initial sd-vbs

initial sd-vbs

add sd-vbs

sd-vbs

1 files changed, 50 insertions, 0 deletions

diff --git a/SD-VBS/benchmarks/localization/src/c/eul2quat.c b/SD-VBS/benchmarks/localization/src/c/eul2quat.c
new file mode 100644
index 0000000..bea75cf
--- /dev/null
+++ b/SD-VBS/benchmarks/localization/src/c/eul2quat.c
@@ -0,0 +1,50 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "localization.h"
+
+F2D* eul2quat(F2D* angle)
+{
+    F2D *ret;
+    F2D *x, *y, *z;
+    int k, i, j;
+    int rows, cols;
+
+    rows = angle->height;
+    cols = angle->width;
+
+    x = fDeepCopyRange(angle, 0, angle->height, 0, 1);
+    y = fDeepCopyRange(angle, 0, angle->height, 1, 1);
+    z = fDeepCopyRange(angle, 0, angle->height, 2, 1);
+
+    ret = fSetArray(x->height, 4, 0);
+    
+    for(i=0; i<rows; i++)
+    {
+        float xi, yi, zi;
+        k = 0;
+        xi = asubsref(x,i);
+        yi = asubsref(y,i);
+        zi = asubsref(z,i);
+
+        subsref(ret,i,k) = cos(xi/2)*cos(yi/2)*cos(zi/2)+sin(xi/2)*sin(yi/2)*sin(zi/2);
+        k++;
+        subsref(ret,i,k) = sin(xi/2)*cos(yi/2)*cos(zi/2)-cos(xi/2)*sin(yi/2)*sin(zi/2);
+        k++;
+        subsref(ret,i,k) = cos(xi/2)*sin(yi/2)*cos(zi/2)+sin(xi/2)*cos(yi/2)*sin(zi/2);
+        k++;
+        subsref(ret,i,k) = cos(xi/2)*cos(yi/2)*sin(zi/2)-sin(xi/2)*sin(yi/2)*cos(zi/2);
+    }
+
+    fFreeHandle(x);
+    fFreeHandle(y);
+    fFreeHandle(z);
+
+    return ret;
+}
+
+
+