213         struct Mat33 R;  in fusion_init_complete()  local
214         initMatrixColumns(&R, &east, &north, &up);  in fusion_init_complete()
219         initQuat(&fusion->x0, &R);  in fusion_init_complete()
441     struct Mat33 R;  in fusionUpdate()  local
442     initDiagonalMatrix(&R, sigma * sigma);  in fusionUpdate()
447     mat33Add(&S, &R);  in fusionUpdate()
540     struct Mat33 R;  in fusionHandleAcc()  local
541     fusionGetRotationMatrix(fusion, &R);  in fusionHandleAcc()
548         mat33Apply(&m, &R, &fusion->Bm);  in fusionHandleAcc()
565             mat33Apply(&aa, &R, &fusion->Ba);  in fusionHandleAcc()
604     struct Mat33 R;  in fusionHandleMag()  local
605     fusionGetRotationMatrix(fusion, &R);  in fusionHandleMag()
608     mat33Apply(&up, &R, &fusion->Ba);  in fusionHandleMag()
634         mat33Apply(&mm, &R, &fusion->Bm);  in fusionHandleMag()
689 void fusionGetRotationMatrix(const struct Fusion *fusion, struct Mat33 *R) {  in fusionGetRotationMatrix()  argument
690     quatToMatrix(R, &fusion->x0);  in fusionGetRotationMatrix()