> I use sympy to (i) compute these big vectors, expressed in a very declarative way, (ii) compute the jacobian and (iii) export the results in C-code, immediate

> I use sympy to (i) compute these big vectors, expressed in a very declarative way, (ii) compute the jacobian and (iii) export the results in C-code, immediately importable in my code case. You could maybe calculate the Jacobian in C code using automatic differentiation. Might be less C-code, might be less elementary operations done in the C code, and you would not need to be copy-pasting complex symbolically derived formulas from Python to C. https://en.wikipedia.org/wiki/Automatic_differentiation https://en.wikipedia.org/wiki/Automatic_differentiation