Kai Arras

Social Robotics Lab

Octave/Matlab Tutorial
v.1.0, koa, Oct 09
Contents
! Overview
! Start, quit, getting help
! Variables and data types
! Matrices
! Plotting
! Programming
! Functions and scripts
! Files I/O
! Misc
! Octave and Matlab in practice
! librobotics Matlab
Octave
Overview
Octave is the "open-source Matlab"
Octave is a great gnuplot wrapper
! www.octave.org
! www.mathworks.com
Octave and Matlab are both, high-level languages and
mathematical programming environments for:
! Visualization
! Programming, algorithm development
! Numerical computation: linear algebra, optimization,
control, statistics, signal and image processing, etc.
Beware: Octave/Matlab programs can be slow.
Overview
Matlab-Octave comparison:
! Matlab is more flexible/advanced/powerful/costly
! Octave is for free (GPL license)
! There are minor differences in syntax
This tutorial:
! This tutorial applies to Octave *and* Matlab
unless stated otherwise!
Current versions (autumn 2009):
! Octave 3.2.3
! Matlab 7.6
Contents
! Overview
! Start, quit, getting help
! Variables and data types
! Matrices
! Plotting
! Programming
! Functions and scripts
! Files I/O
! Misc
! Octave and Matlab in practice
! librobotics
Start, Quit, Getting Help
! To start Octave type the shell command octave,
double-click Octave.app or whatever your OS
needs.
You should see the prompt:
octave:1>
! If you get into trouble, you can interrupt Octave
by typing Ctrl-C.
! To exit Octave, type quit or exit.
Start, Quit, Getting Help
! To get help, type help or doc
! To get help on a specific command (=built-in
function), type help command
! Examples: help size, help plot, help figure,
help inv, ...
! To get help on the help system, type help help
! Type q to exit help mode (alike man pages)
Start, Quit, Getting Help
! In the help text of Matlab functions, function names
and variables are in capital letters.
Don't get confused! The (case-sensitive) naming
convention specifies lowercase letters for built-in
commands. It is just a way to highlight text.
! Example: help round returns
ROUND Round towards nearest integer.
ROUND(X) rounds the elements of X to the nearest
integers.
See also floor, ceil, fix.
[...]
! Octave texts are mixed, in lower- and uppercase.
Contents
! Overview
! Start, quit, getting help
! Variables and data types
! Matrices
! Plotting
! Programming
! Functions and scripts
! Files I/O
! Misc
! Octave and Matlab in practice
! librobotics
Variables and Data Types
! Matrices (real and complex)
! Strings (matrices of characters)
! Structures
Vectors? It's a matrix with one column/row
Scalars? It's a matrix of dimension 1x1
Integers? It's a double (you never have to worry)
Boolean? It's an integer (non-null=true, 0=false)
Almost everything is a matrix!
Matlab has more types, e.g. OO-classes
Variables and Data Types
Creating a Matrix
! Simply type:
octave:1> A = [8, 2, 1; 3, -1, 4; 7, 6, -5]
Octave will respond with a matrix in pretty-print:
A =
8 2 1
3 -1 4
7 6 -5
More on matrices, further down this tutorial.
Variables and Data Types
Creating a Character String
! Simply type:
octave:4> str = 'Hello World'
Opposed to Matlab, Octave can also deal with double
quotes. For compatibility reasons, use single quotes.
Creating a Structure
! Type for instance:
octave:5> data.id = 3;
octave:6> data.timestamp = 1265.5983;
octave:7> data.name = 'sensor 1 front';
Variables and Data Types
Creating a Array of Structures
! Oh, a new measurement arrives. Extend struct by:
octave:8> data(2).id = 4;
octave:9> data(2).timestamp = 1268.9613;
octave..> data(2).name = 'sensor 1 front';
Octave will respond with:
data =
{
1x2 struct array containing the fields:
id
timestamp
name
}
Variables and Data Types
Display Variables
! Simply type its name:
octave:1> a
a = 4
Suppress Output
! Add a semicolon:
octave:2> a;
octave:3> sin(phi);
Applies also to function calls.
Variables and Data Types
! Variables have no permanent type.
s = 3 followed by s = 'octave' is fine
! Use who (or the more detailed whos ) to list the
currently defined variables. Example output:
Variables in the current scope:
Attr Name Size Bytes Class
==== ==== ==== ===== =====
A 3x3 72 double
a 1x1 8 double
ans 21x1 168 double
s 1x5 5 char
v 1x21 24 double
Variables and Data Types
Numerical Precision
Variables are stored as double precision numbers in
IEEE floating point format.
! realmin Smallest positive floating point
number: 2.23e-308
! realmax Largest positive floating point
number: 1.80e+308
! eps Relative precision: 2.22e-16
Variables and Data Types
Control Display of Float Variables
! format short Fixed point format with 5 digits
! format long Fixed point format with 15 digits
! format short e Floating point format, 5 digits
! format long e Floating point format, 15 digits
! format short g Best of fixed or floating point
with 5 digits (good choice)
! format long g Best of fixed or floating point
with 15 digits
See help format for more information
Variables and Data Types
Talking about Float Variables...
! ceil(x) Round to smallest integer
not less than x
! floor(x) Round to largest integer
not greater than x
! round(x) Round towards nearest integer
! fix(x) Round towards zero
If x is a matrix, the functions are applied to each
element of x.
Contents
! Overview
! Start, quit, getting help
! Variables and data types
! Matrices
! Plotting
! Programming
! Functions and scripts
! Files I/O
! Misc
! Octave and Matlab in practice
! librobotics
Matrices
Creating a Matrix
! Simply type:
octave:1> A = [8, 2, 1; 3, -1, 4; 7, 6, -5]
! To delimit columns, use comma or space
! To delimit rows, use semicolon
The following expressions are equivalent:
A = [8 2 1;3 -1 4;7 6 -5]
A = [8,2,1;3,-1,4;7,6,-5]
Matrices
Creating a Matrix
! Octave will respond with a matrix in pretty-print:
A =
8 2 1
3 -1 4
7 6 -5
! Alternative Example:
octave:2> phi = pi/3;
octave:3> R = [cos(phi) -sin(phi); sin(phi) cos(phi)]
R =
0.50000 -0.86603
0.86603 0.50000
Matrices
Creating a Matrix from Matrices
octave:1> A = [1 1 1; 2 2 2]; B = [33; 33];
! Column-wise
octave:2> C = [A B]
C =
1 1 1 33
2 2 2 33
! Row-wise:
octave:3> D = [A; [44 44 44]]
D =
1 1 1
2 2 2
44 44 44
Matrices
Indexing
Always "row before column"!
! aij = A(i,j) Get an element
! r = A(i,:) Get a row
! c = A(:,j) Get a column
! B = A(i:k,j:l) Get a submatrix
! Useful indexing command end :
octave:1> data = [4 -1 35 9 11 -2];
octave:2> v = data(3:end)
v =
35 9 11 -2
Matrices
Colon ':', two meanings:
! Wildcard to select entire matrix row or column
A(3,:), B(:,5)
! Defines a range in expressions like
indices = 1:5 Returns row vector 1,2,3,4,5
steps = 1:3:61 Returns row vector 1,4,7,...,61
t = 0:0.01:1 Returns vector 0,0.01,0.02,...,1
! Useful command to define ranges: linspace
increment start stop
Matrices
Assigning a Row/Column
! All referenced elements are set to the scalar value.
octave:1> A = [1 2 3 4 5; 2 2 2 2 2; 3 3 3 3 3];
octave:2> A(3,:) = -3;
Adding a Row/Column
! If the referenced row/colum doesn't exist, it's added.
octave:3> A(4,:) = 4
A =
1 2 3 4 5
2 2 2 2 2
-3 -3 -3 -3 -3
4 4 4 4 4
Matrices
Deleting a Row/Column
! Assigning an empty matrix [] deletes the
referenced rows or columns. Examples:
octave:4> A(2,:) = []
A =
1 2 3 4 5
-3 -3 -3 -3 -3
4 4 4 4 4
octave:4> A(:,1:2:5) = []
A =
2 4
2 2
-3 -3
4 4
Matrices
Get Size
! nr = size(A,1) Get number of rows of A
! nc = size(A,2) Get number of columns of A
! [nr nc] = size(A) Get both (remember order)
! l = length(A) Get whatever is bigger
! numel(A) Get number of elements in A
! isempty(A) Check if A is empty matrix []
Octave only:
! nr = rows(A) Get number of rows of A
! nc = columns(A) Get number of columns of A
Matrices
Matrix Operations
! B = 3*A Multiply by scalar
! C = A*B + X - D Add and multiply
! B = A' Transpose A
! B = inv(A) Invert A
! s = v'*Q*v Mix vectors and matrices
! d = det(A) Determinant of A
! [v lambda] = eig(A) Eigenvalue decomposition
! [U S V] = svd(A) Sing. value decomposition
! many many more...
Matrices
Vector Operations
With x being a column vector
! s = x'*x Inner product, result is a scalar
! X = x*x' Outer product, result is a matrix
! e = x*x Gives an error
Element-Wise Operations (for vectors/matrices)
! s = x.+x Element-wise addition
! p = x.*x Element-wise multiplication
! q = x./x Element-wise division
! e = x.^3 Element-wise power operator
Matrices
Useful Vector Functions
! sum(v) Compute sum of elements of v
! cumsum(v) Compute cumulative sum of
elements of v
! prod(v) Compute product of elements of v
! cumprod(v) Compute cumulative product of
elements of v
! diff(v) Compute difference of subsequent
elements [v(2)-v(1) v(3)-v(2) ...]
! mean(v) Mean value of elements in v
! std(v) Standard deviation of elements
Matrices
Useful Vector Functions
! min(v) Return smallest element in v
! max(v) Return largest element in v
! sort(v,'ascend') Sort in ascending order
! sort(v,'descend') Sort in descending order
! find(v) Return vector of indices of all non-
zero elements in v. Great in combi-
nation with vectorized conditions.
Example:
ivec = find(datavec == 5).
Matrices
Special Matrices
! A = zeros(m,n) Zero matrix of size m x n
! B = ones(m,n) Matrix of size m x n with all 1's
! I = eye(n) Identity matrix of size n
! D = diag([a b c]) Diagonal matrix of size 3 x 3
with a,b,c in the main
diagonal
Just for fun
! M = magic(n) Magic square matrix of size
n x n. (All rows and columns
sum up to the same number)
Matrices
Random Matrices and Vectors
! R = rand(m,n) Matrix with m x n uniformly
distributed random numbers
from interval [0..1]
! N = randn(m,n) Row vector with m x n normally
distributed random numbers
with zero mean, unit variance
! v = randperm(n) Row vector with a random
permutation of the numbers
1 to n
Matrices
Multi-Dimensional Matrices
Matrices can have more than two dimensions.
! Create a 3-dimensional matrix by typing, e.g.,
octave:1> A = ones(2,5,2)
Octave will respond by
A =
ans(:,:,1) =
1 1 1 1 1
1 1 1 1 1
ans(:,:,2) =
1 1 1 1 1
1 1 1 1 1
Matrices
Multi-Dimensional Matrices
! All operations to create, index, add, assign,
delete and get size apply in the same fashion
Examples:
! [m n l] = size(A)
! A = rand(m,n,l)
! m = min(min(min(A)))
! aijk = A(i,j,k)
! A(:,:,5) = -3
Matrices
Matrix Massage
! reshape(A,m,n) Change size of matrix A to
have dimension m x n. An
error results if A does not
have m x n elements
! circshift(A,[m n]) Shift elements of A m times
in row dimension and n
times in column dimension
! shiftdim(A,n) Shift the dimension of A by n.
Generalizes transpose for
multi-dimensional matrices
Matrices
Matrix Massage Example
Let P = [x1; y1; x2; y2; ...] be a 2nx1 column vector
of n (x,y)-pairs. Make it a column vector of
(x,y,theta)-tuples with all theta values being pi/2:
! Make it a 2xn matrix
octave:1> P = reshape(P,2,numel(P)/2);
! Add a third row, assign pi/2
octave:2> P(3,:) = pi/2;
! Reshape it to be a 3nx1 column vector
octave:3> P = reshape(P,numel(P),1);
Strings
Most Often Used Commands
! strcat Concatenate strings
! int2str Convert integer to a string
! num2str Convert numbers to a string
! sprintf Write formatted data to a string.
Same as C/C++ fprintf for strings.
! Example
s = strcat('At step ',int2str(k),', p = ',num2str(p,4))
Given that strings are matrices of chars, this is also
s = ['At step ' int2str(k) ', p = ' num2str(p,4)]
Octave responds with
s = At step 56, p = 0.142
Strings
Octave/Matlab has virtually all common string and
parsing functions.
! You are encouraged to browse through the list of
commands or simply type help command :
strcmp, strncmp, strmatch, char, ischar,
findstr, strfind, str2double, str2num,
num2str, strvcat, strtrim, strtok, upper,
lower,
and many more...
Contents
! Overview
! Start, quit, getting help
! Variables and data types
! Matrices
! Plotting
! Programming
! Functions and scripts
! Files I/O
! Misc
! Octave and Matlab in practice
! librobotics
Plotting
Plotting in 2D
! plot(x,cos(x)) Display x,y-plot
Creates automatically a figure window. Octave uses
gnuplot to handle graphics.
! figure(n) Create figure window 'n'
If the figure window already exists, brings it into the
foreground (= makes it the current figure)
! figure Create new figure window with
identifier incremented by 1.
Plotting
Several Plots
! Series of x,y-patterns: plot(x1,y1,x2,y2,...)
e.g. plot(x,cos(x),x,sin(x),x,x.^2)
! Add legend to plot: command legend
legend('cos(x)','sin(x)','x^2')
! Alternatively, hold on does the same job:
octave:1> hold on; plot(x,cos(x));
octave:2> plot(x,sin(x));
octave:3> plot(x,x.^2);
Plotting
Frequent Commands
! clf Clear figure
! hold on Hold axes. Don't replace plot with
new plot, superimpose plots
! grid on Add grid lines
! grid off Remove grid lines
! title('Exp1') Set title of figure window
! xlabel('time') Set label of x-axis
! ylabel('prob') Set label of y-axis
! subplot Put several plot axes into figure
Plotting
Controlling Axes
! axis equal Set equal scales for x-/y-axes
! axis square Force a square aspect ratio
! axis tight Set axes to the limits of the data
! a = axis Return current axis limits
[xmin xmax ymin ymax]
! axis([-1 1 2 5]) Set axis limits (freeze axes)
! axis off Turn off tic marks
! box on Adds a box to the current axes
! box off Removes box
Plotting
Choosing Symbols and Colors
! In plot(x,cos(x),'r+') the format expression
'r+' means red cross.
! There are a number of line styles and colors,
see help plot.
Example:
octave:1> x = linspace(0,2*pi,100);
octave:2> plot(x,cos(x),'r+',x,sin(x),'bx');
produces this plot:
Plotting
plot(x,cos(x),'r+',x,sin(x),'bx');
Plotting
! Adjusting the axes
octave:3> axis([0 2*pi -1 1])
(try also axis tight )
! Adding a legend, labels and a title
octave:4> legend('cos(x)','sin(x)',
'Location','Southwest')
octave:5> title('Trigonometric Functions')
octave:6> xlabel('x')
octave:7> ylabel('y')
Plotting
plot(x,cos(x),'r+',x,sin(x),'bx');
*) Title and x-label
wrongly cut off.
This seems to be a
Octave-AquaTerm
on Mac problem.
Should work in
general.
*)
Plotting
Uhm..., don't like it. New try:
octave:1> clf;
! Controlling Color and Marker Size
octave:2> plot(x,cos(x),'r+',x,sin(x),'-x',...
'Color',[1 .4 .8],'MarkerSize',2)
octave:3> axis tight
! Adding Text
octave:4> text(1,-0.5,'cos(\phi)')
octave:5> text(3,0.5,'sin(\phi)')
Note the LateX syntax!
Plotting
plot(x,cos(x),'r+',x,sin(x),'-x','Color',[1 .4 .8],'MarkerSize',2)
Plotting
Yepp, I like it... Get hardcopy!
Exporting Figures
! print deps myPicBW.eps Export B/W .eps file
! print depsc myPic.eps Export color .eps file
! print djpeg r80 myPic.jpg Export .jpg in 80 ppi
! print dpng r100 myPic.png Export .png in 100 ppi
See help print for more devices including
specialized ones for Latex.
! print can also be called as a function. Then, it
takes arguments and options as a comma-separa-
ted list. E.g.: print('-dpng','-r100','myPic.png');
Plotting
This tutorial cannot cover the huge variety of
graphics commands in Octave/Matlab.
! You are encouraged to browse through the list of
commands or simply type help command :
hist, bar, pie, area, fill, contour, quiver,
scatter, compass, rose, semilogx, loglog,
stem, stairs, image, imagesc
and many more...
Plotting
Plotting in 3D
! plot3 Plot lines and points in 3d
! mesh 3D mesh surface plot
! surf 3D colored surface plot
Most 2d plot commands have a 3D sibling. Check
out, for example,
bar3, pie3, fill3, contour3, quiver3,
scatter3, stem3
Contents
! Overview
! Start, quit, getting help
! Variables and data types
! Matrices
! Plotting
! Programming
! Functions and scripts
! Files I/O
! Misc
! Octave and Matlab in practice
! librobotics
Programming
Programming in Octave/Matlab is Super Easy.
However, keep the following facts in mind:
! Indices start with 1 !!!
octave:1> v = 1:10
octave:2> v(0)
error: subscript indices must be either positive
integers or logicals.
! Octave/Matlab is case-sensitive.
Text Editors
! Use an editor with m-file syntax highlighting/
coloring.
Programming
Control Structures
! if Statement
if condition,
then-body;
elseif condition,
elseif-body;
else
else-body;
end
The else and elseif clauses are optional.
Any number of elseif clauses may exist.
Programming
Control Structures
! switch Statement
switch expression
case label
command-list;
case label
command-list;
...
otherwise
command-list;
end
Any number of case labels are possible.
Programming
Control Structures
! while Statement
while condition,
body;
end
! for statement
for var = expression,
body;
end
Programming
Interrupting and Continuing Loops
! break
Jumps out of the innermost for or while loop that
encloses it.
! continue
Used only inside for or while loops. It skips over
the rest of the loop body, causing the next cycle to
begin. Use with care.
Programming
Increment Operators (Octave only!)
Increment operators increase or decrease the value of
a variable by 1.
! i++ Increment scalar i by 1
! i-- Decrement scalar i by 1
! A++ Increment all elements of matrix A by 1
! v-- Decrement all elements of vector v by 1
There are the C/C++ equivalent operators ++i , --A .
Programming
Comparison Operators
! All of comparison operators return a value of 1 if
the comparison is true, or 0 if it is false.
Examples: i == 6, cond1 = (d > theta)
! For the matrix-to-matrix case, the comparison is
made on an element-by-element basis. Example:
[1 2; 3 4] == [1 3; 2 4] returns [1 0; 0 1]
! For the matrix-to-scalar case, the scalar is
compared to each element in turn. Example:
[1 2; 3 4] == 2 returns [0 1; 0 0]
Programming
Comparison Operators
! any(v) Returns 1 if any element of
vector v is non-zero (e.g. 1)
! all(v) Returns 1 if all elements in
vector v are non-zero (e.g. 1)
For matrices, any and all return a row vector with
elements corresponding to the columns of the matrix.
! any(any(C)) Returns 1 if any element of
matrix C is non-zero (e.g. 1)
! all(all(C)) Returns 1 if all elements in
matrix C are non-zero (e.g. 1)
Programming
Relational Operators
! x < y True if x is less than y
! x <= y True if x is less than or equal to y
! x == y True if x is equal to y
! x >= y True if x is greater than or equal to y
! x > y True if x is greater than y
! x ~= y True if x is not equal to y
! x != y True if x is not equal to y (Octave only)
! x <> y True if x is not equal to y (Octave only)
Programming
Boolean Expressions
! B1 & B2 Element-wise logical and
! B1 | B2 Element-wise logical or
! ~B Element-wise logical not
! !B Element-wise logical not (Octave only)
Short-circuit operations: evaluate expression only
as long as needed (more efficient).
! B1 && B2 Short-circuit logical and
! B1 || B2 Short-circuit logical or
Programming
Recommended Naming Conventions
! Underscore-separated or lowercase notation for
functions
Examples: intersect_line_circle.m,
drawrobot.m, calcprobability.m
! UpperCamelCase for scripts
Examples: LocalizeRobot.m, MatchScan.m
! Note: Matlab/Octave commands are all in
lowercase notation (no underscores or dashes)
Examples: continue, int2str, isnumeric
Contents
! Overview
! Start, quit, getting help
! Variables and data types
! Matrix arithmetic
! Plotting
! Programming
! Functions and scripts
! Files I/O
! Misc
! Octave and Matlab in practice
! librobotics
Functions and Scripts
Functions
Complicated Octave/Matlab programs can often be
simplified by defining functions. Functions are
typically defined in external files, and can be called
just like built-in functions.
! In its simplest form, the definition of a function
named name looks like this:
function name
body
end
! Get used to the principle to define one function
per file (text files called m-file or .m-file)
Functions and Scripts
Passing Parameters to/from Functions
! Simply write
function [ret-var] = name(arg-list)
body
end
! arg-list is a comma-separated list of
input arguments arg1, arg2, ..., argn
! ret-var is a comma-separated list of
output arguments. Note that ret-var is a vector
enclosed in square brackets [arg1, arg2, ..., argm].
Functions and Scripts
Example Functions:
function [mu sigma] = calcmoments(data)
mu = mean(data);
sigma = std(data);
end
function [haspeaks i] = findfirstpeak(data, thresh)
indices = find(data > thresh);
if isempty(indices),
haspeaks = 0; i = [];
else
haspeaks = 1; i = indices(1);
end
end
Functions and Scripts
Local Variables, Variable Number of Arguments
! Of course, all variables defined within the body of
the function are local variables.
! varargin Collects all input argument in a cell
array. Get them with varargin{i}
! varargout Collects all output argument in a cell
array. Get them with varargout{i}
! nargin Get the number of input args.
! nargout Get the number of output args.
See help varargin, help varargout for details.
Functions and Scripts
Functions and their m-File
! When putting a function into its m-file, the name of
that file must be the same as the function name
plus the .m extension.
Examples: calcmoments.m, findfirstpeak.m
! To call a function, type its name without the .m
extension. Example:
[bool i] = findfirstpeak(myreadings, 0.3);
! Comments in Octave/Matlab start with % . Make
use of them!
Functions and Scripts
Scripts
! The second type of m-files is called script. Again,
Octave/Matlab scripts are text files with an
.m extension.
! Scripts contain executable code. They are basically
the "main" programs.
! Execute a script by typing its name without
the .m extension!
Example: octave:1> LocalizeRobot
! Comments in Octave/Matlab start with % .
(I can't repeat this often enough ;-)
Functions and Scripts
Document your Function/Script
! You can add a help text to your own functions
or scripts that appears upon help command.
! The first block of comment lines in the
beginning of an m-file is defined to be help text.
Example:
%NORMANGLE Put angle into a two-pi interval.
% AN = NORMANGLE(A,MIN) puts angle A into the interval
% [MIN..MIN+2*pi[. If A is Inf, Inf is returned.
% v.1.0, Dec. 2003, Kai Arras.
function an = normangle(a,mina);
if a < Inf,
[...]
help text
Functions and Scripts
Setting Paths
! path Print search path list
! addpath('dir') Prepend the specified directory
to the path list
! rmpath('dir') Remove the specified directory
from the path list
! savepath Save the current path list
Contents
! Overview
! Start, quit, getting help
! Variables and data types
! Matrix arithmetic
! Plotting
! Programming
! Functions and scripts
! Files I/O
! Misc
! Octave and Matlab in practice
! librobotics
Files I/O
Save Variables
After a complex of lengthy computation, it is recom-
mended to save variables on the disk.
! save my_vars.mat
Saves all current variables into file my_vars.mat
! save results.mat resultdata X Y
Saves variables resultdata, X and Y in file results.mat
! save ... -ascii
Saves variables in ASCII format
! save ... -mat
Saves variables in binary MAT format
Files I/O
Load Variables
The corresponding command is load.
! load my_vars.mat
Retrieves all variables from the file my_vars.mat
! load results.mat X Y
Retrieves only X and Y from the file results.mat
An ASCII file that contains numbers in a matrix
format (columns separated by spaces, rows separated
by new lines), can be simply read in by
! A = load('data.txt')
Files I/O
Open, Write, Close Files
! fopen Open or create file for writing/reading
! fclose Close file
! fprintf Write formatted data to file. C/C++
format syntax.
Example:
v = randn(1000,1);
fid = fopen('gauss.txt','w');
for i = 1:length(v),
fprintf(fid,'%7.4f\n',v(i));
end
fclose(fid);
Files I/O
Attention, Popular Bug
! If your program writes to and reads from files,
floating point precision of fprintf is crucial!
! Be sure to always write floating point numbers into
files using the appropriate precision.
! In the above example, with '%7.4f\n' as the
format definition, this file is going to be poor
source of Gaussian random numbers.
Files I/O
Reading Files (more advanced stuff)
! textread Read formatted data from text file
! fscanf Read formatted data from text file
! fgetl Read line from file
! fread Read binary data file
Read/write images
! imread Read image from file (many formats)
! imwrite Write image to file (many formats)
Contents
! Overview
! Start, quit, getting help
! Variables and data types
! Matrix arithmetic
! Plotting
! Programming
! Functions and scripts
! Files I/O
! Misc
! Octave and Matlab in practice
! librobotics
Misc
Cleaning Up
! clear A Clear variable A
! clear frame* Clear all variables whose names
start with frame...
! clear Clear all variables
! clear all Clear everything: variables,
globals, functions, links, etc.
! close Close foreground figure window
! close all Close all open figure windows
! clc Clear command window (shell)
Misc
Displaying (Pretty) Messages
! disp(A) Display matrix A without
printing the matrix name
! disp(str) Display string str without
printing the string name
Example: when typing
octave:1> disp('done')
Octave will respond with
done
instead of
ans = done
from sprintf('done') or simply 'done'.
Misc
Command History
! Navigate up and down the command history using
the up/down arrow keys.
! The command history is start-letter sensitive.
Type one or more letters and use the arrow keys to
navigate up and down the history of commands
that start with the letters you typed.
Tab completion
! Octave/Matlab have tab completion. Type some
letters followed by tab to get a list of all commands
that start with the letters you typed.
Misc
Built-in Unix Commands
! pwd Display current working directory
! ls List directory. See also dir .
! cd Change directory
! mkdir Make new directory
! rmdir Delete directory
Related Commands
! movefile Move file
! copyfile Copy file
Misc
Random Seeds
! rand and randn obtain their initial seeds from the
system clock.
! To generate identical/repeatable sequences, set the
random generator seeds manually.
To set the random seeds:
! rand('seed',value) Set seed to scalar
integer value value.
! randn('seed',value) Set seed to scalar
integer value value.
Contents
! Overview
! Start, quit, getting help
! Variables and data types
! Matrix arithmetic
! Plotting
! Programming
! Functions and scripts
! Files I/O
! Misc
! Octave and Matlab in practice
! librobotics
Octave/Matlab in Practice
Useful Stuff in Practice
! Generating output from a C/C++/Python/
Java/... program in Octave syntax
! Making animations
! Calling unix/dos functions from within Octave
programs
! Increasing speed
Octave/Matlab in Practice
Output Files in Octave Syntax
! Data written in a matrix format. Example:
filtered_readings.txt
0.792258 0.325823 0.957683 0.647680 0.498282
0.328679 0.414615 0.270472 0.975753 0.043852
0.601800 0.062914 0.837494 0.621332 0.870605
0.940364 0.036513 0.843801 0.806506 0.804710
0.937506 0.872248 0.134889 0.042745 0.228380
! Read in using the command load .
Example: A = load('filtered_readings.txt');
Output Files in Octave Syntax
! File contains code snippets. Example:
PlotFilteredReadings.m
A = [
0.792258 0.325823 0.957683 0.647680 0.498282
0.328679 0.414615 0.270472 0.975753 0.043852
0.601800 0.062914 0.837494 0.621332 0.870605
0.940364 0.036513 0.843801 0.806506 0.804710
];
figure(1); clf; hold on;
plot(1:size(A,1),A(:,1));
! Must have the .m extension. It's a script.
! Simply execute by typing PlotFilteredReadings
Octave/Matlab in Practice
Making Animations
! Matlab has commands such as getframe and
movie to make animated movies from plots.
! Octave, being free of charge, does not (yet)
support these commands.
! Never mind! Here is a pretty obvious way to make
movies:
Export plots to a "frames" directory using print
from within a loop. Then compose frames to a
movie using tools such as ImageMagick or
Quicktime Pro.
Octave/Matlab in Practice
Making Animations. Example:
! Let data.txt contain data in matrix format, we
want to plot each column and save it as a frame.
A = load('data.txt');
[m n] = size(A);
figure(1);
for i = 1:n,
plot(1:m,A(:,i));
fname = sprintf('frames/frame%04d.png',i);
print('-dpng','-r100',fname);
end
! Problem: axis limits change for each plot/frame.
Octave/Matlab in Practice
Making Animations. Example:
! To freeze the axes over the entire animation, use
the command axis([xmin xmax ymin ymax])
after the plot command.
A = load('data.txt');
[m n] = size(A);
figure(1);
for i = 1:n,
plot(1:m,A(:,i));
axis([1 m min(min(A)) max(max(A))]);
fname = sprintf('frames/frame%04d.png',i);
print('-dpng','-r100',fname);
end
Octave/Matlab in Practice
Calling unix/dos Functions
! For Unix/Linux/MacOSX systems, there is the
command unix to execute system commands and
return the result. Examples:
unix('ls -al')
unix('ftp < ftp_script')
unix('./myprogram')
! For PCs, there is the equivalent command dos .
! These commands allow for powerful and handy
combinations with other programs or system
commands.
Octave/Matlab in Practice
Speed!
! The lack of speed of Octave/Matlab programs is
widely recognized to be their biggest drawback.
! Mostly it's your program that is slow, not the
built-in functions!
! This brings us to the following guidelines:
! For-loops are evil
! Vectorization is good
! Preallocation is good
! Prefer struct of arrays over arrays of struct
Octave/Matlab in Practice
Speed: Vectorization
! Given phi = linspace(0,2*pi,100000);
The code
for i = 1:length(phi),
sinphi(i) = sin(phi(i));
end;
is significantly slower than simply
sinphi = sin(phi);
! Nearly all built-in commands are vectorized.
Think vectorized!
Octave/Matlab in Practice
Speed: Preallocation
! If a for- or while-loop cannot be avoided, do not
grow data structures in the loop, preallocate
them if you can. Instead of, e.g.,
for i = 1:100,
A(i,:) = rand(1,50);
end;
Write:
A = zeros(100,50); % preallocate matrix
for i = 1:100,
A(i,:) = rand(1,50);
end;
Octave/Matlab in Practice
Speed: Structure of Arrays
! Always prefer a struct of arrays over a array of
structs. It requires significantly less memory
and has a corresponding speed benefit.
! Structure of arrays
data.x = linspace(0,2*pi,100);
data.y = sin(data.x);
! Array of structure
people(1).name = 'Polly J Harvey';
people(1).age = 32;
people(2).name = 'Monica Lebowski';
people(2).age = 27;
Octave/Matlab in Practice
Contents
! Overview
! Start, quit, getting help
! Variables and data types
! Matrix arithmetic
! Plotting
! Programming
! Functions and scripts
! Files I/O
! Misc
! Octave and Matlab in practice
! librobotics
! librobotics is a small library with frequently used
Octave/Matlab functions in Robotics, especially for
visualization.
chi2invtable.m drawrawdata.m j2comp.m
compound.m drawreference.m jinv.m
diffangle.m drawrobot.m mahalanobis.m
drawarrow.m drawrect.m meanwm.m
drawellipse.m drawtransform.m normangle.m
drawlabel.m icompound.m
drawprobellipse.m j1comp.m
! Download from SRL Homepage:
srl.informatik.uni-freiburg.de/downloads
librobotics
Command drawreference.m
librobotics
Command drawrect.m
librobotics
Command drawarrow.m
librobotics
Command drawlabel.m
librobotics
Command drawprobellipse.m
librobotics
Command drawtransform.m
librobotics
Command drawrobot.m
librobotics
Example Figure
librobotics
! All commands are fully documented, just type
help command.
! Note the command chi2invtable.m . It returns
values of the cumulative chi square distri-
bution, typically used for gating and hypothesis
testing. It replaces the chi2inv function from the
Matlab statistics toolbox (which is a costly addition
to Matlab) while being much faster, too.
! librobotics is compatible with both, Matlab and
Octave.
! It's open source, feel free to distribute and
extend.
librobotics
More Information
Full Octave online documentation:
http://www.octave.org
! Docs
! 575 page manual
(directly: www.gnu.org/software/octave/doc/interpreter)
Full Matlab online documentation:
http://www.mathworks.com
! Products & Services
! Product List
! MATLAB
! Documentation
Thanks and Enjoy!
Kai Arras
Social Robotics Lab