#ifndef UNROLLEDFPFT_H
#define UNROLLEDFPFT_H

static inline void unrolledFPFt(
        const Eigen::Matrix<float, dSTATE_SIZE, dSTATE_SIZE>& Pin,
        Eigen::Matrix<float, dSTATE_SIZE, dSTATE_SIZE>& Pnew,
        const float dt,
        const Eigen::Matrix3f& dVel_dTheta,
        const Eigen::Matrix3f& dVel_dAccelBias,
        const Eigen::Matrix3f& dTheta_dTheta
        ) {
const float x0 = Pin(1,0) + Pin(4,0)*dt + dt*(Pin(3,1) + Pin(4,3)*dt);
const float x1 = Pin(2,0) + Pin(5,0)*dt + dt*(Pin(3,2) + Pin(5,3)*dt);
const float x2 = Pin(10,3)*dVel_dAccelBias(0,1) + Pin(11,3)*dVel_dAccelBias(0,2) + Pin(3,3) + Pin(6,3)*dVel_dTheta(0,0) + Pin(7,3)*dVel_dTheta(0,1) + Pin(8,3)*dVel_dTheta(0,2) + Pin(9,3)*dVel_dAccelBias(0,0);
const float x3 = Pin(10,0)*dVel_dAccelBias(0,1) + Pin(11,0)*dVel_dAccelBias(0,2) + Pin(3,0) + Pin(6,0)*dVel_dTheta(0,0) + Pin(7,0)*dVel_dTheta(0,1) + Pin(8,0)*dVel_dTheta(0,2) + Pin(9,0)*dVel_dAccelBias(0,0) + dt*x2;
const float x4 = Pin(10,3)*dVel_dAccelBias(1,1) + Pin(11,3)*dVel_dAccelBias(1,2) + Pin(4,3) + Pin(6,3)*dVel_dTheta(1,0) + Pin(7,3)*dVel_dTheta(1,1) + Pin(8,3)*dVel_dTheta(1,2) + Pin(9,3)*dVel_dAccelBias(1,0);
const float x5 = Pin(10,0)*dVel_dAccelBias(1,1) + Pin(11,0)*dVel_dAccelBias(1,2) + Pin(4,0) + Pin(6,0)*dVel_dTheta(1,0) + Pin(7,0)*dVel_dTheta(1,1) + Pin(8,0)*dVel_dTheta(1,2) + Pin(9,0)*dVel_dAccelBias(1,0) + dt*x4;
const float x6 = Pin(10,3)*dVel_dAccelBias(2,1) + Pin(11,3)*dVel_dAccelBias(2,2) + Pin(5,3) + Pin(6,3)*dVel_dTheta(2,0) + Pin(7,3)*dVel_dTheta(2,1) + Pin(8,3)*dVel_dTheta(2,2) + Pin(9,3)*dVel_dAccelBias(2,0);
const float x7 = Pin(10,0)*dVel_dAccelBias(2,1) + Pin(11,0)*dVel_dAccelBias(2,2) + Pin(5,0) + Pin(6,0)*dVel_dTheta(2,0) + Pin(7,0)*dVel_dTheta(2,1) + Pin(8,0)*dVel_dTheta(2,2) + Pin(9,0)*dVel_dAccelBias(2,0) + dt*x6;
const float x8 = Pin(12,3)*dt;
const float x9 = Pin(6,3)*dTheta_dTheta(0,0) + Pin(7,3)*dTheta_dTheta(0,1) + Pin(8,3)*dTheta_dTheta(0,2) - x8;
const float x10 = -Pin(12,0)*dt + Pin(6,0)*dTheta_dTheta(0,0) + Pin(7,0)*dTheta_dTheta(0,1) + Pin(8,0)*dTheta_dTheta(0,2) + dt*x9;
const float x11 = Pin(13,3)*dt;
const float x12 = Pin(6,3)*dTheta_dTheta(1,0) + Pin(7,3)*dTheta_dTheta(1,1) + Pin(8,3)*dTheta_dTheta(1,2) - x11;
const float x13 = -Pin(13,0)*dt + Pin(6,0)*dTheta_dTheta(1,0) + Pin(7,0)*dTheta_dTheta(1,1) + Pin(8,0)*dTheta_dTheta(1,2) + dt*x12;
const float x14 = Pin(14,3)*dt;
const float x15 = Pin(6,3)*dTheta_dTheta(2,0) + Pin(7,3)*dTheta_dTheta(2,1) + Pin(8,3)*dTheta_dTheta(2,2) - x14;
const float x16 = -Pin(14,0)*dt + Pin(6,0)*dTheta_dTheta(2,0) + Pin(7,0)*dTheta_dTheta(2,1) + Pin(8,0)*dTheta_dTheta(2,2) + dt*x15;
const float x17 = Pin(9,0) + Pin(9,3)*dt;
const float x18 = Pin(10,0) + Pin(10,3)*dt;
const float x19 = Pin(11,0) + Pin(11,3)*dt;
const float x20 = Pin(12,0) + x8;
const float x21 = Pin(13,0) + x11;
const float x22 = Pin(14,0) + x14;
const float x23 = Pin(2,1) + Pin(5,1)*dt + dt*(Pin(4,2) + Pin(5,4)*dt);
const float x24 = Pin(10,1)*dVel_dAccelBias(0,1) + Pin(11,1)*dVel_dAccelBias(0,2) + Pin(3,1) + Pin(6,1)*dVel_dTheta(0,0) + Pin(7,1)*dVel_dTheta(0,1) + Pin(8,1)*dVel_dTheta(0,2) + Pin(9,1)*dVel_dAccelBias(0,0) + dt*(Pin(10,4)*dVel_dAccelBias(0,1) + Pin(11,4)*dVel_dAccelBias(0,2) + Pin(4,3) + Pin(6,4)*dVel_dTheta(0,0) + Pin(7,4)*dVel_dTheta(0,1) + Pin(8,4)*dVel_dTheta(0,2) + Pin(9,4)*dVel_dAccelBias(0,0));
const float x25 = Pin(10,4)*dVel_dAccelBias(1,1) + Pin(11,4)*dVel_dAccelBias(1,2) + Pin(4,4) + Pin(6,4)*dVel_dTheta(1,0) + Pin(7,4)*dVel_dTheta(1,1) + Pin(8,4)*dVel_dTheta(1,2) + Pin(9,4)*dVel_dAccelBias(1,0);
const float x26 = Pin(10,1)*dVel_dAccelBias(1,1) + Pin(11,1)*dVel_dAccelBias(1,2) + Pin(4,1) + Pin(6,1)*dVel_dTheta(1,0) + Pin(7,1)*dVel_dTheta(1,1) + Pin(8,1)*dVel_dTheta(1,2) + Pin(9,1)*dVel_dAccelBias(1,0) + dt*x25;
const float x27 = Pin(10,4)*dVel_dAccelBias(2,1) + Pin(11,4)*dVel_dAccelBias(2,2) + Pin(5,4) + Pin(6,4)*dVel_dTheta(2,0) + Pin(7,4)*dVel_dTheta(2,1) + Pin(8,4)*dVel_dTheta(2,2) + Pin(9,4)*dVel_dAccelBias(2,0);
const float x28 = Pin(10,1)*dVel_dAccelBias(2,1) + Pin(11,1)*dVel_dAccelBias(2,2) + Pin(5,1) + Pin(6,1)*dVel_dTheta(2,0) + Pin(7,1)*dVel_dTheta(2,1) + Pin(8,1)*dVel_dTheta(2,2) + Pin(9,1)*dVel_dAccelBias(2,0) + dt*x27;
const float x29 = Pin(12,4)*dt;
const float x30 = Pin(6,4)*dTheta_dTheta(0,0) + Pin(7,4)*dTheta_dTheta(0,1) + Pin(8,4)*dTheta_dTheta(0,2) - x29;
const float x31 = -Pin(12,1)*dt + Pin(6,1)*dTheta_dTheta(0,0) + Pin(7,1)*dTheta_dTheta(0,1) + Pin(8,1)*dTheta_dTheta(0,2) + dt*x30;
const float x32 = Pin(13,4)*dt;
const float x33 = Pin(6,4)*dTheta_dTheta(1,0) + Pin(7,4)*dTheta_dTheta(1,1) + Pin(8,4)*dTheta_dTheta(1,2) - x32;
const float x34 = -Pin(13,1)*dt + Pin(6,1)*dTheta_dTheta(1,0) + Pin(7,1)*dTheta_dTheta(1,1) + Pin(8,1)*dTheta_dTheta(1,2) + dt*x33;
const float x35 = Pin(14,4)*dt;
const float x36 = Pin(6,4)*dTheta_dTheta(2,0) + Pin(7,4)*dTheta_dTheta(2,1) + Pin(8,4)*dTheta_dTheta(2,2) - x35;
const float x37 = -Pin(14,1)*dt + Pin(6,1)*dTheta_dTheta(2,0) + Pin(7,1)*dTheta_dTheta(2,1) + Pin(8,1)*dTheta_dTheta(2,2) + dt*x36;
const float x38 = Pin(9,1) + Pin(9,4)*dt;
const float x39 = Pin(10,1) + Pin(10,4)*dt;
const float x40 = Pin(11,1) + Pin(11,4)*dt;
const float x41 = Pin(12,1) + x29;
const float x42 = Pin(13,1) + x32;
const float x43 = Pin(14,1) + x35;
const float x44 = Pin(10,2)*dVel_dAccelBias(0,1) + Pin(11,2)*dVel_dAccelBias(0,2) + Pin(3,2) + Pin(6,2)*dVel_dTheta(0,0) + Pin(7,2)*dVel_dTheta(0,1) + Pin(8,2)*dVel_dTheta(0,2) + Pin(9,2)*dVel_dAccelBias(0,0) + dt*(Pin(10,5)*dVel_dAccelBias(0,1) + Pin(11,5)*dVel_dAccelBias(0,2) + Pin(5,3) + Pin(6,5)*dVel_dTheta(0,0) + Pin(7,5)*dVel_dTheta(0,1) + Pin(8,5)*dVel_dTheta(0,2) + Pin(9,5)*dVel_dAccelBias(0,0));
const float x45 = Pin(10,2)*dVel_dAccelBias(1,1) + Pin(11,2)*dVel_dAccelBias(1,2) + Pin(4,2) + Pin(6,2)*dVel_dTheta(1,0) + Pin(7,2)*dVel_dTheta(1,1) + Pin(8,2)*dVel_dTheta(1,2) + Pin(9,2)*dVel_dAccelBias(1,0) + dt*(Pin(10,5)*dVel_dAccelBias(1,1) + Pin(11,5)*dVel_dAccelBias(1,2) + Pin(5,4) + Pin(6,5)*dVel_dTheta(1,0) + Pin(7,5)*dVel_dTheta(1,1) + Pin(8,5)*dVel_dTheta(1,2) + Pin(9,5)*dVel_dAccelBias(1,0));
const float x46 = Pin(10,5)*dVel_dAccelBias(2,1) + Pin(11,5)*dVel_dAccelBias(2,2) + Pin(5,5) + Pin(6,5)*dVel_dTheta(2,0) + Pin(7,5)*dVel_dTheta(2,1) + Pin(8,5)*dVel_dTheta(2,2) + Pin(9,5)*dVel_dAccelBias(2,0);
const float x47 = Pin(10,2)*dVel_dAccelBias(2,1) + Pin(11,2)*dVel_dAccelBias(2,2) + Pin(5,2) + Pin(6,2)*dVel_dTheta(2,0) + Pin(7,2)*dVel_dTheta(2,1) + Pin(8,2)*dVel_dTheta(2,2) + Pin(9,2)*dVel_dAccelBias(2,0) + dt*x46;
const float x48 = Pin(12,5)*dt;
const float x49 = Pin(6,5)*dTheta_dTheta(0,0) + Pin(7,5)*dTheta_dTheta(0,1) + Pin(8,5)*dTheta_dTheta(0,2) - x48;
const float x50 = -Pin(12,2)*dt + Pin(6,2)*dTheta_dTheta(0,0) + Pin(7,2)*dTheta_dTheta(0,1) + Pin(8,2)*dTheta_dTheta(0,2) + dt*x49;
const float x51 = Pin(13,5)*dt;
const float x52 = Pin(6,5)*dTheta_dTheta(1,0) + Pin(7,5)*dTheta_dTheta(1,1) + Pin(8,5)*dTheta_dTheta(1,2) - x51;
const float x53 = -Pin(13,2)*dt + Pin(6,2)*dTheta_dTheta(1,0) + Pin(7,2)*dTheta_dTheta(1,1) + Pin(8,2)*dTheta_dTheta(1,2) + dt*x52;
const float x54 = Pin(14,5)*dt;
const float x55 = Pin(6,5)*dTheta_dTheta(2,0) + Pin(7,5)*dTheta_dTheta(2,1) + Pin(8,5)*dTheta_dTheta(2,2) - x54;
const float x56 = -Pin(14,2)*dt + Pin(6,2)*dTheta_dTheta(2,0) + Pin(7,2)*dTheta_dTheta(2,1) + Pin(8,2)*dTheta_dTheta(2,2) + dt*x55;
const float x57 = Pin(9,2) + Pin(9,5)*dt;
const float x58 = Pin(10,2) + Pin(10,5)*dt;
const float x59 = Pin(11,2) + Pin(11,5)*dt;
const float x60 = Pin(12,2) + x48;
const float x61 = Pin(13,2) + x51;
const float x62 = Pin(14,2) + x54;
const float x63 = Pin(10,9)*dVel_dAccelBias(0,1) + Pin(11,9)*dVel_dAccelBias(0,2) + Pin(9,3) + Pin(9,6)*dVel_dTheta(0,0) + Pin(9,7)*dVel_dTheta(0,1) + Pin(9,8)*dVel_dTheta(0,2) + Pin(9,9)*dVel_dAccelBias(0,0);
const float x64 = Pin(10,10)*dVel_dAccelBias(0,1) + Pin(10,3) + Pin(10,6)*dVel_dTheta(0,0) + Pin(10,7)*dVel_dTheta(0,1) + Pin(10,8)*dVel_dTheta(0,2) + Pin(10,9)*dVel_dAccelBias(0,0) + Pin(11,10)*dVel_dAccelBias(0,2);
const float x65 = Pin(11,10)*dVel_dAccelBias(0,1) + Pin(11,11)*dVel_dAccelBias(0,2) + Pin(11,3) + Pin(11,6)*dVel_dTheta(0,0) + Pin(11,7)*dVel_dTheta(0,1) + Pin(11,8)*dVel_dTheta(0,2) + Pin(11,9)*dVel_dAccelBias(0,0);
const float x66 = Pin(10,9)*dVel_dAccelBias(1,1) + Pin(11,9)*dVel_dAccelBias(1,2) + Pin(9,4) + Pin(9,6)*dVel_dTheta(1,0) + Pin(9,7)*dVel_dTheta(1,1) + Pin(9,8)*dVel_dTheta(1,2) + Pin(9,9)*dVel_dAccelBias(1,0);
const float x67 = Pin(10,10)*dVel_dAccelBias(1,1) + Pin(10,4) + Pin(10,6)*dVel_dTheta(1,0) + Pin(10,7)*dVel_dTheta(1,1) + Pin(10,8)*dVel_dTheta(1,2) + Pin(10,9)*dVel_dAccelBias(1,0) + Pin(11,10)*dVel_dAccelBias(1,2);
const float x68 = Pin(11,10)*dVel_dAccelBias(1,1) + Pin(11,11)*dVel_dAccelBias(1,2) + Pin(11,4) + Pin(11,6)*dVel_dTheta(1,0) + Pin(11,7)*dVel_dTheta(1,1) + Pin(11,8)*dVel_dTheta(1,2) + Pin(11,9)*dVel_dAccelBias(1,0);
const float x69 = Pin(10,6)*dVel_dAccelBias(1,1) + Pin(11,6)*dVel_dAccelBias(1,2) + Pin(6,4) + Pin(6,6)*dVel_dTheta(1,0) + Pin(7,6)*dVel_dTheta(1,1) + Pin(8,6)*dVel_dTheta(1,2) + Pin(9,6)*dVel_dAccelBias(1,0);
const float x70 = Pin(10,7)*dVel_dAccelBias(1,1) + Pin(11,7)*dVel_dAccelBias(1,2) + Pin(7,4) + Pin(7,6)*dVel_dTheta(1,0) + Pin(7,7)*dVel_dTheta(1,1) + Pin(8,7)*dVel_dTheta(1,2) + Pin(9,7)*dVel_dAccelBias(1,0);
const float x71 = Pin(10,8)*dVel_dAccelBias(1,1) + Pin(11,8)*dVel_dAccelBias(1,2) + Pin(8,4) + Pin(8,6)*dVel_dTheta(1,0) + Pin(8,7)*dVel_dTheta(1,1) + Pin(8,8)*dVel_dTheta(1,2) + Pin(9,8)*dVel_dAccelBias(1,0);
const float x72 = dVel_dAccelBias(0,0)*x66 + dVel_dAccelBias(0,1)*x67 + dVel_dAccelBias(0,2)*x68 + dVel_dTheta(0,0)*x69 + dVel_dTheta(0,1)*x70 + dVel_dTheta(0,2)*x71 + x4;
const float x73 = Pin(10,9)*dVel_dAccelBias(2,1) + Pin(11,9)*dVel_dAccelBias(2,2) + Pin(9,5) + Pin(9,6)*dVel_dTheta(2,0) + Pin(9,7)*dVel_dTheta(2,1) + Pin(9,8)*dVel_dTheta(2,2) + Pin(9,9)*dVel_dAccelBias(2,0);
const float x74 = Pin(10,10)*dVel_dAccelBias(2,1) + Pin(10,5) + Pin(10,6)*dVel_dTheta(2,0) + Pin(10,7)*dVel_dTheta(2,1) + Pin(10,8)*dVel_dTheta(2,2) + Pin(10,9)*dVel_dAccelBias(2,0) + Pin(11,10)*dVel_dAccelBias(2,2);
const float x75 = Pin(11,10)*dVel_dAccelBias(2,1) + Pin(11,11)*dVel_dAccelBias(2,2) + Pin(11,5) + Pin(11,6)*dVel_dTheta(2,0) + Pin(11,7)*dVel_dTheta(2,1) + Pin(11,8)*dVel_dTheta(2,2) + Pin(11,9)*dVel_dAccelBias(2,0);
const float x76 = Pin(10,6)*dVel_dAccelBias(2,1) + Pin(11,6)*dVel_dAccelBias(2,2) + Pin(6,5) + Pin(6,6)*dVel_dTheta(2,0) + Pin(7,6)*dVel_dTheta(2,1) + Pin(8,6)*dVel_dTheta(2,2) + Pin(9,6)*dVel_dAccelBias(2,0);
const float x77 = Pin(10,7)*dVel_dAccelBias(2,1) + Pin(11,7)*dVel_dAccelBias(2,2) + Pin(7,5) + Pin(7,6)*dVel_dTheta(2,0) + Pin(7,7)*dVel_dTheta(2,1) + Pin(8,7)*dVel_dTheta(2,2) + Pin(9,7)*dVel_dAccelBias(2,0);
const float x78 = Pin(10,8)*dVel_dAccelBias(2,1) + Pin(11,8)*dVel_dAccelBias(2,2) + Pin(8,5) + Pin(8,6)*dVel_dTheta(2,0) + Pin(8,7)*dVel_dTheta(2,1) + Pin(8,8)*dVel_dTheta(2,2) + Pin(9,8)*dVel_dAccelBias(2,0);
const float x79 = dVel_dAccelBias(0,0)*x73 + dVel_dAccelBias(0,1)*x74 + dVel_dAccelBias(0,2)*x75 + dVel_dTheta(0,0)*x76 + dVel_dTheta(0,1)*x77 + dVel_dTheta(0,2)*x78 + x6;
const float x80 = -Pin(12,9)*dt + Pin(9,6)*dTheta_dTheta(0,0) + Pin(9,7)*dTheta_dTheta(0,1) + Pin(9,8)*dTheta_dTheta(0,2);
const float x81 = Pin(10,6)*dTheta_dTheta(0,0) + Pin(10,7)*dTheta_dTheta(0,1) + Pin(10,8)*dTheta_dTheta(0,2) - Pin(12,10)*dt;
const float x82 = Pin(11,6)*dTheta_dTheta(0,0) + Pin(11,7)*dTheta_dTheta(0,1) + Pin(11,8)*dTheta_dTheta(0,2) - Pin(12,11)*dt;
const float x83 = -Pin(12,6)*dt + Pin(6,6)*dTheta_dTheta(0,0) + Pin(7,6)*dTheta_dTheta(0,1) + Pin(8,6)*dTheta_dTheta(0,2);
const float x84 = -Pin(12,7)*dt + Pin(7,6)*dTheta_dTheta(0,0) + Pin(7,7)*dTheta_dTheta(0,1) + Pin(8,7)*dTheta_dTheta(0,2);
const float x85 = -Pin(12,8)*dt + Pin(8,6)*dTheta_dTheta(0,0) + Pin(8,7)*dTheta_dTheta(0,1) + Pin(8,8)*dTheta_dTheta(0,2);
const float x86 = dVel_dAccelBias(0,0)*x80 + dVel_dAccelBias(0,1)*x81 + dVel_dAccelBias(0,2)*x82 + dVel_dTheta(0,0)*x83 + dVel_dTheta(0,1)*x84 + dVel_dTheta(0,2)*x85 + x9;
const float x87 = -Pin(13,9)*dt + Pin(9,6)*dTheta_dTheta(1,0) + Pin(9,7)*dTheta_dTheta(1,1) + Pin(9,8)*dTheta_dTheta(1,2);
const float x88 = Pin(10,6)*dTheta_dTheta(1,0) + Pin(10,7)*dTheta_dTheta(1,1) + Pin(10,8)*dTheta_dTheta(1,2) - Pin(13,10)*dt;
const float x89 = Pin(11,6)*dTheta_dTheta(1,0) + Pin(11,7)*dTheta_dTheta(1,1) + Pin(11,8)*dTheta_dTheta(1,2) - Pin(13,11)*dt;
const float x90 = -Pin(13,6)*dt + Pin(6,6)*dTheta_dTheta(1,0) + Pin(7,6)*dTheta_dTheta(1,1) + Pin(8,6)*dTheta_dTheta(1,2);
const float x91 = -Pin(13,7)*dt + Pin(7,6)*dTheta_dTheta(1,0) + Pin(7,7)*dTheta_dTheta(1,1) + Pin(8,7)*dTheta_dTheta(1,2);
const float x92 = -Pin(13,8)*dt + Pin(8,6)*dTheta_dTheta(1,0) + Pin(8,7)*dTheta_dTheta(1,1) + Pin(8,8)*dTheta_dTheta(1,2);
const float x93 = dVel_dAccelBias(0,0)*x87 + dVel_dAccelBias(0,1)*x88 + dVel_dAccelBias(0,2)*x89 + dVel_dTheta(0,0)*x90 + dVel_dTheta(0,1)*x91 + dVel_dTheta(0,2)*x92 + x12;
const float x94 = -Pin(14,9)*dt + Pin(9,6)*dTheta_dTheta(2,0) + Pin(9,7)*dTheta_dTheta(2,1) + Pin(9,8)*dTheta_dTheta(2,2);
const float x95 = Pin(10,6)*dTheta_dTheta(2,0) + Pin(10,7)*dTheta_dTheta(2,1) + Pin(10,8)*dTheta_dTheta(2,2) - Pin(14,10)*dt;
const float x96 = Pin(11,6)*dTheta_dTheta(2,0) + Pin(11,7)*dTheta_dTheta(2,1) + Pin(11,8)*dTheta_dTheta(2,2) - Pin(14,11)*dt;
const float x97 = -Pin(14,6)*dt + Pin(6,6)*dTheta_dTheta(2,0) + Pin(7,6)*dTheta_dTheta(2,1) + Pin(8,6)*dTheta_dTheta(2,2);
const float x98 = -Pin(14,7)*dt + Pin(7,6)*dTheta_dTheta(2,0) + Pin(7,7)*dTheta_dTheta(2,1) + Pin(8,7)*dTheta_dTheta(2,2);
const float x99 = -Pin(14,8)*dt + Pin(8,6)*dTheta_dTheta(2,0) + Pin(8,7)*dTheta_dTheta(2,1) + Pin(8,8)*dTheta_dTheta(2,2);
const float x100 = dVel_dAccelBias(0,0)*x94 + dVel_dAccelBias(0,1)*x95 + dVel_dAccelBias(0,2)*x96 + dVel_dTheta(0,0)*x97 + dVel_dTheta(0,1)*x98 + dVel_dTheta(0,2)*x99 + x15;
const float x101 = Pin(12,10)*dVel_dAccelBias(0,1) + Pin(12,11)*dVel_dAccelBias(0,2) + Pin(12,3) + Pin(12,6)*dVel_dTheta(0,0) + Pin(12,7)*dVel_dTheta(0,1) + Pin(12,8)*dVel_dTheta(0,2) + Pin(12,9)*dVel_dAccelBias(0,0);
const float x102 = Pin(13,10)*dVel_dAccelBias(0,1) + Pin(13,11)*dVel_dAccelBias(0,2) + Pin(13,3) + Pin(13,6)*dVel_dTheta(0,0) + Pin(13,7)*dVel_dTheta(0,1) + Pin(13,8)*dVel_dTheta(0,2) + Pin(13,9)*dVel_dAccelBias(0,0);
const float x103 = Pin(14,10)*dVel_dAccelBias(0,1) + Pin(14,11)*dVel_dAccelBias(0,2) + Pin(14,3) + Pin(14,6)*dVel_dTheta(0,0) + Pin(14,7)*dVel_dTheta(0,1) + Pin(14,8)*dVel_dTheta(0,2) + Pin(14,9)*dVel_dAccelBias(0,0);
const float x104 = dVel_dAccelBias(1,0)*x73 + dVel_dAccelBias(1,1)*x74 + dVel_dAccelBias(1,2)*x75 + dVel_dTheta(1,0)*x76 + dVel_dTheta(1,1)*x77 + dVel_dTheta(1,2)*x78 + x27;
const float x105 = dVel_dAccelBias(1,0)*x80 + dVel_dAccelBias(1,1)*x81 + dVel_dAccelBias(1,2)*x82 + dVel_dTheta(1,0)*x83 + dVel_dTheta(1,1)*x84 + dVel_dTheta(1,2)*x85 + x30;
const float x106 = dVel_dAccelBias(1,0)*x87 + dVel_dAccelBias(1,1)*x88 + dVel_dAccelBias(1,2)*x89 + dVel_dTheta(1,0)*x90 + dVel_dTheta(1,1)*x91 + dVel_dTheta(1,2)*x92 + x33;
const float x107 = dVel_dAccelBias(1,0)*x94 + dVel_dAccelBias(1,1)*x95 + dVel_dAccelBias(1,2)*x96 + dVel_dTheta(1,0)*x97 + dVel_dTheta(1,1)*x98 + dVel_dTheta(1,2)*x99 + x36;
const float x108 = Pin(12,10)*dVel_dAccelBias(1,1) + Pin(12,11)*dVel_dAccelBias(1,2) + Pin(12,4) + Pin(12,6)*dVel_dTheta(1,0) + Pin(12,7)*dVel_dTheta(1,1) + Pin(12,8)*dVel_dTheta(1,2) + Pin(12,9)*dVel_dAccelBias(1,0);
const float x109 = Pin(13,10)*dVel_dAccelBias(1,1) + Pin(13,11)*dVel_dAccelBias(1,2) + Pin(13,4) + Pin(13,6)*dVel_dTheta(1,0) + Pin(13,7)*dVel_dTheta(1,1) + Pin(13,8)*dVel_dTheta(1,2) + Pin(13,9)*dVel_dAccelBias(1,0);
const float x110 = Pin(14,10)*dVel_dAccelBias(1,1) + Pin(14,11)*dVel_dAccelBias(1,2) + Pin(14,4) + Pin(14,6)*dVel_dTheta(1,0) + Pin(14,7)*dVel_dTheta(1,1) + Pin(14,8)*dVel_dTheta(1,2) + Pin(14,9)*dVel_dAccelBias(1,0);
const float x111 = dVel_dAccelBias(2,0)*x80 + dVel_dAccelBias(2,1)*x81 + dVel_dAccelBias(2,2)*x82 + dVel_dTheta(2,0)*x83 + dVel_dTheta(2,1)*x84 + dVel_dTheta(2,2)*x85 + x49;
const float x112 = dVel_dAccelBias(2,0)*x87 + dVel_dAccelBias(2,1)*x88 + dVel_dAccelBias(2,2)*x89 + dVel_dTheta(2,0)*x90 + dVel_dTheta(2,1)*x91 + dVel_dTheta(2,2)*x92 + x52;
const float x113 = dVel_dAccelBias(2,0)*x94 + dVel_dAccelBias(2,1)*x95 + dVel_dAccelBias(2,2)*x96 + dVel_dTheta(2,0)*x97 + dVel_dTheta(2,1)*x98 + dVel_dTheta(2,2)*x99 + x55;
const float x114 = Pin(12,10)*dVel_dAccelBias(2,1) + Pin(12,11)*dVel_dAccelBias(2,2) + Pin(12,5) + Pin(12,6)*dVel_dTheta(2,0) + Pin(12,7)*dVel_dTheta(2,1) + Pin(12,8)*dVel_dTheta(2,2) + Pin(12,9)*dVel_dAccelBias(2,0);
const float x115 = Pin(13,10)*dVel_dAccelBias(2,1) + Pin(13,11)*dVel_dAccelBias(2,2) + Pin(13,5) + Pin(13,6)*dVel_dTheta(2,0) + Pin(13,7)*dVel_dTheta(2,1) + Pin(13,8)*dVel_dTheta(2,2) + Pin(13,9)*dVel_dAccelBias(2,0);
const float x116 = Pin(14,10)*dVel_dAccelBias(2,1) + Pin(14,11)*dVel_dAccelBias(2,2) + Pin(14,5) + Pin(14,6)*dVel_dTheta(2,0) + Pin(14,7)*dVel_dTheta(2,1) + Pin(14,8)*dVel_dTheta(2,2) + Pin(14,9)*dVel_dAccelBias(2,0);
const float x117 = -Pin(12,12)*dt + Pin(12,6)*dTheta_dTheta(0,0) + Pin(12,7)*dTheta_dTheta(0,1) + Pin(12,8)*dTheta_dTheta(0,2);
const float x118 = -Pin(13,12)*dt;
const float x119 = Pin(12,6)*dTheta_dTheta(1,0) + Pin(12,7)*dTheta_dTheta(1,1) + Pin(12,8)*dTheta_dTheta(1,2) + x118;
const float x120 = dTheta_dTheta(0,0)*x90 + dTheta_dTheta(0,1)*x91 + dTheta_dTheta(0,2)*x92 - dt*x119;
const float x121 = -Pin(14,12)*dt;
const float x122 = Pin(12,6)*dTheta_dTheta(2,0) + Pin(12,7)*dTheta_dTheta(2,1) + Pin(12,8)*dTheta_dTheta(2,2) + x121;
const float x123 = dTheta_dTheta(0,0)*x97 + dTheta_dTheta(0,1)*x98 + dTheta_dTheta(0,2)*x99 - dt*x122;
const float x124 = Pin(13,6)*dTheta_dTheta(0,0) + Pin(13,7)*dTheta_dTheta(0,1) + Pin(13,8)*dTheta_dTheta(0,2) + x118;
const float x125 = Pin(14,6)*dTheta_dTheta(0,0) + Pin(14,7)*dTheta_dTheta(0,1) + Pin(14,8)*dTheta_dTheta(0,2) + x121;
const float x126 = -Pin(13,13)*dt + Pin(13,6)*dTheta_dTheta(1,0) + Pin(13,7)*dTheta_dTheta(1,1) + Pin(13,8)*dTheta_dTheta(1,2);
const float x127 = -Pin(14,13)*dt;
const float x128 = Pin(13,6)*dTheta_dTheta(2,0) + Pin(13,7)*dTheta_dTheta(2,1) + Pin(13,8)*dTheta_dTheta(2,2) + x127;
const float x129 = dTheta_dTheta(1,0)*x97 + dTheta_dTheta(1,1)*x98 + dTheta_dTheta(1,2)*x99 - dt*x128;
const float x130 = Pin(14,6)*dTheta_dTheta(1,0) + Pin(14,7)*dTheta_dTheta(1,1) + Pin(14,8)*dTheta_dTheta(1,2) + x127;
const float x131 = -Pin(14,14)*dt + Pin(14,6)*dTheta_dTheta(2,0) + Pin(14,7)*dTheta_dTheta(2,1) + Pin(14,8)*dTheta_dTheta(2,2);
Pnew(0,0) = Pin(0,0) + Pin(3,0)*dt + dt*(Pin(3,0) + Pin(3,3)*dt);
Pnew(0,1) = x0;
Pnew(0,2) = x1;
Pnew(0,3) = x3;
Pnew(0,4) = x5;
Pnew(0,5) = x7;
Pnew(0,6) = x10;
Pnew(0,7) = x13;
Pnew(0,8) = x16;
Pnew(0,9) = x17;
Pnew(0,10) = x18;
Pnew(0,11) = x19;
Pnew(0,12) = x20;
Pnew(0,13) = x21;
Pnew(0,14) = x22;
Pnew(1,0) = x0;
Pnew(1,1) = Pin(1,1) + Pin(4,1)*dt + dt*(Pin(4,1) + Pin(4,4)*dt);
Pnew(1,2) = x23;
Pnew(1,3) = x24;
Pnew(1,4) = x26;
Pnew(1,5) = x28;
Pnew(1,6) = x31;
Pnew(1,7) = x34;
Pnew(1,8) = x37;
Pnew(1,9) = x38;
Pnew(1,10) = x39;
Pnew(1,11) = x40;
Pnew(1,12) = x41;
Pnew(1,13) = x42;
Pnew(1,14) = x43;
Pnew(2,0) = x1;
Pnew(2,1) = x23;
Pnew(2,2) = Pin(2,2) + Pin(5,2)*dt + dt*(Pin(5,2) + Pin(5,5)*dt);
Pnew(2,3) = x44;
Pnew(2,4) = x45;
Pnew(2,5) = x47;
Pnew(2,6) = x50;
Pnew(2,7) = x53;
Pnew(2,8) = x56;
Pnew(2,9) = x57;
Pnew(2,10) = x58;
Pnew(2,11) = x59;
Pnew(2,12) = x60;
Pnew(2,13) = x61;
Pnew(2,14) = x62;
Pnew(3,0) = x3;
Pnew(3,1) = x24;
Pnew(3,2) = x44;
Pnew(3,3) = dVel_dAccelBias(0,0)*x63 + dVel_dAccelBias(0,1)*x64 + dVel_dAccelBias(0,2)*x65 + dVel_dTheta(0,0)*(Pin(10,6)*dVel_dAccelBias(0,1) + Pin(11,6)*dVel_dAccelBias(0,2) + Pin(6,3) + Pin(6,6)*dVel_dTheta(0,0) + Pin(7,6)*dVel_dTheta(0,1) + Pin(8,6)*dVel_dTheta(0,2) + Pin(9,6)*dVel_dAccelBias(0,0)) + dVel_dTheta(0,1)*(Pin(10,7)*dVel_dAccelBias(0,1) + Pin(11,7)*dVel_dAccelBias(0,2) + Pin(7,3) + Pin(7,6)*dVel_dTheta(0,0) + Pin(7,7)*dVel_dTheta(0,1) + Pin(8,7)*dVel_dTheta(0,2) + Pin(9,7)*dVel_dAccelBias(0,0)) + dVel_dTheta(0,2)*(Pin(10,8)*dVel_dAccelBias(0,1) + Pin(11,8)*dVel_dAccelBias(0,2) + Pin(8,3) + Pin(8,6)*dVel_dTheta(0,0) + Pin(8,7)*dVel_dTheta(0,1) + Pin(8,8)*dVel_dTheta(0,2) + Pin(9,8)*dVel_dAccelBias(0,0)) + x2;
Pnew(3,4) = x72;
Pnew(3,5) = x79;
Pnew(3,6) = x86;
Pnew(3,7) = x93;
Pnew(3,8) = x100;
Pnew(3,9) = x63;
Pnew(3,10) = x64;
Pnew(3,11) = x65;
Pnew(3,12) = x101;
Pnew(3,13) = x102;
Pnew(3,14) = x103;
Pnew(4,0) = x5;
Pnew(4,1) = x26;
Pnew(4,2) = x45;
Pnew(4,3) = x72;
Pnew(4,4) = dVel_dAccelBias(1,0)*x66 + dVel_dAccelBias(1,1)*x67 + dVel_dAccelBias(1,2)*x68 + dVel_dTheta(1,0)*x69 + dVel_dTheta(1,1)*x70 + dVel_dTheta(1,2)*x71 + x25;
Pnew(4,5) = x104;
Pnew(4,6) = x105;
Pnew(4,7) = x106;
Pnew(4,8) = x107;
Pnew(4,9) = x66;
Pnew(4,10) = x67;
Pnew(4,11) = x68;
Pnew(4,12) = x108;
Pnew(4,13) = x109;
Pnew(4,14) = x110;
Pnew(5,0) = x7;
Pnew(5,1) = x28;
Pnew(5,2) = x47;
Pnew(5,3) = x79;
Pnew(5,4) = x104;
Pnew(5,5) = dVel_dAccelBias(2,0)*x73 + dVel_dAccelBias(2,1)*x74 + dVel_dAccelBias(2,2)*x75 + dVel_dTheta(2,0)*x76 + dVel_dTheta(2,1)*x77 + dVel_dTheta(2,2)*x78 + x46;
Pnew(5,6) = x111;
Pnew(5,7) = x112;
Pnew(5,8) = x113;
Pnew(5,9) = x73;
Pnew(5,10) = x74;
Pnew(5,11) = x75;
Pnew(5,12) = x114;
Pnew(5,13) = x115;
Pnew(5,14) = x116;
Pnew(6,0) = x10;
Pnew(6,1) = x31;
Pnew(6,2) = x50;
Pnew(6,3) = x86;
Pnew(6,4) = x105;
Pnew(6,5) = x111;
Pnew(6,6) = dTheta_dTheta(0,0)*x83 + dTheta_dTheta(0,1)*x84 + dTheta_dTheta(0,2)*x85 - dt*x117;
Pnew(6,7) = x120;
Pnew(6,8) = x123;
Pnew(6,9) = x80;
Pnew(6,10) = x81;
Pnew(6,11) = x82;
Pnew(6,12) = x117;
Pnew(6,13) = x124;
Pnew(6,14) = x125;
Pnew(7,0) = x13;
Pnew(7,1) = x34;
Pnew(7,2) = x53;
Pnew(7,3) = x93;
Pnew(7,4) = x106;
Pnew(7,5) = x112;
Pnew(7,6) = x120;
Pnew(7,7) = dTheta_dTheta(1,0)*x90 + dTheta_dTheta(1,1)*x91 + dTheta_dTheta(1,2)*x92 - dt*x126;
Pnew(7,8) = x129;
Pnew(7,9) = x87;
Pnew(7,10) = x88;
Pnew(7,11) = x89;
Pnew(7,12) = x119;
Pnew(7,13) = x126;
Pnew(7,14) = x130;
Pnew(8,0) = x16;
Pnew(8,1) = x37;
Pnew(8,2) = x56;
Pnew(8,3) = x100;
Pnew(8,4) = x107;
Pnew(8,5) = x113;
Pnew(8,6) = x123;
Pnew(8,7) = x129;
Pnew(8,8) = dTheta_dTheta(2,0)*x97 + dTheta_dTheta(2,1)*x98 + dTheta_dTheta(2,2)*x99 - dt*x131;
Pnew(8,9) = x94;
Pnew(8,10) = x95;
Pnew(8,11) = x96;
Pnew(8,12) = x122;
Pnew(8,13) = x128;
Pnew(8,14) = x131;
Pnew(9,0) = x17;
Pnew(9,1) = x38;
Pnew(9,2) = x57;
Pnew(9,3) = x63;
Pnew(9,4) = x66;
Pnew(9,5) = x73;
Pnew(9,6) = x80;
Pnew(9,7) = x87;
Pnew(9,8) = x94;
Pnew(9,9) = Pin(9,9);
Pnew(9,10) = Pin(10,9);
Pnew(9,11) = Pin(11,9);
Pnew(9,12) = Pin(12,9);
Pnew(9,13) = Pin(13,9);
Pnew(9,14) = Pin(14,9);
Pnew(10,0) = x18;
Pnew(10,1) = x39;
Pnew(10,2) = x58;
Pnew(10,3) = x64;
Pnew(10,4) = x67;
Pnew(10,5) = x74;
Pnew(10,6) = x81;
Pnew(10,7) = x88;
Pnew(10,8) = x95;
Pnew(10,9) = Pin(10,9);
Pnew(10,10) = Pin(10,10);
Pnew(10,11) = Pin(11,10);
Pnew(10,12) = Pin(12,10);
Pnew(10,13) = Pin(13,10);
Pnew(10,14) = Pin(14,10);
Pnew(11,0) = x19;
Pnew(11,1) = x40;
Pnew(11,2) = x59;
Pnew(11,3) = x65;
Pnew(11,4) = x68;
Pnew(11,5) = x75;
Pnew(11,6) = x82;
Pnew(11,7) = x89;
Pnew(11,8) = x96;
Pnew(11,9) = Pin(11,9);
Pnew(11,10) = Pin(11,10);
Pnew(11,11) = Pin(11,11);
Pnew(11,12) = Pin(12,11);
Pnew(11,13) = Pin(13,11);
Pnew(11,14) = Pin(14,11);
Pnew(12,0) = x20;
Pnew(12,1) = x41;
Pnew(12,2) = x60;
Pnew(12,3) = x101;
Pnew(12,4) = x108;
Pnew(12,5) = x114;
Pnew(12,6) = x117;
Pnew(12,7) = x119;
Pnew(12,8) = x122;
Pnew(12,9) = Pin(12,9);
Pnew(12,10) = Pin(12,10);
Pnew(12,11) = Pin(12,11);
Pnew(12,12) = Pin(12,12);
Pnew(12,13) = Pin(13,12);
Pnew(12,14) = Pin(14,12);
Pnew(13,0) = x21;
Pnew(13,1) = x42;
Pnew(13,2) = x61;
Pnew(13,3) = x102;
Pnew(13,4) = x109;
Pnew(13,5) = x115;
Pnew(13,6) = x124;
Pnew(13,7) = x126;
Pnew(13,8) = x128;
Pnew(13,9) = Pin(13,9);
Pnew(13,10) = Pin(13,10);
Pnew(13,11) = Pin(13,11);
Pnew(13,12) = Pin(13,12);
Pnew(13,13) = Pin(13,13);
Pnew(13,14) = Pin(14,13);
Pnew(14,0) = x22;
Pnew(14,1) = x43;
Pnew(14,2) = x62;
Pnew(14,3) = x103;
Pnew(14,4) = x110;
Pnew(14,5) = x116;
Pnew(14,6) = x125;
Pnew(14,7) = x130;
Pnew(14,8) = x131;
Pnew(14,9) = Pin(14,9);
Pnew(14,10) = Pin(14,10);
Pnew(14,11) = Pin(14,11);
Pnew(14,12) = Pin(14,12);
Pnew(14,13) = Pin(14,13);
Pnew(14,14) = Pin(14,14);
}
#endif /* UNROLLEDFPFT_H */