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/frameworks/native/services/sensorservice/
DFusion.cpp470 const float ilwe = 1.f/length(we); in predict() local
471 const float k0 = (1-cosf(lwedT))*(ilwe*ilwe); in predict()
474 const vec3_t psi(sinf(hlwedT)*ilwe*we); in predict()
482 Phi[0][0] = I33 - wx*(k1*ilwe) + wx2*k0; in predict()
483 Phi[1][0] = wx*k0 - I33dT - wx2*(ilwe*ilwe*ilwe)*(lwedT-k1); in predict()