Tv1;l2*x0-x1;-l2*x3-x2;-a2*l2^2*x0+a2*x0-2*l2*y0-2*y1;a2*l2^2*x2-a2*x2-2*l2^2*y3+2*l2*y2
Tv3;l1*x0-x1;-l1*x3+x2;-a1*l1^2*x0+a1*x0-2*l1*y0-2*y1;-a1*l1^2*x2+a1*x2-2*l1^2*y3-2*l1*y2
Td2 [l1=1,l2=1];a1*x3+x3*a2-d2*x0+2*v2*y0;a1*v2*x2-v2*x2*a2-v2*d2*x1-2*y1;-a1*v2*x1+v2*x1*a2-v2*d2*x2-2*y2;-a1*x0-x0*a2-d2*x3+2*v2*y3
Td2 [l1=1,l2=-1];a1*v2*x3-v2*x3*a2-v2*d2*x0-2*y0;a1*x2+x2*a2-d2*x1+2*v2*y1;-a1*x1-x1*a2-d2*x2+2*v2*y2;-a1*v2*x0+v2*x0*a2-v2*d2*x3-2*y3
Td2 [l1=-1,l2=1];-a1*v2*x3+v2*x3*a2-v2*d2*x0-2*y0;-a1*x2-x2*a2-d2*x1+2*v2*y1;a1*x1+x1*a2-d2*x2+2*v2*y2;a1*v2*x0-v2*x0*a2-v2*d2*x3-2*y3
Td2 [l1=-1,l2=-1];-a1*x3-x3*a2-d2*x0+2*v2*y0;-a1*v2*x2+v2*x2*a2-v2*d2*x1-2*y1;a1*v2*x1-v2*x1*a2-v2*d2*x2-2*y2;a1*x0+x0*a2-d2*x3+2*v2*y3
