293         mat33_t R;  in checkInitComplete()
412 mat33_t Fusion::getRotationMatrix() const {  in getRotationMatrix()
464     const mat33_t I33(1);  in predict()
465     const mat33_t I33dT(dT);  in predict()
466     const mat33_t wx(crossMatrix(we, 0));  in predict()
467     const mat33_t wx2(wx*wx);  in predict()
475     const mat33_t O33(crossMatrix(-psi, k2));  in predict()
498     const mat33_t A(quatToMatrix(q));  in update()
503     const mat33_t L(crossMatrix(Bb, 0));  in update()
507     vec<mat33_t, 2> K;  in update()
508     const mat33_t R(sigma*sigma);  in update()
509     const mat33_t S(scaleCovariance(L, P[0][0]) + R);  in update()
510     const mat33_t Si(invert(S));  in update()
511     const mat33_t LtSi(transpose(L)*Si);  in update()
522     const mat33_t K0L(K[0] * L);  in update()
523     const mat33_t K1L(K[1] * L);  in update()