213         struct Mat33 R;  in fusion_init_complete()
233 static void matrixCross(struct Mat33 *out, struct Vec3 *p, float diag) {  in matrixCross()
270     struct Mat33 I33;  in fusionPredict()
273     struct Mat33 I33dT;  in fusionPredict()
276     struct Mat33 wx;  in fusionPredict()
279     struct Mat33 wx2;  in fusionPredict()
301     struct Mat33 O33;  in fusionPredict()
322     struct Mat33 tmp = wx;  in fusionPredict()
355     struct Mat33 Pnew[2][2];  in fusionPredict()
400 static void scaleCovariance(struct Mat33 *out, const struct Mat33 *A, const struct Mat33 *P) {  in scaleCovariance()
432     struct Mat33 A;  in fusionUpdate()
438     struct Mat33 L;  in fusionUpdate()
441     struct Mat33 R;  in fusionUpdate()
444     struct Mat33 S;  in fusionUpdate()
449     struct Mat33 Si;  in fusionUpdate()
452     struct Mat33 LtSi;  in fusionUpdate()
455     struct Mat33 K[2];  in fusionUpdate()
459     struct Mat33 K0L;  in fusionUpdate()
462     struct Mat33 K1L;  in fusionUpdate()
465     struct Mat33 tmp;  in fusionUpdate()
540     struct Mat33 R;  in fusionHandleAcc()
604     struct Mat33 R;  in fusionHandleMag()
689 void fusionGetRotationMatrix(const struct Fusion *fusion, struct Mat33 *R) {  in fusionGetRotationMatrix()