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/* ----------------------------------------------------------------------
* Project: CMSIS DSP Library
* Title: arm_quaternion_inverse_f32.c
* Description: Floating-point quaternion inverse
*
* $Date: 23 April 2021
* $Revision: V1.9.0
*
* Target Processor: Cortex-M and Cortex-A cores
* -------------------------------------------------------------------- */
/*
* Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
*
* SPDX-License-Identifier: Apache-2.0
*
* Licensed under the Apache License, Version 2.0 (the License); you may
* not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an AS IS BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "dsp/quaternion_math_functions.h"
#include <math.h>
/**
@ingroup groupQuaternionMath
*/
/**
@defgroup QuatInverse Quaternion Inverse
Compute the inverse of a quaternion.
*/
/**
@addtogroup QuatInverse
@{
*/
/**
@brief Floating-point quaternion inverse.
@param[in] pInputQuaternions points to the input vector of quaternions
@param[out] pInverseQuaternions points to the output vector of inverse quaternions
@param[in] nbQuaternions number of quaternions in each vector
@return none
*/
#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
#include "arm_helium_utils.h"
void arm_quaternion_inverse_f32(const float32_t *pInputQuaternions,
float32_t *pInverseQuaternions,
uint32_t nbQuaternions)
{
f32x4_t vec1,vec2;
float32_t squaredSum;
for(uint32_t i=0; i < nbQuaternions; i++)
{
vec1 = vld1q(pInputQuaternions);
vec2 = vmulq(vec1,vec1);
squaredSum = vecAddAcrossF32Mve(vec2);
vec1 = vmulq_n_f32(vec1, 1.0f / squaredSum);
vec1 = vsetq_lane_f32(-vgetq_lane(vec1, 0),vec1,0);
vec1 = vnegq_f32(vec1);
vst1q(pInverseQuaternions, vec1);
pInputQuaternions += 4;
pInverseQuaternions += 4;
}
}
#else
void arm_quaternion_inverse_f32(const float32_t *pInputQuaternions,
float32_t *pInverseQuaternions,
uint32_t nbQuaternions)
{
float32_t temp;
uint32_t i;
for(i=0; i < nbQuaternions; i++)
{
temp = SQ(pInputQuaternions[4 * i + 0]) +
SQ(pInputQuaternions[4 * i + 1]) +
SQ(pInputQuaternions[4 * i + 2]) +
SQ(pInputQuaternions[4 * i + 3]);
pInverseQuaternions[4 * i + 0] = pInputQuaternions[4 * i + 0] / temp;
pInverseQuaternions[4 * i + 1] = -pInputQuaternions[4 * i + 1] / temp;
pInverseQuaternions[4 * i + 2] = -pInputQuaternions[4 * i + 2] / temp;
pInverseQuaternions[4 * i + 3] = -pInputQuaternions[4 * i + 3] / temp;
}
}
#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
/**
@} end of QuatInverse group
*/
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