CMSIS-DSP: Added Helium version of quaternion functions.
Christophe Favergeon
5 years ago
parent
4357c9e947
commit
f81dccabf7
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#include "Test.h"
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#include "Pattern.h"
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#include "dsp/quaternion_math_functions.h"
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class QuaternionMathsBenchmarksF32:public Client::Suite
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{
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public:
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QuaternionMathsBenchmarksF32(Testing::testID_t id);
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virtual void setUp(Testing::testID_t,std::vector<Testing::param_t>& params,Client::PatternMgr *mgr);
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virtual void tearDown(Testing::testID_t,Client::PatternMgr *mgr);
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private:
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#include "QuaternionMathsBenchmarksF32_decl.h"
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Client::Pattern<float32_t> input1;
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Client::Pattern<float32_t> input2;
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Client::LocalPattern<float32_t> output;
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Client::RefPattern<float32_t> ref;
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int nb;
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float32_t *inp1;
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float32_t *inp2;
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float32_t *outp;
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float32_t *refp;
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};
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#include "QuaternionMathsBenchmarksF32.h"
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#include "Error.h"
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void QuaternionMathsBenchmarksF32::test_quaternion_norm_f32()
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{
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arm_quaternion_norm_f32(this->inp1,this->outp,this->nb);
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}
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void QuaternionMathsBenchmarksF32::test_quaternion_inverse_f32()
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{
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arm_quaternion_inverse_f32(this->inp1,this->outp,this->nb);
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}
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void QuaternionMathsBenchmarksF32::test_quaternion_conjugate_f32()
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{
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arm_quaternion_conjugate_f32(this->inp1,this->outp,this->nb);
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}
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void QuaternionMathsBenchmarksF32::test_quaternion_normalize_f32()
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{
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arm_quaternion_normalize_f32(this->inp1,this->outp,this->nb);
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}
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void QuaternionMathsBenchmarksF32::test_quaternion_prod_single_f32()
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{
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for(int i=0; i < this->nb; i++)
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{
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arm_quaternion_product_single_f32(this->inp1,this->inp2,this->outp);
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this->outp += 4;
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this->inp1 += 4;
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this->inp2 += 4;
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}
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}
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void QuaternionMathsBenchmarksF32::test_quaternion_product_f32()
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{
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arm_quaternion_product_f32(this->inp1,this->inp2,outp,this->nb);
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}
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void QuaternionMathsBenchmarksF32::test_quaternion2rotation_f32()
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{
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arm_quaternion2rotation_f32(this->inp1,this->outp,this->nb);
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}
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void QuaternionMathsBenchmarksF32::test_rotation2quaternion_f32()
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{
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arm_rotation2quaternion_f32(this->inp1,this->outp,this->nb);
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}
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void QuaternionMathsBenchmarksF32::setUp(Testing::testID_t id,std::vector<Testing::param_t>& params,Client::PatternMgr *mgr)
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{
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this->setForceInCache(true);
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std::vector<Testing::param_t>::iterator it = params.begin();
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this->nb = *it;
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switch(id)
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{
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case QuaternionMathsBenchmarksF32::TEST_QUATERNION_NORM_F32_1:
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input1.reload(QuaternionMathsBenchmarksF32::INPUT1_F32_ID,mgr,this->nb*4);
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output.create(this->nb,QuaternionMathsBenchmarksF32::OUT_SAMPLES_F32_ID,mgr);
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this->inp1=input1.ptr();
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this->outp=output.ptr();
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break;
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case QuaternionMathsBenchmarksF32::TEST_QUATERNION_INVERSE_F32_2:
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input1.reload(QuaternionMathsBenchmarksF32::INPUT1_F32_ID,mgr,this->nb*4);
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output.create(this->nb*4,QuaternionMathsBenchmarksF32::OUT_SAMPLES_F32_ID,mgr);
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this->inp1=input1.ptr();
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this->outp=output.ptr();
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break;
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case QuaternionMathsBenchmarksF32::TEST_QUATERNION_CONJUGATE_F32_3:
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input1.reload(QuaternionMathsBenchmarksF32::INPUT1_F32_ID,mgr,this->nb*4);
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output.create(this->nb*4,QuaternionMathsBenchmarksF32::OUT_SAMPLES_F32_ID,mgr);
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this->inp1=input1.ptr();
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this->outp=output.ptr();
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break;
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case QuaternionMathsBenchmarksF32::TEST_QUATERNION_NORMALIZE_F32_4:
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input1.reload(QuaternionMathsBenchmarksF32::INPUT1_F32_ID,mgr,this->nb*4);
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output.create(this->nb*4,QuaternionMathsBenchmarksF32::OUT_SAMPLES_F32_ID,mgr);
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this->inp1=input1.ptr();
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this->outp=output.ptr();
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break;
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case QuaternionMathsBenchmarksF32::TEST_QUATERNION_PROD_SINGLE_F32_5:
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input1.reload(QuaternionMathsBenchmarksF32::INPUT1_F32_ID,mgr,this->nb*4);
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input2.reload(QuaternionMathsBenchmarksF32::INPUT2_F32_ID,mgr,this->nb*4);
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output.create(this->nb*4,QuaternionMathsBenchmarksF32::OUT_SAMPLES_F32_ID,mgr);
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this->inp1=input1.ptr();
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this->inp2=input2.ptr();
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this->outp=output.ptr();
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break;
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case QuaternionMathsBenchmarksF32::TEST_QUATERNION_PRODUCT_F32_6:
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input1.reload(QuaternionMathsBenchmarksF32::INPUT1_F32_ID,mgr,this->nb*4);
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input2.reload(QuaternionMathsBenchmarksF32::INPUT2_F32_ID,mgr,this->nb*4);
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output.create(this->nb*4,QuaternionMathsBenchmarksF32::OUT_SAMPLES_F32_ID,mgr);
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this->inp1=input1.ptr();
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this->inp2=input2.ptr();
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this->outp=output.ptr();
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break;
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case QuaternionMathsBenchmarksF32::TEST_QUATERNION2ROTATION_F32_7:
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input1.reload(QuaternionMathsBenchmarksF32::INPUT1_F32_ID,mgr,this->nb*4);
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output.create(this->nb*9,QuaternionMathsBenchmarksF32::OUT_SAMPLES_F32_ID,mgr);
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this->inp1=input1.ptr();
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this->outp=output.ptr();
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break;
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case QuaternionMathsBenchmarksF32::TEST_ROTATION2QUATERNION_F32_8:
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input1.reload(QuaternionMathsBenchmarksF32::INPUT_ROT_F32_ID,mgr,this->nb*9);
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output.create(this->nb*4,QuaternionMathsBenchmarksF32::OUT_SAMPLES_F32_ID,mgr);
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this->inp1=input1.ptr();
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this->outp=output.ptr();
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break;
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}
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}
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void QuaternionMathsBenchmarksF32::tearDown(Testing::testID_t id,Client::PatternMgr *mgr)
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{
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}
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