293074699*s14*(c4*c6 - 1.0*s4*s5*s6)) + 3.5860340399999999227986791083822*c4*c6 + c8*(1.0*c9*(s11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.0*c11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) + 3.1099312999999999540534645348089*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - 3.1099312999999999540534645348089*s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0246101000000000791345655670739*s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + s9*(1.700113399999999996836663740396*s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c10*(c12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) + 2.1397392100000000025872282094497*c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - 2.1397392100000000025872282094497*s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)) + s12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + s10*(s11*(1.3963881500000000501771069139068*c11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.3963881500000000501771069139068*s11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6)))) - c11*(1.0*s12*(0.66646684000000000480667949886993*c12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - 0.66646684000000000480667949886993*s12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)))) - 0.72992131000000004537042741503683*c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.72992131000000004537042741503683*s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - c12*(0.66646684000000000480667949886993*s12*(c10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) - s10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 0.66646684000000000480667949886993*c12*(c11*(s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) - s11*(1.0*c9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) - s9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7))))) + 1.4098178999999999572168007944128*s10*(s9*(s8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) + c8*(c4*c6 - 1.0*s4*s5*s6)) + c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.4098178999999999572168007944128*c10*(1.0*c8*(s7*(c4*s6 + c6*s4*s5) - 1.0*c5*c7*s4) - s8*(c4*c6 - 1.0*s4*s5*s6))) + 1.700113399999999996836663740396*c9*(c7*(c4*s6 + c6*s4*s5) + c5*s4*s7)) + 1.0246101000000000791345655670739*c8*(c4*c6 - 1.0*s4*s5*s6)) + c19*(1.0*c21*(7.4973615400000002129132781192311*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) - 7.4973615400000002129132781192311*s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) - s23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - s27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + 1.299871759999999931700642719079*c19*(c4*c6 - 1.0*s4*s5*s6) + s21*(6.3617175000000001361399881716352*s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + 1.0*c22*(1.3446595399999999864704136598448*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*c26*(1.3446595399999999864704136598448*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s22*(0.56782202000000003838664497379796*s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + s26*(0.56782202000000003838664497379796*s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + 6.3617175000000001361399881716352*c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.299871759999999931700642719079*c5*s19*s4) + s19*(0.7539840199999999770241743135557*s19*(c4*c6 - 1.0*s4*s5*s6) + s20*(0.54588773999999995467646840552334*c20*(c4*s6 + c6*s4*s5) + 0.54588773999999995467646840552334*s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4) + c21*(6.3617175000000001361399881716352*s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + 1.0*c22*(1.3446595399999999864704136598448*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*c26*(1.3446595399999999864704136598448*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s22*(0.56782202000000003838664497379796*s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + s26*(0.56782202000000003838664497379796*s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + 6.3617175000000001361399881716352*c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s21*(7.4973615400000002129132781192311*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) - 7.4973615400000002129132781192311*s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) - s23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - s27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))))) - 1.0*c20*(6.9076052400000000908164565771585*s20*(c4*s6 + c6*s4*s5) + c22*(0.56782202000000003838664497379796*s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s23*(s24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c23*(c25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) + c26*(0.56782202000000003838664497379796*s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.56782202000000003838664497379796*c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)) + 1.0*s27*(s28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.0*c28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.77683751999999994808376868604682*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 0.77683751999999994808376868604682*s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c27*(c29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 1.8230679199999999529069327763864*s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.8230679199999999529069327763864*c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))))) - 6.9076052400000000908164565771585*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4) - s22*(1.3446595399999999864704136598448*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s24*(1.6792997299999999905040226622077*s24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c24*(1.0462304000000000048231640903396*c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s25*(0.63306932999999998568085857186816*s25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c25*(0.63306932999999998568085857186816*c25*(c24*(1.0*c22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s24*(1.0*c23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s25*(s23*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c23*(s22*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s22*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(1.3446595399999999864704136598448*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s28*(1.6792997299999999905040226622077*s28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - 1.6792997299999999905040226622077*c28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + c28*(1.0462304000000000048231640903396*c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s29*(0.63306932999999998568085857186816*s29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) - 0.63306932999999998568085857186816*c29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 1.0462304000000000048231640903396*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + c29*(0.63306932999999998568085857186816*c29*(c28*(1.0*c26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + 1.0*s28*(1.0*c27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + s27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))))) + 0.63306932999999998568085857186816*s29*(s27*(1.0*c21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) - s21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) - c27*(s26*(s21*(c19*(c4*c6 - 1.0*s4*s5*s6) - 1.0*c5*s19*s4) + c21*(c20*(c4*s6 + c6*s4*s5) + s20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4))) + c26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))))) - 1.3446595399999999864704136598448*s26*(s20*(c4*s6 + c6*s4*s5) - 1.0*c20*(s19*(c4*c6 - 1.0*s4*s5*s6) + c19*c5*s4)))) + 0.7539840199999999770241743135557*c19*c5*s4) - 3.5860340399999999227986791083822*s4*s5*s6)));
return out;
} | [
"dhruvkoolrajamani@gmail.com"
] | dhruvkoolrajamani@gmail.com |
7afaaa964be49863131d231891d2b9cb6a706c89 | 695a4404f8f5e1f54a65d78db6c8f48b0646072a | /mylib/Utils.cpp | 96b3edb804e2446bc3e7dea744beb17aafd84107 | [] | no_license | dongeronimo/estudos_cg | 7af08bd55ee129889a035aaf43afef086fefbd4e | 07d2b2689de36bcc118f23f24e00252b2fcbaa2a | refs/heads/master | 2020-04-17T09:50:48.783307 | 2016-10-13T02:29:41 | 2016-10-13T02:29:41 | 67,807,456 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 672 | cpp | #include "Utils.h"
#include <glew.h>
#include <fstream>
std::string ReadTextFile(std::string path)
{
std::string loadedText;
std::ifstream loadTextStream(path, std::ios::in);
if (loadTextStream.is_open()) {
std::string Line = "";
while (getline(loadTextStream, Line))
loadedText += "\n" + Line;
loadTextStream.close();
}
else
{
std::string err = path + " not found";
throw std::runtime_error(err.c_str());
}
return loadedText;
}
void StartGlew()
{
GLenum err = glewInit();
if (err != GLEW_OK)
{
const GLubyte* _err = glewGetErrorString(err);
std::string str((char*)_err);
throw std::runtime_error(str);
}
}
| [
"luciano.geronimo.fnord@gmail.com"
] | luciano.geronimo.fnord@gmail.com |
ee478300d2541c2b1c73dd9c4a8ac0f2a3ffe90a | a5c2d77783ea11e1cfebc388a058aca5e98c4a5c | /Chapter 5/5-8/hcat.h | 0fae20c7b078b2b4d439392a1ccaae26fd1413bc | [] | no_license | phyzhenli/Accelerated_Cpp | 1f1d1c102fbf27988845355c2566ae4def4e2a70 | ef8051cb0a5fd4765431269284ad8395736ba22b | refs/heads/master | 2023-02-13T17:59:23.092722 | 2021-01-05T08:02:38 | 2021-01-05T08:03:14 | 296,851,745 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 180 | h | #ifndef GUARD_hcat
#define GUARD_hat
#include <string>
#include <vector>
std::vector<std::string> hcat(const std::vector<std::string>&, const std::vector<std::string>&);
#endif
| [
"1036281414@qq.com"
] | 1036281414@qq.com |
846e66ba4cc5f672ae212d0f99f56a52a4a5c94c | 5ccc1917beb61ce10bfe62d3325780e76b18b409 | /iterationcalc.cpp | c5294402958db33541f7940cf1331675124d0dfd | [] | no_license | Vodogrey/Bifur | 1a9f1c4611d6e70081bc8a2dc6628416a05c43d5 | 9fd73afe1d0fb7a59bf71dbb742f5a63496b17ab | refs/heads/master | 2021-01-21T06:52:45.685715 | 2017-03-27T11:24:28 | 2017-03-27T11:24:28 | 83,290,583 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 5,148 | cpp | #include "iterationcalc.h"
iterationCalc::iterationCalc(QObject *parent) : QObject(parent)
{
m_calc = new mathCalc();
}
short iterationCalc::comp(double a, double b){
double c=a-b;
if( qFabs(c)<=EPS)//a==b
return 0;
if(c<EPS)
return 2;//a меньше b
else
return 3;
}
int iterationCalc::iter_stup( QString expf, int k, double lam,
double X, double *iterX, double *iterY)
{
QString elog="";
iterX[0]=X;
iterY[0]=0;
for(int i=1;i<k*2+1;i++){
iterX[i]=X;
X=m_calc->calc (expf, &elog, X, lam);
if (X==NAN) {
if (i==1) {
iterX[0]=0;
iterX[1]=0;
return 1;
}
else return 0;
}
//X=( (double) ( ( (int) ((X + 0.0005) * 1000) ) / 1000.0 ) );//округление
iterY[i]=X;
iterY[++i]=X;
iterX[i]=X;
}
return 0;
}
int iterationCalc::iter_lin( QString expf, int count, double lam, double Xmin,
double Xmax, double *stabX, double *stabY, double *linX, double *linY)
{
QString elog="";
short cmp;
short cmp_buf;
int n=0;
double stb_buf;
double stp=(Xmax-Xmin)/count;
for(int i=0;i<count;i++){
linX[i]=Xmin+i*stp;
linY[i]=m_calc->calc(expf, &elog, linX[i], lam);
//if (*elog!="")
// return -1;
cmp_buf=comp(linY[i], linX[i]);
if (((cmp_buf==0)||(abs(cmp-cmp_buf)==1))&&i) {
stb_buf=linX[i-1];
stb_buf=(linX[i]+linX[i-1])*0.5;
stabX[n]=stb_buf;
stabY[n]=0;
stabX[++n]=stb_buf;
stabY[n]=stb_buf;
stabX[++n]=stb_buf;
stabY[n]=0;
n++;
}
cmp=cmp_buf;
}
return n/3;
}
int iterationCalc::iter_anal( QString df, QString* msg, int n, double lam, double* stabX)
{
double Q;
QString elog="";
for(int i=0;i<n;i++){
Q=m_calc->calc(df, &elog, stabX[i*3], lam);
if (Q==NAN){
*msg += "Мультипликаор для неподвижной точки X"
+ QString::number(i) + "="
+ QString::number(stabX[n*3])
+ ", т.к. при его вычислении возникла ошибка: "
+ elog + "\n";
continue;
}
if (fabs(Q)>1)
*msg+="Неподвижная точка X"+QString::number(i)+"="+QString::number(stabX[i*3])+" неустойчива\n";
else
*msg+="Неподвижная точка X"+QString::number(i)+"="+QString::number(stabX[i*3])+" устойчива\n";
}
return 0;
}
bool iterationCalc::iter_read (int count, QString s_lam, QString s_k, QString s_X,
QString s_Xmin, QString s_Xmax, QString expf,
QString df, QString* msg,
double* abcsX, double* iterX, double* iterY,
double* linX, double* linY, double* stabX,
double* stabY){
double lam;
double X;
double Xmin;
double Xmax;
int k;
int n;
if(s_lam=="")
lam=0;
else{
lam=m_calc->calc(s_lam, msg, 0, 0);
if(*msg!=""){
*msg+=" - L";
return false;
}
}
if(s_X=="")
X=0;
else{
X=m_calc->calc(s_X, msg, 0, 0);
if(*msg!=""){
*msg+=" - Х";
return false;
}
}
Xmin=m_calc->calc(s_Xmin, msg, 0, 0);
if(*msg!=""){
*msg+=" - Xmin";
return false;
}
Xmax=m_calc->calc(s_Xmax, msg, 0, 0);
if(*msg!=""){
*msg+=" - Xmax";
return false;
}
if(s_k=="")
k=0;
else{
double buf=m_calc->calc(s_k, msg, 0, 0);
if(*msg!=""||buf<0){
*msg+=" - k";
return false;
}
k=(int)buf;
}
m_calc->calc(expf, msg, Xmin, lam);
if(*msg=="некорректное выражение"){
*msg+=" - f(x)";
return false;
}
m_calc->calc(df, msg, Xmin, lam);
if(*msg=="некорректное выражение" && df!=""){
*msg+=" - df(x)/dx";
return false;
}
if(comp(Xmax, Xmin)!=3){
*msg="Xmax должен быть больше Xmin";
return false;
}
*msg="";
n=iter_lin(expf, count, lam, Xmin, Xmax, &stabX[0], &stabY[0], &linX[0], &linY[0]);
if (k){
if(iter_stup(expf, k, lam, X, &iterX[0], &iterY[0]))
*msg+="Точка начала построения итерационной диаграммы выбрана вне области определения функции";
abcsX[0]=Xmin;
abcsX[1]=Xmax;
}
*msg+="Всего неподвижных точек: "+QString::number(n)+".\n";
if (n && df!="")
iter_anal( df, msg, n, lam, &stabX[0]);
return true;
}
void iterationCalc::clear()
{
m_calc->clear();
}
| [
"vodogrey666@mail.ru"
] | vodogrey666@mail.ru |
cec3e9e6abd6dfc87d7d5e5e5b25ae7003b67b56 | 299b377022f52b20e3c9696950da9007e9b078a4 | /src/blas_like/level1/TransposeContract.cpp | 509ed4808844fd935b197193934c41b8fdd395b1 | [
"BSD-3-Clause",
"Apache-2.0"
] | permissive | sg0/Elemental | 43cba65d001de299167363c349127cf8c23f7403 | 614f02509690449b553451e36bc78e7e132ea517 | refs/heads/master | 2021-01-15T09:33:56.394836 | 2016-02-29T18:25:53 | 2016-02-29T18:25:53 | 19,929,637 | 1 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 2,599 | cpp | /*
Copyright (c) 2009-2015, Jack Poulson
All rights reserved.
This file is part of Elemental and is under the BSD 2-Clause License,
which can be found in the LICENSE file in the root directory, or at
http://opensource.org/licenses/BSD-2-Clause
*/
#include "El.hpp"
namespace El {
template<typename T>
void TransposeContract
( const AbstractDistMatrix<T>& A,
AbstractDistMatrix<T>& B, bool conjugate )
{
DEBUG_ONLY(CallStackEntry cse("TransposeContract"))
const Dist U = B.ColDist();
const Dist V = B.RowDist();
if( A.ColDist() == V && A.RowDist() == Partial(U) )
{
Transpose( A, B, conjugate );
}
else
{
std::unique_ptr<AbstractDistMatrix<T>>
ASumFilt( B.ConstructTranspose(B.Grid(),B.Root()) );
if( B.ColConstrained() )
ASumFilt->AlignRowsWith( B, false );
if( B.RowConstrained() )
ASumFilt->AlignColsWith( B, false );
Contract( A, *ASumFilt );
if( !B.ColConstrained() )
B.AlignColsWith( *ASumFilt, false );
if( !B.RowConstrained() )
B.AlignRowsWith( *ASumFilt, false );
B.Resize( A.Width(), A.Height() );
Transpose( ASumFilt->LockedMatrix(), B.Matrix(), conjugate );
}
}
template<typename T>
void TransposeContract
( const AbstractBlockDistMatrix<T>& A,
AbstractBlockDistMatrix<T>& B, bool conjugate )
{
DEBUG_ONLY(CallStackEntry cse("TransposeContract"))
const Dist U = B.ColDist();
const Dist V = B.RowDist();
if( A.ColDist() == V && A.RowDist() == Partial(U) )
{
Transpose( A, B, conjugate );
}
else
{
std::unique_ptr<AbstractBlockDistMatrix<T>>
ASumFilt( B.ConstructTranspose(B.Grid(),B.Root()) );
if( B.ColConstrained() )
ASumFilt->AlignRowsWith( B, false );
if( B.RowConstrained() )
ASumFilt->AlignColsWith( B, false );
Contract( A, *ASumFilt );
if( !B.ColConstrained() )
B.AlignColsWith( *ASumFilt, false );
if( !B.RowConstrained() )
B.AlignRowsWith( *ASumFilt, false );
B.Resize( A.Width(), A.Height() );
Transpose( ASumFilt->LockedMatrix(), B.Matrix(), conjugate );
}
}
#define PROTO(T) \
template void TransposeContract \
( const AbstractDistMatrix<T>& A, \
AbstractDistMatrix<T>& B, bool conjugate ); \
template void TransposeContract \
( const AbstractBlockDistMatrix<T>& A, \
AbstractBlockDistMatrix<T>& B, bool conjugate );
#include "El/macros/Instantiate.h"
} // namespace El
| [
"poulson@stanford.edu"
] | poulson@stanford.edu |
72537eb620a9f1d94b9990f8a083f1067cf9b22e | c12681db345c93a7a36033e7e537d79e355d55ff | /include/CHAlgorithms.h | aa123c3adf02802997a8bd307461e0aaa0b92fb0 | [] | no_license | mayank271/ConvexHull | 4bd85432a897b62b5b458e52ae85c006b49d4765 | 18337706355e8afb9f66b1fb4943df51d080f7f7 | refs/heads/master | 2020-04-29T11:42:14.623813 | 2019-05-11T15:18:46 | 2019-05-11T15:18:46 | 176,108,848 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 6,134 | h | //
// Created by Mayank on 16-03-2019.
//
#ifndef DAA_CONVEXHULL_CHALGORITHMS_H
#define DAA_CONVEXHULL_CHALGORITHMS_H
using namespace std;
#include "Point.h"
#include <vector>
#include <algorithm>
using namespace std;
template <class T>
class ConvexHull{
public:
vector<Point<T>> points;
vector<Point<T>> convex_hull_points;
ConvexHull(vector<Point<T>> points, int algo){
this->points = points;
if(algo == 0){
// Graham Scan
cout << "Graham Scan" << endl;
GrahamScan();
}
else if(algo == 1){
// Jarvis March
}
else{
// KPS
}
}
~ConvexHull(){
}
private:
T value(Point<T> p){
return p.x*p.x + p.y*p.y;
}
T crossProduct(Point<T> p1, Point<T> p2){
return (p1.x*p2.y - p2.x*p1.y);
}
// void merge(vector<Point<T>> &p, int l, int m, int r){
// //TODO: check this function of sorting [output points]
// vector<Point<T>> p1, p2;
// cout << l << ':' << m << ':' << r << ':';
// int n1 = m - l + 1;
// int n2 = r - m;
//
// cout << "p1 ";
// for(auto i = l; i < n1; i++){
// p1.push_back(p[i]);
// p[i].print();
// }
// cout << endl;
// cout << "p2 ";
// for(auto i = m; i < n2; i++){
// p2.push_back(p[i]);
// p[i].print();
// }
// int i=0, j=0, k=l;
// while(i < n1 && j < n2){
// if(crossProduct(p1[i], p2[j]) > 0){
// p1[i].print();
// p2[j].print();
// p[k] = p1[i];
// i++;
// }
// else{
// p[k] = p2[j];
// j++;
// }
// k++;
// }
// while(i < n1){
// p[k] = p1[i];
// i++;
// k++;
// }
// while(j < n2){
// p[k] = p2[j];
// j++;
// k++;
// }
// }
// void mergeSort(vector<Point<T>> &p, int l, int r){
// if (l < r){
// cout << l << ' ' << r <<endl;
// int m = (l + r)/2;
// mergeSort(p, l, m);
// mergeSort(p, m + 1, r);
// merge(p, l, m, r);
// cout << "printing" << endl;
// for(auto i = l; i <= r; i++){
// cout << p[i].x << ',' << p[i].y << ' ';
// }
// }
// }
static bool compare(const Point<T> &p1, const Point<T> &p2) {
return ((p1.x*p2.y - p2.x*p1.y) > 0);
}
void GrahamScan(){
/**
* Implementation of Graham Scan to find the convex hull
* Steps:
* 1. Find the bottom most point
* 2. Use it to sort all other points (w.r.t. angle)
* 3. Remove points with same angle.
* 4. Push first 3 points.
* 5. For the remaining ones, check for cross product before pushing.
*/
//Finding the bottommost point (comparing y coordinates)
int bottom_most = 0;
for(auto i = 1; i < points.size(); i++){
if(points[bottom_most].y > points[i].y){
bottom_most = i;
}
else if(points[bottom_most].y == points[i].y){
// In case two points lie at same bottom most level,
// both will be on the convex hull, therefore we can
// choose any one point. (leftmost here)
if(points[bottom_most].x > points[i].x){
bottom_most = i;
}
}
}
//Swapping the bottom most point with the first point
// before continuing further iteration
Point<T> temp_Point = points[bottom_most];
points[bottom_most] = points[0];
points[0] = temp_Point;
cout << points[0].x << ',' << points[0].y << endl;
//Finding angles with respect to point[0]
vector<Point<T>>angles = points;
for(auto i = 1; i < points.size(); i++){
Point<T> temp(points[i].x - points[0].x, points[i].y - points[0].y);
angles[i] = temp;
}
//Sorting wrt angles
// TODO: replace sort with merge sort
sort(angles.begin()+1, angles.end(), compare);
//
// mergeSort(angles, 1, angles.size()-1);
// for(auto i = 0; i< angles.size(); i++) {
// cout << angles[i].x << ' ' << angles[i].y << endl;
// }
//Removing points with same slope (keep the one with higher value)
for(auto i = 1;i < angles.size() - 1; i++){
if(crossProduct(angles[i], angles[i+1]) == 0){
if(value(angles[i]) < value(angles[i+1])){
angles.erase(angles.begin() + i);
}
else{
angles.erase(angles.begin() + i + 1);
}
i--;
}
}
//Get points back from angle values
for(auto i = 1; i < angles.size(); i++){
angles[i].x = angles[0].x + angles[i].x;
angles[i].y = angles[0].y + angles[i].y;
}
//Push first three points
//convex_hull_points is maintained as stack
convex_hull_points.push_back(angles[0]);
convex_hull_points.push_back(angles[1]);
convex_hull_points.push_back(angles[2]);
//Remaining points
for(auto i = 3; i < angles.size(); i++){
// Get top 2 points from the convex hull stack
Point<T> first = convex_hull_points.back();
convex_hull_points.pop_back();
Point<T> second = convex_hull_points.back();
Point<T> new_point = angles[i];
Point<T> val1 (first.x - second.x, first.y - second.y);
Point<T> val2 (new_point.x - first.x, new_point.y - first.y);
if(crossProduct(val1, val2) < 0){
i--;
}
else{
convex_hull_points.push_back(first);
convex_hull_points.push_back(new_point);
}
}
}
};
#endif //DAA_CONVEXHULL_CHALGORITHMS_H
| [
"f20150759@hyderabad.bits-pilani.ac.in"
] | f20150759@hyderabad.bits-pilani.ac.in |
b86a0733373f6d65128a65916ee3f8f659b53b03 | e635966d6923f86f83844f7edf915dfd04cfb2e4 | /nonMemberBeginEnd/main.cc | 2962b4858465c18b8e51e15ea3c794955f9f96e8 | [] | no_license | MaximeGaudin/0xExperiments | cf63e264529a2fae6d3955f8c909ee0aed80202b | 32142d28307c4a359f7e77f435bd4bd857e85f08 | refs/heads/master | 2020-07-03T12:28:02.806210 | 2014-08-19T13:54:19 | 2014-08-19T13:54:19 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 653 | cc | #include <iostream>
#include <string>
#include <map>
#include <utility>
#include <iterator>
int main ( ) {
std::map < std::string, std::string > alias;
alias.insert ( std::pair < std::string, std::string > ( "ll", "ls -al" ) );
alias.insert ( std::pair < std::string, std::string > ( "sl", "ls" ) );
alias.insert ( std::pair < std::string, std::string > ( "g pom", "git push origin master" ) );
alias.insert ( std::pair < std::string, std::string > ( "g plom", "git pull origin master" ) );
auto it = begin(alias);
while ( it != end(alias) ) {
std::cout << it->first << " ~ " << it->second << std::endl;
++it;
}
return 0;
}
| [
"gaudin.maxime@gmail.com"
] | gaudin.maxime@gmail.com |
4f401b02c166fdf68fe8b4c656768ceb2bb4ac96 | 2dad85cbc253010d650e205ebdcf413c3c9d7494 | /placement count the no. of inversions int the array/main.cpp | cad8fd338a0a5712b5164262bb08b854c45fb24f | [] | no_license | ashutosh0305/Geeks-for-Geeks-Must-do-coding-Questions-Bootcamp | e70bac635bd19123f32ca8c679e6a0e03c385b83 | a83aaa624c0ba5bd287319b89182522b3e9390a4 | refs/heads/master | 2023-02-12T02:43:56.911014 | 2021-01-13T15:45:41 | 2021-01-13T15:45:41 | 328,281,009 | 1 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 463 | cpp | #include <iostream>
using namespace std;
int countinversions(int arr[],int n)
{
int count=0;
for(int i=0;i<n-1;i++)
{
for(int j=i+1;j<n;j++)
{
if(arr[i]>arr[j])
{
count++;
}
}
}
return count;
}
int main()
{
int arr[]={2,4,1,3,5};
int n=sizeof(arr)/sizeof(arr[0]);
int z=countinversions(arr,n);
cout<<"the no. of inversions are"<<z;
return 0;
}
| [
"ashutoshbisht0305@gmail.com"
] | ashutoshbisht0305@gmail.com |
476fe2c9f324828185acee60d459d5e1b9e87115 | 5522582d2b75066bdb9157ba5a35b8f686b2f787 | /doc/v0.1/f/test.cpp | 01390f5a1e0225a2acd1012a1b5d3d3194090bf5 | [] | no_license | 337529542/EngineLite | 58915c9e64150ab129566a8117de1f43b45d2e12 | 57ee545ee0ad0a3db16d5f664e43f4a706115fbc | refs/heads/master | 2021-01-10T21:27:56.767119 | 2013-05-05T04:25:14 | 2013-05-05T04:25:14 | null | 0 | 0 | null | null | null | null | GB18030 | C++ | false | false | 5,025 | cpp | #include "ELEntity.h"
#include "ELMath.h"
#include "ELDaeMeshLoader.h"
#include "ELLog.h"
#include "ELRoot.h"
#include <stdlib.h>
#include <windows.h>
void dump_matrix(ELMatrix4x4 m)
{
printf("\n");
printf(" |%f %f %f %f|\n", m.m[0][0], m.m[0][1], m.m[0][2], m.m[0][3]);
printf(" |%f %f %f %f|\n", m.m[1][0], m.m[1][1], m.m[1][2], m.m[1][3]);
printf(" |%f %f %f %f|\n", m.m[2][0], m.m[2][1], m.m[2][2], m.m[2][3]);
printf(" |%f %f %f %f|\n", m.m[3][0], m.m[3][1], m.m[3][2], m.m[3][3]);
printf("\n\n\n");
}
int main()
{
//ELMatrix4x4 m, m1;
//m.resetMatrix();
//m1.resetMatrix();
////m.setScale(ELVector3(2, 3, 4));
////m.setPitch(2.0);
//for(int i=0; i<4; i++)
// for(int j=0; j<4; j++)
// {
// m.m[i][j] = i*4 + j;
// m1.m[i][j]= 100 + i*4 + j;
// }
//m.mul(m1);
//dump_matrix(m);
//load mesh
/*ELEntity ent;
if(ELDaeMeshLoader::loadMeshFromFile("../../Media/fangzi.DAE", ent.mesh))
{
printf("Load Mesh OK!, numTriangles : %d\n", ent.mesh.getNumTriangles());
}
else
{
printf("Load Mesh Failed!\n");
system("pause");
return 0;
}*/
//ELLog mainLog;
//mainLog.CommonLogInit();
//mainLog<<mainLog.GetTimeStr()<<"ok."<<endl;
ELRoot *pRoot = new ELRoot;
/*ELEntity ent;
if(ELDaeMeshLoader::loadMeshFromFile("../../Media/fangzi.DAE", ent.mesh))
{
printf("Load Mesh OK!, numTriangles : %d\n", ent.mesh.getNumTriangles());
pRoot->m_smgr.mEntityList.push_back(ent);
}
else
{
printf("Load Mesh Failed!\n");
}
delete pRoot;*/
ELMatrix4x4 m;
m.makePerspectiveMatrix(D3DX_PI * 0.7f, 800.0f/600.0f, 1.0f, 100.0f);
dump_matrix(m);
system("pause");
return 0;
}
/////////////////////////////////////////////////////////////////////////////////////////////////////
HINSTANCE g_hInst = NULL;
HWND g_hWnd = NULL;
LRESULT CALLBACK WndProc( HWND hWnd, UINT message, WPARAM wParam, LPARAM lParam )
{
PAINTSTRUCT ps;
HDC hdc;
switch( message )
{
case WM_PAINT:
hdc = BeginPaint( hWnd, &ps );
EndPaint( hWnd, &ps );
break;
case WM_DESTROY:
PostQuitMessage( 0 );
break;
default:
return DefWindowProc( hWnd, message, wParam, lParam );
}
return 0;
}
HRESULT InitWindow( HINSTANCE hInstance, int nCmdShow )
{
// Register class注册窗口
WNDCLASSEX wcex;
wcex.cbSize = sizeof( WNDCLASSEX );
wcex.style = CS_HREDRAW | CS_VREDRAW;
wcex.lpfnWndProc = WndProc;
wcex.cbClsExtra = 0;
wcex.cbWndExtra = 0;
wcex.hInstance = hInstance;
wcex.hIcon = NULL;//LoadIcon( hInstance, ( LPCTSTR )IDI_TUTORIAL1 );
wcex.hCursor = LoadCursor( NULL, IDC_ARROW );
wcex.hbrBackground = ( HBRUSH )( COLOR_WINDOW + 1 );
wcex.lpszMenuName = NULL;
wcex.lpszClassName = "EngineLiteTest";
wcex.hIconSm = NULL;//LoadIcon( wcex.hInstance, ( LPCTSTR )IDI_TUTORIAL1 );
if( !RegisterClassEx( &wcex ) )
return E_FAIL;
// Create window创建窗口
g_hInst = hInstance;
RECT rc = { 0, 0, 800, 600 };
AdjustWindowRect( &rc, WS_OVERLAPPEDWINDOW, FALSE );
g_hWnd = CreateWindow( "EngineLiteTest", "Test", WS_OVERLAPPEDWINDOW,
CW_USEDEFAULT, CW_USEDEFAULT, rc.right - rc.left, rc.bottom - rc.top, NULL, NULL, hInstance,
NULL );
if( !g_hWnd )
return E_FAIL;
ShowWindow( g_hWnd, nCmdShow );
return S_OK;
}
ELMatrix4x4 viewMat;
ELMatrix4x4 perspectiveMat;
float scalee = 0.5;
float yaw = 0;
void createScene(ELRoot *pRoot)
{
viewMat.resetMatrix();
perspectiveMat.resetMatrix();
perspectiveMat.makePerspectiveMatrix(D3DX_PI * 0.5f, 800.0f/600.0f, 1.0f, 1000.0f);
pRoot->m_smgr.setPerspectiveMatrix(&perspectiveMat);
//load entity
if(ELDaeMeshLoader::loadMeshFromFile("../../Media/fangzi.DAE", pRoot->m_smgr.mTestEnt.mesh))
{
//printf("Load Mesh OK!, numTriangles : %d\n", pRoot->m_smgr.mTestEnt.mesh.getNumTriangles());
ELLog::getInstance()<<"Load Mesh OK!, numTriangles : "<<pRoot->m_smgr.mTestEnt.mesh.getNumTriangles()<<endl;
}
else
{
printf("Load Mesh Failed!\n");
}
}
void Render(ELRoot *pRoot)
{
scalee += 0.02;
yaw += 0.05;
if(scalee > 1)
{
scalee = 0.5;
}
viewMat.resetMatrix();
viewMat.setTrans(ELVector3(0, 0, 100.0f));
pRoot->m_smgr.setViewMatrix(&viewMat);
pRoot->m_smgr.mTestEnt.worldMatrix.resetMatrix();
pRoot->m_smgr.mTestEnt.worldMatrix.setYaw(yaw);
pRoot->m_smgr.renderOneFrame();
}
int WINAPI wWinMain( HINSTANCE hInstance, HINSTANCE hPrevInstance, LPWSTR lpCmdLine, int nCmdShow )
{
if( FAILED( InitWindow( hInstance, nCmdShow ) ) )
return 0;
ELRoot *pRoot = new ELRoot;
pRoot->m_smgr.renderer.setup(g_hWnd);
pRoot->m_smgr.Setup();
createScene(pRoot);
// Main message loop主要的消息循环
MSG msg = {0};
while( WM_QUIT != msg.message )
{
/*if( PeekMessage( &msg, NULL, 0, 0, PM_REMOVE ) )
{
TranslateMessage( &msg );
DispatchMessage( &msg );
}
else
{
pRoot->m_smgr.renderOneFrame();
}*/
while( PeekMessage( &msg, NULL, 0, 0, PM_REMOVE ) )
{
TranslateMessage( &msg );
DispatchMessage( &msg );
}
Render(pRoot);
}
delete pRoot;
return ( int )msg.wParam;
} | [
"337529542@qq.com"
] | 337529542@qq.com |
61a9deab99f4c861d675f364c993dfc1e451a1ef | a679eaaa38b76ae34e39fa209d176b522022a4ba | /Competitive programming.cpp | 56f02c68faccb51c3395036f4a57b8e6c74f4450 | [] | no_license | pawarspeaks/HacktoberFest2021-Accepted | 91a837f30df53b70308559e16cf628be90765a99 | 2ae1771125eaf234339b99368c39d00c8fe1b7bf | refs/heads/main | 2023-09-05T12:29:20.273311 | 2021-10-28T18:59:18 | 2021-10-28T18:59:18 | 422,321,531 | 4 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 279 | cpp | #include<iostream>
#include <vector>
using namespace std;
int main()
{
vector<int> vec = {0, 1, 2, 3, 4};
for (const auto &value : vec)
cout << value << ' ';
cout << '\n';
int array[]= {1, 2, 3, 4, 5};
for (const auto &value: array)
cout << value << " ";
return 0;
}
| [
"noreply@github.com"
] | noreply@github.com |
2a3b55bff6ce7e779626610955a62cd328cca315 | 30f5fb4ee5b8d444381b6b370926d5a40ff9a1e5 | /test_bench.cpp | 699bb8984f2340b0c0a8843dd3dca70363b348b3 | [] | no_license | Shubhranshu153/LZWCompression | 1d8c54153fae9111ccb1335f97ad41821084244f | 7f37b454b09b8974392fe773371f79d6e66c6d30 | refs/heads/master | 2022-11-15T03:43:54.404306 | 2020-07-11T12:03:08 | 2020-07-11T12:03:08 | 276,956,002 | 0 | 0 | null | 2020-07-11T11:26:38 | 2020-07-03T17:40:00 | C++ | UTF-8 | C++ | false | false | 4,708 | cpp |
#include <iostream>
#include <cstdint>
#include <string.h>
#include <vector>
#include "LZW.h"
#include <list>
#include <pthread.h>
#include <chrono>
#define FILEIN "./input_data"
using namespace std;
unsigned int load_data(char *Data)
{
//Opening a file in byte read mode
FILE *data_file= fopen(FILEIN,"r");
if(data_file==NULL)
{
cout<<"err1"<<endl;
return 0;
}
//reading file contents
long long int bytes_read = fread(Data,sizeof(char),MAX_INPUT_SIZE,data_file);
//close the file
if(fclose(data_file)!=0)
{
cout<<"err2"<<endl;
return 0;
}
return bytes_read;
}
vector<chunks> chunking( char *input, long long int input_size)
{
long long int chunk_start=0;
vector <chunks> input_chunks;
while(chunk_start<input_size)
{
if(chunk_start+CHUNK_SIZE <=input_size)
{
chunks *chunk_struct=(chunks*)malloc(sizeof(chunks));
memcpy((void *)chunk_struct->chunk,(const void*)(input+chunk_start),CHUNK_SIZE);
input_chunks.push_back(*chunk_struct);
}
else
{
int size=input_size-chunk_start+1;
chunks *chunk_struct=(chunks*)malloc(sizeof(chunks));
memcpy(chunk_struct->chunk,input+chunk_start,size);
input_chunks.push_back(*chunk_struct);
}
chunk_start=chunk_start+CHUNK_SIZE;
}
return input_chunks;
}
int main()
{
char * Input=(char*)malloc(MAX_INPUT_SIZE);
int thread_number=1;
cout<<"Enter desired number of threads. Default is 1: ";
cin>>thread_number;
// Load data
long long int bytes_read =load_data(Input);
// Display bytes read
cout<<"Input File Size "<<bytes_read/(1024.0*1024.0)<<" MB"<<endl;
//remove exiting output file
remove("./output_data");
if(bytes_read==0)
{
cout<<"file_not_read"<<endl;
}
auto start = std::chrono::steady_clock::now();
//chunk the data into manageable units for LZW and multithreading
vector<chunks> input_chunks(chunking(Input,bytes_read));
// Special case for end chunk
int end_chunk_size=bytes_read%(CHUNK_SIZE);
int chunk_size=CHUNK_SIZE;
// placeholder for thread IDs
pthread_t pids[thread_number];
//We create threads and start compressing chunk by chunk
for(int i=0;i<input_chunks.size();)
{
int threads_to_join=0;
for(int j=0;j<thread_number;j++)
{
//no more chunks to process
if(i==input_chunks.size())
break;
if(i==input_chunks.size()-1)
chunk_size=end_chunk_size;
// handles the data structure to be passed into the thread
int chunk_number=i;
compress_chunks *compress_chunk=(compress_chunks*)malloc(sizeof(compress_chunks));
compress_chunk->input_chunk=input_chunks[i].chunk;
compress_chunk->chunk_number=chunk_number;
compress_chunk->chunk_size=chunk_size;
//spawn thread
pthread_attr_t attr;
pthread_attr_init(&attr);
pthread_create(&pids[j],&attr,LZW_compress,(void*)compress_chunk);
threads_to_join++;
i++;
}
//join the threads. Basically waits for the thread to complete
for(int j=0;j<threads_to_join;j++)
{
pthread_join(pids[j],NULL);
}
}
auto end = std::chrono::steady_clock::now();
std::chrono::duration<double> elapsed_seconds = end-start;
int calc_compressed_size=0;
int count=0;
// Calculate the compressed size and compression ratio
for(auto i:compressed_output_collection)
{
calc_compressed_size+=sizeof(unsigned short int)*(i.size()-1);
}
cout<<"Compressed size "<<calc_compressed_size/(1024.0*1024)<<" MB"<<endl;
cout<<"Compression ratio "<<float(bytes_read)/(float)calc_compressed_size<<endl;
std::cout << "Compression time in ms: " << elapsed_seconds.count()*1000 << "ms\n";
std::unordered_map<int,vector<unsigned short int>> compress_ordered;
//organize serially all the chunks
for(auto i:compressed_output_collection)
{
int chunk_num=i.front();
i.pop_front();
vector <unsigned short int> temp(i.begin(),i.end());
compress_ordered.insert(std::pair<int,vector<unsigned short int>>(chunk_num,temp));
}
// Decompression for testing
for(int i=0;i<compress_ordered.size();i++)
LZW_decompress(compress_ordered[i]);
} | [
"subhu@seas.upenn.edu"
] | subhu@seas.upenn.edu |
4f9748a24727e7bc9904bc55e96bc8f8ea0187f0 | 68572da614e34b418daab726a4075fd62eea2375 | /practice/9/drills/3_date_in_9.4.3.cpp | c25050c6997395c9e5489d4754517feabb0dfeea | [] | no_license | samkots/ppp2e | 25ff5e7d2562476f670b439d75bde3564a66e3b7 | b84cfa056600415b8136d773427f11f104e32c5e | refs/heads/master | 2022-01-24T04:16:55.444701 | 2019-08-06T16:36:56 | 2019-08-06T16:36:56 | 113,661,884 | 1 | 0 | null | 2017-12-31T16:15:44 | 2017-12-09T10:44:22 | C++ | UTF-8 | C++ | false | false | 1,827 | cpp |
#include "std_lib_facilities.h"
//------------------------------------------------------------------------------
bool is_date_valid(int y, int m, int d)
{
// assume the year is valid
if (d < 0)
return false;
if (m < 0 || m > 12)
return false;
int number_of_days = 31;
switch (m) {
case 4: case 6:
case 9: case 11:
number_of_days = 30;
break;
case 2:
number_of_days = 28;
break;
}
if (d > number_of_days)
return false;
return true;
}
//------------------------------------------------------------------------------
// simple Date (control access)
class Date {
private:
int y, m, d;
public:
Date(int y, int m, int d); // check for valid date and initialize
void add_day(int n); // increase the Date by n days
int month() const { return m; }
int day() const { return d; }
int year() const { return y; }
};
//------------------------------------------------------------------------------
Date::Date(int yy, int mm, int dd)
:y(yy), m(mm), d(dd)
{
if (!is_date_valid(y, m, d))
error("Invalid date");
}
//------------------------------------------------------------------------------
void Date::add_day(int n)
{
d += n;
}
//------------------------------------------------------------------------------
ostream& operator<<(ostream& os, const Date& d)
{
return os << '(' << d.year()
<< ',' << d.month()
<< ',' << d.day() << ')';
}
//------------------------------------------------------------------------------
int main()
try
{
Date today(1978, 6, 25);
Date tomorrow = today;
tomorrow.add_day(1);
cout << "today: " << today << '\n'
<< "tomorrow: " << tomorrow << '\n';
Date test(2004, 13, -5);
}
catch(const runtime_error& x) {
cerr << "error: " << x.what() << '\n';
return -1;
}
//------------------------------------------------------------------------------
| [
"samkots@gmail.com"
] | samkots@gmail.com |
8ce1371cadaa8ef999a638a6f392f51276a74c91 | 587ed7c6ce391ec519f35db39cc82dca0f480f7b | /remove _loop.cpp | b8a7f958bfcc1673d7dadab038320fc9055bb5ac | [] | no_license | rish-av/Data-Structures-and-Algorithm | 250caa10f713f6cab86080bd98222ab90313a4aa | c3c520344bc14df4dcb27537f3322fecef4b6ea4 | refs/heads/master | 2021-09-21T21:50:11.806846 | 2018-08-31T22:16:25 | 2018-08-31T22:16:25 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 742 | cpp | void removeTheLoop(Node *node)
{
Node* tort=node;
Node* hare = node;
int flag = 0;
if(!node || !node->next){ //handle trivial cases
return;
}
while(tort && hare){
tort = tort->next;
hare = hare->next->next;
if(tort == hare){
flag=1;
break;
}
if(!hare || !hare->next){ //if linear in loop
break;
}
}
if(!tort|| !hare){
return;
}
if(flag==1){
Node* temp = node;
Node* last;
while(1){
last = tort;
tort = tort->next;
temp = temp->next;
if(temp==tort){
break;
}
}
last->next = NULL;
}
} | [
"rkdx007@rediffmail.com"
] | rkdx007@rediffmail.com |
1b95e7d0600cbfa858566c269a1144b611969ca8 | e8717f54486d13ea334945386714b825ab125de4 | /CF/363C.cpp | 1991cda38ae535fca71ef54a6d11688b445707a6 | [] | no_license | prajwal1721/Competitve-Programming | a6a6de9c8a6c8e9fd3bf382166a53aa49d562551 | 39e5049e16044830396d6ff504f739e71dbec3bb | refs/heads/master | 2023-02-10T05:26:24.143539 | 2020-12-21T03:45:59 | 2020-12-21T03:45:59 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 1,315 | cpp | #include <bits/stdc++.h>
typedef long long ll;
using namespace std;
int main()
{
cin.tie(nullptr);
ios::sync_with_stdio(false);
string s;cin>>s;
ll p[s.length()+1]={0};
ll flag=0,n=s.length();
if(n<2)cout<<s<<"\n";
else
{
for(ll i=1;i<n;i++)
{
if(s[i]==s[i-1])
{
ll j=i+1;
while (s[j]==s[i])
{s[j]='0';j++;}
i=j;
}
}
string ans="";
for(ll i=0;i<n;i++)
if(s[i]!='0')ans+=s[i];
s=ans;
ll p[n+1]={0};n=s.length();
for(ll i=n-1;i>0;i--)
{
if(s[i]==s[i-1]){p[i-1]=1;}
}
for(ll i=n-1;i>1;i--)
{
if(p[i]==p[i-2] && p[i]==1)p[i-2]=2;
}
ll flag=0;
for(ll i=0;i<n;i++)
{
// cout<<p[i]<<" "<<s[i]<<"\n";
if(p[i]==2){s[i]='0';flag=0;}
// else if(!flag && p[i]==)flag=1;
}
ans="";
for(ll i=0;i<n;i++)
if(s[i]!='0')ans+=s[i];
s=ans;
cout<<s<<"\n";
}
}
| [
"pkssfs1721@gmail.com"
] | pkssfs1721@gmail.com |
28789c63a78cc50fd6269054002d386f469864d1 | 7a281a0c389dfe5be6275958cef018d15801cdc3 | /main.cpp | 57a93c5c2d1169ad13d4d919d0dff1558d37f71a | [] | no_license | ignatiy/demo | bb525f827068e186d7608c246f2fbc641f8e77b2 | 04a62f4d05b6ceda874db8c2d200e02271bfe4ef | refs/heads/master | 2021-01-19T06:37:29.200028 | 2015-02-27T16:13:38 | 2015-02-27T16:13:38 | 30,457,478 | 1 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 1,782 | cpp | /*Игнатий Шиленин.проект калькулятор. калькулятор работает в консольном режиме. выполняет 4 действия.
умножение,деление,вычитание и сложение
при запуске,сначала нужно ввести знак действия,а далее выбрать нужные вам цифры.
еще момент.при вводе цифры в поле "znak"(знак) ,программа дает вам знать,что нужно ввести знак действия а не число.
также при действии деление, предусмотрен вывод сообщения 'деление на ноль запрещено'.
ПОМНИТЕ: ДЕЛЕНИЕ НА НОЛЬ ЗАПРЕЩЕНО!!! а если поделишь,то всё взорвется и не будет работать.
*/
#include <stdio.h>
main() {
float x,y;
char sign='+';
while (sign != '0') {
printf("znak: ");
scanf("%c%*c", &sign);
if (sign == '0') { break; }
if (sign == '+' || sign == '-' || sign == '*' || sign == '/') {
printf("x=");
scanf("%f%*c", &x);
printf("y=");
scanf("%f%*c", &y);
switch (sign) {
case '+':
printf("%.2f\n", x+y);
break;
case '-':
printf("%.2f\n", x-y);
break;
case '*':
printf("%.2f\n", x*y);
break;
case '/':
if (y != 0) printf("%.2f\n", x/y);
else printf("delenie na null zaprecheno\n");
}
}
else printf("vvedite znak deistviya\n");
}
}
| [
"ignatii1994-23-10.ru@mail.ru"
] | ignatii1994-23-10.ru@mail.ru |
b3473b9e3d305d4adc4eff140aac655d57e05691 | c41b3bc268b23c6f40ed089ee52bd45c600b8069 | /test/11-28/YL-X503-C02/color/color.cpp | da41d7d473003abf6639d5a77be5768808c558d0 | [] | no_license | xzj213/code | 5889530ad89a38d7353e742acf94fd085aca6a44 | 46ed1e792b3a75b56e71eba86b12fcd9c4765523 | refs/heads/master | 2023-01-20T17:16:03.536237 | 2020-12-01T01:26:23 | 2020-12-01T01:26:23 | 315,528,588 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 1,123 | cpp | /************************************************
*Author : xzj213
*Created Time : 2020.11.28.08:13
*Mail : xzj213@qq.com
*Problem : color
************************************************/
#include <bits/stdc++.h>
using namespace std;
int n;
void chkmax(int &a,int b) {if (a<b)a=b;}
void chkmin(int &a,int b) {if (a>b)a=b;}
int read() {
int x=0,f=1;
char ch=getchar();
while (ch>57 || ch<48) {if(ch==45)f=-1;ch=getchar();}
while (ch<=57 && ch>=48) {x=x*10+ch-48;ch=getchar();}
return x*f;
}
int main() {
freopen("color.in","r",stdin);
freopen("color.out","w",stdout);
n=read();
if (n==1) {
cout<<1<<endl<<1<<endl;
return 0;
}
if (n==2) {
cout<<1<<endl<<"1 1"<<endl;
return 0;
}
if (n==3) {
cout<<2<<endl<<"1 1 2"<<endl;
return 0;
}
if (n==4) {
cout<<2<<endl<<"1 1 2 2"<<endl;
return 0;
}
if (n==5) {
cout<<3<<endl<<"1 1 2 2 3"<<endl;
return 0;
}
if (n==6) {
cout<<3<<endl<<"1 1 2 2 3 3"<<endl;
return 0;
}
cout<<4<<endl;
for (int i=1;i<=n;i++) cout<<(i-1)%4+1<<' ';
puts("");
//cerr<<"Time : "<<1.0*clock()/CLOCKS_PER_SEC<<endl;
return 0;
}
| [
"xzj213@qq.com"
] | xzj213@qq.com |
d05af9eea29c1e59af3f3937fb93754187556258 | 0aa3a037233e05905aa6aa751201458f2417a651 | /Test/moflow_test_console/moflow_test_console.cpp | 9eb19d4278e27382cedfcd738106b7644274dfa2 | [] | no_license | cherry-wb/moflow | 6a0ad94abbe74a6b00b5f02102e5e9b7a2f4f517 | fb3797376416c61d7defcf70f231c8754941ba6a | refs/heads/master | 2020-12-11T05:33:31.328233 | 2013-09-30T05:45:08 | 2013-09-30T05:45:08 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 631 | cpp | #include <Windows.h>
#include <stdio.h>
#include <time.h>
extern int test_file_io();
extern int test_network_io();
extern int test_direct_overwrite();
int main(int argc, char **argv)
{
printf("Moflow test console v0.1\n");
if(argc == 2)
{
if(!strcmp("file", argv[1]))
test_file_io();
else if(!strcmp("network", argv[1]))
test_network_io();
else if(!strcmp("direct", argv[1]))
test_direct_overwrite();
}
// pick a random testcase
printf("Choosing random testcase..\n");
srand(time(0));
for(int i = 0; i < 10; i++)
rand();
if(rand() % 10 < 5)
test_file_io();
else
test_network_io();
return 0;
} | [
"rjohnson@sourcefire.com"
] | rjohnson@sourcefire.com |
229d32f267eca91e6fe9bf52db11ba382ab1c177 | 8a874f1e8f95c18332ebea4cef4d28549c0edb7b | /FinalProjectDataCompression/Huffman.cpp | eb7f5669b122df5eb5f07809be2eaf40b9e16036 | [] | no_license | SamFeig/CSCI-2275 | d24dca3011a05285016d13098ed5bb7435c488ac | d455b056570dd071f181e0ad80bdba948e48dcb9 | refs/heads/master | 2020-03-28T11:12:46.624473 | 2018-12-14T17:03:46 | 2018-12-14T17:03:46 | 148,188,992 | 2 | 1 | null | null | null | null | UTF-8 | C++ | false | false | 3,802 | cpp | //
// Created by Sam Feig on 12/3/18.
//
#include "Huffman.h"
#include <string>
#include <iostream>
#include <fstream>
#include <vector>
#include <iomanip>
#include <map>
#include <queue>
#include <algorithm>
#include <cassert>
#include <stdexcept>
using namespace std;
Huffman::Huffman(const string& data) {
init(data);
}
void Huffman::init(const string& data) {
auto symbols_dictionary = createDictionary(data);
auto symbols_vec = moveToVector(symbols_dictionary);
createBinaryTree(symbols_vec);
createHashTable(symbols_dictionary);
}
map<char, SymbolPtr> Huffman::createDictionary(const string& data) const {
map<char, SymbolPtr> symbols_dict;
for (const auto& c: data)
{
auto pos = symbols_dict.find(c);
if (pos != symbols_dict.end())
{
++(*pos->second);
continue;
}
symbols_dict.insert(make_pair(c, static_pointer_cast<Symbol>(make_shared<Symbol>(c))));
}
return symbols_dict;
}
vector<SymbolPtr> Huffman::moveToVector(map<char, SymbolPtr>& dictionary) const {
vector<SymbolPtr> symbols;
symbols.reserve(dictionary.size());
for_each(dictionary.begin(), dictionary.end(), [&symbols](pair<const char, SymbolPtr>& symbol) {
symbols.push_back(move(symbol.second));
});
return symbols;
}
void Huffman::createBinaryTree(vector<SymbolPtr>& vec) {
auto symbol_comparator = [](const SymbolPtr a, const SymbolPtr b) {
return a->getCount() < b->getCount();
};
while (vec.size() > 1) {
std::sort(vec.begin(), vec.end(), symbol_comparator);
auto left = vec.front(), right = (*++vec.begin());
auto node = new Node<char>(left->getCount() + right->getCount(), left, right);
vec.erase(vec.begin(), vec.begin() + 2);
vec.push_back(SymbolPtr(node));
}
binary_tree = vec.front();
}
void Huffman::createHashTable(map<char, SymbolPtr> dictionary) {
for (const auto& sym: dictionary) {
auto exists = false;
auto path = findPath(*binary_tree, sym.first, exists);
if (!exists) throw runtime_error("Exception: Invalid dictionary for given data.");
hash_table.insert(pair<char, string>(sym.first, path));
}
}
string Huffman::findPath(Symbol& node, const char& c, bool& flag, const string& path) {
if(flag) {
return path;
}
auto result(path);
if(node.hasLeft()){
result = findPath(*node.getLeft(), c, flag, path + "0");
}
if(node.hasRight() && !flag) {
result = findPath(*node.getRight(), c, flag, path + "1");
}
if(!node.hasLeft() && !node.hasRight() && node.getValue() == c) {
flag = true;
}
return result;
}
string Huffman::encode(const string& data) const {
const short byte_size = 8;
stringstream encoded_stream;
for (const auto& c : data)
encoded_stream << hash_table.at(c);
auto result_str = encoded_stream.str();
for (auto i = 0; i < result_str.size() % byte_size; i++)
result_str += "0";
return result_str;
}
string Huffman::decode(const string& binary_data_str) const {
stringstream decoded_data;
const char * const binary_str = binary_data_str.c_str();
unsigned long i = 0;
while (strstr(binary_str + i, "1")) {
decoded_data << findSymbol(*binary_tree, binary_str + i, i);
}
return decoded_data.str();
}
char Huffman::findSymbol(Symbol& node, const char* const path, unsigned long& i) const {
if (!node.hasLeft() && !node.hasRight()) {
return node.getValue();
}
if (*path == '0' && node.hasLeft()) {
return findSymbol(*node.getLeft(), path + 1, ++i);
}
if (*path == '1' && node.hasRight()) {
return findSymbol(*node.getRight(), path + 1, ++i);
}
return 0;
}
| [
"sam.feig@frogforce503.org"
] | sam.feig@frogforce503.org |
13ec41ac04665eb910f3637455fb5f057b36235c | 9b6eced5d80668bd4328a8f3d1f75c97f04f5e08 | /bluetoothapitest/bluetoothsvs/T_BTSdpAPI/inc/T_DataSdpAttrValueBoolean.h | 59fb9b6dbbcab1fdc92261e4f062a3f368bbffab | [] | no_license | SymbianSource/oss.FCL.sf.os.bt | 3ca94a01740ac84a6a35718ad3063884ea885738 | ba9e7d24a7fa29d6dd93808867c28bffa2206bae | refs/heads/master | 2021-01-18T23:42:06.315016 | 2010-10-14T10:30:12 | 2010-10-14T10:30:12 | 72,765,157 | 1 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 2,334 | h | /*
* Copyright (c) 2005-2009 Nokia Corporation and/or its subsidiary(-ies).
* All rights reserved.
* This component and the accompanying materials are made available
* under the terms of "Eclipse Public License v1.0"
* which accompanies this distribution, and is available
* at the URL "http://www.eclipse.org/legal/epl-v10.html".
*
* Initial Contributors:
* Nokia Corporation - initial contribution.
*
* Contributors:
*
* Description:
*
*/
#if (!defined __T_DATA_SDP_ATTR_VALUE_BOOLEAN_H__)
#define __T_DATA_SDP_ATTR_VALUE_BOOLEAN_H__
// User Includes
#include "T_DataSdpAttrValue.h"
/**
* Test Active Notification class
*
*/
class CT_DataSdpAttrValueBoolean : public CT_DataSdpAttrValue
{
public:
/**
* Two phase constructor
*/
static CT_DataSdpAttrValueBoolean* NewL();
/**
* Public destructor
*/
~CT_DataSdpAttrValueBoolean();
/**
* Process a command read from the ini file
*
* @param aCommand The command to process
* @param aSection The section in the ini containing data for the command
* @param aAsyncErrorIndex Command index for async calls to return errors to
*
* @return ETrue if the command is processed
*
* @leave System wide error
*/
virtual TBool DoCommandL(const TTEFFunction& aCommand, const TTEFSectionName& aSection, const TInt aAsyncErrorIndex);
/**
* Return a pointer to the object that the data wraps
*
* @return pointer to the object that the data wraps
*/
virtual TAny* GetObject() { return iAttrValBool; }
/**
* Set the object that the data wraps
*
* @param aObject object that the wrapper is testing
*
*/
virtual void SetObjectL(TAny* aAny);
/**
* The object will no longer be owned by this
*
* @leave KErrNotSupported if the the function is not supported
*/
virtual void DisownObjectL();
inline virtual TCleanupOperation CleanupOperation();
protected:
/**
* Protected constructor. First phase construction
*/
CT_DataSdpAttrValueBoolean();
/**
* Second phase construction
*/
void ConstructL();
virtual CSdpAttrValue* GetSdpAttrValue() const;
private:
static void CleanupOperation(TAny* aAny);
/**
* Helper methods
*/
void DestroyData();
inline void DoCmdNewBool(const TDesC& aSection);
inline void DoCmdDestructor();
private:
CSdpAttrValueBoolean* iAttrValBool;
};
#endif /* __T_DATA_SDP_ATTR_VALUE_BOOLEAN_H__*/
| [
"kirill.dremov@nokia.com"
] | kirill.dremov@nokia.com |
f03b463880b071b7191f5fc9c647c4bb3ec4f769 | dc980bbd2bd6078f1e49004afcc710a89ed12565 | /src/test/skiplist_tests.cpp | 81526220cde8badf5b49e2aa1f36ec566956b9ed | [
"MIT"
] | permissive | frankjardel/isocoin | c21408225399b33f941c303d0e66e0db264a03c2 | 36e3ce6d64839a37c45b6e17aedfb2238c3a5257 | refs/heads/master | 2020-03-28T10:11:59.484529 | 2019-07-17T17:06:11 | 2019-07-17T17:06:11 | 148,090,292 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 7,701 | cpp | // Copyright (c) 2014-2018 The Bitcoin Core developers
// Distributed under the MIT software license, see the accompanying
// file COPYING or http://www.opensource.org/licenses/mit-license.php.
#include <chain.h>
#include <util.h>
#include <test/test_isocoin.h>
#include <vector>
#include <boost/test/unit_test.hpp>
#define SKIPLIST_LENGTH 300000
BOOST_FIXTURE_TEST_SUITE(skiplist_tests, BasicTestingSetup)
BOOST_AUTO_TEST_CASE(skiplist_test)
{
std::vector<CBlockIndex> vIndex(SKIPLIST_LENGTH);
for (int i=0; i<SKIPLIST_LENGTH; i++) {
vIndex[i].nHeight = i;
vIndex[i].pprev = (i == 0) ? nullptr : &vIndex[i - 1];
vIndex[i].BuildSkip();
}
for (int i=0; i<SKIPLIST_LENGTH; i++) {
if (i > 0) {
BOOST_CHECK(vIndex[i].pskip == &vIndex[vIndex[i].pskip->nHeight]);
BOOST_CHECK(vIndex[i].pskip->nHeight < i);
} else {
BOOST_CHECK(vIndex[i].pskip == nullptr);
}
}
for (int i=0; i < 1000; i++) {
int from = InsecureRandRange(SKIPLIST_LENGTH - 1);
int to = InsecureRandRange(from + 1);
BOOST_CHECK(vIndex[SKIPLIST_LENGTH - 1].GetAncestor(from) == &vIndex[from]);
BOOST_CHECK(vIndex[from].GetAncestor(to) == &vIndex[to]);
BOOST_CHECK(vIndex[from].GetAncestor(0) == vIndex.data());
}
}
BOOST_AUTO_TEST_CASE(getlocator_test)
{
// Build a main chain 100000 blocks long.
std::vector<uint256> vHashMain(100000);
std::vector<CBlockIndex> vBlocksMain(100000);
for (unsigned int i=0; i<vBlocksMain.size(); i++) {
vHashMain[i] = ArithToUint256(i); // Set the hash equal to the height, so we can quickly check the distances.
vBlocksMain[i].nHeight = i;
vBlocksMain[i].pprev = i ? &vBlocksMain[i - 1] : nullptr;
vBlocksMain[i].phashBlock = &vHashMain[i];
vBlocksMain[i].BuildSkip();
BOOST_CHECK_EQUAL((int)UintToArith256(vBlocksMain[i].GetBlockHash()).GetLow64(), vBlocksMain[i].nHeight);
BOOST_CHECK(vBlocksMain[i].pprev == nullptr || vBlocksMain[i].nHeight == vBlocksMain[i].pprev->nHeight + 1);
}
// Build a branch that splits off at block 49999, 50000 blocks long.
std::vector<uint256> vHashSide(50000);
std::vector<CBlockIndex> vBlocksSide(50000);
for (unsigned int i=0; i<vBlocksSide.size(); i++) {
vHashSide[i] = ArithToUint256(i + 50000 + (arith_uint256(1) << 128)); // Add 1<<128 to the hashes, so GetLow64() still returns the height.
vBlocksSide[i].nHeight = i + 50000;
vBlocksSide[i].pprev = i ? &vBlocksSide[i - 1] : (vBlocksMain.data()+49999);
vBlocksSide[i].phashBlock = &vHashSide[i];
vBlocksSide[i].BuildSkip();
BOOST_CHECK_EQUAL((int)UintToArith256(vBlocksSide[i].GetBlockHash()).GetLow64(), vBlocksSide[i].nHeight);
BOOST_CHECK(vBlocksSide[i].pprev == nullptr || vBlocksSide[i].nHeight == vBlocksSide[i].pprev->nHeight + 1);
}
// Build a CChain for the main branch.
CChain chain;
chain.SetTip(&vBlocksMain.back());
// Test 100 random starting points for locators.
for (int n=0; n<100; n++) {
int r = InsecureRandRange(150000);
CBlockIndex* tip = (r < 100000) ? &vBlocksMain[r] : &vBlocksSide[r - 100000];
CBlockLocator locator = chain.GetLocator(tip);
// The first result must be the block itself, the last one must be genesis.
BOOST_CHECK(locator.vHave.front() == tip->GetBlockHash());
BOOST_CHECK(locator.vHave.back() == vBlocksMain[0].GetBlockHash());
// Entries 1 through 11 (inclusive) go back one step each.
for (unsigned int i = 1; i < 12 && i < locator.vHave.size() - 1; i++) {
BOOST_CHECK_EQUAL(UintToArith256(locator.vHave[i]).GetLow64(), tip->nHeight - i);
}
// The further ones (excluding the last one) go back with exponential steps.
unsigned int dist = 2;
for (unsigned int i = 12; i < locator.vHave.size() - 1; i++) {
BOOST_CHECK_EQUAL(UintToArith256(locator.vHave[i - 1]).GetLow64() - UintToArith256(locator.vHave[i]).GetLow64(), dist);
dist *= 2;
}
}
}
BOOST_AUTO_TEST_CASE(findearliestatleast_test)
{
std::vector<uint256> vHashMain(100000);
std::vector<CBlockIndex> vBlocksMain(100000);
for (unsigned int i=0; i<vBlocksMain.size(); i++) {
vHashMain[i] = ArithToUint256(i); // Set the hash equal to the height
vBlocksMain[i].nHeight = i;
vBlocksMain[i].pprev = i ? &vBlocksMain[i - 1] : nullptr;
vBlocksMain[i].phashBlock = &vHashMain[i];
vBlocksMain[i].BuildSkip();
if (i < 10) {
vBlocksMain[i].nTime = i;
vBlocksMain[i].nTimeMax = i;
} else {
// randomly choose something in the range [MTP, MTP*2]
int64_t medianTimePast = vBlocksMain[i].GetMedianTimePast();
int r = InsecureRandRange(medianTimePast);
vBlocksMain[i].nTime = r + medianTimePast;
vBlocksMain[i].nTimeMax = std::max(vBlocksMain[i].nTime, vBlocksMain[i-1].nTimeMax);
}
}
// Check that we set nTimeMax up correctly.
unsigned int curTimeMax = 0;
for (unsigned int i=0; i<vBlocksMain.size(); ++i) {
curTimeMax = std::max(curTimeMax, vBlocksMain[i].nTime);
BOOST_CHECK(curTimeMax == vBlocksMain[i].nTimeMax);
}
// Build a CChain for the main branch.
CChain chain;
chain.SetTip(&vBlocksMain.back());
// Verify that FindEarliestAtLeast is correct.
for (unsigned int i=0; i<10000; ++i) {
// Pick a random element in vBlocksMain.
int r = InsecureRandRange(vBlocksMain.size());
int64_t test_time = vBlocksMain[r].nTime;
CBlockIndex *ret = chain.FindEarliestAtLeast(test_time);
BOOST_CHECK(ret->nTimeMax >= test_time);
BOOST_CHECK((ret->pprev==nullptr) || ret->pprev->nTimeMax < test_time);
BOOST_CHECK(vBlocksMain[r].GetAncestor(ret->nHeight) == ret);
}
}
BOOST_AUTO_TEST_CASE(findearliestatleast_edge_test)
{
std::list<CBlockIndex> blocks;
for (unsigned int timeMax : {100, 100, 100, 200, 200, 200, 300, 300, 300}) {
CBlockIndex* prev = blocks.empty() ? nullptr : &blocks.back();
blocks.emplace_back();
blocks.back().nHeight = prev ? prev->nHeight + 1 : 0;
blocks.back().pprev = prev;
blocks.back().BuildSkip();
blocks.back().nTimeMax = timeMax;
}
CChain chain;
chain.SetTip(&blocks.back());
BOOST_CHECK_EQUAL(chain.FindEarliestAtLeast(50)->nHeight, 0);
BOOST_CHECK_EQUAL(chain.FindEarliestAtLeast(100)->nHeight, 0);
BOOST_CHECK_EQUAL(chain.FindEarliestAtLeast(150)->nHeight, 3);
BOOST_CHECK_EQUAL(chain.FindEarliestAtLeast(200)->nHeight, 3);
BOOST_CHECK_EQUAL(chain.FindEarliestAtLeast(250)->nHeight, 6);
BOOST_CHECK_EQUAL(chain.FindEarliestAtLeast(300)->nHeight, 6);
BOOST_CHECK(!chain.FindEarliestAtLeast(350));
BOOST_CHECK_EQUAL(chain.FindEarliestAtLeast(0)->nHeight, 0);
BOOST_CHECK_EQUAL(chain.FindEarliestAtLeast(-1)->nHeight, 0);
BOOST_CHECK_EQUAL(chain.FindEarliestAtLeast(std::numeric_limits<int64_t>::min())->nHeight, 0);
BOOST_CHECK_EQUAL(chain.FindEarliestAtLeast(std::numeric_limits<unsigned int>::min())->nHeight, 0);
BOOST_CHECK_EQUAL(chain.FindEarliestAtLeast(-int64_t(std::numeric_limits<unsigned int>::max()) - 1)->nHeight, 0);
BOOST_CHECK(!chain.FindEarliestAtLeast(std::numeric_limits<int64_t>::max()));
BOOST_CHECK(!chain.FindEarliestAtLeast(std::numeric_limits<unsigned int>::max()));
BOOST_CHECK(!chain.FindEarliestAtLeast(int64_t(std::numeric_limits<unsigned int>::max()) + 1));
}
BOOST_AUTO_TEST_SUITE_END()
| [
"jardelfrank42@gmail.com"
] | jardelfrank42@gmail.com |
feab8d879cb6084fdf0aaa4cfa4ba0cd0fb41a75 | 27eeaa70596da4c524d57af9b473b951333ef7fd | /Virtual Function.cpp | 84b0ec04e9e75b3164351ece7408c4fe03fd7d94 | [] | no_license | vishalpatil0/CPP-programs | b4f1e7289781af6ebbca61816efed085f52e16c2 | 67c21d33bd7c64ea7b63095bc2bf5b109b648496 | refs/heads/master | 2023-02-08T07:02:58.534329 | 2023-01-28T14:49:17 | 2023-01-28T14:49:17 | 219,329,128 | 1 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 1,209 | cpp | /*
A virtual function is a member function which is declared within a base class and is re-defined(Overriden) by a derived class. When you refer to a derived class object using a pointer or a reference to the base class, you can call a virtual function for that object and execute the derived class’s version of the function.
Virtual functions ensure that the correct function is called for an object, regardless of the type of reference (or pointer) used for function call.
They are mainly used to achieve Runtime polymorphism
Functions are declared with a virtual keyword in base class.
The resolving of function call is done at Run-time.
*/#include<iostream>
using namespace std;
class base{
public:
int a=1;
virtual void display()
{
cout<<"Displaying the value of base class = "<<a<<endl;
}
};
class derived:public base{
public:
int b=2;
void display()
{
cout<<"Displaying the value of base class = "<<a<<endl;
cout<<"Displaying the value of derived class = "<<b<<endl;
}
void derivedClassMethod(){
cout<<"Derived class method"<<endl;
}
};
int main()
{
base *bptr = new derived();
bptr->display();
return 0;
} | [
"vishalgpatil10@gmail.com"
] | vishalgpatil10@gmail.com |
497f1fbe75864ecc4e5f5042b0886de48154c1b1 | 331dd70986c34acb8c1cbd8d5b257424732ee431 | /common_protocol.h | 3dca166468823dfec2c104bc4a0f3a756f4bf277 | [] | no_license | camiboj/tp3_7542_fiuba | 7e4adad50ceefb5cbb12d44d5ccfb19e227b3f27 | dce4b14432c1a8c6df74658d965ad47d2b8fa327 | refs/heads/master | 2022-05-22T06:33:33.468983 | 2019-05-14T15:29:45 | 2019-05-14T15:29:45 | 182,813,073 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 720 | h | #ifndef COMMON_PROTOCOL_H
#define COMMON_PROTOCOL_H
#include "common_socket.h"
#include <string>
/*
* Encapsulación del socket que conoce el protocolo de comunicación pedido
*/
class Protocol {
private:
Socket skt;
public:
Protocol();
explicit Protocol(Socket& _skt);
~Protocol();
Protocol(Protocol&& origin);
Protocol& operator=(Protocol&& origin);
void receive(uint8_t& n);
void receive(uint16_t& n);
void receive(uint32_t& n);
void send(uint8_t& n);
void send(uint16_t& n);
void send(uint32_t& n);
int send(std::string& str);
int receive(std::string& str);
void stop();
};
#endif
| [
"camiboj@gmail.com"
] | camiboj@gmail.com |
765d31921205ea7af29fd2abcb5d380ee9d1037c | 2d932a7156fb02290bc98cb2cc3df857c5dbd0a6 | /Section13/DefaultConstructor/DefaultConstructor/main.cpp | bf784eb9e6112ecc34f56eb320243f8e6662b155 | [] | no_license | djedjethai/learn-c- | 495a87bbf25d2e28f4280b8701d64d7976f47695 | a3b1df1afb97bd597d76d5f150bce8996139dc7d | refs/heads/master | 2022-12-24T07:22:07.442168 | 2020-09-19T12:54:23 | 2020-09-19T12:54:23 | 296,869,222 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 291 | cpp | #include <iostream>
#include "Player.h"
#include <string>
using std::cin;
using std::cout;
using std::endl;
int main()
{
Player anna("Bob", 90, 3);
// Player anna("Simon");
// anna.setName("Anna");
std::string joueur = anna.getName();
cout << joueur << endl;
return 0;
}
| [
"djedje.thai.ok@gmail.com"
] | djedje.thai.ok@gmail.com |
0190fa5a072375e6829bba1c6a985815e43a2807 | b0d1bc4da0d85c1656531c15b838f45f0d87462d | /GalagaSDL/Timer.h | 559fe0ecb2f4823cd1d9d212fe73f3b42faff1ce | [] | no_license | nbhlong/GalagaSDL | daeb24a52b096fb565707e1efd274f51373472d2 | 2d8e36c65bd20cd56ca5ff14628f0c0de1d3b9cf | refs/heads/master | 2020-10-02T00:48:07.984815 | 2018-10-02T00:45:13 | 2018-10-02T00:45:13 | null | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 3,666 | h | //----------------------------------------------------//
// Timer.h //
// Singleton //
// Used to keep track of the time between each reset //
// A reset is usually called after each frame //
// //
// By: Ather Omar //
//----------------------------------------------------//
#ifndef _TIMER_H
#define _TIMER_H
//---------------------------------------------------------------------
#include <SDL2/SDL.h>
//---------------------------------------------------------------------
// QuickSDL
//---------------------------------------------------------------------
namespace QuickSDL {
//-----------------------------------------------------------------
// Timer
//-----------------------------------------------------------------
class Timer {
private:
//Needed to make Timer a singleton class
static Timer* sInstance;
//Contains the time of the last reset
unsigned int mStartTicks;
//Stores the number of milliseconds since the last reset
unsigned int mElapsedTicks;
//Stores the time elapsed since the last reset in seconds
float mDelataTime;
//Can be used to speed up or slowdown all entities that transform using it
float mTimeScale;
public:
//-----------------------------------------
//Returns a pointer to the class instance
//-----------------------------------------
static Timer* Instance();
//-----------------------------------------------------
//Releases the class instance and sets it back to NULL
//-----------------------------------------------------
static void Release();
//------------------------------------------------------------------------
//Resets the time elapsed back to 0, is usually called after each frame
//so that mDeltaTime is the time elapsed since last frame
//------------------------------------------------------------------------
void Reset();
//-------------------------------------------------------
//Time elapsed in seconds since the last Reset
//-------------------------------------------------------
float DeltaTime();
//---------------------------------------------------------------
//Sets the TimeScale default value: 1.0f
//---------------------------------------------------------------
void TimeScale(float t = 1.0f);
//---------------------------------------------------------------
//Can be used to speed up or slowdown all transformations
//by multiplying it by the change in position or rotation
//---------------------------------------------------------------
float TimeScale();
//--------------------------------------------------------------------
//Should be called in the EarlyUpdate, updates the time elapsed,
//as well as the DeltaTime since the last Reset
//--------------------------------------------------------------------
void Update();
private:
//------------------------------------------------------------------------------------------
//Contructor is private so that Instance() must be used to get an instance when needed
//------------------------------------------------------------------------------------------
Timer();
//--------------------------------------------------------------------------------------
//Destructor is private so that the instance can only be destroyed using Release()
//--------------------------------------------------------------------------------------
~Timer();
};
}
#endif
| [
"hairpull@gmail.com"
] | hairpull@gmail.com |
3a4afc8a6238cbf7e0f7baaca4f1347accc1191e | dcb7dae56932f62292fd0d607e32dc2f238d5551 | /158B/main.cpp | 5a8e398badc2c186e03ba420b4109c5065e86541 | [] | no_license | alielrafeiFCIH/Problem_Solving | b5f330d115d3ca1c34613eb2639226c271f0052b | 15863cd43012831867fa2035fc92733a059dcfbf | refs/heads/master | 2020-06-27T03:33:15.668655 | 2019-09-03T09:49:26 | 2019-09-03T09:49:26 | 199,831,566 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 405 | cpp | #include <bits/stdc++.h>
using namespace std;
int main()
{
int no;
string name[]={"ali","ahmed","omar","mohamed"};
string names;
map <string,int> mymap;
map <string,int> ::iterator it;
for(int i=0;i<4;i++){
no=i;
names=name[i];
mymap[names]=no;
}
for(it=mymap.begin();it!=mymap.end();it++)cout<<(*it).first<<" "<<(*it).second<<endl;
return 0;
}
| [
"alielrafei.fcih@gmail.com"
] | alielrafei.fcih@gmail.com |
cf990306acce623dc375e47e0cca64a74f41821f | 1e785b0c901087910c07b64b5161984863c4887c | /MCAD/Mn/stdafx.cpp | 4a67c0df16bbde1ab70b6298f0dd92747258eed1 | [] | no_license | pinery2004/mcad01s | 487eee3e27945d83540a0548777ca6f58d1ff33d | 1b01c200aefc8cd89c958bd42df3900250c6827d | refs/heads/master | 2022-07-18T23:49:10.011615 | 2020-05-20T03:38:59 | 2020-05-20T03:39:13 | 265,440,358 | 0 | 1 | null | null | null | null | SHIFT_JIS | C++ | false | false | 254 | cpp | // stdafx.cpp : 標準インクルード Mn.pch のみを
// 含むソース ファイルは、プリコンパイル済みヘッダーになります。
// stdafx.obj にはプリコンパイル済み型情報が含まれます。
#include "stdafx.h"
| [
"pinery2004@yahoo.co.jp"
] | pinery2004@yahoo.co.jp |
bc7ffda9aa454cbd108d1ffaea770a1dd1fe0af4 | 320a8916cf8fc52de5f92f1004eb25a06806f768 | /src/TicTacToe.cpp | 4bd6f6f55271f001114dd0a660a2d394dcee07ee | [
"MIT"
] | permissive | jwfunk/Untitled-AI | 59e4e477e8aea8009325980f2272c03155094bc5 | 7cc50e5dcb6e3744bda9601274a925403e25d248 | refs/heads/master | 2023-02-01T17:42:01.975617 | 2020-10-02T00:43:46 | 2020-10-02T00:43:46 | 275,935,487 | 0 | 0 | MIT | 2020-10-02T00:43:47 | 2020-06-29T22:02:44 | C++ | UTF-8 | C++ | false | false | 9,606 | cpp |
//TicTacToe.cpp
#include "TicTacToe.h"
TicTacToe::TicTacToe(){
for(int i = 0;i < 9;i++)
board[i] = 0;
}
int TicTacToe::winner(){
if(board[0] != 0 && board[0] == board[1] && board[0] == board[2])
return board[0];
if(board[3] != 0 && board[3] == board[4] && board[3] == board[5])
return board[3];
if(board[6] != 0 && board[6] == board[7] && board[6] == board[8])
return board[6];
if(board[0] != 0 && board[0] == board[3] && board[0] == board[6])
return board[0];
if(board[1] != 0 && board[1] == board[4] && board[1] == board[7])
return board[1];
if(board[2] != 0 && board[2] == board[5] && board[2] == board[8])
return board[2];
if(board[0] != 0 && board[0] == board[4] && board[0] == board[8])
return board[0];
if(board[6] != 0 && board[6] == board[4] && board[6] == board[2])
return board[6];
return 0;
}
int TicTacToe::move(int m){
if(m < 0 || m > 8)
return -1;
if(board[m] != 0)
return -1;
else{
board[m] = turn;
}
if(turn == 1)
turn = -1;
else
turn = 1;
if(board[0] != 0 && board[0] == board[1] && board[0] == board[2])
return 1;
if(board[3] != 0 && board[3] == board[4] && board[3] == board[5])
return 1;
if(board[6] != 0 && board[6] == board[7] && board[6] == board[8])
return 1;
if(board[0] != 0 && board[0] == board[3] && board[0] == board[6])
return 1;
if(board[1] != 0 && board[1] == board[4] && board[1] == board[7])
return 1;
if(board[2] != 0 && board[2] == board[5] && board[2] == board[8])
return 1;
if(board[0] != 0 && board[0] == board[4] && board[0] == board[8])
return 1;
if(board[6] != 0 && board[6] == board[4] && board[6] == board[2])
return 1;
int z = 0;
for(int i = 0;i < 9;i++){
if(board[i] == 0)
z = 1;
}
if(z)
return 0;
return 1;
}
std::string TicTacToe::display(){
std::string result;
result = std::to_string(board[0]) + " " + std::to_string(board[1]) + " " + std::to_string(board[2]) + "\n" + std::to_string(board[3]) + " " + std::to_string(board[4]) + " " + std::to_string(board[5]) + "\n" + std::to_string(board[6]) + " " + std::to_string(board[7]) + " " + std::to_string(board[8]) + "\n";
return result;
}
void TicTacToe::reset(){
for(int i = 0;i < 9;i++)
board[i] = 0;
}
void TicTacToe::swap(){
if(turn == 1)
turn = -1;
else
turn = 1;
}
TicTacToe::TicTacToe(const TicTacToe & t){
for(int i = 0;i < 9;i++)
board[i] = t.board[i];
turn = t.turn;
}
TicTacToe& TicTacToe::operator=(const TicTacToe &t){
for(int i = 0;i < 9;i++)
board[i] = t.board[i];
turn = t.turn;
return *this;
}
int TicTacToe::oneAway(int turn){
if(board[0] == 0 && turn == board[1] && turn == board[2])
return 1;
if(board[0] == turn && 0 == board[1] && turn == board[2])
return 1;
if(board[0] == turn && turn == board[1] && 0 == board[2])
return 1;
if(board[3] == 0 && turn == board[4] && turn == board[5])
return 1;
if(board[3] == turn && 0 == board[4] && turn == board[5])
return 1;
if(board[3] == turn && turn == board[4] && 0 == board[5])
return 1;
if(board[6] == 0 && turn == board[7] && turn == board[8])
return 1;
if(board[6] == turn && 0 == board[7] && turn == board[8])
return 1;
if(board[6] == turn && turn == board[7] && 0 == board[8])
return 1;
if(board[0] == 0 && turn == board[3] && turn == board[6])
return 1;
if(board[0] == turn && 0 == board[3] && turn == board[6])
return 1;
if(board[0] == turn && turn == board[3] && 0 == board[6])
return 1;
if(board[1] == 0 && turn == board[4] && turn == board[7])
return 1;
if(board[1] == turn && 0 == board[4] && turn == board[7])
return 1;
if(board[1] == turn && turn == board[4] && 0 == board[7])
return 1;
if(board[2] == 0 && turn == board[5] && turn == board[8])
return 1;
if(board[2] == turn && 0 == board[5] && turn == board[8])
return 1;
if(board[2] == turn && turn == board[5] && 0 == board[8])
return 1;
if(board[0] == 0 && turn == board[4] && turn == board[8])
return 1;
if(board[0] == turn && 0 == board[4] && turn == board[8])
return 1;
if(board[0] == turn && turn == board[4] && 0 == board[8])
return 1;
if(board[6] == 0 && turn == board[4] && turn == board[2])
return 1;
if(board[6] == turn && 0 == board[4] && turn == board[2])
return 1;
if(board[6] == turn && turn == board[4] && 0 == board[2])
return 1;
return 0;
}
int TicTacToe::getOneAway(int turn){
if(board[0] == 0 && turn == board[1] && turn == board[2])
return 0;
if(board[0] == turn && 0 == board[1] && turn == board[2])
return 1;
if(board[0] == turn && turn == board[1] && 0 == board[2])
return 2;
if(board[3] == 0 && turn == board[4] && turn == board[5])
return 3;
if(board[3] == turn && 0 == board[4] && turn == board[5])
return 4;
if(board[3] == turn && turn == board[4] && 0 == board[5])
return 5;
if(board[6] == 0 && turn == board[7] && turn == board[8])
return 6;
if(board[6] == turn && 0 == board[7] && turn == board[8])
return 7;
if(board[6] == turn && turn == board[7] && 0 == board[8])
return 8;
if(board[0] == 0 && turn == board[3] && turn == board[6])
return 0;
if(board[0] == turn && 0 == board[3] && turn == board[6])
return 3;
if(board[0] == turn && turn == board[3] && 0 == board[6])
return 6;
if(board[1] == 0 && turn == board[4] && turn == board[7])
return 1;
if(board[1] == turn && 0 == board[4] && turn == board[7])
return 4;
if(board[1] == turn && turn == board[4] && 0 == board[7])
return 7;
if(board[2] == 0 && turn == board[5] && turn == board[8])
return 2;
if(board[2] == turn && 0 == board[5] && turn == board[8])
return 5;
if(board[2] == turn && turn == board[5] && 0 == board[8])
return 8;
if(board[0] == 0 && turn == board[4] && turn == board[8])
return 0;
if(board[0] == turn && 0 == board[4] && turn == board[8])
return 4;
if(board[0] == turn && turn == board[4] && 0 == board[8])
return 8;
if(board[6] == 0 && turn == board[4] && turn == board[2])
return 6;
if(board[6] == turn && 0 == board[4] && turn == board[2])
return 4;
if(board[6] == turn && turn == board[4] && 0 == board[2])
return 2;
return -1;
}
int TicTacToe::threeAway(int turn){
int cases = 24;
int data[cases][7] = {
{5,7,0,3,4,6,8},
{5,7,0,1,2,4,8},
{3,7,2,4,5,6,8},
{3,7,2,0,1,4,6},
{1,5,6,0,2,3,4},
{1,5,6,2,4,7,8},
{1,3,8,0,2,4,5},
{1,3,8,0,4,6,3},
{5,0,7,3,4,6,8},
{5,0,7,1,2,4,8},
{3,2,7,4,5,6,8},
{3,2,7,0,1,4,6},
{1,6,5,0,2,3,4},
{1,6,5,2,4,7,8},
{1,8,3,0,2,4,5},
{1,8,3,0,4,6,3},
{0,7,5,3,4,6,8},
{0,7,5,1,2,4,8},
{2,7,3,4,5,6,8},
{2,7,3,0,1,4,6},
{6,5,1,0,2,3,4},
{6,5,1,2,4,7,8},
{8,3,1,0,2,4,5},
{8,3,1,0,4,6,3}
};
for(int i = 0;i < cases;++i){
if(board[data[i][0]] == turn && board[data[i][1]] == turn && board[data[i][2]] == 0 && board[data[i][3]] == 0 && board[data[i][4]] == 0 && board[data[i][4]] == 0 && board[data[i][5]] == 0 && board[data[i][6]] == 0){
return 1;
}
}
return 0;
}
int TicTacToe::twoAway(int turn){
int oTurn;
if(turn == 1)
oTurn = -1;
else
oTurn = 1;
int cases = 80;
int data[cases][5] = {
{0,1,4,7,8},
{0,3,4,5,8},
{0,2,4,6,8},
{0,2,6,3,4},
{0,2,8,4,5},
{0,6,4,2,8},
{0,6,2,1,4},
{0,6,8,4,7},
{0,4,1,2,7},
{0,4,2,6,1},
{0,4,3,5,6},
{0,4,6,2,3},
{0,8,2,1,5},
{0,8,6,3,7},
{0,7,4,1,8},
{0,7,8,4,6},
{0,7,6,3,8},
{0,5,4,3,8},
{0,5,2,1,8},
{0,5,8,4,2},
{8,7,4,0,1},
{8,5,4,0,3},
{8,6,4,0,2},
{8,6,0,3,4},
{8,6,2,4,5},
{8,2,4,0,6},
{8,2,0,1,4},
{8,2,6,4,7},
{8,4,5,2,3},
{8,4,2,5,6},
{8,4,7,1,6},
{8,4,6,7,2},
{8,1,0,2,4},
{8,1,2,0,5},
{8,1,4,0,7},
{8,3,0,4,6},
{8,3,4,0,5},
{8,3,6,0,7},
{2,1,4,6,7},
{2,5,4,3,6},
{2,4,0,1,8},
{2,4,1,0,7},
{2,4,5,3,8},
{2,4,8,0,5},
{2,6,0,1,3},
{2,6,8,5,7},
{2,3,0,1,6},
{2,3,4,5,6},
{2,3,6,0,4},
{2,7,4,1,6},
{2,7,6,4,8},
{2,7,8,5,6},
{6,3,4,2,5},
{6,7,4,1,2},
{6,4,0,3,8},
{6,4,3,0,5},
{6,4,7,8,1},
{6,4,8,7,0},
{6,1,0,2,3},
{6,1,2,0,4},
{6,1,4,2,7},
{6,5,2,4,8},
{6,5,4,2,3},
{6,5,8,2,7},
{4,1,0,2,8},
{4,1,2,0,6},
{4,5,2,6,8},
{4,5,8,0,2},
{4,3,0,6,8},
{4,3,6,0,2},
{4,7,6,2,8},
{4,7,8,0,6},
{1,3,0,2,6},
{1,3,4,5,7},
{1,5,2,0,8},
{1,5,4,3,7},
{7,3,6,0,8},
{7,3,4,1,5},
{7,5,8,2,6},
{7,5,4,1,3}};
for(int i = 0;i < cases;++i){
if(board[data[i][0]] == turn && board[data[i][1]] == turn && board[data[i][2]] == 0 && board[data[i][3]] == 0 && board[data[i][4]] == 0){
if(oneAway(oTurn)){
if(getOneAway(oTurn) == data[i][2])
return 1;
}
else
return 1;
}
}
return 0;
}
| [
"JWFunk@outlook.com"
] | JWFunk@outlook.com |
43426650c009924a1947532b666de5d2513d9f29 | 774de37368ad58f423dea9fe9ded5c600c14725a | /GetOffMyLawn/WaterBlast.h | 05a09a940a94f8f7d7ab7de5c0be211012bd5c71 | [] | no_license | JamesPreston1993/GetOffMyLawn | 6b77d0826941147fbe6f275c92868ef1644f1246 | 90dfe46cb73829ad60742a33132be0c0add3cef6 | refs/heads/master | 2021-01-17T05:58:22.334893 | 2015-03-08T18:15:53 | 2015-03-08T18:15:53 | 31,622,862 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 125 | h | #pragma once
#include "Entity.h"
class WaterBlast : public Entity
{
public:
WaterBlast(short x, short y);
void update();
}; | [
"jamescpreston93@gmail.com"
] | jamescpreston93@gmail.com |
b96cbb772f61620bde5eac8c4f5cc471d16ca114 | 6e07650759032733aa327f69689ac7989fabe627 | /dmc.cpp | cb82efa8dee38b7d493991a5d2eb9029c65ebd54 | [] | no_license | alainpetit21/CompTest | d6754ae9e9c8d7f60c9ef66124df6c554dc7c789 | 3659b42822cbc543e099d94e983831c5503b04c5 | refs/heads/master | 2020-03-20T18:06:44.126351 | 2018-06-16T10:05:41 | 2018-06-16T10:05:41 | 137,571,066 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 8,603 | cpp | #include <malloc.h>
#include <memory.h>
#include <stdio.h>
typedef struct nnn {
float count[2];
struct nnn *next[2];
}node;
static node *p;
static node nodes[256][256];
int nbNodeNeeded;
float DMC_Redict();
void DMC_Init(int memsize);
void DMC_Update(int b);
void DMC_Flush();
void DMC_Reset();
int memsize = 0x1000000;
int
DMC_Compress(unsigned char* p_pDst, unsigned char* p_pSrc, int pSrcLen)
{
int mid;
int c;
int i;
int bit;
int max = 0x1000000;
int min = 0;
int inbytes = 0;
int outbytes = 3;
int pout = 3;
unsigned char *pSrc = p_pSrc;
unsigned char *pDst = p_pDst;
DMC_Init(memsize);
nbNodeNeeded= 0;
while(1){
c = *pSrc++;
if(pSrc > (&p_pSrc[pSrcLen])) {
min= max-1;
break;
}
for(i=0;i<8;i++){
bit = (c << i) & 0x80;
mid = min + (max-min-1) * DMC_Redict();
DMC_Update(bit != 0);
if(mid == min)
mid++;
if(mid == (max-1))
mid--;
if(bit) {
min = mid;
}else{
max = mid;
}
while((max-min) < 256) {
if(bit)
max--;
*pDst++= (min >> 16);
outbytes++;
min= (min << 8) & 0xffff00;
max= ((max << 8) & 0xffff00);
if(min >= max)
max = 0x1000000;
}
}
if(!(++inbytes & 0xff)){
if (outbytes - pout > 256) {
DMC_Flush();
}
pout = outbytes;
}
}
*pDst++= (min>>16);
*pDst++= ((min>>8) & 0xff);
*pDst++= (min & 0x00ff);
return pout;
}
void
DMC_Decompress(unsigned char* p_pDst, unsigned char* p_pSrc)
{
int mid;
int val;
int i;
int bit;
int c;
int max = 0x1000000;
int min = 0;
int inbytes = 3;
int pin = 3;
int outbytes = 0;
unsigned char *pSrc = p_pSrc;
unsigned char *pDst = p_pDst;
DMC_Init(memsize);
nbNodeNeeded= 0;
val = (*pSrc++)<<16;
val += (*pSrc++)<<8;
val += (*pSrc++);
while(1){
c= 0;
if(val == (max-1)){
break;
}
for(i=0;i<8;i++){
mid= min + (max-min-1) * DMC_Redict();
if(mid == min)
mid++;
if(mid == (max-1))
mid--;
if(val >= mid){
bit = 1;
min = mid;
}else{
bit = 0;
max = mid;
}
DMC_Update(bit != 0);
c= c + c + bit;
while((max-min) < 256){
if(bit)
max--;
inbytes++;
val = (val << 8) & 0xffff00 | ((*pSrc++) & 0xff);
min = (min << 8) & 0xffff00;
max = ((max << 8) & 0xffff00 ) ;
if(min >= max)
max= 0x1000000;
}
}
*pDst++= c;
if(!(++outbytes & 0xff)){
if(inbytes - pin > 256){
DMC_Flush();
}
pin = inbytes;
}
}
}
void
DMC_Init(int memsize)
{
DMC_Flush();
}
void
DMC_Flush()
{
int i,j;
for(j=0;j<256;j++){
for(i=0;i<127;i++){
nodes[j][i].count[0] = 0.2;
nodes[j][i].count[1] = 0.2;
nodes[j][i].next[0] = &nodes[j][2*i + 1];
nodes[j][i].next[1] = &nodes[j][2*i + 2];
}
for (i=127;i<255;i++) {
nodes[j][i].count[0] = 0.2;
nodes[j][i].count[1] = 0.2;
nodes[j][i].next[0] = &nodes[i+1][0];
nodes[j][i].next[1] = &nodes[i-127][0];
}
}
DMC_Reset();
}
void
DMC_Reset()
{
p = &nodes[0][0];
}
float
DMC_Redict()
{
return(p->count[0] / (p->count[0] + p->count[1]));
}
void
DMC_Update(int b)
{
float r;
p->count[b]++;
p = p->next[b];
++nbNodeNeeded;
}
/*
#include <stdio.h>
float predict();
int pinit();
int pupdate();
int memsize = 0x1000000;
main(argc,argv)
int argc;
char *argv[];
{
if (argc == 3 && isdigit(*argv[2])) sscanf(argv[2],"%d",&memsize);
if (argc >= 2 && *argv[1] == 'c') comp();
else if (argc >= 2 && *argv[1] == 'e') exp();
else {
fprintf(stderr,"usage: dmc [ce] memsize <infile >outfile\n");
exit(1);
}
return 0;
}
comp(){
int max = 0x1000000,
min = 0,
mid,
c,i,
inbytes = 0,
outbytes =3,
pout = 3,
bit;
pinit(memsize);
for(;;){
c = getchar();
if (c == EOF) {
min = max-1;
fprintf(stderr,"compress done: bytes in %d, bytes out %d, ratio %f\n",
inbytes,outbytes,(float)outbytes/inbytes);
break;
}
for (i=0;i<8;i++){
bit = (c << i) & 0x80;
mid = min + (max-min-1) * predict();
pupdate(bit != 0);
if (mid == min) mid++;
if (mid == (max-1)) mid--;
if (bit) {
min = mid;
} else {
max = mid;
}
while ((max-min) < 256) {
if(bit)max--;
putchar(min >> 16);
outbytes++;
min = (min << 8) & 0xffff00;
max = ((max << 8) & 0xffff00 ) ;
if (min >= max) max = 0x1000000;
}
}
if(!(++inbytes & 0xff)){
if(!(inbytes & 0xffff)){
fprintf(stderr,
"compressing... bytes in %d, bytes out %d, ratio %f\r",
inbytes,outbytes,(float)outbytes/inbytes);
}
if (outbytes - pout > 256) {
pflush();
}
pout = outbytes;
}
}
putchar(min>>16);
putchar((min>>8) & 0xff);
putchar(min & 0x00ff);
}
exp(){
int max = 0x1000000,
min = 0,
mid,
val,
i,
inbytes=3,
pin=3,
outbytes=0,
bit,
c;
pinit(memsize);
val = getchar()<<16;
val += getchar()<<8;
val += getchar();
while(1) {
c = 0;
if (val == (max-1)) {
fprintf(stderr,"expand: input %d output %d\n",inbytes,outbytes);
break;
}
for (i=0;i<8;i++){
mid = min + (max-min-1)*predict();
if (mid == min) mid++;
if (mid == (max-1)) mid--;
if (val >= mid) {
bit = 1;
min = mid;
} else {
bit = 0;
max = mid;
}
pupdate(bit != 0);
c = c + c + bit;
while ((max-min) < 256) {
if(bit)max--;
inbytes++;
val = (val << 8) & 0xffff00 | (getchar()& 0xff);
min = (min << 8) & 0xffff00;
max = ((max << 8) & 0xffff00 ) ;
if (min >= max) max = 0x1000000;
}
}
putchar(c);
if(!(++outbytes & 0xff)){
if (inbytes - pin > 256) {
pflush();
}
pin = inbytes;
}
}
}
typedef struct nnn {
float count[2];
struct nnn *next[2];
} node;
static int threshold = 2, bigthresh = 2;
static node *p, *new, nodes[256][256];
static node *nodebuf;
static node *nodemaxp;
static node *nodesptr;
#include <malloc.h>
pinit(memsize)
int memsize;
{
fprintf(stderr,"using %d bytes of predictor memory\n",memsize);
nodebuf = (node *) malloc (memsize);
if (nodebuf == (node *) NULL) {
fprintf(stderr,"memory alloc failed; try smaller predictor memory\n");
exit(1);
}
nodemaxp = nodebuf + (memsize/sizeof(node)) - 20;
pflush();
}
pflush(){
int i,j;
for (j=0;j<256;j++){
for (i=0;i<127;i++) {
nodes[j][i].count[0] = 0.2;
nodes[j][i].count[1] = 0.2;
nodes[j][i].next[0] = &nodes[j][2*i + 1];
nodes[j][i].next[1] = &nodes[j][2*i + 2];
}
for (i=127;i<255;i++) {
nodes[j][i].count[0] = 0.2;
nodes[j][i].count[1] = 0.2;
nodes[j][i].next[0] = &nodes[i+1][0];
nodes[j][i].next[1] = &nodes[i-127][0];
}
}
nodesptr = nodebuf;
preset();
}
preset(){
p = &nodes[0][0];
}
float predict(){
return p->count[0] / (p->count[0] + p->count[1]);
}
pupdate(b)
int b;
{
float r;
if (p->count[b] >= threshold &&
p->next[b]->count[0]+p->next[b]->count[1]
>= bigthresh + p->count[b]){
new = nodesptr++;
p->next[b]->count[0] -= new->count[0] =
p->next[b]->count[0] *
(r = p->count[b]/(p->next[b]->count[1]+p->next[b]->count[0]));
p->next[b]->count[1] -= new->count[1] =
p->next[b]->count[1] * r;
new->next[0] = p->next[b]->next[0];
new->next[1] = p->next[b]->next[1];
p->next[b] = new;
}
p->count[b]++;
p = p->next[b];
if (nodesptr > nodemaxp){
fprintf(stderr,"flushing ...\n");
pflush();
}
}
*/ | [
"alainpetit@hotmail.com"
] | alainpetit@hotmail.com |
39680f4e203b7f1bfd898488b7c4c6734cb5aa06 | d0544410448794664464e293cfd5085b23e2dede | /c-plus-plus/OCT-15/MGCHGYM.cpp | e267c7266b187eb0a9691117cd023d67f0b3a3c4 | [] | no_license | amal1994/Codechef | b85060a2707428485c1cea52f7f11acb95045336 | 602d63427016722abc5e3098aabc45848478cd3f | refs/heads/master | 2021-01-10T14:30:01.601623 | 2015-11-20T13:05:44 | 2015-11-20T13:05:44 | 46,259,421 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 1,697 | cpp | #include <iostream>
#include <vector>
#include <cstdio>
#include <cstdlib>
#include <algorithm>
using namespace std;
vector<int> w;
void reversal(int l,int r)
{
int num = (r-l+1)/2;
for(int i=l;i<l+num;i++)
{
w[i]=w[i]+w[r];
w[r]=w[i]-w[r];
w[i]=w[i]-w[r];
r--;
}
}
bool isSubsetSum(vector<int>& w, int l,int r, int sum)
{
if (sum == 0)
return true;
if (r == l && sum != 0)
return false;
// If last element is greater than sum, then ignore it
if (w[r-1] > sum)
return isSubsetSum(w,l, r-1, sum);
/* else, check if sum can be obtained by any of the following
(a) including the last element
(b) excluding the last element */
return isSubsetSum(w,l, r-1, sum) || isSubsetSum(w,l, r-1, sum-w[r-1]);
}
int main() {
// your code goes here
int n,q,i,item;
int arg_c,arg_1,arg_2,arg_3;
scanf("%d %d\n",&n,&q);
for(i=0;i<n;i++)
{
scanf("%d",&item);
w.push_back(item);
}
while(q--)
{
cin>>arg_c;
switch(arg_c)
{
case 1: scanf("%d %d\n",&arg_1,&arg_2);
w[arg_1-1]=arg_2;
break;
case 2: scanf("%d %d\n",&arg_1,&arg_2);
reversal(arg_1 - 1,arg_2 - 1);
break;
case 3: scanf("%d %d %d\n",&arg_1,&arg_2,&arg_3);
if(isSubsetSum(w, arg_1-1 , arg_2, arg_3 ))
{
printf("Yes\n");
}
else
{
printf("No\n");
}
break;
}
}
return 0;
}
| [
"amal1994@users.noreply.github.com"
] | amal1994@users.noreply.github.com |
ccf2221fe080114fa3a76c523ec7b70ed379681e | ca41f590230bd741361bf5ddc6b46ed16455d2a2 | /Mesher3d/Mesher3d/Include/Pslg.h | 69928d4c66ae446ba6a3864d8627808bbf672632 | [] | no_license | tikeshwar/Mesher3D | 613bcb6a4062782341bdf5de12e0e70561e4a7ea | da00980ce39c3e22f76c0af0583a85796e2bf392 | refs/heads/master | 2021-01-12T06:00:44.376362 | 2017-02-21T19:30:14 | 2017-02-21T19:30:14 | 77,271,762 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 1,005 | h | #pragma once
#include <vector>
#include "Defines.h"
#include "BBox.h"
namespace M3d
{
class Pslg
{
public:
typedef std::vector<GCore::Vec3d> PointList;
typedef std::vector<GCore::Vec3d> SegmentList;
typedef std::vector<size_t> Polygon;
typedef std::vector<Polygon> FaceList;
public:
Pslg() = default;
Pslg(const PointList& pointlist, const FaceList& boundaryFacets, const FaceList& constraintFacets,
const SegmentList& constraintSegs, const PointList& holePts)
:points(pointlist), boundaryFaces(boundaryFacets), constraintFaces(constraintFacets),
constraintSegments(constraintSegs), holePoints(holePts)
{
calculateBBox();
}
~Pslg() = default;
void calculateBBox()
{
for (auto it = points.begin(); it != points.end(); it++)
box.extend(*it);
}
public:
PointList points;
FaceList boundaryFaces;
FaceList constraintFaces;
SegmentList constraintSegments;
PointList holePoints;
GCore::Box3d box;
};
}
| [
"tikeshwar@cctech.co.in"
] | tikeshwar@cctech.co.in |
f376a4b2bd67766a077867cc51799ca59083e4c7 | d87a64d5a7fbb80658f97d75e7ac148fe5e99ac7 | /coding-blocks-course/character-arrays/remove-consecutive-duplicates.cpp | c10887d46e3a4dca4d2da4932774539748a012ac | [] | no_license | Ctrl-Code/Files | 435a9a517611bc9cad6564e0349e3dbed6bc07cf | c3fae0168a8c2fb2f0b028348d5d0cc536d70b28 | refs/heads/master | 2021-07-06T05:18:49.339047 | 2020-07-29T20:18:38 | 2020-07-29T20:18:38 | 135,023,420 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 988 | cpp | #include <iostream>
#include <cstring>
#define newLine std::cout << std::endl;
void remove_consecutive_duplicates(char str[])
{
int stringLength = strlen(str);
// i.e. string is either of 1 character or does not exist
if (stringLength <= 1)
return;
// now process
else
{
int i = 0, j = 1;
while (str[j] != '\0')
{
if (str[i] == str[j])
++j;
else
{
str[i + 1] = str[j];
++i, ++j;
}
}
str[i + 1] = '\0';
return;
}
}
int main()
{
char str[100];
// input the string
std::cout << "enter the string" << std::endl;
std::cin.getline(str, 100);
// std::cout<<"the string length is "<<strlen(str)<<std::endl;
std::cout << "The consecutive duplicates removed string is as below";
newLine;
remove_consecutive_duplicates(str);
std::cout << str;
newLine;
return 0;
} | [
"chebomsta@gmail.com"
] | chebomsta@gmail.com |
d42ecdc314e29cd2a733bfb88ed2182843719f50 | 24f26f85f379676764c05f92f1ec75c6354f2a05 | /Language-Tools/Repeat-and-Missing-Number -Array.cpp | 2fca5ac9458bbc659ad7783fb41ea2ec09ec3745 | [] | no_license | Mehulcoder/Coding-ninjas-competitive | 09fcbf2267da521eabeda112ed803c76c782d7ed | a167d473c9d2c7df45a38d5c4454f8e651964fb7 | refs/heads/master | 2022-02-27T12:35:34.657228 | 2021-09-02T16:37:23 | 2021-09-02T16:37:23 | 201,101,214 | 290 | 183 | null | 2022-02-16T02:08:20 | 2019-08-07T17:54:08 | C++ | UTF-8 | C++ | false | false | 1,055 | cpp | /*
Name: Mehul Chaturvedi
IIT-Guwahati
*/
/*
PROBLEM STATEMENT
You are given a read only array of n integers from 1 to n.
Each integer appears exactly once except A which appears twice and B which is missing.
Return A and B.
Note: Your algorithm should have a linear runtime complexity. Could you implement it without using extra memory?
Note that in your output A should precede B.
*/
#include <bits/stdc++.h>
using namespace std;
vector<int> Solution::repeatedNumber(const vector<int> &A) {
long long int len = A.size();
long long int Sum_N = (len * (len+1) ) /2, Sum_NSq = (len * (len +1) *(2*len +1) )/6;
long long int missingNumber=0, repeating=0;
for(int i=0;i<A.size(); i++){
Sum_N -= (long long int)A[i];
Sum_NSq -= (long long int)A[i]*(long long int)A[i];
}
missingNumber = (Sum_N + Sum_NSq/Sum_N)/2;
repeating= missingNumber - Sum_N;
vector <int> ans;
ans.push_back(repeating);
ans.push_back(missingNumber);
return ans;
}
| [
"mehul355180@gmail.com"
] | mehul355180@gmail.com |
5798b21fef06002781d85e09bdf117d4b66ffa37 | 9499275511d94dc1d6b0cec5e4020cab74670427 | /Хакатон/wifi_azure/wifi_azure.ino | 4708ad7a04a94d7e002c1ada87e9d866ab65162f | [] | no_license | yozka/robot_education | 0cd793a71b473d281c933ae8b3e667738ac957ea | 7be062a7f1ee68d05cee312ecb1cb2d72d0cbf6e | refs/heads/master | 2021-04-04T12:12:40.902562 | 2018-07-25T04:40:57 | 2018-07-25T04:40:57 | 124,536,031 | 0 | 0 | null | null | null | null | UTF-8 | C++ | false | false | 4,364 | ino | #include <ESP8266WiFi.h> //вайфай
#include <WiFiClientSecure.h> //клиент для подключения
#include <AzureIoTHubMQTTClient.h>
#include <DHTesp.h> //DHT sensor library for ESPx by beege_tokyo
#define PINLED 5
#define IOTHUB_HOSTNAME "iotTemperature3291.azure-devices.net"//адрес подключения к облаку
#define DEVICE_ID "device-temperature"//название девайса
#define DEVICE_KEY "QuXMKKN3fB/KpqGIPjDcfFLXfV3NeYI2rwOaDXKHoDE=" //Первичный ключ девайса
WiFiClientSecure tlsClient; //соеденение с вайфаем
AzureIoTHubMQTTClient client(tlsClient, IOTHUB_HOSTNAME, DEVICE_ID, DEVICE_KEY); //клиент для облака
DHTesp dht; //датчик температуры
unsigned long lastMillis = 0; //интервал для следующей отправки данных
//опрос датчика температуры
void readSensor(float *temp, float *humidity)
{
auto t = dht.getTempAndHumidity();
*temp = t.temperature;
*humidity = t.humidity;
}
//выполнение команды от сервера
//{"Name":"led","Parameters":{"Activated":0}}
void onLedCommand(String cmdName, JsonVariant jsonValue)
{
JsonObject& jsonObject = jsonValue.as<JsonObject>();
if (jsonObject.containsKey("Parameters"))
{
auto params = jsonValue["Parameters"];
auto isAct = (params["Activated"]);
if (isAct)
{
Serial.println("Led true");
digitalWrite(PINLED, HIGH);//визаулизация светодиода
}
else
{
Serial.println("Led false");
digitalWrite(PINLED, LOW);
}
}
}
//настройка устройства
void setup()
{
Serial.begin(115200);
pinMode(PINLED, OUTPUT);
dht.setup(16, DHTesp::DHT11);//настройка датчика температуры
WiFi.disconnect();
WiFi.softAPdisconnect();
//настройка вайфая
WiFi.begin("Имя сети", "Пароль");
//ждем кодгда подключится интернет
Serial.print("Connecting");
while (WiFi.status() != WL_CONNECTED)
{
delay(500);
Serial.print(".");
}
Serial.println();
Serial.print("Connected, IP address: ");
Serial.println(WiFi.localIP());
//синхронизация с сервером времени
Serial.println("Sync time");
NTP.begin(NTP_DEFAULT_HOST);
while (NTP.getTime() < 30000)
{
Serial.print(".");
delay(500);
}
Serial.println();
//
//привяжем команду к клиенту
//Формат команды таков: {"Name":"[COMMAND_NAME]","Parameters":[PARAMETERS_JSON_ARRAY]}
client.onCloudCommand("led", onLedCommand);
//запуск
client.begin();
}
//обработка цикла сообщений
void loop()
{
client.run();
if (client.connected())
{
//Публикуем собщения раз в 3 секунды, также учитываем стобы было установленно системное время
if(millis() - lastMillis > 3000 && timeStatus() != timeNotSet)
{
lastMillis = millis();
//Читаем актуальную температуру от сенсора
float temp, humidity;
readSensor(&temp, &humidity);
//Берем текущее время, используем библиотеку Timelib
time_t currentTime = now();
//Публикуем полезную нагрузку IoT Hub
Serial.println("DeviceId:" + String(DEVICE_ID) + ", MTemperature:" + String(temp) + ", EventTime:" + String(currentTime));
//Формируем строчку для отправки на сервер
AzureIoTHubMQTTClient::KeyValueMap keyVal = {{"MTemperature", temp}, {"MHumidity", humidity}, {"DeviceId", DEVICE_ID}, {"EventTime", currentTime}};
client.sendEventWithKeyVal(keyVal);
}
}
delay(10); // <- магия для исправление проблем с устойчивостью работы с WiFi
}
| [
"yozka@tigraha.com"
] | yozka@tigraha.com |
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