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