This is the link that explain to solve inverse kinematics using ANFIS
http://www.mathworks.com/help/fuzzy/examples/modeling-inverse-kinematics-in-a-robotic-arm.html
But the example is only for 2 DOFs Robot. How to make the data set if the robot using 4 motors?
Because there is always an error that says :"Error using meshgrid. Too many input arguments." when running the code:
a= 0:(1*pi/180):(180*pi/180);
b= 0:(1*pi/180):(180*pi/180);
c= 0:(1*pi/180):(180*pi/180);
d= (25*180/pi):(1*pi/180):(180*pi/180);
[THETA1, THETA2, THETA3, THETA4] = meshgrid(a, b, c, d);
Any Suggestion will be appreciated
Thanks!
meshgrid is specifically for 2D or 3D data. For arbitrary n-dimensional data, the appropriately-named ndgrid is the guy you want.
Note that meshgrid is intended for working intuitively with Cartesian X,Y{,Z} data, so swaps the first two dimensions in the shape of its output to reflect X,Y order rather than row,column. ndgrid, being more general, just gives you standard multidimensional matrix order.
Related
I am trying trying to graph the polynomial fit of a 2D dataset in Matlab.
This is what I tried:
rawTable = readtable('Test_data.xlsx','Sheet','Sheet1');
x = rawTable.A;
y = rawTable.B;
figure(1)
scatter(x,y)
c = polyfit(x,y,2);
y_fitted = polyval(c,x);
hold on
plot(x,y_fitted,'r','LineWidth',2)
rawTable.A and rawTable.A are randomly generated numbers. (i.e. the x dataset cannot be represented in the following form : x=0:0.1:100)
The result:
second-order polynomial
But the result I expect looks like this (generated in Excel):
enter image description here
How can I graph the second-order polynomial fit in MATLAB?
I sense some confusion regarding what the output of each of those Matlab function mean. So I'll clarify. And I think we need some details as well. So expect some verbosity. A quick answer, however, is available at the end.
c = polyfit(x,y,2) gives the coefficient vectors of the polynomial fit. You can get the fit information such as error estimate following the documentation.
Name this polynomial as P. P in Matlab is actually the function P=#(x)c(1)*x.^2+c(2)*x+c(3).
Suppose you have a single point X, then polyval(c,X) outputs the value of P(X). And if x is a vector, polyval(c,x) is a vector corresponding to [P(x(1)), P(x(2)),...].
Now that does not represent what the fit is. Just as a quick hack to see something visually, you can try plot(sort(x),polyval(c,sort(x)),'r','LineWidth',2), ie. you can first sort your data and try plotting on those x-values.
However, it is only a hack because a) your data set may be so irregularly spaced that the spline doesn't represent function or b) evaluating on the whole of your data set is unnecessary and inefficient.
The robust and 'standard' way to plot a 2D function of known analytical form in Matlab is as follows:
Define some evenly-spaced x-values over the interval you want to plot the function. For example, x=1:0.1:10. For example, x=linspace(0,1,100).
Evaluate the function on these x-values
Put the above two components into plot(). plot() can either plot the function as sampled points, or connect the points with automatic spline, which is the default.
(For step 1, quadrature is ambiguous but specific enough of a term to describe this process if you wish to communicate with a single word.)
So, instead of using the x in your original data set, you should do something like:
t=linspace(min(x),max(x),100);
plot(t,polyval(c,t),'r','LineWidth',2)
i am having 3D matrix in which most of the values are zeros but there are some nonzeros values.
when I am plotting this 3D matrix in matlab I am getting plot like as below
here u can see there are two groups of points are nearer to each other(that's why the color became dark) and two individual group of points is far away....
so my objective is to cluster that two nearer group of points and make it as one cluster1 and other two will be called as cluster2 and cluster3 ....
I tried kmeans clustering, BIC clustering...but as kmeans clustering is basically build up for 2D data input, I faced hurdle there ...then I reshape 3D matrix into 2D matrix but still I am getting another error Subscripted assignment dimension mismatch
so could u plz come out with some fruitful idea to do this......
Based on your comment that you used vol3d I assume that your data has to interpreted this way. If your data-matrix is called M, try
[A,B,C] = ind2sub(size(M),find(M));
points = [A,B,C];
idx = kmeans(points,3);
Here, I assumed that M(i,j,k) = 1 means that you have measured a point with properties i,j and k, which in your case would be velocity, angle and range.
I know there are many plotting documents for Matlab online and I am pretty sure that it has been asked many times. I aplogize in advance for any inconvenience.
I am dealing with a new distribution and I need to draw 3D plot for different values of parameters (I can do it with Excel or any other programs, however, since my other graphs is drawn with MATLAB, and I need to put this 3D in Matlab, too, to publish it as an article). I calculated the result using MATLAB loops, however, plotting gives me the hardest time. I had no other choice but to ask for your assistance. I have these equations for different alphas and betas with a constant sigma and calculate Galton's Skewness and Moor's Kurtosis given with the last two equations.
median=sqrt(2*(sigma^2)*beta*gammaincinv(0.5,alpha));
q1=sqrt(2*(sigma^2)*beta*gammaincinv((6/8),alpha));
q3=sqrt(2*(sigma^2)*beta*gammaincinv((2/8),alpha));
q4=sqrt(2*(sigma^2)*beta*gammaincinv((7/8),alpha));
q5=sqrt(2*(sigma^2)*beta*gammaincinv((5/8),alpha));
q6=sqrt(2*(sigma^2)*beta*gammaincinv((3/8),alpha));
q7=sqrt(2*(sigma^2)*beta*gammaincinv((1/8),alpha));
galtonskewness=(q1-2*median+q3)/(q1-q3);
moorskurtosis=(q4-q5+q6-q7)/(q1-q3);
Let's assume that,
sigma=1
beta=[0.1 0.2 0.5 1 2 5];
alpha=[0.1 0.2 0.5 1 2 5];
I have used mesh(X,Y,Z) for the same range of alphas and betas with the same increment but I take the error "these values cannot be complex". I just want to draw something like the one below.
It must be something easy that I am missing out, but I do not understand where the mistake is. I appreciate any help. Thank you!
I ran the above code for a 2D mesh of points for alpha and beta between 0.1 and 5 for both dimensions and I got results for both.
I suspect it's due to your alpha and beta declaration. You are only providing a few points, and if you try to use mesh, it won't get good results. Therefore, define a meshgrid of points for both alpha and beta, then vectorize your MATLAB code to produce the kurotsis and skewness curves. Only under certain situations should you use for loops. In general, you should avoid using them whenever possible.
How meshgrid works is that given a range of X and Y values, it will produce two (or three if you want 3D co-ordinates) arrays where each location in each array gives you the spatial co-ordinate at that particular location. Therefore, if we did something like:
[X,Y] = meshgrid(1:3, 1:3);
This is what we get:
X =
1 2 3
1 2 3
1 2 3
Y =
1 1 1
2 2 2
3 3 3
Notice that in a 2D grid, for the top-left corner, (x,y) = (1,1), and so for the corresponding location in X, we get 1 and Y we get 1. If you do the same logic for any other position in the 2D grid, you simply look at the X and Y values in each array and it will tell you what the component is for each dimension.
As such, instead of looping through all possible points in your grid, generate them all using meshgrid, then vectorize the computation by calculating your values all at once rather than individually. Once you do this, you have the right structure to be able to put this into mesh.
Therefore, try doing this instead:
%// Define meshgrid of points
[alpha,beta] = meshgrid(0.1:0.1:5, 0.1:0.1:5);
%// From your code
sigma = 1;
%// Calculate quantities - Notice that this is all vectorized
med=sqrt(2*(sigma^2)*beta.*gammaincinv(0.5,alpha));
q1=sqrt(2*(sigma^2)*beta.*gammaincinv((6/8),alpha));
q3=sqrt(2*(sigma^2)*beta.*gammaincinv((2/8),alpha));
q4=sqrt(2*(sigma^2)*beta.*gammaincinv((7/8),alpha));
q5=sqrt(2*(sigma^2)*beta.*gammaincinv((5/8),alpha));
q6=sqrt(2*(sigma^2)*beta.*gammaincinv((3/8),alpha));
q7=sqrt(2*(sigma^2)*beta.*gammaincinv((1/8),alpha));
galtonskewness=(q1-2*med+q3)./(q1-q3);
moorskurtosis=(q4-q5+q6-q7)./(q1-q3);
%// Show our meshes
figure;
mesh(alpha, beta, galtonskewness);
figure;
mesh(alpha, beta, moorskurtosis);
Also take note that I renamed your median variable to med. MATLAB has a function called median and so you don't want to unintentionally shadow over this function with a variable of the same name.
This is what I get:
Take note that I'm not getting the plots that you have placed in your post. It may be because I'm choosing the wrong variables to define the mesh, or perhaps your equations may be incorrect. Double check what you know in theory to what you have here in code and try again.
This should hopefully give you enough to start with though!
I am trying to re-grid non-uniform data onto a uniform grid defined in a 4-D space. The data measurement is given by a function d = f(xp,yp,zp,wp), where xp, yp, zp, and wp are the 4-D coordinates. I would like to re-grid the non-uniformaly spaced xp, yp, zp, and wp onto a uniformly spaced grid of x, y , z, and w.
For ease of conversation, let's define the gridding kernel to be the product of separable Hanning kernels:
1/a(1+cos(2*pi*x/a))
1/b(1+cos(2*pi*y/b))
1/c(1+cos(2*pi*z/c))
1/d(1+cos(2*pi*w/d))
Then, I believe to re-grid what I need to do is perform a 4-D convolution and resample onto the uniform grid. However, I'm not sure how to implement this using discrete data. My questions are as follows:
1) How should I sample each of the gridding kernels? For example, should I use the non-uniform xp, yp, zp, and wp values when calculating my discrete convolution values? Or should I use the uniformly spaced values, x, y, z, and w? Or are neither of those ideas correct?
2) How can I then implement the 4-D convolutions? I think I may need to use four for loops but am not exactly sure how to organize my data, i.e., a 4-D data structure or simply a matrix with 4 columns?
I'm not interested in the fastest approach but more so in finding the most intuitive or straight forward approach.
I believe I understand the basics of sinc interpolation and gridding algorithms. I have read multiple papers including such classics by J.D. O'Sullivan and J.I. Jackson, discussing the properties and differences in different gridding kernels. I've also read some papers from MRI reconstruction that use gridding but most of these methods assume a 2-D grid.
I am at a loss of how to actually implement the method, preferably in Matlab, or else C++, in a discrete manner and even more confused how to implement such a thing in four dimensions.
I've looked at several threads and my problem is somewhat similar to these, however I want to use convolution with a general kernel, not linear interpolation, and neither of these really suggest how to organize the 4-D data or perform the convolution:
Python 4D linear interpolation on a rectangular grid
Python 4D linear interpolation on a rectangular grid
Thanks for any advice, insight, or suggestions!
Can you use the interpn function?
[X Y Z W]=ndgrid(x,y,z,w); % unequally spaced
[XR YR ZR WR]=ndgrid(x_regular,y_regular,z_regular,w_regular); % equally spaced
volume=interpn(X,Y,Z,W,d,XR,YR,ZR,WR);
The documentation for interpn and ndgrid give more details; their usage would give you a framework for how to construct d.
EDIT: Oh sorry sorry, I saw your comment about not wanting to use interpolation after posting this.
Well, you could use interpolation as above to position your values onto the grid linearly, and then use
volume=convn(volume,general_kernel);
To convolve the values with your kernel?
I finished an SVM training and got data like X, Y. X is the feature matrix only with 2 dimensions, and Y is the classification labels. Because the data is only in two dimensions, so I would like to draw a decision boundary to show the surface of support vectors.
I use contouf in Matlab to do the trick, but really find it hard to understand how to use the function.
I wrote like:
#1 try:
contourf(X);
#2 try:
contourf([X(:,1) X(:,2) Y]);
#3 try:
Z(:,:,1)=X(Y==1,:);
Z(:,:,2)=X(Y==2,:);
contourf(Z);
all these things do not correctly. And I checked the Matlab help files, most of them make Z as a function, so I really do not know how to form the correct Z matrix.
If you're using the svmtrain and svmclassify commands from Bioinformatics Toolbox, you can just use the additional input argument (...'showplot', true), and it will display a scatter plot with a decision boundary and the support vectors highlighted.
If you're using your own SVM, or a third-party tool such as libSVM, what you probably need to do is to:
Create a grid of points in your 2D input feature space using the meshgrid command
Classify those points using your trained SVM
Plot the grid of points and the classifications using contourf.
For example, in kind-of-MATLAB-but-pseudocode, assuming your input features are called X1 and X2:
numPtsInGrid = 100;
x1Range = linspace(x1lower, x1upper, numPtsInGrid);
x2Range = linspace(x2lower, x2upper, numPtsInGrid);
[X1, X2] = meshgrid(x1Range, x2Range);
Z = classifyWithMySVMSomehow([X1(:), X2(:)]);
contourf(X1(:), X2(:), Z(:))
Hope that helps.
I know it's been a while but I will give it a try in case someone else will come up with that issue.
Assume we have a 2D training set so as to train an SVM model, in other words the feature space is a 2D space. We know that a kernel SVM model leads to a score (or decision) function of the form:
f(x) = sumi=1 to N(aiyik(x,xi)) + b
Where N is the number of support vectors, xi is the i -th support vector, ai is the estimated Lagrange multiplier and yi the associated class label. Values(scores) of decision function in way depict the distance of the observation x frοm the decision boundary.
Now assume that for every point (X,Y) in the 2D feature space we can find the corresponding score of the decision function. We can plot the results in the 3D euclidean space, where X corresponds to values of first feature vector f1, Y to values of second feature f2, and Z to the the return of decision function for every point (X,Y). The intersection of this 3D figure with the Z=0 plane gives us the decision boundary into the two-dimensional feature space. In other words, imagine that the decision boundary is formed by the (X,Y) points that have scores equal to 0. Seems logical right?
Now in MATLAB you can easily do that, by first creating a grid in X,Y space:
d = 0.02;
[x1Grid,x2Grid] = meshgrid(minimum_X:d:maximum_X,minimum_Y:d:maximum_Y);
d is selected according to the desired resolution of the grid.
Then for a trained model SVMModel find the scores of every grid's point:
xGrid = [x1Grid(:),x2Grid(:)];
[~,scores] = predict(SVMModel,xGrid);
Finally plot the decision boundary
figure;
contour(x1Grid,x2Grid,reshape(scores(:,2),size(x1Grid)),[0 0],'k');
Contour gives us a 2D graph where information about the 3rd dimension is depicted as solid lines in the 2D plane. These lines implie iso-response values, in other words (X,Y) points with same Z value. In our occasion contour gives us the decision boundary.
Hope I helped to make all that more clear. You can find very useful information and examples in the following links:
MATLAB's example
Representation of decision function in 3D space