c7_ac_a = sin(c7_ac_a);
  c7_jc_x = c7_theta_a1 + c7_theta_b1;
  c7_xb_b = c7_jc_x;
  c7_xb_b = cos(c7_xb_b);
  c7_kb_y = c7_ac_a * c7_xb_b;
  c7_rot_c1[1] = c7_kb_y;
  _SFD_EML_CALL(0,49);
  c7_kc_x = c7_phi_b1;
  c7_bc_a = c7_kc_x;
  c7_bc_a = cos(c7_bc_a);
  c7_lc_x = c7_theta_a1 + c7_theta_b1;
  c7_yb_b = c7_lc_x;
  c7_yb_b = cos(c7_yb_b);
  c7_lb_y = c7_bc_a * c7_yb_b;
  c7_rot_c1[4] = c7_lb_y;
  _SFD_EML_CALL(0,50);
  c7_mc_x = c7_theta_a1 + c7_theta_b1;
  c7_nc_x = c7_mc_x;
  c7_nc_x = sin(c7_nc_x);
  c7_rot_c1[7] = -c7_nc_x;
  _SFD_EML_CALL(0,51);
  c7_oc_x = c7_phi_b1;
  c7_cc_a = c7_oc_x;
  c7_cc_a = sin(c7_cc_a);
  c7_pc_x = c7_theta_a1 + c7_theta_b1;
  c7_ac_b = c7_pc_x;
  c7_ac_b = sin(c7_ac_b);
  c7_mb_y = c7_cc_a * c7_ac_b;
  c7_rot_c1[2] = c7_mb_y;
  _SFD_EML_CALL(0,52);
  c7_qc_x = c7_phi_b1;
  c7_dc_a = c7_qc_x;
  c7_dc_a = cos(c7_dc_a);
  c7_rc_x = c7_theta_a1 + c7_theta_b1;
  c7_bc_b = c7_rc_x;
  c7_bc_b = sin(c7_bc_b);
  c7_nb_y = c7_dc_a * c7_bc_b;
  c7_rot_c1[5] = c7_nb_y;
  _SFD_EML_CALL(0,53);
  c7_sc_x = c7_theta_a1 + c7_theta_b1;
  c7_tc_x = c7_sc_x;
  c7_tc_x = cos(c7_tc_x);
  c7_rot_c1[8] = c7_tc_x;
  _SFD_EML_CALL(0,54);
  for (c7_i39 = 0; c7_i39 < 3; c7_i39 = c7_i39 + 1) {
    for (c7_i40 = 0; c7_i40 < 3; c7_i40 = c7_i40 + 1) {
      c7_ec_a[c7_i40 + 3 * c7_i39] = c7_rot_c1[c7_i40 + 3 * c7_i39];
    }
  }

  for (c7_i41 = 0; c7_i41 < 3; c7_i41 = c7_i41 + 1) {
    for (c7_i42 = 0; c7_i42 < 3; c7_i42 = c7_i42 + 1) {
      c7_fc_a[c7_i42 + 3 * c7_i41] = c7_ec_a[c7_i42 + 3 * c7_i41];
    }
  }

  for (c7_i43 = 0; c7_i43 < 3; c7_i43 = c7_i43 + 1) {
    for (c7_i44 = 0; c7_i44 < 3; c7_i44 = c7_i44 + 1) {
      c7_dv5[c7_i44 + 3 * c7_i43] = c7_dv1[c7_i44 + 3 * c7_i43];
    }
  }

  for (c7_i45 = 0; c7_i45 < 3; c7_i45 = c7_i45 + 1) {
    for (c7_i46 = 0; c7_i46 < 3; c7_i46 = c7_i46 + 1) {
      c7_dv6[c7_i46 + 3 * c7_i45] = 0.0;
    }
  }

  c7_eml_xgemm(c7_fc_a, c7_dv5, c7_dv6, c7_dv7);
  for (c7_i47 = 0; c7_i47 < 3; c7_i47 = c7_i47 + 1) {
    for (c7_i48 = 0; c7_i48 < 3; c7_i48 = c7_i48 + 1) {
      c7_rot_c1[c7_i48 + 3 * c7_i47] = c7_dv7[c7_i48 + 3 * c7_i47];
    }
  }

  _SFD_EML_CALL(0,56);
  c7_uc_x = c7_theta_a1 + c7_theta_b1;
  c7_vc_x = c7_uc_x;
  c7_vc_x = cos(c7_vc_x);
  c7_wc_x = c7_theta_a1 + c7_theta_b1;
  c7_xc_x = c7_wc_x;
  c7_xc_x = sin(c7_xc_x);
  c7_yc_x = c7_theta_a1 + c7_theta_b1;
  c7_ad_x = c7_yc_x;
  c7_ad_x = sin(c7_ad_x);
  c7_bd_x = c7_theta_a1 + c7_theta_b1;
  c7_cd_x = c7_bd_x;
  c7_cd_x = cos(c7_cd_x);
  for (c7_i49 = 0; c7_i49 < 3; c7_i49 = c7_i49 + 1) {
    c7_rot_b1[3 * c7_i49] = c7_dv0[c7_i49];
  }

  c7_rot_b1[1] = 0.0;
  c7_rot_b1[4] = c7_cd_x;
  c7_rot_b1[7] = -c7_ad_x;
  c7_rot_b1[2] = 0.0;
  c7_rot_b1[5] = c7_xc_x;
  c7_rot_b1[8] = c7_vc_x;
  _SFD_EML_CALL(0,57);
  for (c7_i50 = 0; c7_i50 < 3; c7_i50 = c7_i50 + 1) {
    for (c7_i51 = 0; c7_i51 < 3; c7_i51 = c7_i51 + 1) {
      c7_gc_a[c7_i51 + 3 * c7_i50] = c7_rot_c1[c7_i51 + 3 * c7_i50];
    }
  }

  for (c7_i52 = 0; c7_i52 < 3; c7_i52 = c7_i52 + 1) {
    for (c7_i53 = 0; c7_i53 < 3; c7_i53 = c7_i53 + 1) {
      c7_cc_b[c7_i53 + 3 * c7_i52] = c7_rot_b1[c7_i53 + 3 * c7_i52];
    }
  }

  for (c7_i54 = 0; c7_i54 < 3; c7_i54 = c7_i54 + 1) {
    for (c7_i55 = 0; c7_i55 < 3; c7_i55 = c7_i55 + 1) {
      c7_hc_a[c7_i55 + 3 * c7_i54] = c7_gc_a[c7_i55 + 3 * c7_i54];
    }
  }

  for (c7_i56 = 0; c7_i56 < 3; c7_i56 = c7_i56 + 1) {
    for (c7_i57 = 0; c7_i57 < 3; c7_i57 = c7_i57 + 1) {
      c7_dc_b[c7_i57 + 3 * c7_i56] = c7_cc_b[c7_i57 + 3 * c7_i56];
    }
  }

  for (c7_i58 = 0; c7_i58 < 3; c7_i58 = c7_i58 + 1) {
    for (c7_i59 = 0; c7_i59 < 3; c7_i59 = c7_i59 + 1) {
      c7_dv8[c7_i59 + 3 * c7_i58] = 0.0;
    }
  }

  c7_eml_xgemm(c7_hc_a, c7_dc_b, c7_dv8, c7_ic_a);
  for (c7_i60 = 0; c7_i60 < 3; c7_i60 = c7_i60 + 1) {
    for (c7_i61 = 0; c7_i61 < 3; c7_i61 = c7_i61 + 1) {
      c7_jc_a[c7_i61 + 3 * c7_i60] = c7_ic_a[c7_i61 + 3 * c7_i60];
    }
  }

  for (c7_i62 = 0; c7_i62 < 3; c7_i62 = c7_i62 + 1) {
    for (c7_i63 = 0; c7_i63 < 3; c7_i63 = c7_i63 + 1) {
      c7_dv9[c7_i63 + 3 * c7_i62] = c7_dv1[c7_i63 + 3 * c7_i62];
    }
  }

  for (c7_i64 = 0; c7_i64 < 3; c7_i64 = c7_i64 + 1) {
    for (c7_i65 = 0; c7_i65 < 3; c7_i65 = c7_i65 + 1) {
      c7_dv10[c7_i65 + 3 * c7_i64] = 0.0;
    }
  }

  c7_eml_xgemm(c7_jc_a, c7_dv9, c7_dv10, c7_dv11);
  for (c7_i66 = 0; c7_i66 < 3; c7_i66 = c7_i66 + 1) {
    for (c7_i67 = 0; c7_i67 < 3; c7_i67 = c7_i67 + 1) {
      c7_rot_b1[c7_i67 + 3 * c7_i66] = c7_dv11[c7_i67 + 3 * c7_i66];
    }
  }

  _SFD_EML_CALL(0,60);
  c7_kc_a = 0.8660254;
  c7_dd_x = c7_phi_b2;
  c7_ec_b = c7_dd_x;
  c7_ec_b = sin(c7_ec_b);
  c7_lc_a = c7_kc_a * c7_ec_b;
  c7_ed_x = c7_theta_a2 + c7_theta_b2;
  c7_fc_b = c7_ed_x;
  c7_fc_b = cos(c7_fc_b);
  c7_ob_y = c7_lc_a * c7_fc_b;
  c7_mc_a = -0.5;
  c7_fd_x = c7_phi_b2;
  c7_gc_b = c7_fd_x;
  c7_gc_b = cos(c7_gc_b);
  c7_pb_y = c7_mc_a * c7_gc_b;
  c7_rot_c2[0] = c7_pb_y - c7_ob_y;
  _SFD_EML_CALL(0,61);
  c7_nc_a = 0.8660254;
  c7_gd_x = c7_phi_b2;
  c7_hc_b = c7_gd_x;
  c7_hc_b = cos(c7_hc_b);
  c7_oc_a = c7_nc_a * c7_hc_b;
  c7_hd_x = c7_theta_a2 + c7_theta_b2;
  c7_ic_b = c7_hd_x;
  c7_ic_b = cos(c7_ic_b);
  c7_qb_y = c7_oc_a * c7_ic_b;
  c7_pc_a = 0.5;
  c7_id_x = c7_phi_b2;
  c7_jc_b = c7_id_x;
  c7_jc_b = sin(c7_jc_b);
  c7_rb_y = c7_pc_a * c7_jc_b;
  c7_rot_c2[3] = c7_rb_y - c7_qb_y;
  _SFD_EML_CALL(0,62);
  c7_qc_a = 0.8660254;
  c7_jd_x = c7_theta_a2 + c7_theta_b2;
  c7_kc_b = c7_jd_x;
  c7_kc_b = sin(c7_kc_b);
  c7_sb_y = c7_qc_a * c7_kc_b;
  c7_rot_c2[6] = c7_sb_y;
  _SFD_EML_CALL(0,63);
  c7_rc_a = 0.5;
  c7_kd_x = c7_phi_b2;
  c7_lc_b = c7_kd_x;
  c7_lc_b = sin(c7_lc_b);
  c7_sc_a = c7_rc_a * c7_lc_b;
  c7_ld_x = c7_theta_a2 + c7_theta_b2;
  c7_mc_b = c7_ld_x;
  c7_mc_b = cos(c7_mc_b);
  c7_tb_y = c7_sc_a * c7_mc_b;
  c7_tc_a = 0.8660254;
  c7_md_x = c7_phi_b2;
  c7_nc_b = c7_md_x;
  c7_nc_b = cos(c7_nc_b);
  c7_ub_y = c7_tc_a * c7_nc_b;
  c7_rot_c2[1] = c7_ub_y - c7_tb_y;
  _SFD_EML_CALL(0,64);
  c7_uc_a = 0.5;
  c7_nd_x = c7_phi_b2;
  c7_oc_b = c7_nd_x;
  c7_oc_b = cos(c7_oc_b);
  c7_vc_a = c7_uc_a * c7_oc_b;
  c7_od_x = c7_theta_a2 + c7_theta_b2;
  c7_pc_b = c7_od_x;
  c7_pc_b = cos(c7_pc_b);
  c7_vb_y = c7_vc_a * c7_pc_b;
  c7_wc_a = -0.8660254;
  c7_pd_x = c7_phi_b2;
  c7_qc_b = c7_pd_x;
  c7_qc_b = sin(c7_qc_b);
  c7_wb_y = c7_wc_a * c7_qc_b;
  c7_rot_c2[4] = c7_wb_y - c7_vb_y;
  _SFD_EML_CALL(0,65);
  c7_xc_a = 0.5;
  c7_qd_x = c7_theta_a2 + c7_theta_b2;
  c7_rc_b = c7_qd_x;
  c7_rc_b = sin(c7_rc_b);
  c7_xb_y = c7_xc_a * c7_rc_b;
  c7_rot_c2[7] = c7_xb_y;
  _SFD_EML_CALL(0,66);
  c7_rd_x = c7_phi_b2;
  c7_yc_a = c7_rd_x;
  c7_yc_a = sin(c7_yc_a);
  c7_sd_x = c7_theta_a2 + c7_theta_b2;
  c7_sc_b = c7_sd_x;
  c7_sc_b = sin(c7_sc_b);
  c7_yb_y = c7_yc_a * c7_sc_b;
  c7_rot_c2[2] = c7_yb_y;
  _SFD_EML_CALL(0,67);
  c7_td_x = c7_phi_b2;
  c7_ad_a = c7_td_x;
  c7_ad_a = cos(c7_ad_a);
  c7_ud_x = c7_theta_a2 + c7_theta_b2;
  c7_tc_b = c7_ud_x;
  c7_tc_b = sin(c7_tc_b);
  c7_ac_y = c7_ad_a * c7_tc_b;
  c7_rot_c2[5] = c7_ac_y;
  _SFD_EML_CALL(0,68);
  c7_vd_x = c7_theta_a2 + c7_theta_b2;
  c7_wd_x = c7_vd_x;
  c7_wd_x = cos(c7_wd_x);
  c7_rot_c2[8] = c7_wd_x;
  _SFD_EML_CALL(0,69);
  for (c7_i68 = 0; c7_i68 < 3; c7_i68 = c7_i68 + 1) {
    for (c7_i69 = 0; c7_i69 < 3; c7_i69 = c7_i69 + 1) {
      c7_bd_a[c7_i69 + 3 * c7_i68] = c7_rot_c2[c7_i69 + 3 * c7_i68];
    }
  }

  for (c7_i70 = 0; c7_i70 < 3; c7_i70 = c7_i70 + 1) {
    for (c7_i71 = 0; c7_i71 < 3; c7_i71 = c7_i71 + 1) {
      c7_cd_a[c7_i71 + 3 * c7_i70] = c7_bd_a[c7_i71 + 3 * c7_i70];
    }
  }

  for (c7_i72 = 0; c7_i72 < 3; c7_i72 = c7_i72 + 1) {
    for (c7_i73 = 0; c7_i73 < 3; c7_i73 = c7_i73 + 1) {
      c7_dv12[c7_i73 + 3 * c7_i72] = c7_dv1[c7_i73 + 3 * c7_i72];
    }
  }

  for (c7_i74 = 0; c7_i74 < 3; c7_i74 = c7_i74 + 1) {
    for (c7_i75 = 0; c7_i75 < 3; c7_i75 = c7_i75 + 1) {
      c7_dv13[c7_i75 + 3 * c7_i74] = 0.0;
    }
  }

  c7_eml_xgemm(c7_cd_a, c7_dv12, c7_dv13, c7_dv14);
  for (c7_i76 = 0; c7_i76 < 3; c7_i76 = c7_i76 + 1) {
    for (c7_i77 = 0; c7_i77 < 3; c7_i77 = c7_i77 + 1) {
      c7_rot_c2[c7_i77 + 3 * c7_i76] = c7_dv14[c7_i77 + 3 * c7_i76];
    }
  }

  _SFD_EML_CALL(0,71);
  c7_rot_b2[0] = -0.5;
  _SFD_EML_CALL(0,72);
  c7_dd_a = -0.8660254;
  c7_xd_x = c7_theta_a2 + c7_theta_b2;
  c7_uc_b = c7_xd_x;
  c7_uc_b = cos(c7_uc_b);
  c7_bc_y = c7_dd_a * c7_uc_b;
  c7_rot_b2[3] = c7_bc_y;
  _SFD_EML_CALL(0,73);
  c7_ed_a = 0.8660254;
  c7_yd_x = c7_theta_a2 + c7_theta_b2;
  c7_vc_b = c7_yd_x;
  c7_vc_b = sin(c7_vc_b);
  c7_cc_y = c7_ed_a * c7_vc_b;
  c7_rot_b2[6] = c7_cc_y;
  _SFD_EML_CALL(0,74);
  c7_rot_b2[1] = 0.8660254;
  _SFD_EML_CALL(0,75);
  c7_fd_a = -0.5;
  c7_ae_x = c7_theta_a2 + c7_theta_b2;
  c7_wc_b = c7_ae_x;
  c7_wc_b = cos(c7_wc_b);
  c7_dc_y = c7_fd_a * c7_wc_b;
  c7_rot_b2[4] = c7_dc_y;
  _SFD_EML_CALL(0,76);
  c7_gd_a = 0.5;
  c7_be_x = c7_theta_a2 + c7_theta_b2;
  c7_xc_b = c7_be_x;
  c7_xc_b = sin(c7_xc_b);
  c7_ec_y = c7_gd_a * c7_xc_b;
  c7_rot_b2[7] = c7_ec_y;
  _SFD_EML_CALL(0,77);
  c7_rot_b2[2] = 0.0;
  _SFD_EML_CALL(0,78);
  c7_ce_x = c7_theta_a2 + c7_theta_b2;
  c7_de_x = c7_ce_x;
  c7_de_x = sin(c7_de_x);
  c7_rot_b2[5] = c7_de_x;
  _SFD_EML_CALL(0,79);
  c7_ee_x = c7_theta_a2 + c7_theta_b2;
  c7_fe_x = c7_ee_x;
  c7_fe_x = cos(c7_fe_x);
  c7_rot_b2[8] = c7_fe_x;
  _SFD_EML_CALL(0,80);
  for (c7_i78 = 0; c7_i78 < 3; c7_i78 = c7_i78 + 1) {
    for (c7_i79 = 0; c7_i79 < 3; c7_i79 = c7_i79 + 1) {
      c7_hd_a[c7_i79 + 3 * c7_i78] = c7_rot_c2[c7_i79 + 3 * c7_i78];
    }
  }

  for (c7_i80 = 0; c7_i80 < 3; c7_i80 = c7_i80 + 1) {
    for (c7_i81 = 0; c7_i81 < 3; c7_i81 = c7_i81 + 1) {
      c7_yc_b[c7_i81 + 3 * c7_i80] = c7_rot_b2[c7_i81 + 3 * c7_i80];
    }
  }

  for (c7_i82 = 0; c7_i82 < 3; c7_i82 = c7_i82 + 1) {
    for (c7_i83 = 0; c7_i83 < 3; c7_i83 = c7_i83 + 1) {
      c7_id_a[c7_i83 + 3 * c7_i82] = c7_hd_a[c7_i83 + 3 * c7_i82];
    }
  }

  for (c7_i84 = 0; c7_i84 < 3; c7_i84 = c7_i84 + 1) {
    for (c7_i85 = 0; c7_i85 < 3; c7_i85 = c7_i85 + 1) {
      c7_ad_b[c7_i85 + 3 * c7_i84] = c7_yc_b[c7_i85 + 3 * c7_i84];
    }
  }

  for (c7_i86 = 0; c7_i86 < 3; c7_i86 = c7_i86 + 1) {
    for (c7_i87 = 0; c7_i87 < 3; c7_i87 = c7_i87 + 1) {
      c7_dv15[c7_i87 + 3 * c7_i86] = 0.0;
    }
  }

  c7_eml_xgemm(c7_id_a, c7_ad_b, c7_dv15, c7_jd_a);
  for (c7_i88 = 0; c7_i88 < 3; c7_i88 = c7_i88 + 1) {
    for (c7_i89 = 0; c7_i89 < 3; c7_i89 = c7_i89 + 1) {
      c7_kd_a[c7_i89 + 3 * c7_i88] = c7_jd_a[c7_i89 + 3 * c7_i88];
    }
  }

  for (c7_i90 = 0; c7_i90 < 3; c7_i90 = c7_i90 + 1) {
    for (c7_i91 = 0; c7_i91 < 3; c7_i91 = c7_i91 + 1) {
      c7_dv16[c7_i91 + 3 * c7_i90] = c7_dv1[c7_i91 + 3 * c7_i90];
    }
  }

  for (c7_i92 = 0; c7_i92 < 3; c7_i92 = c7_i92 + 1) {
    for (c7_i93 = 0; c7_i93 < 3; c7_i93 = c7_i93 + 1) {
      c7_dv17[c7_i93 + 3 * c7_i92] = 0.0;
    }
  }

  c7_eml_xgemm(c7_kd_a, c7_dv16, c7_dv17, c7_dv18);
  for (c7_i94 = 0; c7_i94 < 3; c7_i94 = c7_i94 + 1) {
    for (c7_i95 = 0; c7_i95 < 3; c7_i95 = c7_i95 + 1) {
      c7_rot_b2[c7_i95 + 3 * c7_i94] = c7_dv18[c7_i95 + 3 * c7_i94];
    }
  }

  _SFD_EML_CALL(0,83);
  c7_ld_a = 0.5;
  c7_ge_x = c7_phi_b3;
  c7_bd_b = c7_ge_x;
  c7_bd_b = cos(c7_bd_b);
  c7_fc_y = c7_ld_a * c7_bd_b;
  c7_md_a = 0.8660254;
  c7_he_x = c7_phi_b3;
  c7_cd_b = c7_he_x;
  c7_cd_b = sin(c7_cd_b);
  c7_nd_a = c7_md_a * c7_cd_b;
  c7_ie_x = c7_theta_a3 + c7_theta_b3;
  c7_dd_b = c7_ie_x;
  c7_dd_b = cos(c7_dd_b);
  c7_gc_y = c7_nd_a * c7_dd_b;
  c7_rot_c3[0] = c7_gc_y - c7_fc_y;
  _SFD_EML_CALL(0,84);
  c7_od_a = 0.8660254;
  c7_je_x = c7_phi_b3;
  c7_ed_b = c7_je_x;
  c7_ed_b = cos(c7_ed_b);
  c7_pd_a = c7_od_a * c7_ed_b;
  c7_ke_x = c7_theta_a3 + c7_theta_b3;
  c7_fd_b = c7_ke_x;
  c7_fd_b = cos(c7_fd_b);
  c7_hc_y = c7_pd_a * c7_fd_b;
  c7_qd_a = 0.5;
  c7_le_x = c7_phi_b3;
  c7_gd_b = c7_le_x;
  c7_gd_b = sin(c7_gd_b);
  c7_ic_y = c7_qd_a * c7_gd_b;
  c7_rot_c3[3] = c7_ic_y + c7_hc_y;
  _SFD_EML_CALL(0,85);
  c7_rd_a = -0.8660254;
  c7_me_x = c7_theta_a3 + c7_theta_b3;
  c7_hd_b = c7_me_x;
  c7_hd_b = sin(c7_hd_b);
  c7_jc_y = c7_rd_a * c7_hd_b;
  c7_rot_c3[6] = c7_jc_y;
  _SFD_EML_CALL(0,86);
  c7_sd_a = 0.5;
  c7_ne_x = c7_phi_b3;
  c7_id_b = c7_ne_x;
  c7_id_b = sin(c7_id_b);
  c7_td_a = c7_sd_a * c7_id_b;
  c7_oe_x = c7_theta_a3 + c7_theta_b3;
  c7_jd_b = c7_oe_x;
  c7_jd_b = cos(c7_jd_b);
  c7_kc_y = c7_td_a * c7_jd_b;
  c7_ud_a = -0.8660254;
  c7_pe_x = c7_phi_b3;
  c7_kd_b = c7_pe_x;
  c7_kd_b = cos(c7_kd_b);
  c7_lc_y = c7_ud_a * c7_kd_b;
  c7_rot_c3[1] = c7_lc_y - c7_kc_y;
  _SFD_EML_CALL(0,87);
  c7_vd_a = 0.5;
  c7_qe_x = c7_phi_b3;
  c7_ld_b = c7_qe_x;
  c7_ld_b = cos(c7_ld_b);
  c7_wd_a = c7_vd_a * c7_ld_b;
  c7_re_x = c7_theta_a3 + c7_theta_b3;
  c7_md_b = c7_re_x;
  c7_md_b = cos(c7_md_b);
  c7_mc_y = c7_wd_a * c7_md_b;
  c7_xd_a = 0.8660254;