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  /frameworks/native/services/sensorservice/
Fusion.cpp 345 vec3_t unityA = a * l_inv;
349 update(unityA, Ba, p);
  /device/google/contexthub/firmware/os/algos/
fusion.c 555 struct Vec3 unityA = *a;
556 vec3ScalarMul(&unityA, l_inv);
566 float cos_err = vec3Dot(&aa, &unityA);
581 fusionUpdate(fusion, &unityA, &fusion->Ba, p);

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