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| 1 | +\documentclass[letterpaper]{book} |
| 2 | +\PassOptionsToPackage{usenames,dvipsnames,svgnames,table,xcdraw}{xcolor} |
| 3 | +\PassOptionsToPackage{dvipsnames,svgnames,table,xcdraw}{enumitems} |
| 4 | + |
| 5 | + |
| 6 | +\usepackage{tabularray} |
| 7 | +\usepackage{xcolor} |
| 8 | + |
| 9 | +\input{Defines/definesPackages} |
| 10 | +\input{Defines/definesCommands} |
| 11 | +\input{Defines/definesJuliaCodeCell} |
| 12 | +%\parindent |
| 13 | + |
| 14 | +\makeatletter |
| 15 | +\renewcommand{\frontmatter}{\cleardoublepage\@mainmatterfalse} |
| 16 | +\renewcommand{\mainmatter}{\cleardoublepage\@mainmattertrue} |
| 17 | +\makeatother |
| 18 | + |
| 19 | +% \title{Notes for Computational Linear Algebra\thanks{Inspired by Prof. Chad Jenkins}} |
| 20 | +% \date{} |
| 21 | +% \author{Jessy Grizzle\\ Robotics Institute, University of Michigan, Ann Arbor |
| 22 | +% \and Content contributed by Maani, Tribhi, Miley, Madhav, Kira, and Michael} |
| 23 | + |
| 24 | +%\doublespacing |
| 25 | + |
| 26 | +\title{Mathematics for Robotics} |
| 27 | +\date{} |
| 28 | +\author{Jessy Grizzle\\ Robotics Institute, University of Michigan, Ann Arbor} |
| 29 | + |
| 30 | + |
| 31 | + |
| 32 | +\begin{document} |
| 33 | +%\maketitle |
| 34 | +\newtheorem{thm}{Theorem} |
| 35 | +\numberwithin{thm}{chapter} |
| 36 | +\newtheorem{example}[thm]{Example} |
| 37 | +\newtheorem{nonexample}[thm]{Non-Example} |
| 38 | +\newtheorem{prop}[thm]{Proposition} |
| 39 | +\newtheorem{lem}[thm]{Lemma} |
| 40 | +\newtheorem{cor}[thm]{Corollary} |
| 41 | +\newtheorem{claim}[thm]{Claim} |
| 42 | +\newtheorem{rem}[thm]{Remark} |
| 43 | +\newtheorem{definition}[thm]{Definition} |
| 44 | +\newtheorem{notation}[thm]{Notation} |
| 45 | +\newtheorem{fact}[thm]{Fact} |
| 46 | +\newtheorem{notvocab}[thm]{Notation and Vocabulary} |
| 47 | +\newtheorem{question}[thm]{Question} |
| 48 | +\newtheorem{recall}[thm]{Recall} |
| 49 | +\newtheorem{exercise}[thm]{Exercise} |
| 50 | +\newtheorem{summary}[thm]{Summary} |
| 51 | +\newcounter{keyfacts} |
| 52 | +\newtheorem{keyfact}[keyfacts]{Key Fact} |
| 53 | + |
| 54 | +\begingroup |
| 55 | +\thispagestyle{empty} |
| 56 | + |
| 57 | +\AddToShipoutPicture*{\put(-38,0) {\includegraphics[scale=1.04]{CoverRob101LabManual.png}}} % Image background |
| 58 | +\mbox{ } |
| 59 | + |
| 60 | + |
| 61 | +\endgroup |
| 62 | + |
| 63 | +\clearpage |
| 64 | + |
| 65 | + |
| 66 | +\begingroup |
| 67 | +\thispagestyle{empty} |
| 68 | +%\centerline |
| 69 | +% \AddToShipoutPicture*{\put(240,50) {\includegraphics[scale=0.35]{media_users_user_14_project_222374_images_res_cassie_image.png}}} % Image background |
| 70 | +\AddToShipoutPicture*{\put(40,450) {\includegraphics[scale=0.35]{WorkTogether.png}}} % Image background |
| 71 | + |
| 72 | + |
| 73 | +~\vfill |
| 74 | +\thispagestyle{empty} |
| 75 | +\noindent Cover design by Dan Newman, Head of Communications, Michigan Robotics |
| 76 | + |
| 77 | +\vspace*{2cm} |
| 78 | +\noindent\copyright\space 2022 Jessy Grizzle, Professor of Robotics, University of Michigan \\ |
| 79 | +\noindent \textsc{Jerry W. and Carol L. Levin Professor of Engineering\\ |
| 80 | +Elmer G. Gilbert Distinguished University Professor}\\ |
| 81 | + |
| 82 | +%\noindent \textsc{github.com/LaurethTeX/Clustering}\\ % URL |
| 83 | + |
| 84 | +\noindent This manual is based on the Julia lab exercises that were developed in F-21 by Lu Gan, John Pye, and Jessy Grizzle. Over Su-22, Ms. Yining (Maya) Yuan contributed numerous improvements to the exercises and the editing of the manual. |
| 85 | +\\ % License information |
| 86 | + |
| 87 | +\noindent \textit{First release, August 31, 2022. Second Release, January 4, 2023.} % Printing/edition date |
| 88 | + |
| 89 | + |
| 90 | +\endgroup |
| 91 | + |
| 92 | + |
| 93 | +\frontmatter |
| 94 | +\tableofcontents |
| 95 | +\chapter{Preface} |
| 96 | +\input{Chapters/Preface.tex} |
| 97 | +\chapter{Philosophy of the Course} |
| 98 | +\input{Chapters/Philosophy.tex} |
| 99 | +% \chapter{List of Algorithms and Methods or Things You Need Code to Do Well} |
| 100 | +% \input{TexBookletHandouts/ListAlgorithms.tex} |
| 101 | +\mainmatter |
| 102 | + |
| 103 | + |
| 104 | +\setcounter{chapter}{-1} |
| 105 | +\chapter{Julia Lab 0: Introduction to Coding in Julia} |
| 106 | +\label{chap:Lab0} |
| 107 | +\input{Chapters/Chap00.tex} |
| 108 | + |
| 109 | +\chapter{Julia Lab 1: Variable Types, Plotting a Function, and Creating Arrays} |
| 110 | +\label{chap:Lab1} |
| 111 | +\input{Chapters/Chap01.tex} |
| 112 | + |
| 113 | +\chapter{Julia Lab 2: Vectors, Matrices, and Indexing} |
| 114 | +\label{chap:Lab2} |
| 115 | +\input{Chapters/Chap02.tex} |
| 116 | + |
| 117 | +\chapter{Julia Lab 3: For Loops and 1-Element Vectors} |
| 118 | +\label{chap:Lab3} |
| 119 | +\input{Chapters/Chap03.tex} |
| 120 | + |
| 121 | +\chapter{Julia Lab 4: If Statements, Function Creation, and ``Peeling the Onion''} |
| 122 | +\label{chap:Lab4} |
| 123 | +\input{Chapters/Chap04.tex} |
| 124 | + |
| 125 | +\chapter{Julia Lab 5: Linear Independence and LDLT Factorization, a Souped-up Version of LU} |
| 126 | +\label{chap:Lab5} |
| 127 | +\input{Chapters/Chap05.tex} |
| 128 | + |
| 129 | +\chapter{Julia Lab 6: Matrix Null Space and Linear Regression} |
| 130 | +\label{chap:Lab6} |
| 131 | +\input{Chapters/Chap06.tex} |
| 132 | + |
| 133 | +\chapter{Julia Lab 7: Grahm-Schmidt Algorithm, Orthogonal (Basis) Vectors, and Computing the Null Space} |
| 134 | +\label{chap:Lab7} |
| 135 | +\input{Chapters/Chap07.tex} |
| 136 | + |
| 137 | +\chapter{Julia Lab 8: Basis Vectors, Dimension, Coordinates, Eigenvectors and Eigenvalues} |
| 138 | +\label{chap:Lab8} |
| 139 | +\input{Chapters/Chap08.tex} |
| 140 | + |
| 141 | +\chapter{Julia Lab 9: Modeling, Simulating, and Controlling a Mobile Robot} |
| 142 | +\label{chap:Lab9} |
| 143 | +\input{Chapters/Chap09.tex} |
| 144 | + |
| 145 | +\chapter{Julia Lab 10: The Joy of Doing Calculus with Julia!} |
| 146 | +\label{chap:Lab10} |
| 147 | +\input{Chapters/Chap10.tex} |
| 148 | + |
| 149 | +\pagestyle{plain} |
| 150 | + |
| 151 | +\newpage |
| 152 | + |
| 153 | +\appendix |
| 154 | + |
| 155 | +\chapter{Summary of Key Julia Commands} |
| 156 | +\label{App:JuliaCommands} |
| 157 | +\input{Chapters/ChapAppendixA.tex} |
| 158 | + |
| 159 | +\chapter{Building Better Functions Through Structured Returns or Named Tuples} |
| 160 | +\label{App:StructuredReturns} |
| 161 | +\input{Chapters/ChapAppendixB} |
| 162 | + |
| 163 | +\chapter{From MATLAB to Julia} |
| 164 | +\label{App:FromMatlab2Julia} |
| 165 | +\input{Chapters/ChapAppendixC.tex} |
| 166 | + |
| 167 | +\chapter{From C++ to Julia} |
| 168 | +\label{App:FromC2Julia} |
| 169 | +% \usepackage{multirow} |
| 170 | +% \usepackage[table,xcdraw]{xcolor} |
| 171 | +% \usepackage{longtable} |
| 172 | +\input{Chapters/ChapAppendixD.tex} |
| 173 | + |
| 174 | +\chapter{Creating Your Own Local Julia Installation} |
| 175 | +\label{App:MyOwnJulia} |
| 176 | +\input{Chapters/ChapAppendixE.tex} |
| 177 | + |
| 178 | + |
| 179 | +\end{document} |
| 180 | + |
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