Squashed commit of the sb-vbs branch.

Includes the SD-VBS benchmarks modified to:
- Use libextra to loop as realtime jobs
- Preallocate memory before starting their main computation
- Accept input via stdin instead of via argc

Does not include the SD-VBS matlab code.

Fixes libextra execution in LITMUS^RT.

1 files changed, 32 insertions, 0 deletions

diff --git a/SD-VBS/benchmarks/localization/src/c/quatConj.c b/SD-VBS/benchmarks/localization/src/c/quatConj.c
new file mode 100644
index 0000000..6607186
--- /dev/null
+++ b/SD-VBS/benchmarks/localization/src/c/quatConj.c
@@ -0,0 +1,32 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "localization.h"
+
+F2D* quatConj(F2D* a)
+{
+    F2D* retQuat;
+    int rows, cols;
+    int i, j, k;
+
+    rows = a->height;
+    cols = a->width;
+    retQuat = fSetArray(rows, 4, 0);
+
+    for(i=0; i<rows; i++)
+    {
+        k=0;
+        subsref(retQuat,i,k++) = subsref(a,i,0);
+        subsref(retQuat,i,k++) = -subsref(a,i,1);
+        subsref(retQuat,i,k++) = -subsref(a,i,2);
+        subsref(retQuat,i,k) = -subsref(a,i,3);
+    }
+
+    return retQuat;
+}
+
+
+