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t9 = q0*q3;
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t10 = q1*q2;
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t2 = t9+t10;
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t3 = q0*q0;
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t4 = q1*q1;
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t5 = q2*q2;
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t6 = q3*q3;
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t7 = t3+t4-t5-t6;
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t8 = 1.0/(t7*t7);
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t11 = t2*t2;
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t12 = t8*t11*4.0;
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t13 = t12+1.0;
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t14 = 1.0/t13;
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t15 = 1.0/(t2*t2);
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t16 = q3*t3;
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t17 = q3*t5;
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t18 = q0*q1*q2*2.0;
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t19 = t16+t17+t18-q3*t4+q3*t6;
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t20 = t7*t7;
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t21 = t15*t20*(1.0/4.0);
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t22 = t21+1.0;
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t23 = 1.0/t22;
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t24 = q2*t4;
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t25 = q2*t6;
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t26 = q0*q1*q3*2.0;
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t27 = t24+t25+t26-q2*t3+q2*t5;
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t28 = q1*t3;
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t29 = q1*t5;
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t30 = q0*q2*q3*2.0;
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t31 = t28+t29+t30+q1*t4-q1*t6;
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t32 = q0*t4;
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t33 = q0*t6;
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t34 = q1*q2*q3*2.0;
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t35 = t32+t33+t34+q0*t3-q0*t5;
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A0[0][0] = t8*t14*t19*-2.0;
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A0[0][1] = t8*t14*t27*-2.0;
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A0[0][2] = t8*t14*t31*2.0;
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A0[0][3] = t8*t14*t35*2.0;
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A0[1][0] = t15*t19*t23*(-1.0/2.0);
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A0[1][1] = t15*t23*t27*(-1.0/2.0);
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A0[1][2] = t15*t23*t31*(1.0/2.0);
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A0[1][3] = t15*t23*t35*(1.0/2.0);
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