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1470 changed files with 1054449 additions and 0 deletions
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cmake_minimum_required (VERSION 3.14)
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project(CMSISDSPQuaternionMath)
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include(configLib)
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include(configDsp)
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add_library(CMSISDSPQuaternionMath STATIC arm_quaternion_norm_f32.c)
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target_sources(CMSISDSPQuaternionMath PRIVATE arm_quaternion_inverse_f32.c)
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target_sources(CMSISDSPQuaternionMath PRIVATE arm_quaternion_conjugate_f32.c)
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target_sources(CMSISDSPQuaternionMath PRIVATE arm_quaternion_normalize_f32.c)
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target_sources(CMSISDSPQuaternionMath PRIVATE arm_quaternion_product_single_f32.c)
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target_sources(CMSISDSPQuaternionMath PRIVATE arm_quaternion_product_f32.c)
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target_sources(CMSISDSPQuaternionMath PRIVATE arm_quaternion2rotation_f32.c)
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target_sources(CMSISDSPQuaternionMath PRIVATE arm_rotation2quaternion_f32.c)
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if ((NOT ARMAC5) AND (NOT DISABLEFLOAT16))
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endif()
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configLib(CMSISDSPQuaternionMath ${ROOT})
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configDsp(CMSISDSPQuaternionMath ${ROOT})
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### Includes
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target_include_directories(CMSISDSPQuaternionMath PUBLIC "${DSP}/Include")
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/* ----------------------------------------------------------------------
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* Project: CMSIS DSP Library
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* Title: QuaternionMathFunctions.c
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* Description: Combination of all quaternion math function source files.
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*
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*
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* Target Processor: Cortex-M cores
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* -------------------------------------------------------------------- */
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/*
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* Copyright (C) 2019-2021 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.
|
||||
* You may obtain a copy of the License at
|
||||
*
|
||||
* www.apache.org/licenses/LICENSE-2.0
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||||
*
|
||||
* 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.
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||||
*/
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#include "arm_quaternion_norm_f32.c"
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#include "arm_quaternion_inverse_f32.c"
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#include "arm_quaternion_conjugate_f32.c"
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#include "arm_quaternion_normalize_f32.c"
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#include "arm_quaternion_product_single_f32.c"
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#include "arm_quaternion_product_f32.c"
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#include "arm_quaternion2rotation_f32.c"
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#include "arm_rotation2quaternion_f32.c"
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/* ----------------------------------------------------------------------
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* Project: CMSIS DSP Library
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* Title: arm_quaternion2rotation_f32.c
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* Description: Floating-point quaternion 2 rotation 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
|
||||
* 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 QuatConv Quaternion conversions
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Conversions between quaternion and rotation representations.
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*/
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/**
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@ingroup QuatConv
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*/
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/**
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@defgroup QuatRot Quaternion to Rotation
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Conversions from quaternion to rotation.
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*/
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/**
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@addtogroup QuatRot
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@{
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*/
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/**
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@brief Conversion of quaternion to equivalent rotation matrix.
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@param[in] pInputQuaternions points to an array of normalized quaternions
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@param[out] pOutputRotations points to an array of 3x3 rotations (in row order)
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@param[in] nbQuaternions number of quaternions in the array
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@return none.
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@par
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Format of rotation matrix
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The quaternion a + ib + jc + kd is converted into rotation matrix:
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<pre>
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a^2 + b^2 - c^2 - d^2 2bc - 2ad 2bd + 2ac
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2bc + 2ad a^2 - b^2 + c^2 - d^2 2cd - 2ab
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2bd - 2ac 2cd + 2ab a^2 - b^2 - c^2 + d^2
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</pre>
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Rotation matrix is saved in row order : R00 R01 R02 R10 R11 R12 R20 R21 R22
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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_quaternion2rotation_f32(const float32_t *pInputQuaternions,
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float32_t *pOutputRotations,
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uint32_t nbQuaternions)
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{
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f32x4_t vec0,vec1, vec2 ,vec3;
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float32_t q2q3, tmp1, tmp2 ;
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for(uint32_t nb=0; nb < nbQuaternions; nb++)
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{
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// q0 q1 q2 q3
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vec0 = vld1q(pInputQuaternions);
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// q0^2 q1^2 q2^2 q3^2
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vec1 = vmulq(vec0,vec0);
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// q0^2 q1q0 q2q0 q3q0
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vec2 = vmulq_n_f32(vec0, vgetq_lane(vec0,0));
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// 2 (q0^2 q1q0 q2q0 q3q0)
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vec2 = vmulq_n_f32(vec2, 2.0f);
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// 2 q2q3
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q2q3 = vgetq_lane(vec0,2) * vgetq_lane(vec0,3);
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q2q3 = q2q3 * 2.0f;
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// 2 (q0q1 q1^2 q2q1 q3q1)
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vec3 = vmulq_n_f32(vec0, vgetq_lane(vec0,1));
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vec3 = vmulq_n_f32(vec3, 2.0f);
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vec0 = vsetq_lane(vgetq_lane(vec1,0) + vgetq_lane(vec1,1),vec0,0);
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vec0 = vsetq_lane(vgetq_lane(vec0,0) - vgetq_lane(vec1,2),vec0,0);
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vec0 = vsetq_lane(vgetq_lane(vec0,0) - vgetq_lane(vec1,3),vec0,0);
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vec0 = vsetq_lane(vgetq_lane(vec3,2) - vgetq_lane(vec2,3),vec0,1);
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vec0 = vsetq_lane(vgetq_lane(vec3,3) + vgetq_lane(vec2,2),vec0,2);
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vec0 = vsetq_lane(vgetq_lane(vec3,2) + vgetq_lane(vec2,3),vec0,3);
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vst1q(pOutputRotations, vec0);
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pOutputRotations += 4;
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tmp1 = vgetq_lane(vec1,0) - vgetq_lane(vec1,1);
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tmp2 = vgetq_lane(vec1,2) - vgetq_lane(vec1,3);
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vec0 = vsetq_lane(tmp1 + tmp2,vec0,0);
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vec0 = vsetq_lane(q2q3 - vgetq_lane(vec2,1) ,vec0,1);
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vec0 = vsetq_lane(vgetq_lane(vec3,3) - vgetq_lane(vec2,2),vec0,2);
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vec0 = vsetq_lane(q2q3 + vgetq_lane(vec2,1) ,vec0,3);
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vst1q(pOutputRotations, vec0);
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pOutputRotations += 4;
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*pOutputRotations = tmp1 - tmp2;
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pOutputRotations ++;
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pInputQuaternions += 4;
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}
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}
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#else
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void arm_quaternion2rotation_f32(const float32_t *pInputQuaternions,
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float32_t *pOutputRotations,
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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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float32_t q00 = SQ(pInputQuaternions[0 + nb * 4]);
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float32_t q11 = SQ(pInputQuaternions[1 + nb * 4]);
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float32_t q22 = SQ(pInputQuaternions[2 + nb * 4]);
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float32_t q33 = SQ(pInputQuaternions[3 + nb * 4]);
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float32_t q01 = pInputQuaternions[0 + nb * 4]*pInputQuaternions[1 + nb * 4];
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float32_t q02 = pInputQuaternions[0 + nb * 4]*pInputQuaternions[2 + nb * 4];
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float32_t q03 = pInputQuaternions[0 + nb * 4]*pInputQuaternions[3 + nb * 4];
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float32_t q12 = pInputQuaternions[1 + nb * 4]*pInputQuaternions[2 + nb * 4];
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float32_t q13 = pInputQuaternions[1 + nb * 4]*pInputQuaternions[3 + nb * 4];
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float32_t q23 = pInputQuaternions[2 + nb * 4]*pInputQuaternions[3 + nb * 4];
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float32_t xx = q00 + q11 - q22 - q33;
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float32_t yy = q00 - q11 + q22 - q33;
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float32_t zz = q00 - q11 - q22 + q33;
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float32_t xy = 2*(q12 - q03);
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float32_t xz = 2*(q13 + q02);
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float32_t yx = 2*(q12 + q03);
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float32_t yz = 2*(q23 - q01);
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float32_t zx = 2*(q13 - q02);
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float32_t zy = 2*(q23 + q01);
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pOutputRotations[0 + nb * 9] = xx; pOutputRotations[1 + nb * 9] = xy; pOutputRotations[2 + nb * 9] = xz;
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pOutputRotations[3 + nb * 9] = yx; pOutputRotations[4 + nb * 9] = yy; pOutputRotations[5 + nb * 9] = yz;
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pOutputRotations[6 + nb * 9] = zx; pOutputRotations[7 + nb * 9] = zy; pOutputRotations[8 + nb * 9] = zz;
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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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/**
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@} end of QuatRot group
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*/
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@ -0,0 +1,98 @@
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/* ----------------------------------------------------------------------
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* Project: CMSIS DSP Library
|
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* Title: arm_quaternion_conjugate_f32.c
|
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* Description: Floating-point quaternion conjugate
|
||||
*
|
||||
* $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"
|
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#include <math.h>
|
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|
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/**
|
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@ingroup groupQuaternionMath
|
||||
*/
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/**
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@defgroup QuatConjugate Quaternion Conjugate
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Compute the conjugate of a quaternion.
|
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*/
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/**
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@addtogroup QuatConjugate
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||||
@{
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||||
*/
|
||||
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/**
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@brief Floating-point quaternion conjugates.
|
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@param[in] pInputQuaternions points to the input vector of quaternions
|
||||
@param[out] pConjugateQuaternions points to the output vector of conjugate quaternions
|
||||
@param[in] nbQuaternions number of quaternions in each vector
|
||||
@return none
|
||||
*/
|
||||
|
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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_conjugate_f32(const float32_t *pInputQuaternions,
|
||||
float32_t *pConjugateQuaternions,
|
||||
uint32_t nbQuaternions)
|
||||
{
|
||||
f32x4_t vec1;
|
||||
|
||||
for(uint32_t i=0; i < nbQuaternions; i++)
|
||||
{
|
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vec1 = vld1q(pInputQuaternions);
|
||||
|
||||
|
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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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|
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vst1q(pConjugateQuaternions, vec1);
|
||||
|
||||
|
||||
pInputQuaternions += 4;
|
||||
pConjugateQuaternions += 4;
|
||||
}
|
||||
}
|
||||
#else
|
||||
void arm_quaternion_conjugate_f32(const float32_t *pInputQuaternions,
|
||||
float32_t *pConjugateQuaternions,
|
||||
uint32_t nbQuaternions)
|
||||
{
|
||||
uint32_t i;
|
||||
for(i=0; i < nbQuaternions; i++)
|
||||
{
|
||||
|
||||
pConjugateQuaternions[4 * i + 0] = pInputQuaternions[4 * i + 0];
|
||||
pConjugateQuaternions[4 * i + 1] = -pInputQuaternions[4 * i + 1];
|
||||
pConjugateQuaternions[4 * i + 2] = -pInputQuaternions[4 * i + 2];
|
||||
pConjugateQuaternions[4 * i + 3] = -pInputQuaternions[4 * i + 3];
|
||||
}
|
||||
}
|
||||
#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
|
||||
|
||||
/**
|
||||
@} end of QuatConjugate group
|
||||
*/
|
||||
|
|
@ -0,0 +1,114 @@
|
|||
/* ----------------------------------------------------------------------
|
||||
* 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
|
||||
*/
|
||||
|
|
@ -0,0 +1,102 @@
|
|||
/* ----------------------------------------------------------------------
|
||||
* 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
|
||||
*/
|
||||
|
|
@ -0,0 +1,107 @@
|
|||
/* ----------------------------------------------------------------------
|
||||
* Project: CMSIS DSP Library
|
||||
* Title: arm_quaternion_normalize_f32.c
|
||||
* Description: Floating-point quaternion normalization
|
||||
*
|
||||
* $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 QuatNormalized Quaternion normalization
|
||||
|
||||
Compute a normalized quaternion.
|
||||
*/
|
||||
|
||||
/**
|
||||
@addtogroup QuatNormalized
|
||||
@{
|
||||
*/
|
||||
|
||||
/**
|
||||
@brief Floating-point normalization of quaternions.
|
||||
@param[in] pInputQuaternions points to the input vector of quaternions
|
||||
@param[out] pNormalizedQuaternions points to the output vector of normalized 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_normalize_f32(const float32_t *pInputQuaternions,
|
||||
float32_t *pNormalizedQuaternions,
|
||||
uint32_t nbQuaternions)
|
||||
{
|
||||
f32x4_t vec1,vec2;
|
||||
float32_t squaredSum,norm;
|
||||
|
||||
for(uint32_t i=0; i < nbQuaternions; i++)
|
||||
{
|
||||
vec1 = vld1q(pInputQuaternions);
|
||||
vec2 = vmulq(vec1,vec1);
|
||||
squaredSum = vecAddAcrossF32Mve(vec2);
|
||||
arm_sqrt_f32(squaredSum,&norm);
|
||||
vec1 = vmulq_n_f32(vec1, 1.0f / norm);
|
||||
vst1q(pNormalizedQuaternions, vec1);
|
||||
|
||||
pInputQuaternions += 4;
|
||||
pNormalizedQuaternions += 4;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#else
|
||||
void arm_quaternion_normalize_f32(const float32_t *pInputQuaternions,
|
||||
float32_t *pNormalizedQuaternions,
|
||||
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]);
|
||||
temp = sqrtf(temp);
|
||||
|
||||
pNormalizedQuaternions[4 * i + 0] = pInputQuaternions[4 * i + 0] / temp;
|
||||
pNormalizedQuaternions[4 * i + 1] = pInputQuaternions[4 * i + 1] / temp;
|
||||
pNormalizedQuaternions[4 * i + 2] = pInputQuaternions[4 * i + 2] / temp;
|
||||
pNormalizedQuaternions[4 * i + 3] = pInputQuaternions[4 * i + 3] / temp;
|
||||
}
|
||||
}
|
||||
#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
|
||||
|
||||
/**
|
||||
@} end of QuatNormalized group
|
||||
*/
|
||||
|
|
@ -0,0 +1,149 @@
|
|||
/* ----------------------------------------------------------------------
|
||||
* Project: CMSIS DSP Library
|
||||
* Title: arm_quaternion_product_f32.c
|
||||
* Description: Floating-point quaternion product
|
||||
*
|
||||
* $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 QuatProd Quaternion Product
|
||||
|
||||
Compute the product of quaternions.
|
||||
*/
|
||||
|
||||
/**
|
||||
@ingroup QuatProd
|
||||
*/
|
||||
|
||||
/**
|
||||
@defgroup QuatProdVect Elementwise Quaternion Product
|
||||
|
||||
Compute the elementwise product of quaternions.
|
||||
*/
|
||||
|
||||
/**
|
||||
@addtogroup QuatProdVect
|
||||
@{
|
||||
*/
|
||||
|
||||
/**
|
||||
@brief Floating-point elementwise product two quaternions.
|
||||
@param[in] qa first array of quaternions
|
||||
@param[in] qb second array of quaternions
|
||||
@param[out] qr elementwise product of quaternions
|
||||
@param[in] nbQuaternions number of quaternions in the array
|
||||
@return none
|
||||
*/
|
||||
|
||||
#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
|
||||
|
||||
#include "arm_helium_utils.h"
|
||||
|
||||
void arm_quaternion_product_f32(const float32_t *qa,
|
||||
const float32_t *qb,
|
||||
float32_t *qr,
|
||||
uint32_t nbQuaternions)
|
||||
{
|
||||
static uint32_t patternA[4] = { 0, 1, 0, 1 };
|
||||
static uint32_t patternB[4] = { 3, 2, 3, 2 };
|
||||
static uint32_t patternC[4] = { 3, 2, 1, 0 };
|
||||
static float32_t signA[4] = { -1, -1, 1, 1 };
|
||||
|
||||
uint32x4_t vecA = vld1q_u32(patternA);
|
||||
uint32x4_t vecB = vld1q_u32(patternB);
|
||||
uint32x4_t vecC = vld1q_u32(patternC);
|
||||
f32x4_t vecSignA = vld1q_f32(signA);
|
||||
|
||||
while (nbQuaternions > 0U)
|
||||
{
|
||||
f32x4_t vecTmpA, vecTmpB, vecAcc;
|
||||
|
||||
vecTmpA = vldrwq_gather_shifted_offset_f32(qa, vecA);
|
||||
vecTmpB = vld1q(qb);
|
||||
/*
|
||||
* vcmul(r, [a1, a2, a1, a2], [b1, b2, b3, b4], 0)
|
||||
*/
|
||||
vecAcc = vcmulq(vecTmpA, vecTmpB);
|
||||
/*
|
||||
* vcmla(r, [a1, a2, a1, a2], [b1, b2, b3, b4], 90)
|
||||
*/
|
||||
vecAcc = vcmlaq_rot90(vecAcc, vecTmpA, vecTmpB);
|
||||
|
||||
vecTmpA = vldrwq_gather_shifted_offset_f32(qa, vecB);
|
||||
vecTmpB = vldrwq_gather_shifted_offset_f32(qb, vecC);
|
||||
/*
|
||||
* build [-b4, -b3, b2, b1]
|
||||
*/
|
||||
vecTmpB = vecTmpB * vecSignA;
|
||||
/*
|
||||
* vcmla(r, [a4, a3, a4, a3], [-b4, -b3, b2, b1], 270)
|
||||
*/
|
||||
vecAcc = vcmlaq_rot270(vecAcc, vecTmpA, vecTmpB);
|
||||
/*
|
||||
* vcmla(r, [a4, a3, a4, a3], [-b4, -b3, b2, b1], 0)
|
||||
*/
|
||||
vecAcc = vcmlaq(vecAcc, vecTmpA, vecTmpB);
|
||||
/*
|
||||
* store accumulator
|
||||
*/
|
||||
vst1q_f32(qr, vecAcc);
|
||||
|
||||
/* move to next quaternion */
|
||||
qa += 4;
|
||||
qb += 4;
|
||||
qr += 4;
|
||||
|
||||
nbQuaternions--;
|
||||
}
|
||||
}
|
||||
|
||||
#else
|
||||
|
||||
void arm_quaternion_product_f32(const float32_t *qa,
|
||||
const float32_t *qb,
|
||||
float32_t *qr,
|
||||
uint32_t nbQuaternions)
|
||||
{
|
||||
uint32_t i;
|
||||
for(i=0; i < nbQuaternions; i++)
|
||||
{
|
||||
arm_quaternion_product_single_f32(qa, qb, qr);
|
||||
|
||||
qa += 4;
|
||||
qb += 4;
|
||||
qr += 4;
|
||||
}
|
||||
}
|
||||
#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
|
||||
|
||||
/**
|
||||
@} end of QuatProdVect group
|
||||
*/
|
||||
|
|
@ -0,0 +1,107 @@
|
|||
/* ----------------------------------------------------------------------
|
||||
* Project: CMSIS DSP Library
|
||||
* Title: arm_quaternion_product_single_f32.c
|
||||
* Description: Floating-point quaternion product
|
||||
*
|
||||
* $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 QuatProd
|
||||
*/
|
||||
|
||||
/**
|
||||
@defgroup QuatProdSingle Quaternion Product
|
||||
|
||||
Compute the product of two quaternions.
|
||||
*/
|
||||
|
||||
/**
|
||||
@addtogroup QuatProdSingle
|
||||
@{
|
||||
*/
|
||||
|
||||
/**
|
||||
@brief Floating-point product of two quaternions.
|
||||
@param[in] qa first quaternion
|
||||
@param[in] qb second quaternion
|
||||
@param[out] qr product of two quaternions
|
||||
@return none
|
||||
*/
|
||||
|
||||
#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
|
||||
|
||||
#include "arm_helium_utils.h"
|
||||
void arm_quaternion_product_single_f32(const float32_t *qa,
|
||||
const float32_t *qb,
|
||||
float32_t *qr)
|
||||
{
|
||||
static uint32_t patternA[4] = { 0, 1, 0, 1 };
|
||||
static uint32_t patternB[4] = { 3, 2, 3, 2 };
|
||||
static uint32_t patternC[4] = { 3, 2, 1, 0 };
|
||||
static float32_t signA[4] = { -1, -1, 1, 1 };
|
||||
|
||||
uint32x4_t vecA = vld1q_u32(patternA);
|
||||
uint32x4_t vecB = vld1q_u32(patternB);
|
||||
uint32x4_t vecC = vld1q_u32(patternC);
|
||||
f32x4_t vecSignA = vld1q_f32(signA);
|
||||
|
||||
|
||||
f32x4_t vecTmpA, vecTmpB, vecAcc;
|
||||
|
||||
vecTmpA = vldrwq_gather_shifted_offset_f32(qa, vecA);
|
||||
vecTmpB = vld1q_f32(qb);
|
||||
|
||||
vecAcc = vcmulq_f32(vecTmpA, vecTmpB);
|
||||
vecAcc = vcmlaq_rot90_f32(vecAcc, vecTmpA, vecTmpB);
|
||||
|
||||
vecTmpA = vldrwq_gather_shifted_offset_f32(qa, vecB);
|
||||
vecTmpB = vldrwq_gather_shifted_offset_f32(qb, vecC);
|
||||
|
||||
vecTmpB = vecTmpB * vecSignA;
|
||||
|
||||
vecAcc = vcmlaq_rot270_f32(vecAcc, vecTmpA, vecTmpB);
|
||||
vecAcc = vcmlaq_f32(vecAcc, vecTmpA, vecTmpB);
|
||||
|
||||
vst1q_f32(qr, vecAcc);
|
||||
}
|
||||
|
||||
#else
|
||||
void arm_quaternion_product_single_f32(const float32_t *qa,
|
||||
const float32_t *qb,
|
||||
float32_t *qr)
|
||||
{
|
||||
qr[0] = qa[0] * qb[0] - qa[1] * qb[1] - qa[2] * qb[2] - qa[3] * qb[3];
|
||||
qr[1] = qa[0] * qb[1] + qa[1] * qb[0] + qa[2] * qb[3] - qa[3] * qb[2];
|
||||
qr[2] = qa[0] * qb[2] + qa[2] * qb[0] + qa[3] * qb[1] - qa[1] * qb[3];
|
||||
qr[3] = qa[0] * qb[3] + qa[3] * qb[0] + qa[1] * qb[2] - qa[2] * qb[1];
|
||||
}
|
||||
#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
|
||||
|
||||
/**
|
||||
@} end of QuatProdSingle group
|
||||
*/
|
||||
|
|
@ -0,0 +1,225 @@
|
|||
/* ----------------------------------------------------------------------
|
||||
* Project: CMSIS DSP Library
|
||||
* Title: arm_rotation2quaternion_f32.c
|
||||
* Description: Floating-point rotation to quaternion conversion
|
||||
*
|
||||
* $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>
|
||||
|
||||
#define RI(x,y) r[(3*(x) + (y))]
|
||||
|
||||
|
||||
/**
|
||||
@ingroup QuatConv
|
||||
*/
|
||||
|
||||
/**
|
||||
@defgroup RotQuat Rotation to Quaternion
|
||||
|
||||
Conversions from rotation to quaternion.
|
||||
*/
|
||||
|
||||
/**
|
||||
@addtogroup RotQuat
|
||||
@{
|
||||
*/
|
||||
|
||||
/**
|
||||
* @brief Conversion of a rotation matrix to an equivalent quaternion.
|
||||
* @param[in] pInputRotations points to an array 3x3 rotation matrix (in row order)
|
||||
* @param[out] pOutputQuaternions points to an array quaternions
|
||||
* @param[in] nbQuaternions number of quaternions in the array
|
||||
* @return none.
|
||||
*
|
||||
* q and -q are representing the same rotation. This ambiguity must be taken into
|
||||
* account when using the output of this function.
|
||||
*
|
||||
*/
|
||||
|
||||
#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
|
||||
|
||||
#include "arm_helium_utils.h"
|
||||
|
||||
#define R00 vgetq_lane(q1,0)
|
||||
#define R01 vgetq_lane(q1,1)
|
||||
#define R02 vgetq_lane(q1,2)
|
||||
#define R10 vgetq_lane(q1,3)
|
||||
#define R11 vgetq_lane(q2,0)
|
||||
#define R12 vgetq_lane(q2,1)
|
||||
#define R20 vgetq_lane(q2,2)
|
||||
#define R21 vgetq_lane(q2,3)
|
||||
#define R22 ro22
|
||||
|
||||
void arm_rotation2quaternion_f32(const float32_t *pInputRotations,
|
||||
float32_t *pOutputQuaternions,
|
||||
uint32_t nbQuaternions)
|
||||
{
|
||||
float32_t ro22, trace;
|
||||
f32x4_t q1,q2, q;
|
||||
|
||||
float32_t doubler;
|
||||
float32_t s;
|
||||
|
||||
q = vdupq_n_f32(0.0f);
|
||||
|
||||
for(uint32_t nb=0; nb < nbQuaternions; nb++)
|
||||
{
|
||||
q1 = vld1q(pInputRotations);
|
||||
pInputRotations += 4;
|
||||
|
||||
q2 = vld1q(pInputRotations);
|
||||
pInputRotations += 4;
|
||||
|
||||
ro22 = *pInputRotations++;
|
||||
|
||||
trace = R00 + R11 + R22;
|
||||
|
||||
|
||||
if (trace > 0)
|
||||
{
|
||||
(void)arm_sqrt_f32(trace + 1.0f, &doubler) ; // invs=4*qw
|
||||
doubler = 2.0f*doubler;
|
||||
s = 1.0f / doubler;
|
||||
|
||||
q1 = vmulq_n_f32(q1,s);
|
||||
q2 = vmulq_n_f32(q2,s);
|
||||
|
||||
q[0] = 0.25f * doubler;
|
||||
q[1] = R21 - R12;
|
||||
q[2] = R02 - R20;
|
||||
q[3] = R10 - R01;
|
||||
}
|
||||
else if ((R00 > R11) && (R00 > R22) )
|
||||
{
|
||||
(void)arm_sqrt_f32(1.0f + R00 - R11 - R22,&doubler); // invs=4*qx
|
||||
doubler = 2.0f*doubler;
|
||||
s = 1.0f / doubler;
|
||||
|
||||
q1 = vmulq_n_f32(q1,s);
|
||||
q2 = vmulq_n_f32(q2,s);
|
||||
|
||||
q[0] = R21 - R12;
|
||||
q[1] = 0.25f * doubler;
|
||||
q[2] = R01 + R10;
|
||||
q[3] = R02 + R20;
|
||||
}
|
||||
else if (R11 > R22)
|
||||
{
|
||||
(void)arm_sqrt_f32(1.0f + R11 - R00 - R22,&doubler); // invs=4*qy
|
||||
doubler = 2.0f*doubler;
|
||||
s = 1.0f / doubler;
|
||||
|
||||
q1 = vmulq_n_f32(q1,s);
|
||||
q2 = vmulq_n_f32(q2,s);
|
||||
|
||||
q[0] = R02 - R20;
|
||||
q[1] = R01 + R10;
|
||||
q[2] = 0.25f * doubler;
|
||||
q[3] = R12 + R21;
|
||||
}
|
||||
else
|
||||
{
|
||||
(void)arm_sqrt_f32(1.0f + R22 - R00 - R11,&doubler); // invs=4*qz
|
||||
doubler = 2.0f*doubler;
|
||||
s = 1.0f / doubler;
|
||||
|
||||
q1 = vmulq_n_f32(q1,s);
|
||||
q2 = vmulq_n_f32(q2,s);
|
||||
|
||||
q[0] = R10 - R01;
|
||||
q[1] = R02 + R20;
|
||||
q[2] = R12 + R21;
|
||||
q[3] = 0.25f * doubler;
|
||||
}
|
||||
|
||||
vst1q(pOutputQuaternions, q);
|
||||
pOutputQuaternions += 4;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
#else
|
||||
void arm_rotation2quaternion_f32(const float32_t *pInputRotations,
|
||||
float32_t *pOutputQuaternions,
|
||||
uint32_t nbQuaternions)
|
||||
{
|
||||
uint32_t nb;
|
||||
for(nb=0; nb < nbQuaternions; nb++)
|
||||
{
|
||||
const float32_t *r=&pInputRotations[nb*9];
|
||||
float32_t *q=&pOutputQuaternions[nb*4];
|
||||
|
||||
float32_t trace = RI(0,0) + RI(1,1) + RI(2,2);
|
||||
|
||||
float32_t doubler;
|
||||
float32_t s;
|
||||
|
||||
|
||||
|
||||
if (trace > 0.0f)
|
||||
{
|
||||
doubler = sqrtf(trace + 1.0f) * 2.0f; // invs=4*qw
|
||||
s = 1.0f / doubler;
|
||||
q[0] = 0.25f * doubler;
|
||||
q[1] = (RI(2,1) - RI(1,2)) * s;
|
||||
q[2] = (RI(0,2) - RI(2,0)) * s;
|
||||
q[3] = (RI(1,0) - RI(0,1)) * s;
|
||||
}
|
||||
else if ((RI(0,0) > RI(1,1)) && (RI(0,0) > RI(2,2)) )
|
||||
{
|
||||
doubler = sqrtf(1.0f + RI(0,0) - RI(1,1) - RI(2,2)) * 2.0f; // invs=4*qx
|
||||
s = 1.0f / doubler;
|
||||
q[0] = (RI(2,1) - RI(1,2)) * s;
|
||||
q[1] = 0.25f * doubler;
|
||||
q[2] = (RI(0,1) + RI(1,0)) * s;
|
||||
q[3] = (RI(0,2) + RI(2,0)) * s;
|
||||
}
|
||||
else if (RI(1,1) > RI(2,2))
|
||||
{
|
||||
doubler = sqrtf(1.0f + RI(1,1) - RI(0,0) - RI(2,2)) * 2.0f; // invs=4*qy
|
||||
s = 1.0f / doubler;
|
||||
q[0] = (RI(0,2) - RI(2,0)) * s;
|
||||
q[1] = (RI(0,1) + RI(1,0)) * s;
|
||||
q[2] = 0.25f * doubler;
|
||||
q[3] = (RI(1,2) + RI(2,1)) * s;
|
||||
}
|
||||
else
|
||||
{
|
||||
doubler = sqrtf(1.0f + RI(2,2) - RI(0,0) - RI(1,1)) * 2.0f; // invs=4*qz
|
||||
s = 1.0f / doubler;
|
||||
q[0] = (RI(1,0) - RI(0,1)) * s;
|
||||
q[1] = (RI(0,2) + RI(2,0)) * s;
|
||||
q[2] = (RI(1,2) + RI(2,1)) * s;
|
||||
q[3] = 0.25f * doubler;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
|
||||
|
||||
/**
|
||||
@} end of RotQuat group
|
||||
*/
|
||||
Loading…
Add table
Add a link
Reference in a new issue