25 	float32_t *output;  in ZTEST()  local
27 	/* Allocate output buffer */  in ZTEST()
28 	output = malloc(length * sizeof(float32_t));  in ZTEST()
29 	zassert_not_null(output, ASSERT_MSG_BUFFER_ALLOC_FAILED);  in ZTEST()
32 	arm_quaternion_norm_f32(input, output, length);  in ZTEST()
34 	/* Validate output */  in ZTEST()
36 		test_snr_error_f32(length, output, ref, SNR_ERROR_THRESH),  in ZTEST()
40 		test_close_error_f32(length, output, ref,  in ZTEST()
44 	/* Free output buffer */  in ZTEST()
45 	free(output);  in ZTEST()
53 	float32_t *output;  in ZTEST()  local
55 	/* Allocate output buffer */  in ZTEST()
56 	output = malloc(length * sizeof(float32_t));  in ZTEST()
57 	zassert_not_null(output, ASSERT_MSG_BUFFER_ALLOC_FAILED);  in ZTEST()
60 	arm_quaternion_inverse_f32(input, output, length / 4);  in ZTEST()
62 	/* Validate output */  in ZTEST()
64 		test_snr_error_f32(length, output, ref, SNR_ERROR_THRESH),  in ZTEST()
68 		test_close_error_f32(length, output, ref,  in ZTEST()
72 	/* Free output buffer */  in ZTEST()
73 	free(output);  in ZTEST()
81 	float32_t *output;  in ZTEST()  local
83 	/* Allocate output buffer */  in ZTEST()
84 	output = malloc(length * sizeof(float32_t));  in ZTEST()
85 	zassert_not_null(output, ASSERT_MSG_BUFFER_ALLOC_FAILED);  in ZTEST()
88 	arm_quaternion_conjugate_f32(input, output, length / 4);  in ZTEST()
90 	/* Validate output */  in ZTEST()
92 		test_snr_error_f32(length, output, ref, SNR_ERROR_THRESH),  in ZTEST()
96 		test_close_error_f32(length, output, ref,  in ZTEST()
100 	/* Free output buffer */  in ZTEST()
101 	free(output);  in ZTEST()
109 	float32_t *output;  in ZTEST()  local
111 	/* Allocate output buffer */  in ZTEST()
112 	output = malloc(length * sizeof(float32_t));  in ZTEST()
113 	zassert_not_null(output, ASSERT_MSG_BUFFER_ALLOC_FAILED);  in ZTEST()
116 	arm_quaternion_normalize_f32(input, output, length / 4);  in ZTEST()
118 	/* Validate output */  in ZTEST()
120 		test_snr_error_f32(length, output, ref, SNR_ERROR_THRESH),  in ZTEST()
124 		test_close_error_f32(length, output, ref,  in ZTEST()
128 	/* Free output buffer */  in ZTEST()
129 	free(output);  in ZTEST()
139 	float32_t *output, *output_buf;  in ZTEST()  local
141 	/* Allocate output buffer */  in ZTEST()
145 	output = output_buf;  in ZTEST()
149 		arm_quaternion_product_single_f32(input1, input2, output);  in ZTEST()
151 		output += 4;  in ZTEST()
156 	/* Validate output */  in ZTEST()
166 	/* Free output buffer */  in ZTEST()
176 	float32_t *output;  in ZTEST()  local
178 	/* Allocate output buffer */  in ZTEST()
179 	output = malloc(length * sizeof(float32_t));  in ZTEST()
180 	zassert_not_null(output, ASSERT_MSG_BUFFER_ALLOC_FAILED);  in ZTEST()
183 	arm_quaternion_product_f32(input1, input2, output, length / 4);  in ZTEST()
185 	/* Validate output */  in ZTEST()
187 		test_snr_error_f32(length, output, ref, SNR_ERROR_THRESH),  in ZTEST()
191 		test_close_error_f32(length, output, ref,  in ZTEST()
195 	/* Free output buffer */  in ZTEST()
196 	free(output);  in ZTEST()
204 	float32_t *output;  in ZTEST()  local
206 	/* Allocate output buffer */  in ZTEST()
207 	output = malloc(length * sizeof(float32_t));  in ZTEST()
208 	zassert_not_null(output, ASSERT_MSG_BUFFER_ALLOC_FAILED);  in ZTEST()
211 	arm_quaternion2rotation_f32(input, output, ARRAY_SIZE(in_com1) / 4);  in ZTEST()
213 	/* Validate output */  in ZTEST()
215 		test_snr_error_f32(length, output, ref, SNR_ERROR_THRESH),  in ZTEST()
219 		test_close_error_f32(length, output, ref,  in ZTEST()
223 	/* Free output buffer */  in ZTEST()
224 	free(output);  in ZTEST()
232 	float32_t *output;  in ZTEST()  local
234 	/* Allocate output buffer */  in ZTEST()
235 	output = malloc(length * sizeof(float32_t));  in ZTEST()
236 	zassert_not_null(output, ASSERT_MSG_BUFFER_ALLOC_FAILED);  in ZTEST()
239 	arm_rotation2quaternion_f32(input, output, ARRAY_SIZE(in_com1) / 4);  in ZTEST()
242 	for (float32_t *ptr = output; ptr < (output + length); ptr += 4) {  in ZTEST()
251 	/* Validate output */  in ZTEST()
253 		test_snr_error_f32(length, output, ref, SNR_ERROR_THRESH),  in ZTEST()
257 		test_close_error_f32(length, output, ref,  in ZTEST()
261 	/* Free output buffer */  in ZTEST()
262 	free(output);  in ZTEST()