珂温岳鉛温恢讐楼2021
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珂粥意晦粥京の児粥議な聞い圭について府初するスライドです
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![佩双麻をしてみる | ベクトルと佩双の協x
? MATLABは佩双麻にいのでいろいろ[んでみよう
1. ベクトルの麻
1. と秘薦すると罪ベクトル? = [1 2 3]が伏撹される
2. と秘薦するとkベクトル? =
1
2
3
が伏撹される
2. 佩双の協x
1. と秘薦すると佩双? =
1 2
3 4
が伏撹される
>> A=[1 2; 3 4]
>> p=[1 2 3]
>> q=[1 2 3]¨
崔を吭龍する
個佩を吭龍する
6
>> q=[1; 2; 3]
TRY と秘薦するとどうなるだろうか](https://image.slidesharecdn.com/matlab2021-211018032943/85/Matlab-2021-6-320.jpg)
![筍 佩双?を協xしておきます
佩双麻をしてみる | 佩双の處麻
1. 佩双の譴泳
1. スカラ`と佩双の譴泳磴錬 とける
2. 佩双と佩双の譴泳磴錬 とける
2. 剃佩双は でgに箔められる
3. 耕嗤､塙毛丱戰トルは で箔められる
Vは耕嗤ベクトルからなる屎圭佩双で光双が耕嗤ベクトル
Dは耕嗤､叔に隔つ叔佩双
>> a*A
>> [V,D]=eig(A)
>> inv(A)
>> B = [3 4; 5 6]
>> A*B
}
佩双 ? =
0 1 1
?4 4 2
2 ?1 1
を叔晒せよ
7](https://image.slidesharecdn.com/matlab2021-211018032943/85/Matlab-2021-7-320.jpg)
![1. スカラ`とベクトルの譴泳磴錬 とける
2. ベクトルのeを麻してみよう
1. 屈つのkベクトル を協xする
2. ベクトル?と?の坪eは
3. ベクトル?と?の翌eは
佩双麻をしてみる | ベクトルの處麻
>> a*p
>> u=[2;3;4] >> v=[5;6;7]
>> dot(u,v)
>> cross(u,v)
ベクトル?と?の坪eは? ? ? = ???で箔められるすなわち
でも麻できる
>> u¨*v
8](https://image.slidesharecdn.com/matlab2021-211018032943/85/Matlab-2021-8-320.jpg)
![夛悶でプログラムをシンプルにく
? v方の哈方がLいとくのが寄
? 仝夛悶々を聞ってまとめてしまえばgにき燕せる
dx = F (t, x, m1, m2, J1, J2, l1, l2, d1, d2, g);
param.m1 = 1.0;
param.m2 = 1.0;
param.J1 = 1.5;
param.J2 = 1.5;
param.l1 = 1.0;
param.l2 = 1.0;
param.d1 = 0.5;
param.d2 = 0.5;
param.g = 9.8;
dx = F (t, x, param);
｀param¨ という夛悶の嶄に
たくさんの篳が贋壓する
仝夛悶兆.篳兆々というフォ`マット
.の瘁に篳兆をく
｀param¨ だけ哈いてしまえば
嶄附の篳が畠何ついてくる
param = [1.0 1.0 1.5 1.5 1.0 1.0 0.5 0.5 9.8]
とするよりも光篳の吭龍がわかりやすい
16](https://image.slidesharecdn.com/matlab2021-211018032943/85/Matlab-2021-16-320.jpg)
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MATLABにおけるscriptのき圭についてのセミナ`Y創。Readable Codeの深え圭に児づいています。厘ながらニッチだな`ｗAd
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珂温岳鉛温恢讐楼2021
- 2. はじめに 2 MATLABは親僥麻に蒙晒した方ｽ睥ソフトウェア ? 方ｽ睥┘轡潺絅讒`ション ? 佚催I尖 ? デ`タ盾裂 ? C亠僥 ？な麻に鬉垢 謹喘なツ`ルボックスを笋┐討い襭 恷除ではロボティクスの俶勣に鬉┐襪燭瓧 Robotics toolboxやROS (Robot OS)とのB亊もできるようにアップデ`トされた ? デ`タのQいがg 篳の侏を峺協する駅勣がない ? プログラミングがg Pythonのようにシンプルなコ`ドでける ? 宙鮫が誼吭 きれいなプロットをgに恬撹辛嬬
- 3. もくじ 1. 児云議な聞い圭 2. プログラムを恬る 3. 辛晒する 4. 夛悶とオブジェクト峺鬟廛蹈哀薀潺鵐 5. 原h 3
- 5. とりあえずなにか麻してみる 1. 篳を恬る 1. コマンドウィンドウに と秘薦する 2. コマンドウィンドウに と秘薦する 2. 麻する 1. 怎し麻をしてみる 2. 譴泳磴鬚靴討澆襭 3. 仟しい篳に麻Y惚を旗秘する >> a=2; >> b=3; >> a+b >> a*b コマンドの瘁ろに￣;￣をつけるとY惚が燕幣されない 麻Y惚がいちいち竃てくるとd盲しいときは宴旋 >> c=a/b 紗麻 + p麻 - \麻 * 茅麻 / 5
- 6. 佩双麻をしてみる | ベクトルと佩双の協x ? MATLABは佩双麻にいのでいろいろ[んでみよう 1. ベクトルの麻 1. と秘薦すると罪ベクトル? = [1 2 3]が伏撹される 2. と秘薦するとkベクトル? = 1 2 3 が伏撹される 2. 佩双の協x 1. と秘薦すると佩双? = 1 2 3 4 が伏撹される >> A=[1 2; 3 4] >> p=[1 2 3] >> q=[1 2 3]¨ 崔を吭龍する 個佩を吭龍する 6 >> q=[1; 2; 3] TRY と秘薦するとどうなるだろうか
- 7. 筍 佩双?を協xしておきます 佩双麻をしてみる | 佩双の處麻 1. 佩双の譴泳 1. スカラ`と佩双の譴泳磴錬 とける 2. 佩双と佩双の譴泳磴錬 とける 2. 剃佩双は でgに箔められる 3. 耕嗤､塙毛丱戰トルは で箔められる Vは耕嗤ベクトルからなる屎圭佩双で光双が耕嗤ベクトル Dは耕嗤､叔に隔つ叔佩双 >> a*A >> [V,D]=eig(A) >> inv(A) >> B = [3 4; 5 6] >> A*B } 佩双 ? = 0 1 1 ?4 4 2 2 ?1 1 を叔晒せよ 7
- 8. 1. スカラ`とベクトルの譴泳磴錬 とける 2. ベクトルのeを麻してみよう 1. 屈つのkベクトル を協xする 2. ベクトル?と?の坪eは 3. ベクトル?と?の翌eは 佩双麻をしてみる | ベクトルの處麻 >> a*p >> u=[2;3;4] >> v=[5;6;7] >> dot(u,v) >> cross(u,v) ベクトル?と?の坪eは? ? ? = ???で箔められるすなわち でも麻できる >> u¨*v 8
- 9. ワ`クスペ`スの砿尖 ? 恬られた篳はワ`クスペ`スに火りAける ? ワ`クスペ`スを隠贋することができる ? とすると仝filename.mat々が隠贋される ? 匯何の篳だけを隠贋したいときは とする ? ファイルはF壓のフォルダ`に隠贋される ? ワ`クスペ`ス坪を茅したいときは ? 朕議の篳のみを茅したいときは >> clear >> clearvars A b p >> save(¨filename¨) >> save(¨filename¨,¨A¨,¨b¨) 9
- 11. スクリプトをいてみる ? コマンドウィンドウにいていたのと揖にコマンドをいていく ? MATLABはコンパイルを駅勣としないスクリプト冱Zであり仝g佩々を兀したら貧から桑に g佩される ? スクリプトは隠贋しないとg佩できないまたF壓のフォルダにないとg佩できない まとめてg佩 % 參週の猟忖双はコメントとみなされg佩されない %% と2つAけてくとセクションとしてJRされる 廷のため念指の麻Y惚が火らないように はじめにclearしておくと措い 11
- 12. sinv方のプロット ? MATLABは宙鮫C嬬も割gしており2肝圷プロットも3肝圷プロットもできる figure プロットするウィンドウを伏撹 plot(x,y) xにするyを２肝圷にプロットベクトルxとyは揖じサイズでないといけない xlabel Sのh苧を弖紗TeX侘塀を聞ってきれいにくことができる 12 Commands
- 13. v方を恬る ? MATLABにはsinv方のように嚠め協xされた篳がたくさんある ? それに紗えて徭蛍でv方を恬ることもできる 13 スクリプトで function とくと哈方と卦り､鬚發堤v方が協xできる v方坪で嶄g篳を協xできる これはワ`クスペ`スに火らない } 4肝のルンゲクッタ隈で裏蛍圭殻塀を盾いてみよう ? + 2? + 3? = ??2?
- 14. ライブスクリプトを試喘する ? ライブスクリプトを聞喘すると割gしたノ`トC嬬を聞喘できる ? しいh苧や方塀を秘することができて宴旋 ? 麻Y惚も匯wに燕幣してくれるのでひと朕で麻が委燐できる 14 ノ`トはフォ`マットをQめてタイトルを原けたりできる 仝携襦好織屬ら方塀の秘薦が辛嬬 MATLABコ`ドとノ`トを販吭に俳紋辛嬬 麻Y惚や蹐魯立`トの嘔スペ`スに燕幣される
- 15. } 1. 佩双 ? = 0 1 1 ?4 4 2 2 ?1 1 を叔晒しよう 2. 4肝のルンゲクッタ隈アルゴリズムをMみ裏蛍圭殻塀を盾いてみよう 辛嬬なら盾裂盾を箔め方ﾓ麻のY惚とKべてプロットしてみよう 方ﾓ麻は噴蛍な娼業で麻できているか殖 15 (2) ? + 2? + 3? = ??2? 兜豚､? ? = 1, ? ? = 0 (1) ? ? 2? = ?? 兜豚､? ? = 0
- 16. 夛悶でプログラムをシンプルにく ? v方の哈方がLいとくのが寄 ? 仝夛悶々を聞ってまとめてしまえばgにき燕せる dx = F (t, x, m1, m2, J1, J2, l1, l2, d1, d2, g); param.m1 = 1.0; param.m2 = 1.0; param.J1 = 1.5; param.J2 = 1.5; param.l1 = 1.0; param.l2 = 1.0; param.d1 = 0.5; param.d2 = 0.5; param.g = 9.8; dx = F (t, x, param); ｀param¨ という夛悶の嶄に たくさんの篳が贋壓する 仝夛悶兆.篳兆々というフォ`マット .の瘁に篳兆をく ｀param¨ だけ哈いてしまえば 嶄附の篳が畠何ついてくる param = [1.0 1.0 1.5 1.5 1.0 1.0 0.5 0.5 9.8] とするよりも光篳の吭龍がわかりやすい 16
- 17. オブジェクト峺鬟廛蹈哀薀潺鵐阿悗琉k婢 ? 仝オブジェクト々はデ`タ┘瓮鵐篳と凋綜┘瓮愁奪稗が匯悶になっている ? 夛悶のように謹くの篳をまとめて砿尖できる ? メソッドとしてv方を坪何に隔つことができる 17 蜉麗クラス ? 弼 ? 誼吭室 ? 簓(弼誼吭室) ? 誼吭室で蕕 メンバ篳 メソッド g悶晒 弼些 誼吭室哉瞥羨ち 箭 仝クラス々はオブジェクトの O クラスからgHにオブジェクトを伏撹することをg悶晒という 伏撹したオブジェクトを仝インスタンス々とも柵ぶ
- 18. クラスとインスタンス ? 揖じO蹌┘ラスから？なインスタンスを恬れる ? 仝蜉麗クラス々からたくさんのヒ`ロ`が恬れる ? この栽仝弼々と仝誼吭室々はg悶晒の鵬gに旗秘しておいたほうがいい ? g悶晒した鵬gにg佩されるメソッドを恬れるこれをコンストラクタという 18 蜉麗クラス ? 弼 ? 誼吭室 ? 簓(弼誼吭室) ? 誼吭室で蕕 メンバ篳 メソッド g悶晒 弼些 誼吭室哉瞥羨ち g悶晒 弼最 誼吭室妻峙 g悶晒 弼坤團鵐 誼吭室采擦 箭 コンストラクタにしておくのがよい
- 19. MATLABプログラムにするとこんな湖じ 蜉麗クラス ? 弼 ? 誼吭室 ? 簓(弼誼吭室) ? 誼吭室で蕕 メンバ篳 メソッド 箭 コンストラクタ classdef ranger properties % メンバ篳 color; skill; end methods function ranger(self, color_, skill_) self.color = color_; self.skill = skill_; end function fight(self) ~~~ end end end clear % 橿レンジャ`のg悶晒 akaRanger = ranger(｀red｀,｀Kamehameha｀); % 橿レンジャ`に蕕錣擦襭哈方音勣 akaRanger.fight; % 楳レンジャ`になってもらう akaRanger.color = ｀blue｀; ranger.m main.m コンストラクタはクラス兆と揖じメソッド 19
- 20. 原h | やすいフォントに筝しよう ? 1とl0とOなど蛍けにくい猟忖が謹いと寄筍 ? MATLABの燕幣フォントを筝してみよう やすいフォントの箭 ? consolas ? メイリオ ? Osaka-吉嫌 など 20
- 21. ? 吉餓方双 ? ゼロベクトル佩双 原h | 宴旋なコマンド鹿 >> a=1:2:9 秘薦 a= 1 3 5 7 9 竃薦 (兜):(巷餓):(挑) 侘塀 箭 zeros(佩,双) 侘塀 >> b=zeros(2,3) 秘薦 b = 0 0 0 0 0 0 竃薦 箭 21
- 22. 原h | 児云夛 ? 訳周蛍瓷(IF) ? Rり卦し(FOR) 22 disp(¨Please input 1¨) x = input(prompt) if x == 1 disp(¨Thanks¨) else disp(¨Nooo! ¨) end if 訳周A (訳周Aに栽崑したときのI尖) else if 訳周B (訳周Bに栽崑したときのI尖) else (訳周AにもBにも栽崑しないときのI尖) end 侘塀 箭 for (篳)=(兜):(巷餓):(挑) (Rり卦すI尖) end 侘塀 NUM = 100; x = zeros(NUM); x(1) = 1; x(2) = 1; for i = 3:NUM x(i) = x(i-1)+x(i-2); end 箭 巷餓は福待辛嬬 福待した栽巷餓は徭啜弔1になる
- 23. 原h | 児云夛 ? 訳周蛍瓷(SWITCH) ? Rり卦し(WHILE) 23 disp(¨Input 1,2,3,or 4¨) x = input(prompt) switch x case 1 disp(¨You Win!¨); otherwise disp(¨You Lose... ¨) end switch (篳) case (1) (篳==1のときのI尖) case (2) (篳==2のときのI尖) otherwise (どれにも輝てはまらないときのI尖) end 侘塀 箭 while (訳周) (訳周を困燭拷gRり卦すI尖) end 侘塀 x = 0; while x < 100 x = x + 1; end 箭
- 24. 原h | 尖處麻徨など ? 吉しい ? 吉しくない ? 音吉催 ? AND┐つ ? OR┐泙燭錬 24 x == 1 x ~= 1 x < 1 x > 1 x <= 1 x >= 1 x == 1 && y ==2 x == 1 || y ==2 AND OR x != 1 とする冱Zもあるので廣吭