325     fusion->Phi0[0] = I33;  in fusionPredict()
326     mat33Sub(&fusion->Phi0[0], &tmp);  in fusionPredict()
331     mat33Add(&fusion->Phi0[0], &tmp);  in fusionPredict()
335     fusion->Phi0[1] = tmp;  in fusionPredict()
337     mat33Sub(&fusion->Phi0[1], &I33dT);  in fusionPredict()
342     mat33Sub(&fusion->Phi0[1], &tmp);  in fusionPredict()
356     mat33Multiply(&Pnew[0][0], &fusion->Phi0[0], &fusion->P[0][0]);  in fusionPredict()
357     mat33Multiply(&tmp, &fusion->Phi0[1], &fusion->P[1][0]);  in fusionPredict()
360     mat33Multiply(&Pnew[0][1], &fusion->Phi0[0], &fusion->P[0][1]);  in fusionPredict()
361     mat33Multiply(&tmp, &fusion->Phi0[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()
375     mat33MultiplyTransposed2(&fusion->P[1][0], &Pnew[1][0], &fusion->Phi0[0]);  in fusionPredict()
376     mat33MultiplyTransposed2(&tmp, &Pnew[1][1], &fusion->Phi0[1]);  in fusionPredict()