Fusing

float COM::FuseValues(float fZ1, float fSigma1, float fZ2, float fSigma2, float &fFusedSigma) {
  float fVariance1 = pow(fSigma1, 2);
  float fVariance2 = pow(fSigma2, 2);

  float fSumVariances = fVariance1 + fVariance2;

  float fFusedVariance = (fVariance1 * fVariance2) / (fVariance1 + fVariance2);

  fFusedSigma = sqrt(fFusedVariance);

  return ((fVariance2 / fSumVariances) * fZ1 + (fVariance1 / fSumVariances) * fZ2);
}