1/256*t^3*(16*t^2-8*t-1)*(16*t^2+8*t-1)*D^4+1/128*(1792*t^4-480*t^2+3)*D^3*t^2+1/256*(13824*t^4-2432*t^2+7)*D^2*t+(60*t^4-6*t^2+1/256)*D+1/2*(24*t^2-1)*t