How to use the pymoca.backends.sympy.runtime.OdeModel function in pymoca

# do not edit, generated by pymoca

from __future__ import print_function, division
import sympy
import sympy.physics.mechanics as mech
from pymoca.backends.sympy.runtime import OdeModel
from sympy import sin, cos, tan


class Quad(OdeModel):

    def __init__(self):

        super(Quad, self).__init__()

        # states
        phi, theta, psi_, P, Q, R, x, y, z, U, V, W = mech.dynamicsymbols('phi, theta, psi_, P, Q, R, x, y, z, U, V, W')
        self.x = sympy.Matrix([phi, theta, psi_, P, Q, R, x, y, z, U, V, W])
        self.x0 = {
            phi : 0,
            theta : 0,
            psi_ : 0,
            P : 0,
            Q : 0,
            R : 0,
            x : 0,

# do not edit, generated by pymoca

from __future__ import print_function, division
import sympy
import sympy.physics.mechanics as mech
from pymoca.backends.sympy.runtime import OdeModel
from sympy import sin, cos, tan


class Aircraft(OdeModel):

    def __init__(self):

        super(Aircraft, self).__init__()

        # states
        body__x, body__v_x = mech.dynamicsymbols('body.x, body.v_x')
        self.x = sympy.Matrix([body__x, body__v_x])
        self.x0 = {
            body__x : 0,
            body__v_x : 0,
            }

        # variables
        body__f_x, body__a_x, accel__a_x, accel__ma_x, accel__b_x__u, accel__b_x__y = mech.dynamicsymbols('body.f_x, body.a_x, accel.a_x, accel.ma_x, accel.b_x.u, accel.b_x.y')
        self.v = sympy.Matrix([body__f_x, body__a_x, accel__a_x, accel__ma_x, accel__b_x__u, accel__b_x__y])

# do not edit, generated by pymoca

from __future__ import print_function, division
import sympy
import sympy.physics.mechanics as mech
from pymoca.backends.sympy.runtime import OdeModel
from sympy import sin, cos, tan


class SpringSystem(OdeModel):

    def __init__(self):

        super(SpringSystem, self).__init__()

        # states
        x, v_x = mech.dynamicsymbols('x, v_x')
        self.x = sympy.Matrix([x, v_x])
        self.x0 = {
            x : 1.0,
            v_x : 1.0,
            }

        # variables
        spring__x, spring__f, damper__v, damper__f = mech.dynamicsymbols('spring.x, spring.f, damper.v, damper.f')
        self.v = sympy.Matrix([spring__x, spring__f, damper__v, damper__f])

# do not edit, generated by pymoca

from __future__ import print_function, division
import sympy
import sympy.physics.mechanics as mech
from pymoca.backends.sympy.runtime import OdeModel
from sympy import sin, cos, tan


class Estimator(OdeModel):

    def __init__(self):

        super(Estimator, self).__init__()

        # states
        x = mech.dynamicsymbols('x')
        self.x = sympy.Matrix([x])
        self.x0 = {
            x : 0,
            }

        # variables
        y = mech.dynamicsymbols('y')
        self.v = sympy.Matrix([y])