AlexanderSavochkin

class RotationalMechanics
{
	mat4 orientation;			
	mat4 tensorOfInertia;	
	mat4 iTensorOfInertia;	
	vec3  angularMomentum;
	double width, height, depth;
public:
	void update(float dt);
	const mat4& getOrientation() const { return orientation; }

AlexanderSavochkin

// Model matrix : an identity matrix (model will be at the origin)
glm::mat4 Model      = glm::mat4(1.0f);
// Our ModelViewProjection : multiplication of our 3 matrices
glm::mat4 MVP = Projection * View * Model; // Remember, matrix multiplication is the other way around

AlexanderSavochkin

glm::mat4 MVP = Projection * View * mechanicalModel.getOrientation() * glm::scale(glm::mat4(1.0f), vec3(1.0, 1.73, 2.24));

AlexanderSavochkin

require 'image'

function ElasticTransform(img, alpha, sigma)
	--[[
	Parameters
	----------
	img: Tensor of size KxHxW
		Image on which elastic transformation have to be applied
	alpha: number
		Intensity of the transformation

AlexanderSavochkin

#include "due_sam3x.init.h"

int main(void)
{
  /* The general init (clock, libc, watchdog disable) */
  init_controller();

  PIO_Configure(PIOB, PIO_OUTPUT_1, PIO_PB27, PIO_DEFAULT);

  while(1)

AlexanderSavochkin

...
typedef struct {
  WoReg UART_CR;       /**< \brief (Uart Offset: 0x0000) Control Register */
  RwReg UART_MR;       /**< \brief (Uart Offset: 0x0004) Mode Register */
  WoReg UART_IER;      /**< \brief (Uart Offset: 0x0008) Interrupt Enable Register */
  WoReg UART_IDR;      /**< \brief (Uart Offset: 0x000C) Interrupt Disable Register */
  RoReg UART_IMR;      /**< \brief (Uart Offset: 0x0010) Interrupt Mask Register */
  RoReg UART_SR;       /**< \brief (Uart Offset: 0x0014) Status Register */
  RoReg UART_RHR;      /**< \brief (Uart Offset: 0x0018) Receive Holding Register */
  WoReg UART_THR;      /**< \brief (Uart Offset: 0x001C) Transmit Holding Register */

AlexanderSavochkin

...
typedef struct {
  WoReg US_CR;         /**< \brief (Usart Offset: 0x0000) Control Register */
  RwReg US_MR;         /**< \brief (Usart Offset: 0x0004) Mode Register */
  WoReg US_IER;        /**< \brief (Usart Offset: 0x0008) Interrupt Enable Register */
  WoReg US_IDR;        /**< \brief (Usart Offset: 0x000C) Interrupt Disable Register */
  RoReg US_IMR;        /**< \brief (Usart Offset: 0x0010) Interrupt Mask Register */
  RoReg US_CSR;        /**< \brief (Usart Offset: 0x0014) Channel Status Register */
  RoReg US_RHR;        /**< \brief (Usart Offset: 0x0018) Receiver Holding Register */
  WoReg US_THR;        /**< \brief (Usart Offset: 0x001C) Transmitter Holding Register */

AlexanderSavochkin

void setupUART()
{

  PIO_Configure(PIOA, PIO_PERIPH_A,PIO_PA8A_URXD|PIO_PA9A_UTXD, PIO_DEFAULT);

  /* Enable the pull up on the Rx and Tx pin */
  PIOA->PIO_PUER = PIO_PA8A_URXD | PIO_PA9A_UTXD;

  /*Включаем UART, подавая на него тактирование*/
  pmc_enable_periph_clk(ID_UART);

AlexanderSavochkin

...
while (1)
{
  //Если получили очередной байт из UART - прочитаем его в переменную received_data
  if ((UART->UART_SR & UART_SR_RXRDY) ==  UART_SR_RXRDY )
  {
    uint32_t received_data = UART->UART_RHR;
    ...
  }
  //Если готовы отправить очередной байт (зранится в data_to_transmit) через UART - запишем в регистр UART_THR  

AlexanderSavochkin

...
while (1)
{
  //Если получили очередной байт из UART - прочитаем его в переменную received_data
  if ((UART->UART_SR & UART_SR_RXRDY) ==  UART_SR_RXRDY )
  {
    uint32_t received_data = UART->UART_RHR;
    ...
  }
  //Если готовы отправить очередной байт (зранится в data_to_transmit) через UART - запишем в регистр UART_THR