OF_SpeedReducer(x)

function [out,error] = OF_SpeedReducer(x)
x=x(:); % make vector
out=0.7854*x(1)*x(2)^2*(3.3333*x(3)^2+14.9334*x(3)-43.0934)-1.508*x(1)*(x(6)^2+x(7)^2)+ ...
    7.4777*(x(6)^3+x(7)^3)+0.7854*(x(4)*x(6)^2+x(5)*x(7)^2);
error=0;