Y mul pow x3 c mul add mul x2 add c mul c cos x1 mul x2 mul add x1 x3 sin x1 mul add x3 add x2 cos x2 cos add c add pow x3 c mul pow x3 c mul add x3 mul x2 mul add c mul c cos x1 add x1 x3 add x3 add x2 cos x2