t2 = 1.0/range;
t3 = q0*q0;
t4 = q1*q1;
t5 = q2*q2;
t6 = q3*q3;
t7 = q0*q2*2.0;
t8 = q1*q3*2.0;
t9 = q0*q3*2.0;
t10 = q1*q2*2.0;
t11 = q0*q1*2.0;
A0[0][0] = t2*(vn*(t7+t8)+vd*(t3-t4-t5+t6)-ve*(t11-q2*q3*2.0));
A0[0][2] = -t2*(ve*(t9+t10)-vd*(t7-t8)+vn*(t3+t4-t5-t6));
A0[0][3] = -t2*(t9-t10);
A0[0][4] = t2*(t3-t4+t5-t6);
A0[0][5] = t2*(t11+q2*q3*2.0);