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115 lines
3.1 KiB
C
115 lines
3.1 KiB
C
/* ----------------------------------------------------------------------
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* Project: CMSIS DSP Library
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* Title: arm_quaternion_inverse_f32.c
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* Description: Floating-point quaternion inverse
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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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/**
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@ingroup groupQuaternionMath
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*/
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/**
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@defgroup QuatInverse Quaternion Inverse
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Compute the inverse of a quaternion.
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*/
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/**
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@addtogroup QuatInverse
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@{
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*/
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/**
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@brief Floating-point quaternion inverse.
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@param[in] pInputQuaternions points to the input vector of quaternions
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@param[out] pInverseQuaternions points to the output vector of inverse quaternions
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@param[in] nbQuaternions number of quaternions in each vector
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@return none
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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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void arm_quaternion_inverse_f32(const float32_t *pInputQuaternions,
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float32_t *pInverseQuaternions,
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uint32_t nbQuaternions)
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{
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f32x4_t vec1,vec2;
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float32_t squaredSum;
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for(uint32_t i=0; i < nbQuaternions; i++)
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{
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vec1 = vld1q(pInputQuaternions);
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vec2 = vmulq(vec1,vec1);
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squaredSum = vecAddAcrossF32Mve(vec2);
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vec1 = vmulq_n_f32(vec1, 1.0f / squaredSum);
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vec1 = vsetq_lane_f32(-vgetq_lane(vec1, 0),vec1,0);
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vec1 = vnegq_f32(vec1);
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vst1q(pInverseQuaternions, vec1);
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pInputQuaternions += 4;
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pInverseQuaternions += 4;
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}
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}
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#else
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void arm_quaternion_inverse_f32(const float32_t *pInputQuaternions,
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float32_t *pInverseQuaternions,
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uint32_t nbQuaternions)
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{
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float32_t temp;
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uint32_t i;
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for(i=0; i < nbQuaternions; i++)
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{
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temp = SQ(pInputQuaternions[4 * i + 0]) +
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SQ(pInputQuaternions[4 * i + 1]) +
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SQ(pInputQuaternions[4 * i + 2]) +
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SQ(pInputQuaternions[4 * i + 3]);
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pInverseQuaternions[4 * i + 0] = pInputQuaternions[4 * i + 0] / temp;
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pInverseQuaternions[4 * i + 1] = -pInputQuaternions[4 * i + 1] / temp;
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pInverseQuaternions[4 * i + 2] = -pInputQuaternions[4 * i + 2] / temp;
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pInverseQuaternions[4 * i + 3] = -pInputQuaternions[4 * i + 3] / temp;
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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 QuatInverse group
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*/
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