blob: af6653a09478db011b0c9af12b7b0a4df8f148d7 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
|
/* ----------------------------------------------------------------------
* Project: CMSIS DSP Library
* Title: arm_quaternion_norm_f32.c
* Description: Floating-point quaternion Norm
*
* $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 QuatNorm Quaternion Norm
Compute the norm of a quaternion.
*/
/**
@addtogroup QuatNorm
@{
*/
/**
@brief Floating-point quaternion Norm.
@param[in] pInputQuaternions points to the input vector of quaternions
@param[out] pNorms points to the output vector of norms
@param[in] nbQuaternions number of quaternions in the input vector
@return none
*/
#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
#include "arm_helium_utils.h"
void arm_quaternion_norm_f32(const float32_t *pInputQuaternions,
float32_t *pNorms,
uint32_t nbQuaternions)
{
f32x4_t vec1;
float32_t squaredSum;
for(uint32_t i=0; i < nbQuaternions; i++)
{
vec1 = vld1q(pInputQuaternions);
vec1 = vmulq(vec1,vec1);
squaredSum = vecAddAcrossF32Mve(vec1);
arm_sqrt_f32(squaredSum,pNorms);
pInputQuaternions+= 4;
pNorms ++;
}
}
#else
void arm_quaternion_norm_f32(const float32_t *pInputQuaternions,
float32_t *pNorms,
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]);
pNorms[i] = sqrtf(temp);
}
}
#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
/**
@} end of QuatNorm group
*/
|
