t1 = theta[1](t);
t2 = sin(t1);
t4 = cos(t1);
t7 = (-t2 * cg0(1) - t4 * cg4(1)) ^ 2;
t12 = (t4 * cg0(1) - t2 * cg4(1)) ^ 2;
t14 = rho ^ 2;
t17 = cos(t1 / 0.2e1);
t18 = t17 ^ 2;
t21 = t2 * a(2);
t22 = theta[2](t);
t23 = cos(t22);
t24 = t21 * t23;
t25 = t22 / 0.2e1;
t26 = sin(t25);
t28 = d(2) + rho * t26;
t29 = t4 * t28;
t30 = t2 * t23;
t32 = sin(t22);
t33 = t2 * t32;
t36 = -t24 - t29 - t30 * cg0(2) - t33 * cg2(2) + t4 * cg4(2);
t37 = t36 ^ 2;
t39 = t4 * a(2);
t40 = t39 * t23;
t41 = t2 * t28;
t42 = t4 * t23;
t44 = t4 * t32;
t47 = t40 - t41 + t42 * cg0(2) + t44 * cg2(2) + t2 * cg4(2);
t48 = t47 ^ 2;
t55 = -t32 * e(l2xx) + t23 * e(l2xy);
t59 = t32 * e(l2xy) + t23 * e(l2yy);
t61 = theta[3](t);
t62 = t61 / 0.2e1;
t63 = sin(t62);
t65 = d(3) + rho * t63;
t66 = t4 * t65;
t67 = cos(t61);
t69 = sin(t61);
t71 = -t30 * t67 - t33 * t69;
t76 = t30 * t69 - t33 * t67;
t78 = t66 - t29 - t24 + t71 * cg0(3) - t4 * cg2(3) + t76 * cg4(3);
t79 = t78 ^ 2;
t81 = t2 * t65;
t84 = t42 * t67 + t44 * t69;
t89 = -t42 * t69 + t44 * t67;
t91 = t81 + t40 - t41 + t84 * cg0(3) - t2 * cg2(3) + t89 * cg4(3);
t92 = t91 ^ 2;
t99 = -t32 * t67 + t23 * t69;
t103 = t32 * t69 + t23 * t67;
t105 = t99 * e(l3xx) + t103 * e(l3xz);
t109 = -t99 * e(l3xz) + t103 * e(l3zz);
t111 = theta[4](t);
t112 = t111 / 0.2e1;
t113 = sin(t112);
t115 = d(4) + rho * t113;
t117 = cos(t111);
t119 = sin(t111);
t120 = t4 * t119;
t124 = t4 * t117;
t128 = t66 + t76 * t115 + (t71 * t117 - t120) * cg0(4) - t29 + (-t71 * t119 - t124) * cg2(4) - t24 + t76 * cg4(4);
t129 = t128 ^ 2;
t134 = t84 * t117 - t2 * t119;
t138 = -t84 * t119 - t2 * t117;
t141 = t89 * t115 + t81 + t40 - t41 + t134 * cg0(4) + t138 * cg2(4) + t89 * cg4(4);
t142 = t141 ^ 2;
t147 = t99 * t117;
t149 = t99 * t119;
t152 = t147 * e(l4xx) - t149 * e(l4xy) + t103 * e(l4xz);
t154 = t152 * t99 * t117;
t158 = -t147 * e(l4xy) - t149 * e(l4yy) + t103 * e(l4yz);
t160 = t158 * t99 * t119;
t164 = -t147 * e(l4xz) + t149 * e(l4yz) + t103 * e(l4zz);
t165 = t164 * t103;
t166 = m(1) * t7 + m(1) * t12 + m(1) * t14 * t18 / 0.4e1 + e(l1yy) + m(2) * t37 + m(2) * t48 + m(2) * t14 * t18 / 0.4e1 - t55 * t32 + t59 * t23 + m(3) * t79 + m(3) * t92 + m(3) * t14 * t18 / 0.4e1 + t105 * t99 + t109 * t103 + m(4) * t129 + m(4) * t142 + m(4) * t14 * t18 / 0.4e1 + t154 - t160 + t165;
t168 = t39 * t32;
t169 = t2 * rho;
t170 = cos(t25);
t172 = t169 * t170 / 0.2e1;
t175 = -t168 - t172 - t44 * cg0(2) + t42 * cg2(2);
t176 = m(2) * t36 * t175;
t178 = t21 * t32;
t179 = t4 * rho;
t181 = t179 * t170 / 0.2e1;
t184 = -t178 + t181 - t33 * cg0(2) + t30 * cg2(2);
t185 = m(2) * t47 * t184;
t187 = a(2) * t23;
t190 = -t187 - t23 * cg0(2) - t32 * cg2(2);
t193 = m(2) * rho * t17 * t190 / 0.2e1;
t200 = t32 * e(l2xz) - t23 * e(l2yz);
t211 = m(3) * t78;
t214 = -t89 * cg0(3) - t168 - t172 + t84 * cg4(3);
t215 = t211 * t214;
t216 = m(3) * t91;
t219 = t76 * cg0(3) - t178 + t181 - t71 * cg4(3);
t220 = t216 * t219;
t221 = m(3) * rho;
t224 = -t187 - t103 * cg0(3) + t99 * cg4(3);
t227 = t221 * t17 * t224 / 0.2e1;
t231 = -t99 * e(l3xy) + t103 * e(l3yz);
t235 = (t105 * t84 - t231 * t2 + t109 * t89) * t2;
t240 = (-t105 * t71 + t231 * t4 - t109 * t76) * t4;
t241 = m(4) * t128;
t248 = t84 * t115 + t89 * t119 * cg2(4) - t89 * t117 * cg0(4) + t84 * cg4(4) - t168 - t172;
t249 = t241 * t248;
t250 = m(4) * t141;
t257 = -t71 * t115 - t76 * t119 * cg2(4) + t76 * t117 * cg0(4) - t71 * cg4(4) - t178 + t181;
t258 = t250 * t257;
t259 = m(4) * rho;
t266 = t99 * t115 - t187 + t103 * t119 * cg2(4) - t103 * t117 * cg0(4) + t99 * cg4(4);
t269 = t259 * t17 * t266 / 0.2e1;
t273 = t152 * t134 + t158 * t138 + t164 * t89;
t274 = t273 * t2;
t276 = -t71 * t117 + t120;
t279 = t71 * t119 + t124;
t282 = t152 * t276 + t158 * t279 - t164 * t76;
t283 = t282 * t4;
t284 = t176 + t185 + t193 - (t55 * t4 * t23 + t59 * t4 * t32 + t200 * t2) * t2 + (t55 * t2 * t23 + t59 * t2 * t32 - t200 * t4) * t4 + t215 + t220 + t227 - t235 + t240 + t249 + t258 + t269 - t274 + t283;
t285 = cos(t62);
t287 = t169 * t285 / 0.2e1;
t290 = t287 + t89 * cg0(3) - t84 * cg4(3);
t291 = t211 * t290;
t293 = t179 * t285 / 0.2e1;
t296 = -t293 - t76 * cg0(3) + t71 * cg4(3);
t297 = t216 * t296;
t300 = t103 * cg0(3) - t99 * cg4(3);
t303 = t221 * t17 * t300 / 0.2e1;
t310 = -t84 * t115 + t89 * t117 * cg0(4) + t287 - t89 * t119 * cg2(4) - t84 * cg4(4);
t311 = t241 * t310;
t318 = t71 * t115 - t76 * t117 * cg0(4) - t293 + t76 * t119 * cg2(4) + t71 * cg4(4);
t319 = t250 * t318;
t326 = t103 * t117 * cg0(4) - t99 * t115 - t99 * cg4(4) - t103 * t119 * cg2(4);
t329 = t259 * t17 * t326 / 0.2e1;
t333 = cos(t112);
t336 = -t134 * cg2(4) + t89 * rho * t333 / 0.2e1 + t138 * cg0(4);
t337 = t241 * t336;
t342 = -t276 * cg2(4) - t76 * rho * t333 / 0.2e1 + t279 * cg0(4);
t343 = t250 * t342;
t348 = -t147 * cg2(4) + t103 * rho * t333 / 0.2e1 - t149 * cg0(4);
t351 = t259 * t17 * t348 / 0.2e1;
t357 = t2 ^ 2;
t358 = t4 ^ 2;
t359 = -t357 - t358;
t360 = t359 * e(l2xz);
t362 = t359 * e(l2yz);
t366 = -t2 * t84 - t4 * t71;
t371 = -t2 * t89 - t4 * t76;
t373 = t366 * e(l3xx) - t359 * e(l3xy) + t371 * e(l3xz);
t378 = -t366 * e(l3xz) + t359 * e(l3yz) + t371 * e(l3zz);
t382 = -t2 * t134 + t4 * t276;
t386 = -t2 * t138 + t4 * t279;
t389 = t382 * e(l4xx) + t386 * e(l4xy) + t371 * e(l4xz);
t391 = t389 * t99 * t117;
t395 = -t382 * e(l4xy) + t386 * e(l4yy) + t371 * e(l4yz);
t397 = t395 * t99 * t119;
t401 = -t382 * e(l4xz) - t386 * e(l4yz) + t371 * e(l4zz);
t402 = t401 * t103;
t403 = t176 + t185 + t193 - t360 * t32 + t362 * t23 + t215 + t220 + t227 + t373 * t99 + t378 * t103 + t249 + t258 + t269 + t391 - t397 + t402;
t404 = t175 ^ 2;
t406 = t184 ^ 2;
t408 = t190 ^ 2;
t412 = t359 * e(l2zz);
t421 = t214 ^ 2;
t423 = t219 ^ 2;
t425 = t224 ^ 2;
t431 = -t366 * e(l3xy) - t359 * e(l3yy) + t371 * e(l3yz);
t435 = (t373 * t84 - t431 * t2 + t378 * t89) * t2;
t440 = (-t373 * t71 + t431 * t4 - t378 * t76) * t4;
t441 = t248 ^ 2;
t443 = t257 ^ 2;
t445 = t266 ^ 2;
t450 = t389 * t134 + t395 * t138 + t401 * t89;
t451 = t450 * t2;
t455 = t389 * t276 + t395 * t279 - t401 * t76;
t456 = t455 * t4;
t457 = m(2) * t404 + m(2) * t406 + m(2) * t408 - (t360 * t42 + t362 * t44 + t412 * t2) * t2 + (t360 * t30 + t362 * t33 - t412 * t4) * t4 + m(3) * t421 + m(3) * t423 + m(3) * t425 - t435 + t440 + m(4) * t441 + m(4) * t443 + m(4) * t445 - t451 + t456;
t459 = m(3) * t214 * t290;
t461 = m(3) * t219 * t296;
t463 = m(3) * t224 * t300;
t464 = m(4) * t248;
t465 = t464 * t310;
t466 = m(4) * t257;
t467 = t466 * t318;
t468 = m(4) * t266;
t469 = t468 * t326;
t471 = t464 * t336;
t472 = t466 * t342;
t473 = t468 * t348;
t482 = -t366 * e(l3xx) + t359 * e(l3xy) - t371 * e(l3xz);
t487 = t366 * e(l3xz) - t359 * e(l3yz) - t371 * e(l3zz);
t492 = -t382 * e(l4xx) - t386 * e(l4xy) - t371 * e(l4xz);
t494 = t492 * t99 * t117;
t498 = t382 * e(l4xy) - t386 * e(l4yy) - t371 * e(l4yz);
t500 = t498 * t99 * t119;
t504 = t382 * e(l4xz) + t386 * e(l4yz) - t371 * e(l4zz);
t505 = t504 * t103;
t506 = t291 + t297 + t303 + t482 * t99 + t487 * t103 + t311 + t319 + t329 + t494 - t500 + t505;
t511 = t366 * e(l3xy) + t359 * e(l3yy) - t371 * e(l3yz);
t515 = (t482 * t84 - t511 * t2 + t487 * t89) * t2;
t520 = (-t482 * t71 + t511 * t4 - t487 * t76) * t4;
t524 = t492 * t134 + t498 * t138 + t504 * t89;
t525 = t524 * t2;
t529 = t492 * t276 + t498 * t279 - t504 * t76;
t530 = t529 * t4;
t532 = t290 ^ 2;
t534 = t296 ^ 2;
t536 = t300 ^ 2;
t538 = t310 ^ 2;
t540 = t318 ^ 2;
t542 = t326 ^ 2;
t546 = m(4) * t310 * t336;
t548 = m(4) * t318 * t342;
t550 = m(4) * t326 * t348;
t558 = t103 * t99;
t560 = t89 * t134 - t76 * t276 + t558 * t117;
t565 = t89 * t138 - t76 * t279 - t558 * t119;
t567 = t89 ^ 2;
t568 = t76 ^ 2;
t569 = t103 ^ 2;
t570 = t567 + t568 + t569;
t572 = t560 * e(l4xx) + t565 * e(l4xy) + t570 * e(l4xz);
t574 = t572 * t99 * t117;
t578 = -t560 * e(l4xy) + t565 * e(l4yy) + t570 * e(l4yz);
t580 = t578 * t99 * t119;
t584 = -t560 * e(l4xz) - t565 * e(l4yz) + t570 * e(l4zz);
t585 = t584 * t103;
t590 = t572 * t134 + t578 * t138 + t584 * t89;
t591 = t590 * t2;
t595 = t572 * t276 + t578 * t279 - t584 * t76;
t596 = t595 * t4;
t599 = t336 ^ 2;
t601 = t342 ^ 2;
t603 = t348 ^ 2;
cg(1,1) = t166;
cg(1,2) = t284;
cg(1,3) = t291 + t297 + t303 + t235 - t240 + t311 + t319 + t329 + t274 - t283;
cg(1,4) = t337 + t343 + t351 + t273 * t89 - t282 * t76 + (t154 - t160 + t165) * t103;
cg(2,1) = t403;
cg(2,2) = t457;
cg(2,3) = t459 + t461 + t463 + t435 - t440 + t465 + t467 + t469 + t451 - t456;
cg(2,4) = t471 + t472 + t473 + t450 * t89 - t455 * t76 + (t391 - t397 + t402) * t103;
cg(3,1) = t506;
cg(3,2) = t459 + t461 + t463 - t515 + t520 + t465 + t467 + t469 - t525 + t530;
cg(3,3) = m(3) * t532 + m(3) * t534 + m(3) * t536 + t515 - t520 + m(4) * t538 + m(4) * t540 + m(4) * t542 + t525 - t530;
cg(3,4) = t546 + t548 + t550 + t524 * t89 - t529 * t76 + (t494 - t500 + t505) * t103;
cg(4,1) = t337 + t343 + t351 + t574 - t580 + t585;
cg(4,2) = t471 + t472 + t473 - t591 + t596;
cg(4,3) = t546 + t548 + t550 + t591 - t596;
cg(4,4) = m(4) * t599 + m(4) * t601 + m(4) * t603 + t590 * t89 - t595 * t76 + (t574 - t580 + t585) * t103;