s4, c4, s3, c3, s2, c2, s1, c1, s0, c0, 
-8*c3*c4*s0+3*s1
8*c0*c3*c4*s2-8*c2*c4*s3+8*s0*s2*s4+3*c1-4*c2
-4*c0*c2*c3*c4+4*c2*s0*s4-4*c4*s2*s3-2*s2+5
c0^2+s0^2-1
c1^2+s1^2-1
c2^2+s2^2-1
c3^2+s3^2-1
c4^2+s4^2-1
