6.094 Introduction to Programming in MATLAB

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1 6.094 Introduction to Programming in MATLAB Lecture 1: Variables, Scripts, and Operations Danilo Šćepanović IAP 2010

2 Course Layout Lectures 1: Variables, Scripts and Operations 2: Visualization and Programming 3: Solving Equations, Fitting 4: Images, Animations, Advanced Methods 5: Optional: Symbolic Math, Simulink

3 Course Layout Problem Sets / Office Hours One per day, should take about 3 hours to do Submit doc or pdf (include code, figures) No set office hours but available by Requirements for passing Attend all lectures Complete all problem sets (-,, +) Prerequisites Basic familiarity with programming Basic linear algebra, differential equations, and probability

4 Outline (1) Getting Started (2) Scripts (3) Making Variables (4) Manipulating Variables (5) Basic Plotting

5 Getting Started To get MATLAB Student Version for yourself» Use VPN client to enable off-campus access Note: MIT certificates are required Open up MATLAB for Windows Through the START Menu On Athena» add matlab» matlab &

6 Current directory Workspace Command Window Command History Courtesy of The MathWorks, Inc. Used with permission.

7 Making Folders Use folders to keep your programs organized To make a new folder, click the Browse button next to Current Directory Click the Make New Folder button, and change the name of the folder. Do NOT use spaces in folder names. In the MATLAB folder, make two new folders: IAPMATLAB\day1 Highlight the folder you just made and click OK The current directory is now the folder you just created To see programs outside the current directory, they should be in the Path. Use File-> Set Path to add folders to the path

8 File Preferences Customization Allows you personalize your MATLAB experience Courtesy of The MathWorks, Inc. Used with permission.

9 MATLAB Basics MATLAB can be thought of as a super-powerful graphing calculator Remember the TI-83 from calculus? With many more buttons (built-in functions) In addition it is a programming language MATLAB is an interpreted language, like Java Commands executed line by line

10 Help/Docs help The most important function for learning MATLAB on your own To get info on how to use a function:» help sin Help lists related functions at the bottom and links to the doc To get a nicer version of help with examples and easy-toread descriptions:» doc sin To search for a function by specifying keywords:» doc + Search tab

11 Outline (1) Getting Started (2) Scripts (3) Making Variables (4) Manipulating Variables (5) Basic Plotting

12 Scripts: Overview Scripts are collection of commands executed in sequence written in the MATLAB editor saved as MATLAB files (.m extension) To create an MATLAB file from command-line» edit helloworld.m or click Courtesy of The MathWorks, Inc. Used with permission.

13 Scripts: the Editor Line numbers MATLAB file path Debugging tools * Means that it's not saved Real-time error check Help file Comments Possible breakpoints Courtesy of The MathWorks, Inc. Used with permission.

14 Scripts: Some Notes COMMENT! Anything following a % is seen as a comment The first contiguous comment becomes the script's help file Comment thoroughly to avoid wasting time later Note that scripts are somewhat static, since there is no input and no explicit output All variables created and modified in a script exist in the workspace even after it has stopped running

15 Exercise: Scripts Make a helloworld script When run, the script should display the following text: Hello World! I am going to learn MATLAB! Hint: use disp to display strings. Strings are written between single quotes, like 'This is a string'

16 Exercise: Scripts Make a helloworld script When run, the script should display the following text: Hello World! I am going to learn MATLAB! Hint: use disp to display strings. Strings are written between single quotes, like 'This is a string' Open the editor and save a script as helloworld.m. This is an easy script, containing two lines of code:» % helloworld.m» % my first hello world program in MATLAB» disp('hello World!');» disp('i am going to learn MATLAB!');

17 Outline (1) Getting Started (2) Scripts (3) Making Variables (4) Manipulating Variables (5) Basic Plotting

18 Variable Types MATLAB is a weakly typed language No need to initialize variables! MATLAB supports various types, the most often used are» bit double (default)» a 16-bit char Most variables you ll deal with will be vectors or matrices of doubles or chars Other types are also supported: complex, symbolic, 16-bit and 8 bit integers, etc. You will be exposed to all these types through the homework

19 Naming variables To create a variable, simply assign a value to a name:» var1=3.14» mystring= hello world Variable names first character must be a LETTER after that, any combination of letters, numbers and _ CASE SENSITIVE! (var1 is different from Var1) Built-in variables. Don t use these names! i and j can be used to indicate complex numbers pi has the value ans stores the last unassigned value (like on a calculator) Inf and -Inf are positive and negative infinity NaN represents Not a Number

20 Scalars A variable can be given a value explicitly» a = 10 shows up in workspace! Or as a function of explicit values and existing variables» c = 1.3*45-2*a To suppress output, end the line with a semicolon» cooldude = 13/3;

21 Arrays Like other programming languages, arrays are an important part of MATLAB Two types of arrays (1) matrix of numbers (either double or complex) (2) cell array of objects (more advanced data structure) MATLAB makes vectors easy! That s its power!

22 Row Vectors Row vector: comma or space separated values between brackets» row = [ ]» row = [1, 2, 5.4, -6.6]; Command window: Workspace: Courtesy of The MathWorks, Inc. Used with permission.

23 Column Vectors Column vector: semicolon separated values between brackets» column = [4;2;7;4] Command window: Workspace: Courtesy of The MathWorks, Inc. Used with permission.

24 size & length You can tell the difference between a row and a column vector by: Looking in the workspace Displaying the variable in the command window Using the size function To get a vector's length, use the length function

25 Matrices Make matrices like vectors Element by element» a= [1 2;3 4]; 1 2 a = 3 4 By concatenating vectors or matrices (dimension matters)» a = [1 2];» b = [3 4];» c = [5;6];» d = [a;b];» e = [d c];» f = [[e e];[a b a]];» str = ['Hello, I am ' 'John']; Strings are character vectors

26 save/clear/load Use save to save variables to a file» save myfile a b saves variables a and b to the file myfile.mat myfile.mat file is saved in the current directory Default working directory is» \MATLAB Make sure you re in the desired folder when saving files. Right now, we should be in:» MATLAB\IAPMATLAB\day1 Use clear to remove variables from environment» clear a b look at workspace, the variables a and b are gone Use load to load variable bindings into the environment» load myfile look at workspace, the variables a and b are back Can do the same for entire environment» save myenv; clear all; load myenv;

27 Exercise: Variables Get and save the current date and time Create a variable start using the function clock What is the size of start? Is it a row or column? What does start contain? See help clock Convert the vector start to a string. Use the function datestr and name the new variable startstring Save start and startstring into a mat file named starttime

28 Exercise: Variables Get and save the current date and time Create a variable start using the function clock What is the size of start? Is it a row or column? What does start contain? See help clock Convert the vector start to a string. Use the function datestr and name the new variable startstring Save start and startstring into a mat file named starttime» help clock» start=clock;» size(start)» help datestr» startstring=datestr(start);» save starttime start startstring

29 Exercise: Variables Read in and display the current date and time In helloworld.m, read in the variables you just saved using load Display the following text: I started learning MATLAB on *start date and time* Hint: use the disp command again, and remember that strings are just vectors of characters so you can join two strings by making a row vector with the two strings as subvectors.

30 Exercise: Variables Read in and display the current date and time In helloworld.m, read in the variables you just saved using load Display the following text: I started learning MATLAB on *start date and time* Hint: use the disp command again, and remember that strings are just vectors of characters so you can join two strings by making a row vector with the two strings as subvectors.» load starttime» disp(['i started learning MATLAB on '... startstring]);

31 Outline (1) Getting Started (2) Scripts (3) Making Variables (4) Manipulating Variables (5) Basic Plotting

32 Basic Scalar Operations Arithmetic operations (+,-,*,/)» 7/45» (1+i)*(2+i)» 1 / 0» 0 / 0 Exponentiation (^)» 4^2» (3+4*j)^2 Complicated expressions, use parentheses» ((2+3)*3)^0.1 Multiplication is NOT implicit given parentheses» 3(1+0.7) gives an error To clear command window» clc

33 Built-in Functions MATLAB has an enormous library of built-in functions Call using parentheses passing parameter to function» sqrt(2)» log(2), log10(0.23)» cos(1.2), atan(-.8)» exp(2+4*i)» round(1.4), floor(3.3), ceil(4.23)» angle(i); abs(1+i);

34 Exercise: Scalars You will learn MATLAB at an exponential rate! Add the following to your helloworld script: Your learning time constant is 1.5 days. Calculate the number of seconds in 1.5 days and name this variable tau This class lasts 5 days. Calculate the number of seconds in 5 days and name this variable endofclass This equation describes your knowledge as a function of time t: k = 1 e t/ τ How well will you know MATLAB at endofclass? Name this variable knowledgeatend. (use exp) Using the value of knowledgeatend, display the phrase: At the end of 6.094, I will know X% of MATLAB Hint: to convert a number to a string, use num2str

35 Exercise: Scalars» secperday=60*60*24;» tau=1.5*secperday;» endofclass=5*secperday» knowledgeatend=1-exp(-endofclass/tau);» disp(['at the end of 6.094, I will know '... num2str(knowledgeatend*100) '% of MATLAB'])

36 Transpose The transpose operators turns a column vector into a row vector and vice versa» a = [ i]» transpose(a)» a'» a.' The ' gives the Hermitian-transpose, i.e. transposes and conjugates all complex numbers For vectors of real numbers.' and ' give same result

37 Addition and Subtraction Addition and subtraction are element-wise; sizes must match (unless one is a scalar): = [ ] [ ] [ ] = The following would give an error» c = row + column Use the transpose to make sizes compatible» c = row + column» c = row + column Can sum up or multiply elements of vector» s=sum(row);» p=prod(row);

38 Element-Wise Functions All the functions that work on scalars also work on vectors» t = [1 2 3];» f = exp(t); is the same as» f = [exp(1) exp(2) exp(3)]; If in doubt, check a function s help file to see if it handles vectors elementwise Operators (* / ^) have two modes of operation element-wise standard

39 Operators: element-wise To do element-wise operations, use the dot:. (.*,./,.^). BOTH dimensions must match (unless one is scalar)!» a=[1 2 3];b=[4;2;1];» a.*b, a./b, a.^b all errors» a.*b', a./b, a.^(b ) all valid * 2 = ERROR * 2 4 = * 3 1= 3 1 [ ] * = * 3 3= ^ = 3 4 Can be any dimension

40 Operators: standard Multiplication can be done in a standard way or element-wise Standard multiplication (*) is either a dot-product or an outerproduct Remember from linear algebra: inner dimensions must MATCH!! Standard exponentiation (^) can only be done on square matrices or scalars Left and right division (/ \) is same as multiplying by inverse Our recommendation: just multiply by inverse (more on this later) * 2 = * 3 1= 1 1 [ ] ^ 2 * 3 4 = Must be square to do powers * = * 3 3= 3 3

41 Exercise: Vector Operations Calculate how many seconds elapsed since the start of class In helloworld.m, make variables called secpermin, secperhour, secperday, secpermonth (assume 30.5 days per month), and secperyear (12 months in year), which have the number of seconds in each time period. Assemble a row vector called secondconversion that has elements in this order: secperyear, secpermonth, secperday, secperhour, secperminute, 1. Make a currenttime vector by using clock Compute elapsedtime by subtracting currenttime from start Compute t (the elapsed time in seconds) by taking the dot product of secondconversion and elapsedtime (transpose one of them to get the dimensions right)

42 Exercise: Vector Operations» secpermin=60;» secperhour=60*secpermin;» secperday=24*secperhour;» secpermonth=30.5*secperday;» secperyear=12*secpermonth;» secondconversion=[secperyear secpermonth... secperday secperhour secpermin 1];» currenttime=clock;» elapsedtime=currenttime-start;» t=secondconversion*elapsedtime';

43 Exercise: Vector Operations Display the current state of your knowledge Calculate currentknowledge using the same relationship as before, and the t we just calculated: Display the following text: k = 1 e t/ τ At this time, I know X% of MATLAB

44 Exercise: Vector Operations Display the current state of your knowledge Calculate currentknowledge using the same relationship as before, and the t we just calculated: Display the following text: k = 1 e t/ τ At this time, I know X% of MATLAB» currentknowledge=1-exp(-t/tau);» disp(['at this time, I know '... num2str(currentknowledge*100) '% of MATLAB']);

45 Automatic Initialization Initialize a vector of ones, zeros, or random numbers» o=ones(1,10) row vector with 10 elements, all 1» z=zeros(23,1) column vector with 23 elements, all 0» r=rand(1,45) row vector with 45 elements (uniform [0,1])» n=nan(1,69) row vector of NaNs (useful for representing uninitialized variables) The general function call is: var=zeros(m,n); Number of rows Number of columns

46 Automatic Initialization To initialize a linear vector of values use linspace» a=linspace(0,10,5) starts at 0, ends at 10 (inclusive), 5 values Can also use colon operator (:)» b=0:2:10 starts at 0, increments by 2, and ends at or before 10 increment can be decimal or negative» c=1:5 if increment isn t specified, default is 1 To initialize logarithmically spaced values use logspace similar to linspace, but see help

47 Exercise: Vector Functions Calculate your learning trajectory In helloworld.m, make a linear time vector tvec that has 10,000 samples between 0 and endofclass Calculate the value of your knowledge (call it knowledgevec) at each of these time points using the same equation as before: k = 1 e t/ τ

48 Exercise: Vector Functions Calculate your learning trajectory In helloworld.m, make a linear time vector tvec that has 10,000 samples between 0 and endofclass Calculate the value of your knowledge (call it knowledgevec) at each of these time points using the same equation as before: k = 1 e t/ τ» tvec = linspace(0,endofclass,10000);» knowledgevec=1-exp(-tvec/tau);

49 Vector Indexing MATLAB indexing starts with 1, not 0 We will not respond to any s where this is the problem. a(n) returns the n th element a = [ ] a(1) a(2) a(3) a(4) The index argument can be a vector. In this case, each element is looked up individually, and returned as a vector of the same size as the index vector.» x=[ ];» a=x(2:3); a=[13 5];» b=x(1:end-1); b=[ ];

50 Matrix Indexing Matrices can be indexed in two ways using subscripts (row and column) using linear indices (as if matrix is a vector) Matrix indexing: subscripts or linear indices b(1,1) b(2,1) b(1,2) b(2,2) b(1) b(2) b(3) b(4) Picking submatrices» A = rand(5) % shorthand for 5x5 matrix» A(1:3,1:2) % specify contiguous submatrix» A([1 5 3], [1 4]) % specify rows and columns

51 Advanced Indexing 1 To select rows or columns of a matrix, use the : 12 5 c = 2 13» d=c(1,:); d=[12 5];» e=c(:,2); e=[5;13];» c(2,:)=[3 6]; %replaces second row of c

52 Advanced Indexing 2 MATLAB contains functions to help you find desired values within a vector or matrix» vec = [ ] To get the minimum value and its index:» [minval,minind] = min(vec); max works the same way To find any the indices of specific values or ranges» ind = find(vec == 9);» ind = find(vec > 2 & vec < 6); find expressions can be very complex, more on this later To convert between subscripts and indices, use ind2sub, and sub2ind. Look up help to see how to use them.

53 Exercise: Indexing When will you know 50% of MATLAB? First, find the index where knowledgevec is closest to 0.5. Mathematically, what you want is the index where the value of knowledgevec 0.5 is at a minimum (use abs and min). Next, use that index to look up the corresponding time in tvec and name this time halftime. Finally, display the string: I will know half of MATLAB after X days Convert halftime to days by using secperday

54 Exercise: Indexing When will you know 50% of MATLAB? First, find the index where knowledgevec is closest to 0.5. Mathematically, what you want is the index where the value of knowledgevec 0.5 is at a minimum (use abs and min). Next, use that index to look up the corresponding time in tvec and name this time halftime. Finally, display the string: I will know half of MATLAB after X days Convert halftime to days by using secperday» [val,ind]=min(abs(knowledgevec-0.5));» halftime=tvec(ind);» disp(['i will know half of MATLAB after '... num2str(halftime/secperday) ' days']);

55 Outline (1) Getting Started (2) Scripts (3) Making Variables (4) Manipulating Variables (5) Basic Plotting Did everyone sign in?

56 Plotting Example» x=linspace(0,4*pi,10);» y=sin(x); Plot values against their index» plot(y); Usually we want to plot y versus x» plot(x,y); MATLAB makes visualizing data fun and easy!

57 What does plot do? plot generates dots at each (x,y) pair and then connects the dots with a line To make plot of a function look smoother, evaluate at more points» x=linspace(0,4*pi,1000);» plot(x,sin(x)); x and y vectors must be same size or else you ll get an error» plot([1 2], [1 2 3]) error!! x values: x values:

58 Exercise: Plotting Plot the learning trajectory In helloworld.m, open a new figure (use figure) Plot the knowledge trajectory using tvec and knowledgevec. When plotting, convert tvec to days by using secperday Zoom in on the plot to verify that halftime was calculated correctly

59 Exercise: Plotting Plot the learning trajectory In helloworld.m, open a new figure (use figure) Plot the knowledge trajectory using tvec and knowledgevec. When plotting, convert tvec to days by using secperday Zoom in on the plot to verify that halftime was calculated correctly» figure» plot(tvec/secperday, knowledgevec);

60 End of Lecture 1 (1) Getting Started (2) Scripts (3) Making Variables (4) Manipulating Variables (5) Basic Plotting Hope that wasn t too much!!

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