218 void Fusion::initFusion(const vec4_t& q, float dT)  in initFusion()  argument
221     x0 = q;  in initFusion()
305         const vec4_t q = matrixToQuat(R);  in checkInitComplete()  local
307         initFusion(q, mGyroRate);  in checkInitComplete()
416 mat34_t Fusion::getF(const vec4_t& q) {  in getF()  argument
423     F[0].x = q.w;   F[1].x =-q.z;   F[2].x = q.y;  in getF()
424     F[0].y = q.z;   F[1].y = q.w;   F[2].y =-q.x;  in getF()
425     F[0].z =-q.y;   F[1].z = q.x;   F[2].z = q.w;  in getF()
426     F[0].w =-q.x;   F[1].w =-q.y;   F[2].w =-q.z;  in getF()
431     const vec4_t q  = x0;  in predict()  local
485     x0 = O*q;  in predict()
496     vec4_t q(x0);  in update()  local
498     const mat33_t A(quatToMatrix(q));  in update()
532     q += getF(q)*(0.5f*dq);  in update()
533     x0 = normalize_quat(q);  in update()