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https://github.com/IcedRooibos/py32f0-template.git
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226 lines
5.7 KiB
C
226 lines
5.7 KiB
C
/* ----------------------------------------------------------------------
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* Project: CMSIS DSP Library
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* Title: arm_rotation2quaternion_f32.c
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* Description: Floating-point rotation to quaternion conversion
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*
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* $Date: 23 April 2021
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* $Revision: V1.9.0
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*
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* Target Processor: Cortex-M and Cortex-A cores
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* -------------------------------------------------------------------- */
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/*
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* Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed under the Apache License, Version 2.0 (the License); you may
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* not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an AS IS BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "dsp/quaternion_math_functions.h"
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#include <math.h>
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#define RI(x,y) r[(3*(x) + (y))]
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/**
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@ingroup QuatConv
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*/
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/**
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@defgroup RotQuat Rotation to Quaternion
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Conversions from rotation to quaternion.
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*/
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/**
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@addtogroup RotQuat
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@{
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*/
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/**
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* @brief Conversion of a rotation matrix to an equivalent quaternion.
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* @param[in] pInputRotations points to an array 3x3 rotation matrix (in row order)
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* @param[out] pOutputQuaternions points to an array quaternions
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* @param[in] nbQuaternions number of quaternions in the array
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* @return none.
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*
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* q and -q are representing the same rotation. This ambiguity must be taken into
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* account when using the output of this function.
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*
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*/
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#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
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#include "arm_helium_utils.h"
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#define R00 vgetq_lane(q1,0)
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#define R01 vgetq_lane(q1,1)
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#define R02 vgetq_lane(q1,2)
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#define R10 vgetq_lane(q1,3)
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#define R11 vgetq_lane(q2,0)
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#define R12 vgetq_lane(q2,1)
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#define R20 vgetq_lane(q2,2)
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#define R21 vgetq_lane(q2,3)
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#define R22 ro22
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void arm_rotation2quaternion_f32(const float32_t *pInputRotations,
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float32_t *pOutputQuaternions,
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uint32_t nbQuaternions)
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{
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float32_t ro22, trace;
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f32x4_t q1,q2, q;
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float32_t doubler;
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float32_t s;
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q = vdupq_n_f32(0.0f);
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for(uint32_t nb=0; nb < nbQuaternions; nb++)
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{
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q1 = vld1q(pInputRotations);
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pInputRotations += 4;
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q2 = vld1q(pInputRotations);
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pInputRotations += 4;
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ro22 = *pInputRotations++;
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trace = R00 + R11 + R22;
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if (trace > 0)
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{
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(void)arm_sqrt_f32(trace + 1.0f, &doubler) ; // invs=4*qw
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doubler = 2.0f*doubler;
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s = 1.0f / doubler;
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q1 = vmulq_n_f32(q1,s);
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q2 = vmulq_n_f32(q2,s);
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q[0] = 0.25f * doubler;
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q[1] = R21 - R12;
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q[2] = R02 - R20;
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q[3] = R10 - R01;
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}
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else if ((R00 > R11) && (R00 > R22) )
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{
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(void)arm_sqrt_f32(1.0f + R00 - R11 - R22,&doubler); // invs=4*qx
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doubler = 2.0f*doubler;
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s = 1.0f / doubler;
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q1 = vmulq_n_f32(q1,s);
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q2 = vmulq_n_f32(q2,s);
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q[0] = R21 - R12;
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q[1] = 0.25f * doubler;
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q[2] = R01 + R10;
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q[3] = R02 + R20;
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}
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else if (R11 > R22)
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{
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(void)arm_sqrt_f32(1.0f + R11 - R00 - R22,&doubler); // invs=4*qy
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doubler = 2.0f*doubler;
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s = 1.0f / doubler;
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q1 = vmulq_n_f32(q1,s);
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q2 = vmulq_n_f32(q2,s);
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q[0] = R02 - R20;
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q[1] = R01 + R10;
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q[2] = 0.25f * doubler;
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q[3] = R12 + R21;
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}
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else
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{
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(void)arm_sqrt_f32(1.0f + R22 - R00 - R11,&doubler); // invs=4*qz
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doubler = 2.0f*doubler;
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s = 1.0f / doubler;
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q1 = vmulq_n_f32(q1,s);
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q2 = vmulq_n_f32(q2,s);
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q[0] = R10 - R01;
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q[1] = R02 + R20;
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q[2] = R12 + R21;
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q[3] = 0.25f * doubler;
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}
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vst1q(pOutputQuaternions, q);
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pOutputQuaternions += 4;
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}
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}
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#else
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void arm_rotation2quaternion_f32(const float32_t *pInputRotations,
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float32_t *pOutputQuaternions,
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uint32_t nbQuaternions)
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{
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uint32_t nb;
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for(nb=0; nb < nbQuaternions; nb++)
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{
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const float32_t *r=&pInputRotations[nb*9];
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float32_t *q=&pOutputQuaternions[nb*4];
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float32_t trace = RI(0,0) + RI(1,1) + RI(2,2);
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float32_t doubler;
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float32_t s;
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if (trace > 0.0f)
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{
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doubler = sqrtf(trace + 1.0f) * 2.0f; // invs=4*qw
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s = 1.0f / doubler;
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q[0] = 0.25f * doubler;
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q[1] = (RI(2,1) - RI(1,2)) * s;
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q[2] = (RI(0,2) - RI(2,0)) * s;
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q[3] = (RI(1,0) - RI(0,1)) * s;
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}
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else if ((RI(0,0) > RI(1,1)) && (RI(0,0) > RI(2,2)) )
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{
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doubler = sqrtf(1.0f + RI(0,0) - RI(1,1) - RI(2,2)) * 2.0f; // invs=4*qx
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s = 1.0f / doubler;
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q[0] = (RI(2,1) - RI(1,2)) * s;
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q[1] = 0.25f * doubler;
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q[2] = (RI(0,1) + RI(1,0)) * s;
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q[3] = (RI(0,2) + RI(2,0)) * s;
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}
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else if (RI(1,1) > RI(2,2))
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{
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doubler = sqrtf(1.0f + RI(1,1) - RI(0,0) - RI(2,2)) * 2.0f; // invs=4*qy
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s = 1.0f / doubler;
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q[0] = (RI(0,2) - RI(2,0)) * s;
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q[1] = (RI(0,1) + RI(1,0)) * s;
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q[2] = 0.25f * doubler;
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q[3] = (RI(1,2) + RI(2,1)) * s;
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}
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else
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{
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doubler = sqrtf(1.0f + RI(2,2) - RI(0,0) - RI(1,1)) * 2.0f; // invs=4*qz
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s = 1.0f / doubler;
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q[0] = (RI(1,0) - RI(0,1)) * s;
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q[1] = (RI(0,2) + RI(2,0)) * s;
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q[2] = (RI(1,2) + RI(2,1)) * s;
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q[3] = 0.25f * doubler;
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}
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}
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}
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#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
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/**
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@} end of RotQuat group
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*/
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