text: /*
   * Automatically Generated from Mathematica.
   * Thu 8 Apr 2021 07:50:20 GMT+08:00
   */
  #include <stdio.h>
  #include <stdlib.h>
  #include <math.h>
  
  #include "R_LeftToeBack_src.h"
  
  #ifdef _MSC_VER
    #define INLINE __forceinline /* use __forceinline (VC++ specific) */
  #else
    #define INLINE static __inline__        /* use standard inline */
  #endif
  
  /**
   * Copied from Wolfram Mathematica C Definitions file mdefs.hpp
   * Changed marcos to inline functions (Eric Cousineau)
   */
  INLINE double Power(double x, double y) { return pow(x, y); }
  INLINE double Sqrt(double x) { return sqrt(x); }
  
  INLINE double Abs(double x) { return fabs(x); }
  
  INLINE double Exp(double x) { return exp(x); }
  INLINE double Log(double x) { return log(x); }
  
  INLINE double Sin(double x) { return sin(x); }
  INLINE double Cos(double x) { return cos(x); }
  INLINE double Tan(double x) { return tan(x); }
  
  INLINE double Csc(double x) { return 1.0/sin(x); }
  INLINE double Sec(double x) { return 1.0/cos(x); }
  
  INLINE double ArcSin(double x) { return asin(x); }
  INLINE double ArcCos(double x) { return acos(x); }
  
  /* update ArcTan function to use atan2 instead. */
  INLINE double ArcTan(double x, double y) { return atan2(y,x); }
  
  INLINE double Sinh(double x) { return sinh(x); }
  INLINE double Cosh(double x) { return cosh(x); }
  INLINE double Tanh(double x) { return tanh(x); }
  
  #define E 2.71828182845904523536029
  #define Pi 3.14159265358979323846264
  #define Degree 0.01745329251994329576924
  
  /*
   * Sub functions
   */
  static void output1(double *p_output1,const double *var1)
  {
    double t729;
    double t405;
    double t848;
    double t533;
    double t860;
    double t253;
    double t343;
    double t1139;
    double t1224;
    double t1359;
    double t711;
    double t877;
    double t894;
    double t977;
    double t983;
    double t1059;
    double t1078;
    double t1155;
    double t1171;
    double t2540;
    double t2651;
    double t2666;
    double t2755;
    double t2572;
    double t2576;
    double t2597;
    double t2786;
    double t2887;
    double t2617;
    double t2790;
    double t2792;
    double t2505;
    double t2901;
    double t2912;
    double t2914;
    double t3033;
    double t2823;
    double t2943;
    double t2948;
    double t2487;
    double t3052;
    double t3053;
    double t3081;
    double t3161;
    double t3024;
    double t3105;
    double t3123;
    double t2449;
    double t3168;
    double t3216;
    double t3237;
    double t3369;
    double t3131;
    double t3272;
    double t3304;
    double t2416;
    double t3379;
    double t3402;
    double t3442;
    double t1446;
    double t1492;
    double t1642;
    double t1659;
    double t1698;
    double t1733;
    double t1806;
    double t1808;
    double t1816;
    double t3806;
    double t3808;
    double t3811;
    double t3749;
    double t3752;
    double t3773;
    double t3805;
    double t3828;
    double t3832;
    double t3866;
    double t3925;
    double t3928;
    double t3843;
    double t3940;
    double t3963;
    double t4046;
    double t4069;
    double t4070;
    double t3968;
    double t4073;
    double t4083;
    double t4104;
    double t4105;
    double t4141;
    double t4097;
    double t4151;
    double t4152;
    double t4176;
    double t4185;
    double t4222;
    double t2188;
    double t2300;
    double t2307;
    double t4399;
    double t4408;
    double t4416;
    double t4310;
    double t4312;
    double t4316;
    double t4361;
    double t4443;
    double t4453;
    double t4508;
    double t4517;
    double t4533;
    double t4505;
    double t4558;
    double t4562;
    double t4587;
    double t4592;
    double t4608;
    double t4578;
    double t4621;
    double t4639;
    double t4658;
    double t4673;
    double t4681;
    double t4653;
    double t4714;
    double t4728;
    double t4754;
    double t4759;
    double t4771;
    double t3307;
    double t3467;
    double t3532;
    double t3625;
    double t3656;
    double t3686;
    double t4166;
    double t4224;
    double t4235;
    double t4252;
    double t4256;
    double t4263;
    double t4734;
    double t4775;
    double t4777;
    double t4785;
    double t4790;
    double t4795;
    t729 = Cos(var1[3]);
    t405 = Cos(var1[5]);
    t848 = Sin(var1[4]);
    t533 = Sin(var1[3]);
    t860 = Sin(var1[5]);
    t253 = Cos(var1[7]);
    t343 = Cos(var1[6]);
    t1139 = Sin(var1[6]);
    t1224 = Cos(var1[4]);
    t1359 = Sin(var1[7]);
    t711 = -1.*t405*t533;
    t877 = t729*t848*t860;
    t894 = t711 + t877;
    t977 = t343*t894;
    t983 = t729*t405*t848;
    t1059 = t533*t860;
    t1078 = t983 + t1059;
    t1155 = t1078*t1139;
    t1171 = t977 + t1155;
    t2540 = Cos(var1[8]);
    t2651 = t343*t1078;
    t2666 = -1.*t894*t1139;
    t2755 = t2651 + t2666;
    t2572 = t729*t1224*t253;
    t2576 = t1171*t1359;
    t2597 = t2572 + t2576;
    t2786 = Sin(var1[8]);
    t2887 = Cos(var1[9]);
    t2617 = t2540*t2597;
    t2790 = t2755*t2786;
    t2792 = t2617 + t2790;
    t2505 = Sin(var1[9]);
    t2901 = t2540*t2755;
    t2912 = -1.*t2597*t2786;
    t2914 = t2901 + t2912;
    t3033 = Cos(var1[10]);
    t2823 = -1.*t2505*t2792;
    t2943 = t2887*t2914;
    t2948 = t2823 + t2943;
    t2487 = Sin(var1[10]);
    t3052 = t2887*t2792;
    t3053 = t2505*t2914;
    t3081 = t3052 + t3053;
    t3161 = Cos(var1[11]);
    t3024 = t2487*t2948;
    t3105 = t3033*t3081;
    t3123 = t3024 + t3105;
    t2449 = Sin(var1[11]);
    t3168 = t3033*t2948;
    t3216 = -1.*t2487*t3081;
    t3237 = t3168 + t3216;
    t3369 = Cos(var1[12]);
    t3131 = -1.*t2449*t3123;
    t3272 = t3161*t3237;
    t3304 = t3131 + t3272;
    t2416 = Sin(var1[12]);
    t3379 = t3161*t3123;
    t3402 = t2449*t3237;
    t3442 = t3379 + t3402;
    t1446 = t729*t405;
    t1492 = t533*t848*t860;
    t1642 = t1446 + t1492;
    t1659 = t343*t1642;
    t1698 = t405*t533*t848;
    t1733 = -1.*t729*t860;
    t1806 = t1698 + t1733;
    t1808 = t1806*t1139;
    t1816 = t1659 + t1808;
    t3806 = t343*t1806;
    t3808 = -1.*t1642*t1139;
    t3811 = t3806 + t3808;
    t3749 = t1224*t253*t533;
    t3752 = t1816*t1359;
    t3773 = t3749 + t3752;
    t3805 = t2540*t3773;
    t3828 = t3811*t2786;
    t3832 = t3805 + t3828;
    t3866 = t2540*t3811;
    t3925 = -1.*t3773*t2786;
    t3928 = t3866 + t3925;
    t3843 = -1.*t2505*t3832;
    t3940 = t2887*t3928;
    t3963 = t3843 + t3940;
    t4046 = t2887*t3832;
    t4069 = t2505*t3928;
    t4070 = t4046 + t4069;
    t3968 = t2487*t3963;
    t4073 = t3033*t4070;
    t4083 = t3968 + t4073;
    t4104 = t3033*t3963;
    t4105 = -1.*t2487*t4070;
    t4141 = t4104 + t4105;
    t4097 = -1.*t2449*t4083;
    t4151 = t3161*t4141;
    t4152 = t4097 + t4151;
    t4176 = t3161*t4083;
    t4185 = t2449*t4141;
    t4222 = t4176 + t4185;
    t2188 = t1224*t343*t860;
    t2300 = t1224*t405*t1139;
    t2307 = t2188 + t2300;
    t4399 = t1224*t405*t343;
    t4408 = -1.*t1224*t860*t1139;
    t4416 = t4399 + t4408;
    t4310 = -1.*t253*t848;
    t4312 = t2307*t1359;
    t4316 = t4310 + t4312;
    t4361 = t2540*t4316;
    t4443 = t4416*t2786;
    t4453 = t4361 + t4443;
    t4508 = t2540*t4416;
    t4517 = -1.*t4316*t2786;
    t4533 = t4508 + t4517;
    t4505 = -1.*t2505*t4453;
    t4558 = t2887*t4533;
    t4562 = t4505 + t4558;
    t4587 = t2887*t4453;
    t4592 = t2505*t4533;
    t4608 = t4587 + t4592;
    t4578 = t2487*t4562;
    t4621 = t3033*t4608;
    t4639 = t4578 + t4621;
    t4658 = t3033*t4562;
    t4673 = -1.*t2487*t4608;
    t4681 = t4658 + t4673;
    t4653 = -1.*t2449*t4639;
    t4714 = t3161*t4681;
    t4728 = t4653 + t4714;
    t4754 = t3161*t4639;
    t4759 = t2449*t4681;
    t4771 = t4754 + t4759;
    t3307 = t2416*t3304;
    t3467 = t3369*t3442;
    t3532 = t3307 + t3467;
    t3625 = t3369*t3304;
    t3656 = -1.*t2416*t3442;
    t3686 = t3625 + t3656;
    t4166 = t2416*t4152;
    t4224 = t3369*t4222;
    t4235 = t4166 + t4224;
    t4252 = t3369*t4152;
    t4256 = -1.*t2416*t4222;
    t4263 = t4252 + t4256;
    t4734 = t2416*t4728;
    t4775 = t3369*t4771;
    t4777 = t4734 + t4775;
    t4785 = t3369*t4728;
    t4790 = -1.*t2416*t4771;
    t4795 = t4785 + t4790;
    p_output1[0]=-1.*t1171*t253 + t1224*t1359*t729;
    p_output1[1]=-1.*t1816*t253 + t1224*t1359*t533;
    p_output1[2]=-1.*t2307*t253 - 1.*t1359*t848;
    p_output1[3]=0.642788*t3532 + 0.766044*t3686;
    p_output1[4]=0.642788*t4235 + 0.766044*t4263;
    p_output1[5]=0.642788*t4777 + 0.766044*t4795;
    p_output1[6]=-0.766044*t3532 + 0.642788*t3686;
    p_output1[7]=-0.766044*t4235 + 0.642788*t4263;
    p_output1[8]=-0.766044*t4777 + 0.642788*t4795;
  }
  
  
  
  void R_LeftToeBack_src(double *p_output1, const double *var1)
  {
    /* Call Subroutines */
    output1(p_output1, var1);
  
  }
  