Searched refs:Pnew (Results 1 – 1 of 1) sorted by relevance
| /device/google/contexthub/firmware/os/algos/ |
| D | fusion.c | 355 struct Mat33 Pnew[2][2]; in fusionPredict() local
356 mat33Multiply(&Pnew[0][0], &fusion->Phi0[0], &fusion->P[0][0]); in fusionPredict()
358 mat33Add(&Pnew[0][0], &tmp); in fusionPredict()
360 mat33Multiply(&Pnew[0][1], &fusion->Phi0[0], &fusion->P[0][1]); in fusionPredict()
362 mat33Add(&Pnew[0][1], &tmp); in fusionPredict()
364 Pnew[1][0] = fusion->P[1][0]; in fusionPredict()
365 Pnew[1][1] = fusion->P[1][1]; in fusionPredict()
369 mat33MultiplyTransposed2(&fusion->P[0][0], &Pnew[0][0], &fusion->Phi0[0]); in fusionPredict()
370 mat33MultiplyTransposed2(&tmp, &Pnew[0][1], &fusion->Phi0[1]); in fusionPredict()
373 fusion->P[0][1] = Pnew[0][1]; in fusionPredict()
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