ikfast61.cpp

/// autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE
/// \author Rosen Diankov
///
/// Licensed under the Apache License, Version 2.0 (the "License");
/// you may not use this file except in compliance with the License.
/// You may obtain a copy of the License at
///     http://www.apache.org/licenses/LICENSE-2.0
/// 
/// Unless required by applicable law or agreed to in writing, software
/// distributed under the License is distributed on an "AS IS" BASIS,
/// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
/// See the License for the specific language governing permissions and
/// limitations under the License.
///
/// ikfast version 0x10000049 generated on 2018-08-27 16:40:22.782787
/// To compile with gcc:
///     gcc -lstdc++ ik.cpp
/// To compile without any main function as a shared object (might need -llapack):
///     gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp
#define IKFAST_HAS_LIBRARY
#include "ikfast.h" // found inside share/openrave-X.Y/python/ikfast.h
using namespace ikfast;

// check if the included ikfast version matches what this file was compiled with
#define IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x]
IKFAST_COMPILE_ASSERT(IKFAST_VERSION==0x10000049);

#include <cmath>
#include <vector>
#include <limits>
#include <algorithm>
#include <complex>

#ifndef IKFAST_ASSERT
#include <stdexcept>
#include <sstream>
#include <iostream>

#ifdef _MSC_VER
#ifndef __PRETTY_FUNCTION__
#define __PRETTY_FUNCTION__ __FUNCDNAME__
#endif
#endif

#ifndef __PRETTY_FUNCTION__
#define __PRETTY_FUNCTION__ __func__
#endif

#define IKFAST_ASSERT(b) { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } }

#endif

#if defined(_MSC_VER)
#define IKFAST_ALIGNED16(x) __declspec(align(16)) x
#else
#define IKFAST_ALIGNED16(x) x __attribute((aligned(16)))
#endif

#define IK2PI  ((IkReal)6.28318530717959)
#define IKPI  ((IkReal)3.14159265358979)
#define IKPI_2  ((IkReal)1.57079632679490)

#ifdef _MSC_VER
#ifndef isnan
#define isnan _isnan
#endif
#ifndef isinf
#define isinf _isinf
#endif
//#ifndef isfinite
//#define isfinite _isfinite
//#endif
#endif // _MSC_VER

// lapack routines
extern "C" {
  void dgetrf_ (const int* m, const int* n, double* a, const int* lda, int* ipiv, int* info);
  void zgetrf_ (const int* m, const int* n, std::complex<double>* a, const int* lda, int* ipiv, int* info);
  void dgetri_(const int* n, const double* a, const int* lda, int* ipiv, double* work, const int* lwork, int* info);
  void dgesv_ (const int* n, const int* nrhs, double* a, const int* lda, int* ipiv, double* b, const int* ldb, int* info);
  void dgetrs_(const char *trans, const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info);
  void dgeev_(const char *jobvl, const char *jobvr, const int *n, double *a, const int *lda, double *wr, double *wi,double *vl, const int *ldvl, double *vr, const int *ldvr, double *work, const int *lwork, int *info);
}

using namespace std; // necessary to get std math routines

#ifdef IKFAST_NAMESPACE
namespace IKFAST_NAMESPACE {
#endif

inline float IKabs(float f) { return fabsf(f); }
inline double IKabs(double f) { return fabs(f); }

inline float IKsqr(float f) { return f*f; }
inline double IKsqr(double f) { return f*f; }

inline float IKlog(float f) { return logf(f); }
inline double IKlog(double f) { return log(f); }

// allows asin and acos to exceed 1. has to be smaller than thresholds used for branch conds and evaluation
#ifndef IKFAST_SINCOS_THRESH
#define IKFAST_SINCOS_THRESH ((IkReal)1e-7)
#endif

// used to check input to atan2 for degenerate cases. has to be smaller than thresholds used for branch conds and evaluation
#ifndef IKFAST_ATAN2_MAGTHRESH
#define IKFAST_ATAN2_MAGTHRESH ((IkReal)1e-7)
#endif

// minimum distance of separate solutions
#ifndef IKFAST_SOLUTION_THRESH
#define IKFAST_SOLUTION_THRESH ((IkReal)1e-6)
#endif

// there are checkpoints in ikfast that are evaluated to make sure they are 0. This threshold speicfies by how much they can deviate
#ifndef IKFAST_EVALCOND_THRESH
#define IKFAST_EVALCOND_THRESH ((IkReal)0.00001)
#endif


inline float IKasin(float f)
{
IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver
if( f <= -1 ) return float(-IKPI_2);
else if( f >= 1 ) return float(IKPI_2);
return asinf(f);
}
inline double IKasin(double f)
{
IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver
if( f <= -1 ) return -IKPI_2;
else if( f >= 1 ) return IKPI_2;
return asin(f);
}

// return positive value in [0,y)
inline float IKfmod(float x, float y)
{
    while(x < 0) {
        x += y;
    }
    return fmodf(x,y);
}

// return positive value in [0,y)
inline double IKfmod(double x, double y)
{
    while(x < 0) {
        x += y;
    }
    return fmod(x,y);
}

inline float IKacos(float f)
{
IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver
if( f <= -1 ) return float(IKPI);
else if( f >= 1 ) return float(0);
return acosf(f);
}
inline double IKacos(double f)
{
IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver
if( f <= -1 ) return IKPI;
else if( f >= 1 ) return 0;
return acos(f);
}
inline float IKsin(float f) { return sinf(f); }
inline double IKsin(double f) { return sin(f); }
inline float IKcos(float f) { return cosf(f); }
inline double IKcos(double f) { return cos(f); }
inline float IKtan(float f) { return tanf(f); }
inline double IKtan(double f) { return tan(f); }
inline float IKsqrt(float f) { if( f <= 0.0f ) return 0.0f; return sqrtf(f); }
inline double IKsqrt(double f) { if( f <= 0.0 ) return 0.0; return sqrt(f); }
inline float IKatan2Simple(float fy, float fx) {
    return atan2f(fy,fx);
}
inline float IKatan2(float fy, float fx) {
    if( isnan(fy) ) {
        IKFAST_ASSERT(!isnan(fx)); // if both are nan, probably wrong value will be returned
        return float(IKPI_2);
    }
    else if( isnan(fx) ) {
        return 0;
    }
    return atan2f(fy,fx);
}
inline double IKatan2Simple(double fy, double fx) {
    return atan2(fy,fx);
}
inline double IKatan2(double fy, double fx) {
    if( isnan(fy) ) {
        IKFAST_ASSERT(!isnan(fx)); // if both are nan, probably wrong value will be returned
        return IKPI_2;
    }
    else if( isnan(fx) ) {
        return 0;
    }
    return atan2(fy,fx);
}

template <typename T>
struct CheckValue
{
    T value;
    bool valid;
};

template <typename T>
inline CheckValue<T> IKatan2WithCheck(T fy, T fx, T epsilon)
{
    CheckValue<T> ret;
    ret.valid = false;
    ret.value = 0;
    if( !isnan(fy) && !isnan(fx) ) {
        if( IKabs(fy) >= IKFAST_ATAN2_MAGTHRESH || IKabs(fx) > IKFAST_ATAN2_MAGTHRESH ) {
            ret.value = IKatan2Simple(fy,fx);
            ret.valid = true;
        }
    }
    return ret;
}

inline float IKsign(float f) {
    if( f > 0 ) {
        return float(1);
    }
    else if( f < 0 ) {
        return float(-1);
    }
    return 0;
}

inline double IKsign(double f) {
    if( f > 0 ) {
        return 1.0;
    }
    else if( f < 0 ) {
        return -1.0;
    }
    return 0;
}

template <typename T>
inline CheckValue<T> IKPowWithIntegerCheck(T f, int n)
{
    CheckValue<T> ret;
    ret.valid = true;
    if( n == 0 ) {
        ret.value = 1.0;
        return ret;
    }
    else if( n == 1 )
    {
        ret.value = f;
        return ret;
    }
    else if( n < 0 )
    {
        if( f == 0 )
        {
            ret.valid = false;
            ret.value = (T)1.0e30;
            return ret;
        }
        if( n == -1 ) {
            ret.value = T(1.0)/f;
            return ret;
        }
    }

    int num = n > 0 ? n : -n;
    if( num == 2 ) {
        ret.value = f*f;
    }
    else if( num == 3 ) {
        ret.value = f*f*f;
    }
    else {
        ret.value = 1.0;
        while(num>0) {
            if( num & 1 ) {
                ret.value *= f;
            }
            num >>= 1;
            f *= f;
        }
    }
    
    if( n < 0 ) {
        ret.value = T(1.0)/ret.value;
    }
    return ret;
}

/// solves the forward kinematics equations.
/// \param pfree is an array specifying the free joints of the chain.
IKFAST_API void ComputeFk(const IkReal* j, IkReal* eetrans, IkReal* eerot) {
IkReal x0,x1,x2,x3,x4,x5,x6,x7,x8,x9,x10,x11,x12,x13,x14,x15,x16,x17,x18,x19,x20,x21,x22,x23,x24,x25,x26,x27,x28,x29,x30,x31,x32,x33,x34,x35,x36,x37,x38,x39,x40,x41,x42,x43,x44,x45,x46,x47;
x0=IKcos(j[0]);
x1=IKcos(j[1]);
x2=IKcos(j[2]);
x3=IKsin(j[1]);
x4=IKsin(j[2]);
x5=IKcos(j[3]);
x6=IKsin(j[3]);
x7=IKcos(j[5]);
x8=IKsin(j[5]);
x9=IKcos(j[4]);
x10=IKsin(j[0]);
x11=IKsin(j[4]);
x12=((0.39225)*x0);
x13=((0.09465)*x0);
x14=((1.0)*x6);
x15=((1.0)*x10);
x16=((0.09465)*x10);
x17=((0.0823)*x6);
x18=((1.0)*x0);
x19=((0.39225)*x4);
x20=((0.425)*x1);
x21=((0.0823)*x5);
x22=((1.0)*x9);
x23=((1.0)*x5);
x24=(x1*x2);
x25=(x10*x9);
x26=(x1*x4);
x27=(x2*x3);
x28=(x3*x4);
x29=(x18*x28);
x30=(x15*x28);
x31=(x26+x27);
x32=((((-1.0)*x28))+(((1.0)*x24)));
x33=(x31*x5);
x34=(x32*x6);
x35=(((x0*x24))+(((-1.0)*x29)));
x36=((((-1.0)*x30))+((x10*x24)));
x37=(x18*(((((-1.0)*x26))+(((-1.0)*x27)))));
x38=(x15*(((((-1.0)*x26))+(((-1.0)*x27)))));
x39=(x35*x5);
x40=(x36*x5);
x41=(x37*x6);
x42=(((x32*x5))+((x6*(((((-1.0)*x26))+(((-1.0)*x27)))))));
x43=(x39+x41);
x44=(x40+((x38*x6)));
x45=(((x37*x5))+((x6*(((((-1.0)*x18*x24))+x29)))));
x46=(((x6*(((((-1.0)*x15*x24))+x30))))+((x38*x5)));
x47=(x43*x9);
eerot[0]=(((x7*((x47+((x10*x11))))))+((x45*x8)));
eerot[1]=(((x8*(((((-1.0)*x11*x15))+(((-1.0)*x22*x43))))))+((x45*x7)));
eerot[2]=(((x11*(((((-1.0)*x14*x37))+(((-1.0)*x23*x35))))))+x25);
eetrans[0]=(((x5*((((x13*x27))+((x13*x26))))))+(((0.10915)*x10))+((x6*(((((-1.0)*x13*x28))+((x13*x24))))))+(((-1.0)*x0*x20))+(((-1.0)*x12*x24))+((x12*x28))+(((0.0823)*x25))+((x11*(((((-1.0)*x17*x37))+(((-1.0)*x21*x35)))))));
eerot[3]=(((x46*x8))+((x7*(((((-1.0)*x0*x11))+((x44*x9)))))));
eerot[4]=(((x46*x7))+((x8*(((((-1.0)*x22*x44))+((x11*x18)))))));
eerot[5]=((((-1.0)*x18*x9))+((x11*(((((-1.0)*x14*x38))+(((-1.0)*x23*x36)))))));
eetrans[1]=((((-0.0823)*x0*x9))+(((-0.39225)*x10*x24))+((x5*((((x16*x26))+((x16*x27))))))+(((-0.10915)*x0))+(((-1.0)*x10*x20))+((x6*(((((-1.0)*x16*x28))+((x16*x24))))))+((x10*x19*x3))+((x11*(((((-1.0)*x17*x38))+(((-1.0)*x21*x36)))))));
eerot[6]=(((x7*x9*((x33+x34))))+((x42*x8)));
eerot[7]=(((x8*x9*(((((-1.0)*x34))+(((-1.0)*x33))))))+((x42*x7)));
eerot[8]=(x11*(((((-1.0)*x14*x32))+(((-1.0)*x23*x31)))));
eetrans[2]=((0.089159)+(((-1.0)*x1*x19))+((x6*(((((0.09465)*x26))+(((0.09465)*x27))))))+(((-0.425)*x3))+((x11*(((((-1.0)*x17*x32))+(((-1.0)*x21*x31))))))+((x5*(((((-0.09465)*x24))+(((0.09465)*x28))))))+(((-0.39225)*x27)));
}

IKFAST_API int GetNumFreeParameters() { return 0; }
IKFAST_API int* GetFreeParameters() { return NULL; }
IKFAST_API int GetNumJoints() { return 6; }

IKFAST_API int GetIkRealSize() { return sizeof(IkReal); }

IKFAST_API int GetIkType() { return 0x67000001; }

class IKSolver {
public:
IkReal j0,cj0,sj0,htj0,j0mul,j1,cj1,sj1,htj1,j1mul,j2,cj2,sj2,htj2,j2mul,j3,cj3,sj3,htj3,j3mul,j4,cj4,sj4,htj4,j4mul,j5,cj5,sj5,htj5,j5mul,new_r00,r00,rxp0_0,new_r01,r01,rxp0_1,new_r02,r02,rxp0_2,new_r10,r10,rxp1_0,new_r11,r11,rxp1_1,new_r12,r12,rxp1_2,new_r20,r20,rxp2_0,new_r21,r21,rxp2_1,new_r22,r22,rxp2_2,new_px,px,npx,new_py,py,npy,new_pz,pz,npz,pp;
unsigned char _ij0[2], _nj0,_ij1[2], _nj1,_ij2[2], _nj2,_ij3[2], _nj3,_ij4[2], _nj4,_ij5[2], _nj5;

IkReal j100, cj100, sj100;
unsigned char _ij100[2], _nj100;
bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase<IkReal>& solutions) {
j0=numeric_limits<IkReal>::quiet_NaN(); _ij0[0] = -1; _ij0[1] = -1; _nj0 = -1; j1=numeric_limits<IkReal>::quiet_NaN(); _ij1[0] = -1; _ij1[1] = -1; _nj1 = -1; j2=numeric_limits<IkReal>::quiet_NaN(); _ij2[0] = -1; _ij2[1] = -1; _nj2 = -1; j3=numeric_limits<IkReal>::quiet_NaN(); _ij3[0] = -1; _ij3[1] = -1; _nj3 = -1; j4=numeric_limits<IkReal>::quiet_NaN(); _ij4[0] = -1; _ij4[1] = -1; _nj4 = -1; j5=numeric_limits<IkReal>::quiet_NaN(); _ij5[0] = -1; _ij5[1] = -1; _nj5 = -1; 
for(int dummyiter = 0; dummyiter < 1; ++dummyiter) {
    solutions.Clear();
r00 = eerot[0*3+0];
r01 = eerot[0*3+1];
r02 = eerot[0*3+2];
r10 = eerot[1*3+0];
r11 = eerot[1*3+1];
r12 = eerot[1*3+2];
r20 = eerot[2*3+0];
r21 = eerot[2*3+1];
r22 = eerot[2*3+2];
px = eetrans[0]; py = eetrans[1]; pz = eetrans[2];

new_r00=r00;
new_r01=r01;
new_r02=r02;
new_px=(px+(((-0.0823)*r02)));
new_r10=r10;
new_r11=r11;
new_r12=r12;
new_py=((((-0.0823)*r12))+py);
new_r20=r20;
new_r21=r21;
new_r22=r22;
new_pz=((-0.089159)+pz+(((-0.0823)*r22)));
r00 = new_r00; r01 = new_r01; r02 = new_r02; r10 = new_r10; r11 = new_r11; r12 = new_r12; r20 = new_r20; r21 = new_r21; r22 = new_r22; px = new_px; py = new_py; pz = new_pz;
IkReal x48=((1.0)*px);
IkReal x49=((1.0)*pz);
IkReal x50=((1.0)*py);
pp=((px*px)+(py*py)+(pz*pz));
npx=(((px*r00))+((py*r10))+((pz*r20)));
npy=(((px*r01))+((py*r11))+((pz*r21)));
npz=(((px*r02))+((py*r12))+((pz*r22)));
rxp0_0=((((-1.0)*r20*x50))+((pz*r10)));
rxp0_1=(((px*r20))+(((-1.0)*r00*x49)));
rxp0_2=((((-1.0)*r10*x48))+((py*r00)));
rxp1_0=((((-1.0)*r21*x50))+((pz*r11)));
rxp1_1=(((px*r21))+(((-1.0)*r01*x49)));
rxp1_2=((((-1.0)*r11*x48))+((py*r01)));
rxp2_0=(((pz*r12))+(((-1.0)*r22*x50)));
rxp2_1=((((-1.0)*r02*x49))+((px*r22)));
rxp2_2=((((-1.0)*r12*x48))+((py*r02)));
IkReal IKFAST_ALIGNED16(matrixinvcoeffs[256]);
IkReal x51=((0.1893)*npx);
IkReal x52=((0.1893)*npy);
IkReal x53=((0.09465)*r22);
IkReal x54=((0.09465)*r21);
IkReal x55=((-0.09465)*r20);
IkReal x56=((-1.0)*r20);
IkReal x57=((-1.0)*rxp0_2);
IkReal x58=((-0.09465)*r21);
IkReal x59=((-1.0)*r21);
IkReal x60=((-1.0)*rxp1_2);
IkReal x61=((-1.0)*npx);
IkReal x62=((-1.0)*r22);
IkReal x63=((-1.0)*npz);
matrixinvcoeffs[0]=x55;
matrixinvcoeffs[1]=x51;
matrixinvcoeffs[2]=0;
matrixinvcoeffs[3]=0;
matrixinvcoeffs[4]=0;
matrixinvcoeffs[5]=0;
matrixinvcoeffs[6]=0;
matrixinvcoeffs[7]=0;
matrixinvcoeffs[8]=0;
matrixinvcoeffs[9]=npx;
matrixinvcoeffs[10]=x56;
matrixinvcoeffs[11]=0;
matrixinvcoeffs[12]=0;
matrixinvcoeffs[13]=0;
matrixinvcoeffs[14]=0;
matrixinvcoeffs[15]=x57;
matrixinvcoeffs[16]=0;
matrixinvcoeffs[17]=0;
matrixinvcoeffs[18]=x55;
matrixinvcoeffs[19]=x51;
matrixinvcoeffs[20]=0;
matrixinvcoeffs[21]=0;
matrixinvcoeffs[22]=0;
matrixinvcoeffs[23]=0;
matrixinvcoeffs[24]=npx;
matrixinvcoeffs[25]=0;
matrixinvcoeffs[26]=0;
matrixinvcoeffs[27]=x56;
matrixinvcoeffs[28]=0;
matrixinvcoeffs[29]=0;
matrixinvcoeffs[30]=x57;
matrixinvcoeffs[31]=0;
matrixinvcoeffs[32]=x58;
matrixinvcoeffs[33]=x52;
matrixinvcoeffs[34]=0;
matrixinvcoeffs[35]=0;
matrixinvcoeffs[36]=0;
matrixinvcoeffs[37]=0;
matrixinvcoeffs[38]=0;
matrixinvcoeffs[39]=0;
matrixinvcoeffs[40]=0;
matrixinvcoeffs[41]=npy;
matrixinvcoeffs[42]=x59;
matrixinvcoeffs[43]=0;
matrixinvcoeffs[44]=0;
matrixinvcoeffs[45]=0;
matrixinvcoeffs[46]=0;
matrixinvcoeffs[47]=x60;
matrixinvcoeffs[48]=0;
matrixinvcoeffs[49]=0;
matrixinvcoeffs[50]=x58;
matrixinvcoeffs[51]=x52;
matrixinvcoeffs[52]=0;
matrixinvcoeffs[53]=0;
matrixinvcoeffs[54]=0;
matrixinvcoeffs[55]=0;
matrixinvcoeffs[56]=npy;
matrixinvcoeffs[57]=0;
matrixinvcoeffs[58]=0;
matrixinvcoeffs[59]=x59;
matrixinvcoeffs[60]=0;
matrixinvcoeffs[61]=0;
matrixinvcoeffs[62]=x60;
matrixinvcoeffs[63]=0;
matrixinvcoeffs[64]=0;
matrixinvcoeffs[65]=0;
matrixinvcoeffs[66]=0;
matrixinvcoeffs[67]=0;
matrixinvcoeffs[68]=0;
matrixinvcoeffs[69]=0;
matrixinvcoeffs[70]=0;
matrixinvcoeffs[71]=0;
matrixinvcoeffs[72]=npz;
matrixinvcoeffs[73]=0;
matrixinvcoeffs[74]=0;
matrixinvcoeffs[75]=x62;
matrixinvcoeffs[76]=x53;
matrixinvcoeffs[77]=0;
matrixinvcoeffs[78]=((-1.0)*rxp2_2);
matrixinvcoeffs[79]=0;
matrixinvcoeffs[80]=0;
matrixinvcoeffs[81]=0;
matrixinvcoeffs[82]=0;
matrixinvcoeffs[83]=0;
matrixinvcoeffs[84]=0;
matrixinvcoeffs[85]=0;
matrixinvcoeffs[86]=0;
matrixinvcoeffs[87]=0;
matrixinvcoeffs[88]=0;
matrixinvcoeffs[89]=x63;
matrixinvcoeffs[90]=r22;
matrixinvcoeffs[91]=0;
matrixinvcoeffs[92]=0;
matrixinvcoeffs[93]=x53;
matrixinvcoeffs[94]=0;
matrixinvcoeffs[95]=rxp2_2;
matrixinvcoeffs[96]=0;
matrixinvcoeffs[97]=0;
matrixinvcoeffs[98]=0;
matrixinvcoeffs[99]=0;
matrixinvcoeffs[100]=r21;
matrixinvcoeffs[101]=npy;
matrixinvcoeffs[102]=0;
matrixinvcoeffs[103]=0;
matrixinvcoeffs[104]=0;
matrixinvcoeffs[105]=0;
matrixinvcoeffs[106]=0;
matrixinvcoeffs[107]=0;
matrixinvcoeffs[108]=x60;
matrixinvcoeffs[109]=0;
matrixinvcoeffs[110]=x58;
matrixinvcoeffs[111]=0;
matrixinvcoeffs[112]=0;
matrixinvcoeffs[113]=0;
matrixinvcoeffs[114]=0;
matrixinvcoeffs[115]=0;
matrixinvcoeffs[116]=0;
matrixinvcoeffs[117]=0;
matrixinvcoeffs[118]=r21;
matrixinvcoeffs[119]=npy;
matrixinvcoeffs[120]=0;
matrixinvcoeffs[121]=0;
matrixinvcoeffs[122]=0;
matrixinvcoeffs[123]=0;
matrixinvcoeffs[124]=0;
matrixinvcoeffs[125]=x60;
matrixinvcoeffs[126]=0;
matrixinvcoeffs[127]=x54;
matrixinvcoeffs[128]=0;
matrixinvcoeffs[129]=0;
matrixinvcoeffs[130]=0;
matrixinvcoeffs[131]=0;
matrixinvcoeffs[132]=x56;
matrixinvcoeffs[133]=x61;
matrixinvcoeffs[134]=0;
matrixinvcoeffs[135]=0;
matrixinvcoeffs[136]=0;
matrixinvcoeffs[137]=0;
matrixinvcoeffs[138]=0;
matrixinvcoeffs[139]=0;
matrixinvcoeffs[140]=rxp0_2;
matrixinvcoeffs[141]=0;
matrixinvcoeffs[142]=((0.09465)*r20);
matrixinvcoeffs[143]=0;
matrixinvcoeffs[144]=0;
matrixinvcoeffs[145]=0;
matrixinvcoeffs[146]=0;
matrixinvcoeffs[147]=0;
matrixinvcoeffs[148]=0;
matrixinvcoeffs[149]=0;
matrixinvcoeffs[150]=x56;
matrixinvcoeffs[151]=x61;
matrixinvcoeffs[152]=0;
matrixinvcoeffs[153]=0;
matrixinvcoeffs[154]=0;
matrixinvcoeffs[155]=0;
matrixinvcoeffs[156]=0;
matrixinvcoeffs[157]=rxp0_2;
matrixinvcoeffs[158]=0;
matrixinvcoeffs[159]=x55;
matrixinvcoeffs[160]=0;
matrixinvcoeffs[161]=0;
matrixinvcoeffs[162]=0;
matrixinvcoeffs[163]=0;
matrixinvcoeffs[164]=x62;
matrixinvcoeffs[165]=x63;
matrixinvcoeffs[166]=0;
matrixinvcoeffs[167]=0;
matrixinvcoeffs[168]=0;
matrixinvcoeffs[169]=0;
matrixinvcoeffs[170]=0;
matrixinvcoeffs[171]=0;
matrixinvcoeffs[172]=rxp2_2;
matrixinvcoeffs[173]=0;
matrixinvcoeffs[174]=x53;
matrixinvcoeffs[175]=0;
matrixinvcoeffs[176]=0;
matrixinvcoeffs[177]=0;
matrixinvcoeffs[178]=0;
matrixinvcoeffs[179]=0;
matrixinvcoeffs[180]=0;
matrixinvcoeffs[181]=0;
matrixinvcoeffs[182]=x62;
matrixinvcoeffs[183]=x63;
matrixinvcoeffs[184]=0;
matrixinvcoeffs[185]=0;
matrixinvcoeffs[186]=0;
matrixinvcoeffs[187]=0;
matrixinvcoeffs[188]=0;
matrixinvcoeffs[189]=rxp2_2;
matrixinvcoeffs[190]=0;
matrixinvcoeffs[191]=((-0.09465)*r22);
matrixinvcoeffs[192]=0;
matrixinvcoeffs[193]=0;
matrixinvcoeffs[194]=0;
matrixinvcoeffs[195]=0;
matrixinvcoeffs[196]=0;
matrixinvcoeffs[197]=0;
matrixinvcoeffs[198]=0;
matrixinvcoeffs[199]=0;
matrixinvcoeffs[200]=npy;
matrixinvcoeffs[201]=0;
matrixinvcoeffs[202]=0;
matrixinvcoeffs[203]=x59;
matrixinvcoeffs[204]=x54;
matrixinvcoeffs[205]=0;
matrixinvcoeffs[206]=x60;
matrixinvcoeffs[207]=0;
matrixinvcoeffs[208]=0;
matrixinvcoeffs[209]=0;
matrixinvcoeffs[210]=0;
matrixinvcoeffs[211]=0;
matrixinvcoeffs[212]=0;
matrixinvcoeffs[213]=0;
matrixinvcoeffs[214]=0;
matrixinvcoeffs[215]=0;
matrixinvcoeffs[216]=0;
matrixinvcoeffs[217]=((-1.0)*npy);
matrixinvcoeffs[218]=r21;
matrixinvcoeffs[219]=0;
matrixinvcoeffs[220]=0;
matrixinvcoeffs[221]=x54;
matrixinvcoeffs[222]=0;
matrixinvcoeffs[223]=rxp1_2;
matrixinvcoeffs[224]=0;
matrixinvcoeffs[225]=0;
matrixinvcoeffs[226]=0;
matrixinvcoeffs[227]=0;
matrixinvcoeffs[228]=0;
matrixinvcoeffs[229]=0;
matrixinvcoeffs[230]=0;
matrixinvcoeffs[231]=0;
matrixinvcoeffs[232]=x61;
matrixinvcoeffs[233]=0;
matrixinvcoeffs[234]=0;
matrixinvcoeffs[235]=r20;
matrixinvcoeffs[236]=x55;
matrixinvcoeffs[237]=0;
matrixinvcoeffs[238]=rxp0_2;
matrixinvcoeffs[239]=0;
matrixinvcoeffs[240]=0;
matrixinvcoeffs[241]=0;
matrixinvcoeffs[242]=0;
matrixinvcoeffs[243]=0;
matrixinvcoeffs[244]=0;
matrixinvcoeffs[245]=0;
matrixinvcoeffs[246]=0;
matrixinvcoeffs[247]=0;
matrixinvcoeffs[248]=0;
matrixinvcoeffs[249]=npx;
matrixinvcoeffs[250]=x56;
matrixinvcoeffs[251]=0;
matrixinvcoeffs[252]=0;
matrixinvcoeffs[253]=x55;
matrixinvcoeffs[254]=0;
matrixinvcoeffs[255]=x57;
if( !matrixinverse<16>(matrixinvcoeffs) ) {
continue;
}
IkReal gclwh0_0=matrixinvcoeffs[0], gclwh0_1=matrixinvcoeffs[16], gclwh1_2=matrixinvcoeffs[33], gclwh1_3=matrixinvcoeffs[49], gclwh2_0=matrixinvcoeffs[2], gclwh2_1=matrixinvcoeffs[18], gclwh3_2=matrixinvcoeffs[35], gclwh3_3=matrixinvcoeffs[51], gclwh4_2=matrixinvcoeffs[36], gclwh4_3=matrixinvcoeffs[52], gclwh4_4=matrixinvcoeffs[68], gclwh4_8=matrixinvcoeffs[132], gclwh4_11=matrixinvcoeffs[180], gclwh4_14=matrixinvcoeffs[228], gclwh5_0=matrixinvcoeffs[5], gclwh5_1=matrixinvcoeffs[21], gclwh5_6=matrixinvcoeffs[101], gclwh5_9=matrixinvcoeffs[149], gclwh5_10=matrixinvcoeffs[165], gclwh5_15=matrixinvcoeffs[245], gclwh6_2=matrixinvcoeffs[38], gclwh6_4=matrixinvcoeffs[70], gclwh6_5=matrixinvcoeffs[86], gclwh6_11=matrixinvcoeffs[182], gclwh6_12=matrixinvcoeffs[198], gclwh7_0=matrixinvcoeffs[7], gclwh7_6=matrixinvcoeffs[103], gclwh7_7=matrixinvcoeffs[119], gclwh7_10=matrixinvcoeffs[167], gclwh7_13=matrixinvcoeffs[215], gclwh8_2=matrixinvcoeffs[40], gclwh8_4=matrixinvcoeffs[72], gclwh8_5=matrixinvcoeffs[88], gclwh8_11=matrixinvcoeffs[184], gclwh8_12=matrixinvcoeffs[200], gclwh9_0=matrixinvcoeffs[9], gclwh9_6=matrixinvcoeffs[105], gclwh9_7=matrixinvcoeffs[121], gclwh9_10=matrixinvcoeffs[169], gclwh9_13=matrixinvcoeffs[217], gclwh10_2=matrixinvcoeffs[42], gclwh10_4=matrixinvcoeffs[74], gclwh10_5=matrixinvcoeffs[90], gclwh10_11=matrixinvcoeffs[186], gclwh10_12=matrixinvcoeffs[202], gclwh11_0=matrixinvcoeffs[11], gclwh11_6=matrixinvcoeffs[107], gclwh11_7=matrixinvcoeffs[123], gclwh11_10=matrixinvcoeffs[171], gclwh11_13=matrixinvcoeffs[219], gclwh12_2=matrixinvcoeffs[44], gclwh12_3=matrixinvcoeffs[60], gclwh12_4=matrixinvcoeffs[76], gclwh12_8=matrixinvcoeffs[140], gclwh12_11=matrixinvcoeffs[188], gclwh12_14=matrixinvcoeffs[236], gclwh13_0=matrixinvcoeffs[13], gclwh13_1=matrixinvcoeffs[29], gclwh13_6=matrixinvcoeffs[109], gclwh13_9=matrixinvcoeffs[157], gclwh13_10=matrixinvcoeffs[173], gclwh13_15=matrixinvcoeffs[253], gclwh14_2=matrixinvcoeffs[46], gclwh14_3=matrixinvcoeffs[62], gclwh14_4=matrixinvcoeffs[78], gclwh14_8=matrixinvcoeffs[142], gclwh14_11=matrixinvcoeffs[190], gclwh14_14=matrixinvcoeffs[238], gclwh15_0=matrixinvcoeffs[15], gclwh15_1=matrixinvcoeffs[31], gclwh15_6=matrixinvcoeffs[111], gclwh15_9=matrixinvcoeffs[159], gclwh15_10=matrixinvcoeffs[175], gclwh15_15=matrixinvcoeffs[255];
IkReal op[72], zeror[48];
int numroots;;
IkReal x64=pz*pz;
IkReal x65=pp*pp;
IkReal x66=((0.1893)*pz);
IkReal x67=((1.7)*pz);
IkReal x68=(gclwh15_9*npx);
IkReal x69=(gclwh6_11*r21);
IkReal x70=(pp*r22);
IkReal x71=((0.00702803935125)*r21);
IkReal x72=(gclwh5_9*npz);
IkReal x73=(gclwh8_11*r20);
IkReal x74=(npy*pz);
IkReal x75=((3.60823078949063e-5)*r22);
IkReal x76=(gclwh14_3*rxp0_2);
IkReal x77=((0.000977833645875)*r20);
IkReal x78=(npz*pz);
IkReal x79=((0.000977833645875)*r21);
IkReal x80=(gclwh10_12*r22);
IkReal x81=(gclwh10_2*rxp2_2);
IkReal x82=((0.00076243651125)*rxp1_2);
IkReal x83=((0.00600991575645741)*r20);
IkReal x84=((0.154705425)*rxp1_2);
IkReal x85=((0.017917245)*r21);
IkReal x86=(gclwh6_11*rxp1_2);
IkReal x87=((0.3786)*rxp1_2);
IkReal x88=(gclwh7_0*rxp1_2);
IkReal x89=((0.7572)*rxp1_2);
IkReal x90=((0.154705425)*rxp2_2);
IkReal x91=((2.0)*gclwh11_10);
IkReal x92=(gclwh12_8*r21);
IkReal x93=((0.81725)*pp);
IkReal x94=(pp*pz);
IkReal x95=(gclwh14_2*r20);
IkReal x96=(pp*r21);
IkReal x97=((2.0)*gclwh4_11);
IkReal x98=(gclwh8_12*r20);
IkReal x99=(npx*pz);
IkReal x100=(gclwh14_8*rxp0_2);
IkReal x101=((0.1893)*rxp2_2);
IkReal x102=(gclwh5_9*rxp2_2);
IkReal x103=((0.020662095)*rxp1_2);
IkReal x104=((0.007321434238125)*r21);
IkReal x105=((1.6345)*pz);
IkReal x106=((0.0089586225)*pz);
IkReal x107=(gclwh13_0*r21);
IkReal x108=(gclwh5_9*r22);
IkReal x109=(gclwh11_10*r22);
IkReal x110=(gclwh11_13*r22);
IkReal x111=((1.0)*r21);
IkReal x112=((0.3786)*rxp0_2);
IkReal x113=(gclwh14_14*rxp0_2);
IkReal x114=(pp*r20);
IkReal x115=((0.00195566729175)*r22);
IkReal x116=(gclwh15_10*rxp0_2);
IkReal x117=(gclwh14_8*r20);
IkReal x118=(gclwh12_8*rxp1_2);
IkReal x119=((2.0)*gclwh9_10);
IkReal x120=((2.0)*gclwh15_10);
IkReal x121=(gclwh5_15*rxp2_2);
IkReal x122=((2.0)*gclwh13_10);
IkReal x123=((0.00702803935125)*r20);
IkReal x124=(gclwh13_9*r21);
IkReal x125=(gclwh5_0*r22);
IkReal x126=((0.01464286847625)*r20);
IkReal x127=(gclwh15_1*r20);
IkReal x128=((0.000977833645875)*r22);
IkReal x129=((0.0089586225)*r20);
IkReal x130=((2.0)*gclwh10_11);
IkReal x131=(gclwh5_10*r22);
IkReal x132=((2.0)*pp);
IkReal x133=(gclwh15_9*r20);
IkReal x134=(gclwh1_3*r20);
IkReal x135=((0.00195566729175)*r20);
IkReal x136=(gclwh4_3*rxp2_2);
IkReal x137=((0.2183)*gclwh13_15);
IkReal x138=((2.0)*gclwh7_10);
IkReal x139=(gclwh15_0*r20);
IkReal x140=(gclwh9_0*r20);
IkReal x141=(gclwh15_15*rxp0_2);
IkReal x142=(gclwh2_1*r21);
IkReal x143=((4.0)*gclwh11_10);
IkReal x144=((0.30941085)*rxp0_2);
IkReal x145=(gclwh9_0*rxp0_2);
IkReal x146=(gclwh5_10*rxp2_2);
IkReal x147=((0.2183)*gclwh12_14);
IkReal x148=((0.2183)*gclwh14_14);
IkReal x149=(gclwh4_2*rxp2_2);
IkReal x150=((0.03275)*pp);
IkReal x151=((0.006199575)*rxp1_2);
IkReal x152=(gclwh12_2*rxp1_2);
IkReal x153=(gclwh5_0*rxp2_2);
IkReal x154=((3.60823078949063e-5)*r21);
IkReal x155=(gclwh14_11*rxp0_2);
IkReal x156=((0.020662095)*rxp0_2);
IkReal x157=(gclwh14_8*npx);
IkReal x158=((4.0)*gclwh9_10);
IkReal x159=((0.00195566729175)*r21);
IkReal x160=(gclwh8_12*rxp0_2);
IkReal x161=((0.01464286847625)*r21);
IkReal x162=((0.3786)*rxp2_2);
IkReal x163=((0.01464286847625)*r22);
IkReal x164=(gclwh7_13*r21);
IkReal x165=((4.0)*gclwh7_10);
IkReal x166=(gclwh13_0*rxp1_2);
IkReal x167=((0.1893)*rxp1_2);
IkReal x168=(gclwh6_2*r21);
IkReal x169=(gclwh5_1*rxp2_2);
IkReal x170=(gclwh8_2*rxp0_2);
IkReal x171=(gclwh9_10*r20);
IkReal x172=((4.0)*pp);
IkReal x173=(gclwh15_1*rxp0_2);
IkReal x174=(gclwh9_13*r20);
IkReal x175=((0.0089586225)*r21);
IkReal x176=(gclwh0_0*r20);
IkReal x177=(gclwh10_11*r22);
IkReal x178=((2.0)*gclwh12_11);
IkReal x179=((0.0655)*pz);
IkReal x180=((0.006199575)*rxp2_2);
IkReal x181=(gclwh12_14*rxp1_2);
IkReal x182=(gclwh15_0*rxp0_2);
IkReal x183=((2.0)*npx);
IkReal x184=(gclwh9_13*rxp0_2);
IkReal x185=((1.0)*pp);
IkReal x186=((4.0)*gclwh10_11);
IkReal x187=(gclwh15_9*rxp0_2);
IkReal x188=((3.60823078949063e-5)*r20);
IkReal x189=((0.00702803935125)*r22);
IkReal x190=(gclwh8_2*r20);
IkReal x191=((0.2183)*gclwh5_15);
IkReal x192=(gclwh10_2*r22);
IkReal x193=(gclwh5_1*r22);
IkReal x194=(gclwh13_9*rxp1_2);
IkReal x195=((2.0)*gclwh5_10);
IkReal x196=((0.020662095)*rxp2_2);
IkReal x197=(gclwh4_8*r22);
IkReal x198=((0.017917245)*r20);
IkReal x199=(gclwh7_0*r21);
IkReal x200=((0.00600991575645741)*r21);
IkReal x201=(gclwh11_0*r22);
IkReal x202=(gclwh6_12*r21);
IkReal x203=((0.2183)*gclwh15_15);
IkReal x204=(gclwh11_0*rxp2_2);
IkReal x205=((0.2183)*gclwh4_14);
IkReal x206=(gclwh4_14*rxp2_2);
IkReal x207=(gclwh6_2*rxp1_2);
IkReal x208=((0.1893)*rxp0_2);
IkReal x209=(gclwh4_8*rxp2_2);
IkReal x210=((0.12699240901125)*rxp1_2);
IkReal x211=(gclwh14_2*rxp0_2);
IkReal x212=(gclwh4_3*r22);
IkReal x213=((0.1893)*pp);
IkReal x214=(gclwh13_15*rxp1_2);
IkReal x215=(gclwh1_2*r20);
IkReal x216=((2.0)*gclwh14_11);
IkReal x217=(gclwh4_11*r22);
IkReal x218=((0.020662095)*x113);
IkReal x219=(gclwh6_5*x79);
IkReal x220=(gclwh8_5*x77);
IkReal x221=(gclwh12_14*x103);
IkReal x222=(gclwh10_5*x128);
IkReal x223=(gclwh4_14*x196);
IkReal x224=((0.0089586225)*x69);
IkReal x225=(gclwh12_11*x167);
IkReal x226=((0.017917245)*x118);
IkReal x227=((0.017917245)*x209);
IkReal x228=(gclwh4_11*x101);
IkReal x229=((0.0089586225)*x73);
IkReal x230=((0.1893)*x155);
IkReal x231=((0.0089586225)*x177);
IkReal x232=((0.017917245)*x100);
IkReal x233=((0.017917245)*x102);
IkReal x234=((0.0089586225)*x109);
IkReal x235=((0.1893)*x116);
IkReal x236=((0.017917245)*x194);
IkReal x237=(gclwh9_10*x129);
IkReal x238=((0.017917245)*x187);
IkReal x239=(gclwh13_10*x167);
IkReal x240=(gclwh7_10*x175);
IkReal x241=(gclwh5_10*x101);
IkReal x242=((0.020662095)*x141);
IkReal x243=(gclwh7_7*x79);
IkReal x244=(gclwh9_7*x77);
IkReal x245=(gclwh13_15*x103);
IkReal x246=((0.020662095)*x121);
IkReal x247=(gclwh11_7*x128);
IkReal x248=(gclwh10_5*x196);
IkReal x249=(gclwh8_5*x156);
IkReal x250=(gclwh14_14*x77);
IkReal x251=(gclwh6_5*x103);
IkReal x252=(gclwh4_14*x128);
IkReal x253=(gclwh12_14*x79);
IkReal x254=(gclwh8_11*x208);
IkReal x255=((0.000847933619625)*x92);
IkReal x256=(gclwh12_11*x175);
IkReal x257=(gclwh10_11*x101);
IkReal x258=((0.0089586225)*x217);
IkReal x259=((0.000847933619625)*x197);
IkReal x260=((0.1893)*x86);
IkReal x261=(gclwh14_11*x129);
IkReal x262=((0.000847933619625)*x117);
IkReal x263=(gclwh9_10*x208);
IkReal x264=(gclwh13_10*x175);
IkReal x265=(gclwh11_10*x101);
IkReal x266=((0.000847933619625)*x133);
IkReal x267=((0.0089586225)*x131);
IkReal x268=((0.000847933619625)*x108);
IkReal x269=(gclwh7_10*x167);
IkReal x270=((0.000847933619625)*x124);
IkReal x271=(gclwh15_10*x129);
IkReal x272=(gclwh5_15*x128);
IkReal x273=(gclwh7_7*x103);
IkReal x274=(gclwh13_15*x79);
IkReal x275=(gclwh15_15*x77);
IkReal x276=(gclwh9_7*x156);
IkReal x277=(gclwh11_7*x196);
IkReal x278=((0.017917245)*x177);
IkReal x279=(gclwh14_11*x112);
IkReal x280=((0.017917245)*x73);
IkReal x281=((0.04132419)*x113);
IkReal x282=((0.04132419)*x181);
IkReal x283=((0.04132419)*x206);
IkReal x284=(gclwh4_11*x162);
IkReal x285=((0.017917245)*x69);
IkReal x286=(gclwh12_11*x87);
IkReal x287=((0.04132419)*x121);
IkReal x288=((0.04132419)*x214);
IkReal x289=((0.04132419)*x141);
IkReal x290=((0.017917245)*x171);
IkReal x291=(gclwh15_10*x112);
IkReal x292=((0.017917245)*x109);
IkReal x293=(gclwh7_10*x85);
IkReal x294=((0.3786)*x146);
IkReal x295=(gclwh13_10*x87);
IkReal x296=((0.3786)*x86);
IkReal x297=(gclwh14_11*x198);
IkReal x298=(gclwh14_14*x135);
IkReal x299=(gclwh4_14*x115);
IkReal x300=(gclwh12_14*x159);
IkReal x301=(gclwh14_8*x114);
IkReal x302=((2.0)*x64);
IkReal x303=((1.0)*x65);
IkReal x304=(r21*x65);
IkReal x305=((0.2183)*gclwh10_5*x78);
IkReal x306=((0.2183)*gclwh8_5*x99);
IkReal x307=((0.10915)*gclwh6_5*x96);
IkReal x308=((0.2183)*gclwh6_5*x74);
IkReal x309=((0.10915)*gclwh8_5*x114);
IkReal x310=((0.10915)*gclwh10_5*x70);
IkReal x311=(gclwh12_3*pp*x167);
IkReal x312=(x130*x78);
IkReal x313=(x106*x190);
IkReal x314=((2.0)*gclwh8_11*x99);
IkReal x315=(gclwh10_2*pz*x70);
IkReal x316=(x211*x66);
IkReal x317=(x190*x94);
IkReal x318=(gclwh4_3*pp*x101);
IkReal x319=(x106*x192);
IkReal x320=(x152*x66);
IkReal x321=((2.0)*gclwh6_11*x74);
IkReal x322=(x149*x66);
IkReal x323=(x213*x76);
IkReal x324=(x106*x168);
IkReal x325=(gclwh13_1*pp*x167);
IkReal x326=(x106*x201);
IkReal x327=(x106*x140);
IkReal x328=(gclwh5_1*pp*x101);
IkReal x329=(x182*x66);
IkReal x330=(gclwh11_0*pz*x70);
IkReal x331=(x138*x74);
IkReal x332=(x140*x94);
IkReal x333=(x78*x91);
IkReal x334=(x173*x213);
IkReal x335=(x119*x99);
IkReal x336=(x106*x199);
IkReal x337=(x166*x66);
IkReal x338=(x153*x66);
IkReal x339=((0.10915)*gclwh7_7*x96);
IkReal x340=((0.2183)*gclwh9_7*x99);
IkReal x341=((0.2183)*gclwh11_7*x78);
IkReal x342=((0.10915)*gclwh9_7*x114);
IkReal x343=((0.2183)*gclwh7_7*x74);
IkReal x344=((0.10915)*gclwh11_7*x70);
IkReal x345=((0.10915)*gclwh14_14*x114);
IkReal x346=(x205*x78);
IkReal x347=(x147*x74);
IkReal x348=((0.10915)*gclwh12_14*x96);
IkReal x349=(x148*x99);
IkReal x350=((0.10915)*gclwh4_14*x70);
IkReal x351=((0.09465)*gclwh4_8*x70);
IkReal x352=(x94*x95);
IkReal x353=(gclwh12_3*x304);
IkReal x354=(x207*x66);
IkReal x355=(gclwh3_3*x304);
IkReal x356=(x134*x65);
IkReal x357=(gclwh3_2*r21*x106);
IkReal x358=(x216*x99);
IkReal x359=(x157*x66);
IkReal x360=(x106*x95);
IkReal x361=((0.09465)*pp*x92);
IkReal x362=(x212*x65);
IkReal x363=(x106*x215);
IkReal x364=(x170*x66);
IkReal x365=(x78*x97);
IkReal x366=(gclwh4_2*r22*x106);
IkReal x367=(gclwh4_8*npz*x66);
IkReal x368=(gclwh12_2*r21*x106);
IkReal x369=(x66*x81);
IkReal x370=((0.09465)*x301);
IkReal x371=(x178*x74);
IkReal x372=(gclwh12_8*npy*x66);
IkReal x373=(x127*x65);
IkReal x374=(x66*x72);
IkReal x375=(gclwh5_0*pz*x70);
IkReal x376=(gclwh13_9*npy*x66);
IkReal x377=(x106*x125);
IkReal x378=(x107*x94);
IkReal x379=((0.09465)*gclwh15_9*x114);
IkReal x380=(x120*x99);
IkReal x381=(x106*x107);
IkReal x382=(x142*x65);
IkReal x383=(gclwh2_0*r21*x106);
IkReal x384=(x145*x66);
IkReal x385=(x204*x66);
IkReal x386=(gclwh0_1*r20*x65);
IkReal x387=(x106*x176);
IkReal x388=((0.09465)*gclwh5_9*x70);
IkReal x389=(x66*x88);
IkReal x390=((0.09465)*gclwh13_9*x96);
IkReal x391=(x106*x139);
IkReal x392=(x66*x68);
IkReal x393=(x195*x78);
IkReal x394=(x122*x74);
IkReal x395=((0.10915)*gclwh13_15*x96);
IkReal x396=((0.10915)*gclwh5_15*x70);
IkReal x397=(x203*x99);
IkReal x398=((0.10915)*gclwh15_15*x114);
IkReal x399=(x191*x78);
IkReal x400=(x137*x74);
IkReal x401=(x132*x73);
IkReal x402=(x130*x70);
IkReal x403=((4.0)*gclwh6_11*x74);
IkReal x404=((4.0)*gclwh8_11*x99);
IkReal x405=(x132*x69);
IkReal x406=(x186*x78);
IkReal x407=(x70*x91);
IkReal x408=(x165*x74);
IkReal x409=(x114*x119);
IkReal x410=(x138*x96);
IkReal x411=(x158*x99);
IkReal x412=(x143*x78);
IkReal x413=(x114*x216);
IkReal x414=((4.0)*gclwh12_11*x74);
IkReal x415=((4.0)*gclwh4_11*x78);
IkReal x416=(x114*x148);
IkReal x417=((0.4366)*gclwh12_14*x74);
IkReal x418=((0.4366)*gclwh4_14*x78);
IkReal x419=(x147*x96);
IkReal x420=((0.4366)*gclwh14_14*x99);
IkReal x421=(x205*x70);
IkReal x422=(gclwh6_2*npy*x302);
IkReal x423=(gclwh6_2*x111*x94);
IkReal x424=(gclwh10_2*npz*x302);
IkReal x425=(gclwh8_2*x183*x64);
IkReal x426=(gclwh7_0*npy*x302);
IkReal x427=(gclwh9_0*x183*x64);
IkReal x428=(gclwh11_0*npz*x302);
IkReal x429=(gclwh7_0*x111*x94);
IkReal x430=(gclwh12_2*npy*x302);
IkReal x431=(gclwh3_2*npy*x302);
IkReal x432=(gclwh1_2*x183*x64);
IkReal x433=(gclwh14_3*x183*x94);
IkReal x434=(gclwh4_2*npz*x302);
IkReal x435=(gclwh4_3*x132*x78);
IkReal x436=(gclwh12_2*x111*x94);
IkReal x437=((1.0)*x215*x94);
IkReal x438=(gclwh3_3*x132*x74);
IkReal x439=((1.0)*gclwh4_2*pz*x70);
IkReal x440=(gclwh1_3*x183*x94);
IkReal x441=(gclwh3_2*x111*x94);
IkReal x442=(gclwh12_3*x132*x74);
IkReal x443=(gclwh14_2*x183*x64);
IkReal x444=(gclwh14_3*r20*x303);
IkReal x445=(gclwh0_0*x183*x64);
IkReal x446=(gclwh2_0*npy*x302);
IkReal x447=(gclwh5_1*x132*x78);
IkReal x448=(gclwh13_1*x132*x74);
IkReal x449=(gclwh15_0*x183*x64);
IkReal x450=(gclwh2_1*x132*x74);
IkReal x451=(gclwh0_1*x183*x94);
IkReal x452=(gclwh5_0*npz*x302);
IkReal x453=(gclwh13_0*npy*x302);
IkReal x454=((1.0)*x176*x94);
IkReal x455=((1.0)*x139*x94);
IkReal x456=(gclwh2_0*x111*x94);
IkReal x457=(gclwh13_1*x111*x65);
IkReal x458=(x193*x303);
IkReal x459=(gclwh15_1*x183*x94);
IkReal x460=(x283+x282);
IkReal x461=(x288+x287);
IkReal x462=(x249+x248);
IkReal x463=(x221+x223);
IkReal x464=(x246+x245);
IkReal x465=(x276+x277);
IkReal x466=(x321+x229+x230+x231);
IkReal x467=(x331+x237+x234+x235);
IkReal x468=(x394+x393+x269+x271);
IkReal x469=(x371+x365+x261+x260);
IkReal x470=(x298+x416+x417+x418);
IkReal x471=(x306+x307+x305+x219);
IkReal x472=(x346+x347+x345+x250);
IkReal x473=(x399+x398+x275+x400);
IkReal x474=(x339+x340+x341+x243);
IkReal x475=(x380+x265+x264+x267+x263);
IkReal x476=(x358+x258+x254+x256+x257);
IkReal x477=(x314+x312+x228+x225+x224);
IkReal x478=(x333+x335+x239+x241+x240);
IkReal x479=(x350+x348+x349+x252+x253);
IkReal x480=(x395+x397+x396+x274+x272);
IkReal x481=(x342+x343+x344+x247+x244);
IkReal x482=(x300+x299+x419+x421+x420);
IkReal x483=(x296+x297+x413+x414+x415);
IkReal x484=(x308+x309+x310+x220+x222);
IkReal x485=(x286+x285+x284+x405+x404+x406);
IkReal x486=(x293+x294+x295+x412+x410+x411);
IkReal x487=(x290+x291+x292+x407+x409+x408);
IkReal x488=(x278+x279+x280+x401+x403+x402);
IkReal x489=(((x178*x96))+((x70*x97))+((gclwh12_11*x85))+(((0.017917245)*x217))+((gclwh10_11*x162))+(((4.0)*gclwh14_11*x99))+((gclwh8_11*x112)));
IkReal x490=(x324+x320+x322+x323+x232+x425+x424+x423);
IkReal x491=(x338+x337+x336+x334+x238+x429+x428+x427);
IkReal x492=(x319+x318+x315+x317+x316+x311+x313+x227+x226+x422);
IkReal x493=(x332+x330+x325+x326+x327+x328+x329+x233+x236+x426);
IkReal x494=(x388+x389+x391+x390+x392+x268+x270+x458+x459+x456+x457+x454+x455+x452+x453+x450+x451);
IkReal x495=(x351+x353+x352+x355+x354+x357+x356+x359+x360+x361+x362+x363+x259+x255+x430+x431+x432+x433+x434+x66);
IkReal x496=(x372+x370+x368+x369+x364+x366+x367+x262+x438+x439+x435+x436+x437+x444+x441+x440+x443+x442);
IkReal x497=(x386+x387+x384+x385+x382+x383+x381+x379+x378+x377+x376+x375+x374+x373+x266+x449+x448+x445+x447+x446+x66);
op[0]=((((-0.81725)*gclwh10_12*x70))+(((1.6345)*gclwh10_12*x78))+(((-1.0)*x484))+((gclwh6_12*x104))+(((-0.007321434238125)*x98))+(((-1.6345)*gclwh6_12*x74))+(((-0.007321434238125)*x80))+(((-1.0)*gclwh4_8*x90))+x463+x471+((x202*x93))+(((0.154705425)*x100))+(((-1.0)*x218))+(((1.6345)*gclwh8_12*x99))+(((-1.0)*x93*x98))+(((-1.0)*gclwh12_8*x84)));
op[1]=((((-1.0)*x490))+(((-1.0)*x185*x69))+(((-1.0)*x477))+((gclwh10_11*x70))+(((-0.12699240901125)*x136))+(((-1.0)*gclwh12_3*x210))+x492+x466+((pp*x73))+(((0.12699240901125)*x76)));
op[2]=((-0.17125635)+(((-1.0)*x485))+x488);
op[3]=(((gclwh8_2*x123))+((gclwh10_2*x189))+(((-0.160905)*x100))+(((0.7845)*gclwh8_2*x114))+(((-1.0)*gclwh6_2*x71))+(((-0.7845)*gclwh6_2*x96))+(((0.160905)*x209))+(((-0.14850585)*x149))+(((-0.14850585)*x152))+(((-1.569)*gclwh10_2*x78))+(((-1.0)*x460))+(((0.160905)*x118))+(((0.14850585)*x211))+x281+(((-1.569)*gclwh8_2*x99))+(((0.7845)*gclwh10_2*x70))+(((1.569)*gclwh6_2*x74)));
op[4]=((((-0.0655)*gclwh6_12*x74))+(((-1.0)*x484))+(((0.03275)*gclwh6_12*x96))+(((-1.0)*x463))+(((-0.000293394886875)*x98))+x218+((gclwh4_8*x180))+(((-0.000293394886875)*x80))+x471+(((-0.006199575)*x100))+(((0.0655)*gclwh10_12*x78))+(((0.0655)*gclwh8_12*x99))+(((0.006199575)*x118))+(((-0.03275)*gclwh10_12*x70))+(((0.000293394886875)*x202))+(((-1.0)*x150*x98)));
op[5]=((((-1.0)*gclwh10_11*x70))+(((-1.0)*x490))+((pp*x69))+(((-1.0)*x185*x73))+(((-1.0)*x466))+x492+x477+(((-1.0)*gclwh12_3*x82))+(((-0.00076243651125)*x136))+(((0.00076243651125)*x76)));
op[6]=((((0.12699240901125)*x173))+(((-1.0)*x491))+(((-1.0)*gclwh9_10*x114))+((gclwh7_10*x96))+(((-1.0)*x467))+(((-1.0)*gclwh11_10*x70))+x493+x478+(((-1.0)*gclwh13_1*x210))+(((-0.12699240901125)*x169)));
op[7]=(((gclwh7_13*x104))+(((-0.81725)*gclwh11_13*x70))+(((-1.0)*gclwh13_9*x84))+(((-1.0)*x481))+(((0.154705425)*x187))+((x164*x93))+x464+x474+(((-1.0)*gclwh5_9*x90))+(((1.6345)*gclwh9_13*x99))+(((-0.007321434238125)*x110))+(((-1.0)*x242))+(((-1.0)*x174*x93))+(((-0.007321434238125)*x174))+(((1.6345)*gclwh11_13*x78))+(((-1.6345)*gclwh7_13*x74)));
op[8]=((((-0.160905)*x194))+(((0.160905)*x187))+(((-1.0)*gclwh7_0*x71))+(((-0.160905)*x102))+(((0.14850585)*x182))+(((1.569)*gclwh7_0*x74))+(((-0.14850585)*x153))+(((-0.14850585)*x166))+((gclwh9_0*x123))+x461+(((-1.569)*gclwh11_0*x78))+(((-1.569)*gclwh9_0*x99))+(((-1.0)*x289))+(((-0.7845)*gclwh7_0*x96))+(((0.7845)*gclwh11_0*x70))+((gclwh11_0*x189))+(((0.7845)*gclwh9_0*x114)));
op[9]=((-0.17125635)+(((-1.0)*x486))+x487);
op[10]=((((-1.0)*x491))+((gclwh11_10*x70))+(((-1.0)*gclwh7_10*x96))+(((-1.0)*x478))+x493+x467+(((0.00076243651125)*x173))+((gclwh9_10*x114))+(((-0.00076243651125)*x169))+(((-1.0)*gclwh13_1*x82)));
op[11]=((((0.000293394886875)*x164))+(((-0.03275)*gclwh9_13*x114))+(((0.03275)*gclwh7_13*x96))+(((-0.006199575)*x187))+(((-1.0)*x481))+(((-0.0655)*gclwh7_13*x74))+(((-0.03275)*gclwh11_13*x70))+(((-1.0)*x464))+((gclwh13_9*x151))+(((0.0655)*gclwh11_13*x78))+x242+(((-0.000293394886875)*x110))+x474+(((0.0655)*gclwh9_13*x99))+(((-0.000293394886875)*x174))+(((0.006199575)*x102)));
op[12]=((((1.6345)*gclwh4_8*x78))+(((1.6345)*gclwh12_8*x74))+((x117*x93))+(((-1.6345)*gclwh14_8*x99))+(((0.154705425)*x160))+(((-0.007321434238125)*x92))+(((-1.0)*x472))+(((-0.81725)*gclwh4_8*x70))+((gclwh10_12*x90))+x462+x479+(((-1.0)*x92*x93))+(((0.007321434238125)*x117))+(((-1.0)*x251))+(((-1.0)*gclwh6_12*x84))+(((-0.007321434238125)*x197)));
op[13]=((-0.679811285)+((gclwh3_3*x200))+(((1.341705325)*gclwh12_3*x74))+(((-1.0)*x496))+(((-1.0)*gclwh12_3*x200))+(((1.341705325)*gclwh4_3*x78))+(((-0.66189404)*gclwh12_3*x96))+(((-1.0)*x476))+(((-0.66189404)*gclwh4_3*x70))+(((-0.679811285)*gclwh1_3*x114))+(((-0.679811285)*gclwh3_3*x96))+(((1.341705325)*gclwh3_3*x74))+(((1.341705325)*gclwh1_3*x99))+x495+x469+((gclwh1_3*x83))+((gclwh14_3*x83))+(((-1.341705325)*gclwh14_3*x99))+((gclwh14_11*x114))+(((-1.0)*gclwh12_11*x96))+(((-0.00600991575645741)*x212))+(((-1.0)*gclwh4_11*x70))+(((0.66189404)*gclwh14_3*x114)));
op[14]=((-0.07735732)+(((-1.0)*x489))+x483);
op[15]=((((-0.7845)*gclwh4_2*x70))+(((-1.0)*gclwh4_2*x189))+(((-0.85)*x301))+(((0.85)*gclwh4_8*x70))+(((1.569)*gclwh3_2*x74))+(((0.7845)*pp*x95))+(((-1.0)*x482))+(((-0.14850585)*x81))+((gclwh3_2*x71))+(((-0.7845)*gclwh12_2*x96))+(((-0.007614829125)*x117))+(((1.569)*gclwh12_2*x74))+(((0.00702803935125)*x95))+(((0.85)*pp*x92))+(((-0.14850585)*x170))+(((0.007614829125)*x92))+x470+(((0.007614829125)*x197))+(((-0.7845)*gclwh1_2*x114))+(((1.569)*gclwh4_2*x78))+(((-0.7845)*gclwh3_2*x96))+(((-1.569)*gclwh14_2*x99))+(((-1.0)*gclwh12_2*x71))+(((1.569)*gclwh1_2*x99))+(((-1.0)*gclwh12_8*npy*x67))+((gclwh1_2*x123))+(((-1.0)*gclwh4_8*npz*x67))+(((0.14850585)*x207))+((x157*x67)));
op[16]=((((0.0655)*gclwh14_8*x99))+((x150*x92))+(((-1.0)*gclwh6_12*x151))+(((0.03275)*gclwh4_8*x70))+(((-0.0655)*gclwh12_8*x74))+(((-0.0655)*gclwh4_8*x78))+(((-0.03275)*x301))+(((-1.0)*x479))+(((0.006199575)*x160))+((gclwh10_12*x180))+(((-0.000293394886875)*x117))+(((0.000293394886875)*x92))+x462+x472+(((0.000293394886875)*x197))+(((-1.0)*x251)));
op[17]=((0.012986285)+(((-0.00493096)*gclwh14_3*x114))+(((-1.0)*gclwh14_11*x114))+(((0.008055325)*gclwh3_3*x74))+(((-1.0)*x496))+(((-1.0)*x469))+(((-0.012986285)*gclwh3_3*x96))+(((0.008055325)*gclwh12_3*x74))+x495+x476+(((0.008055325)*gclwh4_3*x78))+(((-0.008055325)*gclwh14_3*x99))+((gclwh3_3*x154))+(((0.00493096)*gclwh12_3*x96))+(((0.00493096)*gclwh4_3*x70))+(((3.60823078949063e-5)*x134))+(((-1.0)*gclwh4_3*x75))+(((-0.012986285)*gclwh1_3*x114))+((gclwh12_11*x96))+((gclwh14_3*x188))+((gclwh4_11*x70))+(((-1.0)*gclwh12_3*x154))+(((0.008055325)*gclwh1_3*x99)));
op[18]=((0.679811285)+((gclwh13_1*x200))+(((-1.0)*x494))+(((1.341705325)*gclwh0_1*x99))+(((0.00600991575645741)*x193))+(((-0.66189404)*gclwh15_1*x114))+(((0.00600991575645741)*x142))+(((-1.0)*gclwh15_1*x83))+(((-0.679811285)*gclwh0_1*x114))+(((-1.341705325)*gclwh5_1*x78))+(((-1.0)*x475))+(((-1.341705325)*gclwh13_1*x74))+(((-1.0)*gclwh5_10*x70))+(((-1.0)*gclwh13_10*x96))+((gclwh0_1*x83))+((gclwh15_10*x114))+x497+x468+(((0.66189404)*gclwh13_1*x96))+(((1.341705325)*gclwh2_1*x74))+(((-0.679811285)*gclwh2_1*x96))+(((0.66189404)*gclwh5_1*x70))+(((1.341705325)*gclwh15_1*x99)));
op[19]=(((x105*x68))+(((-1.0)*x105*x72))+(((-1.0)*x480))+((x124*x93))+(((-1.0)*x465))+(((-0.154705425)*x184))+x273+(((-1.0)*gclwh11_13*x90))+x473+(((-0.007321434238125)*x133))+(((-1.0)*x133*x93))+(((-1.6345)*gclwh13_9*x74))+(((0.007321434238125)*x108))+((gclwh7_13*x84))+((gclwh13_9*x104))+(((0.81725)*gclwh5_9*x70)));
op[20]=((((-0.7845)*gclwh15_0*x114))+((gclwh15_15*x135))+(((-0.85)*gclwh15_9*x114))+((gclwh0_0*x123))+(((0.007614829125)*x108))+(((-0.007614829125)*x133))+(((-1.0)*x191*x70))+(((-0.14850585)*x88))+(((-0.7845)*gclwh2_0*x96))+(((0.4366)*gclwh13_15*x74))+(((0.007614829125)*x124))+(((-1.569)*gclwh5_0*x78))+(((1.569)*gclwh15_0*x99))+(((0.14850585)*x145))+(((-0.7845)*gclwh0_0*x114))+((gclwh2_0*x71))+(((-1.0)*gclwh15_0*x123))+((gclwh13_0*x71))+(((1.569)*gclwh2_0*x74))+((x67*x68))+((x114*x203))+(((1.569)*gclwh0_0*x99))+(((0.85)*gclwh5_9*x70))+(((-1.0)*gclwh5_15*x115))+(((-1.0)*x137*x96))+(((0.4366)*gclwh5_15*x78))+(((-1.0)*x67*x72))+(((-1.0)*gclwh13_15*x159))+(((0.85)*gclwh13_9*x96))+(((-0.4366)*gclwh15_15*x99))+(((0.7845)*gclwh5_0*x70))+(((0.00702803935125)*x125))+(((0.14850585)*x204))+(((-1.0)*gclwh13_9*npy*x67))+(((0.7845)*gclwh13_0*x96))+(((-1.569)*gclwh13_0*x74)));
op[21]=((-0.07735732)+(((4.0)*gclwh15_10*x99))+((gclwh11_10*x162))+(((-4.0)*gclwh13_10*x74))+((x195*x70))+(((-1.0)*gclwh15_10*x198))+(((0.017917245)*x131))+(((-1.0)*x114*x120))+((gclwh9_10*x112))+((x122*x96))+((gclwh13_10*x85))+(((-4.0)*gclwh5_10*x78))+(((-1.0)*gclwh7_10*x87)));
op[22]=((-0.012986285)+((gclwh5_1*x75))+(((0.008055325)*gclwh2_1*x74))+(((3.60823078949063e-5)*x142))+(((-1.0)*x494))+(((-1.0)*gclwh15_10*x114))+(((-0.00493096)*gclwh5_1*x70))+(((-0.012986285)*gclwh2_1*x96))+(((-0.008055325)*gclwh5_1*x78))+(((0.008055325)*gclwh15_1*x99))+(((-1.0)*x468))+((gclwh5_10*x70))+(((-0.012986285)*gclwh0_1*x114))+x497+x475+((gclwh0_1*x188))+(((0.00493096)*gclwh15_1*x114))+(((-0.00493096)*gclwh13_1*x96))+(((0.008055325)*gclwh0_1*x99))+((gclwh13_10*x96))+(((-3.60823078949063e-5)*x127))+(((-0.008055325)*gclwh13_1*x74))+((gclwh13_1*x154)));
op[23]=((((0.0655)*gclwh13_9*x74))+(((-0.006199575)*x184))+(((0.03275)*gclwh15_9*x114))+(((-1.0)*x179*x68))+(((-0.03275)*gclwh13_9*x96))+(((-0.000293394886875)*x124))+((gclwh7_13*x151))+(((-1.0)*x473))+(((0.000293394886875)*x133))+(((-1.0)*x465))+(((-0.000293394886875)*x108))+x273+x480+(((-0.03275)*gclwh5_9*x70))+(((-1.0)*gclwh11_13*x180))+((x179*x72)));
op[24]=((-0.35681135)+(((-1.0)*x485))+x488);
op[25]=((((-3.269)*gclwh8_2*x99))+((gclwh8_2*x126))+((gclwh10_2*x163))+(((-1.0)*gclwh6_2*x161))+(((-1.0)*x460))+(((3.269)*gclwh6_2*x74))+(((-3.269)*gclwh10_2*x78))+(((-0.30941085)*x152))+x281+((gclwh14_2*x144))+(((-0.30941085)*x149))+(((-1.6345)*gclwh6_2*x96))+(((1.6345)*gclwh8_2*x114))+(((1.6345)*gclwh10_2*x70)));
op[26]=((((1.569)*pp*x98))+(((0.08264838)*x113))+(((1.569)*gclwh10_12*x70))+(((-3.138)*gclwh10_12*x78))+(((-0.0140560787025)*x202))+(((-1.569)*gclwh6_12*x96))+(((0.0140560787025)*x80))+(((-0.08264838)*x181))+(((0.0140560787025)*x98))+(((-0.08264838)*x206))+(((3.138)*gclwh6_12*x74))+(((-3.138)*gclwh8_12*x99)));
op[27]=((((-0.03583449)*x73))+(((-1.0)*x172*x73))+(((0.03583449)*x69))+(((8.0)*gclwh10_11*x78))+(((0.7572)*gclwh4_11*rxp2_2))+(((-0.03583449)*x177))+(((8.0)*gclwh8_11*x99))+(((-0.7572)*x155))+(((-1.0)*x186*x70))+((gclwh12_11*x89))+(((-8.0)*gclwh6_11*x74))+((x172*x69)));
op[28]=((-0.01429865)+(((-1.0)*x488))+x485);
op[29]=((((-0.00058678977375)*x168))+(((-0.131)*gclwh8_2*x99))+(((0.00058678977375)*x190))+(((0.00058678977375)*x192))+(((0.0655)*gclwh8_2*x114))+(((0.01239915)*x211))+x460+(((-0.0655)*gclwh6_2*x96))+(((-1.0)*x281))+(((0.131)*gclwh6_2*x74))+(((-0.131)*gclwh10_2*x78))+(((-0.01239915)*x152))+(((0.0655)*gclwh10_2*x70))+(((-0.01239915)*x149)));
op[30]=((((-3.269)*gclwh9_0*x99))+(((-1.6345)*gclwh7_0*x96))+(((1.6345)*gclwh11_0*x70))+(((-0.30941085)*x166))+(((3.269)*gclwh7_0*x74))+(((-1.0)*gclwh7_0*x161))+(((-0.30941085)*x153))+(((1.6345)*gclwh9_0*x114))+((gclwh9_0*x126))+x461+(((-3.269)*gclwh11_0*x78))+((gclwh15_0*x144))+(((-1.0)*x289))+((gclwh11_0*x163)));
op[31]=((-0.35681135)+(((-1.0)*x486))+x487);
op[32]=((((0.03583449)*x171))+(((-1.0)*gclwh13_10*x89))+(((-0.03583449)*gclwh7_10*r21))+(((-1.0)*x165*x96))+((x143*x70))+(((0.03583449)*x109))+(((-8.0)*gclwh11_10*x78))+(((8.0)*gclwh7_10*x74))+(((-0.7572)*x146))+(((0.7572)*x116))+((x114*x158))+(((-8.0)*gclwh9_10*x99)));
op[33]=((((-0.0140560787025)*x164))+(((-3.138)*gclwh11_13*x78))+(((1.569)*gclwh9_13*x114))+(((0.0140560787025)*x110))+(((-0.08264838)*x214))+(((0.08264838)*x141))+(((3.138)*gclwh7_13*x74))+(((1.569)*gclwh11_13*x70))+(((0.0140560787025)*x174))+(((-1.569)*gclwh7_13*x96))+(((-0.08264838)*x121))+(((-3.138)*gclwh9_13*x99)));
op[34]=((((-0.0655)*gclwh7_0*x96))+(((-0.00058678977375)*x199))+(((0.00058678977375)*x140))+(((0.131)*gclwh7_0*x74))+(((-1.0)*x461))+x289+(((-0.131)*gclwh11_0*x78))+(((0.0655)*gclwh9_0*x114))+(((-0.131)*gclwh9_0*x99))+(((0.00058678977375)*x201))+(((0.0655)*gclwh11_0*x70))+(((-0.01239915)*x166))+(((-0.01239915)*x153))+(((0.01239915)*x182)));
op[35]=((-0.01429865)+(((-1.0)*x487))+x486);
op[36]=((1.31196768)+(((-1.0)*x489))+x483);
op[37]=((((-1.6345)*gclwh3_2*x96))+(((-1.0)*gclwh12_2*x161))+(((3.269)*gclwh12_2*x74))+(((0.30941085)*x207))+(((-1.0)*x482))+(((-1.0)*gclwh4_2*x163))+(((-3.269)*gclwh14_2*x99))+(((-1.6345)*gclwh1_2*x114))+(((0.01464286847625)*x95))+(((3.269)*gclwh1_2*x99))+x470+(((-1.6345)*gclwh12_2*x96))+(((-1.6345)*gclwh4_2*x70))+(((3.269)*gclwh3_2*x74))+(((-0.30941085)*x81))+((gclwh1_2*x126))+((gclwh3_2*x161))+(((-1.0)*gclwh8_2*x144))+(((1.6345)*pp*x95))+(((3.269)*gclwh4_2*x78)));
IkReal x498=pz*pz;
IkReal x499=pp*pp;
IkReal x500=((0.1893)*pz);
IkReal x501=((1.7)*pz);
IkReal x502=(gclwh15_9*npx);
IkReal x503=(pp*r21);
IkReal x504=(pp*r22);
IkReal x505=((0.00702803935125)*r21);
IkReal x506=(gclwh5_9*npz);
IkReal x507=(pp*r20);
IkReal x508=(npy*pz);
IkReal x509=((4.0)*gclwh12_11);
IkReal x510=((3.60823078949063e-5)*r22);
IkReal x511=(gclwh14_3*rxp0_2);
IkReal x512=((0.000977833645875)*r20);
IkReal x513=(npz*pz);
IkReal x514=((0.000977833645875)*r21);
IkReal x515=(gclwh10_2*rxp2_2);
IkReal x516=((0.00076243651125)*rxp1_2);
IkReal x517=((0.00600991575645741)*r20);
IkReal x518=((0.154705425)*rxp1_2);
IkReal x519=((0.4366)*gclwh5_15);
IkReal x520=(gclwh6_11*rxp1_2);
IkReal x521=(gclwh7_0*rxp1_2);
IkReal x522=((0.154705425)*rxp2_2);
IkReal x523=((2.0)*gclwh11_10);
IkReal x524=((0.2970117)*rxp1_2);
IkReal x525=((0.017917245)*r21);
IkReal x526=(gclwh14_2*pz);
IkReal x527=(gclwh12_8*r21);
IkReal x528=(gclwh14_2*rxp0_2);
IkReal x529=((2.0)*gclwh4_11);
IkReal x530=((0.007321434238125)*r20);
IkReal x531=(npx*pz);
IkReal x532=((0.4366)*gclwh15_15);
IkReal x533=(gclwh10_11*rxp2_2);
IkReal x534=(gclwh5_9*rxp2_2);
IkReal x535=((0.020662095)*rxp1_2);
IkReal x536=((0.007321434238125)*r21);
IkReal x537=(gclwh0_0*r20);
IkReal x538=((0.0089586225)*r21);
IkReal x539=(gclwh13_0*pz);
IkReal x540=((1.6345)*pz);
IkReal x541=((0.007321434238125)*r22);
IkReal x542=((1.0)*pz);
IkReal x543=(gclwh14_14*rxp0_2);
IkReal x544=(gclwh4_14*r22);
IkReal x545=((0.1893)*rxp0_2);
IkReal x546=((0.00058678977375)*r22);
IkReal x547=(gclwh12_8*rxp1_2);
IkReal x548=((2.0)*gclwh9_10);
IkReal x549=((0.1893)*rxp2_2);
IkReal x550=((2.0)*gclwh15_10);
IkReal x551=((4.0)*gclwh14_11);
IkReal x552=(gclwh5_15*rxp2_2);
IkReal x553=((0.020662095)*rxp0_2);
IkReal x554=((2.0)*gclwh13_10);
IkReal x555=((0.3786)*rxp1_2);
IkReal x556=(gclwh9_0*r20);
IkReal x557=(gclwh13_9*r21);
IkReal x558=(gclwh15_1*r20);
IkReal x559=((0.000977833645875)*r22);
IkReal x560=((0.006199575)*rxp0_2);
IkReal x561=(gclwh6_2*rxp1_2);
IkReal x562=((0.0089586225)*r20);
IkReal x563=((2.0)*gclwh10_11);
IkReal x564=((2.0)*pp);
IkReal x565=((0.00058678977375)*r21);
IkReal x566=(gclwh1_3*r20);
IkReal x567=(gclwh14_14*r20);
IkReal x568=(gclwh9_0*rxp0_2);
IkReal x569=(gclwh4_3*rxp2_2);
IkReal x570=(gclwh5_0*r22);
IkReal x571=((0.03583449)*r20);
IkReal x572=((0.00058678977375)*r20);
IkReal x573=((0.2183)*gclwh13_15);
IkReal x574=((2.0)*gclwh7_10);
IkReal x575=(gclwh2_1*r21);
IkReal x576=((4.0)*gclwh15_10);
IkReal x577=((0.0089586225)*pz);
IkReal x578=((0.2183)*gclwh12_14);
IkReal x579=((0.2183)*gclwh14_14);
IkReal x580=(gclwh11_0*rxp2_2);
IkReal x581=(gclwh8_2*rxp0_2);
IkReal x582=((0.3786)*rxp2_2);
IkReal x583=(gclwh12_2*rxp1_2);
IkReal x584=(gclwh5_0*rxp2_2);
IkReal x585=((3.60823078949063e-5)*r21);
IkReal x586=(gclwh15_9*r20);
IkReal x587=((0.3786)*rxp0_2);
IkReal x588=((0.006199575)*rxp1_2);
IkReal x589=(gclwh14_8*npx);
IkReal x590=(gclwh13_15*r21);
IkReal x591=((0.017917245)*r20);
IkReal x592=(gclwh5_15*r22);
IkReal x593=((0.000293394886875)*r21);
IkReal x594=(gclwh13_0*rxp1_2);
IkReal x595=(gclwh7_10*rxp1_2);
IkReal x596=((0.000293394886875)*r22);
IkReal x597=(gclwh5_1*rxp2_2);
IkReal x598=((0.154705425)*rxp0_2);
IkReal x599=((0.4366)*gclwh13_15);
IkReal x600=((0.0089586225)*r22);
IkReal x601=((0.2970117)*rxp2_2);
IkReal x602=(gclwh5_9*r22);
IkReal x603=((0.7572)*rxp0_2);
IkReal x604=((4.0)*gclwh4_11);
IkReal x605=(gclwh15_1*rxp0_2);
IkReal x606=((0.000293394886875)*r20);
IkReal x607=((2.0)*gclwh6_11);
IkReal x608=((0.4366)*gclwh12_14);
IkReal x609=((0.017917245)*r22);
IkReal x610=(gclwh15_0*r20);
IkReal x611=(gclwh15_15*r20);
IkReal x612=((2.0)*gclwh12_11);
IkReal x613=(gclwh14_8*rxp0_2);
IkReal x614=((0.0655)*pz);
IkReal x615=((0.006199575)*rxp2_2);
IkReal x616=((0.04132419)*rxp1_2);
IkReal x617=((0.4366)*gclwh4_14);
IkReal x618=(gclwh15_0*rxp0_2);
IkReal x619=(gclwh14_8*r20);
IkReal x620=((0.03583449)*r22);
IkReal x621=((2.0)*gclwh8_11);
IkReal x622=((4.0)*gclwh13_10);
IkReal x623=(gclwh15_9*rxp0_2);
IkReal x624=((3.60823078949063e-5)*r20);
IkReal x625=((0.00702803935125)*r22);
IkReal x626=((0.2183)*gclwh5_15);
IkReal x627=(gclwh5_1*r22);
IkReal x628=((4.0)*gclwh5_10);
IkReal x629=(gclwh13_9*rxp1_2);
IkReal x630=((2.0)*gclwh5_10);
IkReal x631=((0.4366)*gclwh14_14);
IkReal x632=((0.020662095)*rxp2_2);
IkReal x633=(gclwh4_8*r22);
IkReal x634=(gclwh4_2*rxp2_2);
IkReal x635=((0.00600991575645741)*r21);
IkReal x636=((0.2183)*gclwh15_15);
IkReal x637=((0.2183)*gclwh4_14);
IkReal x638=((0.00702803935125)*r20);
IkReal x639=(gclwh12_14*r21);
IkReal x640=(gclwh4_8*rxp2_2);
IkReal x641=((0.2970117)*rxp0_2);
IkReal x642=(gclwh8_2*pz);
IkReal x643=(gclwh13_1*rxp1_2);
IkReal x644=((0.1893)*pp);
IkReal x645=(gclwh12_3*rxp1_2);
IkReal x646=((0.01464286847625)*r21);
IkReal x647=((0.1893)*rxp1_2);
IkReal x648=(gclwh4_3*r22);
IkReal x649=((2.0)*gclwh14_11);
IkReal x650=((0.03583449)*r21);
IkReal x651=((0.00195566729175)*x590);
IkReal x652=((0.00195566729175)*x592);
IkReal x653=((0.00195566729175)*x611);
IkReal x654=(gclwh15_10*x591);
IkReal x655=(gclwh7_10*x555);
IkReal x656=(gclwh5_10*x609);
IkReal x657=(gclwh9_10*x587);
IkReal x658=(gclwh13_10*x525);
IkReal x659=(gclwh11_10*x582);
IkReal x660=(gclwh12_14*x535);
IkReal x661=(gclwh6_5*x514);
IkReal x662=(gclwh4_14*x632);
IkReal x663=(gclwh8_5*x512);
IkReal x664=((0.020662095)*x543);
IkReal x665=(gclwh10_5*x559);
IkReal x666=((0.017917245)*x547);
IkReal x667=(gclwh8_11*x562);
IkReal x668=(gclwh14_11*x545);
IkReal x669=((0.017917245)*x640);
IkReal x670=(gclwh10_11*x600);
IkReal x671=(gclwh6_11*x538);
IkReal x672=(gclwh12_11*x647);
IkReal x673=(gclwh4_11*x549);
IkReal x674=((0.017917245)*x613);
IkReal x675=((0.017917245)*x534);
IkReal x676=(gclwh13_10*x647);
IkReal x677=(gclwh7_10*x538);
IkReal x678=(gclwh5_10*x549);
IkReal x679=((0.017917245)*x629);
IkReal x680=((0.017917245)*x623);
IkReal x681=(gclwh11_10*x600);
IkReal x682=(gclwh15_10*x545);
IkReal x683=(gclwh9_10*x562);
IkReal x684=(gclwh13_15*x535);
IkReal x685=((0.020662095)*x552);
IkReal x686=(gclwh7_7*x514);
IkReal x687=(gclwh9_7*x512);
IkReal x688=(gclwh15_15*x553);
IkReal x689=(gclwh11_7*x559);
IkReal x690=(gclwh12_11*x525);
IkReal x691=((0.3786)*x533);
IkReal x692=(gclwh4_11*x609);
IkReal x693=(gclwh8_11*x587);
IkReal x694=((0.00195566729175)*x544);
IkReal x695=((0.00195566729175)*x639);
IkReal x696=((0.00195566729175)*x567);
IkReal x697=((0.000977833645875)*x544);
IkReal x698=(gclwh10_5*x632);
IkReal x699=(gclwh12_14*x514);
IkReal x700=(gclwh8_5*x553);
IkReal x701=(gclwh6_5*x535);
IkReal x702=(gclwh14_14*x512);
IkReal x703=((0.000847933619625)*x527);
IkReal x704=((0.1893)*x520);
IkReal x705=(gclwh14_11*x562);
IkReal x706=((0.000847933619625)*x633);
IkReal x707=(gclwh8_11*x545);
IkReal x708=(gclwh12_11*x538);
IkReal x709=((0.1893)*x533);
IkReal x710=(gclwh4_11*x600);
IkReal x711=((0.000847933619625)*x619);
IkReal x712=((0.1893)*x595);
IkReal x713=(gclwh15_10*x562);
IkReal x714=((0.000847933619625)*x586);
IkReal x715=((0.000847933619625)*x602);
IkReal x716=(gclwh9_10*x545);
IkReal x717=(gclwh13_10*x538);
IkReal x718=((0.000847933619625)*x557);
IkReal x719=(gclwh11_10*x549);
IkReal x720=(gclwh5_10*x600);
IkReal x721=(gclwh15_15*x512);
IkReal x722=(gclwh7_7*x535);
IkReal x723=(gclwh5_15*x559);
IkReal x724=(gclwh9_7*x553);
IkReal x725=(gclwh11_7*x632);
IkReal x726=(gclwh13_15*x514);
IkReal x727=((2.0)*x498);
IkReal x728=(r21*x499);
IkReal x729=((1.0)*x499);
IkReal x730=(x503*x573);
IkReal x731=(x531*x532);
IkReal x732=(x504*x626);
IkReal x733=(x508*x599);
IkReal x734=(x507*x636);
IkReal x735=(x513*x519);
IkReal x736=(x507*x550);
IkReal x737=(x513*x628);
IkReal x738=(x508*x622);
IkReal x739=(x503*x554);
IkReal x740=(x531*x576);
IkReal x741=(x504*x630);
IkReal x742=((0.2183)*gclwh10_5*x513);
IkReal x743=((0.2183)*gclwh8_5*x531);
IkReal x744=((0.10915)*gclwh6_5*x503);
IkReal x745=((0.2183)*gclwh6_5*x508);
IkReal x746=((0.10915)*gclwh8_5*x507);
IkReal x747=((0.10915)*gclwh10_5*x504);
IkReal x748=(x644*x645);
IkReal x749=(x508*x607);
IkReal x750=(x562*x642);
IkReal x751=(gclwh10_2*pz*x504);
IkReal x752=(x500*x528);
IkReal x753=(x507*x642);
IkReal x754=(gclwh4_3*pp*x549);
IkReal x755=(gclwh10_2*r22*x577);
IkReal x756=(x500*x583);
IkReal x757=(x513*x563);
IkReal x758=(x500*x634);
IkReal x759=(x511*x644);
IkReal x760=(x531*x621);
IkReal x761=(gclwh6_2*pz*x538);
IkReal x762=(x643*x644);
IkReal x763=(x513*x523);
IkReal x764=(x531*x548);
IkReal x765=(gclwh11_0*r22*x577);
IkReal x766=(x556*x577);
IkReal x767=(gclwh5_1*pp*x549);
IkReal x768=(x500*x618);
IkReal x769=(gclwh11_0*pz*x504);
IkReal x770=(gclwh9_0*pz*x507);
IkReal x771=(gclwh15_1*pp*x545);
IkReal x772=(gclwh7_0*pz*x538);
IkReal x773=(x500*x594);
IkReal x774=(x500*x584);
IkReal x775=(x508*x574);
IkReal x776=((0.10915)*gclwh7_7*x503);
IkReal x777=((0.2183)*gclwh9_7*x531);
IkReal x778=((0.2183)*gclwh11_7*x513);
IkReal x779=((0.10915)*gclwh9_7*x507);
IkReal x780=((0.2183)*gclwh7_7*x508);
IkReal x781=((0.10915)*gclwh11_7*x504);
IkReal x782=(x504*x529);
IkReal x783=(x503*x612);
IkReal x784=(x531*x551);
IkReal x785=(x503*x578);
IkReal x786=(x531*x631);
IkReal x787=(x504*x637);
IkReal x788=(x507*x579);
IkReal x789=(x508*x608);
IkReal x790=(x513*x617);
IkReal x791=((0.10915)*gclwh12_14*x503);
IkReal x792=(x531*x579);
IkReal x793=((0.10915)*gclwh4_14*x504);
IkReal x794=((0.10915)*gclwh14_14*x507);
IkReal x795=(x513*x637);
IkReal x796=(x508*x578);
IkReal x797=((0.09465)*gclwh4_8*x504);
IkReal x798=(x507*x526);
IkReal x799=(gclwh12_3*x728);
IkReal x800=(x513*x529);
IkReal x801=(x500*x561);
IkReal x802=(gclwh3_3*x728);
IkReal x803=(x499*x566);
IkReal x804=(gclwh3_2*pz*x538);
IkReal x805=(x500*x589);
IkReal x806=(x526*x562);
IkReal x807=((0.09465)*gclwh12_8*x503);
IkReal x808=(x499*x648);
IkReal x809=(gclwh1_2*pz*x562);
IkReal x810=(x508*x612);
IkReal x811=(x500*x581);
IkReal x812=(gclwh4_2*r22*x577);
IkReal x813=(gclwh4_8*npz*x500);
IkReal x814=(gclwh12_2*pz*x538);
IkReal x815=(x500*x515);
IkReal x816=(x531*x649);
IkReal x817=((0.09465)*gclwh14_8*x507);
IkReal x818=(gclwh12_8*npy*x500);
IkReal x819=(x499*x558);
IkReal x820=(x500*x506);
IkReal x821=(gclwh5_0*pz*x504);
IkReal x822=(gclwh13_9*npy*x500);
IkReal x823=(x570*x577);
IkReal x824=(x503*x539);
IkReal x825=((0.09465)*gclwh15_9*x507);
IkReal x826=(x538*x539);
IkReal x827=(x499*x575);
IkReal x828=(x513*x630);
IkReal x829=(gclwh2_0*pz*x538);
IkReal x830=(x500*x568);
IkReal x831=(x508*x554);
IkReal x832=(x500*x580);
IkReal x833=(gclwh0_1*r20*x499);
IkReal x834=(x537*x577);
IkReal x835=((0.09465)*gclwh5_9*x504);
IkReal x836=(x500*x521);
IkReal x837=((0.09465)*gclwh13_9*x503);
IkReal x838=(gclwh15_0*pz*x562);
IkReal x839=(x500*x502);
IkReal x840=(x531*x550);
IkReal x841=((0.10915)*gclwh15_15*x507);
IkReal x842=(x513*x626);
IkReal x843=(x508*x573);
IkReal x844=((0.10915)*gclwh13_15*x503);
IkReal x845=((0.10915)*gclwh5_15*x504);
IkReal x846=(x531*x636);
IkReal x847=(gclwh6_2*npy*x727);
IkReal x848=(gclwh6_2*x503*x542);
IkReal x849=(gclwh10_2*npz*x727);
IkReal x850=(gclwh8_2*npx*x727);
IkReal x851=(gclwh7_0*npy*x727);
IkReal x852=(gclwh9_0*npx*x727);
IkReal x853=(gclwh11_0*npz*x727);
IkReal x854=(gclwh7_0*x503*x542);
IkReal x855=(gclwh12_2*npy*x727);
IkReal x856=(gclwh3_2*npy*x727);
IkReal x857=(gclwh1_2*npx*x727);
IkReal x858=(gclwh14_3*x531*x564);
IkReal x859=(gclwh4_2*npz*x727);
IkReal x860=(gclwh4_3*x513*x564);
IkReal x861=(gclwh12_2*x503*x542);
IkReal x862=(gclwh1_2*x507*x542);
IkReal x863=(gclwh3_3*x508*x564);
IkReal x864=(gclwh4_2*x504*x542);
IkReal x865=(gclwh1_3*x531*x564);
IkReal x866=(gclwh3_2*x503*x542);
IkReal x867=(gclwh12_3*x508*x564);
IkReal x868=(gclwh14_2*npx*x727);
IkReal x869=(gclwh14_3*r20*x729);
IkReal x870=(gclwh0_0*npx*x727);
IkReal x871=(gclwh2_0*npy*x727);
IkReal x872=(gclwh5_1*x513*x564);
IkReal x873=(gclwh13_1*x508*x564);
IkReal x874=(gclwh15_0*npx*x727);
IkReal x875=(gclwh2_1*x508*x564);
IkReal x876=(gclwh0_1*x531*x564);
IkReal x877=(gclwh5_0*npz*x727);
IkReal x878=(gclwh13_0*npy*x727);
IkReal x879=(gclwh0_0*x507*x542);
IkReal x880=(gclwh15_0*x507*x542);
IkReal x881=(gclwh2_0*x503*x542);
IkReal x882=((1.0)*gclwh13_1*x728);
IkReal x883=(x627*x729);
IkReal x884=(gclwh15_1*x531*x564);
IkReal x885=(x660+x662);
IkReal x886=(x698+x700);
IkReal x887=(x685+x684);
IkReal x888=(x724+x725);
IkReal x889=(x683+x682+x681+x775);
IkReal x890=(x668+x667+x670+x749);
IkReal x891=(x704+x705+x810+x800);
IkReal x892=(x713+x712+x828+x831);
IkReal x893=(x653+x735+x734+x733);
IkReal x894=(x661+x744+x742+x743);
IkReal x895=(x702+x795+x794+x796);
IkReal x896=(x696+x790+x788+x789);
IkReal x897=(x686+x777+x776+x778);
IkReal x898=(x721+x841+x843+x842);
IkReal x899=(x719+x717+x716+x720+x840);
IkReal x900=(x710+x708+x709+x707+x816);
IkReal x901=(x678+x676+x677+x764+x763);
IkReal x902=(x672+x673+x671+x757+x760);
IkReal x903=(((x513*x604))+((x508*x509))+((x507*x649))+((gclwh14_11*x591))+(((0.3786)*x520)));
IkReal x904=(x694+x695+x786+x787+x785);
IkReal x905=(x654+x655+x737+x736+x738);
IkReal x906=(x697+x699+x791+x793+x792);
IkReal x907=(x723+x726+x845+x844+x846);
IkReal x908=(x663+x665+x746+x747+x745);
IkReal x909=(x651+x652+x732+x731+x730);
IkReal x910=(x689+x687+x779+x780+x781);
IkReal x911=(x656+x657+x658+x659+x739+x740+x741);
IkReal x912=(x690+x691+x692+x693+x782+x783+x784);
IkReal x913=(x680+x773+x772+x771+x774+x852+x853+x854);
IkReal x914=(x674+x756+x759+x758+x761+x850+x849+x848);
IkReal x915=(x679+x675+x770+x768+x769+x765+x766+x767+x762+x851);
IkReal x916=(x669+x666+x755+x754+x751+x750+x753+x752+x748+x847);
IkReal x917=(x718+x715+x878+x879+x875+x876+x877+x884+x881+x880+x883+x882+x835+x836+x837+x838+x839);
IkReal x918=(x500+x703+x706+x797+x799+x798+x856+x857+x855+x858+x859+x809+x808+x805+x804+x807+x806+x801+x803+x802);
IkReal x919=(x711+x869+x868+x867+x866+x865+x864+x863+x862+x861+x860+x818+x817+x814+x815+x812+x813+x811);
IkReal x920=(x500+x714+x870+x871+x872+x873+x874+x819+x829+x823+x822+x821+x820+x827+x826+x825+x824+x834+x830+x832+x833);
op[38]=((((0.8732)*gclwh4_14*x513))+(((-0.0039113345835)*x639))+(((-1.0)*gclwh8_12*x641))+((x507*x631))+(((0.0039113345835)*x567))+(((0.8732)*gclwh12_14*x508))+(((-1.0)*gclwh10_12*x601))+(((-0.0039113345835)*x544))+(((-0.8732)*gclwh14_14*x531))+(((-1.0)*x504*x617))+(((-1.0)*x503*x608))+((gclwh6_12*x524)));
op[39]=((-0.05940486)+(((8.0)*gclwh14_11*x531))+((gclwh8_11*x603))+(((-1.0)*x507*x551))+(((-8.0)*gclwh4_11*x513))+(((0.7572)*x533))+((gclwh4_11*x620))+((x504*x604))+((x503*x509))+(((-8.0)*gclwh12_11*x508))+(((-0.7572)*x520))+((gclwh12_11*x650))+(((-1.0)*gclwh14_11*x571)));
op[40]=((0.02168232)+(((-1.0)*x903))+x912);
op[41]=(((gclwh3_2*x565))+(((-0.131)*npx*x526))+(((-1.0)*gclwh12_2*x565))+((gclwh1_2*x572))+((gclwh14_2*x572))+(((-0.0655)*gclwh1_2*x507))+(((-0.01239915)*x581))+(((-1.0)*x896))+(((0.131)*gclwh4_2*x513))+(((0.0655)*gclwh14_2*x507))+(((-0.0655)*gclwh12_2*x503))+(((0.131)*gclwh12_2*x508))+(((0.131)*gclwh1_2*x531))+(((-0.0655)*gclwh4_2*x504))+x904+(((-0.0655)*gclwh3_2*x503))+(((-0.01239915)*x515))+(((0.131)*gclwh3_2*x508))+(((0.01239915)*x561))+(((-1.0)*gclwh4_2*x546)));
op[42]=((((3.269)*gclwh15_0*x531))+(((-3.269)*gclwh13_0*x508))+(((-0.30941085)*x521))+(((-1.6345)*gclwh15_0*x507))+(((3.269)*gclwh0_0*x531))+(((0.30941085)*x568))+(((0.30941085)*x580))+(((1.6345)*gclwh13_0*x503))+(((-1.0)*x909))+(((-1.6345)*gclwh0_0*x507))+((gclwh13_0*x646))+(((0.01464286847625)*x570))+(((-0.01464286847625)*x610))+((gclwh2_0*x646))+(((0.01464286847625)*x537))+x893+(((3.269)*gclwh2_0*x508))+(((-1.6345)*gclwh2_0*x503))+(((-3.269)*gclwh5_0*x513))+(((1.6345)*gclwh5_0*x504)));
op[43]=((1.31196768)+(((-1.0)*x905))+x911);
op[44]=((0.05940486)+(((0.7572)*gclwh11_10*rxp2_2))+(((-1.0)*x507*x576))+(((-8.0)*gclwh13_10*x508))+((gclwh13_10*x650))+(((-0.7572)*x595))+(((8.0)*gclwh15_10*x531))+((x503*x622))+((x504*x628))+((gclwh9_10*x603))+(((-8.0)*gclwh5_10*x513))+((gclwh5_10*x620))+(((-1.0)*gclwh15_10*x571)));
op[45]=(((gclwh11_13*x601))+((gclwh9_13*x641))+(((-1.0)*x507*x532))+(((0.8732)*gclwh15_15*x531))+((x504*x519))+((x503*x599))+(((-1.0)*gclwh7_13*x524))+(((0.0039113345835)*x590))+(((0.0039113345835)*x592))+(((-0.8732)*gclwh13_15*x508))+(((-0.0039113345835)*x611))+(((-0.8732)*gclwh5_15*x513)));
op[46]=((((0.131)*gclwh2_0*x508))+(((0.131)*gclwh15_0*x531))+(((-1.0)*gclwh15_0*x572))+(((-0.0655)*gclwh15_0*x507))+(((-0.0655)*gclwh0_0*x507))+(((-0.131)*gclwh5_0*x513))+(((0.131)*gclwh0_0*x531))+(((0.00058678977375)*x537))+(((-0.131)*gclwh13_0*x508))+(((-0.01239915)*x521))+((gclwh5_0*x546))+(((-1.0)*x893))+(((0.01239915)*x580))+((gclwh13_0*x565))+((gclwh2_0*x565))+(((-0.0655)*gclwh2_0*x503))+(((0.0655)*gclwh13_0*x503))+x909+(((0.0655)*gclwh5_0*x504))+(((0.01239915)*x568)));
op[47]=((0.02168232)+(((-1.0)*x911))+x905);
op[48]=((((-1.0)*gclwh4_8*x522))+(((-1.0)*gclwh12_8*x518))+((gclwh10_12*x541))+((gclwh8_12*x530))+(((-1.6345)*gclwh10_12*x513))+(((-1.0)*x908))+(((0.81725)*gclwh8_12*x507))+(((-1.0)*x885))+((gclwh14_8*x598))+(((0.81725)*gclwh10_12*x504))+x664+(((-1.6345)*gclwh8_12*x531))+(((1.6345)*gclwh6_12*x508))+(((-1.0)*gclwh6_12*x536))+x894+(((-0.81725)*gclwh6_12*x503)));
op[49]=((((0.12699240901125)*x511))+(((-1.0)*gclwh10_11*x504))+(((-1.0)*x890))+(((-1.0)*x914))+(((-0.12699240901125)*x569))+(((-0.12699240901125)*x645))+((gclwh6_11*x503))+x916+x902+(((-1.0)*gclwh8_11*x507)));
op[50]=((0.17125635)+(((4.0)*gclwh10_11*x513))+(((-1.0)*x504*x563))+((gclwh12_11*x555))+((gclwh6_11*x525))+((x503*x607))+(((4.0)*gclwh8_11*x531))+(((-4.0)*gclwh6_11*x508))+(((-1.0)*gclwh8_11*x591))+(((-1.0)*gclwh14_11*x587))+(((-1.0)*x507*x621))+(((-1.0)*gclwh10_11*x609))+((gclwh4_11*x582)));
op[51]=((((0.14850585)*x583))+(((-0.160905)*x613))+(((-1.0)*gclwh8_2*x638))+(((-0.14850585)*x528))+((gclwh6_2*x505))+(((0.7845)*gclwh6_2*x503))+(((-1.0)*gclwh10_2*x625))+(((0.04132419)*gclwh4_14*rxp2_2))+(((0.160905)*x640))+(((0.160905)*x547))+(((-0.7845)*gclwh8_2*x507))+((gclwh12_14*x616))+(((0.14850585)*x634))+(((1.569)*gclwh10_2*x513))+(((1.569)*gclwh8_2*x531))+(((-1.569)*gclwh6_2*x508))+(((-0.04132419)*x543))+(((-0.7845)*gclwh10_2*x504)));
op[52]=((((-0.0655)*gclwh10_12*x513))+(((-1.0)*gclwh14_8*x560))+(((-0.0655)*gclwh8_12*x531))+(((0.0655)*gclwh6_12*x508))+(((-0.03275)*gclwh6_12*x503))+(((-1.0)*x908))+((gclwh4_8*x615))+(((0.03275)*gclwh8_12*x507))+((gclwh10_12*x596))+(((-1.0)*gclwh6_12*x593))+(((-1.0)*x664))+(((0.006199575)*x547))+(((0.03275)*gclwh10_12*x504))+x885+x894+((gclwh8_12*x606)));
op[53]=(((gclwh8_11*x507))+(((-1.0)*gclwh6_11*x503))+(((-1.0)*x902))+(((-1.0)*x914))+((gclwh10_11*x504))+(((-0.00076243651125)*x569))+x890+x916+(((0.00076243651125)*x511))+(((-1.0)*gclwh12_3*x516)));
op[54]=(((gclwh11_10*x504))+((gclwh9_10*x507))+(((-1.0)*x901))+(((-1.0)*x913))+(((-0.12699240901125)*x597))+(((-1.0)*gclwh7_10*x503))+(((-0.12699240901125)*x643))+(((0.12699240901125)*x605))+x889+x915);
op[55]=((((-1.0)*gclwh13_9*x518))+(((-1.6345)*gclwh9_13*x531))+(((0.81725)*gclwh11_13*x504))+(((0.81725)*gclwh9_13*x507))+(((-1.0)*gclwh5_9*x522))+(((-1.0)*x910))+(((-1.0)*gclwh7_13*x536))+(((-1.6345)*gclwh11_13*x513))+(((-1.0)*x887))+(((-0.81725)*gclwh7_13*x503))+(((1.6345)*gclwh7_13*x508))+x688+((gclwh11_13*x541))+((gclwh15_9*x598))+x897+((gclwh9_13*x530)));
op[56]=((((-1.0)*gclwh13_15*x616))+(((-0.7845)*gclwh11_0*x504))+(((0.14850585)*x584))+(((-0.04132419)*x552))+(((-0.00702803935125)*x556))+(((-1.569)*gclwh7_0*x508))+(((-1.0)*gclwh11_0*x625))+((gclwh7_0*x505))+(((0.160905)*x623))+(((-0.14850585)*x618))+(((1.569)*gclwh9_0*x531))+(((0.04132419)*gclwh15_15*rxp0_2))+(((-0.160905)*x629))+(((0.7845)*gclwh7_0*x503))+(((0.14850585)*x594))+(((-0.160905)*x534))+(((-0.7845)*gclwh9_0*x507))+(((1.569)*gclwh11_0*x513)));
op[57]=((0.17125635)+((gclwh5_10*x582))+((gclwh13_10*x555))+(((-1.0)*x507*x548))+(((-1.0)*gclwh11_10*x609))+(((-1.0)*gclwh15_10*x587))+(((-1.0)*x504*x523))+((x503*x574))+(((4.0)*gclwh11_10*x513))+((gclwh7_10*x525))+(((-4.0)*gclwh7_10*x508))+(((4.0)*gclwh9_10*x531))+(((-1.0)*gclwh9_10*x591)));
op[58]=((((-1.0)*gclwh11_10*x504))+((gclwh7_10*x503))+(((-1.0)*x913))+(((-1.0)*x889))+(((-1.0)*gclwh13_1*x516))+(((-1.0)*gclwh9_10*x507))+(((0.00076243651125)*x605))+x915+x901+(((-0.00076243651125)*x597)));
op[59]=((((-0.0655)*gclwh9_13*x531))+(((0.03275)*gclwh9_13*x507))+(((-1.0)*x688))+(((-0.03275)*gclwh7_13*x503))+(((-1.0)*x910))+(((-0.0655)*gclwh11_13*x513))+(((0.0655)*gclwh7_13*x508))+(((0.006199575)*x534))+(((-1.0)*gclwh7_13*x593))+x887+x897+((gclwh9_13*x606))+((gclwh13_9*x588))+((gclwh11_13*x596))+(((-1.0)*gclwh15_9*x560))+(((0.03275)*gclwh11_13*x504)));
op[60]=((((-1.0)*gclwh4_8*x541))+(((1.6345)*gclwh12_8*x508))+(((-1.0)*x906))+((gclwh6_12*x518))+(((-0.81725)*gclwh4_8*x504))+(((-0.007321434238125)*x527))+(((-1.0)*gclwh8_12*x598))+(((-1.0)*x701))+(((-0.81725)*gclwh12_8*x503))+(((0.81725)*gclwh14_8*x507))+((gclwh14_8*x530))+(((1.6345)*gclwh4_8*x513))+x886+x895+(((-1.0)*gclwh10_12*x522))+(((-1.6345)*gclwh14_8*x531)));
op[61]=((0.679811285)+((gclwh3_3*x635))+(((-0.66189404)*gclwh12_3*x503))+(((-1.0)*gclwh14_11*x507))+(((-0.00600991575645741)*x648))+(((1.341705325)*gclwh12_3*x508))+(((-1.0)*x891))+(((-1.0)*x919))+((gclwh14_3*x517))+(((0.66189404)*gclwh14_3*x507))+(((-0.66189404)*gclwh4_3*x504))+(((1.341705325)*gclwh3_3*x508))+((gclwh12_11*x503))+(((1.341705325)*gclwh1_3*x531))+(((-0.679811285)*gclwh3_3*x503))+(((-1.0)*gclwh12_3*x635))+(((1.341705325)*gclwh4_3*x513))+(((-0.679811285)*gclwh1_3*x507))+(((-1.341705325)*gclwh14_3*x531))+x918+x900+((gclwh4_11*x504))+((gclwh1_3*x517)));
op[62]=((0.07735732)+(((-1.0)*x903))+x912);
op[63]=((((-0.14850585)*x561))+(((-1.569)*gclwh12_2*x508))+(((-1.569)*gclwh1_2*x531))+(((-0.85)*gclwh14_8*x507))+(((0.7845)*gclwh12_2*x503))+(((0.14850585)*x581))+(((0.85)*gclwh4_8*x504))+(((-1.569)*gclwh4_2*x513))+(((-1.0)*gclwh12_8*npy*x501))+(((-1.0)*gclwh4_8*npz*x501))+((x501*x589))+(((-1.0)*gclwh1_2*x638))+(((0.14850585)*x515))+(((-1.0)*x896))+(((0.7845)*gclwh3_2*x503))+(((-0.7845)*gclwh14_2*x507))+((gclwh12_2*x505))+(((0.85)*gclwh12_8*x503))+(((1.569)*npx*x526))+(((0.007614829125)*x527))+(((0.7845)*gclwh1_2*x507))+(((-0.007614829125)*x619))+(((0.7845)*gclwh4_2*x504))+x904+(((0.007614829125)*x633))+(((-1.0)*gclwh14_2*x638))+(((-1.0)*gclwh3_2*x505))+((gclwh4_2*x625))+(((-1.569)*gclwh3_2*x508)));
op[64]=((((-1.0)*gclwh14_8*x606))+(((-0.0655)*gclwh4_8*x513))+(((0.0655)*gclwh14_8*x531))+(((0.000293394886875)*x527))+(((-1.0)*x895))+(((0.03275)*gclwh12_8*x503))+((gclwh4_8*x596))+(((-0.0655)*gclwh12_8*x508))+(((-1.0)*x701))+((gclwh6_12*x588))+x886+(((-0.03275)*gclwh14_8*x507))+(((-1.0)*gclwh10_12*x615))+x906+(((0.03275)*gclwh4_8*x504))+(((-1.0)*gclwh8_12*x560)));
op[65]=((-0.012986285)+(((0.008055325)*gclwh3_3*x508))+(((3.60823078949063e-5)*x566))+(((-1.0)*gclwh12_11*x503))+(((0.00493096)*gclwh12_3*x503))+((gclwh14_11*x507))+(((-1.0)*x900))+((gclwh3_3*x585))+(((-1.0)*x919))+(((-1.0)*gclwh4_3*x510))+(((-1.0)*gclwh12_3*x585))+(((-1.0)*gclwh4_11*x504))+(((-0.008055325)*gclwh14_3*x531))+(((0.008055325)*gclwh12_3*x508))+(((0.008055325)*gclwh1_3*x531))+(((-0.00493096)*gclwh14_3*x507))+(((0.00493096)*gclwh4_3*x504))+x891+(((0.008055325)*gclwh4_3*x513))+(((-0.012986285)*gclwh3_3*x503))+x918+((gclwh14_3*x624))+(((-0.012986285)*gclwh1_3*x507)));
op[66]=((-0.679811285)+((gclwh0_1*x517))+((gclwh13_1*x635))+(((1.341705325)*gclwh15_1*x531))+(((-1.0)*gclwh15_1*x517))+(((1.341705325)*gclwh0_1*x531))+(((-1.0)*x892))+(((-1.0)*gclwh15_10*x507))+(((-1.0)*x917))+(((-0.679811285)*gclwh0_1*x507))+(((0.00600991575645741)*x575))+(((-0.66189404)*gclwh15_1*x507))+(((-1.341705325)*gclwh13_1*x508))+((gclwh5_10*x504))+(((-0.679811285)*gclwh2_1*x503))+(((0.66189404)*gclwh13_1*x503))+(((-1.341705325)*gclwh5_1*x513))+x899+((gclwh13_10*x503))+x920+(((0.66189404)*gclwh5_1*x504))+(((0.00600991575645741)*x627))+(((1.341705325)*gclwh2_1*x508)));
op[67]=((((0.81725)*gclwh13_9*x503))+((gclwh9_13*x598))+(((-1.0)*x898))+(((-1.0)*x888))+((gclwh13_9*x536))+((x502*x540))+(((0.81725)*gclwh5_9*x504))+(((-1.0)*x506*x540))+(((-1.0)*gclwh15_9*x530))+((gclwh11_13*x522))+x722+(((-0.81725)*gclwh15_9*x507))+((gclwh5_9*x541))+x907+(((-1.6345)*gclwh13_9*x508))+(((-1.0)*gclwh7_13*x518)));
op[68]=((((-1.0)*gclwh13_0*x505))+(((0.85)*gclwh13_9*x503))+(((-0.14850585)*x568))+(((-0.85)*gclwh15_9*x507))+(((-0.00702803935125)*x570))+(((-1.569)*gclwh0_0*x531))+(((-1.569)*gclwh2_0*x508))+(((0.7845)*gclwh2_0*x503))+(((-1.0)*x893))+(((-0.7845)*gclwh5_0*x504))+(((-1.0)*x501*x506))+(((1.569)*gclwh5_0*x513))+(((-1.0)*gclwh13_9*npy*x501))+(((0.007614829125)*x602))+((x501*x502))+(((0.00702803935125)*x610))+(((0.85)*gclwh5_9*x504))+(((0.14850585)*x521))+(((0.007614829125)*x557))+(((-1.569)*gclwh15_0*x531))+(((-0.7845)*gclwh13_0*x503))+(((0.7845)*gclwh15_0*x507))+(((-0.007614829125)*x586))+(((-1.0)*gclwh2_0*x505))+(((1.569)*gclwh13_0*x508))+(((0.7845)*gclwh0_0*x507))+(((-0.14850585)*x580))+x909+(((-0.00702803935125)*x537)));
op[69]=((0.07735732)+(((-1.0)*x911))+x905);
op[70]=((0.012986285)+((gclwh0_1*x624))+((gclwh13_1*x585))+(((-1.0)*gclwh5_10*x504))+(((0.008055325)*gclwh0_1*x531))+(((-1.0)*x899))+(((-1.0)*x917))+(((-0.00493096)*gclwh13_1*x503))+(((3.60823078949063e-5)*x575))+(((0.00493096)*gclwh15_1*x507))+(((-0.012986285)*gclwh0_1*x507))+(((0.008055325)*gclwh2_1*x508))+(((0.008055325)*gclwh15_1*x531))+(((-0.008055325)*gclwh5_1*x513))+(((-3.60823078949063e-5)*x558))+(((-0.00493096)*gclwh5_1*x504))+x892+(((-1.0)*gclwh13_10*x503))+((gclwh5_1*x510))+(((-0.012986285)*gclwh2_1*x503))+x920+(((-0.008055325)*gclwh13_1*x508))+((gclwh15_10*x507)));
op[71]=((((-1.0)*gclwh7_13*x588))+(((0.0655)*gclwh13_9*x508))+((gclwh11_13*x615))+(((-1.0)*x907))+(((-1.0)*x888))+(((-0.03275)*gclwh13_9*x503))+(((-1.0)*x502*x614))+(((0.03275)*gclwh15_9*x507))+((gclwh9_13*x560))+(((-1.0)*gclwh5_9*x596))+(((0.000293394886875)*x586))+((x506*x614))+x722+x898+(((-0.000293394886875)*x557))+(((-0.03275)*gclwh5_9*x504)));
solvedialyticpoly8qep(op,zeror,numroots);
IkReal j1array[16], cj1array[16], sj1array[16], j2array[16], cj2array[16], sj2array[16], j3array[16], cj3array[16], sj3array[16];
int numsolutions = 0;
for(int ij1 = 0; ij1 < numroots; ij1 += 3)
{
IkReal htj1 = zeror[ij1+0], htj2 = zeror[ij1+1], htj3 = zeror[ij1+2];
if(isnan(htj1)||isnan(htj2)||isnan(htj3)){
continue;
}
j1array[numsolutions]=((2.0)*(atan(htj1)));
j2array[numsolutions]=((2.0)*(atan(htj2)));
j3array[numsolutions]=((2.0)*(atan(htj3)));
if(isinf(htj1)){
cj1array[numsolutions] = IKcos(j1array[numsolutions]);
sj1array[numsolutions] = IKsin(j1array[numsolutions]);
}
else{
IkReal x921=htj1*htj1;
CheckValue<IkReal> x922=IKPowWithIntegerCheck(((1.0)+x921),-1);
if(!x922.valid){
continue;
}
cj1array[numsolutions]=((x922.value)*(((1.0)+(((-1.0)*x921)))));
CheckValue<IkReal> x923=IKPowWithIntegerCheck(((1.0)+(htj1*htj1)),-1);
if(!x923.valid){
continue;
}
sj1array[numsolutions]=((2.0)*htj1*(x923.value));
}
if(isinf(htj2)){
cj2array[numsolutions] = IKcos(j2array[numsolutions]);
sj2array[numsolutions] = IKsin(j2array[numsolutions]);
}
else{
IkReal x924=htj2*htj2;
CheckValue<IkReal> x925=IKPowWithIntegerCheck(((1.0)+x924),-1);
if(!x925.valid){
continue;
}
cj2array[numsolutions]=((x925.value)*(((1.0)+(((-1.0)*x924)))));
CheckValue<IkReal> x926=IKPowWithIntegerCheck(((1.0)+(htj2*htj2)),-1);
if(!x926.valid){
continue;
}
sj2array[numsolutions]=((2.0)*htj2*(x926.value));
}
if(isinf(htj3)){
cj3array[numsolutions] = IKcos(j3array[numsolutions]);
sj3array[numsolutions] = IKsin(j3array[numsolutions]);
}
else{
IkReal x927=htj3*htj3;
CheckValue<IkReal> x928=IKPowWithIntegerCheck(((1.0)+x927),-1);
if(!x928.valid){
continue;
}
cj3array[numsolutions]=((x928.value)*(((1.0)+(((-1.0)*x927)))));
CheckValue<IkReal> x929=IKPowWithIntegerCheck(((1.0)+(htj3*htj3)),-1);
if(!x929.valid){
continue;
}
sj3array[numsolutions]=((2.0)*htj3*(x929.value));
}
if( j1array[numsolutions] > IKPI )
{
    j1array[numsolutions]-=IK2PI;
}
else if( j1array[numsolutions] < -IKPI )
{
    j1array[numsolutions]+=IK2PI;
}
if( j2array[numsolutions] > IKPI )
{
    j2array[numsolutions]-=IK2PI;
}
else if( j2array[numsolutions] < -IKPI )
{
    j2array[numsolutions]+=IK2PI;
}
if( j3array[numsolutions] > IKPI )
{
    j3array[numsolutions]-=IK2PI;
}
else if( j3array[numsolutions] < -IKPI )
{
    j3array[numsolutions]+=IK2PI;
}
numsolutions++;
}
bool j1valid[16]={true,true,true,true,true,true,true,true,true,true,true,true,true,true,true,true};
_nj1 = 16;
_nj2 = 1;
_nj3 = 1;
for(int ij1 = 0; ij1 < numsolutions; ++ij1)
    {
if( !j1valid[ij1] )
{
    continue;
}
_ij1[0] = ij1; _ij1[1] = -1;
_ij2[0] = 0; _ij2[1] = -1;
_ij3[0] = 0; _ij3[1] = -1;
for(int iij1 = ij1+1; iij1 < numsolutions; ++iij1)
{
if( !j1valid[iij1] ) { continue; }
if( IKabs(cj1array[ij1]-cj1array[iij1]) < IKFAST_SOLUTION_THRESH && IKabs(sj1array[ij1]-sj1array[iij1]) < IKFAST_SOLUTION_THRESH && IKabs(cj2array[ij1]-cj2array[iij1]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij1]-sj2array[iij1]) < IKFAST_SOLUTION_THRESH && IKabs(cj3array[ij1]-cj3array[iij1]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij1]-sj3array[iij1]) < IKFAST_SOLUTION_THRESH &&  1 )
{
    j1valid[iij1]=false; _ij1[1] = iij1; _ij2[1] = 0; _ij3[1] = 0;  break; 
}
}
    j1 = j1array[ij1]; cj1 = cj1array[ij1]; sj1 = sj1array[ij1];

    j2 = j2array[ij1]; cj2 = cj2array[ij1]; sj2 = sj2array[ij1];

    j3 = j3array[ij1]; cj3 = cj3array[ij1]; sj3 = sj3array[ij1];

innerfn(solutions);
    }
}
return solutions.GetNumSolutions()>0;
}
static inline void polyroots3(IkReal rawcoeffs[3+1], IkReal rawroots[3], int& numroots)
{
    using std::complex;
    if( rawcoeffs[0] == 0 ) {
        // solve with one reduced degree
        polyroots2(&rawcoeffs[1], &rawroots[0], numroots);
        return;
    }
    IKFAST_ASSERT(rawcoeffs[0] != 0);
    const IkReal tol = 128.0*std::numeric_limits<IkReal>::epsilon();
    const IkReal tolsqrt = sqrt(std::numeric_limits<IkReal>::epsilon());
    complex<IkReal> coeffs[3];
    const int maxsteps = 110;
    for(int i = 0; i < 3; ++i) {
        coeffs[i] = complex<IkReal>(rawcoeffs[i+1]/rawcoeffs[0]);
    }
    complex<IkReal> roots[3];
    IkReal err[3];
    roots[0] = complex<IkReal>(1,0);
    roots[1] = complex<IkReal>(0.4,0.9); // any complex number not a root of unity works
    err[0] = 1.0;
    err[1] = 1.0;
    for(int i = 2; i < 3; ++i) {
        roots[i] = roots[i-1]*roots[1];
        err[i] = 1.0;
    }
    for(int step = 0; step < maxsteps; ++step) {
        bool changed = false;
        for(int i = 0; i < 3; ++i) {
            if ( err[i] >= tol ) {
                changed = true;
                // evaluate
                complex<IkReal> x = roots[i] + coeffs[0];
                for(int j = 1; j < 3; ++j) {
                    x = roots[i] * x + coeffs[j];
                }
                for(int j = 0; j < 3; ++j) {
                    if( i != j ) {
                        if( roots[i] != roots[j] ) {
                            x /= (roots[i] - roots[j]);
                        }
                    }
                }
                roots[i] -= x;
                err[i] = abs(x);
            }
        }
        if( !changed ) {
            break;
        }
    }

    numroots = 0;
    bool visited[3] = {false};
    for(int i = 0; i < 3; ++i) {
        if( !visited[i] ) {
            // might be a multiple root, in which case it will have more error than the other roots
            // find any neighboring roots, and take the average
            complex<IkReal> newroot=roots[i];
            int n = 1;
            for(int j = i+1; j < 3; ++j) {
                // care about error in real much more than imaginary
                if( abs(real(roots[i])-real(roots[j])) < tolsqrt && abs(imag(roots[i])-imag(roots[j])) < 0.002 ) {
                    newroot += roots[j];
                    n += 1;
                    visited[j] = true;
                }
            }
            if( n > 1 ) {
                newroot /= n;
            }
            // there are still cases where even the mean is not accurate enough, until a better multi-root algorithm is used, need to use the sqrt
            if( IKabs(imag(newroot)) < tolsqrt ) {
                rawroots[numroots++] = real(newroot);
            }
        }
    }
}
static inline void polyroots2(IkReal rawcoeffs[2+1], IkReal rawroots[2], int& numroots) {
    IkReal det = rawcoeffs[1]*rawcoeffs[1]-4*rawcoeffs[0]*rawcoeffs[2];
    if( det < 0 ) {
        numroots=0;
    }
    else if( det == 0 ) {
        rawroots[0] = -0.5*rawcoeffs[1]/rawcoeffs[0];
        numroots = 1;
    }
    else {
        det = IKsqrt(det);
        rawroots[0] = (-rawcoeffs[1]+det)/(2*rawcoeffs[0]);
        rawroots[1] = (-rawcoeffs[1]-det)/(2*rawcoeffs[0]);//rawcoeffs[2]/(rawcoeffs[0]*rawroots[0]);
        numroots = 2;
    }
}
static inline void polyroots5(IkReal rawcoeffs[5+1], IkReal rawroots[5], int& numroots)
{
    using std::complex;
    if( rawcoeffs[0] == 0 ) {
        // solve with one reduced degree
        polyroots4(&rawcoeffs[1], &rawroots[0], numroots);
        return;
    }
    IKFAST_ASSERT(rawcoeffs[0] != 0);
    const IkReal tol = 128.0*std::numeric_limits<IkReal>::epsilon();
    const IkReal tolsqrt = sqrt(std::numeric_limits<IkReal>::epsilon());
    complex<IkReal> coeffs[5];
    const int maxsteps = 110;
    for(int i = 0; i < 5; ++i) {
        coeffs[i] = complex<IkReal>(rawcoeffs[i+1]/rawcoeffs[0]);
    }
    complex<IkReal> roots[5];
    IkReal err[5];
    roots[0] = complex<IkReal>(1,0);
    roots[1] = complex<IkReal>(0.4,0.9); // any complex number not a root of unity works
    err[0] = 1.0;
    err[1] = 1.0;
    for(int i = 2; i < 5; ++i) {
        roots[i] = roots[i-1]*roots[1];
        err[i] = 1.0;
    }
    for(int step = 0; step < maxsteps; ++step) {
        bool changed = false;
        for(int i = 0; i < 5; ++i) {
            if ( err[i] >= tol ) {
                changed = true;
                // evaluate
                complex<IkReal> x = roots[i] + coeffs[0];
                for(int j = 1; j < 5; ++j) {
                    x = roots[i] * x + coeffs[j];
                }
                for(int j = 0; j < 5; ++j) {
                    if( i != j ) {
                        if( roots[i] != roots[j] ) {
                            x /= (roots[i] - roots[j]);
                        }
                    }
                }
                roots[i] -= x;
                err[i] = abs(x);
            }
        }
        if( !changed ) {
            break;
        }
    }

    numroots = 0;
    bool visited[5] = {false};
    for(int i = 0; i < 5; ++i) {
        if( !visited[i] ) {
            // might be a multiple root, in which case it will have more error than the other roots
            // find any neighboring roots, and take the average
            complex<IkReal> newroot=roots[i];
            int n = 1;
            for(int j = i+1; j < 5; ++j) {
                // care about error in real much more than imaginary
                if( abs(real(roots[i])-real(roots[j])) < tolsqrt && abs(imag(roots[i])-imag(roots[j])) < 0.002 ) {
                    newroot += roots[j];
                    n += 1;
                    visited[j] = true;
                }
            }
            if( n > 1 ) {
                newroot /= n;
            }
            // there are still cases where even the mean is not accurate enough, until a better multi-root algorithm is used, need to use the sqrt
            if( IKabs(imag(newroot)) < tolsqrt ) {
                rawroots[numroots++] = real(newroot);
            }
        }
    }
}
static inline void polyroots4(IkReal rawcoeffs[4+1], IkReal rawroots[4], int& numroots)
{
    using std::complex;
    if( rawcoeffs[0] == 0 ) {
        // solve with one reduced degree
        polyroots3(&rawcoeffs[1], &rawroots[0], numroots);
        return;
    }
    IKFAST_ASSERT(rawcoeffs[0] != 0);
    const IkReal tol = 128.0*std::numeric_limits<IkReal>::epsilon();
    const IkReal tolsqrt = sqrt(std::numeric_limits<IkReal>::epsilon());
    complex<IkReal> coeffs[4];
    const int maxsteps = 110;
    for(int i = 0; i < 4; ++i) {
        coeffs[i] = complex<IkReal>(rawcoeffs[i+1]/rawcoeffs[0]);
    }
    complex<IkReal> roots[4];
    IkReal err[4];
    roots[0] = complex<IkReal>(1,0);
    roots[1] = complex<IkReal>(0.4,0.9); // any complex number not a root of unity works
    err[0] = 1.0;
    err[1] = 1.0;
    for(int i = 2; i < 4; ++i) {
        roots[i] = roots[i-1]*roots[1];
        err[i] = 1.0;
    }
    for(int step = 0; step < maxsteps; ++step) {
        bool changed = false;
        for(int i = 0; i < 4; ++i) {
            if ( err[i] >= tol ) {
                changed = true;
                // evaluate
                complex<IkReal> x = roots[i] + coeffs[0];
                for(int j = 1; j < 4; ++j) {
                    x = roots[i] * x + coeffs[j];
                }
                for(int j = 0; j < 4; ++j) {
                    if( i != j ) {
                        if( roots[i] != roots[j] ) {
                            x /= (roots[i] - roots[j]);
                        }
                    }
                }
                roots[i] -= x;
                err[i] = abs(x);
            }
        }
        if( !changed ) {
            break;
        }
    }

    numroots = 0;
    bool visited[4] = {false};
    for(int i = 0; i < 4; ++i) {
        if( !visited[i] ) {
            // might be a multiple root, in which case it will have more error than the other roots
            // find any neighboring roots, and take the average
            complex<IkReal> newroot=roots[i];
            int n = 1;
            for(int j = i+1; j < 4; ++j) {
                // care about error in real much more than imaginary
                if( abs(real(roots[i])-real(roots[j])) < tolsqrt && abs(imag(roots[i])-imag(roots[j])) < 0.002 ) {
                    newroot += roots[j];
                    n += 1;
                    visited[j] = true;
                }
            }
            if( n > 1 ) {
                newroot /= n;
            }
            // there are still cases where even the mean is not accurate enough, until a better multi-root algorithm is used, need to use the sqrt
            if( IKabs(imag(newroot)) < tolsqrt ) {
                rawroots[numroots++] = real(newroot);
            }
        }
    }
}
static inline void polyroots6(IkReal rawcoeffs[6+1], IkReal rawroots[6], int& numroots)
{
    using std::complex;
    if( rawcoeffs[0] == 0 ) {
        // solve with one reduced degree
        polyroots5(&rawcoeffs[1], &rawroots[0], numroots);
        return;
    }
    IKFAST_ASSERT(rawcoeffs[0] != 0);
    const IkReal tol = 128.0*std::numeric_limits<IkReal>::epsilon();
    const IkReal tolsqrt = sqrt(std::numeric_limits<IkReal>::epsilon());
    complex<IkReal> coeffs[6];
    const int maxsteps = 110;
    for(int i = 0; i < 6; ++i) {
        coeffs[i] = complex<IkReal>(rawcoeffs[i+1]/rawcoeffs[0]);
    }
    complex<IkReal> roots[6];
    IkReal err[6];
    roots[0] = complex<IkReal>(1,0);
    roots[1] = complex<IkReal>(0.4,0.9); // any complex number not a root of unity works
    err[0] = 1.0;
    err[1] = 1.0;
    for(int i = 2; i < 6; ++i) {
        roots[i] = roots[i-1]*roots[1];
        err[i] = 1.0;
    }
    for(int step = 0; step < maxsteps; ++step) {
        bool changed = false;
        for(int i = 0; i < 6; ++i) {
            if ( err[i] >= tol ) {
                changed = true;
                // evaluate
                complex<IkReal> x = roots[i] + coeffs[0];
                for(int j = 1; j < 6; ++j) {
                    x = roots[i] * x + coeffs[j];
                }
                for(int j = 0; j < 6; ++j) {
                    if( i != j ) {
                        if( roots[i] != roots[j] ) {
                            x /= (roots[i] - roots[j]);
                        }
                    }
                }
                roots[i] -= x;
                err[i] = abs(x);
            }
        }
        if( !changed ) {
            break;
        }
    }

    numroots = 0;
    bool visited[6] = {false};
    for(int i = 0; i < 6; ++i) {
        if( !visited[i] ) {
            // might be a multiple root, in which case it will have more error than the other roots
            // find any neighboring roots, and take the average
            complex<IkReal> newroot=roots[i];
            int n = 1;
            for(int j = i+1; j < 6; ++j) {
                // care about error in real much more than imaginary
                if( abs(real(roots[i])-real(roots[j])) < tolsqrt && abs(imag(roots[i])-imag(roots[j])) < 0.002 ) {
                    newroot += roots[j];
                    n += 1;
                    visited[j] = true;
                }
            }
            if( n > 1 ) {
                newroot /= n;
            }
            // there are still cases where even the mean is not accurate enough, until a better multi-root algorithm is used, need to use the sqrt
            if( IKabs(imag(newroot)) < tolsqrt ) {
                rawroots[numroots++] = real(newroot);
            }
        }
    }
}
inline void innerfn(IkSolutionListBase<IkReal>& solutions) {
for(int fniter = 0; fniter < 1; ++fniter) {
{
IkReal j5eval[2];
j5eval[0]=((r20*r20)+(r21*r21));
j5eval[1]=((1.0)+(((-1.0)*(r22*r22))));
if( IKabs(j5eval[0]) < 0.0000010000000000  || IKabs(j5eval[1]) < 0.0000010000000000  )
{
{
IkReal evalcond[1];
bool bgotonextstatement = true;
do
{
evalcond[0]=((r20*r20)+(r21*r21));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j4eval[2];
IkReal x930=((-1.0)*pz);
r20=0;
r21=0;
npx=(((px*r00))+((py*r10)));
npy=(((px*r01))+((py*r11)));
rxp0_0=(pz*r10);
rxp0_1=(r00*x930);
rxp1_0=(pz*r11);
rxp1_1=(r01*x930);
j4eval[0]=cj3;
j4eval[1]=r22;
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  )
{
{
IkReal j4eval[2];
IkReal x931=((-1.0)*pz);
r20=0;
r21=0;
npx=(((px*r00))+((py*r10)));
npy=(((px*r01))+((py*r11)));
rxp0_0=(pz*r10);
rxp0_1=(r00*x931);
rxp1_0=(pz*r11);
rxp1_1=(r01*x931);
j4eval[0]=r22;
j4eval[1]=sj3;
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[2], cj4array[2], sj4array[2];
bool j4valid[2]={false};
_nj4 = 2;
CheckValue<IkReal> x932=IKPowWithIntegerCheck(r22,-1);
if(!x932.valid){
continue;
}
CheckValue<IkReal> x933=IKPowWithIntegerCheck(sj3,-1);
if(!x933.valid){
continue;
}
sj4array[0]=((x932.value)*(x933.value)*(((((-1.0)*cj1*cj2))+((sj1*sj2)))));
if( sj4array[0] >= -1-IKFAST_SINCOS_THRESH && sj4array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j4valid[0] = j4valid[1] = true;
    j4array[0] = IKasin(sj4array[0]);
    cj4array[0] = IKcos(j4array[0]);
    sj4array[1] = sj4array[0];
    j4array[1] = j4array[0] > 0 ? (IKPI-j4array[0]) : (-IKPI-j4array[0]);
    cj4array[1] = -cj4array[0];
}
else if( isnan(sj4array[0]) )
{
    // probably any value will work
    j4valid[0] = true;
    cj4array[0] = 1; sj4array[0] = 0; j4array[0] = 0;
}
for(int ij4 = 0; ij4 < 2; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 2; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[2];
evalcond[0]=((-1.0)*r22*(IKcos(j4)));
evalcond[1]=(((cj2*sj1))+((cj1*sj2))+((cj3*r22*(IKsin(j4)))));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j5eval[1];
IkReal x934=((-1.0)*pz);
r20=0;
r21=0;
npx=(((px*r00))+((py*r10)));
npy=(((px*r01))+((py*r11)));
rxp0_0=(pz*r10);
rxp0_1=(r00*x934);
rxp1_0=(pz*r11);
rxp1_1=(r01*x934);
IkReal x935=((16.0)*sj4);
IkReal x936=(cj1*cj2);
IkReal x937=((4.0)*sj3);
IkReal x938=((8.0)*sj4);
IkReal x939=((4.0)*cj4);
IkReal x940=(sj1*sj2);
IkReal x941=((4.0)*sj4);
IkReal x942=(cj3*r02);
IkReal x943=((16.0)*sj3);
IkReal x944=((8.0)*sj3);
IkReal x945=((12.0)*cj4);
IkReal x946=((12.0)*sj4);
IkReal x947=(cj3*r12);
IkReal x948=(r11*x937);
IkReal x949=(r01*x937);
IkReal x950=(r01*x940);
IkReal x951=(cj3*cj4*r01);
IkReal x952=(cj3*cj4*r11);
IkReal x953=(cj3*r10*x939);
IkReal x954=(x946*x947);
IkReal x955=(cj3*r00*x939);
IkReal x956=(x942*x946);
IkReal x957=(r00*x940*x941);
IkReal x958=(r02*x940*x945);
IkReal x959=(r00*x936*x941);
IkReal x960=(r02*x936*x945);
IkReal x961=(r10*x940*x941);
IkReal x962=(r12*x936*x945);
IkReal x963=(r12*x940*x945);
IkReal x964=(r10*x936*x941);
IkReal x965=(x959+x948);
IkReal x966=(x961+x949);
IkReal x967=(x957+x953);
IkReal x968=(x960+x954);
IkReal x969=(x964+x955);
IkReal x970=(x963+x956);
j5eval[0]=((((0.5)*(IKabs((x967+x958+(((-1.0)*x965))+(((-1.0)*x968)))))))+(((0.5)*(IKabs((x962+x966+(((-1.0)*x969))+(((-1.0)*x970)))))))+(((0.5)*(IKabs((x962+x969+(((-1.0)*x966))+(((-1.0)*x970)))))))+(IKabs(((((-1.0)*r00*x944))+(((-1.0)*r11*x936*x938))+(((-8.0)*x951))+((r11*x938*x940)))))+(((0.5)*(IKabs((((r01*x935*x936))+(((-1.0)*x935*x950))+(((-16.0)*x952))+(((-1.0)*r10*x943)))))))+(((0.5)*(IKabs((x965+x958+(((-1.0)*x967))+(((-1.0)*x968)))))))+(IKabs(((((-1.0)*x938*x950))+(((-8.0)*x952))+((r01*x936*x938))+(((-1.0)*r10*x944)))))+(((0.5)*(IKabs((((r12*x936*x939))+(((-1.0)*x941*x942))+(((-1.0)*r12*x939*x940))+x966+(((-1.0)*x969)))))))+(((0.5)*(IKabs(((((-1.0)*x941*x947))+(((-1.0)*r02*x936*x939))+x965+(((-1.0)*x967))+((r02*x939*x940)))))))+(((0.5)*(IKabs(((((-1.0)*r00*x943))+((r11*x935*x940))+(((-1.0)*r11*x935*x936))+(((-16.0)*x951))))))));
if( IKabs(j5eval[0]) < 0.0000000010000000  )
{
continue; // 1 cases reached

} else
{
IkReal op[6+1], zeror[6];
int numroots;
IkReal j5evalpoly[1];
IkReal x971=(r10*sj3);
IkReal x972=(r01*sj4);
IkReal x973=(cj1*cj2);
IkReal x974=(cj3*cj4);
IkReal x975=(sj1*sj2);
IkReal x976=(cj4*r02);
IkReal x977=((4.0)*r11*sj3);
IkReal x978=(cj3*r12*sj4);
IkReal x979=((4.0)*r00*sj4);
IkReal x980=((4.0)*r10*x974);
IkReal x981=((12.0)*x978);
IkReal x982=((4.0)*x978);
IkReal x983=(x973*x979);
IkReal x984=(x975*x979);
IkReal x985=((12.0)*x975*x976);
IkReal x986=((12.0)*x973*x976);
IkReal x987=((4.0)*x975*x976);
IkReal x988=((4.0)*x973*x976);
IkReal x989=(x983+x977);
IkReal x990=(x984+x980);
IkReal x991=(x988+x982);
IkReal x992=(x986+x981);
IkReal x993=((((8.0)*x972*x973))+(((-8.0)*x971))+(((-8.0)*r11*x974))+(((-8.0)*x972*x975)));
op[0]=((((-1.0)*x991))+(((-1.0)*x990))+x989+x987);
op[1]=x993;
op[2]=((((-1.0)*x992))+(((-1.0)*x990))+x989+x985);
op[3]=((((16.0)*x972*x973))+(((-16.0)*r11*x974))+(((-16.0)*x972*x975))+(((-16.0)*x971)));
op[4]=((((-1.0)*x989))+(((-1.0)*x992))+x990+x985);
op[5]=x993;
op[6]=((((-1.0)*x989))+(((-1.0)*x991))+x990+x987);
polyroots6(op,zeror,numroots);
IkReal j5array[6], cj5array[6], sj5array[6], tempj5array[1];
int numsolutions = 0;
for(int ij5 = 0; ij5 < numroots; ++ij5)
{
IkReal htj5 = zeror[ij5];
tempj5array[0]=((2.0)*(atan(htj5)));
for(int kj5 = 0; kj5 < 1; ++kj5)
{
j5array[numsolutions] = tempj5array[kj5];
if( j5array[numsolutions] > IKPI )
{
    j5array[numsolutions]-=IK2PI;
}
else if( j5array[numsolutions] < -IKPI )
{
    j5array[numsolutions]+=IK2PI;
}
sj5array[numsolutions] = IKsin(j5array[numsolutions]);
cj5array[numsolutions] = IKcos(j5array[numsolutions]);
numsolutions++;
}
}
bool j5valid[6]={true,true,true,true,true,true};
_nj5 = 6;
for(int ij5 = 0; ij5 < numsolutions; ++ij5)
    {
if( !j5valid[ij5] )
{
    continue;
}
    j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
htj5 = IKtan(j5/2);

IkReal x994=(cj1*cj2);
IkReal x995=((4.0)*cj4);
IkReal x996=(sj1*sj2);
IkReal x997=((4.0)*sj4);
IkReal x998=(r00*sj3);
IkReal x999=(cj3*r02);
IkReal x1000=((4.0)*r01*sj3);
IkReal x1001=((16.0)*r11*sj4);
IkReal x1002=(cj3*cj4*r01);
IkReal x1003=((12.0)*cj4*r12);
IkReal x1004=((8.0)*r11*sj4);
IkReal x1005=(cj3*r00*x995);
IkReal x1006=((12.0)*sj4*x999);
IkReal x1007=(x997*x999);
IkReal x1008=(r10*x994*x997);
IkReal x1009=(r10*x996*x997);
IkReal x1010=(x1003*x994);
IkReal x1011=(x1003*x996);
IkReal x1012=(r12*x994*x995);
IkReal x1013=(r12*x995*x996);
IkReal x1014=(x1009+x1000);
IkReal x1015=(x1008+x1005);
IkReal x1016=(x1013+x1007);
IkReal x1017=(x1011+x1006);
IkReal x1018=((((-8.0)*x1002))+(((-1.0)*x1004*x994))+((x1004*x996))+(((-8.0)*x998)));
j5evalpoly[0]=(x1015+x1012+(((htj5*htj5*htj5)*(((((-16.0)*x1002))+(((-16.0)*x998))+(((-1.0)*x1001*x994))+((x1001*x996))))))+(((-1.0)*x1016))+(((-1.0)*x1014))+(((htj5*htj5*htj5*htj5*htj5*htj5)*((x1014+x1012+(((-1.0)*x1016))+(((-1.0)*x1015))))))+((x1018*(htj5*htj5*htj5*htj5*htj5)))+(((htj5*htj5)*((x1015+x1010+(((-1.0)*x1017))+(((-1.0)*x1014))))))+(((htj5*htj5*htj5*htj5)*((x1014+x1010+(((-1.0)*x1017))+(((-1.0)*x1015))))))+((htj5*x1018)));
if( IKabs(j5evalpoly[0]) > 0.0000000010000000  )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < numsolutions; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break; 
}
}
{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x1019=(cj5*sj4);
IkReal x1020=(sj4*sj5);
if( IKabs(((((-1.0)*r01*x1020))+((r00*x1019))+((cj4*r02)))) < IKFAST_ATAN2_MAGTHRESH && IKabs((((r11*x1020))+(((-1.0)*r10*x1019))+(((-1.0)*cj4*r12)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((((-1.0)*r01*x1020))+((r00*x1019))+((cj4*r02))))+IKsqr((((r11*x1020))+(((-1.0)*r10*x1019))+(((-1.0)*cj4*r12))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j0array[0]=IKatan2(((((-1.0)*r01*x1020))+((r00*x1019))+((cj4*r02))), (((r11*x1020))+(((-1.0)*r10*x1019))+(((-1.0)*cj4*r12))));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[8];
IkReal x1021=IKsin(j0);
IkReal x1022=IKcos(j0);
IkReal x1023=(r02*sj4);
IkReal x1024=((1.0)*sj3);
IkReal x1025=(r12*sj4);
IkReal x1026=(cj3*cj4);
IkReal x1027=((1.0)*cj5);
IkReal x1028=(r11*sj5);
IkReal x1029=(cj5*r01);
IkReal x1030=(r01*sj5);
IkReal x1031=(r00*sj5);
IkReal x1032=((0.39225)*cj2);
IkReal x1033=(cj5*r11);
IkReal x1034=((1.0)*sj2);
IkReal x1035=(r10*sj5);
IkReal x1036=((1.0)*cj4);
IkReal x1037=((0.39225)*sj1*sj2);
IkReal x1038=(cj1*x1021);
IkReal x1039=(cj4*cj5*sj3);
IkReal x1040=(cj1*x1022);
IkReal x1041=(sj1*x1022);
IkReal x1042=(sj1*x1021);
evalcond[0]=(((sj4*x1030))+x1021+(((-1.0)*r00*sj4*x1027))+(((-1.0)*r02*x1036)));
evalcond[1]=((((-1.0)*x1022))+((sj4*x1028))+(((-1.0)*r12*x1036))+(((-1.0)*r10*sj4*x1027)));
evalcond[2]=((((-1.0)*x1032*x1040))+(((0.10915)*x1021))+(((-1.0)*px))+((x1022*x1037))+(((-0.09465)*x1031))+(((-0.09465)*x1029))+(((-0.425)*x1040)));
evalcond[3]=((((-0.10915)*x1022))+((x1021*x1037))+(((-1.0)*x1032*x1038))+(((-1.0)*py))+(((-0.425)*x1038))+(((-0.09465)*x1035))+(((-0.09465)*x1033)));
evalcond[4]=(((r00*x1039))+(((-1.0)*x1023*x1024))+((cj3*x1031))+((sj2*x1040))+((cj2*x1041))+(((-1.0)*cj4*x1024*x1030))+((cj3*x1029)));
evalcond[5]=(((x1026*x1030))+((cj2*x1040))+((sj3*x1031))+(((-1.0)*x1034*x1041))+((sj3*x1029))+((cj3*x1023))+(((-1.0)*r00*x1026*x1027)));
evalcond[6]=(((r10*x1039))+((cj3*x1035))+((cj3*x1033))+((sj2*x1038))+((cj2*x1042))+(((-1.0)*cj4*x1024*x1028))+(((-1.0)*x1024*x1025)));
evalcond[7]=(((cj2*x1038))+(((-1.0)*r10*x1026*x1027))+((x1026*x1028))+((sj3*x1033))+((sj3*x1035))+(((-1.0)*x1034*x1042))+((cj3*x1025)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
    }

}

}
}
}

}

}

} else
{
{
IkReal j4array[2], cj4array[2], sj4array[2];
bool j4valid[2]={false};
_nj4 = 2;
CheckValue<IkReal> x1043=IKPowWithIntegerCheck(cj3,-1);
if(!x1043.valid){
continue;
}
CheckValue<IkReal> x1044=IKPowWithIntegerCheck(r22,-1);
if(!x1044.valid){
continue;
}
sj4array[0]=((-1.0)*(x1043.value)*(x1044.value)*((((cj2*sj1))+((cj1*sj2)))));
if( sj4array[0] >= -1-IKFAST_SINCOS_THRESH && sj4array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j4valid[0] = j4valid[1] = true;
    j4array[0] = IKasin(sj4array[0]);
    cj4array[0] = IKcos(j4array[0]);
    sj4array[1] = sj4array[0];
    j4array[1] = j4array[0] > 0 ? (IKPI-j4array[0]) : (-IKPI-j4array[0]);
    cj4array[1] = -cj4array[0];
}
else if( isnan(sj4array[0]) )
{
    // probably any value will work
    j4valid[0] = true;
    cj4array[0] = 1; sj4array[0] = 0; j4array[0] = 0;
}
for(int ij4 = 0; ij4 < 2; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 2; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[2];
evalcond[0]=((-1.0)*r22*(IKcos(j4)));
evalcond[1]=((((-1.0)*cj1*cj2))+((sj1*sj2))+(((-1.0)*r22*sj3*(IKsin(j4)))));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j5eval[1];
IkReal x1045=((-1.0)*pz);
r20=0;
r21=0;
npx=(((px*r00))+((py*r10)));
npy=(((px*r01))+((py*r11)));
rxp0_0=(pz*r10);
rxp0_1=(r00*x1045);
rxp1_0=(pz*r11);
rxp1_1=(r01*x1045);
IkReal x1046=((16.0)*sj4);
IkReal x1047=(cj1*cj2);
IkReal x1048=((4.0)*sj3);
IkReal x1049=((8.0)*sj4);
IkReal x1050=((4.0)*cj4);
IkReal x1051=(sj1*sj2);
IkReal x1052=((4.0)*sj4);
IkReal x1053=(cj3*r02);
IkReal x1054=((16.0)*sj3);
IkReal x1055=((8.0)*sj3);
IkReal x1056=((12.0)*cj4);
IkReal x1057=((12.0)*sj4);
IkReal x1058=(cj3*r12);
IkReal x1059=(r11*x1048);
IkReal x1060=(r01*x1048);
IkReal x1061=(r01*x1051);
IkReal x1062=(cj3*cj4*r01);
IkReal x1063=(cj3*cj4*r11);
IkReal x1064=(cj3*r10*x1050);
IkReal x1065=(x1057*x1058);
IkReal x1066=(cj3*r00*x1050);
IkReal x1067=(x1053*x1057);
IkReal x1068=(r00*x1051*x1052);
IkReal x1069=(r02*x1051*x1056);
IkReal x1070=(r00*x1047*x1052);
IkReal x1071=(r02*x1047*x1056);
IkReal x1072=(r10*x1051*x1052);
IkReal x1073=(r12*x1047*x1056);
IkReal x1074=(r12*x1051*x1056);
IkReal x1075=(r10*x1047*x1052);
IkReal x1076=(x1059+x1070);
IkReal x1077=(x1072+x1060);
IkReal x1078=(x1068+x1064);
IkReal x1079=(x1071+x1065);
IkReal x1080=(x1075+x1066);
IkReal x1081=(x1074+x1067);
j5eval[0]=((((0.5)*(IKabs((x1076+x1069+(((-1.0)*x1079))+(((-1.0)*x1078)))))))+(((0.5)*(IKabs(((((-1.0)*r10*x1054))+(((-16.0)*x1063))+((r01*x1046*x1047))+(((-1.0)*x1046*x1061)))))))+(((0.5)*(IKabs(((((-1.0)*x1052*x1053))+x1077+((r12*x1047*x1050))+(((-1.0)*r12*x1050*x1051))+(((-1.0)*x1080)))))))+(((0.5)*(IKabs((x1078+x1069+(((-1.0)*x1076))+(((-1.0)*x1079)))))))+(((0.5)*(IKabs((x1073+x1080+(((-1.0)*x1081))+(((-1.0)*x1077)))))))+(((0.5)*(IKabs(((((-1.0)*x1052*x1058))+x1076+((r02*x1050*x1051))+(((-1.0)*r02*x1047*x1050))+(((-1.0)*x1078)))))))+(IKabs((((r01*x1047*x1049))+(((-1.0)*r10*x1055))+(((-1.0)*x1049*x1061))+(((-8.0)*x1063)))))+(((0.5)*(IKabs(((((-1.0)*r00*x1054))+(((-1.0)*r11*x1046*x1047))+((r11*x1046*x1051))+(((-16.0)*x1062)))))))+(((0.5)*(IKabs((x1077+x1073+(((-1.0)*x1080))+(((-1.0)*x1081)))))))+(IKabs(((((-1.0)*r00*x1055))+(((-1.0)*r11*x1047*x1049))+((r11*x1049*x1051))+(((-8.0)*x1062))))));
if( IKabs(j5eval[0]) < 0.0000000010000000  )
{
continue; // 1 cases reached

} else
{
IkReal op[6+1], zeror[6];
int numroots;
IkReal j5evalpoly[1];
IkReal x1082=(r10*sj3);
IkReal x1083=(r01*sj4);
IkReal x1084=(cj1*cj2);
IkReal x1085=(cj3*cj4);
IkReal x1086=(sj1*sj2);
IkReal x1087=(cj4*r02);
IkReal x1088=((4.0)*r11*sj3);
IkReal x1089=(cj3*r12*sj4);
IkReal x1090=((4.0)*r00*sj4);
IkReal x1091=((4.0)*r10*x1085);
IkReal x1092=((12.0)*x1089);
IkReal x1093=((4.0)*x1089);
IkReal x1094=(x1084*x1090);
IkReal x1095=(x1086*x1090);
IkReal x1096=((12.0)*x1086*x1087);
IkReal x1097=((12.0)*x1084*x1087);
IkReal x1098=((4.0)*x1086*x1087);
IkReal x1099=((4.0)*x1084*x1087);
IkReal x1100=(x1094+x1088);
IkReal x1101=(x1095+x1091);
IkReal x1102=(x1093+x1099);
IkReal x1103=(x1097+x1092);
IkReal x1104=((((8.0)*x1083*x1084))+(((-8.0)*x1083*x1086))+(((-8.0)*r11*x1085))+(((-8.0)*x1082)));
op[0]=(x1100+x1098+(((-1.0)*x1102))+(((-1.0)*x1101)));
op[1]=x1104;
op[2]=(x1100+x1096+(((-1.0)*x1103))+(((-1.0)*x1101)));
op[3]=((((-16.0)*x1083*x1086))+(((16.0)*x1083*x1084))+(((-16.0)*x1082))+(((-16.0)*r11*x1085)));
op[4]=(x1101+x1096+(((-1.0)*x1100))+(((-1.0)*x1103)));
op[5]=x1104;
op[6]=(x1101+x1098+(((-1.0)*x1100))+(((-1.0)*x1102)));
polyroots6(op,zeror,numroots);
IkReal j5array[6], cj5array[6], sj5array[6], tempj5array[1];
int numsolutions = 0;
for(int ij5 = 0; ij5 < numroots; ++ij5)
{
IkReal htj5 = zeror[ij5];
tempj5array[0]=((2.0)*(atan(htj5)));
for(int kj5 = 0; kj5 < 1; ++kj5)
{
j5array[numsolutions] = tempj5array[kj5];
if( j5array[numsolutions] > IKPI )
{
    j5array[numsolutions]-=IK2PI;
}
else if( j5array[numsolutions] < -IKPI )
{
    j5array[numsolutions]+=IK2PI;
}
sj5array[numsolutions] = IKsin(j5array[numsolutions]);
cj5array[numsolutions] = IKcos(j5array[numsolutions]);
numsolutions++;
}
}
bool j5valid[6]={true,true,true,true,true,true};
_nj5 = 6;
for(int ij5 = 0; ij5 < numsolutions; ++ij5)
    {
if( !j5valid[ij5] )
{
    continue;
}
    j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
htj5 = IKtan(j5/2);

IkReal x1105=(cj1*cj2);
IkReal x1106=((4.0)*cj4);
IkReal x1107=(sj1*sj2);
IkReal x1108=((4.0)*sj4);
IkReal x1109=(r00*sj3);
IkReal x1110=(cj3*r02);
IkReal x1111=((4.0)*r01*sj3);
IkReal x1112=((16.0)*r11*sj4);
IkReal x1113=(cj3*cj4*r01);
IkReal x1114=((12.0)*cj4*r12);
IkReal x1115=((8.0)*r11*sj4);
IkReal x1116=(cj3*r00*x1106);
IkReal x1117=((12.0)*sj4*x1110);
IkReal x1118=(x1108*x1110);
IkReal x1119=(r10*x1105*x1108);
IkReal x1120=(r10*x1107*x1108);
IkReal x1121=(x1105*x1114);
IkReal x1122=(x1107*x1114);
IkReal x1123=(r12*x1105*x1106);
IkReal x1124=(r12*x1106*x1107);
IkReal x1125=(x1111+x1120);
IkReal x1126=(x1116+x1119);
IkReal x1127=(x1118+x1124);
IkReal x1128=(x1117+x1122);
IkReal x1129=((((-8.0)*x1109))+(((-8.0)*x1113))+((x1107*x1115))+(((-1.0)*x1105*x1115)));
j5evalpoly[0]=(((htj5*x1129))+x1123+x1126+(((htj5*htj5*htj5*htj5)*((x1121+x1125+(((-1.0)*x1126))+(((-1.0)*x1128))))))+(((htj5*htj5*htj5*htj5*htj5*htj5)*((x1123+x1125+(((-1.0)*x1127))+(((-1.0)*x1126))))))+((x1129*(htj5*htj5*htj5*htj5*htj5)))+(((htj5*htj5)*((x1121+x1126+(((-1.0)*x1125))+(((-1.0)*x1128))))))+(((-1.0)*x1127))+(((-1.0)*x1125))+(((htj5*htj5*htj5)*(((((-16.0)*x1113))+(((-16.0)*x1109))+((x1107*x1112))+(((-1.0)*x1105*x1112)))))));
if( IKabs(j5evalpoly[0]) > 0.0000000010000000  )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < numsolutions; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break; 
}
}
{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x1130=(cj5*sj4);
IkReal x1131=(sj4*sj5);
if( IKabs((((r00*x1130))+(((-1.0)*r01*x1131))+((cj4*r02)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((((-1.0)*r10*x1130))+((r11*x1131))+(((-1.0)*cj4*r12)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((((r00*x1130))+(((-1.0)*r01*x1131))+((cj4*r02))))+IKsqr(((((-1.0)*r10*x1130))+((r11*x1131))+(((-1.0)*cj4*r12))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j0array[0]=IKatan2((((r00*x1130))+(((-1.0)*r01*x1131))+((cj4*r02))), ((((-1.0)*r10*x1130))+((r11*x1131))+(((-1.0)*cj4*r12))));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[8];
IkReal x1132=IKsin(j0);
IkReal x1133=IKcos(j0);
IkReal x1134=(r02*sj4);
IkReal x1135=((1.0)*sj3);
IkReal x1136=(r12*sj4);
IkReal x1137=(cj3*cj4);
IkReal x1138=((1.0)*cj5);
IkReal x1139=(r11*sj5);
IkReal x1140=(cj5*r01);
IkReal x1141=(r01*sj5);
IkReal x1142=(r00*sj5);
IkReal x1143=((0.39225)*cj2);
IkReal x1144=(cj5*r11);
IkReal x1145=((1.0)*sj2);
IkReal x1146=(r10*sj5);
IkReal x1147=((1.0)*cj4);
IkReal x1148=((0.39225)*sj1*sj2);
IkReal x1149=(cj1*x1132);
IkReal x1150=(cj4*cj5*sj3);
IkReal x1151=(cj1*x1133);
IkReal x1152=(sj1*x1133);
IkReal x1153=(sj1*x1132);
evalcond[0]=(((sj4*x1141))+x1132+(((-1.0)*r02*x1147))+(((-1.0)*r00*sj4*x1138)));
evalcond[1]=(((sj4*x1139))+(((-1.0)*x1133))+(((-1.0)*r12*x1147))+(((-1.0)*r10*sj4*x1138)));
evalcond[2]=((((0.10915)*x1132))+(((-1.0)*x1143*x1151))+(((-1.0)*px))+((x1133*x1148))+(((-0.09465)*x1140))+(((-0.09465)*x1142))+(((-0.425)*x1151)));
evalcond[3]=((((-1.0)*x1143*x1149))+((x1132*x1148))+(((-1.0)*py))+(((-0.10915)*x1133))+(((-0.425)*x1149))+(((-0.09465)*x1146))+(((-0.09465)*x1144)));
evalcond[4]=(((r00*x1150))+((cj2*x1152))+((sj2*x1151))+((cj3*x1140))+((cj3*x1142))+(((-1.0)*x1134*x1135))+(((-1.0)*cj4*x1135*x1141)));
evalcond[5]=((((-1.0)*r00*x1137*x1138))+((x1137*x1141))+((cj3*x1134))+((cj2*x1151))+((sj3*x1142))+((sj3*x1140))+(((-1.0)*x1145*x1152)));
evalcond[6]=(((cj2*x1153))+(((-1.0)*cj4*x1135*x1139))+((cj3*x1146))+((cj3*x1144))+((sj2*x1149))+(((-1.0)*x1135*x1136))+((r10*x1150)));
evalcond[7]=(((cj3*x1136))+((cj2*x1149))+(((-1.0)*r10*x1137*x1138))+((x1137*x1139))+((sj3*x1146))+((sj3*x1144))+(((-1.0)*x1145*x1153)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
    }

}

}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(r21))+(IKabs(r20)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j4eval[2];
IkReal x1154=((-1.0)*pz);
r20=0;
r21=0;
r02=0;
r12=0;
npx=(((px*r00))+((py*r10)));
npy=(((px*r01))+((py*r11)));
npz=(pz*r22);
rxp0_0=(pz*r10);
rxp0_1=(r00*x1154);
rxp1_0=(pz*r11);
rxp1_1=(r01*x1154);
rxp2_0=((-1.0)*py*r22);
rxp2_1=(px*r22);
rxp2_2=0;
j4eval[0]=cj3;
j4eval[1]=r22;
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  )
{
{
IkReal j4eval[2];
IkReal x1155=((-1.0)*pz);
r20=0;
r21=0;
r02=0;
r12=0;
npx=(((px*r00))+((py*r10)));
npy=(((px*r01))+((py*r11)));
npz=(pz*r22);
rxp0_0=(pz*r10);
rxp0_1=(r00*x1155);
rxp1_0=(pz*r11);
rxp1_1=(r01*x1155);
rxp2_0=((-1.0)*py*r22);
rxp2_1=(px*r22);
rxp2_2=0;
j4eval[0]=r22;
j4eval[1]=sj3;
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[2], cj4array[2], sj4array[2];
bool j4valid[2]={false};
_nj4 = 2;
CheckValue<IkReal> x1156=IKPowWithIntegerCheck(r22,-1);
if(!x1156.valid){
continue;
}
CheckValue<IkReal> x1157=IKPowWithIntegerCheck(sj3,-1);
if(!x1157.valid){
continue;
}
sj4array[0]=((x1156.value)*(x1157.value)*(((((-1.0)*cj1*cj2))+((sj1*sj2)))));
if( sj4array[0] >= -1-IKFAST_SINCOS_THRESH && sj4array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j4valid[0] = j4valid[1] = true;
    j4array[0] = IKasin(sj4array[0]);
    cj4array[0] = IKcos(j4array[0]);
    sj4array[1] = sj4array[0];
    j4array[1] = j4array[0] > 0 ? (IKPI-j4array[0]) : (-IKPI-j4array[0]);
    cj4array[1] = -cj4array[0];
}
else if( isnan(sj4array[0]) )
{
    // probably any value will work
    j4valid[0] = true;
    cj4array[0] = 1; sj4array[0] = 0; j4array[0] = 0;
}
for(int ij4 = 0; ij4 < 2; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 2; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[2];
evalcond[0]=((-1.0)*r22*(IKcos(j4)));
evalcond[1]=(((cj2*sj1))+((cj1*sj2))+((cj3*r22*(IKsin(j4)))));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j5eval[1];
IkReal x1158=((-1.0)*pz);
r20=0;
r21=0;
r02=0;
r12=0;
npx=(((px*r00))+((py*r10)));
npy=(((px*r01))+((py*r11)));
npz=(pz*r22);
rxp0_0=(pz*r10);
rxp0_1=(r00*x1158);
rxp1_0=(pz*r11);
rxp1_1=(r01*x1158);
rxp2_0=((-1.0)*py*r22);
rxp2_1=(px*r22);
rxp2_2=0;
j5eval[0]=((IKabs(((((-4.0)*cj1*cj3*cj4*r00*sj2))+(((-4.0)*cj1*cj2*cj4*r00*sj3))+(((4.0)*cj1*r01*sj2*sj3))+(((4.0)*cj3*r01*sj1*sj2))+(((-4.0)*cj1*cj2*cj3*r01))+(((4.0)*cj2*r01*sj1*sj3))+(((4.0)*cj4*r00*sj1*sj2*sj3))+(((-4.0)*cj2*cj3*cj4*r00*sj1)))))+(IKabs(((((8.0)*cj4*r11*sj1*sj2*sj3))+(((-8.0)*cj3*r10*sj1*sj2))+(((-8.0)*cj2*cj3*cj4*r11*sj1))+(((-8.0)*cj2*r10*sj1*sj3))+(((-8.0)*cj1*cj2*cj4*r11*sj3))+(((8.0)*cj1*cj2*cj3*r10))+(((-8.0)*cj1*cj3*cj4*r11*sj2))+(((-8.0)*cj1*r10*sj2*sj3)))))+(((0.5)*(IKabs(((((-16.0)*cj1*cj2*cj4*r01*sj3))+(((-16.0)*cj2*r00*sj1*sj3))+(((16.0)*cj1*cj2*cj3*r00))+(((-16.0)*cj1*r00*sj2*sj3))+(((-16.0)*cj3*r00*sj1*sj2))+(((-16.0)*cj1*cj3*cj4*r01*sj2))+(((-16.0)*cj2*cj3*cj4*r01*sj1))+(((16.0)*cj4*r01*sj1*sj2*sj3)))))))+(((0.5)*(IKabs(((((-16.0)*cj2*r10*sj1*sj3))+(((-16.0)*cj1*r10*sj2*sj3))+(((-16.0)*cj3*r10*sj1*sj2))+(((16.0)*cj1*cj2*cj3*r10))+(((-16.0)*cj1*cj2*cj4*r11*sj3))+(((-16.0)*cj1*cj3*cj4*r11*sj2))+(((16.0)*cj4*r11*sj1*sj2*sj3))+(((-16.0)*cj2*cj3*cj4*r11*sj1)))))))+(IKabs(((((-8.0)*cj3*r00*sj1*sj2))+(((-8.0)*cj2*cj3*cj4*r01*sj1))+(((-8.0)*cj1*cj3*cj4*r01*sj2))+(((8.0)*cj4*r01*sj1*sj2*sj3))+(((-8.0)*cj2*r00*sj1*sj3))+(((8.0)*cj1*cj2*cj3*r00))+(((-8.0)*cj1*cj2*cj4*r01*sj3))+(((-8.0)*cj1*r00*sj2*sj3)))))+(((0.5)*(IKabs(((((4.0)*cj2*cj3*cj4*r00*sj1))+(((4.0)*cj1*cj2*cj3*r01))+(((-4.0)*cj3*r01*sj1*sj2))+(((4.0)*cj1*cj3*cj4*r00*sj2))+(((-4.0)*cj1*r01*sj2*sj3))+(((-4.0)*cj4*r00*sj1*sj2*sj3))+(((-4.0)*cj2*r01*sj1*sj3))+(((4.0)*cj1*cj2*cj4*r00*sj3)))))))+(IKabs(((((-4.0)*cj2*cj3*cj4*r10*sj1))+(((-4.0)*cj1*cj3*cj4*r10*sj2))+(((4.0)*cj3*r11*sj1*sj2))+(((-4.0)*cj1*cj2*cj3*r11))+(((4.0)*cj4*r10*sj1*sj2*sj3))+(((4.0)*cj1*r11*sj2*sj3))+(((4.0)*cj2*r11*sj1*sj3))+(((-4.0)*cj1*cj2*cj4*r10*sj3)))))+(((0.5)*(IKabs(((((-4.0)*cj4*r10*sj1*sj2*sj3))+(((-4.0)*cj3*r11*sj1*sj2))+(((-4.0)*cj1*r11*sj2*sj3))+(((4.0)*cj2*cj3*cj4*r10*sj1))+(((4.0)*cj1*cj3*cj4*r10*sj2))+(((4.0)*cj1*cj2*cj3*r11))+(((-4.0)*cj2*r11*sj1*sj3))+(((4.0)*cj1*cj2*cj4*r10*sj3))))))));
if( IKabs(j5eval[0]) < 0.0000000010000000  )
{
continue; // 1 cases reached

} else
{
IkReal op[6+1], zeror[6];
int numroots;
IkReal j5evalpoly[1];
IkReal x1159=((4.0)*r01);
IkReal x1160=((16.0)*r00);
IkReal x1161=(cj3*sj2);
IkReal x1162=((8.0)*r00);
IkReal x1163=(cj2*cj3);
IkReal x1164=(cj4*r01);
IkReal x1165=((16.0)*cj1);
IkReal x1166=((8.0)*sj1);
IkReal x1167=((16.0)*sj1);
IkReal x1168=((8.0)*cj1);
IkReal x1169=(cj2*sj3);
IkReal x1170=(sj2*sj3);
IkReal x1171=(sj1*x1169);
IkReal x1172=((4.0)*cj4*r00);
IkReal x1173=(cj1*x1170);
IkReal x1174=(((sj1*x1159*x1161))+((sj1*x1170*x1172))+((x1159*x1171))+((x1159*x1173)));
IkReal x1175=(((sj1*x1163*x1172))+((cj1*x1169*x1172))+((cj1*x1159*x1163))+((cj1*x1161*x1172)));
IkReal x1176=(x1174+(((-1.0)*x1175)));
IkReal x1177=((((-1.0)*x1162*x1173))+(((-1.0)*x1162*x1171))+(((-1.0)*sj1*x1161*x1162))+((cj1*x1162*x1163))+((x1164*x1166*x1170))+(((-1.0)*x1163*x1164*x1166))+(((-1.0)*x1164*x1168*x1169))+(((-1.0)*x1161*x1164*x1168)));
IkReal x1178=(x1175+(((-1.0)*x1174)));
op[0]=x1176;
op[1]=x1177;
op[2]=x1176;
op[3]=(((cj1*x1160*x1163))+(((-1.0)*x1164*x1165*x1169))+((x1164*x1167*x1170))+(((-1.0)*x1163*x1164*x1167))+(((-1.0)*sj1*x1160*x1161))+(((-1.0)*x1160*x1171))+(((-1.0)*x1160*x1173))+(((-1.0)*x1161*x1164*x1165)));
op[4]=x1178;
op[5]=x1177;
op[6]=x1178;
polyroots6(op,zeror,numroots);
IkReal j5array[6], cj5array[6], sj5array[6], tempj5array[1];
int numsolutions = 0;
for(int ij5 = 0; ij5 < numroots; ++ij5)
{
IkReal htj5 = zeror[ij5];
tempj5array[0]=((2.0)*(atan(htj5)));
for(int kj5 = 0; kj5 < 1; ++kj5)
{
j5array[numsolutions] = tempj5array[kj5];
if( j5array[numsolutions] > IKPI )
{
    j5array[numsolutions]-=IK2PI;
}
else if( j5array[numsolutions] < -IKPI )
{
    j5array[numsolutions]+=IK2PI;
}
sj5array[numsolutions] = IKsin(j5array[numsolutions]);
cj5array[numsolutions] = IKcos(j5array[numsolutions]);
numsolutions++;
}
}
bool j5valid[6]={true,true,true,true,true,true};
_nj5 = 6;
for(int ij5 = 0; ij5 < numsolutions; ++ij5)
    {
if( !j5valid[ij5] )
{
    continue;
}
    j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
htj5 = IKtan(j5/2);

j5evalpoly[0]=((((htj5*htj5*htj5*htj5*htj5*htj5)*(((((-4.0)*cj2*cj3*cj4*r10*sj1))+(((-4.0)*cj1*cj3*cj4*r10*sj2))+(((4.0)*cj3*r11*sj1*sj2))+(((-4.0)*cj1*cj2*cj3*r11))+(((4.0)*cj4*r10*sj1*sj2*sj3))+(((4.0)*cj1*r11*sj2*sj3))+(((4.0)*cj2*r11*sj1*sj3))+(((-4.0)*cj1*cj2*cj4*r10*sj3))))))+(((-4.0)*cj4*r10*sj1*sj2*sj3))+(((-4.0)*cj3*r11*sj1*sj2))+(((-4.0)*cj1*r11*sj2*sj3))+(((htj5*htj5*htj5*htj5)*(((((-4.0)*cj2*cj3*cj4*r10*sj1))+(((-4.0)*cj1*cj3*cj4*r10*sj2))+(((4.0)*cj3*r11*sj1*sj2))+(((-4.0)*cj1*cj2*cj3*r11))+(((4.0)*cj4*r10*sj1*sj2*sj3))+(((4.0)*cj1*r11*sj2*sj3))+(((4.0)*cj2*r11*sj1*sj3))+(((-4.0)*cj1*cj2*cj4*r10*sj3))))))+(((4.0)*cj2*cj3*cj4*r10*sj1))+(((4.0)*cj1*cj3*cj4*r10*sj2))+(((htj5*htj5)*(((((-4.0)*cj4*r10*sj1*sj2*sj3))+(((-4.0)*cj3*r11*sj1*sj2))+(((-4.0)*cj1*r11*sj2*sj3))+(((4.0)*cj2*cj3*cj4*r10*sj1))+(((4.0)*cj1*cj3*cj4*r10*sj2))+(((4.0)*cj1*cj2*cj3*r11))+(((-4.0)*cj2*r11*sj1*sj3))+(((4.0)*cj1*cj2*cj4*r10*sj3))))))+((htj5*(((((8.0)*cj4*r11*sj1*sj2*sj3))+(((-8.0)*cj3*r10*sj1*sj2))+(((-8.0)*cj2*cj3*cj4*r11*sj1))+(((-8.0)*cj2*r10*sj1*sj3))+(((-8.0)*cj1*cj2*cj4*r11*sj3))+(((8.0)*cj1*cj2*cj3*r10))+(((-8.0)*cj1*cj3*cj4*r11*sj2))+(((-8.0)*cj1*r10*sj2*sj3))))))+(((4.0)*cj1*cj2*cj3*r11))+(((-4.0)*cj2*r11*sj1*sj3))+(((htj5*htj5*htj5*htj5*htj5)*(((((8.0)*cj4*r11*sj1*sj2*sj3))+(((-8.0)*cj3*r10*sj1*sj2))+(((-8.0)*cj2*cj3*cj4*r11*sj1))+(((-8.0)*cj2*r10*sj1*sj3))+(((-8.0)*cj1*cj2*cj4*r11*sj3))+(((8.0)*cj1*cj2*cj3*r10))+(((-8.0)*cj1*cj3*cj4*r11*sj2))+(((-8.0)*cj1*r10*sj2*sj3))))))+(((htj5*htj5*htj5)*(((((-16.0)*cj2*r10*sj1*sj3))+(((-16.0)*cj1*r10*sj2*sj3))+(((-16.0)*cj3*r10*sj1*sj2))+(((16.0)*cj1*cj2*cj3*r10))+(((-16.0)*cj1*cj2*cj4*r11*sj3))+(((-16.0)*cj1*cj3*cj4*r11*sj2))+(((16.0)*cj4*r11*sj1*sj2*sj3))+(((-16.0)*cj2*cj3*cj4*r11*sj1))))))+(((4.0)*cj1*cj2*cj4*r10*sj3)));
if( IKabs(j5evalpoly[0]) > 0.0000000010000000  )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < numsolutions; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break; 
}
}
{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x1179=((1.0)*sj4);
if( IKabs(((((-1.0)*r01*sj5*x1179))+((cj5*r00*sj4)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((((-1.0)*cj5*r10*x1179))+((r11*sj4*sj5)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((((-1.0)*r01*sj5*x1179))+((cj5*r00*sj4))))+IKsqr(((((-1.0)*cj5*r10*x1179))+((r11*sj4*sj5))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j0array[0]=IKatan2(((((-1.0)*r01*sj5*x1179))+((cj5*r00*sj4))), ((((-1.0)*cj5*r10*x1179))+((r11*sj4*sj5))));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[8];
IkReal x1180=IKcos(j0);
IkReal x1181=IKsin(j0);
IkReal x1182=((1.0)*cj3);
IkReal x1183=(r11*sj5);
IkReal x1184=(cj5*r01);
IkReal x1185=(cj1*cj2);
IkReal x1186=(cj5*r11);
IkReal x1187=(r01*sj5);
IkReal x1188=(cj3*cj4);
IkReal x1189=(r00*sj5);
IkReal x1190=(r10*sj5);
IkReal x1191=(cj4*cj5*r00);
IkReal x1192=(cj4*cj5*r10);
IkReal x1193=((1.0)*cj4*sj3);
IkReal x1194=(cj1*x1181);
IkReal x1195=(cj1*x1180);
IkReal x1196=(sj1*x1180);
IkReal x1197=((1.0)*cj5*sj4);
IkReal x1198=(sj1*sj2*x1181);
evalcond[0]=((((-1.0)*r00*x1197))+x1181+((sj4*x1187)));
evalcond[1]=(((sj4*x1183))+(((-1.0)*r10*x1197))+(((-1.0)*x1180)));
evalcond[2]=((((-1.0)*x1187*x1193))+((sj2*x1195))+((sj3*x1191))+((cj3*x1189))+((cj3*x1184))+((cj2*x1196)));
evalcond[3]=(((cj2*sj1*x1181))+((sj2*x1194))+((sj3*x1192))+(((-1.0)*x1183*x1193))+((cj3*x1186))+((cj3*x1190)));
evalcond[4]=(((x1187*x1188))+((x1180*x1185))+(((-1.0)*sj2*x1196))+((sj3*x1184))+((sj3*x1189))+(((-1.0)*x1182*x1191)));
evalcond[5]=(((x1183*x1188))+((sj3*x1186))+((x1181*x1185))+((sj3*x1190))+(((-1.0)*x1182*x1192))+(((-1.0)*x1198)));
evalcond[6]=((((-0.09465)*x1189))+(((-0.09465)*x1184))+(((0.39225)*sj2*x1196))+(((0.10915)*x1181))+(((-0.39225)*x1180*x1185))+(((-0.425)*x1195))+(((-1.0)*px)));
evalcond[7]=((((-0.09465)*x1186))+(((-0.09465)*x1190))+(((0.39225)*x1198))+(((-0.10915)*x1180))+(((-0.425)*x1194))+(((-1.0)*py))+(((-0.39225)*x1181*x1185)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
    }

}

}
}
}

}

}

} else
{
{
IkReal j4array[2], cj4array[2], sj4array[2];
bool j4valid[2]={false};
_nj4 = 2;
CheckValue<IkReal> x1199=IKPowWithIntegerCheck(cj3,-1);
if(!x1199.valid){
continue;
}
CheckValue<IkReal> x1200=IKPowWithIntegerCheck(r22,-1);
if(!x1200.valid){
continue;
}
sj4array[0]=((-1.0)*(x1199.value)*(x1200.value)*((((cj2*sj1))+((cj1*sj2)))));
if( sj4array[0] >= -1-IKFAST_SINCOS_THRESH && sj4array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j4valid[0] = j4valid[1] = true;
    j4array[0] = IKasin(sj4array[0]);
    cj4array[0] = IKcos(j4array[0]);
    sj4array[1] = sj4array[0];
    j4array[1] = j4array[0] > 0 ? (IKPI-j4array[0]) : (-IKPI-j4array[0]);
    cj4array[1] = -cj4array[0];
}
else if( isnan(sj4array[0]) )
{
    // probably any value will work
    j4valid[0] = true;
    cj4array[0] = 1; sj4array[0] = 0; j4array[0] = 0;
}
for(int ij4 = 0; ij4 < 2; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 2; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[2];
evalcond[0]=((-1.0)*r22*(IKcos(j4)));
evalcond[1]=((((-1.0)*cj1*cj2))+((sj1*sj2))+(((-1.0)*r22*sj3*(IKsin(j4)))));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j5eval[1];
IkReal x1201=((-1.0)*pz);
r20=0;
r21=0;
r02=0;
r12=0;
npx=(((px*r00))+((py*r10)));
npy=(((px*r01))+((py*r11)));
npz=(pz*r22);
rxp0_0=(pz*r10);
rxp0_1=(r00*x1201);
rxp1_0=(pz*r11);
rxp1_1=(r01*x1201);
rxp2_0=((-1.0)*py*r22);
rxp2_1=(px*r22);
rxp2_2=0;
j5eval[0]=((IKabs(((((-4.0)*cj1*cj3*cj4*r00*sj2))+(((-4.0)*cj1*cj2*cj4*r00*sj3))+(((4.0)*cj1*r01*sj2*sj3))+(((4.0)*cj3*r01*sj1*sj2))+(((-4.0)*cj1*cj2*cj3*r01))+(((4.0)*cj2*r01*sj1*sj3))+(((4.0)*cj4*r00*sj1*sj2*sj3))+(((-4.0)*cj2*cj3*cj4*r00*sj1)))))+(IKabs(((((8.0)*cj4*r11*sj1*sj2*sj3))+(((-8.0)*cj3*r10*sj1*sj2))+(((-8.0)*cj2*cj3*cj4*r11*sj1))+(((-8.0)*cj2*r10*sj1*sj3))+(((-8.0)*cj1*cj2*cj4*r11*sj3))+(((8.0)*cj1*cj2*cj3*r10))+(((-8.0)*cj1*cj3*cj4*r11*sj2))+(((-8.0)*cj1*r10*sj2*sj3)))))+(((0.5)*(IKabs(((((-16.0)*cj1*cj2*cj4*r01*sj3))+(((-16.0)*cj2*r00*sj1*sj3))+(((16.0)*cj1*cj2*cj3*r00))+(((-16.0)*cj1*r00*sj2*sj3))+(((-16.0)*cj3*r00*sj1*sj2))+(((-16.0)*cj1*cj3*cj4*r01*sj2))+(((-16.0)*cj2*cj3*cj4*r01*sj1))+(((16.0)*cj4*r01*sj1*sj2*sj3)))))))+(((0.5)*(IKabs(((((-16.0)*cj2*r10*sj1*sj3))+(((-16.0)*cj1*r10*sj2*sj3))+(((-16.0)*cj3*r10*sj1*sj2))+(((16.0)*cj1*cj2*cj3*r10))+(((-16.0)*cj1*cj2*cj4*r11*sj3))+(((-16.0)*cj1*cj3*cj4*r11*sj2))+(((16.0)*cj4*r11*sj1*sj2*sj3))+(((-16.0)*cj2*cj3*cj4*r11*sj1)))))))+(IKabs(((((-8.0)*cj3*r00*sj1*sj2))+(((-8.0)*cj2*cj3*cj4*r01*sj1))+(((-8.0)*cj1*cj3*cj4*r01*sj2))+(((8.0)*cj4*r01*sj1*sj2*sj3))+(((-8.0)*cj2*r00*sj1*sj3))+(((8.0)*cj1*cj2*cj3*r00))+(((-8.0)*cj1*cj2*cj4*r01*sj3))+(((-8.0)*cj1*r00*sj2*sj3)))))+(((0.5)*(IKabs(((((4.0)*cj2*cj3*cj4*r00*sj1))+(((4.0)*cj1*cj2*cj3*r01))+(((-4.0)*cj3*r01*sj1*sj2))+(((4.0)*cj1*cj3*cj4*r00*sj2))+(((-4.0)*cj1*r01*sj2*sj3))+(((-4.0)*cj4*r00*sj1*sj2*sj3))+(((-4.0)*cj2*r01*sj1*sj3))+(((4.0)*cj1*cj2*cj4*r00*sj3)))))))+(IKabs(((((-4.0)*cj2*cj3*cj4*r10*sj1))+(((-4.0)*cj1*cj3*cj4*r10*sj2))+(((4.0)*cj3*r11*sj1*sj2))+(((-4.0)*cj1*cj2*cj3*r11))+(((4.0)*cj4*r10*sj1*sj2*sj3))+(((4.0)*cj1*r11*sj2*sj3))+(((4.0)*cj2*r11*sj1*sj3))+(((-4.0)*cj1*cj2*cj4*r10*sj3)))))+(((0.5)*(IKabs(((((-4.0)*cj4*r10*sj1*sj2*sj3))+(((-4.0)*cj3*r11*sj1*sj2))+(((-4.0)*cj1*r11*sj2*sj3))+(((4.0)*cj2*cj3*cj4*r10*sj1))+(((4.0)*cj1*cj3*cj4*r10*sj2))+(((4.0)*cj1*cj2*cj3*r11))+(((-4.0)*cj2*r11*sj1*sj3))+(((4.0)*cj1*cj2*cj4*r10*sj3))))))));
if( IKabs(j5eval[0]) < 0.0000000010000000  )
{
continue; // 1 cases reached

} else
{
IkReal op[6+1], zeror[6];
int numroots;
IkReal j5evalpoly[1];
IkReal x1202=((4.0)*r01);
IkReal x1203=((16.0)*r00);
IkReal x1204=(cj3*sj2);
IkReal x1205=((8.0)*r00);
IkReal x1206=(cj2*cj3);
IkReal x1207=(cj4*r01);
IkReal x1208=((16.0)*cj1);
IkReal x1209=((8.0)*sj1);
IkReal x1210=((16.0)*sj1);
IkReal x1211=((8.0)*cj1);
IkReal x1212=(cj2*sj3);
IkReal x1213=(sj2*sj3);
IkReal x1214=(sj1*x1212);
IkReal x1215=((4.0)*cj4*r00);
IkReal x1216=(cj1*x1213);
IkReal x1217=(((sj1*x1202*x1204))+((sj1*x1213*x1215))+((x1202*x1216))+((x1202*x1214)));
IkReal x1218=(((cj1*x1204*x1215))+((cj1*x1212*x1215))+((sj1*x1206*x1215))+((cj1*x1202*x1206)));
IkReal x1219=(x1217+(((-1.0)*x1218)));
IkReal x1220=((((-1.0)*x1207*x1211*x1212))+(((-1.0)*x1204*x1207*x1211))+(((-1.0)*sj1*x1204*x1205))+((cj1*x1205*x1206))+(((-1.0)*x1205*x1216))+(((-1.0)*x1205*x1214))+(((-1.0)*x1206*x1207*x1209))+((x1207*x1209*x1213)));
IkReal x1221=(x1218+(((-1.0)*x1217)));
op[0]=x1219;
op[1]=x1220;
op[2]=x1219;
op[3]=((((-1.0)*x1207*x1208*x1212))+(((-1.0)*x1203*x1216))+(((-1.0)*x1203*x1214))+(((-1.0)*x1204*x1207*x1208))+(((-1.0)*sj1*x1203*x1204))+((x1207*x1210*x1213))+(((-1.0)*x1206*x1207*x1210))+((cj1*x1203*x1206)));
op[4]=x1221;
op[5]=x1220;
op[6]=x1221;
polyroots6(op,zeror,numroots);
IkReal j5array[6], cj5array[6], sj5array[6], tempj5array[1];
int numsolutions = 0;
for(int ij5 = 0; ij5 < numroots; ++ij5)
{
IkReal htj5 = zeror[ij5];
tempj5array[0]=((2.0)*(atan(htj5)));
for(int kj5 = 0; kj5 < 1; ++kj5)
{
j5array[numsolutions] = tempj5array[kj5];
if( j5array[numsolutions] > IKPI )
{
    j5array[numsolutions]-=IK2PI;
}
else if( j5array[numsolutions] < -IKPI )
{
    j5array[numsolutions]+=IK2PI;
}
sj5array[numsolutions] = IKsin(j5array[numsolutions]);
cj5array[numsolutions] = IKcos(j5array[numsolutions]);
numsolutions++;
}
}
bool j5valid[6]={true,true,true,true,true,true};
_nj5 = 6;
for(int ij5 = 0; ij5 < numsolutions; ++ij5)
    {
if( !j5valid[ij5] )
{
    continue;
}
    j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
htj5 = IKtan(j5/2);

j5evalpoly[0]=((((htj5*htj5*htj5*htj5*htj5*htj5)*(((((-4.0)*cj2*cj3*cj4*r10*sj1))+(((-4.0)*cj1*cj3*cj4*r10*sj2))+(((4.0)*cj3*r11*sj1*sj2))+(((-4.0)*cj1*cj2*cj3*r11))+(((4.0)*cj4*r10*sj1*sj2*sj3))+(((4.0)*cj1*r11*sj2*sj3))+(((4.0)*cj2*r11*sj1*sj3))+(((-4.0)*cj1*cj2*cj4*r10*sj3))))))+(((-4.0)*cj4*r10*sj1*sj2*sj3))+(((-4.0)*cj3*r11*sj1*sj2))+(((-4.0)*cj1*r11*sj2*sj3))+(((htj5*htj5*htj5*htj5)*(((((-4.0)*cj2*cj3*cj4*r10*sj1))+(((-4.0)*cj1*cj3*cj4*r10*sj2))+(((4.0)*cj3*r11*sj1*sj2))+(((-4.0)*cj1*cj2*cj3*r11))+(((4.0)*cj4*r10*sj1*sj2*sj3))+(((4.0)*cj1*r11*sj2*sj3))+(((4.0)*cj2*r11*sj1*sj3))+(((-4.0)*cj1*cj2*cj4*r10*sj3))))))+(((4.0)*cj2*cj3*cj4*r10*sj1))+(((4.0)*cj1*cj3*cj4*r10*sj2))+(((htj5*htj5)*(((((-4.0)*cj4*r10*sj1*sj2*sj3))+(((-4.0)*cj3*r11*sj1*sj2))+(((-4.0)*cj1*r11*sj2*sj3))+(((4.0)*cj2*cj3*cj4*r10*sj1))+(((4.0)*cj1*cj3*cj4*r10*sj2))+(((4.0)*cj1*cj2*cj3*r11))+(((-4.0)*cj2*r11*sj1*sj3))+(((4.0)*cj1*cj2*cj4*r10*sj3))))))+((htj5*(((((8.0)*cj4*r11*sj1*sj2*sj3))+(((-8.0)*cj3*r10*sj1*sj2))+(((-8.0)*cj2*cj3*cj4*r11*sj1))+(((-8.0)*cj2*r10*sj1*sj3))+(((-8.0)*cj1*cj2*cj4*r11*sj3))+(((8.0)*cj1*cj2*cj3*r10))+(((-8.0)*cj1*cj3*cj4*r11*sj2))+(((-8.0)*cj1*r10*sj2*sj3))))))+(((4.0)*cj1*cj2*cj3*r11))+(((-4.0)*cj2*r11*sj1*sj3))+(((htj5*htj5*htj5*htj5*htj5)*(((((8.0)*cj4*r11*sj1*sj2*sj3))+(((-8.0)*cj3*r10*sj1*sj2))+(((-8.0)*cj2*cj3*cj4*r11*sj1))+(((-8.0)*cj2*r10*sj1*sj3))+(((-8.0)*cj1*cj2*cj4*r11*sj3))+(((8.0)*cj1*cj2*cj3*r10))+(((-8.0)*cj1*cj3*cj4*r11*sj2))+(((-8.0)*cj1*r10*sj2*sj3))))))+(((htj5*htj5*htj5)*(((((-16.0)*cj2*r10*sj1*sj3))+(((-16.0)*cj1*r10*sj2*sj3))+(((-16.0)*cj3*r10*sj1*sj2))+(((16.0)*cj1*cj2*cj3*r10))+(((-16.0)*cj1*cj2*cj4*r11*sj3))+(((-16.0)*cj1*cj3*cj4*r11*sj2))+(((16.0)*cj4*r11*sj1*sj2*sj3))+(((-16.0)*cj2*cj3*cj4*r11*sj1))))))+(((4.0)*cj1*cj2*cj4*r10*sj3)));
if( IKabs(j5evalpoly[0]) > 0.0000000010000000  )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < numsolutions; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break; 
}
}
{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x1222=((1.0)*sj4);
if( IKabs((((cj5*r00*sj4))+(((-1.0)*r01*sj5*x1222)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((((-1.0)*cj5*r10*x1222))+((r11*sj4*sj5)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((((cj5*r00*sj4))+(((-1.0)*r01*sj5*x1222))))+IKsqr(((((-1.0)*cj5*r10*x1222))+((r11*sj4*sj5))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j0array[0]=IKatan2((((cj5*r00*sj4))+(((-1.0)*r01*sj5*x1222))), ((((-1.0)*cj5*r10*x1222))+((r11*sj4*sj5))));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[8];
IkReal x1223=IKcos(j0);
IkReal x1224=IKsin(j0);
IkReal x1225=((1.0)*cj3);
IkReal x1226=(r11*sj5);
IkReal x1227=(cj5*r01);
IkReal x1228=(cj1*cj2);
IkReal x1229=(cj5*r11);
IkReal x1230=(r01*sj5);
IkReal x1231=(cj3*cj4);
IkReal x1232=(r00*sj5);
IkReal x1233=(r10*sj5);
IkReal x1234=(cj4*cj5*r00);
IkReal x1235=(cj4*cj5*r10);
IkReal x1236=((1.0)*cj4*sj3);
IkReal x1237=(cj1*x1224);
IkReal x1238=(cj1*x1223);
IkReal x1239=(sj1*x1223);
IkReal x1240=((1.0)*cj5*sj4);
IkReal x1241=(sj1*sj2*x1224);
evalcond[0]=(x1224+((sj4*x1230))+(((-1.0)*r00*x1240)));
evalcond[1]=((((-1.0)*x1223))+(((-1.0)*r10*x1240))+((sj4*x1226)));
evalcond[2]=(((cj3*x1232))+((cj3*x1227))+((cj2*x1239))+((sj3*x1234))+((sj2*x1238))+(((-1.0)*x1230*x1236)));
evalcond[3]=(((cj3*x1233))+((cj3*x1229))+((sj3*x1235))+((sj2*x1237))+(((-1.0)*x1226*x1236))+((cj2*sj1*x1224)));
evalcond[4]=((((-1.0)*x1225*x1234))+((sj3*x1232))+((x1223*x1228))+((sj3*x1227))+(((-1.0)*sj2*x1239))+((x1230*x1231)));
evalcond[5]=((((-1.0)*x1225*x1235))+((sj3*x1233))+((sj3*x1229))+(((-1.0)*x1241))+((x1224*x1228))+((x1226*x1231)));
evalcond[6]=((((-0.39225)*x1223*x1228))+(((0.39225)*sj2*x1239))+(((-0.425)*x1238))+(((-1.0)*px))+(((-0.09465)*x1232))+(((-0.09465)*x1227))+(((0.10915)*x1224)));
evalcond[7]=((((-0.39225)*x1224*x1228))+(((0.39225)*x1241))+(((-0.425)*x1237))+(((-1.0)*py))+(((-0.09465)*x1233))+(((-0.09465)*x1229))+(((-0.10915)*x1223)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
    }

}

}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j0, j4, j5]

}
} while(0);
if( bgotonextstatement )
{
}
}
}
}

} else
{
{
IkReal j5array[2], cj5array[2], sj5array[2];
bool j5valid[2]={false};
_nj5 = 2;
CheckValue<IkReal> x1244 = IKatan2WithCheck(IkReal(((-0.09465)*r21)),IkReal(((-0.09465)*r20)),IKFAST_ATAN2_MAGTHRESH);
if(!x1244.valid){
continue;
}
IkReal x1242=((1.0)*(x1244.value));
if((((((0.0089586225)*(r21*r21)))+(((0.0089586225)*(r20*r20))))) < -0.00001)
continue;
CheckValue<IkReal> x1245=IKPowWithIntegerCheck(IKabs(IKsqrt(((((0.0089586225)*(r21*r21)))+(((0.0089586225)*(r20*r20)))))),-1);
if(!x1245.valid){
continue;
}
if( (((-1.0)*(x1245.value)*(((((-0.39225)*cj2*sj1))+(((-1.0)*pz))+(((-0.425)*sj1))+(((-0.39225)*cj1*sj2)))))) < -1-IKFAST_SINCOS_THRESH || (((-1.0)*(x1245.value)*(((((-0.39225)*cj2*sj1))+(((-1.0)*pz))+(((-0.425)*sj1))+(((-0.39225)*cj1*sj2)))))) > 1+IKFAST_SINCOS_THRESH )
    continue;
IkReal x1243=((-1.0)*(IKasin(((-1.0)*(x1245.value)*(((((-0.39225)*cj2*sj1))+(((-1.0)*pz))+(((-0.425)*sj1))+(((-0.39225)*cj1*sj2))))))));
j5array[0]=((((-1.0)*x1242))+(((-1.0)*x1243)));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
j5array[1]=((3.14159265358979)+(((-1.0)*x1242))+(((1.0)*x1243)));
sj5array[1]=IKsin(j5array[1]);
cj5array[1]=IKcos(j5array[1]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
if( j5array[1] > IKPI )
{
    j5array[1]-=IK2PI;
}
else if( j5array[1] < -IKPI )
{    j5array[1]+=IK2PI;
}
j5valid[1] = true;
for(int ij5 = 0; ij5 < 2; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 2; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break; 
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];

{
IkReal j4eval[2];
IkReal x1246=cj5*cj5;
IkReal x1247=r21*r21;
IkReal x1248=(sj3*x1246);
IkReal x1249=(((sj3*(r22*r22)))+((x1248*(r20*r20)))+(((-2.0)*cj5*r20*r21*sj3*sj5))+((sj3*x1247))+(((-1.0)*x1247*x1248)));
j4eval[0]=x1249;
j4eval[1]=IKsign(x1249);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  )
{
{
IkReal j4eval[2];
IkReal x1250=cj5*cj5;
IkReal x1251=r21*r21;
IkReal x1252=((1.0)*cj3);
IkReal x1253=(cj3*x1250);
IkReal x1254=((((-1.0)*x1250*x1252*(r20*r20)))+(((-1.0)*x1251*x1252))+((x1251*x1253))+(((-1.0)*x1252*(r22*r22)))+(((2.0)*cj3*cj5*r20*r21*sj5)));
j4eval[0]=x1254;
j4eval[1]=IKsign(x1254);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  )
{
{
IkReal j0eval[2];
IkReal x1255=cj2*cj2;
IkReal x1256=cj1*cj1;
IkReal x1257=(cj1*sj1*sj2);
IkReal x1258=(cj2*x1256);
IkReal x1259=(x1255*x1256);
j0eval[0]=((-6.19369221392727)+(((5.74856797255738)*x1255))+(((-12.4570625281677)*x1258))+(((12.4570625281677)*x1257))+(((-11.4971359451148)*x1259))+(((-1.0)*x1256))+(((11.4971359451148)*cj2*x1257)));
j0eval[1]=IKsign(((-66309514.0)+(((-133365000.0)*x1258))+(((-10705975.0)*x1256))+(((-123088050.0)*x1259))+(((133365000.0)*x1257))+(((123088050.0)*cj2*x1257))+(((61544025.0)*x1255))));
if( IKabs(j0eval[0]) < 0.0000010000000000  || IKabs(j0eval[1]) < 0.0000010000000000  )
{
{
IkReal evalcond[1];
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-1.5707963267949)+j3)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j0eval[3];
sj3=1.0;
cj3=0;
j3=1.5707963267949;
IkReal x1260=((1.0)*cj5);
IkReal x1261=((1.0)*sj5);
IkReal x1262=((((-1.0)*sj1*sj2))+((cj1*cj2)));
j0eval[0]=x1262;
j0eval[1]=IKsign(x1262);
j0eval[2]=((IKabs(((((-1.0)*r10*x1261))+(((-1.0)*r11*x1260)))))+(IKabs(((((-1.0)*r00*x1261))+(((-1.0)*r01*x1260))))));
if( IKabs(j0eval[0]) < 0.0000010000000000  || IKabs(j0eval[1]) < 0.0000010000000000  || IKabs(j0eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=1.0;
cj3=0;
j3=1.5707963267949;
IkReal x1263=cj5*cj5;
IkReal x1264=r21*r21;
IkReal x1265=(sj1*sj2);
IkReal x1266=(r21*sj5);
IkReal x1267=(cj5*r20);
IkReal x1268=(cj1*cj2);
IkReal x1269=(x1264+(r22*r22)+((x1263*(r20*r20)))+(((-2.0)*x1266*x1267))+(((-1.0)*x1263*x1264)));
j4eval[0]=x1269;
j4eval[1]=IKsign(x1269);
j4eval[2]=((IKabs(((((-1.0)*x1265*x1267))+((x1267*x1268))+(((-1.0)*x1266*x1268))+((x1265*x1266)))))+(IKabs((((r22*x1265))+(((-1.0)*r22*x1268))))));
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j0eval[1];
sj3=1.0;
cj3=0;
j3=1.5707963267949;
j0eval[0]=((((-1.0)*sj1*sj2))+((cj1*cj2)));
if( IKabs(j0eval[0]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x1270=(cj1*cj2);
IkReal x1271=(cj5*r01);
IkReal x1272=(sj1*sj2);
IkReal x1273=(r00*sj5);
IkReal x1274=((20000.0)*px);
IkReal x1275=((8500.0)*cj1);
CheckValue<IkReal> x1276=IKPowWithIntegerCheck(((((-2183.0)*x1272))+(((2183.0)*x1270))),-1);
if(!x1276.valid){
continue;
}
CheckValue<IkReal> x1277=IKPowWithIntegerCheck((x1270+(((-1.0)*x1272))),-1);
if(!x1277.valid){
continue;
}
if( IKabs(((x1276.value)*(((((5952.0)*x1271*x1272))+(((-1.0)*x1271*x1275))+(((-5952.0)*x1270*x1271))+(((-5952.0)*x1270*x1273))+(((-1.0)*x1272*x1274))+(((-1.0)*x1273*x1275))+((x1270*x1274))+(((5952.0)*x1272*x1273)))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((x1277.value)*(((((-1.0)*x1273))+(((-1.0)*x1271)))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((x1276.value)*(((((5952.0)*x1271*x1272))+(((-1.0)*x1271*x1275))+(((-5952.0)*x1270*x1271))+(((-5952.0)*x1270*x1273))+(((-1.0)*x1272*x1274))+(((-1.0)*x1273*x1275))+((x1270*x1274))+(((5952.0)*x1272*x1273))))))+IKsqr(((x1277.value)*(((((-1.0)*x1273))+(((-1.0)*x1271))))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j0array[0]=IKatan2(((x1276.value)*(((((5952.0)*x1271*x1272))+(((-1.0)*x1271*x1275))+(((-5952.0)*x1270*x1271))+(((-5952.0)*x1270*x1273))+(((-1.0)*x1272*x1274))+(((-1.0)*x1273*x1275))+((x1270*x1274))+(((5952.0)*x1272*x1273))))), ((x1277.value)*(((((-1.0)*x1273))+(((-1.0)*x1271))))));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[4];
IkReal x1278=IKcos(j0);
IkReal x1279=IKsin(j0);
IkReal x1280=(cj5*r01);
IkReal x1281=(cj1*cj2);
IkReal x1282=(sj1*sj2);
IkReal x1283=((0.425)*cj1);
IkReal x1284=(r00*sj5);
IkReal x1285=(cj5*r11);
IkReal x1286=(r10*sj5);
IkReal x1287=((0.39225)*x1278);
IkReal x1288=(x1279*x1282);
evalcond[0]=(x1284+x1280+((x1278*x1281))+(((-1.0)*x1278*x1282)));
evalcond[1]=((((-1.0)*x1288))+((x1279*x1281))+x1285+x1286);
evalcond[2]=((((0.10915)*x1279))+(((-0.09465)*x1284))+(((-0.09465)*x1280))+(((-1.0)*px))+(((-1.0)*x1278*x1283))+((x1282*x1287))+(((-1.0)*x1281*x1287)));
evalcond[3]=((((-0.39225)*x1279*x1281))+(((0.39225)*x1288))+(((-0.10915)*x1278))+(((-0.09465)*x1285))+(((-0.09465)*x1286))+(((-1.0)*py))+(((-1.0)*x1279*x1283)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j4eval[3];
sj3=1.0;
cj3=0;
j3=1.5707963267949;
IkReal x1289=(((cj5*r11))+((r10*sj5)));
j4eval[0]=x1289;
j4eval[1]=((IKabs(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))))+(IKabs((r22*sj0))));
j4eval[2]=IKsign(x1289);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=1.0;
cj3=0;
j3=1.5707963267949;
IkReal x1290=(((r00*sj5))+((cj5*r01)));
j4eval[0]=x1290;
j4eval[1]=((IKabs((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))))+(IKabs((cj0*r22))));
j4eval[2]=IKsign(x1290);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=1.0;
cj3=0;
j3=1.5707963267949;
IkReal x1291=((1.0)*cj5);
IkReal x1292=((((-1.0)*r21*x1291))+(((-1.0)*r20*sj5)));
j4eval[0]=x1292;
j4eval[1]=((IKabs((((r11*sj0*sj5))+(((-1.0)*r10*sj0*x1291))+((cj0*r01*sj5))+(((-1.0)*cj0*r00*x1291)))))+(IKabs((((r12*sj0))+((cj0*r02))))));
j4eval[2]=IKsign(x1292);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x1293=((1.0)*cj5);
CheckValue<IkReal> x1294=IKPowWithIntegerCheck(IKsign(((((-1.0)*r21*x1293))+(((-1.0)*r20*sj5)))),-1);
if(!x1294.valid){
continue;
}
CheckValue<IkReal> x1295 = IKatan2WithCheck(IkReal((((r12*sj0))+((cj0*r02)))),IkReal((((r11*sj0*sj5))+(((-1.0)*r10*sj0*x1293))+((cj0*r01*sj5))+(((-1.0)*cj0*r00*x1293)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1295.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1294.value)))+(x1295.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1296=IKsin(j4);
IkReal x1297=IKcos(j4);
IkReal x1298=(cj5*r10);
IkReal x1299=(cj2*sj1);
IkReal x1300=(r01*sj5);
IkReal x1301=(cj5*r00);
IkReal x1302=(cj5*r20);
IkReal x1303=(cj1*sj2);
IkReal x1304=((1.0)*x1297);
IkReal x1305=((1.0)*x1296);
IkReal x1306=(sj5*x1296);
evalcond[0]=((((-1.0)*r22*x1304))+((r21*x1306))+(((-1.0)*x1302*x1305)));
evalcond[1]=(sj0+(((-1.0)*r02*x1304))+(((-1.0)*x1301*x1305))+((x1296*x1300)));
evalcond[2]=(((r11*x1306))+(((-1.0)*r12*x1304))+(((-1.0)*x1298*x1305))+(((-1.0)*cj0)));
evalcond[3]=((((-1.0)*r22*x1305))+(((-1.0)*cj1*cj2))+((sj1*sj2))+((x1297*x1302))+(((-1.0)*r21*sj5*x1304)));
evalcond[4]=((((-1.0)*r02*x1305))+(((-1.0)*x1300*x1304))+((x1297*x1301))+((cj0*x1299))+((cj0*x1303)));
evalcond[5]=(((x1297*x1298))+((sj0*x1299))+(((-1.0)*r12*x1305))+(((-1.0)*r11*sj5*x1304))+((sj0*x1303)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1307=IKPowWithIntegerCheck(IKsign((((r00*sj5))+((cj5*r01)))),-1);
if(!x1307.valid){
continue;
}
CheckValue<IkReal> x1308 = IKatan2WithCheck(IkReal((cj0*r22)),IkReal((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1308.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1307.value)))+(x1308.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1309=IKsin(j4);
IkReal x1310=IKcos(j4);
IkReal x1311=(cj5*r10);
IkReal x1312=(cj2*sj1);
IkReal x1313=(r01*sj5);
IkReal x1314=(cj5*r00);
IkReal x1315=(cj5*r20);
IkReal x1316=(cj1*sj2);
IkReal x1317=((1.0)*x1310);
IkReal x1318=((1.0)*x1309);
IkReal x1319=(sj5*x1309);
evalcond[0]=((((-1.0)*x1315*x1318))+(((-1.0)*r22*x1317))+((r21*x1319)));
evalcond[1]=(sj0+((x1309*x1313))+(((-1.0)*x1314*x1318))+(((-1.0)*r02*x1317)));
evalcond[2]=((((-1.0)*x1311*x1318))+((r11*x1319))+(((-1.0)*r12*x1317))+(((-1.0)*cj0)));
evalcond[3]=(((x1310*x1315))+(((-1.0)*r22*x1318))+(((-1.0)*cj1*cj2))+((sj1*sj2))+(((-1.0)*r21*sj5*x1317)));
evalcond[4]=(((x1310*x1314))+(((-1.0)*x1313*x1317))+(((-1.0)*r02*x1318))+((cj0*x1316))+((cj0*x1312)));
evalcond[5]=(((x1310*x1311))+(((-1.0)*r12*x1318))+(((-1.0)*r11*sj5*x1317))+((sj0*x1316))+((sj0*x1312)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1320=IKPowWithIntegerCheck(IKsign((((cj5*r11))+((r10*sj5)))),-1);
if(!x1320.valid){
continue;
}
CheckValue<IkReal> x1321 = IKatan2WithCheck(IkReal((r22*sj0)),IkReal(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1321.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1320.value)))+(x1321.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1322=IKsin(j4);
IkReal x1323=IKcos(j4);
IkReal x1324=(cj5*r10);
IkReal x1325=(cj2*sj1);
IkReal x1326=(r01*sj5);
IkReal x1327=(cj5*r00);
IkReal x1328=(cj5*r20);
IkReal x1329=(cj1*sj2);
IkReal x1330=((1.0)*x1323);
IkReal x1331=((1.0)*x1322);
IkReal x1332=(sj5*x1322);
evalcond[0]=((((-1.0)*x1328*x1331))+(((-1.0)*r22*x1330))+((r21*x1332)));
evalcond[1]=((((-1.0)*x1327*x1331))+sj0+((x1322*x1326))+(((-1.0)*r02*x1330)));
evalcond[2]=(((r11*x1332))+(((-1.0)*x1324*x1331))+(((-1.0)*r12*x1330))+(((-1.0)*cj0)));
evalcond[3]=(((x1323*x1328))+(((-1.0)*r22*x1331))+(((-1.0)*r21*sj5*x1330))+(((-1.0)*cj1*cj2))+((sj1*sj2)));
evalcond[4]=((((-1.0)*x1326*x1330))+((x1323*x1327))+(((-1.0)*r02*x1331))+((cj0*x1325))+((cj0*x1329)));
evalcond[5]=(((x1323*x1324))+(((-1.0)*r11*sj5*x1330))+(((-1.0)*r12*x1331))+((sj0*x1325))+((sj0*x1329)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x1333=cj5*cj5;
IkReal x1334=r21*r21;
IkReal x1335=(sj1*sj2);
IkReal x1336=(r21*sj5);
IkReal x1337=(cj1*cj2);
IkReal x1338=(cj5*r20);
CheckValue<IkReal> x1339 = IKatan2WithCheck(IkReal(((((-1.0)*r22*x1337))+((r22*x1335)))),IkReal((((x1337*x1338))+((x1335*x1336))+(((-1.0)*x1335*x1338))+(((-1.0)*x1336*x1337)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1339.valid){
continue;
}
CheckValue<IkReal> x1340=IKPowWithIntegerCheck(IKsign((x1334+(((-1.0)*x1333*x1334))+(r22*r22)+(((-2.0)*x1336*x1338))+((x1333*(r20*r20))))),-1);
if(!x1340.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x1339.value)+(((1.5707963267949)*(x1340.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[2];
IkReal x1341=IKsin(j4);
IkReal x1342=IKcos(j4);
IkReal x1343=(r21*sj5);
IkReal x1344=(cj5*r20);
IkReal x1345=((1.0)*x1342);
IkReal x1346=((1.0)*x1341);
evalcond[0]=(((x1341*x1343))+(((-1.0)*r22*x1345))+(((-1.0)*x1344*x1346)));
evalcond[1]=((((-1.0)*cj1*cj2))+((sj1*sj2))+((x1342*x1344))+(((-1.0)*r22*x1346))+(((-1.0)*x1343*x1345)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x1347=(cj5*sj4);
IkReal x1348=(sj4*sj5);
if( IKabs((((r00*x1347))+(((-1.0)*r01*x1348))+((cj4*r02)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((((-1.0)*r10*x1347))+((r11*x1348))+(((-1.0)*cj4*r12)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((((r00*x1347))+(((-1.0)*r01*x1348))+((cj4*r02))))+IKsqr(((((-1.0)*r10*x1347))+((r11*x1348))+(((-1.0)*cj4*r12))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j0array[0]=IKatan2((((r00*x1347))+(((-1.0)*r01*x1348))+((cj4*r02))), ((((-1.0)*r10*x1347))+((r11*x1348))+(((-1.0)*cj4*r12))));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[8];
IkReal x1349=IKcos(j0);
IkReal x1350=IKsin(j0);
IkReal x1351=(cj4*cj5);
IkReal x1352=(cj5*r01);
IkReal x1353=(r11*sj5);
IkReal x1354=(cj1*cj2);
IkReal x1355=((1.0)*sj4);
IkReal x1356=(r00*sj5);
IkReal x1357=(cj5*r11);
IkReal x1358=((1.0)*cj4);
IkReal x1359=(r01*sj5);
IkReal x1360=(r10*sj5);
IkReal x1361=(sj1*x1349);
IkReal x1362=(cj1*x1350);
IkReal x1363=(cj1*x1349);
IkReal x1364=(sj1*sj2*x1350);
evalcond[0]=(x1350+((sj4*x1359))+(((-1.0)*r02*x1358))+(((-1.0)*cj5*r00*x1355)));
evalcond[1]=((((-1.0)*r12*x1358))+((sj4*x1353))+(((-1.0)*cj5*r10*x1355))+(((-1.0)*x1349)));
evalcond[2]=(x1352+x1356+(((-1.0)*sj2*x1361))+((x1349*x1354)));
evalcond[3]=(x1357+x1360+(((-1.0)*x1364))+((x1350*x1354)));
evalcond[4]=((((-1.0)*r02*x1355))+((r00*x1351))+((sj2*x1363))+((cj2*x1361))+(((-1.0)*x1358*x1359)));
evalcond[5]=((((-1.0)*r12*x1355))+((r10*x1351))+((cj2*sj1*x1350))+((sj2*x1362))+(((-1.0)*x1353*x1358)));
evalcond[6]=((((0.10915)*x1350))+(((-0.425)*x1363))+(((-0.39225)*x1349*x1354))+(((0.39225)*sj2*x1361))+(((-0.09465)*x1352))+(((-0.09465)*x1356))+(((-1.0)*px)));
evalcond[7]=((((0.39225)*x1364))+(((-0.425)*x1362))+(((-0.09465)*x1357))+(((-1.0)*py))+(((-0.39225)*x1350*x1354))+(((-0.09465)*x1360))+(((-0.10915)*x1349)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
}
}

}

}

} else
{
{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x1365=((1.0)*cj5);
IkReal x1366=((1.0)*sj5);
CheckValue<IkReal> x1367 = IKatan2WithCheck(IkReal(((((-1.0)*r11*x1365))+(((-1.0)*r10*x1366)))),IkReal(((((-1.0)*r01*x1365))+(((-1.0)*r00*x1366)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1367.valid){
continue;
}
CheckValue<IkReal> x1368=IKPowWithIntegerCheck(IKsign(((((-1.0)*sj1*sj2))+((cj1*cj2)))),-1);
if(!x1368.valid){
continue;
}
j0array[0]=((-1.5707963267949)+(x1367.value)+(((1.5707963267949)*(x1368.value))));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[4];
IkReal x1369=IKcos(j0);
IkReal x1370=IKsin(j0);
IkReal x1371=(cj5*r01);
IkReal x1372=(cj1*cj2);
IkReal x1373=(sj1*sj2);
IkReal x1374=((0.425)*cj1);
IkReal x1375=(r00*sj5);
IkReal x1376=(cj5*r11);
IkReal x1377=(r10*sj5);
IkReal x1378=((0.39225)*x1369);
IkReal x1379=(x1370*x1373);
evalcond[0]=(x1371+x1375+((x1369*x1372))+(((-1.0)*x1369*x1373)));
evalcond[1]=(x1377+x1376+(((-1.0)*x1379))+((x1370*x1372)));
evalcond[2]=((((0.10915)*x1370))+(((-1.0)*x1372*x1378))+(((-1.0)*px))+(((-0.09465)*x1371))+(((-0.09465)*x1375))+(((-1.0)*x1369*x1374))+((x1373*x1378)));
evalcond[3]=((((0.39225)*x1379))+(((-1.0)*x1370*x1374))+(((-1.0)*py))+(((-0.10915)*x1369))+(((-0.09465)*x1377))+(((-0.09465)*x1376))+(((-0.39225)*x1370*x1372)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j4eval[3];
sj3=1.0;
cj3=0;
j3=1.5707963267949;
IkReal x1380=(((cj5*r11))+((r10*sj5)));
j4eval[0]=x1380;
j4eval[1]=((IKabs(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))))+(IKabs((r22*sj0))));
j4eval[2]=IKsign(x1380);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=1.0;
cj3=0;
j3=1.5707963267949;
IkReal x1381=(((r00*sj5))+((cj5*r01)));
j4eval[0]=x1381;
j4eval[1]=((IKabs((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))))+(IKabs((cj0*r22))));
j4eval[2]=IKsign(x1381);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=1.0;
cj3=0;
j3=1.5707963267949;
IkReal x1382=((1.0)*cj5);
IkReal x1383=((((-1.0)*r21*x1382))+(((-1.0)*r20*sj5)));
j4eval[0]=x1383;
j4eval[1]=((IKabs((((r11*sj0*sj5))+(((-1.0)*cj0*r00*x1382))+(((-1.0)*r10*sj0*x1382))+((cj0*r01*sj5)))))+(IKabs((((r12*sj0))+((cj0*r02))))));
j4eval[2]=IKsign(x1383);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x1384=((1.0)*cj5);
CheckValue<IkReal> x1385=IKPowWithIntegerCheck(IKsign(((((-1.0)*r21*x1384))+(((-1.0)*r20*sj5)))),-1);
if(!x1385.valid){
continue;
}
CheckValue<IkReal> x1386 = IKatan2WithCheck(IkReal((((r12*sj0))+((cj0*r02)))),IkReal((((r11*sj0*sj5))+(((-1.0)*cj0*r00*x1384))+(((-1.0)*r10*sj0*x1384))+((cj0*r01*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1386.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1385.value)))+(x1386.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1387=IKsin(j4);
IkReal x1388=IKcos(j4);
IkReal x1389=(cj5*r10);
IkReal x1390=(cj2*sj1);
IkReal x1391=(r01*sj5);
IkReal x1392=(cj5*r00);
IkReal x1393=(cj5*r20);
IkReal x1394=(cj1*sj2);
IkReal x1395=((1.0)*x1388);
IkReal x1396=((1.0)*x1387);
IkReal x1397=(sj5*x1387);
evalcond[0]=((((-1.0)*x1393*x1396))+((r21*x1397))+(((-1.0)*r22*x1395)));
evalcond[1]=((((-1.0)*x1392*x1396))+sj0+(((-1.0)*r02*x1395))+((x1387*x1391)));
evalcond[2]=((((-1.0)*r12*x1395))+(((-1.0)*x1389*x1396))+((r11*x1397))+(((-1.0)*cj0)));
evalcond[3]=(((x1388*x1393))+(((-1.0)*r21*sj5*x1395))+(((-1.0)*cj1*cj2))+((sj1*sj2))+(((-1.0)*r22*x1396)));
evalcond[4]=(((x1388*x1392))+(((-1.0)*r02*x1396))+(((-1.0)*x1391*x1395))+((cj0*x1394))+((cj0*x1390)));
evalcond[5]=((((-1.0)*r12*x1396))+((x1388*x1389))+(((-1.0)*r11*sj5*x1395))+((sj0*x1394))+((sj0*x1390)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1398=IKPowWithIntegerCheck(IKsign((((r00*sj5))+((cj5*r01)))),-1);
if(!x1398.valid){
continue;
}
CheckValue<IkReal> x1399 = IKatan2WithCheck(IkReal((cj0*r22)),IkReal((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1399.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1398.value)))+(x1399.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1400=IKsin(j4);
IkReal x1401=IKcos(j4);
IkReal x1402=(cj5*r10);
IkReal x1403=(cj2*sj1);
IkReal x1404=(r01*sj5);
IkReal x1405=(cj5*r00);
IkReal x1406=(cj5*r20);
IkReal x1407=(cj1*sj2);
IkReal x1408=((1.0)*x1401);
IkReal x1409=((1.0)*x1400);
IkReal x1410=(sj5*x1400);
evalcond[0]=(((r21*x1410))+(((-1.0)*r22*x1408))+(((-1.0)*x1406*x1409)));
evalcond[1]=(sj0+(((-1.0)*x1405*x1409))+(((-1.0)*r02*x1408))+((x1400*x1404)));
evalcond[2]=((((-1.0)*r12*x1408))+((r11*x1410))+(((-1.0)*x1402*x1409))+(((-1.0)*cj0)));
evalcond[3]=((((-1.0)*r22*x1409))+(((-1.0)*cj1*cj2))+((sj1*sj2))+((x1401*x1406))+(((-1.0)*r21*sj5*x1408)));
evalcond[4]=(((cj0*x1407))+((cj0*x1403))+(((-1.0)*r02*x1409))+(((-1.0)*x1404*x1408))+((x1401*x1405)));
evalcond[5]=((((-1.0)*r12*x1409))+(((-1.0)*r11*sj5*x1408))+((sj0*x1407))+((sj0*x1403))+((x1401*x1402)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1411=IKPowWithIntegerCheck(IKsign((((cj5*r11))+((r10*sj5)))),-1);
if(!x1411.valid){
continue;
}
CheckValue<IkReal> x1412 = IKatan2WithCheck(IkReal((r22*sj0)),IkReal(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1412.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1411.value)))+(x1412.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1413=IKsin(j4);
IkReal x1414=IKcos(j4);
IkReal x1415=(cj5*r10);
IkReal x1416=(cj2*sj1);
IkReal x1417=(r01*sj5);
IkReal x1418=(cj5*r00);
IkReal x1419=(cj5*r20);
IkReal x1420=(cj1*sj2);
IkReal x1421=((1.0)*x1414);
IkReal x1422=((1.0)*x1413);
IkReal x1423=(sj5*x1413);
evalcond[0]=(((r21*x1423))+(((-1.0)*x1419*x1422))+(((-1.0)*r22*x1421)));
evalcond[1]=(sj0+((x1413*x1417))+(((-1.0)*x1418*x1422))+(((-1.0)*r02*x1421)));
evalcond[2]=((((-1.0)*x1415*x1422))+((r11*x1423))+(((-1.0)*r12*x1421))+(((-1.0)*cj0)));
evalcond[3]=((((-1.0)*r21*sj5*x1421))+(((-1.0)*cj1*cj2))+((sj1*sj2))+(((-1.0)*r22*x1422))+((x1414*x1419)));
evalcond[4]=((((-1.0)*x1417*x1421))+((cj0*x1416))+(((-1.0)*r02*x1422))+((x1414*x1418))+((cj0*x1420)));
evalcond[5]=((((-1.0)*r11*sj5*x1421))+(((-1.0)*r12*x1422))+((sj0*x1416))+((x1414*x1415))+((sj0*x1420)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((1.5707963267949)+j3)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j0eval[3];
sj3=-1.0;
cj3=0;
j3=-1.5707963267949;
IkReal x1424=((((-1.0)*sj1*sj2))+((cj1*cj2)));
j0eval[0]=x1424;
j0eval[1]=IKsign(x1424);
j0eval[2]=((IKabs((((r00*sj5))+((cj5*r01)))))+(IKabs((((cj5*r11))+((r10*sj5))))));
if( IKabs(j0eval[0]) < 0.0000010000000000  || IKabs(j0eval[1]) < 0.0000010000000000  || IKabs(j0eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=-1.0;
cj3=0;
j3=-1.5707963267949;
IkReal x1425=r21*r21;
IkReal x1426=cj5*cj5;
IkReal x1427=(sj1*sj2);
IkReal x1428=(r21*sj5);
IkReal x1429=(cj5*r20);
IkReal x1430=(cj1*cj2);
IkReal x1431=(((x1425*x1426))+(((-1.0)*x1426*(r20*r20)))+(((2.0)*x1428*x1429))+(((-1.0)*x1425))+(((-1.0)*(r22*r22))));
j4eval[0]=x1431;
j4eval[1]=((IKabs(((((-1.0)*r22*x1430))+((r22*x1427)))))+(IKabs((((x1429*x1430))+(((-1.0)*x1427*x1429))+(((-1.0)*x1428*x1430))+((x1427*x1428))))));
j4eval[2]=IKsign(x1431);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j0eval[1];
sj3=-1.0;
cj3=0;
j3=-1.5707963267949;
j0eval[0]=((((-1.0)*sj1*sj2))+((cj1*cj2)));
if( IKabs(j0eval[0]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x1432=(r00*sj5);
IkReal x1433=(cj5*r01);
IkReal x1434=(sj1*sj2);
IkReal x1435=(cj1*cj2);
IkReal x1436=((20000.0)*px);
IkReal x1437=((8500.0)*cj1);
IkReal x1438=((9738.0)*x1435);
CheckValue<IkReal> x1439=IKPowWithIntegerCheck(((((2183.0)*x1435))+(((-2183.0)*x1434))),-1);
if(!x1439.valid){
continue;
}
CheckValue<IkReal> x1440=IKPowWithIntegerCheck(((((-1.0)*x1434))+x1435),-1);
if(!x1440.valid){
continue;
}
if( IKabs(((x1439.value)*((((x1432*x1438))+((x1432*x1437))+(((-9738.0)*x1432*x1434))+(((-1.0)*x1434*x1436))+(((-9738.0)*x1433*x1434))+((x1433*x1438))+((x1433*x1437))+((x1435*x1436)))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((x1440.value)*((x1432+x1433)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((x1439.value)*((((x1432*x1438))+((x1432*x1437))+(((-9738.0)*x1432*x1434))+(((-1.0)*x1434*x1436))+(((-9738.0)*x1433*x1434))+((x1433*x1438))+((x1433*x1437))+((x1435*x1436))))))+IKsqr(((x1440.value)*((x1432+x1433))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j0array[0]=IKatan2(((x1439.value)*((((x1432*x1438))+((x1432*x1437))+(((-9738.0)*x1432*x1434))+(((-1.0)*x1434*x1436))+(((-9738.0)*x1433*x1434))+((x1433*x1438))+((x1433*x1437))+((x1435*x1436))))), ((x1440.value)*((x1432+x1433))));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[4];
IkReal x1441=IKcos(j0);
IkReal x1442=IKsin(j0);
IkReal x1443=(cj1*cj2);
IkReal x1444=(cj5*r11);
IkReal x1445=(sj1*sj2);
IkReal x1446=(cj5*r01);
IkReal x1447=((1.0)*sj5);
IkReal x1448=((0.09465)*sj5);
IkReal x1449=((0.425)*cj1);
IkReal x1450=((0.39225)*x1441);
IkReal x1451=(x1442*x1445);
evalcond[0]=((((-1.0)*r00*x1447))+((x1441*x1443))+(((-1.0)*x1446))+(((-1.0)*x1441*x1445)));
evalcond[1]=(((x1442*x1443))+(((-1.0)*x1451))+(((-1.0)*x1444))+(((-1.0)*r10*x1447)));
evalcond[2]=(((x1445*x1450))+(((-1.0)*r00*x1448))+(((-0.09465)*x1446))+(((-1.0)*x1441*x1449))+(((-1.0)*px))+(((0.10915)*x1442))+(((-1.0)*x1443*x1450)));
evalcond[3]=((((-0.09465)*x1444))+(((-1.0)*r10*x1448))+(((0.39225)*x1451))+(((-1.0)*py))+(((-0.39225)*x1442*x1443))+(((-1.0)*x1442*x1449))+(((-0.10915)*x1441)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j4eval[3];
sj3=-1.0;
cj3=0;
j3=-1.5707963267949;
IkReal x1452=(((cj5*r11))+((r10*sj5)));
j4eval[0]=x1452;
j4eval[1]=((IKabs(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))))+(IKabs((r22*sj0))));
j4eval[2]=IKsign(x1452);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=-1.0;
cj3=0;
j3=-1.5707963267949;
IkReal x1453=(((r00*sj5))+((cj5*r01)));
j4eval[0]=x1453;
j4eval[1]=((IKabs((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))))+(IKabs((cj0*r22))));
j4eval[2]=IKsign(x1453);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=-1.0;
cj3=0;
j3=-1.5707963267949;
IkReal x1454=((1.0)*cj5);
IkReal x1455=((((-1.0)*r21*x1454))+(((-1.0)*r20*sj5)));
j4eval[0]=x1455;
j4eval[1]=((IKabs((((r12*sj0))+((cj0*r02)))))+(IKabs((((r11*sj0*sj5))+(((-1.0)*cj0*r00*x1454))+((cj0*r01*sj5))+(((-1.0)*r10*sj0*x1454))))));
j4eval[2]=IKsign(x1455);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x1456=((1.0)*cj5);
CheckValue<IkReal> x1457=IKPowWithIntegerCheck(IKsign(((((-1.0)*r21*x1456))+(((-1.0)*r20*sj5)))),-1);
if(!x1457.valid){
continue;
}
CheckValue<IkReal> x1458 = IKatan2WithCheck(IkReal((((r12*sj0))+((cj0*r02)))),IkReal((((r11*sj0*sj5))+(((-1.0)*cj0*r00*x1456))+((cj0*r01*sj5))+(((-1.0)*r10*sj0*x1456)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1458.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1457.value)))+(x1458.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1459=IKsin(j4);
IkReal x1460=IKcos(j4);
IkReal x1461=(cj5*r00);
IkReal x1462=(cj5*r10);
IkReal x1463=(cj2*sj1);
IkReal x1464=(r21*sj5);
IkReal x1465=(cj5*r20);
IkReal x1466=(cj1*sj2);
IkReal x1467=((1.0)*x1460);
IkReal x1468=((1.0)*x1459);
IkReal x1469=(sj5*x1459);
IkReal x1470=(sj5*x1460);
evalcond[0]=(((x1459*x1464))+(((-1.0)*r22*x1467))+(((-1.0)*x1465*x1468)));
evalcond[1]=(sj0+(((-1.0)*r02*x1467))+((r01*x1469))+(((-1.0)*x1461*x1468)));
evalcond[2]=((((-1.0)*x1462*x1468))+((r11*x1469))+(((-1.0)*r12*x1467))+(((-1.0)*cj0)));
evalcond[3]=((((-1.0)*cj1*cj2))+((sj1*sj2))+((x1460*x1464))+((r22*x1459))+(((-1.0)*x1465*x1467)));
evalcond[4]=(((cj0*x1466))+((cj0*x1463))+(((-1.0)*x1461*x1467))+((r01*x1470))+((r02*x1459)));
evalcond[5]=(((r11*x1470))+(((-1.0)*x1462*x1467))+((r12*x1459))+((sj0*x1463))+((sj0*x1466)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1471=IKPowWithIntegerCheck(IKsign((((r00*sj5))+((cj5*r01)))),-1);
if(!x1471.valid){
continue;
}
CheckValue<IkReal> x1472 = IKatan2WithCheck(IkReal((cj0*r22)),IkReal((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1472.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1471.value)))+(x1472.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1473=IKsin(j4);
IkReal x1474=IKcos(j4);
IkReal x1475=(cj5*r00);
IkReal x1476=(cj5*r10);
IkReal x1477=(cj2*sj1);
IkReal x1478=(r21*sj5);
IkReal x1479=(cj5*r20);
IkReal x1480=(cj1*sj2);
IkReal x1481=((1.0)*x1474);
IkReal x1482=((1.0)*x1473);
IkReal x1483=(sj5*x1473);
IkReal x1484=(sj5*x1474);
evalcond[0]=((((-1.0)*x1479*x1482))+((x1473*x1478))+(((-1.0)*r22*x1481)));
evalcond[1]=(sj0+((r01*x1483))+(((-1.0)*r02*x1481))+(((-1.0)*x1475*x1482)));
evalcond[2]=((((-1.0)*r12*x1481))+((r11*x1483))+(((-1.0)*cj0))+(((-1.0)*x1476*x1482)));
evalcond[3]=((((-1.0)*x1479*x1481))+((r22*x1473))+((x1474*x1478))+(((-1.0)*cj1*cj2))+((sj1*sj2)));
evalcond[4]=(((r01*x1484))+((r02*x1473))+((cj0*x1480))+(((-1.0)*x1475*x1481))+((cj0*x1477)));
evalcond[5]=(((r12*x1473))+((sj0*x1480))+((sj0*x1477))+((r11*x1484))+(((-1.0)*x1476*x1481)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1485=IKPowWithIntegerCheck(IKsign((((cj5*r11))+((r10*sj5)))),-1);
if(!x1485.valid){
continue;
}
CheckValue<IkReal> x1486 = IKatan2WithCheck(IkReal((r22*sj0)),IkReal(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1486.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1485.value)))+(x1486.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1487=IKsin(j4);
IkReal x1488=IKcos(j4);
IkReal x1489=(cj5*r00);
IkReal x1490=(cj5*r10);
IkReal x1491=(cj2*sj1);
IkReal x1492=(r21*sj5);
IkReal x1493=(cj5*r20);
IkReal x1494=(cj1*sj2);
IkReal x1495=((1.0)*x1488);
IkReal x1496=((1.0)*x1487);
IkReal x1497=(sj5*x1487);
IkReal x1498=(sj5*x1488);
evalcond[0]=(((x1487*x1492))+(((-1.0)*x1493*x1496))+(((-1.0)*r22*x1495)));
evalcond[1]=(sj0+((r01*x1497))+(((-1.0)*r02*x1495))+(((-1.0)*x1489*x1496)));
evalcond[2]=((((-1.0)*r12*x1495))+((r11*x1497))+(((-1.0)*x1490*x1496))+(((-1.0)*cj0)));
evalcond[3]=((((-1.0)*cj1*cj2))+((sj1*sj2))+(((-1.0)*x1493*x1495))+((r22*x1487))+((x1488*x1492)));
evalcond[4]=(((r01*x1498))+((cj0*x1491))+((cj0*x1494))+((r02*x1487))+(((-1.0)*x1489*x1495)));
evalcond[5]=(((sj0*x1494))+((sj0*x1491))+((r12*x1487))+((r11*x1498))+(((-1.0)*x1490*x1495)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x1499=r21*r21;
IkReal x1500=cj5*cj5;
IkReal x1501=(sj1*sj2);
IkReal x1502=(r21*sj5);
IkReal x1503=(cj1*cj2);
IkReal x1504=(cj5*r20);
CheckValue<IkReal> x1505=IKPowWithIntegerCheck(IKsign((((x1499*x1500))+(((-1.0)*x1499))+(((2.0)*x1502*x1504))+(((-1.0)*(r22*r22)))+(((-1.0)*x1500*(r20*r20))))),-1);
if(!x1505.valid){
continue;
}
CheckValue<IkReal> x1506 = IKatan2WithCheck(IkReal(((((-1.0)*r22*x1503))+((r22*x1501)))),IkReal((((x1501*x1502))+((x1503*x1504))+(((-1.0)*x1502*x1503))+(((-1.0)*x1501*x1504)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1506.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1505.value)))+(x1506.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[2];
IkReal x1507=IKsin(j4);
IkReal x1508=IKcos(j4);
IkReal x1509=(r21*sj5);
IkReal x1510=(cj5*r20);
IkReal x1511=((1.0)*x1508);
evalcond[0]=((((-1.0)*x1507*x1510))+(((-1.0)*r22*x1511))+((x1507*x1509)));
evalcond[1]=(((x1508*x1509))+(((-1.0)*x1510*x1511))+(((-1.0)*cj1*cj2))+((sj1*sj2))+((r22*x1507)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x1512=(cj5*sj4);
IkReal x1513=(sj4*sj5);
if( IKabs(((((-1.0)*r01*x1513))+((r00*x1512))+((cj4*r02)))) < IKFAST_ATAN2_MAGTHRESH && IKabs((((r11*x1513))+(((-1.0)*r10*x1512))+(((-1.0)*cj4*r12)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((((-1.0)*r01*x1513))+((r00*x1512))+((cj4*r02))))+IKsqr((((r11*x1513))+(((-1.0)*r10*x1512))+(((-1.0)*cj4*r12))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j0array[0]=IKatan2(((((-1.0)*r01*x1513))+((r00*x1512))+((cj4*r02))), (((r11*x1513))+(((-1.0)*r10*x1512))+(((-1.0)*cj4*r12))));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[8];
IkReal x1514=IKcos(j0);
IkReal x1515=IKsin(j0);
IkReal x1516=(r11*sj5);
IkReal x1517=(cj1*cj2);
IkReal x1518=(cj5*r11);
IkReal x1519=((1.0)*r00);
IkReal x1520=(cj4*cj5);
IkReal x1521=(cj5*r01);
IkReal x1522=((1.0)*r10);
IkReal x1523=((0.09465)*sj5);
IkReal x1524=(cj5*sj4);
IkReal x1525=((1.0)*cj4);
IkReal x1526=(r01*sj5);
IkReal x1527=(sj1*x1514);
IkReal x1528=(cj1*x1515);
IkReal x1529=(cj1*x1514);
IkReal x1530=(sj1*sj2*x1515);
evalcond[0]=((((-1.0)*x1519*x1524))+(((-1.0)*r02*x1525))+x1515+((sj4*x1526)));
evalcond[1]=((((-1.0)*r12*x1525))+(((-1.0)*x1514))+((sj4*x1516))+(((-1.0)*x1522*x1524)));
evalcond[2]=(((x1514*x1517))+(((-1.0)*sj5*x1519))+(((-1.0)*sj2*x1527))+(((-1.0)*x1521)));
evalcond[3]=((((-1.0)*sj5*x1522))+(((-1.0)*x1530))+(((-1.0)*x1518))+((x1515*x1517)));
evalcond[4]=(((sj2*x1529))+(((-1.0)*x1519*x1520))+((cj2*x1527))+((r02*sj4))+((cj4*x1526)));
evalcond[5]=(((cj2*sj1*x1515))+((sj2*x1528))+((cj4*x1516))+((r12*sj4))+(((-1.0)*x1520*x1522)));
evalcond[6]=((((0.10915)*x1515))+(((-1.0)*r00*x1523))+(((-1.0)*px))+(((0.39225)*sj2*x1527))+(((-0.39225)*x1514*x1517))+(((-0.09465)*x1521))+(((-0.425)*x1529)));
evalcond[7]=((((-0.39225)*x1515*x1517))+(((-1.0)*py))+(((-0.10915)*x1514))+(((-1.0)*r10*x1523))+(((-0.425)*x1528))+(((0.39225)*x1530))+(((-0.09465)*x1518)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
}
}

}

}

} else
{
{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
CheckValue<IkReal> x1531=IKPowWithIntegerCheck(IKsign(((((-1.0)*sj1*sj2))+((cj1*cj2)))),-1);
if(!x1531.valid){
continue;
}
CheckValue<IkReal> x1532 = IKatan2WithCheck(IkReal((((cj5*r11))+((r10*sj5)))),IkReal((((r00*sj5))+((cj5*r01)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1532.valid){
continue;
}
j0array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1531.value)))+(x1532.value));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[4];
IkReal x1533=IKcos(j0);
IkReal x1534=IKsin(j0);
IkReal x1535=(cj1*cj2);
IkReal x1536=(cj5*r11);
IkReal x1537=(sj1*sj2);
IkReal x1538=(cj5*r01);
IkReal x1539=((1.0)*sj5);
IkReal x1540=((0.09465)*sj5);
IkReal x1541=((0.425)*cj1);
IkReal x1542=((0.39225)*x1533);
IkReal x1543=(x1534*x1537);
evalcond[0]=((((-1.0)*x1533*x1537))+(((-1.0)*x1538))+(((-1.0)*r00*x1539))+((x1533*x1535)));
evalcond[1]=((((-1.0)*x1543))+(((-1.0)*x1536))+(((-1.0)*r10*x1539))+((x1534*x1535)));
evalcond[2]=((((-1.0)*x1535*x1542))+((x1537*x1542))+(((-1.0)*px))+(((-1.0)*x1533*x1541))+(((-1.0)*r00*x1540))+(((-0.09465)*x1538))+(((0.10915)*x1534)));
evalcond[3]=((((0.39225)*x1543))+(((-0.39225)*x1534*x1535))+(((-1.0)*py))+(((-1.0)*x1534*x1541))+(((-1.0)*r10*x1540))+(((-0.10915)*x1533))+(((-0.09465)*x1536)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j4eval[3];
sj3=-1.0;
cj3=0;
j3=-1.5707963267949;
IkReal x1544=(((cj5*r11))+((r10*sj5)));
j4eval[0]=x1544;
j4eval[1]=((IKabs(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))))+(IKabs((r22*sj0))));
j4eval[2]=IKsign(x1544);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=-1.0;
cj3=0;
j3=-1.5707963267949;
IkReal x1545=(((r00*sj5))+((cj5*r01)));
j4eval[0]=x1545;
j4eval[1]=((IKabs((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))))+(IKabs((cj0*r22))));
j4eval[2]=IKsign(x1545);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=-1.0;
cj3=0;
j3=-1.5707963267949;
IkReal x1546=((1.0)*cj5);
IkReal x1547=((((-1.0)*r21*x1546))+(((-1.0)*r20*sj5)));
j4eval[0]=x1547;
j4eval[1]=((IKabs((((r12*sj0))+((cj0*r02)))))+(IKabs((((r11*sj0*sj5))+(((-1.0)*cj0*r00*x1546))+(((-1.0)*r10*sj0*x1546))+((cj0*r01*sj5))))));
j4eval[2]=IKsign(x1547);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x1548=((1.0)*cj5);
CheckValue<IkReal> x1549 = IKatan2WithCheck(IkReal((((r12*sj0))+((cj0*r02)))),IkReal((((r11*sj0*sj5))+(((-1.0)*cj0*r00*x1548))+(((-1.0)*r10*sj0*x1548))+((cj0*r01*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1549.valid){
continue;
}
CheckValue<IkReal> x1550=IKPowWithIntegerCheck(IKsign(((((-1.0)*r21*x1548))+(((-1.0)*r20*sj5)))),-1);
if(!x1550.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x1549.value)+(((1.5707963267949)*(x1550.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1551=IKsin(j4);
IkReal x1552=IKcos(j4);
IkReal x1553=(cj5*r00);
IkReal x1554=(cj5*r10);
IkReal x1555=(cj2*sj1);
IkReal x1556=(r21*sj5);
IkReal x1557=(cj5*r20);
IkReal x1558=(cj1*sj2);
IkReal x1559=((1.0)*x1552);
IkReal x1560=((1.0)*x1551);
IkReal x1561=(sj5*x1551);
IkReal x1562=(sj5*x1552);
evalcond[0]=(((x1551*x1556))+(((-1.0)*r22*x1559))+(((-1.0)*x1557*x1560)));
evalcond[1]=(sj0+(((-1.0)*r02*x1559))+(((-1.0)*x1553*x1560))+((r01*x1561)));
evalcond[2]=(((r11*x1561))+(((-1.0)*r12*x1559))+(((-1.0)*x1554*x1560))+(((-1.0)*cj0)));
evalcond[3]=(((x1552*x1556))+(((-1.0)*cj1*cj2))+((sj1*sj2))+((r22*x1551))+(((-1.0)*x1557*x1559)));
evalcond[4]=((((-1.0)*x1553*x1559))+((r02*x1551))+((cj0*x1555))+((cj0*x1558))+((r01*x1562)));
evalcond[5]=(((r11*x1562))+((r12*x1551))+((sj0*x1558))+((sj0*x1555))+(((-1.0)*x1554*x1559)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1563=IKPowWithIntegerCheck(IKsign((((r00*sj5))+((cj5*r01)))),-1);
if(!x1563.valid){
continue;
}
CheckValue<IkReal> x1564 = IKatan2WithCheck(IkReal((cj0*r22)),IkReal((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1564.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1563.value)))+(x1564.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1565=IKsin(j4);
IkReal x1566=IKcos(j4);
IkReal x1567=(cj5*r00);
IkReal x1568=(cj5*r10);
IkReal x1569=(cj2*sj1);
IkReal x1570=(r21*sj5);
IkReal x1571=(cj5*r20);
IkReal x1572=(cj1*sj2);
IkReal x1573=((1.0)*x1566);
IkReal x1574=((1.0)*x1565);
IkReal x1575=(sj5*x1565);
IkReal x1576=(sj5*x1566);
evalcond[0]=((((-1.0)*x1571*x1574))+(((-1.0)*r22*x1573))+((x1565*x1570)));
evalcond[1]=((((-1.0)*r02*x1573))+sj0+(((-1.0)*x1567*x1574))+((r01*x1575)));
evalcond[2]=((((-1.0)*x1568*x1574))+((r11*x1575))+(((-1.0)*r12*x1573))+(((-1.0)*cj0)));
evalcond[3]=((((-1.0)*x1571*x1573))+((x1566*x1570))+(((-1.0)*cj1*cj2))+((sj1*sj2))+((r22*x1565)));
evalcond[4]=((((-1.0)*x1567*x1573))+((cj0*x1572))+((cj0*x1569))+((r02*x1565))+((r01*x1576)));
evalcond[5]=(((r12*x1565))+((sj0*x1572))+((sj0*x1569))+(((-1.0)*x1568*x1573))+((r11*x1576)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1577=IKPowWithIntegerCheck(IKsign((((cj5*r11))+((r10*sj5)))),-1);
if(!x1577.valid){
continue;
}
CheckValue<IkReal> x1578 = IKatan2WithCheck(IkReal((r22*sj0)),IkReal(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1578.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1577.value)))+(x1578.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1579=IKsin(j4);
IkReal x1580=IKcos(j4);
IkReal x1581=(cj5*r00);
IkReal x1582=(cj5*r10);
IkReal x1583=(cj2*sj1);
IkReal x1584=(r21*sj5);
IkReal x1585=(cj5*r20);
IkReal x1586=(cj1*sj2);
IkReal x1587=((1.0)*x1580);
IkReal x1588=((1.0)*x1579);
IkReal x1589=(sj5*x1579);
IkReal x1590=(sj5*x1580);
evalcond[0]=((((-1.0)*x1585*x1588))+(((-1.0)*r22*x1587))+((x1579*x1584)));
evalcond[1]=(((r01*x1589))+sj0+(((-1.0)*r02*x1587))+(((-1.0)*x1581*x1588)));
evalcond[2]=(((r11*x1589))+(((-1.0)*r12*x1587))+(((-1.0)*x1582*x1588))+(((-1.0)*cj0)));
evalcond[3]=((((-1.0)*x1585*x1587))+(((-1.0)*cj1*cj2))+((sj1*sj2))+((x1580*x1584))+((r22*x1579)));
evalcond[4]=(((r01*x1590))+((r02*x1579))+((cj0*x1583))+((cj0*x1586))+(((-1.0)*x1581*x1587)));
evalcond[5]=(((r11*x1590))+((r12*x1579))+((sj0*x1586))+((sj0*x1583))+(((-1.0)*x1582*x1587)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(j3))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j0eval[3];
sj3=0;
cj3=1.0;
j3=0;
IkReal x1591=((1.0)*cj5);
IkReal x1592=((1.0)*sj5);
IkReal x1593=(((cj2*sj1))+((cj1*sj2)));
j0eval[0]=x1593;
j0eval[1]=((IKabs(((((-1.0)*r10*x1592))+(((-1.0)*r11*x1591)))))+(IKabs(((((-1.0)*r00*x1592))+(((-1.0)*r01*x1591))))));
j0eval[2]=IKsign(x1593);
if( IKabs(j0eval[0]) < 0.0000010000000000  || IKabs(j0eval[1]) < 0.0000010000000000  || IKabs(j0eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=0;
cj3=1.0;
j3=0;
IkReal x1594=r21*r21;
IkReal x1595=cj5*cj5;
IkReal x1596=(cj2*sj1);
IkReal x1597=(cj1*sj2);
IkReal x1598=(r21*sj5);
IkReal x1599=((1.0)*cj5*r20);
IkReal x1600=((((2.0)*cj5*r20*x1598))+((x1594*x1595))+(((-1.0)*x1595*(r20*r20)))+(((-1.0)*(r22*r22)))+(((-1.0)*x1594)));
j4eval[0]=x1600;
j4eval[1]=((IKabs((((r22*x1597))+((r22*x1596)))))+(IKabs((((x1596*x1598))+((x1597*x1598))+(((-1.0)*x1597*x1599))+(((-1.0)*x1596*x1599))))));
j4eval[2]=IKsign(x1600);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j0eval[2];
sj3=0;
cj3=1.0;
j3=0;
IkReal x1601=cj1*cj1;
IkReal x1602=(cj2*sj2);
IkReal x1603=(cj1*sj1);
j0eval[0]=((((-2.0)*x1601*x1602))+x1603+x1602+(((-1.08349267049076)*cj2*x1603))+(((-2.0)*x1603*(cj2*cj2)))+(((-1.08349267049076)*sj2*x1601)));
j0eval[1]=(((cj2*sj1))+((cj1*sj2)));
if( IKabs(j0eval[0]) < 0.0000010000000000  || IKabs(j0eval[1]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x1604=cj1*cj1;
IkReal x1605=(cj1*sj1);
IkReal x1606=(r00*sj5);
IkReal x1607=(cj1*sj2);
IkReal x1608=(r10*sj5);
IkReal x1609=(cj5*r11);
IkReal x1610=((20000.0)*py);
IkReal x1611=(cj2*sj1);
IkReal x1612=(cj5*r01);
IkReal x1613=((1893.0)*x1611);
IkReal x1614=(sj2*x1604);
CheckValue<IkReal> x1615=IKPowWithIntegerCheck(((((-15690.0)*x1605*(cj2*cj2)))+(((-8500.0)*x1614))+(((-15690.0)*cj2*x1614))+(((7845.0)*x1605))+(((7845.0)*cj2*sj2))+(((-8500.0)*cj2*x1605))),-1);
if(!x1615.valid){
continue;
}
CheckValue<IkReal> x1616=IKPowWithIntegerCheck((x1611+x1607),-1);
if(!x1616.valid){
continue;
}
if( IKabs(((x1615.value)*(((((1893.0)*x1607*x1609))+(((1893.0)*x1607*x1608))+((x1609*x1613))+((x1608*x1613))+(((-2183.0)*x1606))+(((-2183.0)*x1612))+((x1607*x1610))+((x1610*x1611)))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((x1616.value)*(((((-1.0)*x1612))+(((-1.0)*x1606)))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((x1615.value)*(((((1893.0)*x1607*x1609))+(((1893.0)*x1607*x1608))+((x1609*x1613))+((x1608*x1613))+(((-2183.0)*x1606))+(((-2183.0)*x1612))+((x1607*x1610))+((x1610*x1611))))))+IKsqr(((x1616.value)*(((((-1.0)*x1612))+(((-1.0)*x1606))))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j0array[0]=IKatan2(((x1615.value)*(((((1893.0)*x1607*x1609))+(((1893.0)*x1607*x1608))+((x1609*x1613))+((x1608*x1613))+(((-2183.0)*x1606))+(((-2183.0)*x1612))+((x1607*x1610))+((x1610*x1611))))), ((x1616.value)*(((((-1.0)*x1612))+(((-1.0)*x1606))))));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[4];
IkReal x1617=IKcos(j0);
IkReal x1618=IKsin(j0);
IkReal x1619=(cj5*r01);
IkReal x1620=(cj2*sj1);
IkReal x1621=(r00*sj5);
IkReal x1622=(cj5*r11);
IkReal x1623=((0.39225)*cj2);
IkReal x1624=(r10*sj5);
IkReal x1625=((0.39225)*sj1*sj2);
IkReal x1626=(cj1*x1617);
IkReal x1627=(cj1*x1618);
evalcond[0]=(((sj2*x1626))+x1621+x1619+((x1617*x1620)));
evalcond[1]=(((sj2*x1627))+x1622+x1624+((x1618*x1620)));
evalcond[2]=((((0.10915)*x1618))+((x1617*x1625))+(((-1.0)*px))+(((-0.09465)*x1621))+(((-1.0)*x1623*x1626))+(((-0.09465)*x1619))+(((-0.425)*x1626)));
evalcond[3]=((((-0.10915)*x1617))+(((-1.0)*py))+(((-0.09465)*x1622))+(((-0.09465)*x1624))+(((-1.0)*x1623*x1627))+((x1618*x1625))+(((-0.425)*x1627)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j4eval[3];
sj3=0;
cj3=1.0;
j3=0;
IkReal x1628=(((cj5*r11))+((r10*sj5)));
j4eval[0]=x1628;
j4eval[1]=((IKabs(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))))+(IKabs((r22*sj0))));
j4eval[2]=IKsign(x1628);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=0;
cj3=1.0;
j3=0;
IkReal x1629=(((r00*sj5))+((cj5*r01)));
j4eval[0]=x1629;
j4eval[1]=((IKabs((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))))+(IKabs((cj0*r22))));
j4eval[2]=IKsign(x1629);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=0;
cj3=1.0;
j3=0;
IkReal x1630=((1.0)*cj5);
IkReal x1631=((((-1.0)*r21*x1630))+(((-1.0)*r20*sj5)));
j4eval[0]=x1631;
j4eval[1]=((IKabs((((r12*sj0))+((cj0*r02)))))+(IKabs((((r11*sj0*sj5))+(((-1.0)*r10*sj0*x1630))+((cj0*r01*sj5))+(((-1.0)*cj0*r00*x1630))))));
j4eval[2]=IKsign(x1631);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x1632=((1.0)*cj5);
CheckValue<IkReal> x1633=IKPowWithIntegerCheck(IKsign(((((-1.0)*r21*x1632))+(((-1.0)*r20*sj5)))),-1);
if(!x1633.valid){
continue;
}
CheckValue<IkReal> x1634 = IKatan2WithCheck(IkReal((((r12*sj0))+((cj0*r02)))),IkReal((((r11*sj0*sj5))+(((-1.0)*r10*sj0*x1632))+((cj0*r01*sj5))+(((-1.0)*cj0*r00*x1632)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1634.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1633.value)))+(x1634.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1635=IKsin(j4);
IkReal x1636=IKcos(j4);
IkReal x1637=(cj5*r00);
IkReal x1638=(cj1*cj2);
IkReal x1639=(cj5*r10);
IkReal x1640=(r21*sj5);
IkReal x1641=(cj5*r20);
IkReal x1642=((1.0)*x1636);
IkReal x1643=((1.0)*x1635);
IkReal x1644=(sj5*x1635);
IkReal x1645=(sj5*x1636);
IkReal x1646=((1.0)*sj1*sj2);
evalcond[0]=((((-1.0)*x1641*x1643))+(((-1.0)*r22*x1642))+((x1635*x1640)));
evalcond[1]=(sj0+(((-1.0)*x1637*x1643))+((r01*x1644))+(((-1.0)*r02*x1642)));
evalcond[2]=(((r11*x1644))+(((-1.0)*r12*x1642))+(((-1.0)*x1639*x1643))+(((-1.0)*cj0)));
evalcond[3]=(((cj2*sj1))+((x1636*x1640))+(((-1.0)*x1641*x1642))+((cj1*sj2))+((r22*x1635)));
evalcond[4]=(((r02*x1635))+(((-1.0)*x1637*x1642))+((r01*x1645))+((cj0*x1638))+(((-1.0)*cj0*x1646)));
evalcond[5]=(((r11*x1645))+((sj0*x1638))+((r12*x1635))+(((-1.0)*x1639*x1642))+(((-1.0)*sj0*x1646)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1647=IKPowWithIntegerCheck(IKsign((((r00*sj5))+((cj5*r01)))),-1);
if(!x1647.valid){
continue;
}
CheckValue<IkReal> x1648 = IKatan2WithCheck(IkReal((cj0*r22)),IkReal((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1648.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1647.value)))+(x1648.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1649=IKsin(j4);
IkReal x1650=IKcos(j4);
IkReal x1651=(cj5*r00);
IkReal x1652=(cj1*cj2);
IkReal x1653=(cj5*r10);
IkReal x1654=(r21*sj5);
IkReal x1655=(cj5*r20);
IkReal x1656=((1.0)*x1650);
IkReal x1657=((1.0)*x1649);
IkReal x1658=(sj5*x1649);
IkReal x1659=(sj5*x1650);
IkReal x1660=((1.0)*sj1*sj2);
evalcond[0]=((((-1.0)*r22*x1656))+(((-1.0)*x1655*x1657))+((x1649*x1654)));
evalcond[1]=(sj0+((r01*x1658))+(((-1.0)*r02*x1656))+(((-1.0)*x1651*x1657)));
evalcond[2]=(((r11*x1658))+(((-1.0)*x1653*x1657))+(((-1.0)*r12*x1656))+(((-1.0)*cj0)));
evalcond[3]=(((cj2*sj1))+((x1650*x1654))+((cj1*sj2))+(((-1.0)*x1655*x1656))+((r22*x1649)));
evalcond[4]=(((r02*x1649))+((r01*x1659))+((cj0*x1652))+(((-1.0)*cj0*x1660))+(((-1.0)*x1651*x1656)));
evalcond[5]=(((sj0*x1652))+((r11*x1659))+((r12*x1649))+(((-1.0)*x1653*x1656))+(((-1.0)*sj0*x1660)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1661=IKPowWithIntegerCheck(IKsign((((cj5*r11))+((r10*sj5)))),-1);
if(!x1661.valid){
continue;
}
CheckValue<IkReal> x1662 = IKatan2WithCheck(IkReal((r22*sj0)),IkReal(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1662.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1661.value)))+(x1662.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1663=IKsin(j4);
IkReal x1664=IKcos(j4);
IkReal x1665=(cj5*r00);
IkReal x1666=(cj1*cj2);
IkReal x1667=(cj5*r10);
IkReal x1668=(r21*sj5);
IkReal x1669=(cj5*r20);
IkReal x1670=((1.0)*x1664);
IkReal x1671=((1.0)*x1663);
IkReal x1672=(sj5*x1663);
IkReal x1673=(sj5*x1664);
IkReal x1674=((1.0)*sj1*sj2);
evalcond[0]=((((-1.0)*x1669*x1671))+((x1663*x1668))+(((-1.0)*r22*x1670)));
evalcond[1]=(sj0+(((-1.0)*r02*x1670))+(((-1.0)*x1665*x1671))+((r01*x1672)));
evalcond[2]=((((-1.0)*x1667*x1671))+(((-1.0)*r12*x1670))+((r11*x1672))+(((-1.0)*cj0)));
evalcond[3]=(((cj2*sj1))+((cj1*sj2))+(((-1.0)*x1669*x1670))+((x1664*x1668))+((r22*x1663)));
evalcond[4]=((((-1.0)*cj0*x1674))+((r02*x1663))+((cj0*x1666))+(((-1.0)*x1665*x1670))+((r01*x1673)));
evalcond[5]=(((sj0*x1666))+(((-1.0)*x1667*x1670))+((r12*x1663))+(((-1.0)*sj0*x1674))+((r11*x1673)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x1675=r21*r21;
IkReal x1676=cj5*cj5;
IkReal x1677=(cj2*sj1);
IkReal x1678=(cj1*sj2);
IkReal x1679=(r21*sj5);
IkReal x1680=((1.0)*cj5*r20);
CheckValue<IkReal> x1681 = IKatan2WithCheck(IkReal((((r22*x1678))+((r22*x1677)))),IkReal(((((-1.0)*x1677*x1680))+((x1678*x1679))+(((-1.0)*x1678*x1680))+((x1677*x1679)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1681.valid){
continue;
}
CheckValue<IkReal> x1682=IKPowWithIntegerCheck(IKsign((((x1675*x1676))+(((2.0)*cj5*r20*x1679))+(((-1.0)*(r22*r22)))+(((-1.0)*x1675))+(((-1.0)*x1676*(r20*r20))))),-1);
if(!x1682.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x1681.value)+(((1.5707963267949)*(x1682.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[2];
IkReal x1683=IKsin(j4);
IkReal x1684=IKcos(j4);
IkReal x1685=(r21*sj5);
IkReal x1686=(cj5*r20);
IkReal x1687=((1.0)*x1684);
evalcond[0]=((((-1.0)*r22*x1687))+(((-1.0)*x1683*x1686))+((x1683*x1685)));
evalcond[1]=(((cj2*sj1))+(((-1.0)*x1686*x1687))+((r22*x1683))+((cj1*sj2))+((x1684*x1685)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x1688=(cj5*sj4);
IkReal x1689=(sj4*sj5);
if( IKabs((((r00*x1688))+(((-1.0)*r01*x1689))+((cj4*r02)))) < IKFAST_ATAN2_MAGTHRESH && IKabs((((r11*x1689))+(((-1.0)*r10*x1688))+(((-1.0)*cj4*r12)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((((r00*x1688))+(((-1.0)*r01*x1689))+((cj4*r02))))+IKsqr((((r11*x1689))+(((-1.0)*r10*x1688))+(((-1.0)*cj4*r12))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j0array[0]=IKatan2((((r00*x1688))+(((-1.0)*r01*x1689))+((cj4*r02))), (((r11*x1689))+(((-1.0)*r10*x1688))+(((-1.0)*cj4*r12))));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[8];
IkReal x1690=IKcos(j0);
IkReal x1691=IKsin(j0);
IkReal x1692=(cj5*r01);
IkReal x1693=(r11*sj5);
IkReal x1694=(cj1*cj2);
IkReal x1695=(r00*sj5);
IkReal x1696=(cj5*r11);
IkReal x1697=((1.0)*cj4);
IkReal x1698=(r01*sj5);
IkReal x1699=(r10*sj5);
IkReal x1700=(sj1*x1690);
IkReal x1701=(cj1*x1691);
IkReal x1702=(cj5*x1697);
IkReal x1703=(cj1*x1690);
IkReal x1704=((1.0)*cj5*sj4);
IkReal x1705=(sj1*sj2*x1691);
evalcond[0]=(x1691+(((-1.0)*r02*x1697))+((sj4*x1698))+(((-1.0)*r00*x1704)));
evalcond[1]=((((-1.0)*r12*x1697))+(((-1.0)*x1690))+(((-1.0)*r10*x1704))+((sj4*x1693)));
evalcond[2]=(x1695+x1692+((sj2*x1703))+((cj2*x1700)));
evalcond[3]=(x1696+x1699+((cj2*sj1*x1691))+((sj2*x1701)));
evalcond[4]=(((x1690*x1694))+((cj4*x1698))+((r02*sj4))+(((-1.0)*sj2*x1700))+(((-1.0)*r00*x1702)));
evalcond[5]=((((-1.0)*x1705))+((cj4*x1693))+((x1691*x1694))+(((-1.0)*r10*x1702))+((r12*sj4)));
evalcond[6]=((((-0.425)*x1703))+(((0.10915)*x1691))+(((-1.0)*px))+(((0.39225)*sj2*x1700))+(((-0.09465)*x1695))+(((-0.09465)*x1692))+(((-0.39225)*x1690*x1694)));
evalcond[7]=((((-0.425)*x1701))+(((0.39225)*x1705))+(((-0.10915)*x1690))+(((-1.0)*py))+(((-0.39225)*x1691*x1694))+(((-0.09465)*x1696))+(((-0.09465)*x1699)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
}
}

}

}

} else
{
{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x1706=((1.0)*cj5);
IkReal x1707=((1.0)*sj5);
CheckValue<IkReal> x1708=IKPowWithIntegerCheck(IKsign((((cj2*sj1))+((cj1*sj2)))),-1);
if(!x1708.valid){
continue;
}
CheckValue<IkReal> x1709 = IKatan2WithCheck(IkReal(((((-1.0)*r10*x1707))+(((-1.0)*r11*x1706)))),IkReal(((((-1.0)*r01*x1706))+(((-1.0)*r00*x1707)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1709.valid){
continue;
}
j0array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1708.value)))+(x1709.value));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[4];
IkReal x1710=IKcos(j0);
IkReal x1711=IKsin(j0);
IkReal x1712=(cj5*r01);
IkReal x1713=(cj2*sj1);
IkReal x1714=(r00*sj5);
IkReal x1715=(cj5*r11);
IkReal x1716=((0.39225)*cj2);
IkReal x1717=(r10*sj5);
IkReal x1718=((0.39225)*sj1*sj2);
IkReal x1719=(cj1*x1710);
IkReal x1720=(cj1*x1711);
evalcond[0]=(((x1710*x1713))+x1712+x1714+((sj2*x1719)));
evalcond[1]=(x1717+x1715+((x1711*x1713))+((sj2*x1720)));
evalcond[2]=(((x1710*x1718))+(((-0.425)*x1719))+(((-1.0)*x1716*x1719))+(((-0.09465)*x1712))+(((-0.09465)*x1714))+(((-1.0)*px))+(((0.10915)*x1711)));
evalcond[3]=((((-0.10915)*x1710))+(((-0.09465)*x1717))+(((-0.09465)*x1715))+(((-1.0)*py))+((x1711*x1718))+(((-0.425)*x1720))+(((-1.0)*x1716*x1720)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j4eval[3];
sj3=0;
cj3=1.0;
j3=0;
IkReal x1721=(((cj5*r11))+((r10*sj5)));
j4eval[0]=x1721;
j4eval[1]=((IKabs(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))))+(IKabs((r22*sj0))));
j4eval[2]=IKsign(x1721);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=0;
cj3=1.0;
j3=0;
IkReal x1722=(((r00*sj5))+((cj5*r01)));
j4eval[0]=x1722;
j4eval[1]=((IKabs((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))))+(IKabs((cj0*r22))));
j4eval[2]=IKsign(x1722);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=0;
cj3=1.0;
j3=0;
IkReal x1723=((1.0)*cj5);
IkReal x1724=((((-1.0)*r21*x1723))+(((-1.0)*r20*sj5)));
j4eval[0]=x1724;
j4eval[1]=((IKabs(((((-1.0)*r10*sj0*x1723))+((r11*sj0*sj5))+(((-1.0)*cj0*r00*x1723))+((cj0*r01*sj5)))))+(IKabs((((r12*sj0))+((cj0*r02))))));
j4eval[2]=IKsign(x1724);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x1725=((1.0)*cj5);
CheckValue<IkReal> x1726=IKPowWithIntegerCheck(IKsign(((((-1.0)*r21*x1725))+(((-1.0)*r20*sj5)))),-1);
if(!x1726.valid){
continue;
}
CheckValue<IkReal> x1727 = IKatan2WithCheck(IkReal((((r12*sj0))+((cj0*r02)))),IkReal(((((-1.0)*r10*sj0*x1725))+((r11*sj0*sj5))+(((-1.0)*cj0*r00*x1725))+((cj0*r01*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1727.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1726.value)))+(x1727.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1728=IKsin(j4);
IkReal x1729=IKcos(j4);
IkReal x1730=(cj5*r00);
IkReal x1731=(cj1*cj2);
IkReal x1732=(cj5*r10);
IkReal x1733=(r21*sj5);
IkReal x1734=(cj5*r20);
IkReal x1735=((1.0)*x1729);
IkReal x1736=((1.0)*x1728);
IkReal x1737=(sj5*x1728);
IkReal x1738=(sj5*x1729);
IkReal x1739=((1.0)*sj1*sj2);
evalcond[0]=(((x1728*x1733))+(((-1.0)*x1734*x1736))+(((-1.0)*r22*x1735)));
evalcond[1]=(((r01*x1737))+sj0+(((-1.0)*x1730*x1736))+(((-1.0)*r02*x1735)));
evalcond[2]=((((-1.0)*r12*x1735))+((r11*x1737))+(((-1.0)*x1732*x1736))+(((-1.0)*cj0)));
evalcond[3]=(((cj2*sj1))+((cj1*sj2))+((x1729*x1733))+((r22*x1728))+(((-1.0)*x1734*x1735)));
evalcond[4]=(((cj0*x1731))+((r01*x1738))+(((-1.0)*cj0*x1739))+(((-1.0)*x1730*x1735))+((r02*x1728)));
evalcond[5]=((((-1.0)*sj0*x1739))+((sj0*x1731))+((r11*x1738))+((r12*x1728))+(((-1.0)*x1732*x1735)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1740=IKPowWithIntegerCheck(IKsign((((r00*sj5))+((cj5*r01)))),-1);
if(!x1740.valid){
continue;
}
CheckValue<IkReal> x1741 = IKatan2WithCheck(IkReal((cj0*r22)),IkReal((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1741.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1740.value)))+(x1741.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1742=IKsin(j4);
IkReal x1743=IKcos(j4);
IkReal x1744=(cj5*r00);
IkReal x1745=(cj1*cj2);
IkReal x1746=(cj5*r10);
IkReal x1747=(r21*sj5);
IkReal x1748=(cj5*r20);
IkReal x1749=((1.0)*x1743);
IkReal x1750=((1.0)*x1742);
IkReal x1751=(sj5*x1742);
IkReal x1752=(sj5*x1743);
IkReal x1753=((1.0)*sj1*sj2);
evalcond[0]=((((-1.0)*x1748*x1750))+(((-1.0)*r22*x1749))+((x1742*x1747)));
evalcond[1]=(sj0+(((-1.0)*x1744*x1750))+((r01*x1751))+(((-1.0)*r02*x1749)));
evalcond[2]=((((-1.0)*r12*x1749))+(((-1.0)*x1746*x1750))+((r11*x1751))+(((-1.0)*cj0)));
evalcond[3]=(((cj2*sj1))+(((-1.0)*x1748*x1749))+((r22*x1742))+((cj1*sj2))+((x1743*x1747)));
evalcond[4]=((((-1.0)*cj0*x1753))+((r02*x1742))+(((-1.0)*x1744*x1749))+((r01*x1752))+((cj0*x1745)));
evalcond[5]=(((r12*x1742))+(((-1.0)*sj0*x1753))+(((-1.0)*x1746*x1749))+((sj0*x1745))+((r11*x1752)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1754=IKPowWithIntegerCheck(IKsign((((cj5*r11))+((r10*sj5)))),-1);
if(!x1754.valid){
continue;
}
CheckValue<IkReal> x1755 = IKatan2WithCheck(IkReal((r22*sj0)),IkReal(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1755.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1754.value)))+(x1755.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1756=IKsin(j4);
IkReal x1757=IKcos(j4);
IkReal x1758=(cj5*r00);
IkReal x1759=(cj1*cj2);
IkReal x1760=(cj5*r10);
IkReal x1761=(r21*sj5);
IkReal x1762=(cj5*r20);
IkReal x1763=((1.0)*x1757);
IkReal x1764=((1.0)*x1756);
IkReal x1765=(sj5*x1756);
IkReal x1766=(sj5*x1757);
IkReal x1767=((1.0)*sj1*sj2);
evalcond[0]=((((-1.0)*x1762*x1764))+((x1756*x1761))+(((-1.0)*r22*x1763)));
evalcond[1]=(sj0+(((-1.0)*r02*x1763))+((r01*x1765))+(((-1.0)*x1758*x1764)));
evalcond[2]=(((r11*x1765))+(((-1.0)*r12*x1763))+(((-1.0)*x1760*x1764))+(((-1.0)*cj0)));
evalcond[3]=((((-1.0)*x1762*x1763))+((cj2*sj1))+((cj1*sj2))+((r22*x1756))+((x1757*x1761)));
evalcond[4]=(((r02*x1756))+((r01*x1766))+(((-1.0)*cj0*x1767))+(((-1.0)*x1758*x1763))+((cj0*x1759)));
evalcond[5]=(((r11*x1766))+(((-1.0)*x1760*x1763))+((sj0*x1759))+((r12*x1756))+(((-1.0)*sj0*x1767)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+j3)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j0eval[3];
sj3=0;
cj3=-1.0;
j3=3.14159265358979;
IkReal x1768=(((cj2*sj1))+((cj1*sj2)));
j0eval[0]=x1768;
j0eval[1]=IKsign(x1768);
j0eval[2]=((IKabs((((r00*sj5))+((cj5*r01)))))+(IKabs((((cj5*r11))+((r10*sj5))))));
if( IKabs(j0eval[0]) < 0.0000010000000000  || IKabs(j0eval[1]) < 0.0000010000000000  || IKabs(j0eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=0;
cj3=-1.0;
j3=3.14159265358979;
IkReal x1769=cj5*cj5;
IkReal x1770=r21*r21;
IkReal x1771=(cj2*sj1);
IkReal x1772=(cj1*sj2);
IkReal x1773=(r21*sj5);
IkReal x1774=((1.0)*cj5*r20);
IkReal x1775=(x1770+(r22*r22)+(((-1.0)*x1769*x1770))+((x1769*(r20*r20)))+(((-2.0)*cj5*r20*x1773)));
j4eval[0]=x1775;
j4eval[1]=IKsign(x1775);
j4eval[2]=((IKabs(((((-1.0)*x1772*x1774))+((x1771*x1773))+(((-1.0)*x1771*x1774))+((x1772*x1773)))))+(IKabs((((r22*x1771))+((r22*x1772))))));
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j0eval[2];
sj3=0;
cj3=-1.0;
j3=3.14159265358979;
IkReal x1776=cj1*cj1;
IkReal x1777=(cj2*sj2);
IkReal x1778=(cj1*sj1);
j0eval[0]=(x1777+x1778+(((-2.0)*x1776*x1777))+(((-1.08349267049076)*sj2*x1776))+(((-2.0)*x1778*(cj2*cj2)))+(((-1.08349267049076)*cj2*x1778)));
j0eval[1]=(((cj2*sj1))+((cj1*sj2)));
if( IKabs(j0eval[0]) < 0.0000010000000000  || IKabs(j0eval[1]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x1779=cj1*cj1;
IkReal x1780=(cj1*sj1);
IkReal x1781=(r00*sj5);
IkReal x1782=(cj1*sj2);
IkReal x1783=(r10*sj5);
IkReal x1784=(cj5*r11);
IkReal x1785=(cj5*r01);
IkReal x1786=((20000.0)*py);
IkReal x1787=(cj2*sj1);
IkReal x1788=((1893.0)*x1787);
IkReal x1789=(sj2*x1779);
CheckValue<IkReal> x1790=IKPowWithIntegerCheck(((((-15690.0)*x1780*(cj2*cj2)))+(((-8500.0)*x1789))+(((7845.0)*cj2*sj2))+(((-15690.0)*cj2*x1789))+(((-8500.0)*cj2*x1780))+(((7845.0)*x1780))),-1);
if(!x1790.valid){
continue;
}
CheckValue<IkReal> x1791=IKPowWithIntegerCheck((x1782+x1787),-1);
if(!x1791.valid){
continue;
}
if( IKabs(((x1790.value)*((((x1782*x1786))+((x1783*x1788))+(((2183.0)*x1785))+(((2183.0)*x1781))+(((1893.0)*x1782*x1784))+(((1893.0)*x1782*x1783))+((x1784*x1788))+((x1786*x1787)))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((x1791.value)*((x1781+x1785)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((x1790.value)*((((x1782*x1786))+((x1783*x1788))+(((2183.0)*x1785))+(((2183.0)*x1781))+(((1893.0)*x1782*x1784))+(((1893.0)*x1782*x1783))+((x1784*x1788))+((x1786*x1787))))))+IKsqr(((x1791.value)*((x1781+x1785))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j0array[0]=IKatan2(((x1790.value)*((((x1782*x1786))+((x1783*x1788))+(((2183.0)*x1785))+(((2183.0)*x1781))+(((1893.0)*x1782*x1784))+(((1893.0)*x1782*x1783))+((x1784*x1788))+((x1786*x1787))))), ((x1791.value)*((x1781+x1785))));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[4];
IkReal x1792=IKcos(j0);
IkReal x1793=IKsin(j0);
IkReal x1794=(cj5*r11);
IkReal x1795=(cj5*r01);
IkReal x1796=(cj2*sj1);
IkReal x1797=((1.0)*sj5);
IkReal x1798=((0.09465)*sj5);
IkReal x1799=((0.39225)*cj2);
IkReal x1800=((0.39225)*sj1*sj2);
IkReal x1801=(cj1*x1792);
IkReal x1802=(cj1*x1793);
evalcond[0]=((((-1.0)*r00*x1797))+((sj2*x1801))+((x1792*x1796))+(((-1.0)*x1795)));
evalcond[1]=((((-1.0)*r10*x1797))+((x1793*x1796))+((sj2*x1802))+(((-1.0)*x1794)));
evalcond[2]=((((-1.0)*r00*x1798))+(((-1.0)*x1799*x1801))+((x1792*x1800))+(((0.10915)*x1793))+(((-0.425)*x1801))+(((-1.0)*px))+(((-0.09465)*x1795)));
evalcond[3]=((((-1.0)*r10*x1798))+(((-1.0)*x1799*x1802))+(((-0.425)*x1802))+(((-1.0)*py))+(((-0.09465)*x1794))+((x1793*x1800))+(((-0.10915)*x1792)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j4eval[3];
sj3=0;
cj3=-1.0;
j3=3.14159265358979;
IkReal x1803=(((cj5*r11))+((r10*sj5)));
j4eval[0]=x1803;
j4eval[1]=((IKabs(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))))+(IKabs((r22*sj0))));
j4eval[2]=IKsign(x1803);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=0;
cj3=-1.0;
j3=3.14159265358979;
IkReal x1804=(((r00*sj5))+((cj5*r01)));
j4eval[0]=x1804;
j4eval[1]=((IKabs((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))))+(IKabs((cj0*r22))));
j4eval[2]=IKsign(x1804);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=0;
cj3=-1.0;
j3=3.14159265358979;
IkReal x1805=((1.0)*cj5);
IkReal x1806=((((-1.0)*r21*x1805))+(((-1.0)*r20*sj5)));
j4eval[0]=x1806;
j4eval[1]=((IKabs((((r12*sj0))+((cj0*r02)))))+(IKabs((((r11*sj0*sj5))+((cj0*r01*sj5))+(((-1.0)*cj0*r00*x1805))+(((-1.0)*r10*sj0*x1805))))));
j4eval[2]=IKsign(x1806);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x1807=((1.0)*cj5);
CheckValue<IkReal> x1808 = IKatan2WithCheck(IkReal((((r12*sj0))+((cj0*r02)))),IkReal((((r11*sj0*sj5))+((cj0*r01*sj5))+(((-1.0)*cj0*r00*x1807))+(((-1.0)*r10*sj0*x1807)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1808.valid){
continue;
}
CheckValue<IkReal> x1809=IKPowWithIntegerCheck(IKsign(((((-1.0)*r21*x1807))+(((-1.0)*r20*sj5)))),-1);
if(!x1809.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x1808.value)+(((1.5707963267949)*(x1809.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1810=IKsin(j4);
IkReal x1811=IKcos(j4);
IkReal x1812=(cj1*cj2);
IkReal x1813=(cj5*r10);
IkReal x1814=(r01*sj5);
IkReal x1815=(cj5*r00);
IkReal x1816=(cj5*r20);
IkReal x1817=((1.0)*cj0);
IkReal x1818=(sj1*sj2);
IkReal x1819=((1.0)*x1811);
IkReal x1820=((1.0)*x1810);
IkReal x1821=(sj5*x1810);
evalcond[0]=((((-1.0)*x1816*x1820))+((r21*x1821))+(((-1.0)*r22*x1819)));
evalcond[1]=(sj0+(((-1.0)*r02*x1819))+(((-1.0)*x1815*x1820))+((x1810*x1814)));
evalcond[2]=((((-1.0)*x1817))+(((-1.0)*x1813*x1820))+(((-1.0)*r12*x1819))+((r11*x1821)));
evalcond[3]=(((cj2*sj1))+(((-1.0)*r21*sj5*x1819))+((cj1*sj2))+(((-1.0)*r22*x1820))+((x1811*x1816)));
evalcond[4]=(((cj0*x1812))+(((-1.0)*x1814*x1819))+(((-1.0)*r02*x1820))+((x1811*x1815))+(((-1.0)*x1817*x1818)));
evalcond[5]=((((-1.0)*r11*sj5*x1819))+((sj0*x1812))+(((-1.0)*r12*x1820))+((x1811*x1813))+(((-1.0)*sj0*x1818)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1822=IKPowWithIntegerCheck(IKsign((((r00*sj5))+((cj5*r01)))),-1);
if(!x1822.valid){
continue;
}
CheckValue<IkReal> x1823 = IKatan2WithCheck(IkReal((cj0*r22)),IkReal((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1823.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1822.value)))+(x1823.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1824=IKsin(j4);
IkReal x1825=IKcos(j4);
IkReal x1826=(cj1*cj2);
IkReal x1827=(cj5*r10);
IkReal x1828=(r01*sj5);
IkReal x1829=(cj5*r00);
IkReal x1830=(cj5*r20);
IkReal x1831=((1.0)*cj0);
IkReal x1832=(sj1*sj2);
IkReal x1833=((1.0)*x1825);
IkReal x1834=((1.0)*x1824);
IkReal x1835=(sj5*x1824);
evalcond[0]=(((r21*x1835))+(((-1.0)*r22*x1833))+(((-1.0)*x1830*x1834)));
evalcond[1]=(sj0+((x1824*x1828))+(((-1.0)*r02*x1833))+(((-1.0)*x1829*x1834)));
evalcond[2]=((((-1.0)*x1831))+((r11*x1835))+(((-1.0)*x1827*x1834))+(((-1.0)*r12*x1833)));
evalcond[3]=(((cj2*sj1))+((cj1*sj2))+(((-1.0)*r21*sj5*x1833))+((x1825*x1830))+(((-1.0)*r22*x1834)));
evalcond[4]=(((cj0*x1826))+(((-1.0)*x1828*x1833))+((x1825*x1829))+(((-1.0)*r02*x1834))+(((-1.0)*x1831*x1832)));
evalcond[5]=((((-1.0)*r11*sj5*x1833))+((x1825*x1827))+(((-1.0)*sj0*x1832))+((sj0*x1826))+(((-1.0)*r12*x1834)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1836=IKPowWithIntegerCheck(IKsign((((cj5*r11))+((r10*sj5)))),-1);
if(!x1836.valid){
continue;
}
CheckValue<IkReal> x1837 = IKatan2WithCheck(IkReal((r22*sj0)),IkReal(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1837.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1836.value)))+(x1837.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1838=IKsin(j4);
IkReal x1839=IKcos(j4);
IkReal x1840=(cj1*cj2);
IkReal x1841=(cj5*r10);
IkReal x1842=(r01*sj5);
IkReal x1843=(cj5*r00);
IkReal x1844=(cj5*r20);
IkReal x1845=((1.0)*cj0);
IkReal x1846=(sj1*sj2);
IkReal x1847=((1.0)*x1839);
IkReal x1848=((1.0)*x1838);
IkReal x1849=(sj5*x1838);
evalcond[0]=((((-1.0)*r22*x1847))+((r21*x1849))+(((-1.0)*x1844*x1848)));
evalcond[1]=(((x1838*x1842))+(((-1.0)*x1843*x1848))+sj0+(((-1.0)*r02*x1847)));
evalcond[2]=((((-1.0)*x1841*x1848))+(((-1.0)*x1845))+(((-1.0)*r12*x1847))+((r11*x1849)));
evalcond[3]=(((cj2*sj1))+(((-1.0)*r22*x1848))+((cj1*sj2))+(((-1.0)*r21*sj5*x1847))+((x1839*x1844)));
evalcond[4]=(((cj0*x1840))+(((-1.0)*x1842*x1847))+(((-1.0)*r02*x1848))+((x1839*x1843))+(((-1.0)*x1845*x1846)));
evalcond[5]=(((sj0*x1840))+((x1839*x1841))+(((-1.0)*r11*sj5*x1847))+(((-1.0)*r12*x1848))+(((-1.0)*sj0*x1846)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x1850=cj5*cj5;
IkReal x1851=r21*r21;
IkReal x1852=(cj2*sj1);
IkReal x1853=(cj1*sj2);
IkReal x1854=(r21*sj5);
IkReal x1855=((1.0)*cj5*r20);
CheckValue<IkReal> x1856=IKPowWithIntegerCheck(IKsign((((x1850*(r20*r20)))+(r22*r22)+(((-1.0)*x1850*x1851))+(((-2.0)*cj5*r20*x1854))+x1851)),-1);
if(!x1856.valid){
continue;
}
CheckValue<IkReal> x1857 = IKatan2WithCheck(IkReal((((r22*x1852))+((r22*x1853)))),IkReal((((x1852*x1854))+(((-1.0)*x1852*x1855))+((x1853*x1854))+(((-1.0)*x1853*x1855)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1857.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1856.value)))+(x1857.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[2];
IkReal x1858=IKsin(j4);
IkReal x1859=IKcos(j4);
IkReal x1860=(r21*sj5);
IkReal x1861=(cj5*r20);
IkReal x1862=((1.0)*x1859);
IkReal x1863=((1.0)*x1858);
evalcond[0]=(((x1858*x1860))+(((-1.0)*x1861*x1863))+(((-1.0)*r22*x1862)));
evalcond[1]=(((cj2*sj1))+(((-1.0)*x1860*x1862))+((cj1*sj2))+((x1859*x1861))+(((-1.0)*r22*x1863)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x1864=(cj5*sj4);
IkReal x1865=(sj4*sj5);
if( IKabs(((((-1.0)*r01*x1865))+((r00*x1864))+((cj4*r02)))) < IKFAST_ATAN2_MAGTHRESH && IKabs((((r11*x1865))+(((-1.0)*r10*x1864))+(((-1.0)*cj4*r12)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((((-1.0)*r01*x1865))+((r00*x1864))+((cj4*r02))))+IKsqr((((r11*x1865))+(((-1.0)*r10*x1864))+(((-1.0)*cj4*r12))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j0array[0]=IKatan2(((((-1.0)*r01*x1865))+((r00*x1864))+((cj4*r02))), (((r11*x1865))+(((-1.0)*r10*x1864))+(((-1.0)*cj4*r12))));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[8];
IkReal x1866=IKcos(j0);
IkReal x1867=IKsin(j0);
IkReal x1868=(cj4*cj5);
IkReal x1869=(r11*sj5);
IkReal x1870=(cj1*cj2);
IkReal x1871=(cj5*r11);
IkReal x1872=((1.0)*sj4);
IkReal x1873=(cj5*r01);
IkReal x1874=((1.0)*sj5);
IkReal x1875=((0.09465)*sj5);
IkReal x1876=((1.0)*cj4);
IkReal x1877=(sj1*x1866);
IkReal x1878=(cj1*x1867);
IkReal x1879=(cj1*x1866);
IkReal x1880=(sj1*sj2*x1867);
evalcond[0]=((((-1.0)*r02*x1876))+((r01*sj4*sj5))+x1867+(((-1.0)*cj5*r00*x1872)));
evalcond[1]=(((sj4*x1869))+(((-1.0)*cj5*r10*x1872))+(((-1.0)*r12*x1876))+(((-1.0)*x1866)));
evalcond[2]=(((sj2*x1879))+(((-1.0)*r00*x1874))+((cj2*x1877))+(((-1.0)*x1873)));
evalcond[3]=(((cj2*sj1*x1867))+((sj2*x1878))+(((-1.0)*r10*x1874))+(((-1.0)*x1871)));
evalcond[4]=(((x1866*x1870))+(((-1.0)*r02*x1872))+(((-1.0)*cj4*r01*x1874))+(((-1.0)*sj2*x1877))+((r00*x1868)));
evalcond[5]=((((-1.0)*x1869*x1876))+(((-1.0)*r12*x1872))+(((-1.0)*x1880))+((r10*x1868))+((x1867*x1870)));
evalcond[6]=((((0.39225)*sj2*x1877))+(((-1.0)*r00*x1875))+(((-0.09465)*x1873))+(((-1.0)*px))+(((-0.425)*x1879))+(((-0.39225)*x1866*x1870))+(((0.10915)*x1867)));
evalcond[7]=((((-0.10915)*x1866))+(((-1.0)*r10*x1875))+(((-0.09465)*x1871))+(((-1.0)*py))+(((-0.425)*x1878))+(((-0.39225)*x1867*x1870))+(((0.39225)*x1880)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
}
}

}

}

} else
{
{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
CheckValue<IkReal> x1881=IKPowWithIntegerCheck(IKsign((((cj2*sj1))+((cj1*sj2)))),-1);
if(!x1881.valid){
continue;
}
CheckValue<IkReal> x1882 = IKatan2WithCheck(IkReal((((cj5*r11))+((r10*sj5)))),IkReal((((r00*sj5))+((cj5*r01)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1882.valid){
continue;
}
j0array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1881.value)))+(x1882.value));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[4];
IkReal x1883=IKcos(j0);
IkReal x1884=IKsin(j0);
IkReal x1885=(cj5*r11);
IkReal x1886=(cj5*r01);
IkReal x1887=(cj2*sj1);
IkReal x1888=((1.0)*sj5);
IkReal x1889=((0.09465)*sj5);
IkReal x1890=((0.39225)*cj2);
IkReal x1891=((0.39225)*sj1*sj2);
IkReal x1892=(cj1*x1883);
IkReal x1893=(cj1*x1884);
evalcond[0]=(((sj2*x1892))+((x1883*x1887))+(((-1.0)*x1886))+(((-1.0)*r00*x1888)));
evalcond[1]=(((sj2*x1893))+(((-1.0)*r10*x1888))+(((-1.0)*x1885))+((x1884*x1887)));
evalcond[2]=(((x1883*x1891))+(((-0.09465)*x1886))+(((0.10915)*x1884))+(((-1.0)*x1890*x1892))+(((-1.0)*px))+(((-1.0)*r00*x1889))+(((-0.425)*x1892)));
evalcond[3]=(((x1884*x1891))+(((-0.09465)*x1885))+(((-1.0)*x1890*x1893))+(((-1.0)*py))+(((-1.0)*r10*x1889))+(((-0.425)*x1893))+(((-0.10915)*x1883)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j4eval[3];
sj3=0;
cj3=-1.0;
j3=3.14159265358979;
IkReal x1894=(((cj5*r11))+((r10*sj5)));
j4eval[0]=x1894;
j4eval[1]=((IKabs(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))))+(IKabs((r22*sj0))));
j4eval[2]=IKsign(x1894);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=0;
cj3=-1.0;
j3=3.14159265358979;
IkReal x1895=(((r00*sj5))+((cj5*r01)));
j4eval[0]=x1895;
j4eval[1]=((IKabs((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))))+(IKabs((cj0*r22))));
j4eval[2]=IKsign(x1895);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj3=0;
cj3=-1.0;
j3=3.14159265358979;
IkReal x1896=((1.0)*cj5);
IkReal x1897=((((-1.0)*r21*x1896))+(((-1.0)*r20*sj5)));
j4eval[0]=x1897;
j4eval[1]=((IKabs((((r12*sj0))+((cj0*r02)))))+(IKabs((((r11*sj0*sj5))+(((-1.0)*r10*sj0*x1896))+(((-1.0)*cj0*r00*x1896))+((cj0*r01*sj5))))));
j4eval[2]=IKsign(x1897);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x1898=((1.0)*cj5);
CheckValue<IkReal> x1899 = IKatan2WithCheck(IkReal((((r12*sj0))+((cj0*r02)))),IkReal((((r11*sj0*sj5))+(((-1.0)*r10*sj0*x1898))+(((-1.0)*cj0*r00*x1898))+((cj0*r01*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1899.valid){
continue;
}
CheckValue<IkReal> x1900=IKPowWithIntegerCheck(IKsign(((((-1.0)*r21*x1898))+(((-1.0)*r20*sj5)))),-1);
if(!x1900.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x1899.value)+(((1.5707963267949)*(x1900.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1901=IKsin(j4);
IkReal x1902=IKcos(j4);
IkReal x1903=(cj1*cj2);
IkReal x1904=(cj5*r10);
IkReal x1905=(r01*sj5);
IkReal x1906=(cj5*r00);
IkReal x1907=(cj5*r20);
IkReal x1908=((1.0)*cj0);
IkReal x1909=(sj1*sj2);
IkReal x1910=((1.0)*x1902);
IkReal x1911=((1.0)*x1901);
IkReal x1912=(sj5*x1901);
evalcond[0]=((((-1.0)*r22*x1910))+(((-1.0)*x1907*x1911))+((r21*x1912)));
evalcond[1]=(((x1901*x1905))+sj0+(((-1.0)*r02*x1910))+(((-1.0)*x1906*x1911)));
evalcond[2]=((((-1.0)*x1904*x1911))+(((-1.0)*r12*x1910))+((r11*x1912))+(((-1.0)*x1908)));
evalcond[3]=(((cj2*sj1))+(((-1.0)*r22*x1911))+((cj1*sj2))+(((-1.0)*r21*sj5*x1910))+((x1902*x1907)));
evalcond[4]=((((-1.0)*r02*x1911))+(((-1.0)*x1905*x1910))+((cj0*x1903))+(((-1.0)*x1908*x1909))+((x1902*x1906)));
evalcond[5]=((((-1.0)*r11*sj5*x1910))+(((-1.0)*r12*x1911))+(((-1.0)*sj0*x1909))+((sj0*x1903))+((x1902*x1904)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1913=IKPowWithIntegerCheck(IKsign((((r00*sj5))+((cj5*r01)))),-1);
if(!x1913.valid){
continue;
}
CheckValue<IkReal> x1914 = IKatan2WithCheck(IkReal((cj0*r22)),IkReal((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1914.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1913.value)))+(x1914.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1915=IKsin(j4);
IkReal x1916=IKcos(j4);
IkReal x1917=(cj1*cj2);
IkReal x1918=(cj5*r10);
IkReal x1919=(r01*sj5);
IkReal x1920=(cj5*r00);
IkReal x1921=(cj5*r20);
IkReal x1922=((1.0)*cj0);
IkReal x1923=(sj1*sj2);
IkReal x1924=((1.0)*x1916);
IkReal x1925=((1.0)*x1915);
IkReal x1926=(sj5*x1915);
evalcond[0]=((((-1.0)*r22*x1924))+(((-1.0)*x1921*x1925))+((r21*x1926)));
evalcond[1]=(sj0+(((-1.0)*r02*x1924))+((x1915*x1919))+(((-1.0)*x1920*x1925)));
evalcond[2]=((((-1.0)*r12*x1924))+(((-1.0)*x1918*x1925))+(((-1.0)*x1922))+((r11*x1926)));
evalcond[3]=(((cj2*sj1))+((cj1*sj2))+(((-1.0)*r21*sj5*x1924))+(((-1.0)*r22*x1925))+((x1916*x1921)));
evalcond[4]=((((-1.0)*x1922*x1923))+((x1916*x1920))+(((-1.0)*x1919*x1924))+(((-1.0)*r02*x1925))+((cj0*x1917)));
evalcond[5]=((((-1.0)*r12*x1925))+((x1916*x1918))+(((-1.0)*r11*sj5*x1924))+((sj0*x1917))+(((-1.0)*sj0*x1923)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x1927=IKPowWithIntegerCheck(IKsign((((cj5*r11))+((r10*sj5)))),-1);
if(!x1927.valid){
continue;
}
CheckValue<IkReal> x1928 = IKatan2WithCheck(IkReal((r22*sj0)),IkReal(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1928.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1927.value)))+(x1928.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[6];
IkReal x1929=IKsin(j4);
IkReal x1930=IKcos(j4);
IkReal x1931=(cj1*cj2);
IkReal x1932=(cj5*r10);
IkReal x1933=(r01*sj5);
IkReal x1934=(cj5*r00);
IkReal x1935=(cj5*r20);
IkReal x1936=((1.0)*cj0);
IkReal x1937=(sj1*sj2);
IkReal x1938=((1.0)*x1930);
IkReal x1939=((1.0)*x1929);
IkReal x1940=(sj5*x1929);
evalcond[0]=((((-1.0)*r22*x1938))+((r21*x1940))+(((-1.0)*x1935*x1939)));
evalcond[1]=(sj0+(((-1.0)*x1934*x1939))+((x1929*x1933))+(((-1.0)*r02*x1938)));
evalcond[2]=(((r11*x1940))+(((-1.0)*r12*x1938))+(((-1.0)*x1932*x1939))+(((-1.0)*x1936)));
evalcond[3]=(((cj2*sj1))+((cj1*sj2))+((x1930*x1935))+(((-1.0)*r22*x1939))+(((-1.0)*r21*sj5*x1938)));
evalcond[4]=((((-1.0)*x1933*x1938))+((x1930*x1934))+((cj0*x1931))+(((-1.0)*x1936*x1937))+(((-1.0)*r02*x1939)));
evalcond[5]=((((-1.0)*r11*sj5*x1938))+((x1930*x1932))+(((-1.0)*sj0*x1937))+(((-1.0)*r12*x1939))+((sj0*x1931)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j0, j4]

}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
}
}

} else
{
{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x1941=cj1*cj1;
IkReal x1942=cj2*cj2;
IkReal x1943=(sj1*sj2);
IkReal x1944=((156900000.0)*py);
IkReal x1945=(cj1*cj5);
IkReal x1946=((14850585.0)*cj2);
IkReal x1947=(r00*sj5);
IkReal x1948=((16090500.0)*cj1);
IkReal x1949=((4132419.0)*cj5);
IkReal x1950=(r10*sj5);
IkReal x1951=((170000000.0)*cj1);
IkReal x1952=((156900000.0)*px);
IkReal x1953=(cj1*cj2);
IkReal x1954=((14850585.0)*cj5);
CheckValue<IkReal> x1955=IKPowWithIntegerCheck(IKsign(((-66309514.0)+(((-10705975.0)*x1941))+(((-133365000.0)*cj2*x1941))+(((61544025.0)*x1942))+(((133365000.0)*cj1*x1943))+(((123088050.0)*x1943*x1953))+(((-123088050.0)*x1941*x1942)))),-1);
if(!x1955.valid){
continue;
}
CheckValue<IkReal> x1956 = IKatan2WithCheck(IkReal(((((-43660000.0)*px))+((cj1*x1946*x1950))+((x1944*x1953))+(((-1.0)*x1943*x1944))+((py*x1951))+(((-14850585.0)*x1943*x1950))+(((-4132419.0)*x1947))+((x1948*x1950))+(((-1.0)*r01*x1949))+((r11*x1945*x1946))+(((-1.0)*r11*x1943*x1954))+(((16090500.0)*r11*x1945)))),IkReal((((x1952*x1953))+((r11*x1949))+(((43660000.0)*py))+(((-1.0)*x1943*x1952))+(((-14850585.0)*x1943*x1947))+(((-1.0)*r01*x1943*x1954))+((px*x1951))+(((16090500.0)*r01*x1945))+(((4132419.0)*x1950))+((r01*x1945*x1946))+((x1947*x1948))+((cj1*x1946*x1947)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1956.valid){
continue;
}
j0array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1955.value)))+(x1956.value));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[2];
IkReal x1957=IKcos(j0);
IkReal x1958=IKsin(j0);
IkReal x1959=((0.425)*cj1);
IkReal x1960=(sj1*sj2);
IkReal x1961=(cj1*cj2);
IkReal x1962=((0.09465)*cj5);
IkReal x1963=((0.09465)*sj5);
IkReal x1964=((0.39225)*x1958);
IkReal x1965=((0.39225)*x1957);
evalcond[0]=((((-1.0)*x1957*x1959))+(((-1.0)*r00*x1963))+(((-1.0)*px))+(((-1.0)*r01*x1962))+(((0.10915)*x1958))+(((-1.0)*x1961*x1965))+((x1960*x1965)));
evalcond[1]=((((-1.0)*x1958*x1959))+(((-0.10915)*x1957))+(((-1.0)*py))+(((-1.0)*r10*x1963))+(((-1.0)*x1961*x1964))+((x1960*x1964))+(((-1.0)*r11*x1962)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j4eval[3];
IkReal x1966=(((cj5*r11))+((r10*sj5)));
j4eval[0]=x1966;
j4eval[1]=((IKabs(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))))+(IKabs((r22*sj0))));
j4eval[2]=IKsign(x1966);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
IkReal x1967=(((r00*sj5))+((cj5*r01)));
j4eval[0]=x1967;
j4eval[1]=((IKabs((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))))+(IKabs((cj0*r22))));
j4eval[2]=IKsign(x1967);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
IkReal x1968=((1.0)*cj5);
IkReal x1969=((((-1.0)*r21*x1968))+(((-1.0)*r20*sj5)));
j4eval[0]=x1969;
j4eval[1]=((IKabs((((r11*sj0*sj5))+(((-1.0)*cj0*r00*x1968))+((cj0*r01*sj5))+(((-1.0)*r10*sj0*x1968)))))+(IKabs((((r12*sj0))+((cj0*r02))))));
j4eval[2]=IKsign(x1969);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal evalcond[1];
bool bgotonextstatement = true;
do
{
IkReal x1970=((-1.0)*r20);
IkReal x1972 = ((1.0)+(((-1.0)*(r22*r22))));
if(IKabs(x1972)==0){
continue;
}
IkReal x1971=pow(x1972,-0.5);
CheckValue<IkReal> x1973 = IKatan2WithCheck(IkReal(((-1.0)*r21)),IkReal(x1970),IKFAST_ATAN2_MAGTHRESH);
if(!x1973.valid){
continue;
}
IkReal gconst0=((-1.0)*(x1973.value));
IkReal gconst1=(r21*x1971);
IkReal gconst2=(x1970*x1971);
CheckValue<IkReal> x1974 = IKatan2WithCheck(IkReal(((-1.0)*r21)),IkReal(((-1.0)*r20)),IKFAST_ATAN2_MAGTHRESH);
if(!x1974.valid){
continue;
}
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((x1974.value)+j5)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j4eval[1];
IkReal x1975=((-1.0)*r20);
IkReal x1976=x1971;
CheckValue<IkReal> x1978 = IKatan2WithCheck(IkReal(((-1.0)*r21)),IkReal(x1975),IKFAST_ATAN2_MAGTHRESH);
if(!x1978.valid){
continue;
}
IkReal x1977=((-1.0)*(x1978.value));
sj5=gconst1;
cj5=gconst2;
j5=x1977;
IkReal gconst0=x1977;
IkReal gconst1=(r21*x1976);
IkReal gconst2=(x1975*x1976);
j4eval[0]=sj0;
if( IKabs(j4eval[0]) < 0.0000010000000000  )
{
{
IkReal j4eval[1];
IkReal x1979=((-1.0)*r20);
IkReal x1980=x1971;
CheckValue<IkReal> x1982 = IKatan2WithCheck(IkReal(((-1.0)*r21)),IkReal(x1979),IKFAST_ATAN2_MAGTHRESH);
if(!x1982.valid){
continue;
}
IkReal x1981=((-1.0)*(x1982.value));
sj5=gconst1;
cj5=gconst2;
j5=x1981;
IkReal gconst0=x1981;
IkReal gconst1=(r21*x1980);
IkReal gconst2=(x1979*x1980);
j4eval[0]=cj0;
if( IKabs(j4eval[0]) < 0.0000010000000000  )
{
{
IkReal j4eval[2];
IkReal x1983=((-1.0)*r20);
IkReal x1984=x1971;
CheckValue<IkReal> x1986 = IKatan2WithCheck(IkReal(((-1.0)*r21)),IkReal(x1983),IKFAST_ATAN2_MAGTHRESH);
if(!x1986.valid){
continue;
}
IkReal x1985=((-1.0)*(x1986.value));
sj5=gconst1;
cj5=gconst2;
j5=x1985;
IkReal gconst0=x1985;
IkReal gconst1=(r21*x1984);
IkReal gconst2=(x1983*x1984);
IkReal x1987=r22*r22;
CheckValue<IkReal> x1991=IKPowWithIntegerCheck(((1.0)+(((-1.0)*x1987))),-1);
if(!x1991.valid){
continue;
}
IkReal x1988=x1991.value;
IkReal x1989=(sj3*x1988);
IkReal x1990=(((sj3*x1987))+((x1989*(r21*r21*r21*r21)))+((x1989*(r20*r20*r20*r20)))+(((2.0)*x1989*(r20*r20)*(r21*r21))));
j4eval[0]=x1990;
j4eval[1]=IKsign(x1990);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x1992=gconst1*gconst1;
IkReal x1993=r21*r21;
IkReal x1994=gconst2*gconst2;
IkReal x1995=r20*r20;
IkReal x1996=(gconst2*r20);
IkReal x1997=(cj1*cj2);
IkReal x1998=(sj1*sj2);
IkReal x1999=(gconst1*r21);
IkReal x2000=(cj3*gconst2);
IkReal x2001=(cj3*r20);
CheckValue<IkReal> x2002 = IKatan2WithCheck(IkReal((((r21*r22*x2000))+((gconst1*r22*x2001))+(((-1.0)*r22*x1997))+((r22*x1998)))),IkReal(((((-1.0)*gconst1*x1995*x2000))+((x1996*x1997))+((x1998*x1999))+((gconst1*x1993*x2000))+(((-1.0)*x1997*x1999))+(((-1.0)*x1996*x1998))+((r21*x1992*x2001))+(((-1.0)*r21*x1994*x2001)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2002.valid){
continue;
}
CheckValue<IkReal> x2003=IKPowWithIntegerCheck(IKsign((((sj3*(r22*r22)))+((sj3*x1992*x1993))+((sj3*x1994*x1995))+(((-2.0)*sj3*x1996*x1999)))),-1);
if(!x2003.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x2002.value)+(((1.5707963267949)*(x2003.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2004=IKsin(j4);
IkReal x2005=IKcos(j4);
IkReal x2006=(gconst1*sj3);
IkReal x2007=(cj2*sj0);
IkReal x2008=(cj3*gconst1);
IkReal x2009=(sj1*sj2);
IkReal x2010=(cj3*gconst2);
IkReal x2011=(cj1*cj2);
IkReal x2012=(gconst2*sj3);
IkReal x2013=(cj2*sj1);
IkReal x2014=((1.0)*cj0);
IkReal x2015=(cj1*sj2);
IkReal x2016=((1.0)*x2005);
IkReal x2017=((1.0)*x2004);
IkReal x2018=(gconst1*x2004);
IkReal x2019=(cj3*x2004);
IkReal x2020=(x2005*x2012);
evalcond[0]=((((-1.0)*gconst2*r20*x2017))+((r21*x2018))+(((-1.0)*r22*x2016)));
evalcond[1]=(sj0+(((-1.0)*gconst2*r00*x2017))+((r01*x2018))+(((-1.0)*r02*x2016)));
evalcond[2]=((((-1.0)*x2014))+(((-1.0)*r12*x2016))+(((-1.0)*gconst2*r10*x2017))+((r11*x2018)));
evalcond[3]=(x2015+x2013+(((-1.0)*r20*x2010*x2016))+((r22*x2019))+((r20*x2006))+((r21*x2012))+((r21*x2005*x2008)));
evalcond[4]=((((-1.0)*r22*sj3*x2017))+x2009+(((-1.0)*r21*x2006*x2016))+((r20*x2008))+((r21*x2010))+(((-1.0)*x2011))+((r20*x2020)));
evalcond[5]=(((r00*x2020))+(((-1.0)*r02*sj3*x2017))+((r00*x2008))+((r01*x2010))+((cj0*x2015))+((cj0*x2013))+(((-1.0)*r01*x2006*x2016)));
evalcond[6]=((((-1.0)*x2009*x2014))+((r00*x2006))+(((-1.0)*r00*x2010*x2016))+((r01*x2012))+((r01*x2005*x2008))+((cj0*x2011))+((r02*x2019)));
evalcond[7]=((((-1.0)*r11*x2006*x2016))+((r10*x2020))+((sj0*x2015))+(((-1.0)*r12*sj3*x2017))+((r10*x2008))+((sj1*x2007))+((r11*x2010)));
evalcond[8]=(((r11*x2005*x2008))+((r10*x2006))+(((-1.0)*r10*x2010*x2016))+(((-1.0)*sj0*x2009))+((r12*x2019))+((r11*x2012))+((cj1*x2007)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2021=IKPowWithIntegerCheck(IKsign((((gconst1*r00))+((gconst2*r01)))),-1);
if(!x2021.valid){
continue;
}
CheckValue<IkReal> x2022 = IKatan2WithCheck(IkReal((cj0*r22)),IkReal((((cj0*gconst1*r21))+(((-1.0)*cj0*gconst2*r20)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2022.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2021.value)))+(x2022.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2023=IKsin(j4);
IkReal x2024=IKcos(j4);
IkReal x2025=(gconst1*sj3);
IkReal x2026=(cj2*sj0);
IkReal x2027=(cj3*gconst1);
IkReal x2028=(sj1*sj2);
IkReal x2029=(cj3*gconst2);
IkReal x2030=(cj1*cj2);
IkReal x2031=(gconst2*sj3);
IkReal x2032=(cj2*sj1);
IkReal x2033=((1.0)*cj0);
IkReal x2034=(cj1*sj2);
IkReal x2035=((1.0)*x2024);
IkReal x2036=((1.0)*x2023);
IkReal x2037=(gconst1*x2023);
IkReal x2038=(cj3*x2023);
IkReal x2039=(x2024*x2031);
evalcond[0]=(((r21*x2037))+(((-1.0)*r22*x2035))+(((-1.0)*gconst2*r20*x2036)));
evalcond[1]=(sj0+((r01*x2037))+(((-1.0)*gconst2*r00*x2036))+(((-1.0)*r02*x2035)));
evalcond[2]=((((-1.0)*gconst2*r10*x2036))+(((-1.0)*r12*x2035))+(((-1.0)*x2033))+((r11*x2037)));
evalcond[3]=(((r22*x2038))+((r21*x2024*x2027))+((r21*x2031))+x2034+x2032+(((-1.0)*r20*x2029*x2035))+((r20*x2025)));
evalcond[4]=((((-1.0)*r22*sj3*x2036))+(((-1.0)*r21*x2025*x2035))+x2028+(((-1.0)*x2030))+((r20*x2039))+((r20*x2027))+((r21*x2029)));
evalcond[5]=(((r01*x2029))+((r00*x2027))+((r00*x2039))+(((-1.0)*r02*sj3*x2036))+((cj0*x2034))+((cj0*x2032))+(((-1.0)*r01*x2025*x2035)));
evalcond[6]=(((r00*x2025))+((r01*x2031))+((r02*x2038))+((cj0*x2030))+(((-1.0)*x2028*x2033))+(((-1.0)*r00*x2029*x2035))+((r01*x2024*x2027)));
evalcond[7]=((((-1.0)*r12*sj3*x2036))+((r10*x2027))+((r10*x2039))+((r11*x2029))+((sj1*x2026))+(((-1.0)*r11*x2025*x2035))+((sj0*x2034)));
evalcond[8]=(((r10*x2025))+((r12*x2038))+((r11*x2024*x2027))+(((-1.0)*sj0*x2028))+(((-1.0)*r10*x2029*x2035))+((cj1*x2026))+((r11*x2031)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2040=IKPowWithIntegerCheck(IKsign((((gconst1*r10))+((gconst2*r11)))),-1);
if(!x2040.valid){
continue;
}
CheckValue<IkReal> x2041 = IKatan2WithCheck(IkReal((r22*sj0)),IkReal(((((-1.0)*gconst2*r20*sj0))+((gconst1*r21*sj0)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2041.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2040.value)))+(x2041.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2042=IKsin(j4);
IkReal x2043=IKcos(j4);
IkReal x2044=(gconst1*sj3);
IkReal x2045=(cj2*sj0);
IkReal x2046=(cj3*gconst1);
IkReal x2047=(sj1*sj2);
IkReal x2048=(cj3*gconst2);
IkReal x2049=(cj1*cj2);
IkReal x2050=(gconst2*sj3);
IkReal x2051=(cj2*sj1);
IkReal x2052=((1.0)*cj0);
IkReal x2053=(cj1*sj2);
IkReal x2054=((1.0)*x2043);
IkReal x2055=((1.0)*x2042);
IkReal x2056=(gconst1*x2042);
IkReal x2057=(cj3*x2042);
IkReal x2058=(x2043*x2050);
evalcond[0]=((((-1.0)*r22*x2054))+(((-1.0)*gconst2*r20*x2055))+((r21*x2056)));
evalcond[1]=(((r01*x2056))+sj0+(((-1.0)*r02*x2054))+(((-1.0)*gconst2*r00*x2055)));
evalcond[2]=((((-1.0)*gconst2*r10*x2055))+((r11*x2056))+(((-1.0)*r12*x2054))+(((-1.0)*x2052)));
evalcond[3]=(((r22*x2057))+x2051+x2053+((r20*x2044))+((r21*x2043*x2046))+(((-1.0)*r20*x2048*x2054))+((r21*x2050)));
evalcond[4]=(((r21*x2048))+x2047+((r20*x2046))+(((-1.0)*r21*x2044*x2054))+(((-1.0)*x2049))+(((-1.0)*r22*sj3*x2055))+((r20*x2058)));
evalcond[5]=((((-1.0)*r02*sj3*x2055))+((cj0*x2051))+((cj0*x2053))+((r01*x2048))+((r00*x2046))+(((-1.0)*r01*x2044*x2054))+((r00*x2058)));
evalcond[6]=(((r01*x2050))+((cj0*x2049))+((r01*x2043*x2046))+(((-1.0)*r00*x2048*x2054))+((r02*x2057))+((r00*x2044))+(((-1.0)*x2047*x2052)));
evalcond[7]=(((r10*x2058))+((r11*x2048))+(((-1.0)*r11*x2044*x2054))+((sj0*x2053))+((sj1*x2045))+((r10*x2046))+(((-1.0)*r12*sj3*x2055)));
evalcond[8]=(((r12*x2057))+(((-1.0)*sj0*x2047))+((r11*x2050))+((r11*x2043*x2046))+((r10*x2044))+((cj1*x2045))+(((-1.0)*r10*x2048*x2054)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
IkReal x2059=((-1.0)*r21);
IkReal x2061 = ((1.0)+(((-1.0)*(r22*r22))));
if(IKabs(x2061)==0){
continue;
}
IkReal x2060=pow(x2061,-0.5);
CheckValue<IkReal> x2062 = IKatan2WithCheck(IkReal(x2059),IkReal(((-1.0)*r20)),IKFAST_ATAN2_MAGTHRESH);
if(!x2062.valid){
continue;
}
IkReal gconst3=((3.14159265358979)+(((-1.0)*(x2062.value))));
IkReal gconst4=(x2059*x2060);
IkReal gconst5=((1.0)*r20*x2060);
CheckValue<IkReal> x2063 = IKatan2WithCheck(IkReal(((-1.0)*r21)),IkReal(((-1.0)*r20)),IKFAST_ATAN2_MAGTHRESH);
if(!x2063.valid){
continue;
}
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+(x2063.value)+j5)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j4eval[1];
IkReal x2064=((-1.0)*r21);
CheckValue<IkReal> x2067 = IKatan2WithCheck(IkReal(x2064),IkReal(((-1.0)*r20)),IKFAST_ATAN2_MAGTHRESH);
if(!x2067.valid){
continue;
}
IkReal x2065=((1.0)*(x2067.value));
IkReal x2066=x2060;
sj5=gconst4;
cj5=gconst5;
j5=((3.14159265)+(((-1.0)*x2065)));
IkReal gconst3=((3.14159265358979)+(((-1.0)*x2065)));
IkReal gconst4=(x2064*x2066);
IkReal gconst5=((1.0)*r20*x2066);
IkReal x2068=r22*r22;
IkReal x2069=((1.0)*x2068);
CheckValue<IkReal> x2073=IKPowWithIntegerCheck(((-1.0)+x2068),-1);
if(!x2073.valid){
continue;
}
IkReal x2070=x2073.value;
if((((1.0)+(((-1.0)*x2069)))) < -0.00001)
continue;
IkReal x2071=IKsqrt(((1.0)+(((-1.0)*x2069))));
IkReal x2072=(sj0*x2070*x2071);
j4eval[0]=((IKabs((x2072+(((-1.0)*x2069*x2072)))))+(IKabs((r22*sj0))));
if( IKabs(j4eval[0]) < 0.0000010000000000  )
{
{
IkReal j4eval[1];
IkReal x2074=((-1.0)*r21);
CheckValue<IkReal> x2077 = IKatan2WithCheck(IkReal(x2074),IkReal(((-1.0)*r20)),IKFAST_ATAN2_MAGTHRESH);
if(!x2077.valid){
continue;
}
IkReal x2075=((1.0)*(x2077.value));
IkReal x2076=x2060;
sj5=gconst4;
cj5=gconst5;
j5=((3.14159265)+(((-1.0)*x2075)));
IkReal gconst3=((3.14159265358979)+(((-1.0)*x2075)));
IkReal gconst4=(x2074*x2076);
IkReal gconst5=((1.0)*r20*x2076);
IkReal x2078=r22*r22;
IkReal x2079=((1.0)*x2078);
CheckValue<IkReal> x2083=IKPowWithIntegerCheck(((-1.0)+x2078),-1);
if(!x2083.valid){
continue;
}
IkReal x2080=x2083.value;
if((((1.0)+(((-1.0)*x2079)))) < -0.00001)
continue;
IkReal x2081=IKsqrt(((1.0)+(((-1.0)*x2079))));
IkReal x2082=(cj0*x2080*x2081);
j4eval[0]=((IKabs((cj0*r22)))+(IKabs((x2082+(((-1.0)*x2079*x2082))))));
if( IKabs(j4eval[0]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
IkReal x2084=((-1.0)*r21);
CheckValue<IkReal> x2087 = IKatan2WithCheck(IkReal(x2084),IkReal(((-1.0)*r20)),IKFAST_ATAN2_MAGTHRESH);
if(!x2087.valid){
continue;
}
IkReal x2085=((1.0)*(x2087.value));
IkReal x2086=x2060;
sj5=gconst4;
cj5=gconst5;
j5=((3.14159265)+(((-1.0)*x2085)));
IkReal gconst3=((3.14159265358979)+(((-1.0)*x2085)));
IkReal gconst4=(x2084*x2086);
IkReal gconst5=((1.0)*r20*x2086);
IkReal x2088=r22*r22;
IkReal x2089=(cj0*r02);
IkReal x2090=(r12*sj0);
CheckValue<IkReal> x2094=IKPowWithIntegerCheck(((-1.0)+x2088),-1);
if(!x2094.valid){
continue;
}
IkReal x2091=x2094.value;
if((((1.0)+(((-1.0)*x2088)))) < -0.00001)
continue;
IkReal x2092=IKsqrt(((1.0)+(((-1.0)*x2088))));
IkReal x2093=((1.0)*r22*x2091*x2092);
j4eval[0]=0;
j4eval[1]=((IKabs((x2090+x2089)))+(IKabs(((((-1.0)*x2090*x2093))+(((-1.0)*x2089*x2093))))));
j4eval[2]=0;
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2095=((1.0)*gconst5);
CheckValue<IkReal> x2096=IKPowWithIntegerCheck(IKsign(((((-1.0)*r21*x2095))+(((-1.0)*gconst4*r20)))),-1);
if(!x2096.valid){
continue;
}
CheckValue<IkReal> x2097 = IKatan2WithCheck(IkReal((((r12*sj0))+((cj0*r02)))),IkReal((((cj0*gconst4*r01))+(((-1.0)*cj0*r00*x2095))+((gconst4*r11*sj0))+(((-1.0)*r10*sj0*x2095)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2097.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2096.value)))+(x2097.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2098=IKsin(j4);
IkReal x2099=IKcos(j4);
IkReal x2100=(gconst4*r11);
IkReal x2101=(cj2*sj0);
IkReal x2102=(sj1*sj2);
IkReal x2103=(gconst4*sj3);
IkReal x2104=(gconst5*r10);
IkReal x2105=(cj1*cj2);
IkReal x2106=(gconst4*r01);
IkReal x2107=(cj2*sj1);
IkReal x2108=(gconst4*r21);
IkReal x2109=(gconst5*r00);
IkReal x2110=(gconst5*sj3);
IkReal x2111=(cj3*gconst5);
IkReal x2112=(cj3*gconst4);
IkReal x2113=(cj1*sj2);
IkReal x2114=((1.0)*cj0);
IkReal x2115=((1.0)*x2099);
IkReal x2116=((1.0)*x2098);
IkReal x2117=(cj3*x2098);
IkReal x2118=(cj3*x2099);
IkReal x2119=(x2099*x2110);
evalcond[0]=(((x2098*x2108))+(((-1.0)*r22*x2115))+(((-1.0)*gconst5*r20*x2116)));
evalcond[1]=(((x2098*x2106))+sj0+(((-1.0)*x2109*x2116))+(((-1.0)*r02*x2115)));
evalcond[2]=(((x2098*x2100))+(((-1.0)*x2104*x2116))+(((-1.0)*x2114))+(((-1.0)*r12*x2115)));
evalcond[3]=(((r20*x2103))+(((-1.0)*r20*x2111*x2115))+((r21*x2110))+x2113+x2107+((r22*x2117))+((x2108*x2118)));
evalcond[4]=(((r21*x2111))+x2102+((r20*x2119))+((r20*x2112))+(((-1.0)*x2105))+(((-1.0)*r21*x2103*x2115))+(((-1.0)*r22*sj3*x2116)));
evalcond[5]=(((sj3*x2099*x2109))+((r01*x2111))+((cj0*x2107))+(((-1.0)*r02*sj3*x2116))+((r00*x2112))+((cj0*x2113))+(((-1.0)*r01*x2103*x2115)));
evalcond[6]=((((-1.0)*x2102*x2114))+((r01*x2110))+((cj0*x2105))+((x2106*x2118))+((r00*x2103))+(((-1.0)*cj3*x2109*x2115))+((r02*x2117)));
evalcond[7]=(((sj3*x2099*x2104))+((sj0*x2113))+(((-1.0)*sj3*x2100*x2115))+(((-1.0)*r12*sj3*x2116))+((r10*x2112))+((sj1*x2101))+((r11*x2111)));
evalcond[8]=(((r12*x2117))+(((-1.0)*sj0*x2102))+((r10*x2103))+(((-1.0)*cj3*x2104*x2115))+((x2100*x2118))+((cj1*x2101))+((r11*x2110)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2120=IKPowWithIntegerCheck(IKsign((((gconst4*r00))+((gconst5*r01)))),-1);
if(!x2120.valid){
continue;
}
CheckValue<IkReal> x2121 = IKatan2WithCheck(IkReal((cj0*r22)),IkReal(((((-1.0)*cj0*gconst5*r20))+((cj0*gconst4*r21)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2121.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2120.value)))+(x2121.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2122=IKsin(j4);
IkReal x2123=IKcos(j4);
IkReal x2124=(gconst4*r11);
IkReal x2125=(cj2*sj0);
IkReal x2126=(sj1*sj2);
IkReal x2127=(gconst4*sj3);
IkReal x2128=(gconst5*r10);
IkReal x2129=(cj1*cj2);
IkReal x2130=(gconst4*r01);
IkReal x2131=(cj2*sj1);
IkReal x2132=(gconst4*r21);
IkReal x2133=(gconst5*r00);
IkReal x2134=(gconst5*sj3);
IkReal x2135=(cj3*gconst5);
IkReal x2136=(cj3*gconst4);
IkReal x2137=(cj1*sj2);
IkReal x2138=((1.0)*cj0);
IkReal x2139=((1.0)*x2123);
IkReal x2140=((1.0)*x2122);
IkReal x2141=(cj3*x2122);
IkReal x2142=(cj3*x2123);
IkReal x2143=(x2123*x2134);
evalcond[0]=((((-1.0)*r22*x2139))+(((-1.0)*gconst5*r20*x2140))+((x2122*x2132)));
evalcond[1]=(sj0+(((-1.0)*x2133*x2140))+((x2122*x2130))+(((-1.0)*r02*x2139)));
evalcond[2]=(((x2122*x2124))+(((-1.0)*x2138))+(((-1.0)*r12*x2139))+(((-1.0)*x2128*x2140)));
evalcond[3]=(((x2132*x2142))+((r21*x2134))+((r20*x2127))+x2137+x2131+(((-1.0)*r20*x2135*x2139))+((r22*x2141)));
evalcond[4]=((((-1.0)*r21*x2127*x2139))+((r21*x2135))+((r20*x2143))+x2126+(((-1.0)*x2129))+(((-1.0)*r22*sj3*x2140))+((r20*x2136)));
evalcond[5]=(((cj0*x2131))+((cj0*x2137))+((r01*x2135))+((r00*x2136))+((sj3*x2123*x2133))+(((-1.0)*r02*sj3*x2140))+(((-1.0)*r01*x2127*x2139)));
evalcond[6]=(((x2130*x2142))+((r02*x2141))+((r01*x2134))+(((-1.0)*cj3*x2133*x2139))+(((-1.0)*x2126*x2138))+((r00*x2127))+((cj0*x2129)));
evalcond[7]=((((-1.0)*r12*sj3*x2140))+((r11*x2135))+((sj1*x2125))+((sj3*x2123*x2128))+((r10*x2136))+(((-1.0)*sj3*x2124*x2139))+((sj0*x2137)));
evalcond[8]=((((-1.0)*cj3*x2128*x2139))+(((-1.0)*sj0*x2126))+((r10*x2127))+((r11*x2134))+((cj1*x2125))+((x2124*x2142))+((r12*x2141)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2144=IKPowWithIntegerCheck(IKsign((((gconst5*r11))+((gconst4*r10)))),-1);
if(!x2144.valid){
continue;
}
CheckValue<IkReal> x2145 = IKatan2WithCheck(IkReal((r22*sj0)),IkReal(((((-1.0)*gconst5*r20*sj0))+((gconst4*r21*sj0)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2145.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2144.value)))+(x2145.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2146=IKsin(j4);
IkReal x2147=IKcos(j4);
IkReal x2148=(gconst4*r11);
IkReal x2149=(cj2*sj0);
IkReal x2150=(sj1*sj2);
IkReal x2151=(gconst4*sj3);
IkReal x2152=(gconst5*r10);
IkReal x2153=(cj1*cj2);
IkReal x2154=(gconst4*r01);
IkReal x2155=(cj2*sj1);
IkReal x2156=(gconst4*r21);
IkReal x2157=(gconst5*r00);
IkReal x2158=(gconst5*sj3);
IkReal x2159=(cj3*gconst5);
IkReal x2160=(cj3*gconst4);
IkReal x2161=(cj1*sj2);
IkReal x2162=((1.0)*cj0);
IkReal x2163=((1.0)*x2147);
IkReal x2164=((1.0)*x2146);
IkReal x2165=(cj3*x2146);
IkReal x2166=(cj3*x2147);
IkReal x2167=(x2147*x2158);
evalcond[0]=(((x2146*x2156))+(((-1.0)*r22*x2163))+(((-1.0)*gconst5*r20*x2164)));
evalcond[1]=(((x2146*x2154))+sj0+(((-1.0)*x2157*x2164))+(((-1.0)*r02*x2163)));
evalcond[2]=(((x2146*x2148))+(((-1.0)*x2152*x2164))+(((-1.0)*x2162))+(((-1.0)*r12*x2163)));
evalcond[3]=(((r20*x2151))+x2161+x2155+((x2156*x2166))+(((-1.0)*r20*x2159*x2163))+((r22*x2165))+((r21*x2158)));
evalcond[4]=((((-1.0)*r22*sj3*x2164))+x2150+((r20*x2167))+((r20*x2160))+(((-1.0)*r21*x2151*x2163))+((r21*x2159))+(((-1.0)*x2153)));
evalcond[5]=((((-1.0)*r01*x2151*x2163))+(((-1.0)*r02*sj3*x2164))+((r00*x2160))+((sj3*x2147*x2157))+((cj0*x2161))+((cj0*x2155))+((r01*x2159)));
evalcond[6]=((((-1.0)*x2150*x2162))+((cj0*x2153))+((r02*x2165))+((x2154*x2166))+((r00*x2151))+((r01*x2158))+(((-1.0)*cj3*x2157*x2163)));
evalcond[7]=(((sj0*x2161))+((sj3*x2147*x2152))+(((-1.0)*r12*sj3*x2164))+((sj1*x2149))+((r10*x2160))+(((-1.0)*sj3*x2148*x2163))+((r11*x2159)));
evalcond[8]=(((cj1*x2149))+((r12*x2165))+((x2148*x2166))+(((-1.0)*cj3*x2152*x2163))+((r10*x2151))+(((-1.0)*sj0*x2150))+((r11*x2158)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
IkReal x2169 = ((1.0)+(((-1.0)*(r02*r02))));
if(IKabs(x2169)==0){
continue;
}
IkReal x2168=pow(x2169,-0.5);
CheckValue<IkReal> x2170 = IKatan2WithCheck(IkReal(r01),IkReal(r00),IKFAST_ATAN2_MAGTHRESH);
if(!x2170.valid){
continue;
}
IkReal gconst6=((-1.0)*(x2170.value));
IkReal gconst7=((-1.0)*r01*x2168);
IkReal gconst8=(r00*x2168);
CheckValue<IkReal> x2171 = IKatan2WithCheck(IkReal(r01),IkReal(r00),IKFAST_ATAN2_MAGTHRESH);
if(!x2171.valid){
continue;
}
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((x2171.value)+j5)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j4eval[3];
CheckValue<IkReal> x2174 = IKatan2WithCheck(IkReal(r01),IkReal(r00),IKFAST_ATAN2_MAGTHRESH);
if(!x2174.valid){
continue;
}
IkReal x2172=((-1.0)*(x2174.value));
IkReal x2173=x2168;
sj5=gconst7;
cj5=gconst8;
j5=x2172;
IkReal gconst6=x2172;
IkReal gconst7=((-1.0)*r01*x2173);
IkReal gconst8=(r00*x2173);
j4eval[0]=r22;
j4eval[1]=sj0;
j4eval[2]=((1.0)+(((-1.0)*(r02*r02))));
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2175=((1.0)*gconst8);
CheckValue<IkReal> x2176 = IKatan2WithCheck(IkReal((((r12*sj0))+((cj0*r02)))),IkReal((((cj0*gconst7*r01))+((gconst7*r11*sj0))+(((-1.0)*cj0*r00*x2175))+(((-1.0)*r10*sj0*x2175)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2176.valid){
continue;
}
CheckValue<IkReal> x2177=IKPowWithIntegerCheck(IKsign(((((-1.0)*r21*x2175))+(((-1.0)*gconst7*r20)))),-1);
if(!x2177.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x2176.value)+(((1.5707963267949)*(x2177.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2178=IKsin(j4);
IkReal x2179=IKcos(j4);
IkReal x2180=(gconst7*sj3);
IkReal x2181=(cj3*gconst8);
IkReal x2182=(cj2*sj0);
IkReal x2183=(cj3*gconst7);
IkReal x2184=(sj1*sj2);
IkReal x2185=(cj1*cj2);
IkReal x2186=(cj2*sj1);
IkReal x2187=((1.0)*cj0);
IkReal x2188=(gconst8*sj3);
IkReal x2189=(cj1*sj2);
IkReal x2190=((1.0)*x2179);
IkReal x2191=((1.0)*x2178);
IkReal x2192=(cj3*x2178);
IkReal x2193=(gconst7*x2178);
IkReal x2194=(x2179*x2188);
evalcond[0]=((((-1.0)*gconst8*r20*x2191))+((r21*x2193))+(((-1.0)*r22*x2190)));
evalcond[1]=(sj0+(((-1.0)*r02*x2190))+(((-1.0)*gconst8*r00*x2191))+((r01*x2193)));
evalcond[2]=((((-1.0)*gconst8*r10*x2191))+(((-1.0)*x2187))+((r11*x2193))+(((-1.0)*r12*x2190)));
evalcond[3]=(((r22*x2192))+((r21*x2179*x2183))+x2186+x2189+((r20*x2180))+((r21*x2188))+(((-1.0)*r20*x2181*x2190)));
evalcond[4]=((((-1.0)*r21*x2180*x2190))+(((-1.0)*r22*sj3*x2191))+x2184+(((-1.0)*x2185))+((r20*x2183))+((r20*x2194))+((r21*x2181)));
evalcond[5]=((((-1.0)*r02*sj3*x2191))+((cj0*x2186))+((cj0*x2189))+((r01*x2181))+((r00*x2194))+(((-1.0)*r01*x2180*x2190))+((r00*x2183)));
evalcond[6]=(((cj0*x2185))+(((-1.0)*x2184*x2187))+((r02*x2192))+(((-1.0)*r00*x2181*x2190))+((r01*x2188))+((r00*x2180))+((r01*x2179*x2183)));
evalcond[7]=((((-1.0)*r11*x2180*x2190))+(((-1.0)*r12*sj3*x2191))+((sj0*x2189))+((sj1*x2182))+((r11*x2181))+((r10*x2194))+((r10*x2183)));
evalcond[8]=(((cj1*x2182))+((r12*x2192))+((r11*x2188))+(((-1.0)*r10*x2181*x2190))+(((-1.0)*sj0*x2184))+((r11*x2179*x2183))+((r10*x2180)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2195 = IKatan2WithCheck(IkReal((r22*sj0)),IkReal(((((-1.0)*gconst8*r20*sj0))+((gconst7*r21*sj0)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2195.valid){
continue;
}
CheckValue<IkReal> x2196=IKPowWithIntegerCheck(IKsign((((gconst7*r10))+((gconst8*r11)))),-1);
if(!x2196.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x2195.value)+(((1.5707963267949)*(x2196.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2197=IKsin(j4);
IkReal x2198=IKcos(j4);
IkReal x2199=(gconst7*sj3);
IkReal x2200=(cj3*gconst8);
IkReal x2201=(cj2*sj0);
IkReal x2202=(cj3*gconst7);
IkReal x2203=(sj1*sj2);
IkReal x2204=(cj1*cj2);
IkReal x2205=(cj2*sj1);
IkReal x2206=((1.0)*cj0);
IkReal x2207=(gconst8*sj3);
IkReal x2208=(cj1*sj2);
IkReal x2209=((1.0)*x2198);
IkReal x2210=((1.0)*x2197);
IkReal x2211=(cj3*x2197);
IkReal x2212=(gconst7*x2197);
IkReal x2213=(x2198*x2207);
evalcond[0]=((((-1.0)*gconst8*r20*x2210))+(((-1.0)*r22*x2209))+((r21*x2212)));
evalcond[1]=(((r01*x2212))+sj0+(((-1.0)*gconst8*r00*x2210))+(((-1.0)*r02*x2209)));
evalcond[2]=((((-1.0)*x2206))+(((-1.0)*gconst8*r10*x2210))+(((-1.0)*r12*x2209))+((r11*x2212)));
evalcond[3]=(((r21*x2198*x2202))+x2205+x2208+(((-1.0)*r20*x2200*x2209))+((r20*x2199))+((r21*x2207))+((r22*x2211)));
evalcond[4]=((((-1.0)*x2204))+((r20*x2213))+x2203+((r20*x2202))+(((-1.0)*r21*x2199*x2209))+((r21*x2200))+(((-1.0)*r22*sj3*x2210)));
evalcond[5]=(((r00*x2202))+((r01*x2200))+((r00*x2213))+((cj0*x2205))+((cj0*x2208))+(((-1.0)*r02*sj3*x2210))+(((-1.0)*r01*x2199*x2209)));
evalcond[6]=((((-1.0)*x2203*x2206))+((r01*x2198*x2202))+((r01*x2207))+(((-1.0)*r00*x2200*x2209))+((cj0*x2204))+((r00*x2199))+((r02*x2211)));
evalcond[7]=((((-1.0)*r11*x2199*x2209))+((r11*x2200))+((r10*x2202))+((sj1*x2201))+((r10*x2213))+(((-1.0)*r12*sj3*x2210))+((sj0*x2208)));
evalcond[8]=(((r12*x2211))+((cj1*x2201))+((r11*x2207))+(((-1.0)*r10*x2200*x2209))+((r11*x2198*x2202))+((r10*x2199))+(((-1.0)*sj0*x2203)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
IkReal x2215 = ((1.0)+(((-1.0)*(r02*r02))));
if(IKabs(x2215)==0){
continue;
}
IkReal x2214=pow(x2215,-0.5);
CheckValue<IkReal> x2216 = IKatan2WithCheck(IkReal(r01),IkReal(r00),IKFAST_ATAN2_MAGTHRESH);
if(!x2216.valid){
continue;
}
IkReal gconst9=((3.14159265358979)+(((-1.0)*(x2216.value))));
IkReal gconst10=((1.0)*r01*x2214);
IkReal gconst11=((-1.0)*r00*x2214);
CheckValue<IkReal> x2217 = IKatan2WithCheck(IkReal(r01),IkReal(r00),IKFAST_ATAN2_MAGTHRESH);
if(!x2217.valid){
continue;
}
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+(x2217.value)+j5)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j4eval[3];
CheckValue<IkReal> x2220 = IKatan2WithCheck(IkReal(r01),IkReal(r00),IKFAST_ATAN2_MAGTHRESH);
if(!x2220.valid){
continue;
}
IkReal x2218=((1.0)*(x2220.value));
IkReal x2219=x2214;
sj5=gconst10;
cj5=gconst11;
j5=((3.14159265)+(((-1.0)*x2218)));
IkReal gconst9=((3.14159265358979)+(((-1.0)*x2218)));
IkReal gconst10=((1.0)*r01*x2219);
IkReal gconst11=((-1.0)*r00*x2219);
j4eval[0]=r22;
j4eval[1]=sj0;
j4eval[2]=((1.0)+(((-1.0)*(r02*r02))));
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[5];
CheckValue<IkReal> x2223 = IKatan2WithCheck(IkReal(r01),IkReal(r00),IKFAST_ATAN2_MAGTHRESH);
if(!x2223.valid){
continue;
}
IkReal x2221=((1.0)*(x2223.value));
IkReal x2222=x2214;
sj5=gconst10;
cj5=gconst11;
j5=((3.14159265)+(((-1.0)*x2221)));
IkReal gconst9=((3.14159265358979)+(((-1.0)*x2221)));
IkReal gconst10=((1.0)*r01*x2222);
IkReal gconst11=((-1.0)*r00*x2222);
j4eval[0]=0;
j4eval[1]=0;
j4eval[2]=cj0;
j4eval[3]=r22;
j4eval[4]=((1.0)+(((-1.0)*(r02*r02))));
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  || IKabs(j4eval[3]) < 0.0000010000000000  || IKabs(j4eval[4]) < 0.0000010000000000  )
{
{
IkReal j4eval[1];
CheckValue<IkReal> x2226 = IKatan2WithCheck(IkReal(r01),IkReal(r00),IKFAST_ATAN2_MAGTHRESH);
if(!x2226.valid){
continue;
}
IkReal x2224=((1.0)*(x2226.value));
IkReal x2225=x2214;
sj5=gconst10;
cj5=gconst11;
j5=((3.14159265)+(((-1.0)*x2224)));
IkReal gconst9=((3.14159265358979)+(((-1.0)*x2224)));
IkReal gconst10=((1.0)*r01*x2225);
IkReal gconst11=((-1.0)*r00*x2225);
IkReal x2227=r02*r02;
IkReal x2228=(r12*sj0);
IkReal x2229=x2214;
IkReal x2230=(cj0*x2229);
j4eval[0]=((IKabs((x2228+((cj0*r02)))))+(IKabs((((r02*x2228*x2229))+((x2227*x2230))+(((-1.0)*x2230))))));
if( IKabs(j4eval[0]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2231=((1.0)*gconst11);
CheckValue<IkReal> x2232=IKPowWithIntegerCheck(IKsign(((((-1.0)*r21*x2231))+(((-1.0)*gconst10*r20)))),-1);
if(!x2232.valid){
continue;
}
CheckValue<IkReal> x2233 = IKatan2WithCheck(IkReal((((r12*sj0))+((cj0*r02)))),IkReal(((((-1.0)*cj0*r00*x2231))+((gconst10*r11*sj0))+((cj0*gconst10*r01))+(((-1.0)*r10*sj0*x2231)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2233.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2232.value)))+(x2233.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2234=IKsin(j4);
IkReal x2235=IKcos(j4);
IkReal x2236=(gconst10*sj3);
IkReal x2237=(cj3*r10);
IkReal x2238=(gconst11*r20);
IkReal x2239=(gconst11*sj3);
IkReal x2240=(cj3*gconst11);
IkReal x2241=(sj1*sj2);
IkReal x2242=(cj1*cj2);
IkReal x2243=(cj2*sj1);
IkReal x2244=(cj1*sj2);
IkReal x2245=(cj3*gconst10);
IkReal x2246=((1.0)*cj0);
IkReal x2247=((1.0)*x2235);
IkReal x2248=((1.0)*x2234);
IkReal x2249=(cj3*x2234);
IkReal x2250=(gconst10*x2234);
IkReal x2251=(x2235*x2245);
evalcond[0]=((((-1.0)*r22*x2247))+(((-1.0)*x2238*x2248))+((r21*x2250)));
evalcond[1]=(sj0+(((-1.0)*r02*x2247))+(((-1.0)*gconst11*r00*x2248))+((r01*x2250)));
evalcond[2]=((((-1.0)*gconst11*r10*x2248))+(((-1.0)*x2246))+(((-1.0)*r12*x2247))+((r11*x2250)));
evalcond[3]=(x2244+x2243+((r21*x2239))+((r20*x2236))+((r21*x2251))+((r22*x2249))+(((-1.0)*cj3*x2238*x2247)));
evalcond[4]=(x2241+(((-1.0)*x2242))+((r20*x2245))+(((-1.0)*r22*sj3*x2248))+((r21*x2240))+((sj3*x2235*x2238))+(((-1.0)*r21*x2236*x2247)));
evalcond[5]=((((-1.0)*r01*x2236*x2247))+(((-1.0)*r02*sj3*x2248))+((r01*x2240))+((r00*x2245))+((r00*x2235*x2239))+((cj0*x2244))+((cj0*x2243)));
evalcond[6]=((((-1.0)*r00*x2240*x2247))+(((-1.0)*x2241*x2246))+((r01*x2251))+((r01*x2239))+((r00*x2236))+((r02*x2249))+((cj0*x2242)));
evalcond[7]=(((r11*x2240))+((r10*x2235*x2239))+(((-1.0)*r12*sj3*x2248))+((gconst10*x2237))+((sj0*x2244))+((sj0*x2243))+(((-1.0)*r11*x2236*x2247)));
evalcond[8]=((((-1.0)*gconst11*x2237*x2247))+((r10*x2236))+((sj0*x2242))+(((-1.0)*sj0*x2241))+((r11*x2239))+((r12*x2249))+((r11*x2251)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2252 = IKatan2WithCheck(IkReal((cj0*r22)),IkReal(((((-1.0)*cj0*gconst11*r20))+((cj0*gconst10*r21)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2252.valid){
continue;
}
CheckValue<IkReal> x2253=IKPowWithIntegerCheck(IKsign((((gconst10*r00))+((gconst11*r01)))),-1);
if(!x2253.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x2252.value)+(((1.5707963267949)*(x2253.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2254=IKsin(j4);
IkReal x2255=IKcos(j4);
IkReal x2256=(gconst10*sj3);
IkReal x2257=(cj3*r10);
IkReal x2258=(gconst11*r20);
IkReal x2259=(gconst11*sj3);
IkReal x2260=(cj3*gconst11);
IkReal x2261=(sj1*sj2);
IkReal x2262=(cj1*cj2);
IkReal x2263=(cj2*sj1);
IkReal x2264=(cj1*sj2);
IkReal x2265=(cj3*gconst10);
IkReal x2266=((1.0)*cj0);
IkReal x2267=((1.0)*x2255);
IkReal x2268=((1.0)*x2254);
IkReal x2269=(cj3*x2254);
IkReal x2270=(gconst10*x2254);
IkReal x2271=(x2255*x2265);
evalcond[0]=(((r21*x2270))+(((-1.0)*x2258*x2268))+(((-1.0)*r22*x2267)));
evalcond[1]=(((r01*x2270))+sj0+(((-1.0)*r02*x2267))+(((-1.0)*gconst11*r00*x2268)));
evalcond[2]=(((r11*x2270))+(((-1.0)*gconst11*r10*x2268))+(((-1.0)*x2266))+(((-1.0)*r12*x2267)));
evalcond[3]=(((r21*x2271))+x2263+x2264+((r22*x2269))+((r20*x2256))+((r21*x2259))+(((-1.0)*cj3*x2258*x2267)));
evalcond[4]=(x2261+((r21*x2260))+((sj3*x2255*x2258))+(((-1.0)*r21*x2256*x2267))+((r20*x2265))+(((-1.0)*r22*sj3*x2268))+(((-1.0)*x2262)));
evalcond[5]=((((-1.0)*r01*x2256*x2267))+((r00*x2265))+(((-1.0)*r02*sj3*x2268))+((r01*x2260))+((cj0*x2263))+((cj0*x2264))+((r00*x2255*x2259)));
evalcond[6]=(((r01*x2271))+(((-1.0)*r00*x2260*x2267))+((cj0*x2262))+(((-1.0)*x2261*x2266))+((r02*x2269))+((r00*x2256))+((r01*x2259)));
evalcond[7]=(((sj0*x2263))+((sj0*x2264))+(((-1.0)*r12*sj3*x2268))+((r11*x2260))+((r10*x2255*x2259))+(((-1.0)*r11*x2256*x2267))+((gconst10*x2257)));
evalcond[8]=((((-1.0)*gconst11*x2257*x2267))+((r10*x2256))+((sj0*x2262))+(((-1.0)*sj0*x2261))+((r11*x2271))+((r12*x2269))+((r11*x2259)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2272=IKPowWithIntegerCheck(IKsign((((gconst10*r10))+((gconst11*r11)))),-1);
if(!x2272.valid){
continue;
}
CheckValue<IkReal> x2273 = IKatan2WithCheck(IkReal((r22*sj0)),IkReal(((((-1.0)*gconst11*r20*sj0))+((gconst10*r21*sj0)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2273.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2272.value)))+(x2273.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2274=IKsin(j4);
IkReal x2275=IKcos(j4);
IkReal x2276=(gconst10*sj3);
IkReal x2277=(cj3*r10);
IkReal x2278=(gconst11*r20);
IkReal x2279=(gconst11*sj3);
IkReal x2280=(cj3*gconst11);
IkReal x2281=(sj1*sj2);
IkReal x2282=(cj1*cj2);
IkReal x2283=(cj2*sj1);
IkReal x2284=(cj1*sj2);
IkReal x2285=(cj3*gconst10);
IkReal x2286=((1.0)*cj0);
IkReal x2287=((1.0)*x2275);
IkReal x2288=((1.0)*x2274);
IkReal x2289=(cj3*x2274);
IkReal x2290=(gconst10*x2274);
IkReal x2291=(x2275*x2285);
evalcond[0]=(((r21*x2290))+(((-1.0)*x2278*x2288))+(((-1.0)*r22*x2287)));
evalcond[1]=((((-1.0)*r02*x2287))+sj0+(((-1.0)*gconst11*r00*x2288))+((r01*x2290)));
evalcond[2]=((((-1.0)*x2286))+(((-1.0)*r12*x2287))+(((-1.0)*gconst11*r10*x2288))+((r11*x2290)));
evalcond[3]=(((r21*x2279))+x2283+x2284+((r21*x2291))+((r20*x2276))+((r22*x2289))+(((-1.0)*cj3*x2278*x2287)));
evalcond[4]=((((-1.0)*r22*sj3*x2288))+x2281+((sj3*x2275*x2278))+((r20*x2285))+(((-1.0)*x2282))+((r21*x2280))+(((-1.0)*r21*x2276*x2287)));
evalcond[5]=(((cj0*x2283))+((cj0*x2284))+((r00*x2275*x2279))+((r01*x2280))+((r00*x2285))+(((-1.0)*r02*sj3*x2288))+(((-1.0)*r01*x2276*x2287)));
evalcond[6]=(((cj0*x2282))+((r01*x2279))+((r00*x2276))+(((-1.0)*x2281*x2286))+((r01*x2291))+(((-1.0)*r00*x2280*x2287))+((r02*x2289)));
evalcond[7]=(((gconst10*x2277))+(((-1.0)*r12*sj3*x2288))+((r11*x2280))+((sj0*x2283))+((sj0*x2284))+(((-1.0)*r11*x2276*x2287))+((r10*x2275*x2279)));
evalcond[8]=(((r12*x2289))+((sj0*x2282))+((r10*x2276))+((r11*x2279))+(((-1.0)*gconst11*x2277*x2287))+(((-1.0)*sj0*x2281))+((r11*x2291)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-1.5707963267949)+j0)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j4eval[3];
sj0=1.0;
cj0=0;
j0=1.5707963267949;
IkReal x2292=(((cj5*r11))+((r10*sj5)));
j4eval[0]=x2292;
j4eval[1]=((IKabs((((r21*sj5))+(((-1.0)*cj5*r20)))))+(IKabs(r22)));
j4eval[2]=IKsign(x2292);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj0=1.0;
cj0=0;
j0=1.5707963267949;
IkReal x2293=((1.0)*cj5);
IkReal x2294=((((-1.0)*r21*x2293))+(((-1.0)*r20*sj5)));
j4eval[0]=x2294;
j4eval[1]=((IKabs(r12))+(IKabs((((r11*sj5))+(((-1.0)*r10*x2293))))));
j4eval[2]=IKsign(x2294);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[2];
sj0=1.0;
cj0=0;
j0=1.5707963267949;
IkReal x2295=cj5*cj5;
IkReal x2296=(cj3*r01);
IkReal x2297=(cj5*sj5);
IkReal x2298=((1.0)*cj3);
IkReal x2299=(((r21*x2295*x2296))+((cj3*r00*r21*x2297))+(((-1.0)*r21*x2296))+((r20*x2296*x2297))+(((-1.0)*r02*r22*x2298))+(((-1.0)*r00*r20*x2295*x2298)));
j4eval[0]=x2299;
j4eval[1]=IKsign(x2299);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2300=cj5*cj5;
IkReal x2301=(cj3*r20);
IkReal x2302=(r21*sj3);
IkReal x2303=((1.0)*cj3);
IkReal x2304=(r01*r21);
IkReal x2305=(r01*sj3);
IkReal x2306=(r00*sj5);
IkReal x2307=(cj5*r01*sj5);
IkReal x2308=((1.0)*x2300);
CheckValue<IkReal> x2309=IKPowWithIntegerCheck(IKsign(((((-1.0)*r02*r22*x2303))+((cj3*x2300*x2304))+(((-1.0)*x2303*x2304))+((cj3*cj5*r21*x2306))+(((-1.0)*r00*x2301*x2308))+((x2301*x2307)))),-1);
if(!x2309.valid){
continue;
}
CheckValue<IkReal> x2310 = IKatan2WithCheck(IkReal((((cj5*r22*x2305))+((r22*sj3*x2306)))),IkReal(((((-1.0)*r00*x2302*x2308))+(((-1.0)*cj5*r20*sj3*x2306))+((r00*x2302))+(((-1.0)*r20*x2305*x2308))+((x2302*x2307)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2310.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2309.value)))+(x2310.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2311=IKsin(j4);
IkReal x2312=IKcos(j4);
IkReal x2313=(cj2*sj1);
IkReal x2314=(cj1*sj2);
IkReal x2315=(r11*sj5);
IkReal x2316=(cj5*r10);
IkReal x2317=(sj1*sj2);
IkReal x2318=(cj5*r01);
IkReal x2319=(cj5*r00);
IkReal x2320=(cj3*sj5);
IkReal x2321=(r21*sj5);
IkReal x2322=(cj1*cj2);
IkReal x2323=(cj5*sj3);
IkReal x2324=(sj3*sj5);
IkReal x2325=(r01*sj5);
IkReal x2326=(cj3*cj5);
IkReal x2327=(cj5*r20);
IkReal x2328=((1.0)*x2312);
IkReal x2329=((1.0)*x2311);
IkReal x2330=(cj3*x2312);
IkReal x2331=(sj3*x2312);
IkReal x2332=(cj3*x2311);
IkReal x2333=(x2314+x2313);
evalcond[0]=((((-1.0)*r22*x2328))+(((-1.0)*x2327*x2329))+((x2311*x2321)));
evalcond[1]=(((x2311*x2315))+(((-1.0)*r12*x2328))+(((-1.0)*x2316*x2329)));
evalcond[2]=((1.0)+(((-1.0)*x2319*x2329))+(((-1.0)*r02*x2328))+((x2311*x2325)));
evalcond[3]=(((r02*x2332))+((sj3*x2318))+(((-1.0)*cj3*x2319*x2328))+((r00*x2324))+((r01*x2312*x2320)));
evalcond[4]=(((cj3*x2318))+((x2319*x2331))+((r00*x2320))+(((-1.0)*r02*sj3*x2329))+(((-1.0)*r01*x2324*x2328)));
evalcond[5]=(x2333+((r21*x2323))+((r21*x2312*x2320))+((r22*x2332))+(((-1.0)*r20*x2326*x2328))+((r20*x2324)));
evalcond[6]=(((r10*x2320))+x2333+((x2316*x2331))+((r11*x2326))+(((-1.0)*sj3*x2315*x2328))+(((-1.0)*r12*sj3*x2329)));
evalcond[7]=(((x2315*x2330))+((r10*x2324))+(((-1.0)*x2317))+x2322+((r12*x2332))+((r11*x2323))+(((-1.0)*cj3*x2316*x2328)));
evalcond[8]=(x2317+((r21*x2326))+(((-1.0)*sj3*x2321*x2328))+((r20*x2312*x2323))+(((-1.0)*r22*sj3*x2329))+((r20*x2320))+(((-1.0)*x2322)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2334=((1.0)*cj5);
CheckValue<IkReal> x2335=IKPowWithIntegerCheck(IKsign(((((-1.0)*r21*x2334))+(((-1.0)*r20*sj5)))),-1);
if(!x2335.valid){
continue;
}
CheckValue<IkReal> x2336 = IKatan2WithCheck(IkReal(r12),IkReal(((((-1.0)*r10*x2334))+((r11*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2336.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2335.value)))+(x2336.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2337=IKsin(j4);
IkReal x2338=IKcos(j4);
IkReal x2339=(cj2*sj1);
IkReal x2340=(cj1*sj2);
IkReal x2341=(r11*sj5);
IkReal x2342=(cj5*r10);
IkReal x2343=(sj1*sj2);
IkReal x2344=(cj5*r01);
IkReal x2345=(cj5*r00);
IkReal x2346=(cj3*sj5);
IkReal x2347=(r21*sj5);
IkReal x2348=(cj1*cj2);
IkReal x2349=(cj5*sj3);
IkReal x2350=(sj3*sj5);
IkReal x2351=(r01*sj5);
IkReal x2352=(cj3*cj5);
IkReal x2353=(cj5*r20);
IkReal x2354=((1.0)*x2338);
IkReal x2355=((1.0)*x2337);
IkReal x2356=(cj3*x2338);
IkReal x2357=(sj3*x2338);
IkReal x2358=(cj3*x2337);
IkReal x2359=(x2339+x2340);
evalcond[0]=((((-1.0)*x2353*x2355))+((x2337*x2347))+(((-1.0)*r22*x2354)));
evalcond[1]=(((x2337*x2341))+(((-1.0)*x2342*x2355))+(((-1.0)*r12*x2354)));
evalcond[2]=((1.0)+(((-1.0)*x2345*x2355))+((x2337*x2351))+(((-1.0)*r02*x2354)));
evalcond[3]=(((r01*x2338*x2346))+((r00*x2350))+(((-1.0)*cj3*x2345*x2354))+((sj3*x2344))+((r02*x2358)));
evalcond[4]=(((r00*x2346))+((x2345*x2357))+((cj3*x2344))+(((-1.0)*r01*x2350*x2354))+(((-1.0)*r02*sj3*x2355)));
evalcond[5]=(x2359+((r22*x2358))+((r21*x2338*x2346))+(((-1.0)*r20*x2352*x2354))+((r20*x2350))+((r21*x2349)));
evalcond[6]=(((r10*x2346))+x2359+(((-1.0)*sj3*x2341*x2354))+((r11*x2352))+((x2342*x2357))+(((-1.0)*r12*sj3*x2355)));
evalcond[7]=(((r10*x2350))+((x2341*x2356))+x2348+(((-1.0)*x2343))+((r12*x2358))+(((-1.0)*cj3*x2342*x2354))+((r11*x2349)));
evalcond[8]=((((-1.0)*sj3*x2347*x2354))+x2343+(((-1.0)*x2348))+((r20*x2346))+(((-1.0)*r22*sj3*x2355))+((r20*x2338*x2349))+((r21*x2352)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2360 = IKatan2WithCheck(IkReal(r22),IkReal((((r21*sj5))+(((-1.0)*cj5*r20)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2360.valid){
continue;
}
CheckValue<IkReal> x2361=IKPowWithIntegerCheck(IKsign((((cj5*r11))+((r10*sj5)))),-1);
if(!x2361.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x2360.value)+(((1.5707963267949)*(x2361.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2362=IKsin(j4);
IkReal x2363=IKcos(j4);
IkReal x2364=(cj2*sj1);
IkReal x2365=(cj1*sj2);
IkReal x2366=(r11*sj5);
IkReal x2367=(cj5*r10);
IkReal x2368=(sj1*sj2);
IkReal x2369=(cj5*r01);
IkReal x2370=(cj5*r00);
IkReal x2371=(cj3*sj5);
IkReal x2372=(r21*sj5);
IkReal x2373=(cj1*cj2);
IkReal x2374=(cj5*sj3);
IkReal x2375=(sj3*sj5);
IkReal x2376=(r01*sj5);
IkReal x2377=(cj3*cj5);
IkReal x2378=(cj5*r20);
IkReal x2379=((1.0)*x2363);
IkReal x2380=((1.0)*x2362);
IkReal x2381=(cj3*x2363);
IkReal x2382=(sj3*x2363);
IkReal x2383=(cj3*x2362);
IkReal x2384=(x2365+x2364);
evalcond[0]=((((-1.0)*x2378*x2380))+(((-1.0)*r22*x2379))+((x2362*x2372)));
evalcond[1]=((((-1.0)*x2367*x2380))+((x2362*x2366))+(((-1.0)*r12*x2379)));
evalcond[2]=((1.0)+(((-1.0)*r02*x2379))+((x2362*x2376))+(((-1.0)*x2370*x2380)));
evalcond[3]=(((r01*x2363*x2371))+(((-1.0)*cj3*x2370*x2379))+((sj3*x2369))+((r02*x2383))+((r00*x2375)));
evalcond[4]=((((-1.0)*r01*x2375*x2379))+(((-1.0)*r02*sj3*x2380))+((cj3*x2369))+((x2370*x2382))+((r00*x2371)));
evalcond[5]=((((-1.0)*r20*x2377*x2379))+((r20*x2375))+x2384+((r21*x2363*x2371))+((r22*x2383))+((r21*x2374)));
evalcond[6]=(x2384+((x2367*x2382))+((r10*x2371))+(((-1.0)*sj3*x2366*x2379))+(((-1.0)*r12*sj3*x2380))+((r11*x2377)));
evalcond[7]=(x2373+((r10*x2375))+(((-1.0)*x2368))+((x2366*x2381))+(((-1.0)*cj3*x2367*x2379))+((r12*x2383))+((r11*x2374)));
evalcond[8]=(((r20*x2371))+(((-1.0)*r22*sj3*x2380))+x2368+(((-1.0)*x2373))+((r20*x2363*x2374))+(((-1.0)*sj3*x2372*x2379))+((r21*x2377)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((1.5707963267949)+j0)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j4eval[3];
sj0=-1.0;
cj0=0;
j0=-1.5707963267949;
IkReal x2385=(((cj5*r21))+((r20*sj5)));
j4eval[0]=x2385;
j4eval[1]=((IKabs(((((-1.0)*cj5*r10))+((r11*sj5)))))+(IKabs(r12)));
j4eval[2]=IKsign(x2385);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj0=-1.0;
cj0=0;
j0=-1.5707963267949;
IkReal x2386=((1.0)*cj5);
IkReal x2387=((((-1.0)*r10*sj5))+(((-1.0)*r11*x2386)));
j4eval[0]=x2387;
j4eval[1]=((IKabs(r22))+(IKabs((((r21*sj5))+(((-1.0)*r20*x2386))))));
j4eval[2]=IKsign(x2387);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[2];
sj0=-1.0;
cj0=0;
j0=-1.5707963267949;
IkReal x2388=cj5*cj5;
IkReal x2389=(cj3*r01);
IkReal x2390=(cj5*sj5);
IkReal x2391=((1.0)*cj3);
IkReal x2392=(((cj3*r00*r21*x2390))+((r20*x2389*x2390))+(((-1.0)*r21*x2389))+(((-1.0)*r02*r22*x2391))+((r21*x2388*x2389))+(((-1.0)*r00*r20*x2388*x2391)));
j4eval[0]=x2392;
j4eval[1]=IKsign(x2392);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2393=cj5*cj5;
IkReal x2394=(cj3*r20);
IkReal x2395=(r21*sj3);
IkReal x2396=((1.0)*cj3);
IkReal x2397=(r01*r21);
IkReal x2398=(r01*sj3);
IkReal x2399=(r00*sj5);
IkReal x2400=(cj5*r01*sj5);
IkReal x2401=((1.0)*x2393);
CheckValue<IkReal> x2402=IKPowWithIntegerCheck(IKsign(((((-1.0)*x2396*x2397))+((cj3*cj5*r21*x2399))+((cj3*x2393*x2397))+((x2394*x2400))+(((-1.0)*r02*r22*x2396))+(((-1.0)*r00*x2394*x2401)))),-1);
if(!x2402.valid){
continue;
}
CheckValue<IkReal> x2403 = IKatan2WithCheck(IkReal((((cj5*r22*x2398))+((r22*sj3*x2399)))),IkReal((((r00*x2395))+(((-1.0)*r20*x2398*x2401))+(((-1.0)*cj5*r20*sj3*x2399))+(((-1.0)*r00*x2395*x2401))+((x2395*x2400)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2403.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2402.value)))+(x2403.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2404=IKsin(j4);
IkReal x2405=IKcos(j4);
IkReal x2406=(sj1*sj2);
IkReal x2407=(r11*sj5);
IkReal x2408=(cj5*r10);
IkReal x2409=(cj5*r01);
IkReal x2410=(cj5*r00);
IkReal x2411=((1.0)*cj1);
IkReal x2412=(cj3*sj5);
IkReal x2413=(r21*sj5);
IkReal x2414=(cj5*sj3);
IkReal x2415=(sj3*sj5);
IkReal x2416=(cj2*sj1);
IkReal x2417=(r01*sj5);
IkReal x2418=(cj3*cj5);
IkReal x2419=(cj5*r20);
IkReal x2420=(cj2*x2411);
IkReal x2421=((1.0)*x2405);
IkReal x2422=((1.0)*x2404);
IkReal x2423=(cj3*x2405);
IkReal x2424=(sj3*x2405);
IkReal x2425=(cj3*x2404);
evalcond[0]=(((x2404*x2413))+(((-1.0)*r22*x2421))+(((-1.0)*x2419*x2422)));
evalcond[1]=((((-1.0)*r12*x2421))+((x2404*x2407))+(((-1.0)*x2408*x2422)));
evalcond[2]=((-1.0)+(((-1.0)*r02*x2421))+(((-1.0)*x2410*x2422))+((x2404*x2417)));
evalcond[3]=(((r01*x2405*x2412))+((r00*x2415))+((sj3*x2409))+(((-1.0)*cj3*x2410*x2421))+((r02*x2425)));
evalcond[4]=((((-1.0)*r01*x2415*x2421))+(((-1.0)*r02*sj3*x2422))+((r00*x2412))+((cj3*x2409))+((x2410*x2424)));
evalcond[5]=(((r22*x2425))+x2416+((r21*x2414))+((cj1*sj2))+((r21*x2405*x2412))+(((-1.0)*r20*x2418*x2421))+((r20*x2415)));
evalcond[6]=(x2406+((r11*x2414))+((r10*x2415))+(((-1.0)*cj3*x2408*x2421))+((x2407*x2423))+(((-1.0)*x2420))+((r12*x2425)));
evalcond[7]=(x2406+((r21*x2418))+(((-1.0)*r22*sj3*x2422))+((r20*x2412))+(((-1.0)*x2420))+(((-1.0)*sj3*x2413*x2421))+((r20*x2405*x2414)));
evalcond[8]=(((r11*x2418))+((r10*x2412))+(((-1.0)*x2416))+(((-1.0)*r12*sj3*x2422))+(((-1.0)*sj3*x2407*x2421))+((x2408*x2424))+(((-1.0)*sj2*x2411)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2426=((1.0)*cj5);
CheckValue<IkReal> x2427 = IKatan2WithCheck(IkReal(r22),IkReal((((r21*sj5))+(((-1.0)*r20*x2426)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2427.valid){
continue;
}
CheckValue<IkReal> x2428=IKPowWithIntegerCheck(IKsign(((((-1.0)*r10*sj5))+(((-1.0)*r11*x2426)))),-1);
if(!x2428.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x2427.value)+(((1.5707963267949)*(x2428.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2429=IKsin(j4);
IkReal x2430=IKcos(j4);
IkReal x2431=(sj1*sj2);
IkReal x2432=(r11*sj5);
IkReal x2433=(cj5*r10);
IkReal x2434=(cj5*r01);
IkReal x2435=(cj5*r00);
IkReal x2436=((1.0)*cj1);
IkReal x2437=(cj3*sj5);
IkReal x2438=(r21*sj5);
IkReal x2439=(cj5*sj3);
IkReal x2440=(sj3*sj5);
IkReal x2441=(cj2*sj1);
IkReal x2442=(r01*sj5);
IkReal x2443=(cj3*cj5);
IkReal x2444=(cj5*r20);
IkReal x2445=(cj2*x2436);
IkReal x2446=((1.0)*x2430);
IkReal x2447=((1.0)*x2429);
IkReal x2448=(cj3*x2430);
IkReal x2449=(sj3*x2430);
IkReal x2450=(cj3*x2429);
evalcond[0]=(((x2429*x2438))+(((-1.0)*x2444*x2447))+(((-1.0)*r22*x2446)));
evalcond[1]=(((x2429*x2432))+(((-1.0)*r12*x2446))+(((-1.0)*x2433*x2447)));
evalcond[2]=((-1.0)+((x2429*x2442))+(((-1.0)*x2435*x2447))+(((-1.0)*r02*x2446)));
evalcond[3]=(((r02*x2450))+(((-1.0)*cj3*x2435*x2446))+((r01*x2430*x2437))+((sj3*x2434))+((r00*x2440)));
evalcond[4]=(((r00*x2437))+(((-1.0)*r02*sj3*x2447))+(((-1.0)*r01*x2440*x2446))+((cj3*x2434))+((x2435*x2449)));
evalcond[5]=(x2441+(((-1.0)*r20*x2443*x2446))+((r22*x2450))+((cj1*sj2))+((r21*x2430*x2437))+((r21*x2439))+((r20*x2440)));
evalcond[6]=(((x2432*x2448))+x2431+((r11*x2439))+((r10*x2440))+(((-1.0)*cj3*x2433*x2446))+((r12*x2450))+(((-1.0)*x2445)));
evalcond[7]=(x2431+((r20*x2437))+((r20*x2430*x2439))+(((-1.0)*r22*sj3*x2447))+(((-1.0)*sj3*x2438*x2446))+(((-1.0)*x2445))+((r21*x2443)));
evalcond[8]=(((x2433*x2449))+(((-1.0)*sj2*x2436))+(((-1.0)*x2441))+(((-1.0)*r12*sj3*x2447))+((r11*x2443))+(((-1.0)*sj3*x2432*x2446))+((r10*x2437)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2451=IKPowWithIntegerCheck(IKsign((((cj5*r21))+((r20*sj5)))),-1);
if(!x2451.valid){
continue;
}
CheckValue<IkReal> x2452 = IKatan2WithCheck(IkReal(r12),IkReal(((((-1.0)*cj5*r10))+((r11*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2452.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2451.value)))+(x2452.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2453=IKsin(j4);
IkReal x2454=IKcos(j4);
IkReal x2455=(sj1*sj2);
IkReal x2456=(r11*sj5);
IkReal x2457=(cj5*r10);
IkReal x2458=(cj5*r01);
IkReal x2459=(cj5*r00);
IkReal x2460=((1.0)*cj1);
IkReal x2461=(cj3*sj5);
IkReal x2462=(r21*sj5);
IkReal x2463=(cj5*sj3);
IkReal x2464=(sj3*sj5);
IkReal x2465=(cj2*sj1);
IkReal x2466=(r01*sj5);
IkReal x2467=(cj3*cj5);
IkReal x2468=(cj5*r20);
IkReal x2469=(cj2*x2460);
IkReal x2470=((1.0)*x2454);
IkReal x2471=((1.0)*x2453);
IkReal x2472=(cj3*x2454);
IkReal x2473=(sj3*x2454);
IkReal x2474=(cj3*x2453);
evalcond[0]=(((x2453*x2462))+(((-1.0)*x2468*x2471))+(((-1.0)*r22*x2470)));
evalcond[1]=((((-1.0)*r12*x2470))+((x2453*x2456))+(((-1.0)*x2457*x2471)));
evalcond[2]=((-1.0)+((x2453*x2466))+(((-1.0)*x2459*x2471))+(((-1.0)*r02*x2470)));
evalcond[3]=(((sj3*x2458))+((r01*x2454*x2461))+((r02*x2474))+(((-1.0)*cj3*x2459*x2470))+((r00*x2464)));
evalcond[4]=(((cj3*x2458))+((x2459*x2473))+(((-1.0)*r01*x2464*x2470))+(((-1.0)*r02*sj3*x2471))+((r00*x2461)));
evalcond[5]=((((-1.0)*r20*x2467*x2470))+x2465+((r20*x2464))+((cj1*sj2))+((r21*x2463))+((r21*x2454*x2461))+((r22*x2474)));
evalcond[6]=((((-1.0)*cj3*x2457*x2470))+((r12*x2474))+x2455+((x2456*x2472))+((r11*x2463))+(((-1.0)*x2469))+((r10*x2464)));
evalcond[7]=((((-1.0)*sj3*x2462*x2470))+(((-1.0)*r22*sj3*x2471))+x2455+((r20*x2461))+((r21*x2467))+(((-1.0)*x2469))+((r20*x2454*x2463)));
evalcond[8]=(((x2457*x2473))+(((-1.0)*x2465))+((r11*x2467))+(((-1.0)*r12*sj3*x2471))+(((-1.0)*sj3*x2456*x2470))+(((-1.0)*sj2*x2460))+((r10*x2461)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
IkReal x2476 = ((1.0)+(((-1.0)*(r12*r12))));
if(IKabs(x2476)==0){
continue;
}
IkReal x2475=pow(x2476,-0.5);
CheckValue<IkReal> x2477 = IKatan2WithCheck(IkReal(r11),IkReal(r10),IKFAST_ATAN2_MAGTHRESH);
if(!x2477.valid){
continue;
}
IkReal gconst12=((-1.0)*(x2477.value));
IkReal gconst13=((-1.0)*r11*x2475);
IkReal gconst14=(r10*x2475);
CheckValue<IkReal> x2478 = IKatan2WithCheck(IkReal(r11),IkReal(r10),IKFAST_ATAN2_MAGTHRESH);
if(!x2478.valid){
continue;
}
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((x2478.value)+j5)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j4eval[3];
CheckValue<IkReal> x2481 = IKatan2WithCheck(IkReal(r11),IkReal(r10),IKFAST_ATAN2_MAGTHRESH);
if(!x2481.valid){
continue;
}
IkReal x2479=((-1.0)*(x2481.value));
IkReal x2480=x2475;
sj5=gconst13;
cj5=gconst14;
j5=x2479;
IkReal gconst12=x2479;
IkReal gconst13=((-1.0)*r11*x2480);
IkReal gconst14=(r10*x2480);
j4eval[0]=cj0;
j4eval[1]=r22;
j4eval[2]=((1.0)+(((-1.0)*(r12*r12))));
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2482=((1.0)*gconst14);
CheckValue<IkReal> x2483=IKPowWithIntegerCheck(IKsign(((((-1.0)*r21*x2482))+(((-1.0)*gconst13*r20)))),-1);
if(!x2483.valid){
continue;
}
CheckValue<IkReal> x2484 = IKatan2WithCheck(IkReal((((r12*sj0))+((cj0*r02)))),IkReal(((((-1.0)*r10*sj0*x2482))+(((-1.0)*cj0*r00*x2482))+((cj0*gconst13*r01))+((gconst13*r11*sj0)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2484.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2483.value)))+(x2484.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2485=IKsin(j4);
IkReal x2486=IKcos(j4);
IkReal x2487=((1.0)*r22);
IkReal x2488=((1.0)*r12);
IkReal x2489=(cj2*sj0);
IkReal x2490=(gconst13*sj3);
IkReal x2491=(gconst13*r01);
IkReal x2492=(sj1*sj2);
IkReal x2493=(gconst14*sj3);
IkReal x2494=(cj1*cj2);
IkReal x2495=((1.0)*gconst14);
IkReal x2496=(cj3*gconst13);
IkReal x2497=(cj3*gconst14);
IkReal x2498=(cj2*sj1);
IkReal x2499=((1.0)*r02);
IkReal x2500=(cj1*sj2);
IkReal x2501=((1.0)*cj0);
IkReal x2502=(sj3*x2485);
IkReal x2503=(cj3*x2486);
IkReal x2504=(cj3*x2485);
IkReal x2505=(gconst13*x2485);
IkReal x2506=((1.0)*x2486);
evalcond[0]=((((-1.0)*x2486*x2487))+((r21*x2505))+(((-1.0)*r20*x2485*x2495)));
evalcond[1]=((((-1.0)*r00*x2485*x2495))+sj0+((x2485*x2491))+(((-1.0)*x2486*x2499)));
evalcond[2]=((((-1.0)*x2501))+(((-1.0)*x2486*x2488))+(((-1.0)*r10*x2485*x2495))+((r11*x2505)));
evalcond[3]=(x2500+x2498+(((-1.0)*r20*x2495*x2503))+((r22*x2504))+((r21*x2486*x2496))+((r21*x2493))+((r20*x2490)));
evalcond[4]=(x2492+(((-1.0)*x2494))+(((-1.0)*r21*x2490*x2506))+((r20*x2486*x2493))+(((-1.0)*x2487*x2502))+((r21*x2497))+((r20*x2496)));
evalcond[5]=(((r00*x2496))+((cj0*x2500))+(((-1.0)*x2499*x2502))+(((-1.0)*r01*x2490*x2506))+((cj0*x2498))+((r00*x2486*x2493))+((r01*x2497)));
evalcond[6]=(((r00*x2490))+((r02*x2504))+(((-1.0)*x2492*x2501))+((cj0*x2494))+((x2491*x2503))+(((-1.0)*r00*x2495*x2503))+((r01*x2493)));
evalcond[7]=(((r10*x2486*x2493))+((sj0*x2500))+(((-1.0)*x2488*x2502))+((r11*x2497))+((r10*x2496))+(((-1.0)*r11*x2490*x2506))+((sj1*x2489)));
evalcond[8]=((((-1.0)*r10*x2495*x2503))+((cj1*x2489))+((r12*x2504))+((r11*x2493))+((r11*x2486*x2496))+(((-1.0)*sj0*x2492))+((r10*x2490)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2507 = IKatan2WithCheck(IkReal((cj0*r22)),IkReal((((cj0*gconst13*r21))+(((-1.0)*cj0*gconst14*r20)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2507.valid){
continue;
}
CheckValue<IkReal> x2508=IKPowWithIntegerCheck(IKsign((((gconst14*r01))+((gconst13*r00)))),-1);
if(!x2508.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x2507.value)+(((1.5707963267949)*(x2508.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2509=IKsin(j4);
IkReal x2510=IKcos(j4);
IkReal x2511=((1.0)*r22);
IkReal x2512=((1.0)*r12);
IkReal x2513=(cj2*sj0);
IkReal x2514=(gconst13*sj3);
IkReal x2515=(gconst13*r01);
IkReal x2516=(sj1*sj2);
IkReal x2517=(gconst14*sj3);
IkReal x2518=(cj1*cj2);
IkReal x2519=((1.0)*gconst14);
IkReal x2520=(cj3*gconst13);
IkReal x2521=(cj3*gconst14);
IkReal x2522=(cj2*sj1);
IkReal x2523=((1.0)*r02);
IkReal x2524=(cj1*sj2);
IkReal x2525=((1.0)*cj0);
IkReal x2526=(sj3*x2509);
IkReal x2527=(cj3*x2510);
IkReal x2528=(cj3*x2509);
IkReal x2529=(gconst13*x2509);
IkReal x2530=((1.0)*x2510);
evalcond[0]=((((-1.0)*r20*x2509*x2519))+(((-1.0)*x2510*x2511))+((r21*x2529)));
evalcond[1]=((((-1.0)*r00*x2509*x2519))+sj0+(((-1.0)*x2510*x2523))+((x2509*x2515)));
evalcond[2]=((((-1.0)*x2510*x2512))+((r11*x2529))+(((-1.0)*r10*x2509*x2519))+(((-1.0)*x2525)));
evalcond[3]=(((r22*x2528))+x2524+x2522+(((-1.0)*r20*x2519*x2527))+((r21*x2517))+((r21*x2510*x2520))+((r20*x2514)));
evalcond[4]=(x2516+(((-1.0)*x2511*x2526))+(((-1.0)*r21*x2514*x2530))+((r20*x2510*x2517))+(((-1.0)*x2518))+((r20*x2520))+((r21*x2521)));
evalcond[5]=((((-1.0)*x2523*x2526))+((r00*x2510*x2517))+(((-1.0)*r01*x2514*x2530))+((r00*x2520))+((r01*x2521))+((cj0*x2524))+((cj0*x2522)));
evalcond[6]=(((cj0*x2518))+((r02*x2528))+((x2515*x2527))+(((-1.0)*x2516*x2525))+(((-1.0)*r00*x2519*x2527))+((r01*x2517))+((r00*x2514)));
evalcond[7]=((((-1.0)*x2512*x2526))+(((-1.0)*r11*x2514*x2530))+((r11*x2521))+((sj1*x2513))+((r10*x2510*x2517))+((sj0*x2524))+((r10*x2520)));
evalcond[8]=(((r11*x2517))+((r10*x2514))+((r12*x2528))+(((-1.0)*r10*x2519*x2527))+((cj1*x2513))+((r11*x2510*x2520))+(((-1.0)*sj0*x2516)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
IkReal x2532 = ((1.0)+(((-1.0)*(r12*r12))));
if(IKabs(x2532)==0){
continue;
}
IkReal x2531=pow(x2532,-0.5);
CheckValue<IkReal> x2533 = IKatan2WithCheck(IkReal(r11),IkReal(r10),IKFAST_ATAN2_MAGTHRESH);
if(!x2533.valid){
continue;
}
IkReal gconst15=((3.14159265358979)+(((-1.0)*(x2533.value))));
IkReal gconst16=((1.0)*r11*x2531);
IkReal gconst17=((-1.0)*r10*x2531);
CheckValue<IkReal> x2534 = IKatan2WithCheck(IkReal(r11),IkReal(r10),IKFAST_ATAN2_MAGTHRESH);
if(!x2534.valid){
continue;
}
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+(x2534.value)+j5)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j4eval[3];
CheckValue<IkReal> x2537 = IKatan2WithCheck(IkReal(r11),IkReal(r10),IKFAST_ATAN2_MAGTHRESH);
if(!x2537.valid){
continue;
}
IkReal x2535=((1.0)*(x2537.value));
IkReal x2536=x2531;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x2535)));
IkReal gconst15=((3.14159265358979)+(((-1.0)*x2535)));
IkReal gconst16=((1.0)*r11*x2536);
IkReal gconst17=((-1.0)*r10*x2536);
j4eval[0]=cj0;
j4eval[1]=r22;
j4eval[2]=((1.0)+(((-1.0)*(r12*r12))));
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[1];
CheckValue<IkReal> x2540 = IKatan2WithCheck(IkReal(r11),IkReal(r10),IKFAST_ATAN2_MAGTHRESH);
if(!x2540.valid){
continue;
}
IkReal x2538=((1.0)*(x2540.value));
IkReal x2539=x2531;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x2538)));
IkReal gconst15=((3.14159265358979)+(((-1.0)*x2538)));
IkReal gconst16=((1.0)*r11*x2539);
IkReal gconst17=((-1.0)*r10*x2539);
IkReal x2541=r12*r12;
IkReal x2542=(cj0*r02);
IkReal x2543=x2531;
IkReal x2544=(sj0*x2543);
j4eval[0]=((IKabs((x2542+((r12*sj0)))))+(IKabs(((((-1.0)*x2544))+((r12*x2542*x2543))+((x2541*x2544))))));
if( IKabs(j4eval[0]) < 0.0000010000000000  )
{
{
IkReal j4eval[2];
CheckValue<IkReal> x2547 = IKatan2WithCheck(IkReal(r11),IkReal(r10),IKFAST_ATAN2_MAGTHRESH);
if(!x2547.valid){
continue;
}
IkReal x2545=((1.0)*(x2547.value));
IkReal x2546=x2531;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x2545)));
IkReal gconst15=((3.14159265358979)+(((-1.0)*x2545)));
IkReal gconst16=((1.0)*r11*x2546);
IkReal gconst17=((-1.0)*r10*x2546);
IkReal x2548=((1.0)*cj3);
CheckValue<IkReal> x2553=IKPowWithIntegerCheck(((1.0)+(((-1.0)*(r12*r12)))),-1);
if(!x2553.valid){
continue;
}
IkReal x2549=x2553.value;
IkReal x2550=(cj3*x2549);
IkReal x2551=(x2548*x2549);
IkReal x2552=((((-1.0)*x2551*(r11*r11)*(r21*r21)))+(((-1.0)*x2548*(r22*r22)))+(((-2.0)*r10*r11*r20*r21*x2550))+(((-1.0)*x2551*(r10*r10)*(r20*r20))));
j4eval[0]=x2552;
j4eval[1]=IKsign(x2552);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2554=r21*r21;
IkReal x2555=gconst16*gconst16;
IkReal x2556=r20*r20;
IkReal x2557=gconst17*gconst17;
IkReal x2558=(gconst16*r21);
IkReal x2559=(cj1*sj2);
IkReal x2560=(cj2*sj1);
IkReal x2561=(gconst17*r20);
IkReal x2562=(gconst16*sj3);
IkReal x2563=(r21*sj3);
IkReal x2564=((1.0)*cj3);
CheckValue<IkReal> x2565 = IKatan2WithCheck(IkReal((((r22*x2560))+((r22*x2559))+((gconst17*r22*x2563))+((r20*r22*x2562)))),IkReal(((((-1.0)*r20*x2557*x2563))+(((-1.0)*gconst17*x2556*x2562))+((x2558*x2560))+((r20*x2555*x2563))+((x2558*x2559))+((gconst17*x2554*x2562))+(((-1.0)*x2559*x2561))+(((-1.0)*x2560*x2561)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2565.valid){
continue;
}
CheckValue<IkReal> x2566=IKPowWithIntegerCheck(IKsign(((((2.0)*cj3*x2558*x2561))+(((-1.0)*x2556*x2557*x2564))+(((-1.0)*x2554*x2555*x2564))+(((-1.0)*x2564*(r22*r22))))),-1);
if(!x2566.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x2565.value)+(((1.5707963267949)*(x2566.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2567=IKsin(j4);
IkReal x2568=IKcos(j4);
IkReal x2569=(cj3*gconst17);
IkReal x2570=(gconst16*r21);
IkReal x2571=(gconst17*sj3);
IkReal x2572=(gconst16*r20);
IkReal x2573=(sj1*sj2);
IkReal x2574=(cj1*cj2);
IkReal x2575=(gconst16*r10);
IkReal x2576=(cj2*sj1);
IkReal x2577=(gconst16*sj3);
IkReal x2578=(cj1*sj2);
IkReal x2579=((1.0)*cj0);
IkReal x2580=((1.0)*x2568);
IkReal x2581=(gconst16*x2567);
IkReal x2582=(cj3*x2568);
IkReal x2583=(cj3*x2567);
IkReal x2584=((1.0)*gconst17*x2567);
IkReal x2585=((1.0)*sj3*x2567);
evalcond[0]=(((x2567*x2570))+(((-1.0)*r20*x2584))+(((-1.0)*r22*x2580)));
evalcond[1]=(((r01*x2581))+(((-1.0)*r00*x2584))+sj0+(((-1.0)*r02*x2580)));
evalcond[2]=(((r11*x2581))+(((-1.0)*x2579))+(((-1.0)*r10*x2584))+(((-1.0)*r12*x2580)));
evalcond[3]=(((r21*x2571))+((r22*x2583))+x2578+x2576+((sj3*x2572))+(((-1.0)*r20*x2569*x2580))+((x2570*x2582)));
evalcond[4]=(x2573+((cj3*x2572))+(((-1.0)*sj3*x2570*x2580))+(((-1.0)*x2574))+((r20*x2568*x2571))+((r21*x2569))+(((-1.0)*r22*x2585)));
evalcond[5]=((((-1.0)*r01*x2577*x2580))+((r01*x2569))+(((-1.0)*r02*x2585))+((r00*x2568*x2571))+((cj0*x2576))+((cj0*x2578))+((cj3*gconst16*r00)));
evalcond[6]=(((r01*x2571))+(((-1.0)*r00*x2569*x2580))+(((-1.0)*x2573*x2579))+((r00*x2577))+((gconst16*r01*x2582))+((cj0*x2574))+((r02*x2583)));
evalcond[7]=(((cj3*x2575))+((r10*x2568*x2571))+((r11*x2569))+(((-1.0)*r11*x2577*x2580))+((sj0*x2578))+((sj0*x2576))+(((-1.0)*r12*x2585)));
evalcond[8]=((((-1.0)*r10*x2569*x2580))+((r11*x2571))+(((-1.0)*sj0*x2573))+((sj3*x2575))+((r12*x2583))+((gconst16*r11*x2582))+((sj0*x2574)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2586=((1.0)*gconst17);
CheckValue<IkReal> x2587 = IKatan2WithCheck(IkReal((((r12*sj0))+((cj0*r02)))),IkReal((((gconst16*r11*sj0))+(((-1.0)*r10*sj0*x2586))+(((-1.0)*cj0*r00*x2586))+((cj0*gconst16*r01)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2587.valid){
continue;
}
CheckValue<IkReal> x2588=IKPowWithIntegerCheck(IKsign(((((-1.0)*gconst16*r20))+(((-1.0)*r21*x2586)))),-1);
if(!x2588.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x2587.value)+(((1.5707963267949)*(x2588.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2589=IKsin(j4);
IkReal x2590=IKcos(j4);
IkReal x2591=(cj3*gconst17);
IkReal x2592=(gconst16*r21);
IkReal x2593=(gconst17*sj3);
IkReal x2594=(gconst16*r20);
IkReal x2595=(sj1*sj2);
IkReal x2596=(cj1*cj2);
IkReal x2597=(gconst16*r10);
IkReal x2598=(cj2*sj1);
IkReal x2599=(gconst16*sj3);
IkReal x2600=(cj1*sj2);
IkReal x2601=((1.0)*cj0);
IkReal x2602=((1.0)*x2590);
IkReal x2603=(gconst16*x2589);
IkReal x2604=(cj3*x2590);
IkReal x2605=(cj3*x2589);
IkReal x2606=((1.0)*gconst17*x2589);
IkReal x2607=((1.0)*sj3*x2589);
evalcond[0]=((((-1.0)*r22*x2602))+((x2589*x2592))+(((-1.0)*r20*x2606)));
evalcond[1]=(sj0+(((-1.0)*r02*x2602))+((r01*x2603))+(((-1.0)*r00*x2606)));
evalcond[2]=((((-1.0)*r10*x2606))+(((-1.0)*r12*x2602))+(((-1.0)*x2601))+((r11*x2603)));
evalcond[3]=((((-1.0)*r20*x2591*x2602))+x2598+((sj3*x2594))+((x2592*x2604))+((r22*x2605))+x2600+((r21*x2593)));
evalcond[4]=(x2595+(((-1.0)*sj3*x2592*x2602))+((cj3*x2594))+(((-1.0)*x2596))+(((-1.0)*r22*x2607))+((r20*x2590*x2593))+((r21*x2591)));
evalcond[5]=(((r01*x2591))+(((-1.0)*r01*x2599*x2602))+((cj0*x2598))+(((-1.0)*r02*x2607))+((r00*x2590*x2593))+((cj0*x2600))+((cj3*gconst16*r00)));
evalcond[6]=(((gconst16*r01*x2604))+(((-1.0)*x2595*x2601))+((r00*x2599))+((r01*x2593))+((cj0*x2596))+((r02*x2605))+(((-1.0)*r00*x2591*x2602)));
evalcond[7]=(((cj3*x2597))+((r10*x2590*x2593))+(((-1.0)*r12*x2607))+((sj0*x2600))+((r11*x2591))+((sj0*x2598))+(((-1.0)*r11*x2599*x2602)));
evalcond[8]=((((-1.0)*r10*x2591*x2602))+((gconst16*r11*x2604))+((sj3*x2597))+(((-1.0)*sj0*x2595))+((r11*x2593))+((r12*x2605))+((sj0*x2596)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2608=IKPowWithIntegerCheck(IKsign((((gconst17*r01))+((gconst16*r00)))),-1);
if(!x2608.valid){
continue;
}
CheckValue<IkReal> x2609 = IKatan2WithCheck(IkReal((cj0*r22)),IkReal(((((-1.0)*cj0*gconst17*r20))+((cj0*gconst16*r21)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2609.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2608.value)))+(x2609.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2610=IKsin(j4);
IkReal x2611=IKcos(j4);
IkReal x2612=(cj3*gconst17);
IkReal x2613=(gconst16*r21);
IkReal x2614=(gconst17*sj3);
IkReal x2615=(gconst16*r20);
IkReal x2616=(sj1*sj2);
IkReal x2617=(cj1*cj2);
IkReal x2618=(gconst16*r10);
IkReal x2619=(cj2*sj1);
IkReal x2620=(gconst16*sj3);
IkReal x2621=(cj1*sj2);
IkReal x2622=((1.0)*cj0);
IkReal x2623=((1.0)*x2611);
IkReal x2624=(gconst16*x2610);
IkReal x2625=(cj3*x2611);
IkReal x2626=(cj3*x2610);
IkReal x2627=((1.0)*gconst17*x2610);
IkReal x2628=((1.0)*sj3*x2610);
evalcond[0]=(((x2610*x2613))+(((-1.0)*r22*x2623))+(((-1.0)*r20*x2627)));
evalcond[1]=(((r01*x2624))+(((-1.0)*r00*x2627))+sj0+(((-1.0)*r02*x2623)));
evalcond[2]=((((-1.0)*r12*x2623))+(((-1.0)*r10*x2627))+((r11*x2624))+(((-1.0)*x2622)));
evalcond[3]=((((-1.0)*r20*x2612*x2623))+((r22*x2626))+((x2613*x2625))+((r21*x2614))+x2619+x2621+((sj3*x2615)));
evalcond[4]=(((r20*x2611*x2614))+(((-1.0)*x2617))+((cj3*x2615))+(((-1.0)*r22*x2628))+(((-1.0)*sj3*x2613*x2623))+((r21*x2612))+x2616);
evalcond[5]=(((r01*x2612))+((r00*x2611*x2614))+(((-1.0)*r02*x2628))+(((-1.0)*r01*x2620*x2623))+((cj0*x2621))+((cj3*gconst16*r00))+((cj0*x2619)));
evalcond[6]=(((r00*x2620))+((r01*x2614))+((r02*x2626))+(((-1.0)*r00*x2612*x2623))+((gconst16*r01*x2625))+(((-1.0)*x2616*x2622))+((cj0*x2617)));
evalcond[7]=((((-1.0)*r12*x2628))+((cj3*x2618))+((r10*x2611*x2614))+((r11*x2612))+((sj0*x2621))+(((-1.0)*r11*x2620*x2623))+((sj0*x2619)));
evalcond[8]=((((-1.0)*r10*x2612*x2623))+((gconst16*r11*x2625))+((r11*x2614))+((r12*x2626))+((sj0*x2617))+(((-1.0)*sj0*x2616))+((sj3*x2618)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(j0))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j4eval[3];
sj0=0;
cj0=1.0;
j0=0;
IkReal x2629=(((r00*sj5))+((cj5*r01)));
j4eval[0]=x2629;
j4eval[1]=IKsign(x2629);
j4eval[2]=((IKabs((((r21*sj5))+(((-1.0)*cj5*r20)))))+(IKabs(r22)));
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj0=0;
cj0=1.0;
j0=0;
IkReal x2630=((1.0)*cj5);
IkReal x2631=((((-1.0)*r21*x2630))+(((-1.0)*r20*sj5)));
j4eval[0]=x2631;
j4eval[1]=((IKabs(r02))+(IKabs((((r01*sj5))+(((-1.0)*r00*x2630))))));
j4eval[2]=IKsign(x2631);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[2];
sj0=0;
cj0=1.0;
j0=0;
IkReal x2632=cj5*cj5;
IkReal x2633=(cj3*r21);
IkReal x2634=(cj5*sj5);
IkReal x2635=((1.0)*cj3);
IkReal x2636=((((-1.0)*r11*x2633))+((r10*x2633*x2634))+((r11*x2632*x2633))+((cj3*r11*r20*x2634))+(((-1.0)*r12*r22*x2635))+(((-1.0)*r10*r20*x2632*x2635)));
j4eval[0]=x2636;
j4eval[1]=IKsign(x2636);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2637=cj5*cj5;
IkReal x2638=((1.0)*cj3);
IkReal x2639=(r10*r21);
IkReal x2640=(cj5*sj5);
IkReal x2641=(r11*r21);
IkReal x2642=(r11*r20);
IkReal x2643=(r22*sj3);
IkReal x2644=(r10*r20);
IkReal x2645=((1.0)*sj3*x2637);
CheckValue<IkReal> x2646 = IKatan2WithCheck(IkReal((((r10*sj5*x2643))+((cj5*r11*x2643)))),IkReal((((sj3*x2639))+(((-1.0)*x2642*x2645))+(((-1.0)*sj3*x2640*x2644))+(((-1.0)*x2639*x2645))+((sj3*x2640*x2641)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2646.valid){
continue;
}
CheckValue<IkReal> x2647=IKPowWithIntegerCheck(IKsign((((cj3*x2637*x2641))+((cj3*x2639*x2640))+((cj3*x2640*x2642))+(((-1.0)*x2637*x2638*x2644))+(((-1.0)*r12*r22*x2638))+(((-1.0)*x2638*x2641)))),-1);
if(!x2647.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x2646.value)+(((1.5707963267949)*(x2647.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2648=IKsin(j4);
IkReal x2649=IKcos(j4);
IkReal x2650=(cj2*sj1);
IkReal x2651=(cj1*sj2);
IkReal x2652=(cj5*sj3);
IkReal x2653=(cj5*r10);
IkReal x2654=(r00*sj5);
IkReal x2655=(sj1*sj2);
IkReal x2656=(r11*sj5);
IkReal x2657=(cj3*cj5);
IkReal x2658=(cj3*sj5);
IkReal x2659=(r21*sj5);
IkReal x2660=(cj1*cj2);
IkReal x2661=(sj3*sj5);
IkReal x2662=(r01*sj5);
IkReal x2663=((1.0)*x2649);
IkReal x2664=((1.0)*x2648);
IkReal x2665=(cj3*x2648);
IkReal x2666=(cj3*x2649);
IkReal x2667=(x2651+x2650);
evalcond[0]=(((x2648*x2659))+(((-1.0)*cj5*r20*x2664))+(((-1.0)*r22*x2663)));
evalcond[1]=(((x2648*x2662))+(((-1.0)*r02*x2663))+(((-1.0)*cj5*r00*x2664)));
evalcond[2]=((-1.0)+(((-1.0)*r12*x2663))+(((-1.0)*x2653*x2664))+((x2648*x2656)));
evalcond[3]=(((r11*x2652))+((r12*x2665))+(((-1.0)*cj3*x2653*x2663))+((x2656*x2666))+((r10*x2661)));
evalcond[4]=((((-1.0)*r12*sj3*x2664))+((r11*x2657))+((r10*x2658))+((r10*x2649*x2652))+(((-1.0)*sj3*x2656*x2663)));
evalcond[5]=(((r21*x2652))+((r22*x2665))+(((-1.0)*r20*x2657*x2663))+((r21*x2649*x2658))+((r20*x2661))+x2667);
evalcond[6]=(((r01*x2657))+((r00*x2649*x2652))+((cj3*x2654))+(((-1.0)*r01*x2661*x2663))+x2667+(((-1.0)*r02*sj3*x2664)));
evalcond[7]=((((-1.0)*r00*x2657*x2663))+((r02*x2665))+((r01*x2649*x2658))+((r01*x2652))+((sj3*x2654))+(((-1.0)*x2655))+x2660);
evalcond[8]=((((-1.0)*x2660))+((r21*x2657))+(((-1.0)*r22*sj3*x2664))+((r20*x2649*x2652))+(((-1.0)*sj3*x2659*x2663))+x2655+((r20*x2658)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2668=((1.0)*cj5);
CheckValue<IkReal> x2669=IKPowWithIntegerCheck(IKsign(((((-1.0)*r21*x2668))+(((-1.0)*r20*sj5)))),-1);
if(!x2669.valid){
continue;
}
CheckValue<IkReal> x2670 = IKatan2WithCheck(IkReal(r02),IkReal((((r01*sj5))+(((-1.0)*r00*x2668)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2670.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2669.value)))+(x2670.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2671=IKsin(j4);
IkReal x2672=IKcos(j4);
IkReal x2673=(cj2*sj1);
IkReal x2674=(cj1*sj2);
IkReal x2675=(cj5*sj3);
IkReal x2676=(cj5*r10);
IkReal x2677=(r00*sj5);
IkReal x2678=(sj1*sj2);
IkReal x2679=(r11*sj5);
IkReal x2680=(cj3*cj5);
IkReal x2681=(cj3*sj5);
IkReal x2682=(r21*sj5);
IkReal x2683=(cj1*cj2);
IkReal x2684=(sj3*sj5);
IkReal x2685=(r01*sj5);
IkReal x2686=((1.0)*x2672);
IkReal x2687=((1.0)*x2671);
IkReal x2688=(cj3*x2671);
IkReal x2689=(cj3*x2672);
IkReal x2690=(x2673+x2674);
evalcond[0]=(((x2671*x2682))+(((-1.0)*cj5*r20*x2687))+(((-1.0)*r22*x2686)));
evalcond[1]=((((-1.0)*r02*x2686))+((x2671*x2685))+(((-1.0)*cj5*r00*x2687)));
evalcond[2]=((-1.0)+(((-1.0)*r12*x2686))+(((-1.0)*x2676*x2687))+((x2671*x2679)));
evalcond[3]=(((r10*x2684))+(((-1.0)*cj3*x2676*x2686))+((x2679*x2689))+((r12*x2688))+((r11*x2675)));
evalcond[4]=(((r11*x2680))+((r10*x2681))+(((-1.0)*sj3*x2679*x2686))+((r10*x2672*x2675))+(((-1.0)*r12*sj3*x2687)));
evalcond[5]=(((r21*x2672*x2681))+((r21*x2675))+((r22*x2688))+(((-1.0)*r20*x2680*x2686))+((r20*x2684))+x2690);
evalcond[6]=((((-1.0)*r02*sj3*x2687))+((r01*x2680))+(((-1.0)*r01*x2684*x2686))+((r00*x2672*x2675))+((cj3*x2677))+x2690);
evalcond[7]=(((r02*x2688))+(((-1.0)*x2678))+((r01*x2672*x2681))+((sj3*x2677))+((r01*x2675))+(((-1.0)*r00*x2680*x2686))+x2683);
evalcond[8]=(((r20*x2672*x2675))+(((-1.0)*sj3*x2682*x2686))+((r21*x2680))+(((-1.0)*r22*sj3*x2687))+(((-1.0)*x2683))+((r20*x2681))+x2678);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2691 = IKatan2WithCheck(IkReal(r22),IkReal((((r21*sj5))+(((-1.0)*cj5*r20)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2691.valid){
continue;
}
CheckValue<IkReal> x2692=IKPowWithIntegerCheck(IKsign((((r00*sj5))+((cj5*r01)))),-1);
if(!x2692.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x2691.value)+(((1.5707963267949)*(x2692.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2693=IKsin(j4);
IkReal x2694=IKcos(j4);
IkReal x2695=(cj2*sj1);
IkReal x2696=(cj1*sj2);
IkReal x2697=(cj5*sj3);
IkReal x2698=(cj5*r10);
IkReal x2699=(r00*sj5);
IkReal x2700=(sj1*sj2);
IkReal x2701=(r11*sj5);
IkReal x2702=(cj3*cj5);
IkReal x2703=(cj3*sj5);
IkReal x2704=(r21*sj5);
IkReal x2705=(cj1*cj2);
IkReal x2706=(sj3*sj5);
IkReal x2707=(r01*sj5);
IkReal x2708=((1.0)*x2694);
IkReal x2709=((1.0)*x2693);
IkReal x2710=(cj3*x2693);
IkReal x2711=(cj3*x2694);
IkReal x2712=(x2696+x2695);
evalcond[0]=((((-1.0)*r22*x2708))+((x2693*x2704))+(((-1.0)*cj5*r20*x2709)));
evalcond[1]=(((x2693*x2707))+(((-1.0)*r02*x2708))+(((-1.0)*cj5*r00*x2709)));
evalcond[2]=((-1.0)+((x2693*x2701))+(((-1.0)*r12*x2708))+(((-1.0)*x2698*x2709)));
evalcond[3]=(((r12*x2710))+((x2701*x2711))+((r10*x2706))+(((-1.0)*cj3*x2698*x2708))+((r11*x2697)));
evalcond[4]=(((r11*x2702))+((r10*x2694*x2697))+((r10*x2703))+(((-1.0)*r12*sj3*x2709))+(((-1.0)*sj3*x2701*x2708)));
evalcond[5]=(x2712+((r22*x2710))+((r21*x2694*x2703))+((r20*x2706))+((r21*x2697))+(((-1.0)*r20*x2702*x2708)));
evalcond[6]=(x2712+(((-1.0)*r01*x2706*x2708))+((r01*x2702))+((r00*x2694*x2697))+(((-1.0)*r02*sj3*x2709))+((cj3*x2699)));
evalcond[7]=(x2705+((r02*x2710))+(((-1.0)*r00*x2702*x2708))+((r01*x2694*x2703))+((r01*x2697))+((sj3*x2699))+(((-1.0)*x2700)));
evalcond[8]=(x2700+((r20*x2694*x2697))+((r20*x2703))+(((-1.0)*r22*sj3*x2709))+(((-1.0)*sj3*x2704*x2708))+((r21*x2702))+(((-1.0)*x2705)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+j0)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j4eval[3];
sj0=0;
cj0=-1.0;
j0=3.14159265358979;
IkReal x2713=(((cj5*r21))+((r20*sj5)));
j4eval[0]=x2713;
j4eval[1]=IKsign(x2713);
j4eval[2]=((IKabs(r02))+(IKabs((((r01*sj5))+(((-1.0)*cj5*r00))))));
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[3];
sj0=0;
cj0=-1.0;
j0=3.14159265358979;
IkReal x2714=((1.0)*cj5);
IkReal x2715=((((-1.0)*r00*sj5))+(((-1.0)*r01*x2714)));
j4eval[0]=x2715;
j4eval[1]=((IKabs(((((-1.0)*r20*x2714))+((r21*sj5)))))+(IKabs(r22)));
j4eval[2]=IKsign(x2715);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  || IKabs(j4eval[2]) < 0.0000010000000000  )
{
{
IkReal j4eval[2];
sj0=0;
cj0=-1.0;
j0=3.14159265358979;
IkReal x2716=cj5*cj5;
IkReal x2717=(cj3*r21);
IkReal x2718=(cj5*sj5);
IkReal x2719=((1.0)*cj3);
IkReal x2720=((((-1.0)*r10*r20*x2716*x2719))+((cj3*r11*r20*x2718))+(((-1.0)*r11*x2717))+((r11*x2716*x2717))+(((-1.0)*r12*r22*x2719))+((r10*x2717*x2718)));
j4eval[0]=x2720;
j4eval[1]=IKsign(x2720);
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2721=cj5*cj5;
IkReal x2722=((1.0)*cj3);
IkReal x2723=(r10*r21);
IkReal x2724=(cj5*sj5);
IkReal x2725=(r11*r21);
IkReal x2726=(r11*r20);
IkReal x2727=(r22*sj3);
IkReal x2728=(r10*r20);
IkReal x2729=((1.0)*sj3*x2721);
CheckValue<IkReal> x2730 = IKatan2WithCheck(IkReal((((cj5*r11*x2727))+((r10*sj5*x2727)))),IkReal(((((-1.0)*x2726*x2729))+((sj3*x2724*x2725))+(((-1.0)*x2723*x2729))+(((-1.0)*sj3*x2724*x2728))+((sj3*x2723)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2730.valid){
continue;
}
CheckValue<IkReal> x2731=IKPowWithIntegerCheck(IKsign(((((-1.0)*r12*r22*x2722))+((cj3*x2721*x2725))+((cj3*x2724*x2726))+(((-1.0)*x2722*x2725))+(((-1.0)*x2721*x2722*x2728))+((cj3*x2723*x2724)))),-1);
if(!x2731.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x2730.value)+(((1.5707963267949)*(x2731.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2732=IKsin(j4);
IkReal x2733=IKcos(j4);
IkReal x2734=(sj1*sj2);
IkReal x2735=(cj5*sj3);
IkReal x2736=(cj5*r10);
IkReal x2737=(r00*sj5);
IkReal x2738=(r11*sj5);
IkReal x2739=(cj3*cj5);
IkReal x2740=((1.0)*cj1);
IkReal x2741=(cj3*sj5);
IkReal x2742=(r21*sj5);
IkReal x2743=(cj2*sj1);
IkReal x2744=(sj3*sj5);
IkReal x2745=(r01*sj5);
IkReal x2746=(cj2*x2740);
IkReal x2747=((1.0)*x2733);
IkReal x2748=((1.0)*x2732);
IkReal x2749=(cj3*x2732);
IkReal x2750=(cj3*x2733);
evalcond[0]=((((-1.0)*cj5*r20*x2748))+((x2732*x2742))+(((-1.0)*r22*x2747)));
evalcond[1]=((((-1.0)*cj5*r00*x2748))+(((-1.0)*r02*x2747))+((x2732*x2745)));
evalcond[2]=((1.0)+(((-1.0)*x2736*x2748))+((x2732*x2738))+(((-1.0)*r12*x2747)));
evalcond[3]=((((-1.0)*cj3*x2736*x2747))+((r12*x2749))+((r10*x2744))+((x2738*x2750))+((r11*x2735)));
evalcond[4]=(((r10*x2741))+((r10*x2733*x2735))+(((-1.0)*sj3*x2738*x2747))+(((-1.0)*r12*sj3*x2748))+((r11*x2739)));
evalcond[5]=(x2743+((r22*x2749))+((cj1*sj2))+((r21*x2735))+((r21*x2733*x2741))+((r20*x2744))+(((-1.0)*r20*x2739*x2747)));
evalcond[6]=(x2734+((sj3*x2737))+((r01*x2733*x2741))+((r01*x2735))+(((-1.0)*r00*x2739*x2747))+(((-1.0)*x2746))+((r02*x2749)));
evalcond[7]=(x2734+((r21*x2739))+((r20*x2741))+(((-1.0)*r22*sj3*x2748))+(((-1.0)*x2746))+(((-1.0)*sj3*x2742*x2747))+((r20*x2733*x2735)));
evalcond[8]=((((-1.0)*r01*x2744*x2747))+((r01*x2739))+(((-1.0)*r02*sj3*x2748))+((r00*x2733*x2735))+(((-1.0)*sj2*x2740))+((cj3*x2737))+(((-1.0)*x2743)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2751=((1.0)*cj5);
CheckValue<IkReal> x2752 = IKatan2WithCheck(IkReal(r22),IkReal((((r21*sj5))+(((-1.0)*r20*x2751)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2752.valid){
continue;
}
CheckValue<IkReal> x2753=IKPowWithIntegerCheck(IKsign(((((-1.0)*r01*x2751))+(((-1.0)*r00*sj5)))),-1);
if(!x2753.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x2752.value)+(((1.5707963267949)*(x2753.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2754=IKsin(j4);
IkReal x2755=IKcos(j4);
IkReal x2756=(sj1*sj2);
IkReal x2757=(cj5*sj3);
IkReal x2758=(cj5*r10);
IkReal x2759=(r00*sj5);
IkReal x2760=(r11*sj5);
IkReal x2761=(cj3*cj5);
IkReal x2762=((1.0)*cj1);
IkReal x2763=(cj3*sj5);
IkReal x2764=(r21*sj5);
IkReal x2765=(cj2*sj1);
IkReal x2766=(sj3*sj5);
IkReal x2767=(r01*sj5);
IkReal x2768=(cj2*x2762);
IkReal x2769=((1.0)*x2755);
IkReal x2770=((1.0)*x2754);
IkReal x2771=(cj3*x2754);
IkReal x2772=(cj3*x2755);
evalcond[0]=(((x2754*x2764))+(((-1.0)*cj5*r20*x2770))+(((-1.0)*r22*x2769)));
evalcond[1]=(((x2754*x2767))+(((-1.0)*cj5*r00*x2770))+(((-1.0)*r02*x2769)));
evalcond[2]=((1.0)+((x2754*x2760))+(((-1.0)*r12*x2769))+(((-1.0)*x2758*x2770)));
evalcond[3]=((((-1.0)*cj3*x2758*x2769))+((r11*x2757))+((r10*x2766))+((x2760*x2772))+((r12*x2771)));
evalcond[4]=((((-1.0)*r12*sj3*x2770))+((r10*x2763))+((r10*x2755*x2757))+(((-1.0)*sj3*x2760*x2769))+((r11*x2761)));
evalcond[5]=(x2765+((r22*x2771))+((r21*x2755*x2763))+((r21*x2757))+((cj1*sj2))+((r20*x2766))+(((-1.0)*r20*x2761*x2769)));
evalcond[6]=(x2756+((sj3*x2759))+(((-1.0)*x2768))+((r01*x2755*x2763))+((r01*x2757))+(((-1.0)*r00*x2761*x2769))+((r02*x2771)));
evalcond[7]=(x2756+((r20*x2763))+(((-1.0)*x2768))+((r20*x2755*x2757))+(((-1.0)*r22*sj3*x2770))+(((-1.0)*sj3*x2764*x2769))+((r21*x2761)));
evalcond[8]=((((-1.0)*x2765))+((r01*x2761))+((cj3*x2759))+(((-1.0)*sj2*x2762))+(((-1.0)*r02*sj3*x2770))+(((-1.0)*r01*x2766*x2769))+((r00*x2755*x2757)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2773=IKPowWithIntegerCheck(IKsign((((cj5*r21))+((r20*sj5)))),-1);
if(!x2773.valid){
continue;
}
CheckValue<IkReal> x2774 = IKatan2WithCheck(IkReal(r02),IkReal((((r01*sj5))+(((-1.0)*cj5*r00)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2774.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2773.value)))+(x2774.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2775=IKsin(j4);
IkReal x2776=IKcos(j4);
IkReal x2777=(sj1*sj2);
IkReal x2778=(cj5*sj3);
IkReal x2779=(cj5*r10);
IkReal x2780=(r00*sj5);
IkReal x2781=(r11*sj5);
IkReal x2782=(cj3*cj5);
IkReal x2783=((1.0)*cj1);
IkReal x2784=(cj3*sj5);
IkReal x2785=(r21*sj5);
IkReal x2786=(cj2*sj1);
IkReal x2787=(sj3*sj5);
IkReal x2788=(r01*sj5);
IkReal x2789=(cj2*x2783);
IkReal x2790=((1.0)*x2776);
IkReal x2791=((1.0)*x2775);
IkReal x2792=(cj3*x2775);
IkReal x2793=(cj3*x2776);
evalcond[0]=((((-1.0)*r22*x2790))+(((-1.0)*cj5*r20*x2791))+((x2775*x2785)));
evalcond[1]=(((x2775*x2788))+(((-1.0)*cj5*r00*x2791))+(((-1.0)*r02*x2790)));
evalcond[2]=((1.0)+(((-1.0)*x2779*x2791))+((x2775*x2781))+(((-1.0)*r12*x2790)));
evalcond[3]=(((x2781*x2793))+((r11*x2778))+((r12*x2792))+((r10*x2787))+(((-1.0)*cj3*x2779*x2790)));
evalcond[4]=(((r10*x2776*x2778))+(((-1.0)*sj3*x2781*x2790))+((r11*x2782))+(((-1.0)*r12*sj3*x2791))+((r10*x2784)));
evalcond[5]=(x2786+((cj1*sj2))+(((-1.0)*r20*x2782*x2790))+((r22*x2792))+((r21*x2776*x2784))+((r21*x2778))+((r20*x2787)));
evalcond[6]=((((-1.0)*x2789))+x2777+((r01*x2778))+(((-1.0)*r00*x2782*x2790))+((sj3*x2780))+((r02*x2792))+((r01*x2776*x2784)));
evalcond[7]=((((-1.0)*x2789))+x2777+((r21*x2782))+(((-1.0)*r22*sj3*x2791))+(((-1.0)*sj3*x2785*x2790))+((r20*x2776*x2778))+((r20*x2784)));
evalcond[8]=((((-1.0)*r02*sj3*x2791))+(((-1.0)*sj2*x2783))+((cj3*x2780))+((r01*x2782))+(((-1.0)*x2786))+(((-1.0)*r01*x2787*x2790))+((r00*x2776*x2778)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(r10))+(IKabs(r11)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j4eval[2];
IkReal x2794=((-1.0)*py);
r10=0;
r11=0;
r22=0;
r02=0;
npx=(((px*r00))+((pz*r20)));
npy=(((px*r01))+((pz*r21)));
npz=(py*r12);
rxp0_0=(r20*x2794);
rxp0_2=(py*r00);
rxp1_0=(r21*x2794);
rxp1_2=(py*r01);
rxp2_0=(pz*r12);
rxp2_1=0;
rxp2_2=((-1.0)*px*r12);
j4eval[0]=(((r01*sj5))+(((-1.0)*cj5*r00)));
j4eval[1]=r12;
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  )
{
{
IkReal j4eval[2];
IkReal x2795=((-1.0)*py);
r10=0;
r11=0;
r22=0;
r02=0;
npx=(((px*r00))+((pz*r20)));
npy=(((px*r01))+((pz*r21)));
npz=(py*r12);
rxp0_0=(r20*x2795);
rxp0_2=(py*r00);
rxp1_0=(r21*x2795);
rxp1_2=(py*r01);
rxp2_0=(pz*r12);
rxp2_1=0;
rxp2_2=((-1.0)*px*r12);
IkReal x2796=((1.0)*cj5);
j4eval[0]=(((r01*sj5))+(((-1.0)*r00*x2796)));
j4eval[1]=(((cj3*r21*sj5))+(((-1.0)*cj3*r20*x2796)));
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  )
{
{
IkReal j4eval[2];
IkReal x2797=((-1.0)*py);
r10=0;
r11=0;
r22=0;
r02=0;
npx=(((px*r00))+((pz*r20)));
npy=(((px*r01))+((pz*r21)));
npz=(py*r12);
rxp0_0=(r20*x2797);
rxp0_2=(py*r00);
rxp1_0=(r21*x2797);
rxp1_2=(py*r01);
rxp2_0=(pz*r12);
rxp2_1=0;
rxp2_2=((-1.0)*px*r12);
j4eval[0]=r12;
j4eval[1]=sj3;
if( IKabs(j4eval[0]) < 0.0000010000000000  || IKabs(j4eval[1]) < 0.0000010000000000  )
{
continue; // 1 cases reached

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2799=IKPowWithIntegerCheck(r12,-1);
if(!x2799.valid){
continue;
}
IkReal x2798=x2799.value;
CheckValue<IkReal> x2800=IKPowWithIntegerCheck(sj3,-1);
if(!x2800.valid){
continue;
}
if( IKabs((x2798*(x2800.value)*((((cj1*sj0*sj2))+((cj2*sj0*sj1)))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((-1.0)*cj0*x2798)) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((x2798*(x2800.value)*((((cj1*sj0*sj2))+((cj2*sj0*sj1))))))+IKsqr(((-1.0)*cj0*x2798))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j4array[0]=IKatan2((x2798*(x2800.value)*((((cj1*sj0*sj2))+((cj2*sj0*sj1))))), ((-1.0)*cj0*x2798));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2801=IKsin(j4);
IkReal x2802=IKcos(j4);
IkReal x2803=(cj2*sj0);
IkReal x2804=(sj1*sj2);
IkReal x2805=(cj5*sj3);
IkReal x2806=(cj3*cj5);
IkReal x2807=(cj1*cj2);
IkReal x2808=(r21*sj5);
IkReal x2809=(r00*sj5);
IkReal x2810=(cj2*sj1);
IkReal x2811=(r01*sj5);
IkReal x2812=(r20*sj5);
IkReal x2813=(cj1*sj2);
IkReal x2814=((1.0)*cj0);
IkReal x2815=((1.0)*x2801);
IkReal x2816=(r20*x2802);
IkReal x2817=(r00*x2802);
IkReal x2818=(cj3*x2802);
IkReal x2819=((1.0)*x2802);
evalcond[0]=((((-1.0)*r12*x2819))+(((-1.0)*x2814)));
evalcond[1]=(((x2801*x2808))+(((-1.0)*cj5*r20*x2815)));
evalcond[2]=(sj0+((x2801*x2811))+(((-1.0)*cj5*r00*x2815)));
evalcond[3]=(((sj1*x2803))+((sj0*x2813))+(((-1.0)*r12*sj3*x2815)));
evalcond[4]=(((cj1*x2803))+(((-1.0)*sj0*x2804))+((cj3*r12*x2801)));
evalcond[5]=((((-1.0)*x2806*x2816))+((r21*x2805))+x2810+x2813+((x2808*x2818))+((sj3*x2812)));
evalcond[6]=((((-1.0)*x2807))+(((-1.0)*sj3*x2808*x2819))+((x2805*x2816))+((cj3*x2812))+((r21*x2806))+x2804);
evalcond[7]=((((-1.0)*sj3*x2811*x2819))+((x2805*x2817))+((cj3*x2809))+((cj0*x2813))+((cj0*x2810))+((r01*x2806)));
evalcond[8]=((((-1.0)*x2804*x2814))+(((-1.0)*x2806*x2817))+((sj3*x2809))+((cj0*x2807))+((r01*x2805))+((x2811*x2818)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2820=((1.0)*sj3);
IkReal x2821=((1.0)*cj5);
CheckValue<IkReal> x2822=IKPowWithIntegerCheck((((r01*sj5))+(((-1.0)*r00*x2821))),-1);
if(!x2822.valid){
continue;
}
CheckValue<IkReal> x2823=IKPowWithIntegerCheck((((cj3*r21*sj5))+(((-1.0)*cj3*r20*x2821))),-1);
if(!x2823.valid){
continue;
}
if( IKabs(((-1.0)*sj0*(x2822.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((x2823.value)*(((((-1.0)*cj2*sj1))+(((-1.0)*cj1*sj2))+(((-1.0)*r20*sj5*x2820))+(((-1.0)*cj5*r21*x2820)))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*sj0*(x2822.value)))+IKsqr(((x2823.value)*(((((-1.0)*cj2*sj1))+(((-1.0)*cj1*sj2))+(((-1.0)*r20*sj5*x2820))+(((-1.0)*cj5*r21*x2820))))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j4array[0]=IKatan2(((-1.0)*sj0*(x2822.value)), ((x2823.value)*(((((-1.0)*cj2*sj1))+(((-1.0)*cj1*sj2))+(((-1.0)*r20*sj5*x2820))+(((-1.0)*cj5*r21*x2820))))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2824=IKsin(j4);
IkReal x2825=IKcos(j4);
IkReal x2826=(cj2*sj0);
IkReal x2827=(sj1*sj2);
IkReal x2828=(cj5*sj3);
IkReal x2829=(cj3*cj5);
IkReal x2830=(cj1*cj2);
IkReal x2831=(r21*sj5);
IkReal x2832=(r00*sj5);
IkReal x2833=(cj2*sj1);
IkReal x2834=(r01*sj5);
IkReal x2835=(r20*sj5);
IkReal x2836=(cj1*sj2);
IkReal x2837=((1.0)*cj0);
IkReal x2838=((1.0)*x2824);
IkReal x2839=(r20*x2825);
IkReal x2840=(r00*x2825);
IkReal x2841=(cj3*x2825);
IkReal x2842=((1.0)*x2825);
evalcond[0]=((((-1.0)*x2837))+(((-1.0)*r12*x2842)));
evalcond[1]=((((-1.0)*cj5*r20*x2838))+((x2824*x2831)));
evalcond[2]=(sj0+(((-1.0)*cj5*r00*x2838))+((x2824*x2834)));
evalcond[3]=(((sj0*x2836))+((sj1*x2826))+(((-1.0)*r12*sj3*x2838)));
evalcond[4]=(((cj3*r12*x2824))+(((-1.0)*sj0*x2827))+((cj1*x2826)));
evalcond[5]=((((-1.0)*x2829*x2839))+((r21*x2828))+((sj3*x2835))+((x2831*x2841))+x2836+x2833);
evalcond[6]=((((-1.0)*x2830))+((x2828*x2839))+((r21*x2829))+(((-1.0)*sj3*x2831*x2842))+x2827+((cj3*x2835)));
evalcond[7]=(((x2828*x2840))+((r01*x2829))+(((-1.0)*sj3*x2834*x2842))+((cj0*x2836))+((cj0*x2833))+((cj3*x2832)));
evalcond[8]=(((sj3*x2832))+(((-1.0)*x2829*x2840))+((r01*x2828))+(((-1.0)*x2827*x2837))+((cj0*x2830))+((x2834*x2841)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2843=IKPowWithIntegerCheck((((r01*sj5))+(((-1.0)*cj5*r00))),-1);
if(!x2843.valid){
continue;
}
CheckValue<IkReal> x2844=IKPowWithIntegerCheck(r12,-1);
if(!x2844.valid){
continue;
}
if( IKabs(((-1.0)*sj0*(x2843.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((-1.0)*cj0*(x2844.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*sj0*(x2843.value)))+IKsqr(((-1.0)*cj0*(x2844.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j4array[0]=IKatan2(((-1.0)*sj0*(x2843.value)), ((-1.0)*cj0*(x2844.value)));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2845=IKsin(j4);
IkReal x2846=IKcos(j4);
IkReal x2847=(cj2*sj0);
IkReal x2848=(sj1*sj2);
IkReal x2849=(cj5*sj3);
IkReal x2850=(cj3*cj5);
IkReal x2851=(cj1*cj2);
IkReal x2852=(r21*sj5);
IkReal x2853=(r00*sj5);
IkReal x2854=(cj2*sj1);
IkReal x2855=(r01*sj5);
IkReal x2856=(r20*sj5);
IkReal x2857=(cj1*sj2);
IkReal x2858=((1.0)*cj0);
IkReal x2859=((1.0)*x2845);
IkReal x2860=(r20*x2846);
IkReal x2861=(r00*x2846);
IkReal x2862=(cj3*x2846);
IkReal x2863=((1.0)*x2846);
evalcond[0]=((((-1.0)*r12*x2863))+(((-1.0)*x2858)));
evalcond[1]=((((-1.0)*cj5*r20*x2859))+((x2845*x2852)));
evalcond[2]=(sj0+(((-1.0)*cj5*r00*x2859))+((x2845*x2855)));
evalcond[3]=(((sj0*x2857))+((sj1*x2847))+(((-1.0)*r12*sj3*x2859)));
evalcond[4]=((((-1.0)*sj0*x2848))+((cj1*x2847))+((cj3*r12*x2845)));
evalcond[5]=(((x2852*x2862))+((r21*x2849))+((sj3*x2856))+(((-1.0)*x2850*x2860))+x2854+x2857);
evalcond[6]=(((r21*x2850))+((cj3*x2856))+(((-1.0)*sj3*x2852*x2863))+((x2849*x2860))+(((-1.0)*x2851))+x2848);
evalcond[7]=(((cj3*x2853))+(((-1.0)*sj3*x2855*x2863))+((cj0*x2857))+((cj0*x2854))+((x2849*x2861))+((r01*x2850)));
evalcond[8]=(((sj3*x2853))+(((-1.0)*x2850*x2861))+((cj0*x2851))+((x2855*x2862))+(((-1.0)*x2848*x2858))+((r01*x2849)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j4]

}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
}
}
}
}
}
}
}
}
}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2864=((1.0)*cj5);
CheckValue<IkReal> x2865 = IKatan2WithCheck(IkReal((((r12*sj0))+((cj0*r02)))),IkReal((((r11*sj0*sj5))+(((-1.0)*r10*sj0*x2864))+((cj0*r01*sj5))+(((-1.0)*cj0*r00*x2864)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2865.valid){
continue;
}
CheckValue<IkReal> x2866=IKPowWithIntegerCheck(IKsign(((((-1.0)*r21*x2864))+(((-1.0)*r20*sj5)))),-1);
if(!x2866.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(x2865.value)+(((1.5707963267949)*(x2866.value))));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2867=IKsin(j4);
IkReal x2868=IKcos(j4);
IkReal x2869=(r11*sj5);
IkReal x2870=(cj2*sj0);
IkReal x2871=(cj5*r10);
IkReal x2872=(sj1*sj2);
IkReal x2873=(cj5*r01);
IkReal x2874=(cj5*r00);
IkReal x2875=(cj1*cj2);
IkReal x2876=(cj3*sj5);
IkReal x2877=(r21*sj5);
IkReal x2878=(cj5*sj3);
IkReal x2879=(sj3*sj5);
IkReal x2880=(cj2*sj1);
IkReal x2881=(r01*sj5);
IkReal x2882=(cj3*cj5);
IkReal x2883=(cj1*sj2);
IkReal x2884=((1.0)*cj0);
IkReal x2885=(cj5*r20);
IkReal x2886=((1.0)*x2868);
IkReal x2887=((1.0)*x2867);
IkReal x2888=(cj3*x2868);
IkReal x2889=(sj3*x2868);
IkReal x2890=(cj3*x2867);
evalcond[0]=((((-1.0)*r22*x2886))+((x2867*x2877))+(((-1.0)*x2885*x2887)));
evalcond[1]=(sj0+(((-1.0)*r02*x2886))+(((-1.0)*x2874*x2887))+((x2867*x2881)));
evalcond[2]=((((-1.0)*x2871*x2887))+((x2867*x2869))+(((-1.0)*x2884))+(((-1.0)*r12*x2886)));
evalcond[3]=(((r22*x2890))+((r21*x2878))+((r20*x2879))+x2883+x2880+(((-1.0)*r20*x2882*x2886))+((r21*x2868*x2876)));
evalcond[4]=((((-1.0)*sj3*x2877*x2886))+(((-1.0)*x2875))+((r21*x2882))+(((-1.0)*r22*sj3*x2887))+((r20*x2868*x2878))+((r20*x2876))+x2872);
evalcond[5]=((((-1.0)*r01*x2879*x2886))+((r00*x2876))+((cj0*x2883))+((cj0*x2880))+(((-1.0)*r02*sj3*x2887))+((cj3*x2873))+((x2874*x2889)));
evalcond[6]=(((r01*x2868*x2876))+((cj0*x2875))+((r00*x2879))+(((-1.0)*cj3*x2874*x2886))+((r02*x2890))+(((-1.0)*x2872*x2884))+((sj3*x2873)));
evalcond[7]=((((-1.0)*r12*sj3*x2887))+((r10*x2876))+((r11*x2882))+((sj0*x2883))+((sj1*x2870))+(((-1.0)*sj3*x2869*x2886))+((x2871*x2889)));
evalcond[8]=((((-1.0)*sj0*x2872))+((r10*x2879))+((cj1*x2870))+((x2869*x2888))+((r12*x2890))+((r11*x2878))+(((-1.0)*cj3*x2871*x2886)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2891=IKPowWithIntegerCheck(IKsign((((r00*sj5))+((cj5*r01)))),-1);
if(!x2891.valid){
continue;
}
CheckValue<IkReal> x2892 = IKatan2WithCheck(IkReal((cj0*r22)),IkReal((((cj0*r21*sj5))+(((-1.0)*cj0*cj5*r20)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2892.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2891.value)))+(x2892.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2893=IKsin(j4);
IkReal x2894=IKcos(j4);
IkReal x2895=(r11*sj5);
IkReal x2896=(cj2*sj0);
IkReal x2897=(cj5*r10);
IkReal x2898=(sj1*sj2);
IkReal x2899=(cj5*r01);
IkReal x2900=(cj5*r00);
IkReal x2901=(cj1*cj2);
IkReal x2902=(cj3*sj5);
IkReal x2903=(r21*sj5);
IkReal x2904=(cj5*sj3);
IkReal x2905=(sj3*sj5);
IkReal x2906=(cj2*sj1);
IkReal x2907=(r01*sj5);
IkReal x2908=(cj3*cj5);
IkReal x2909=(cj1*sj2);
IkReal x2910=((1.0)*cj0);
IkReal x2911=(cj5*r20);
IkReal x2912=((1.0)*x2894);
IkReal x2913=((1.0)*x2893);
IkReal x2914=(cj3*x2894);
IkReal x2915=(sj3*x2894);
IkReal x2916=(cj3*x2893);
evalcond[0]=((((-1.0)*x2911*x2913))+((x2893*x2903))+(((-1.0)*r22*x2912)));
evalcond[1]=(sj0+(((-1.0)*x2900*x2913))+((x2893*x2907))+(((-1.0)*r02*x2912)));
evalcond[2]=((((-1.0)*r12*x2912))+((x2893*x2895))+(((-1.0)*x2897*x2913))+(((-1.0)*x2910)));
evalcond[3]=(((r21*x2894*x2902))+((r21*x2904))+(((-1.0)*r20*x2908*x2912))+((r20*x2905))+((r22*x2916))+x2906+x2909);
evalcond[4]=((((-1.0)*sj3*x2903*x2912))+((r20*x2894*x2904))+((r21*x2908))+(((-1.0)*r22*sj3*x2913))+((r20*x2902))+(((-1.0)*x2901))+x2898);
evalcond[5]=(((r00*x2902))+((cj0*x2906))+((cj0*x2909))+(((-1.0)*r01*x2905*x2912))+((cj3*x2899))+(((-1.0)*r02*sj3*x2913))+((x2900*x2915)));
evalcond[6]=(((sj3*x2899))+((r01*x2894*x2902))+((r00*x2905))+((cj0*x2901))+(((-1.0)*x2898*x2910))+((r02*x2916))+(((-1.0)*cj3*x2900*x2912)));
evalcond[7]=(((r10*x2902))+(((-1.0)*r12*sj3*x2913))+((x2897*x2915))+((sj1*x2896))+((r11*x2908))+((sj0*x2909))+(((-1.0)*sj3*x2895*x2912)));
evalcond[8]=(((r10*x2905))+((r12*x2916))+((cj1*x2896))+((r11*x2904))+(((-1.0)*sj0*x2898))+(((-1.0)*cj3*x2897*x2912))+((x2895*x2914)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
CheckValue<IkReal> x2917=IKPowWithIntegerCheck(IKsign((((cj5*r11))+((r10*sj5)))),-1);
if(!x2917.valid){
continue;
}
CheckValue<IkReal> x2918 = IKatan2WithCheck(IkReal((r22*sj0)),IkReal(((((-1.0)*cj5*r20*sj0))+((r21*sj0*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2918.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2917.value)))+(x2918.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[9];
IkReal x2919=IKsin(j4);
IkReal x2920=IKcos(j4);
IkReal x2921=(r11*sj5);
IkReal x2922=(cj2*sj0);
IkReal x2923=(cj5*r10);
IkReal x2924=(sj1*sj2);
IkReal x2925=(cj5*r01);
IkReal x2926=(cj5*r00);
IkReal x2927=(cj1*cj2);
IkReal x2928=(cj3*sj5);
IkReal x2929=(r21*sj5);
IkReal x2930=(cj5*sj3);
IkReal x2931=(sj3*sj5);
IkReal x2932=(cj2*sj1);
IkReal x2933=(r01*sj5);
IkReal x2934=(cj3*cj5);
IkReal x2935=(cj1*sj2);
IkReal x2936=((1.0)*cj0);
IkReal x2937=(cj5*r20);
IkReal x2938=((1.0)*x2920);
IkReal x2939=((1.0)*x2919);
IkReal x2940=(cj3*x2920);
IkReal x2941=(sj3*x2920);
IkReal x2942=(cj3*x2919);
evalcond[0]=(((x2919*x2929))+(((-1.0)*r22*x2938))+(((-1.0)*x2937*x2939)));
evalcond[1]=(sj0+((x2919*x2933))+(((-1.0)*r02*x2938))+(((-1.0)*x2926*x2939)));
evalcond[2]=((((-1.0)*x2923*x2939))+((x2919*x2921))+(((-1.0)*x2936))+(((-1.0)*r12*x2938)));
evalcond[3]=(((r21*x2930))+((r22*x2942))+((r20*x2931))+(((-1.0)*r20*x2934*x2938))+x2935+x2932+((r21*x2920*x2928)));
evalcond[4]=(((r20*x2920*x2930))+((r21*x2934))+(((-1.0)*sj3*x2929*x2938))+((r20*x2928))+(((-1.0)*r22*sj3*x2939))+x2924+(((-1.0)*x2927)));
evalcond[5]=((((-1.0)*r02*sj3*x2939))+((cj0*x2932))+((cj0*x2935))+((x2926*x2941))+((r00*x2928))+((cj3*x2925))+(((-1.0)*r01*x2931*x2938)));
evalcond[6]=(((sj3*x2925))+((r00*x2931))+((r02*x2942))+((cj0*x2927))+((r01*x2920*x2928))+(((-1.0)*x2924*x2936))+(((-1.0)*cj3*x2926*x2938)));
evalcond[7]=(((sj1*x2922))+((r10*x2928))+(((-1.0)*r12*sj3*x2939))+(((-1.0)*sj3*x2921*x2938))+((x2923*x2941))+((sj0*x2935))+((r11*x2934)));
evalcond[8]=(((r10*x2931))+(((-1.0)*cj3*x2923*x2938))+(((-1.0)*sj0*x2924))+((r12*x2942))+((x2921*x2940))+((cj1*x2922))+((r11*x2930)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}

}

}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2943=cj5*cj5;
IkReal x2944=r21*r21;
IkReal x2945=r20*r20;
IkReal x2946=(r20*r21);
IkReal x2947=((1.0)*cj3);
IkReal x2948=((1.0)*cj5);
IkReal x2949=(cj1*sj2);
IkReal x2950=(cj5*sj5);
IkReal x2951=(sj3*sj5);
IkReal x2952=(cj2*sj1);
IkReal x2953=(r21*sj5);
CheckValue<IkReal> x2954=IKPowWithIntegerCheck(IKsign(((((-1.0)*x2943*x2945*x2947))+(((-1.0)*x2947*(r22*r22)))+(((2.0)*cj3*x2946*x2950))+(((-1.0)*x2944*x2947))+((cj3*x2943*x2944)))),-1);
if(!x2954.valid){
continue;
}
CheckValue<IkReal> x2955 = IKatan2WithCheck(IkReal((((r22*x2952))+((cj5*r21*r22*sj3))+((r22*x2949))+((r20*r22*x2951)))),IkReal((((sj3*x2944*x2950))+(((-1.0)*r20*x2948*x2949))+(((-1.0)*r20*x2948*x2952))+((x2952*x2953))+(((-2.0)*sj3*x2943*x2946))+((sj3*x2946))+(((-1.0)*x2945*x2948*x2951))+((x2949*x2953)))),IKFAST_ATAN2_MAGTHRESH);
if(!x2955.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2954.value)))+(x2955.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[3];
IkReal x2956=IKsin(j4);
IkReal x2957=IKcos(j4);
IkReal x2958=(cj3*r21);
IkReal x2959=(r21*sj5);
IkReal x2960=(r20*sj5);
IkReal x2961=(cj5*r20);
IkReal x2962=((1.0)*x2957);
IkReal x2963=((1.0)*x2956);
evalcond[0]=((((-1.0)*r22*x2962))+(((-1.0)*x2961*x2963))+((x2956*x2959)));
evalcond[1]=(((cj2*sj1))+((cj3*r22*x2956))+((cj5*r21*sj3))+(((-1.0)*cj3*x2961*x2962))+((cj1*sj2))+((sj3*x2960))+((sj5*x2957*x2958)));
evalcond[2]=((((-1.0)*r22*sj3*x2963))+(((-1.0)*cj1*cj2))+((sj1*sj2))+((cj5*x2958))+(((-1.0)*sj3*x2959*x2962))+((cj3*x2960))+((sj3*x2957*x2961)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x2964=(cj5*sj4);
IkReal x2965=(sj4*sj5);
if( IKabs(((((-1.0)*r01*x2965))+((r00*x2964))+((cj4*r02)))) < IKFAST_ATAN2_MAGTHRESH && IKabs((((r11*x2965))+(((-1.0)*r10*x2964))+(((-1.0)*cj4*r12)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((((-1.0)*r01*x2965))+((r00*x2964))+((cj4*r02))))+IKsqr((((r11*x2965))+(((-1.0)*r10*x2964))+(((-1.0)*cj4*r12))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j0array[0]=IKatan2(((((-1.0)*r01*x2965))+((r00*x2964))+((cj4*r02))), (((r11*x2965))+(((-1.0)*r10*x2964))+(((-1.0)*cj4*r12))));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[8];
IkReal x2966=IKsin(j0);
IkReal x2967=IKcos(j0);
IkReal x2968=(r02*sj4);
IkReal x2969=((1.0)*sj3);
IkReal x2970=(r12*sj4);
IkReal x2971=(cj3*cj4);
IkReal x2972=((1.0)*cj5);
IkReal x2973=(r11*sj5);
IkReal x2974=(cj5*r01);
IkReal x2975=(r01*sj5);
IkReal x2976=(r00*sj5);
IkReal x2977=((0.39225)*cj2);
IkReal x2978=(cj5*r11);
IkReal x2979=((1.0)*sj2);
IkReal x2980=(r10*sj5);
IkReal x2981=((1.0)*cj4);
IkReal x2982=((0.39225)*sj1*sj2);
IkReal x2983=(cj1*x2966);
IkReal x2984=(cj4*cj5*sj3);
IkReal x2985=(cj1*x2967);
IkReal x2986=(sj1*x2967);
IkReal x2987=(sj1*x2966);
evalcond[0]=(((sj4*x2975))+(((-1.0)*r00*sj4*x2972))+(((-1.0)*r02*x2981))+x2966);
evalcond[1]=(((sj4*x2973))+(((-1.0)*x2967))+(((-1.0)*r12*x2981))+(((-1.0)*r10*sj4*x2972)));
evalcond[2]=((((-1.0)*x2977*x2985))+(((-0.09465)*x2976))+(((-0.09465)*x2974))+(((-0.425)*x2985))+(((0.10915)*x2966))+(((-1.0)*px))+((x2967*x2982)));
evalcond[3]=((((-1.0)*x2977*x2983))+(((-0.09465)*x2978))+(((-0.425)*x2983))+(((-0.09465)*x2980))+((x2966*x2982))+(((-1.0)*py))+(((-0.10915)*x2967)));
evalcond[4]=(((cj2*x2986))+((sj2*x2985))+(((-1.0)*cj4*x2969*x2975))+((r00*x2984))+(((-1.0)*x2968*x2969))+((cj3*x2976))+((cj3*x2974)));
evalcond[5]=(((x2971*x2975))+(((-1.0)*x2979*x2986))+((cj2*x2985))+(((-1.0)*r00*x2971*x2972))+((cj3*x2968))+((sj3*x2974))+((sj3*x2976)));
evalcond[6]=(((cj3*x2980))+((cj2*x2987))+((sj2*x2983))+(((-1.0)*cj4*x2969*x2973))+(((-1.0)*x2969*x2970))+((cj3*x2978))+((r10*x2984)));
evalcond[7]=(((x2971*x2973))+(((-1.0)*x2979*x2987))+((cj2*x2983))+((sj3*x2980))+((sj3*x2978))+((cj3*x2970))+(((-1.0)*r10*x2971*x2972)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
}
}

}

}

} else
{
{
IkReal j4array[1], cj4array[1], sj4array[1];
bool j4valid[1]={false};
_nj4 = 1;
IkReal x2988=cj5*cj5;
IkReal x2989=r21*r21;
IkReal x2990=r20*r20;
IkReal x2991=(r20*r21);
IkReal x2992=(sj1*sj2);
IkReal x2993=(r21*sj5);
IkReal x2994=(cj1*cj2);
IkReal x2995=(cj5*r20);
IkReal x2996=(cj5*sj5);
IkReal x2997=(cj3*r22);
IkReal x2998=(sj3*x2989);
CheckValue<IkReal> x2999=IKPowWithIntegerCheck(IKsign((((sj3*(r22*r22)))+(((-1.0)*x2988*x2998))+(((-2.0)*sj3*x2991*x2996))+((sj3*x2988*x2990))+x2998)),-1);
if(!x2999.valid){
continue;
}
CheckValue<IkReal> x3000 = IKatan2WithCheck(IkReal((((cj5*r21*x2997))+(((-1.0)*r22*x2994))+((r20*sj5*x2997))+((r22*x2992)))),IkReal(((((-1.0)*x2993*x2994))+((cj3*x2991))+(((-1.0)*cj3*x2990*x2996))+((x2992*x2993))+(((-2.0)*cj3*x2988*x2991))+((cj3*x2989*x2996))+((x2994*x2995))+(((-1.0)*x2992*x2995)))),IKFAST_ATAN2_MAGTHRESH);
if(!x3000.valid){
continue;
}
j4array[0]=((-1.5707963267949)+(((1.5707963267949)*(x2999.value)))+(x3000.value));
sj4array[0]=IKsin(j4array[0]);
cj4array[0]=IKcos(j4array[0]);
if( j4array[0] > IKPI )
{
    j4array[0]-=IK2PI;
}
else if( j4array[0] < -IKPI )
{    j4array[0]+=IK2PI;
}
j4valid[0] = true;
for(int ij4 = 0; ij4 < 1; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 1; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break; 
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
{
IkReal evalcond[3];
IkReal x3001=IKsin(j4);
IkReal x3002=IKcos(j4);
IkReal x3003=(cj3*r21);
IkReal x3004=(r21*sj5);
IkReal x3005=(r20*sj5);
IkReal x3006=(cj5*r20);
IkReal x3007=((1.0)*x3002);
IkReal x3008=((1.0)*x3001);
evalcond[0]=((((-1.0)*r22*x3007))+((x3001*x3004))+(((-1.0)*x3006*x3008)));
evalcond[1]=(((cj2*sj1))+((cj5*r21*sj3))+((cj1*sj2))+((cj3*r22*x3001))+((sj3*x3005))+(((-1.0)*cj3*x3006*x3007))+((sj5*x3002*x3003)));
evalcond[2]=((((-1.0)*r22*sj3*x3008))+((cj5*x3003))+(((-1.0)*cj1*cj2))+((sj1*sj2))+((cj3*x3005))+(((-1.0)*sj3*x3004*x3007))+((sj3*x3002*x3006)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
IkReal j0array[1], cj0array[1], sj0array[1];
bool j0valid[1]={false};
_nj0 = 1;
IkReal x3009=(cj5*sj4);
IkReal x3010=(sj4*sj5);
if( IKabs((((r00*x3009))+(((-1.0)*r01*x3010))+((cj4*r02)))) < IKFAST_ATAN2_MAGTHRESH && IKabs((((r11*x3010))+(((-1.0)*r10*x3009))+(((-1.0)*cj4*r12)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((((r00*x3009))+(((-1.0)*r01*x3010))+((cj4*r02))))+IKsqr((((r11*x3010))+(((-1.0)*r10*x3009))+(((-1.0)*cj4*r12))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j0array[0]=IKatan2((((r00*x3009))+(((-1.0)*r01*x3010))+((cj4*r02))), (((r11*x3010))+(((-1.0)*r10*x3009))+(((-1.0)*cj4*r12))));
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
for(int ij0 = 0; ij0 < 1; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 1; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break; 
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
{
IkReal evalcond[8];
IkReal x3011=IKsin(j0);
IkReal x3012=IKcos(j0);
IkReal x3013=(r02*sj4);
IkReal x3014=((1.0)*sj3);
IkReal x3015=(r12*sj4);
IkReal x3016=(cj3*cj4);
IkReal x3017=((1.0)*cj5);
IkReal x3018=(r11*sj5);
IkReal x3019=(cj5*r01);
IkReal x3020=(r01*sj5);
IkReal x3021=(r00*sj5);
IkReal x3022=((0.39225)*cj2);
IkReal x3023=(cj5*r11);
IkReal x3024=((1.0)*sj2);
IkReal x3025=(r10*sj5);
IkReal x3026=((1.0)*cj4);
IkReal x3027=((0.39225)*sj1*sj2);
IkReal x3028=(cj1*x3011);
IkReal x3029=(cj4*cj5*sj3);
IkReal x3030=(cj1*x3012);
IkReal x3031=(sj1*x3012);
IkReal x3032=(sj1*x3011);
evalcond[0]=(x3011+(((-1.0)*r00*sj4*x3017))+((sj4*x3020))+(((-1.0)*r02*x3026)));
evalcond[1]=((((-1.0)*r12*x3026))+(((-1.0)*r10*sj4*x3017))+(((-1.0)*x3012))+((sj4*x3018)));
evalcond[2]=((((-0.425)*x3030))+(((-0.09465)*x3021))+(((-1.0)*px))+(((-0.09465)*x3019))+(((-1.0)*x3022*x3030))+(((0.10915)*x3011))+((x3012*x3027)));
evalcond[3]=((((-0.10915)*x3012))+(((-0.09465)*x3025))+(((-0.09465)*x3023))+(((-1.0)*py))+((x3011*x3027))+(((-1.0)*x3022*x3028))+(((-0.425)*x3028)));
evalcond[4]=((((-1.0)*cj4*x3014*x3020))+((cj2*x3031))+((cj3*x3021))+((cj3*x3019))+((sj2*x3030))+((r00*x3029))+(((-1.0)*x3013*x3014)));
evalcond[5]=(((sj3*x3021))+(((-1.0)*x3024*x3031))+((cj2*x3030))+((cj3*x3013))+(((-1.0)*r00*x3016*x3017))+((sj3*x3019))+((x3016*x3020)));
evalcond[6]=(((r10*x3029))+((sj2*x3028))+((cj2*x3032))+((cj3*x3025))+((cj3*x3023))+(((-1.0)*cj4*x3014*x3018))+(((-1.0)*x3014*x3015)));
evalcond[7]=(((sj3*x3023))+((sj3*x3025))+(((-1.0)*x3024*x3032))+(((-1.0)*r10*x3016*x3017))+((x3016*x3018))+((cj2*x3028))+((cj3*x3015)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}

{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
}
}

}

}
}
}

}

}
}
}
// [(0, 0), (0, 1), (1, 0), (1, 1), (2, 0), (2, 1), (3, 0), (3, 1)] (original are [(0, 0), (0, 1), (1, 0), (1, 1), (2, 0), (2, 1)])
static inline bool checkconsistency8(const IkReal* Breal)
{
    IkReal norm = 0.1;
    for(int i = 0; i < 7; ++i) {
        norm += IKabs(Breal[i]);
    }
    // HACK should be 1e-5*norm
    IkReal tol = 1e-2*norm; // have to increase the threshold since many computations are involved
    return IKabs(Breal[0]*Breal[1]-Breal[2]) < tol && IKabs(Breal[1]*Breal[1]-Breal[3]) < tol && IKabs(Breal[0]*Breal[3]-Breal[4]) < tol && IKabs(Breal[1]*Breal[3]-Breal[5]) < tol && IKabs(Breal[0]*Breal[5]-Breal[6]) < tol;
}
template<int D>
static inline bool matrixinverse(IkReal* A)
{
    int n = D;
    int info;
    IkReal IKFAST_ALIGNED16(work[D*D*(D-1)]);
    int ipiv[D];
    dgetrf_(&n, &n, A, &n, &ipiv[0], &info);
    if( info != 0 ) {
        return false;
    }
    int worksize=D*D*(D-1);
    dgetri_(&n, A, &n, &ipiv[0], &work[0], &worksize, &info);
    return info==0;
}

/// \brief Solve the det Ax^2+Bx+C = 0 problem using the Manocha and Canny method (1994)
///
/// matcoeffs is of length 54*3, for 3 matrices
static inline void solvedialyticpoly8qep(const IkReal* matcoeffs, IkReal* rawroots, int& numroots)
{
    const IkReal tol = 128.0*std::numeric_limits<IkReal>::epsilon();
    IkReal IKFAST_ALIGNED16(M[16*16]) = {0};
    IkReal IKFAST_ALIGNED16(A[8*8]);
    IkReal IKFAST_ALIGNED16(work[16*16*15]);
    int ipiv[8];
    int info, coeffindex;
    const int worksize=16*16*15;
    const int matrixdim = 8;
    const int matrixdim2 = 16;
    numroots = 0;
    // first setup M = [0 I; -C -B] and A
    coeffindex = 0;
    for(int j = 0; j < 4; ++j) {
        for(int k = 0; k < 6; ++k) {
            M[matrixdim+(j+4)+2*matrixdim*k] = M[matrixdim+j+2*matrixdim*(k+2)] = -matcoeffs[coeffindex++];
        }
    }
    for(int j = 0; j < 4; ++j) {
        for(int k = 0; k < 6; ++k) {
            M[matrixdim+(j+4)+2*matrixdim*k+matrixdim*2*matrixdim] = M[matrixdim+j+2*matrixdim*(k+2)+matrixdim*2*matrixdim] = -matcoeffs[coeffindex++];
        }
    }
    for(int j = 0; j < 4; ++j) {
        for(int k = 0; k < 6; ++k) {
            A[(j+4)+matrixdim*k] = A[j+matrixdim*(k+2)] = matcoeffs[coeffindex++];
        }
        for(int k = 0; k < 2; ++k) {
            A[j+matrixdim*k] = A[(j+4)+matrixdim*(k+6)] = 0;
        }
    }
    const IkReal lfpossibilities[4][4] = {{1,-1,1,1},{1,0,-2,1},{1,1,2,0},{1,-1,4,1}};
    int lfindex = -1;
    bool bsingular = true;
    do {
        dgetrf_(&matrixdim,&matrixdim,A,&matrixdim,&ipiv[0],&info);
        if( info == 0 ) {
            bsingular = false;
            for(int j = 0; j < matrixdim; ++j) {
                if( IKabs(A[j*matrixdim+j]) < 100*tol ) {
                    bsingular = true;
                    break;
                }
            }
            if( !bsingular ) {
                break;
            }
        }
        if( lfindex == 3 ) {
            break;
        }
        // transform by the linear functional
        lfindex++;
        const IkReal* lf = lfpossibilities[lfindex];
        // have to reinitialize A
        coeffindex = 0;
        for(int j = 0; j < 4; ++j) {
            for(int k = 0; k < 6; ++k) {
                IkReal a = matcoeffs[coeffindex+48], b = matcoeffs[coeffindex+24], c = matcoeffs[coeffindex];
                A[(j+4)+matrixdim*k] = A[j+matrixdim*(k+2)] = lf[0]*lf[0]*a+lf[0]*lf[2]*b+lf[2]*lf[2]*c;
                M[matrixdim+(j+4)+2*matrixdim*k] = M[matrixdim+j+2*matrixdim*(k+2)] = -(lf[1]*lf[1]*a + lf[1]*lf[3]*b + lf[3]*lf[3]*c);
                M[matrixdim+(j+4)+2*matrixdim*k+matrixdim*2*matrixdim] = M[matrixdim+j+2*matrixdim*(k+2)+matrixdim*2*matrixdim] = -(2*lf[0]*lf[1]*a + (lf[0]*lf[3]+lf[1]*lf[2])*b + 2*lf[2]*lf[3]*c);
                coeffindex++;
            }
            for(int k = 0; k < 2; ++k) {
                A[j+matrixdim*k] = A[(j+4)+matrixdim*(k+6)] = 0;
            }
        }
    } while(lfindex<4);

    if( bsingular ) {
        return;
    }
    dgetrs_("No transpose", &matrixdim, &matrixdim2, A, &matrixdim, &ipiv[0], &M[matrixdim], &matrixdim2, &info);
    if( info != 0 ) {
        return;
    }

    // set identity in upper corner
    for(int j = 0; j < matrixdim; ++j) {
        M[matrixdim*2*matrixdim+j+matrixdim*2*j] = 1;
    }
    IkReal IKFAST_ALIGNED16(wr[16]);
    IkReal IKFAST_ALIGNED16(wi[16]);
    IkReal IKFAST_ALIGNED16(vr[16*16]);
    int one=1;
    dgeev_("N", "V", &matrixdim2, M, &matrixdim2, wr, wi,NULL, &one, vr, &matrixdim2, work, &worksize, &info);
    if( info != 0 ) {
        return;
    }
    IkReal Breal[matrixdim-1];
    for(int i = 0; i < matrixdim2; ++i) {
        // HACK should be tol*100
        if( IKabs(wi[i]) < 5e-5 ) {
            IkReal* ev = vr+matrixdim2*i;
            if( IKabs(wr[i]) > 1 ) {
                ev += matrixdim;
            }
            // consistency has to be checked!!
            if( IKabs(ev[0]) < tol ) {
                continue;
            }
            IkReal iconst = 1/ev[0];
            for(int j = 1; j < matrixdim; ++j) {
                Breal[j-1] = ev[j]*iconst;
            }
            if( checkconsistency8(Breal) ) {
                if( lfindex >= 0 ) {
                    const IkReal* lf = lfpossibilities[lfindex];
                    rawroots[numroots++] = (wr[i]*lf[0]+lf[1])/(wr[i]*lf[2]+lf[3]);
                }
                else {
                    rawroots[numroots++] = wr[i];
                }
                bool bsmall0=IKabs(ev[0]) > IKabs(ev[2]);
                bool bsmall1=IKabs(ev[0]) > IKabs(ev[1]);
                if( bsmall0 && bsmall1 ) {
                    rawroots[numroots++] = ev[2]/ev[0];
                    rawroots[numroots++] = ev[1]/ev[0];
                }
                else if( bsmall0 && !bsmall1 ) {
                    rawroots[numroots++] = ev[3]/ev[1];
                    rawroots[numroots++] = ev[1]/ev[0];
                }
                else if( !bsmall0 && bsmall1 ) {
                    rawroots[numroots++] = ev[6]/ev[4];
                    rawroots[numroots++] = ev[7]/ev[6];
                }
                else if( !bsmall0 && !bsmall1 ) {
                    rawroots[numroots++] = ev[7]/ev[5];
                    rawroots[numroots++] = ev[7]/ev[6];
                }
            }
        }
    }
}};


/// solves the inverse kinematics equations.
/// \param pfree is an array specifying the free joints of the chain.
IKFAST_API bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase<IkReal>& solutions) {
IKSolver solver;
return solver.ComputeIk(eetrans,eerot,pfree,solutions);
}

IKFAST_API bool ComputeIk2(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase<IkReal>& solutions, void* pOpenRAVEManip) {
IKSolver solver;
return solver.ComputeIk(eetrans,eerot,pfree,solutions);
}

IKFAST_API const char* GetKinematicsHash() { return "<robot:GenericRobot - ur5 (973673f8bf550660d7421e56e1b18c37)>"; }

IKFAST_API const char* GetIkFastVersion() { return "0x10000049"; }

#ifdef IKFAST_NAMESPACE
} // end namespace
#endif

#ifndef IKFAST_NO_MAIN
#include <stdio.h>
#include <stdlib.h>
#ifdef IKFAST_NAMESPACE
using namespace IKFAST_NAMESPACE;
#endif
int main(int argc, char** argv)
{
    if( argc != 12+GetNumFreeParameters()+1 ) {
        printf("\nUsage: ./ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ...\n\n"
               "Returns the ik solutions given the transformation of the end effector specified by\n"
               "a 3x3 rotation R (rXX), and a 3x1 translation (tX).\n"
               "There are %d free parameters that have to be specified.\n\n",GetNumFreeParameters());
        return 1;
    }

    IkSolutionList<IkReal> solutions;
    std::vector<IkReal> vfree(GetNumFreeParameters());
    IkReal eerot[9],eetrans[3];
    eerot[0] = atof(argv[1]); eerot[1] = atof(argv[2]); eerot[2] = atof(argv[3]); eetrans[0] = atof(argv[4]);
    eerot[3] = atof(argv[5]); eerot[4] = atof(argv[6]); eerot[5] = atof(argv[7]); eetrans[1] = atof(argv[8]);
    eerot[6] = atof(argv[9]); eerot[7] = atof(argv[10]); eerot[8] = atof(argv[11]); eetrans[2] = atof(argv[12]);
    for(std::size_t i = 0; i < vfree.size(); ++i)
        vfree[i] = atof(argv[13+i]);
    bool bSuccess = ComputeIk(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, solutions);

    if( !bSuccess ) {
        fprintf(stderr,"Failed to get ik solution\n");
        return -1;
    }

    printf("Found %d ik solutions:\n", (int)solutions.GetNumSolutions());
    std::vector<IkReal> solvalues(GetNumJoints());
    for(std::size_t i = 0; i < solutions.GetNumSolutions(); ++i) {
        const IkSolutionBase<IkReal>& sol = solutions.GetSolution(i);
        printf("sol%d (free=%d): ", (int)i, (int)sol.GetFree().size());
        std::vector<IkReal> vsolfree(sol.GetFree().size());
        sol.GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL);
        for( std::size_t j = 0; j < solvalues.size(); ++j)
            printf("%.15f, ", solvalues[j]);
        printf("\n");
    }
    return 0;
}

#endif