1 /* ----------------------------------------------------------------------
2 * Project: CMSIS DSP Library
3 * Title: arm_quaternion_normalize_f32.c
4 * Description: Floating-point quaternion normalization
5 *
6 * $Date: 23 April 2021
7 * $Revision: V1.9.0
8 *
9 * Target Processor: Cortex-M and Cortex-A cores
10 * -------------------------------------------------------------------- */
11 /*
12 * Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
13 *
14 * SPDX-License-Identifier: Apache-2.0
15 *
16 * Licensed under the Apache License, Version 2.0 (the License); you may
17 * not use this file except in compliance with the License.
18 * You may obtain a copy of the License at
19 *
20 * www.apache.org/licenses/LICENSE-2.0
21 *
22 * Unless required by applicable law or agreed to in writing, software
23 * distributed under the License is distributed on an AS IS BASIS, WITHOUT
24 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
25 * See the License for the specific language governing permissions and
26 * limitations under the License.
27 */
28
29 #include "dsp/quaternion_math_functions.h"
30 #include <math.h>
31
32 /**
33 @ingroup groupQuaternionMath
34 */
35
36 /**
37 @defgroup QuatNormalized Quaternion normalization
38
39 Compute a normalized quaternion.
40 */
41
42 /**
43 @addtogroup QuatNormalized
44 @{
45 */
46
47 /**
48 @brief Floating-point normalization of quaternions.
49 @param[in] pInputQuaternions points to the input vector of quaternions
50 @param[out] pNormalizedQuaternions points to the output vector of normalized quaternions
51 @param[in] nbQuaternions number of quaternions in each vector
52 */
53
54 #if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
55
56 #include "arm_helium_utils.h"
57
arm_quaternion_normalize_f32(const float32_t * pInputQuaternions,float32_t * pNormalizedQuaternions,uint32_t nbQuaternions)58 ARM_DSP_ATTRIBUTE void arm_quaternion_normalize_f32(const float32_t *pInputQuaternions,
59 float32_t *pNormalizedQuaternions,
60 uint32_t nbQuaternions)
61 {
62 f32x4_t vec1,vec2;
63 float32_t squaredSum,norm;
64
65 for(uint32_t i=0; i < nbQuaternions; i++)
66 {
67 vec1 = vld1q(pInputQuaternions);
68 vec2 = vmulq(vec1,vec1);
69 squaredSum = vecAddAcrossF32Mve(vec2);
70 arm_sqrt_f32(squaredSum,&norm);
71 vec1 = vmulq_n_f32(vec1, 1.0f / norm);
72 vst1q(pNormalizedQuaternions, vec1);
73
74 pInputQuaternions += 4;
75 pNormalizedQuaternions += 4;
76
77 }
78 }
79
80 #else
arm_quaternion_normalize_f32(const float32_t * pInputQuaternions,float32_t * pNormalizedQuaternions,uint32_t nbQuaternions)81 ARM_DSP_ATTRIBUTE void arm_quaternion_normalize_f32(const float32_t *pInputQuaternions,
82 float32_t *pNormalizedQuaternions,
83 uint32_t nbQuaternions)
84 {
85 float32_t temp;
86
87 uint32_t i;
88 for(i=0; i < nbQuaternions; i++)
89 {
90 temp = ARM_SQ(pInputQuaternions[4 * i + 0]) +
91 ARM_SQ(pInputQuaternions[4 * i + 1]) +
92 ARM_SQ(pInputQuaternions[4 * i + 2]) +
93 ARM_SQ(pInputQuaternions[4 * i + 3]);
94 temp = sqrtf(temp);
95
96 pNormalizedQuaternions[4 * i + 0] = pInputQuaternions[4 * i + 0] / temp;
97 pNormalizedQuaternions[4 * i + 1] = pInputQuaternions[4 * i + 1] / temp;
98 pNormalizedQuaternions[4 * i + 2] = pInputQuaternions[4 * i + 2] / temp;
99 pNormalizedQuaternions[4 * i + 3] = pInputQuaternions[4 * i + 3] / temp;
100 }
101 }
102 #endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
103
104 /**
105 @} end of QuatNormalized group
106 */
107
