322     struct Mat33 tmp = wx;  in fusionPredict()  local
323     mat33ScalarMul(&tmp, k1 * ilwe);  in fusionPredict()
326     mat33Sub(&fusion->Phi0[0], &tmp);  in fusionPredict()
328     tmp = wx2;  in fusionPredict()
329     mat33ScalarMul(&tmp, k0);  in fusionPredict()
331     mat33Add(&fusion->Phi0[0], &tmp);  in fusionPredict()
333     tmp = wx;  in fusionPredict()
334     mat33ScalarMul(&tmp, k0);  in fusionPredict()
335     fusion->Phi0[1] = tmp;  in fusionPredict()
339     tmp = wx2;  in fusionPredict()
340     mat33ScalarMul(&tmp, ilwe * ilwe * ilwe * (lwedT - k1));  in fusionPredict()
342     mat33Sub(&fusion->Phi0[1], &tmp);  in fusionPredict()
357     mat33Multiply(&tmp, &fusion->Phi0[1], &fusion->P[1][0]);  in fusionPredict()
358     mat33Add(&Pnew[0][0], &tmp);  in fusionPredict()
361     mat33Multiply(&tmp, &fusion->Phi0[1], &fusion->P[1][1]);  in fusionPredict()
362     mat33Add(&Pnew[0][1], &tmp);  in fusionPredict()
370     mat33MultiplyTransposed2(&tmp, &Pnew[0][1], &fusion->Phi0[1]);  in fusionPredict()
371     mat33Add(&fusion->P[0][0], &tmp);  in fusionPredict()
376     mat33MultiplyTransposed2(&tmp, &Pnew[1][1], &fusion->Phi0[1]);  in fusionPredict()
377     mat33Add(&fusion->P[1][0], &tmp);  in fusionPredict()
465     struct Mat33 tmp;  in fusionUpdate()  local
466     mat33Multiply(&tmp, &K0L, &fusion->P[0][0]);  in fusionUpdate()
467     mat33Sub(&fusion->P[0][0], &tmp);  in fusionUpdate()
469     mat33Multiply(&tmp, &K1L, &fusion->P[0][1]);  in fusionUpdate()
470     mat33Sub(&fusion->P[1][1], &tmp);  in fusionUpdate()
472     mat33Multiply(&tmp, &K0L, &fusion->P[0][1]);  in fusionUpdate()
473     mat33Sub(&fusion->P[0][1], &tmp);  in fusionUpdate()