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Td2 [l1=1,l2=1];a1*l3*x2+a1*x3+a2*l3*x2+a2*x3-a3*l3*x0*v2+a3*x1*v2-d2*l3*x1-d2*x0+d3*l3*x2*v2+d3*x3*v2+2*l3*v2*y1+2*v2*y0;-a1*l3*x3*v2+a1*x2*v2+a2*l3*x3*v2-a2*x2*v2+a3*l3*x1+a3*x0+d2*l3*x0*v2-d2*x1*v2-d3*l3*x3+d3*x2+2*l3*y0-2*y1;a1*l3*x0*v2-a1*x1*v2-a2*l3*x0*v2+a2*x1*v2+a3*l3*x2+a3*x3+d2*l3*x3*v2-d2*x2*v2+d3*l3*x0-d3*x1+2*l3*y3-2*y2;-a1*l3*x1-a1*x0-a2*l3*x1-a2*x0-a3*l3*x3*v2+a3*x2*v2-d2*l3*x2-d2*x3-d3*l3*x1*v2-d3*x0*v2+2*l3*v2*y2+2*v2*y3
Td2 [l1=1,l2=-1];a1*l3*x2*v2+a1*x3*v2-a2*l3*x2*v2-a2*x3*v2+a3*l3*x0-a3*x1-d2*l3*x1*v2-d2*x0*v2-d3*l3*x2-d3*x3-2*l3*y1-2*y0;-a1*l3*x3+a1*x2-a2*l3*x3+a2*x2-a3*l3*x1*v2-a3*x0*v2+d2*l3*x0-d2*x1+d3*l3*x3*v2-d3*x2*v2-2*l3*v2*y0+2*v2*y1;a1*l3*x0-a1*x1+a2*l3*x0-a2*x1-a3*l3*x2*v2-a3*x3*v2+d2*l3*x3-d2*x2-d3*l3*x0*v2+d3*x1*v2-2*l3*v2*y3+2*v2*y2;-a1*l3*x1*v2-a1*x0*v2+a2*l3*x1*v2+a2*x0*v2+a3*l3*x3-a3*x2-d2*l3*x2*v2-d2*x3*v2+d3*l3*x1+d3*x0-2*l3*y2-2*y3
Td2 [l1=-1,l2=1];-a1*l3*x2*v2-a1*x3*v2+a2*l3*x2*v2+a2*x3*v2+a3*l3*x0-a3*x1-d2*l3*x1*v2-d2*x0*v2-d3*l3*x2-d3*x3-2*l3*y1-2*y0;a1*l3*x3-a1*x2+a2*l3*x3-a2*x2-a3*l3*x1*v2-a3*x0*v2+d2*l3*x0-d2*x1+d3*l3*x3*v2-d3*x2*v2-2*l3*v2*y0+2*v2*y1;-a1*l3*x0+a1*x1-a2*l3*x0+a2*x1-a3*l3*x2*v2-a3*x3*v2+d2*l3*x3-d2*x2-d3*l3*x0*v2+d3*x1*v2-2*l3*v2*y3+2*v2*y2;a1*l3*x1*v2+a1*x0*v2-a2*l3*x1*v2-a2*x0*v2+a3*l3*x3-a3*x2-d2*l3*x2*v2-d2*x3*v2+d3*l3*x1+d3*x0-2*l3*y2-2*y3
Td2 [l1=-1,l2=-1];-a1*l3*x2-a1*x3-a2*l3*x2-a2*x3-a3*l3*x0*v2+a3*x1*v2-d2*l3*x1-d2*x0+d3*l3*x2*v2+d3*x3*v2+2*l3*v2*y1+2*v2*y0;a1*l3*x3*v2-a1*x2*v2-a2*l3*x3*v2+a2*x2*v2+a3*l3*x1+a3*x0+d2*l3*x0*v2-d2*x1*v2-d3*l3*x3+d3*x2+2*l3*y0-2*y1;-a1*l3*x0*v2+a1*x1*v2+a2*l3*x0*v2-a2*x1*v2+a3*l3*x2+a3*x3+d2*l3*x3*v2-d2*x2*v2+d3*l3*x0-d3*x1+2*l3*y3-2*y2;a1*l3*x1+a1*x0+a2*l3*x1+a2*x0-a3*l3*x3*v2+a3*x2*v2-d2*l3*x2-d2*x3-d3*l3*x1*v2-d3*x0*v2+2*l3*v2*y2+2*v2*y3
Td5 [l5=-1,l4=-1];-d4*t0*v5*x3+d4*t1*v5*x2-d4*t2*v5*x1+d4*t3*v5*x0+a4*t0*x3-a4*t1*x2+a4*t2*x1-a4*t3*x0+a5*t0*x3-a5*t1*x2+a5*t2*x1-a5*t3*x0-d5*t0*x0-d5*t1*x1-d5*t2*x2-d5*t3*x3+2*t0*v5*y0+2*t1*v5*y1+2*t2*v5*y2+2*t3*v5*y3+2*t4*v5*x0+2*t5*v5*x1+2*t6*v5*x2+2*t7*v5*x3;d4*t0*v5*x0+d4*t1*v5*x1+d4*t2*v5*x2+d4*t3*v5*x3-a4*t0*x0-a4*t1*x1-a4*t2*x2-a4*t3*x3-a5*t0*x0-a5*t1*x1-a5*t2*x2-a5*t3*x3-d5*t0*x3+d5*t1*x2-d5*t2*x1+d5*t3*x0+2*t0*v5*y3-2*t1*v5*y2+2*t2*v5*y1-2*t3*v5*y0+2*t4*v5*x3-2*t5*v5*x2+2*t6*v5*x1-2*t7*v5*x0;-a4*t0*v5*x2-a4*t1*v5*x3+a4*t2*v5*x0+a4*t3*v5*x1+a5*t0*v5*x2+a5*t1*v5*x3-a5*t2*v5*x0-a5*t3*v5*x1-d5*t0*v5*x1+d5*t1*v5*x0+d5*t2*v5*x3-d5*t3*v5*x2-d4*t0*x2-d4*t1*x3+d4*t2*x0+d4*t3*x1-2*t0*y1+2*t1*y0+2*t2*y3-2*t3*y2-2*t4*x1+2*t5*x0+2*t6*x3-2*t7*x2;a4*t0*v5*x1-a4*t1*v5*x0-a4*t2*v5*x3+a4*t3*v5*x2-a5*t0*v5*x1+a5*t1*v5*x0+a5*t2*v5*x3-a5*t3*v5*x2-d5*t0*v5*x2-d5*t1*v5*x3+d5*t2*v5*x0+d5*t3*v5*x1+d4*t0*x1-d4*t1*x0-d4*t2*x3+d4*t3*x2-2*t0*y2-2*t1*y3+2*t2*y0+2*t3*y1-2*t4*x2-2*t5*x3+2*t6*x0+2*t7*x1
Td5 [l5=-1,l4=1];-d4*t0*v5*x2-d4*t1*v5*x3+d4*t2*v5*x0+d4*t3*v5*x1-a4*t0*x2-a4*t1*x3+a4*t2*x0+a4*t3*x1-a5*t0*x2-a5*t1*x3+a5*t2*x0+a5*t3*x1+d5*t0*x1-d5*t1*x0-d5*t2*x3+d5*t3*x2-2*t0*v5*y1+2*t1*v5*y0+2*t2*v5*y3-2*t3*v5*y2-2*t4*v5*x1+2*t5*v5*x0+2*t6*v5*x3-2*t7*v5*x2;d4*t0*v5*x1-d4*t1*v5*x0-d4*t2*v5*x3+d4*t3*v5*x2+a4*t0*x1-a4*t1*x0-a4*t2*x3+a4*t3*x2+a5*t0*x1-a5*t1*x0-a5*t2*x3+a5*t3*x2+d5*t0*x2+d5*t1*x3-d5*t2*x0-d5*t3*x1-2*t0*v5*y2-2*t1*v5*y3+2*t2*v5*y0+2*t3*v5*y1-2*t4*v5*x2-2*t5*v5*x3+2*t6*v5*x0+2*t7*v5*x1;-a4*t0*v5*x3+a4*t1*v5*x2-a4*t2*v5*x1+a4*t3*v5*x0+a5*t0*v5*x3-a5*t1*v5*x2+a5*t2*v5*x1-a5*t3*v5*x0-d5*t0*v5*x0-d5*t1*v5*x1-d5*t2*v5*x2-d5*t3*v5*x3+d4*t0*x3-d4*t1*x2+d4*t2*x1-d4*t3*x0-2*t0*y0-2*t1*y1-2*t2*y2-2*t3*y3-2*t4*x0-2*t5*x1-2*t6*x2-2*t7*x3;-a4*t0*v5*x0-a4*t1*v5*x1-a4*t2*v5*x2-a4*t3*v5*x3+a5*t0*v5*x0+a5*t1*v5*x1+a5*t2*v5*x2+a5*t3*v5*x3+d5*t0*v5*x3-d5*t1*v5*x2+d5*t2*v5*x1-d5*t3*v5*x0+d4*t0*x0+d4*t1*x1+d4*t2*x2+d4*t3*x3+2*t0*y3-2*t1*y2+2*t2*y1-2*t3*y0+2*t4*x3-2*t5*x2+2*t6*x1-2*t7*x0
Td5 [l5=1,l4=-1];-d4*t0*v5*x2-d4*t1*v5*x3+d4*t2*v5*x0+d4*t3*v5*x1+a4*t0*x2+a4*t1*x3-a4*t2*x0-a4*t3*x1+a5*t0*x2+a5*t1*x3-a5*t2*x0-a5*t3*x1+d5*t0*x1-d5*t1*x0-d5*t2*x3+d5*t3*x2-2*t0*v5*y1+2*t1*v5*y0+2*t2*v5*y3-2*t3*v5*y2-2*t4*v5*x1+2*t5*v5*x0+2*t6*v5*x3-2*t7*v5*x2;d4*t0*v5*x1-d4*t1*v5*x0-d4*t2*v5*x3+d4*t3*v5*x2-a4*t0*x1+a4*t1*x0+a4*t2*x3-a4*t3*x2-a5*t0*x1+a5*t1*x0+a5*t2*x3-a5*t3*x2+d5*t0*x2+d5*t1*x3-d5*t2*x0-d5*t3*x1-2*t0*v5*y2-2*t1*v5*y3+2*t2*v5*y0+2*t3*v5*y1-2*t4*v5*x2-2*t5*v5*x3+2*t6*v5*x0+2*t7*v5*x1;a4*t0*v5*x3-a4*t1*v5*x2+a4*t2*v5*x1-a4*t3*v5*x0-a5*t0*v5*x3+a5*t1*v5*x2-a5*t2*v5*x1+a5*t3*v5*x0-d5*t0*v5*x0-d5*t1*v5*x1-d5*t2*v5*x2-d5*t3*v5*x3+d4*t0*x3-d4*t1*x2+d4*t2*x1-d4*t3*x0-2*t0*y0-2*t1*y1-2*t2*y2-2*t3*y3-2*t4*x0-2*t5*x1-2*t6*x2-2*t7*x3;-a4*t0*v5*x0-a4*t1*v5*x1-a4*t2*v5*x2-a4*t3*v5*x3+a5*t0*v5*x0+a5*t1*v5*x1+a5*t2*v5*x2+a5*t3*v5*x3-d5*t0*v5*x3+d5*t1*v5*x2-d5*t2*v5*x1+d5*t3*v5*x0-d4*t0*x0-d4*t1*x1-d4*t2*x2-d4*t3*x3-2*t0*y3+2*t1*y2-2*t2*y1+2*t3*y0-2*t4*x3+2*t5*x2-2*t6*x1+2*t7*x0
Td5 [l5=1,l4=1];-d4*t0*v5*x3+d4*t1*v5*x2-d4*t2*v5*x1+d4*t3*v5*x0-a4*t0*x3+a4*t1*x2-a4*t2*x1+a4*t3*x0-a5*t0*x3+a5*t1*x2-a5*t2*x1+a5*t3*x0-d5*t0*x0-d5*t1*x1-d5*t2*x2-d5*t3*x3+2*t0*v5*y0+2*t1*v5*y1+2*t2*v5*y2+2*t3*v5*y3+2*t4*v5*x0+2*t5*v5*x1+2*t6*v5*x2+2*t7*v5*x3;d4*t0*v5*x0+d4*t1*v5*x1+d4*t2*v5*x2+d4*t3*v5*x3+a4*t0*x0+a4*t1*x1+a4*t2*x2+a4*t3*x3+a5*t0*x0+a5*t1*x1+a5*t2*x2+a5*t3*x3-d5*t0*x3+d5*t1*x2-d5*t2*x1+d5*t3*x0+2*t0*v5*y3-2*t1*v5*y2+2*t2*v5*y1-2*t3*v5*y0+2*t4*v5*x3-2*t5*v5*x2+2*t6*v5*x1-2*t7*v5*x0;a4*t0*v5*x2+a4*t1*v5*x3-a4*t2*v5*x0-a4*t3*v5*x1-a5*t0*v5*x2-a5*t1*v5*x3+a5*t2*v5*x0+a5*t3*v5*x1-d5*t0*v5*x1+d5*t1*v5*x0+d5*t2*v5*x3-d5*t3*v5*x2-d4*t0*x2-d4*t1*x3+d4*t2*x0+d4*t3*x1-2*t0*y1+2*t1*y0+2*t2*y3-2*t3*y2-2*t4*x1+2*t5*x0+2*t6*x3-2*t7*x2;a4*t0*v5*x1-a4*t1*v5*x0-a4*t2*v5*x3+a4*t3*v5*x2-a5*t0*v5*x1+a5*t1*v5*x0+a5*t2*v5*x3-a5*t3*v5*x2+d5*t0*v5*x2+d5*t1*v5*x3-d5*t2*v5*x0-d5*t3*v5*x1-d4*t0*x1+d4*t1*x0+d4*t2*x3-d4*t3*x2+2*t0*y2+2*t1*y3-2*t2*y0-2*t3*y1+2*t4*x2+2*t5*x3-2*t6*x0-2*t7*x1
