Lines Matching refs:z
207 findOrthogonalVector(up.x, up.y, up.z, &east.x, &east.y, &east.z); in fusion_init_complete()
237 out->elem[1][0] = p->z; in matrixCross()
238 out->elem[0][1] = -p->z; in matrixCross()
315 O.elem[3][2] = -psi.z; in fusionPredict()
320 O.elem[2][3] = psi.z; in fusionPredict()
349 fusion->x0.z = -fusion->x0.z; in fusionPredict()
424 F[0].x = q->w; F[1].x = -q->z; F[2].x = q->y; in getF()
425 F[0].y = q->z; F[1].y = q->w; F[2].y = -q->x; in getF()
426 F[0].z = -q->y; F[1].z = q->x; F[2].z = q->w; in getF()
427 F[0].w = -q->x; F[1].w = -q->y; F[2].w = -q->z; in getF()
431 struct Fusion *fusion, const struct Vec3 *z, const struct Vec3 *Bi, float sigma) { in fusionUpdate() argument
477 struct Vec3 e = *z; in fusionUpdate()
490 q.x = fusion->x0.x + 0.5f * (F[0].x * dq.x + F[1].x * dq.y + F[2].x * dq.z); in fusionUpdate()
491 q.y = fusion->x0.y + 0.5f * (F[0].y * dq.x + F[1].y * dq.y + F[2].y * dq.z); in fusionUpdate()
492 q.z = fusion->x0.z + 0.5f * (F[0].z * dq.x + F[1].z * dq.y + F[2].z * dq.z); in fusionUpdate()
493 q.w = fusion->x0.w + 0.5f * (F[0].w * dq.x + F[1].w * dq.y + F[2].w * dq.z); in fusionUpdate()
534 fusion->x1.z + kEps); in fusionHandleAcc()