1 files changed, 88 insertions, 0 deletions

diff --git a/SD-VBS/benchmarks/localization/src/c/generateSample.c b/SD-VBS/benchmarks/localization/src/c/generateSample.c
new file mode 100644
index 0000000..3acb4d7
--- /dev/null
+++ b/SD-VBS/benchmarks/localization/src/c/generateSample.c
@@ -0,0 +1,88 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "localization.h"
+
+void generateSample(F2D *w, F2D *quat, F2D *vel, F2D *pos)
+{
+    int rows, cols, i, j, index;
+    I2D *sampleXId;
+    F2D *retQuat, *retVel, *retPos;
+
+    sampleXId = weightedSample(w);
+
+    rows = sampleXId->height;
+    cols = sampleXId->width;
+
+    if(cols > 1)
+        printf("ERROR: Cols more than 1.. Handle this case \n");
+
+    retQuat = fSetArray(quat->height, quat->width, 0);
+    retVel = fSetArray(vel->height, vel->width, 0);
+    retPos = fSetArray(pos->height, pos->width, 0);
+
+    for(i=0; i<rows; i++)
+    {
+        index = asubsref(sampleXId, i) - 1;
+        for(j=0; j<quat->width; j++)
+        {
+            subsref(retQuat,i,j) = subsref(quat,index,j);
+        }
+    }
+
+    for(i=0; i<rows; i++)
+    {
+        index = asubsref(sampleXId, i) - 1;
+        for(j=0; j<vel->width; j++)
+        {
+            subsref(retVel,i,j) = subsref(vel,index,j);
+        }
+    }
+    
+    for(i=0; i<rows; i++)
+    {
+        index = asubsref(sampleXId, i) - 1;
+        for(j=0; j<pos->width; j++)
+        {
+            subsref(retPos,i,j) = subsref(pos,index,j);
+        }
+    }
+
+    for(i=0; i<quat->height; i++)
+    {
+        for(j=0; j<quat->width; j++)
+        {
+            subsref(quat,i,j) = subsref(retQuat,i,j);
+        }
+    }
+
+    for(i=0; i<vel->height; i++)
+    {
+        for(j=0; j<vel->width; j++)
+        {
+            subsref(vel,i,j) = subsref(retVel,i,j);
+        }
+    }
+    
+    for(i=0; i<pos->height; i++)
+    {
+        for(j=0; j<pos->width; j++)
+        {
+            subsref(pos,i,j) = subsref(retPos,i,j);
+        }
+    }
+    
+    fFreeHandle(retQuat);
+    fFreeHandle(retVel);
+    fFreeHandle(retPos);
+    iFreeHandle(sampleXId);
+    
+    return;
+}
+
+
+
+