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()
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()
379     fusion->P[1][1] = Pnew[1][1];  in fusionPredict()