From d17b33131c14864bd1eae275f49a3f148e21cf29 Mon Sep 17 00:00:00 2001
From: Leo Chan <leochanj@live.unc.edu>
Date: Thu, 22 Oct 2020 01:53:21 -0400
Subject: 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.
---
 SD-VBS/benchmarks/localization/src/c/eul2quat.c | 50 +++++++++++++++++++++++++
 1 file changed, 50 insertions(+)
 create mode 100644 SD-VBS/benchmarks/localization/src/c/eul2quat.c

(limited to 'SD-VBS/benchmarks/localization/src/c/eul2quat.c')

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;
+}
+
+
+
-- 
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