c7_theta_a1 = *c7_b_theta_a1;
  c7_theta_a2 = *c7_b_theta_a2;
  c7_theta_a3 = *c7_b_theta_a3;
  c7_theta_b1 = *c7_b_theta_b1;
  c7_theta_b2 = *c7_b_theta_b2;
  c7_theta_b3 = *c7_b_theta_b3;
  c7_phi_b1 = *c7_b_phi_b1;
  c7_phi_b2 = *c7_b_phi_b2;
  c7_phi_b3 = *c7_b_phi_b3;
  sf_debug_symbol_scope_push(45U, 0U);
  sf_debug_symbol_scope_add_verbose("nargout", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0,
    0U, 0, 0U, 0, 0, &c7_nargout);
  sf_debug_symbol_scope_add_verbose("nargin", 0, 0U, 0U, 0U, 0U, 1.0, 0, 0.0, 0U,
    0, 0U, 0, 0, &c7_nargin);
  sf_debug_symbol_scope_add("rot_c3", &c7_rot_c3, c7_b_sf_marshall);
  sf_debug_symbol_scope_add("rot_c2", &c7_rot_c2, c7_b_sf_marshall);
  sf_debug_symbol_scope_add("rot_c1", &c7_rot_c1, c7_b_sf_marshall);
  sf_debug_symbol_scope_add("rb", &c7_rb, c7_sf_marshall);
  sf_debug_symbol_scope_add("ra", &c7_ra, c7_sf_marshall);
  sf_debug_symbol_scope_add("LB", &c7_LB, c7_sf_marshall);
  sf_debug_symbol_scope_add("LA", &c7_LA, c7_sf_marshall);
  sf_debug_symbol_scope_add("zb3", &c7_zb3, c7_sf_marshall);
  sf_debug_symbol_scope_add("yb3", &c7_yb3, c7_sf_marshall);
  sf_debug_symbol_scope_add("xb3", &c7_xb3, c7_sf_marshall);
  sf_debug_symbol_scope_add("zb2", &c7_zb2, c7_sf_marshall);
  sf_debug_symbol_scope_add("yb2", &c7_yb2, c7_sf_marshall);
  sf_debug_symbol_scope_add("xb2", &c7_xb2, c7_sf_marshall);
  sf_debug_symbol_scope_add("zb1", &c7_zb1, c7_sf_marshall);
  sf_debug_symbol_scope_add("yb1", &c7_yb1, c7_sf_marshall);
  sf_debug_symbol_scope_add("xb1", &c7_xb1, c7_sf_marshall);
  sf_debug_symbol_scope_add("za3", &c7_za3, c7_sf_marshall);
  sf_debug_symbol_scope_add("ya3", &c7_ya3, c7_sf_marshall);
  sf_debug_symbol_scope_add("xa3", &c7_xa3, c7_sf_marshall);
  sf_debug_symbol_scope_add("za2", &c7_za2, c7_sf_marshall);
  sf_debug_symbol_scope_add("ya2", &c7_ya2, c7_sf_marshall);
  sf_debug_symbol_scope_add("xa2", &c7_xa2, c7_sf_marshall);
  sf_debug_symbol_scope_add("za1", &c7_za1, c7_sf_marshall);
  sf_debug_symbol_scope_add("ya1", &c7_ya1, c7_sf_marshall);
  sf_debug_symbol_scope_add("xa1", &c7_xa1, c7_sf_marshall);
  sf_debug_symbol_scope_add("zee", &c7_zee, c7_sf_marshall);
  sf_debug_symbol_scope_add("yee", &c7_yee, c7_sf_marshall);
  sf_debug_symbol_scope_add("xee", &c7_xee, c7_sf_marshall);
  sf_debug_symbol_scope_add("rot_b3", &c7_rot_b3, c7_b_sf_marshall);
  sf_debug_symbol_scope_add("rot_b2", &c7_rot_b2, c7_b_sf_marshall);
  sf_debug_symbol_scope_add("rot_b1", &c7_rot_b1, c7_b_sf_marshall);
  sf_debug_symbol_scope_add("rot_a3", &c7_rot_a3, c7_b_sf_marshall);
  sf_debug_symbol_scope_add("rot_a2", &c7_rot_a2, c7_b_sf_marshall);
  sf_debug_symbol_scope_add("rot_a1", &c7_rot_a1, c7_b_sf_marshall);
  sf_debug_symbol_scope_add("phi_b3", &c7_phi_b3, c7_sf_marshall);
  sf_debug_symbol_scope_add("phi_b2", &c7_phi_b2, c7_sf_marshall);
  sf_debug_symbol_scope_add("phi_b1", &c7_phi_b1, c7_sf_marshall);
  sf_debug_symbol_scope_add("theta_b3", &c7_theta_b3, c7_sf_marshall);
  sf_debug_symbol_scope_add("theta_b2", &c7_theta_b2, c7_sf_marshall);
  sf_debug_symbol_scope_add("theta_b1", &c7_theta_b1, c7_sf_marshall);
  sf_debug_symbol_scope_add("theta_a3", &c7_theta_a3, c7_sf_marshall);
  sf_debug_symbol_scope_add("theta_a2", &c7_theta_a2, c7_sf_marshall);
  sf_debug_symbol_scope_add("theta_a1", &c7_theta_a1, c7_sf_marshall);
  CV_EML_FCN(0, 0);
  _SFD_EML_CALL(0,3);
  c7_LA = 25.0;
  _SFD_EML_CALL(0,4);
  c7_LB = 15.0;
  _SFD_EML_CALL(0,5);
  c7_ra = 8.0;
  _SFD_EML_CALL(0,6);
  c7_rb = 3.0;
  _SFD_EML_CALL(0,8);
  c7_xa1 = 0.0;
  _SFD_EML_CALL(0,9);
  c7_x = c7_theta_a1;
  c7_b = c7_x;
  c7_b = cos(c7_b);
  c7_a = 12.5;
  c7_y = c7_a * c7_b;
  c7_ya1 = c7_ra + c7_y;
  _SFD_EML_CALL(0,10);
  c7_b_x = c7_theta_a1;
  c7_b_b = c7_b_x;
  c7_b_b = sin(c7_b_b);
  c7_b_a = 12.5;
  c7_za1 = c7_b_a * c7_b_b;
  _SFD_EML_CALL(0,11);
  c7_c_x = c7_phi_b1;
  c7_c_b = c7_c_x;
  c7_c_b = sin(c7_c_b);
  c7_c_a = -7.5;
  c7_xb1 = c7_c_a * c7_c_b;
  _SFD_EML_CALL(0,12);
  c7_d_x = c7_phi_b1;
  c7_d_b = c7_d_x;
  c7_d_b = cos(c7_d_b);
  c7_d_a = 7.5;
  c7_e_a = c7_d_a * c7_d_b;
  c7_e_x = c7_theta_a1 + c7_theta_b1;
  c7_e_b = c7_e_x;
  c7_e_b = cos(c7_e_b);
  c7_b_y = c7_e_a * c7_e_b;
  c7_f_x = c7_theta_a1;
  c7_f_b = c7_f_x;
  c7_f_b = cos(c7_f_b);
  c7_f_a = 25.0;
  c7_c_y = c7_f_a * c7_f_b;
  c7_yb1 = (c7_ra + c7_c_y) + c7_b_y;
  _SFD_EML_CALL(0,13);
  c7_g_x = c7_phi_b1;
  c7_g_b = c7_g_x;
  c7_g_b = cos(c7_g_b);
  c7_g_a = 7.5;
  c7_h_a = c7_g_a * c7_g_b;
  c7_h_x = c7_theta_a1 + c7_theta_b1;
  c7_h_b = c7_h_x;
  c7_h_b = sin(c7_h_b);
  c7_d_y = c7_h_a * c7_h_b;
  c7_i_x = c7_theta_a1;
  c7_i_b = c7_i_x;
  c7_i_b = sin(c7_i_b);
  c7_i_a = 25.0;
  c7_e_y = c7_i_a * c7_i_b;
  c7_zb1 = c7_e_y + c7_d_y;
  _SFD_EML_CALL(0,14);
  c7_j_a = 1.0825317499999999E+001;
  c7_j_x = c7_theta_a2;
  c7_j_b = c7_j_x;
  c7_j_b = cos(c7_j_b);
  c7_f_y = c7_j_a * c7_j_b;
  c7_k_a = -0.8660254;
  c7_k_b = 8.0;
  c7_g_y = c7_k_a * c7_k_b;
  c7_xa2 = c7_g_y - c7_f_y;
  _SFD_EML_CALL(0,15);
  c7_l_a = 6.25;
  c7_k_x = c7_theta_a2;
  c7_l_b = c7_k_x;
  c7_l_b = cos(c7_l_b);
  c7_h_y = c7_l_a * c7_l_b;
  c7_m_a = -0.5;
  c7_m_b = 8.0;
  c7_i_y = c7_m_a * c7_m_b;
  c7_ya2 = c7_i_y - c7_h_y;
  _SFD_EML_CALL(0,16);
  c7_l_x = c7_theta_a2;
  c7_n_b = c7_l_x;
  c7_n_b = sin(c7_n_b);
  c7_n_a = 12.5;
  c7_za2 = c7_n_a * c7_n_b;
  _SFD_EML_CALL(0,17);
  c7_o_a = 2.1650634999999998E+001;
  c7_m_x = c7_theta_a2;
  c7_o_b = c7_m_x;
  c7_o_b = cos(c7_o_b);
  c7_j_y = c7_o_a * c7_o_b;
  c7_p_a = 3.75;
  c7_q_a = 1.732051;
  c7_n_x = c7_phi_b2;
  c7_p_b = c7_n_x;
  c7_p_b = cos(c7_p_b);
  c7_r_a = c7_q_a * c7_p_b;
  c7_o_x = c7_theta_a2 + c7_theta_b2;
  c7_q_b = c7_o_x;
  c7_q_b = cos(c7_q_b);
  c7_k_y = c7_r_a * c7_q_b;
  c7_p_x = c7_phi_b2;
  c7_q_x = c7_p_x;
  c7_q_x = sin(c7_q_x);
  c7_r_b = c7_q_x - c7_k_y;
  c7_l_y = c7_p_a * c7_r_b;
  c7_xb2 = c7_l_y - c7_j_y;
  _SFD_EML_CALL(0,18);
  c7_s_a = 3.75;
  c7_r_x = c7_phi_b2;
  c7_t_a = c7_r_x;
  c7_t_a = cos(c7_t_a);
  c7_s_x = c7_theta_a2 + c7_theta_b2;
  c7_s_b = c7_s_x;
  c7_s_b = cos(c7_s_b);
  c7_m_y = c7_t_a * c7_s_b;
  c7_u_a = 1.732051;
  c7_t_x = c7_phi_b2;
  c7_t_b = c7_t_x;
  c7_t_b = sin(c7_t_b);
  c7_n_y = c7_u_a * c7_t_b;
  c7_u_b = c7_n_y + c7_m_y;
  c7_o_y = c7_s_a * c7_u_b;
  c7_u_x = c7_theta_a2;
  c7_v_b = c7_u_x;
  c7_v_b = cos(c7_v_b);
  c7_v_a = 12.5;
  c7_p_y = c7_v_a * c7_v_b;
  c7_yb2 = (c7_ra - c7_p_y) - c7_o_y;
  _SFD_EML_CALL(0,19);
  c7_v_x = c7_phi_b2;
  c7_w_b = c7_v_x;
  c7_w_b = cos(c7_w_b);
  c7_w_a = 7.5;
  c7_x_a = c7_w_a * c7_w_b;
  c7_w_x = c7_theta_a2 + c7_theta_b2;
  c7_x_b = c7_w_x;
  c7_x_b = sin(c7_x_b);
  c7_q_y = c7_x_a * c7_x_b;
  c7_x_x = c7_theta_a2;
  c7_y_b = c7_x_x;
  c7_y_b = sin(c7_y_b);
  c7_y_a = 25.0;
  c7_r_y = c7_y_a * c7_y_b;
  c7_zb2 = c7_r_y + c7_q_y;
  _SFD_EML_CALL(0,20);
  c7_ab_a = 1.0825317499999999E+001;
  c7_y_x = c7_theta_a3;
  c7_ab_b = c7_y_x;
  c7_ab_b = cos(c7_ab_b);
  c7_s_y = c7_ab_a * c7_ab_b;
  c7_bb_a = 0.8660254;
  c7_bb_b = 8.0;
  c7_t_y = c7_bb_a * c7_bb_b;
  c7_xa3 = c7_t_y + c7_s_y;
  _SFD_EML_CALL(0,21);
  c7_cb_a = 6.25;
  c7_ab_x = c7_theta_a3;
  c7_cb_b = c7_ab_x;
  c7_cb_b = cos(c7_cb_b);
  c7_u_y = c7_cb_a * c7_cb_b;
  c7_db_a = -0.5;
  c7_db_b = 8.0;
  c7_v_y = c7_db_a * c7_db_b;
  c7_ya3 = c7_v_y - c7_u_y;
  _SFD_EML_CALL(0,22);
  c7_bb_x = c7_theta_a3;
  c7_eb_b = c7_bb_x;
  c7_eb_b = sin(c7_eb_b);
  c7_eb_a = 12.5;
  c7_za3 = c7_eb_a * c7_eb_b;
  _SFD_EML_CALL(0,23);
  c7_fb_a = 3.75;
  c7_gb_a = 1.732051;
  c7_cb_x = c7_phi_b3;
  c7_fb_b = c7_cb_x;
  c7_fb_b = cos(c7_fb_b);
  c7_hb_a = c7_gb_a * c7_fb_b;
  c7_db_x = c7_theta_a3 + c7_theta_b3;
  c7_gb_b = c7_db_x;
  c7_gb_b = cos(c7_gb_b);
  c7_w_y = c7_hb_a * c7_gb_b;
  c7_eb_x = c7_phi_b3;
  c7_fb_x = c7_eb_x;
  c7_fb_x = sin(c7_fb_x);
  c7_hb_b = c7_fb_x + c7_w_y;
  c7_x_y = c7_fb_a * c7_hb_b;
  c7_ib_a = 2.1650634999999998E+001;
  c7_gb_x = c7_theta_a3;
  c7_ib_b = c7_gb_x;
  c7_ib_b = cos(c7_ib_b);
  c7_y_y = c7_ib_a * c7_ib_b;
  c7_xb3 = c7_y_y + c7_x_y;
  _SFD_EML_CALL(0,24);
  c7_hb_x = c7_theta_a3;
  c7_jb_b = c7_hb_x;
  c7_jb_b = cos(c7_jb_b);
  c7_jb_a = 12.5;
  c7_ab_y = c7_jb_a * c7_jb_b;
  c7_kb_a = 3.75;
  c7_ib_x = c7_phi_b3;
  c7_lb_a = c7_ib_x;
  c7_lb_a = cos(c7_lb_a);
  c7_jb_x = c7_theta_a3 + c7_theta_b3;
  c7_kb_b = c7_jb_x;
  c7_kb_b = cos(c7_kb_b);
  c7_bb_y = c7_lb_a * c7_kb_b;
  c7_mb_a = 1.732051;
  c7_kb_x = c7_phi_b3;
  c7_lb_b = c7_kb_x;
  c7_lb_b = sin(c7_lb_b);
  c7_cb_y = c7_mb_a * c7_lb_b;
  c7_mb_b = c7_cb_y - c7_bb_y;
  c7_db_y = c7_kb_a * c7_mb_b;
  c7_yb3 = (c7_ra + c7_db_y) - c7_ab_y;
  _SFD_EML_CALL(0,25);
  c7_lb_x = c7_phi_b3;
  c7_nb_b = c7_lb_x;
  c7_nb_b = cos(c7_nb_b);
  c7_nb_a = 7.5;
  c7_ob_a = c7_nb_a * c7_nb_b;
  c7_mb_x = c7_theta_a3 + c7_theta_b3;
  c7_ob_b = c7_mb_x;
  c7_ob_b = sin(c7_ob_b);
  c7_eb_y = c7_ob_a * c7_ob_b;
  c7_nb_x = c7_theta_a3;
  c7_pb_b = c7_nb_x;
  c7_pb_b = sin(c7_pb_b);
  c7_pb_a = 25.0;
  c7_fb_y = c7_pb_a * c7_pb_b;
  c7_zb3 = c7_fb_y + c7_eb_y;
  _SFD_EML_CALL(0,27);
  c7_qb_a = -15.0;
  c7_ob_x = c7_phi_b1;
  c7_qb_b = c7_ob_x;
  c7_qb_b = sin(c7_qb_b);
  c7_xee = c7_qb_a * c7_qb_b;
  _SFD_EML_CALL(0,28);
  c7_rb_a = 15.0;
  c7_pb_x = c7_phi_b1;
  c7_rb_b = c7_pb_x;
  c7_rb_b = cos(c7_rb_b);
  c7_sb_a = c7_rb_a * c7_rb_b;
  c7_qb_x = c7_theta_a1 + c7_theta_b1;
  c7_sb_b = c7_qb_x;
  c7_sb_b = cos(c7_sb_b);
  c7_gb_y = c7_sb_a * c7_sb_b;
  c7_rb_x = c7_theta_a1;
  c7_tb_b = c7_rb_x;
  c7_tb_b = cos(c7_tb_b);
  c7_tb_a = 25.0;
  c7_hb_y = c7_tb_a * c7_tb_b;
  c7_yee = ((c7_ra + c7_hb_y) + c7_gb_y) - c7_rb;
  _SFD_EML_CALL(0,29);
  c7_ub_a = 15.0;
  c7_sb_x = c7_phi_b1;
  c7_ub_b = c7_sb_x;
  c7_ub_b = cos(c7_ub_b);
  c7_vb_a = c7_ub_a * c7_ub_b;
  c7_tb_x = c7_theta_a1 + c7_theta_b1;
  c7_vb_b = c7_tb_x;
  c7_vb_b = sin(c7_vb_b);
  c7_ib_y = c7_vb_a * c7_vb_b;
  c7_ub_x = c7_theta_a1;
  c7_wb_b = c7_ub_x;
  c7_wb_b = sin(c7_wb_b);
  c7_wb_a = 25.0;
  c7_jb_y = c7_wb_a * c7_wb_b;
  c7_zee = c7_jb_y + c7_ib_y;
  _SFD_EML_CALL(0,31);
  for (c7_i12 = 0; c7_i12 < 3; c7_i12 = c7_i12 + 1) {
    for (c7_i13 = 0; c7_i13 < 3; c7_i13 = c7_i13 + 1) {
      c7_rot_a1[c7_i13 + 3 * c7_i12] = 0.0;
    }
  }

  _SFD_EML_CALL(0,32);
  for (c7_i14 = 0; c7_i14 < 3; c7_i14 = c7_i14 + 1) {
    for (c7_i15 = 0; c7_i15 < 3; c7_i15 = c7_i15 + 1) {
      c7_rot_a2[c7_i15 + 3 * c7_i14] = 0.0;
    }
  }

  _SFD_EML_CALL(0,33);
  for (c7_i16 = 0; c7_i16 < 3; c7_i16 = c7_i16 + 1) {
    for (c7_i17 = 0; c7_i17 < 3; c7_i17 = c7_i17 + 1) {
      c7_rot_a3[c7_i17 + 3 * c7_i16] = 0.0;
    }
  }

  _SFD_EML_CALL(0,35);
  for (c7_i18 = 0; c7_i18 < 3; c7_i18 = c7_i18 + 1) {
    for (c7_i19 = 0; c7_i19 < 3; c7_i19 = c7_i19 + 1) {
      c7_rot_b2[c7_i19 + 3 * c7_i18] = 0.0;
    }
  }

  _SFD_EML_CALL(0,36);
  for (c7_i20 = 0; c7_i20 < 3; c7_i20 = c7_i20 + 1) {
    for (c7_i21 = 0; c7_i21 < 3; c7_i21 = c7_i21 + 1) {
      c7_rot_b3[c7_i21 + 3 * c7_i20] = 0.0;
    }
  }

  _SFD_EML_CALL(0,38);
  for (c7_i22 = 0; c7_i22 < 3; c7_i22 = c7_i22 + 1) {
    for (c7_i23 = 0; c7_i23 < 3; c7_i23 = c7_i23 + 1) {
      c7_rot_c1[c7_i23 + 3 * c7_i22] = 0.0;
    }
  }

  _SFD_EML_CALL(0,39);
  for (c7_i24 = 0; c7_i24 < 3; c7_i24 = c7_i24 + 1) {
    for (c7_i25 = 0; c7_i25 < 3; c7_i25 = c7_i25 + 1) {
      c7_rot_c2[c7_i25 + 3 * c7_i24] = 0.0;
    }
  }

  _SFD_EML_CALL(0,40);
  for (c7_i26 = 0; c7_i26 < 3; c7_i26 = c7_i26 + 1) {
    for (c7_i27 = 0; c7_i27 < 3; c7_i27 = c7_i27 + 1) {
      c7_rot_c3[c7_i27 + 3 * c7_i26] = 0.0;
    }
  }

  _SFD_EML_CALL(0,42);
  c7_vb_x = c7_theta_a1;
  c7_wb_x = c7_vb_x;
  c7_wb_x = cos(c7_wb_x);
  c7_xb_x = c7_theta_a1;
  c7_yb_x = c7_xb_x;
  c7_yb_x = sin(c7_yb_x);
  c7_ac_x = c7_theta_a1;
  c7_bc_x = c7_ac_x;
  c7_bc_x = sin(c7_bc_x);
  c7_cc_x = c7_theta_a1;
  c7_dc_x = c7_cc_x;
  c7_dc_x = cos(c7_dc_x);
  for (c7_i28 = 0; c7_i28 < 3; c7_i28 = c7_i28 + 1) {
    c7_rot_a1[3 * c7_i28] = c7_dv0[c7_i28];
  }

  c7_rot_a1[1] = 0.0;
  c7_rot_a1[4] = c7_dc_x;
  c7_rot_a1[7] = -c7_bc_x;
  c7_rot_a1[2] = 0.0;
  c7_rot_a1[5] = c7_yb_x;
  c7_rot_a1[8] = c7_wb_x;
  _SFD_EML_CALL(0,43);
  for (c7_i29 = 0; c7_i29 < 3; c7_i29 = c7_i29 + 1) {
    for (c7_i30 = 0; c7_i30 < 3; c7_i30 = c7_i30 + 1) {
      c7_xb_a[c7_i30 + 3 * c7_i29] = c7_rot_a1[c7_i30 + 3 * c7_i29];
    }
  }

  for (c7_i31 = 0; c7_i31 < 3; c7_i31 = c7_i31 + 1) {
    for (c7_i32 = 0; c7_i32 < 3; c7_i32 = c7_i32 + 1) {
      c7_yb_a[c7_i32 + 3 * c7_i31] = c7_xb_a[c7_i32 + 3 * c7_i31];
    }
  }

  for (c7_i33 = 0; c7_i33 < 3; c7_i33 = c7_i33 + 1) {
    for (c7_i34 = 0; c7_i34 < 3; c7_i34 = c7_i34 + 1) {
      c7_dv2[c7_i34 + 3 * c7_i33] = c7_dv1[c7_i34 + 3 * c7_i33];
    }
  }

  for (c7_i35 = 0; c7_i35 < 3; c7_i35 = c7_i35 + 1) {
    for (c7_i36 = 0; c7_i36 < 3; c7_i36 = c7_i36 + 1) {
      c7_dv3[c7_i36 + 3 * c7_i35] = 0.0;
    }
  }

  c7_eml_xgemm(c7_yb_a, c7_dv2, c7_dv3, c7_dv4);
  for (c7_i37 = 0; c7_i37 < 3; c7_i37 = c7_i37 + 1) {
    for (c7_i38 = 0; c7_i38 < 3; c7_i38 = c7_i38 + 1) {
      c7_rot_a1[c7_i38 + 3 * c7_i37] = c7_dv4[c7_i38 + 3 * c7_i37];
    }
  }

  _SFD_EML_CALL(0,45);
  c7_ec_x = c7_phi_b1;
  c7_fc_x = c7_ec_x;
  c7_fc_x = cos(c7_fc_x);
  c7_rot_c1[0] = c7_fc_x;
  _SFD_EML_CALL(0,46);
  c7_gc_x = c7_phi_b1;
  c7_hc_x = c7_gc_x;
  c7_hc_x = sin(c7_hc_x);
  c7_rot_c1[3] = -c7_hc_x;
  _SFD_EML_CALL(0,47);
  c7_rot_c1[6] = 0.0;
  _SFD_EML_CALL(0,48);
  c7_ic_x = c7_phi_b1;
  c7_ac_a = c7_ic_x;