97 void inv_q_mult(const long *q1, const long *q2, long *qProd)  in inv_q_mult()  argument
100     qProd[0] = (long)(((long long)q1[0] * q2[0] - (long long)q1[1] * q2[1] -  in inv_q_mult()
101                        (long long)q1[2] * q2[2] -  in inv_q_mult()
102                        (long long)q1[3] * q2[3]) >> 30);  in inv_q_mult()
104         (int)(((long long)q1[0] * q2[1] + (long long)q1[1] * q2[0] +  in inv_q_mult()
105                (long long)q1[2] * q2[3] - (long long)q1[3] * q2[2]) >> 30);  in inv_q_mult()
107         (long)(((long long)q1[0] * q2[2] - (long long)q1[1] * q2[3] +  in inv_q_mult()
108                 (long long)q1[2] * q2[0] + (long long)q1[3] * q2[1]) >> 30);  in inv_q_mult()
110         (long)(((long long)q1[0] * q2[3] + (long long)q1[1] * q2[2] -  in inv_q_mult()
111                 (long long)q1[2] * q2[1] + (long long)q1[3] * q2[0]) >> 30);  in inv_q_mult()
114 void inv_q_add(long *q1, long *q2, long *qSum)  in inv_q_add()  argument
117     qSum[0] = q1[0] + q2[0];  in inv_q_add()
118     qSum[1] = q1[1] + q2[1];  in inv_q_add()
119     qSum[2] = q1[2] + q2[2];  in inv_q_add()
120     qSum[3] = q1[3] + q2[3];  in inv_q_add()
153 void inv_q_multf(const float *q1, const float *q2, float *qProd)  in inv_q_multf()  argument
156     qProd[0] = (q1[0] * q2[0] - q1[1] * q2[1] - q1[2] * q2[2] - q1[3] * q2[3]);  in inv_q_multf()
157     qProd[1] = (q1[0] * q2[1] + q1[1] * q2[0] + q1[2] * q2[3] - q1[3] * q2[2]);  in inv_q_multf()
158     qProd[2] = (q1[0] * q2[2] - q1[1] * q2[3] + q1[2] * q2[0] + q1[3] * q2[1]);  in inv_q_multf()
159     qProd[3] = (q1[0] * q2[3] + q1[1] * q2[2] - q1[2] * q2[1] + q1[3] * q2[0]);  in inv_q_multf()
162 void inv_q_addf(float *q1, float *q2, float *qSum)  in inv_q_addf()  argument
165     qSum[0] = q1[0] + q2[0];  in inv_q_addf()
166     qSum[1] = q1[1] + q2[1];  in inv_q_addf()
167     qSum[2] = q1[2] + q2[2];  in inv_q_addf()
168     qSum[3] = q1[3] + q2[3];  in inv_q_addf()