1 files changed, 55 insertions, 0 deletions

diff --git a/SD-VBS/benchmarks/localization/src/c/quatMul.c b/SD-VBS/benchmarks/localization/src/c/quatMul.c
new file mode 100644
index 0000000..8b8dafe
--- /dev/null
+++ b/SD-VBS/benchmarks/localization/src/c/quatMul.c
@@ -0,0 +1,55 @@
+/********************************
+Author: Sravanthi Kota Venkata
+********************************/
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "localization.h"
+
+F2D* quatMul(F2D* a, F2D* b)
+{
+    int ra, ca, rb, cb;
+    F2D *ret;
+    int i, j, k=0;
+
+    ra = a->height;
+    ca = a->width;
+
+    rb = b->height;
+    cb = b->width;
+
+    ret = fSetArray(ra, 4, 0);
+
+    j = 0;
+    for(i=0; i<ra; i++)
+    {
+        k = 0;
+        float ai0, ai1, ai2, ai3;
+        float bj0, bj1, bj2, bj3;
+
+        ai0 = subsref(a,i,0);
+        ai1 = subsref(a,i,1);
+        ai2 = subsref(a,i,2);
+        ai3 = subsref(a,i,3);
+        
+        bj0 = subsref(b,j,0);
+        bj1 = subsref(b,j,1);
+        bj2 = subsref(b,j,2);
+        bj3 = subsref(b,j,3);
+        
+        subsref(ret,i,k++) = ai0*bj0 - ai1*bj1 - ai2*bj2 - ai3*bj3;
+        subsref(ret,i,k++) = ai0*bj1 + ai1*bj0 + ai2*bj3 - ai3*bj2;
+        subsref(ret,i,k++) = ai0*bj2 - ai1*bj3 + ai2*bj0 + ai3*bj1;
+        subsref(ret,i,k++) = ai0*bj3 + ai1*bj2 - ai2*bj1 + ai3*bj0;
+    
+        if(rb == ra)
+            j++;
+    }
+
+    return ret;
+}
+
+
+
+
+