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042-highlight-matlab.tex
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042-highlight-matlab.tex
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\documentclass{article}\usepackage[]{graphicx}\usepackage[]{color}
%% maxwidth is the original width if it is less than linewidth
%% otherwise use linewidth (to make sure the graphics do not exceed the margin)
\makeatletter
\def\maxwidth{ %
\ifdim\Gin@nat@width>\linewidth
\linewidth
\else
\Gin@nat@width
\fi
}
\makeatother
\definecolor{fgcolor}{rgb}{0.514, 0.58, 0.588}
\newcommand{\hlnum}[1]{\textcolor[rgb]{0.863,0.196,0.184}{#1}}%
\newcommand{\hlstr}[1]{\textcolor[rgb]{0.863,0.196,0.184}{#1}}%
\newcommand{\hlcom}[1]{\textcolor[rgb]{0.345,0.431,0.459}{#1}}%
\newcommand{\hlopt}[1]{\textcolor[rgb]{0.576,0.631,0.631}{#1}}%
\newcommand{\hlstd}[1]{\textcolor[rgb]{0.514,0.58,0.588}{#1}}%
\newcommand{\hlkwa}[1]{\textcolor[rgb]{0.796,0.294,0.086}{#1}}%
\newcommand{\hlkwb}[1]{\textcolor[rgb]{0.522,0.6,0}{#1}}%
\newcommand{\hlkwc}[1]{\textcolor[rgb]{0.796,0.294,0.086}{#1}}%
\newcommand{\hlkwd}[1]{\textcolor[rgb]{0.576,0.631,0.631}{#1}}%
\usepackage{framed}
\makeatletter
\newenvironment{kframe}{%
\def\at@end@of@kframe{}%
\ifinner\ifhmode%
\def\at@end@of@kframe{\end{minipage}}%
\begin{minipage}{\columnwidth}%
\fi\fi%
\def\FrameCommand##1{\hskip\@totalleftmargin \hskip-\fboxsep
\colorbox{shadecolor}{##1}\hskip-\fboxsep
% There is no \\@totalrightmargin, so:
\hskip-\linewidth \hskip-\@totalleftmargin \hskip\columnwidth}%
\MakeFramed {\advance\hsize-\width
\@totalleftmargin\z@ \linewidth\hsize
\@setminipage}}%
{\par\unskip\endMakeFramed%
\at@end@of@kframe}
\makeatother
\definecolor{shadecolor}{rgb}{.97, .97, .97}
\definecolor{messagecolor}{rgb}{0, 0, 0}
\definecolor{warningcolor}{rgb}{1, 0, 1}
\definecolor{errorcolor}{rgb}{1, 0, 0}
\newenvironment{knitrout}{}{} % an empty environment to be redefined in TeX
\let\hlesc\hlstd \let\hlpps\hlstd \let\hllin\hlstd \let\hlslc\hlcom \let\hlppc\hlcom
\usepackage{alltt}
\usepackage{url}
\IfFileExists{upquote.sty}{\usepackage{upquote}}{}
\begin{document}
Normal R chunks.
\begin{knitrout}
\definecolor{shadecolor}{rgb}{0, 0.169, 0.212}\color{fgcolor}\begin{kframe}
\begin{alltt}
\hlnum{1} \hlopt{+} \hlnum{1}
\end{alltt}
\begin{verbatim}
## [1] 2
\end{verbatim}
\begin{alltt}
\hlstd{x} \hlkwb{=} \hlkwd{rnorm}\hlstd{(}\hlnum{5}\hlstd{)}
\end{alltt}
\end{kframe}
\end{knitrout}
Highlight matlab chunks. Note you need to install highlight from \url{http://www.andre-simon.de}, and you probably need to put its binary path into PATH; otherwise just use the engine.path option, e.g.
\noindent\verb|<<engine='highlight', engine.path = 'full/path/to/highlight'>>=|
\begin{knitrout}
\definecolor{shadecolor}{rgb}{0, 0.169, 0.212}\color{fgcolor}\begin{kframe}
\noindent
\ttfamily
\hlstd{}\hlkwa{function\ }\hlstd{Y\ }\hlopt{=\ }\hlstd{kalmanM}\hlopt{(}\hlstd{pos}\hlopt{)}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ }\hlstd{dt}\hlopt{=}\hlstd{}\hlnum{1}\hlstd{}\hlopt{;}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ }\hlstd{}\hlslc{\%\%\ Initialize\ state\ transition\ matrix}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ }\hlstd{A}\hlopt{={[}\ }\hlstd{}\hlnum{1\ 0\ }\hlstd{dt\ }\hlnum{0\ 0\ 0}\hlstd{}\hlopt{;}\hlstd{...}\hlstd{\ \ \ \ \ }\hlstd{}\hlslc{\%\ {[}x}\hlstd{\ \ }\hlslc{{]}}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ \ }\hlstd{}\hlnum{0\ 1\ 0\ }\hlstd{dt\ }\hlnum{0\ 0}\hlstd{}\hlopt{;}\hlstd{...}\hlstd{\ \ \ \ \ }\hlstd{}\hlslc{\%\ {[}y}\hlstd{\ \ }\hlslc{{]}}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ \ }\hlstd{}\hlnum{0\ 0\ 1\ 0\ }\hlstd{dt\ }\hlnum{0}\hlstd{}\hlopt{;}\hlstd{...}\hlstd{\ \ \ \ \ }\hlstd{}\hlslc{\%\ {[}Vx{]}}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ \ }\hlstd{}\hlnum{0\ 0\ 0\ 1\ 0\ }\hlstd{dt}\hlopt{;}\hlstd{...}\hlstd{\ \ \ \ \ }\hlstd{}\hlslc{\%\ {[}Vy{]}}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ \ }\hlstd{}\hlnum{0\ 0\ 0\ 0\ 1\ 0\ }\hlstd{}\hlopt{;}\hlstd{...}\hlstd{\ \ \ \ \ }\hlstd{}\hlslc{\%\ {[}Ax{]}}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ \ }\hlstd{}\hlnum{0\ 0\ 0\ 0\ 0\ 1\ }\hlstd{}\hlopt{{]};}\hlstd{\ \ \ \ \ \ \ }\hlopt{}\hlstd{}\hlslc{\%\ {[}Ay{]}}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ }\hlstd{}\hlslc{\%\ Initialize\ measurement\ matrix}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ }\hlstd{H\ }\hlopt{=\ {[}\ }\hlstd{}\hlnum{1\ 0\ 0\ 0\ 0\ 0}\hlstd{}\hlopt{;\ }\hlstd{}\hlnum{0\ 1\ 0\ 0\ 0\ 0\ }\hlstd{}\hlopt{{]};}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ }\hlstd{Q\ }\hlopt{=\ }\hlstd{eye}\hlopt{(}\hlstd{}\hlnum{6}\hlstd{}\hlopt{);}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ }\hlstd{R\ }\hlopt{=\ }\hlstd{}\hlnum{1000\ }\hlstd{}\hlopt{{*}\ }\hlstd{eye}\hlopt{(}\hlstd{}\hlnum{2}\hlstd{}\hlopt{);}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ }\hlstd{x\textunderscore est\ }\hlopt{=\ }\hlstd{zeros}\hlopt{(}\hlstd{}\hlnum{6}\hlstd{}\hlopt{,\ }\hlstd{}\hlnum{1}\hlstd{}\hlopt{);}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ }\hlstd{p\textunderscore est\ }\hlopt{=\ }\hlstd{zeros}\hlopt{(}\hlstd{}\hlnum{6}\hlstd{}\hlopt{,\ }\hlstd{}\hlnum{6}\hlstd{}\hlopt{);}\hspace*{\fill}\\
\hlstd{\hspace*{\fill}\\
}\hlstd{\ \ }\hlstd{numPts\ }\hlopt{=\ }\hlstd{}\hlkwa{size}\hlstd{}\hlopt{(}\hlstd{pos}\hlopt{,}\hlstd{}\hlnum{1}\hlstd{}\hlopt{);}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ }\hlstd{Y\ }\hlopt{=\ }\hlstd{zeros}\hlopt{(}\hlstd{numPts}\hlopt{,\ }\hlstd{}\hlnum{2}\hlstd{}\hlopt{);}\hspace*{\fill}\\
\hlstd{\hspace*{\fill}\\
}\hlstd{\ \ }\hlstd{}\hlkwa{for\ }\hlstd{idx\ }\hlopt{=\ }\hlstd{}\hlnum{1}\hlstd{}\hlopt{:}\hlstd{numPts\hspace*{\fill}\\
}\hlstd{\ \ \ \ }\hlstd{z\ }\hlopt{=\ }\hlstd{pos}\hlopt{(}\hlstd{idx}\hlopt{,\ :)}\hlstd{'}\hlopt{;}\hspace*{\fill}\\
\hlstd{\hspace*{\fill}\\
}\hlstd{\ \ \ \ }\hlstd{}\hlslc{\%\%\ Predicted\ state\ and\ covariance}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ }\hlstd{x\textunderscore prd\ }\hlopt{=\ }\hlstd{A\ }\hlopt{{*}\ }\hlstd{x\textunderscore est}\hlopt{;}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ }\hlstd{p\textunderscore prd\ }\hlopt{=\ }\hlstd{A\ }\hlopt{{*}\ }\hlstd{p\textunderscore est\ }\hlopt{{*}\ }\hlstd{A'\ }\hlopt{+\ }\hlstd{Q}\hlopt{;}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ }\hlstd{}\hlslc{\%\%\ Estimation}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ }\hlstd{S\ }\hlopt{=\ }\hlstd{H\ }\hlopt{{*}\ }\hlstd{p\textunderscore prd'\ }\hlopt{{*}\ }\hlstd{H'\ }\hlopt{+\ }\hlstd{R}\hlopt{;}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ }\hlstd{B\ }\hlopt{=\ }\hlstd{H\ }\hlopt{{*}\ }\hlstd{p\textunderscore prd'}\hlopt{;}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ }\hlstd{klm\textunderscore gain\ }\hlopt{=\ (}\hlstd{S\ $\backslash$\ B}\hlopt{)}\hlstd{'}\hlopt{;}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ }\hlstd{}\hlslc{\%\%\ Estimated\ state\ and\ covariance}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ }\hlstd{x\textunderscore est\ }\hlopt{=\ }\hlstd{x\textunderscore prd\ }\hlopt{+\ }\hlstd{klm\textunderscore gain\ }\hlopt{{*}\ (}\hlstd{z\ }\hlopt{{-}\ }\hlstd{H\ }\hlopt{{*}\ }\hlstd{x\textunderscore prd}\hlopt{);}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ }\hlstd{p\textunderscore est\ }\hlopt{=\ }\hlstd{p\textunderscore prd\ }\hlopt{{-}\ }\hlstd{klm\textunderscore gain\ }\hlopt{{*}\ }\hlstd{H\ }\hlopt{{*}\ }\hlstd{p\textunderscore prd}\hlopt{;}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ }\hlstd{}\hlslc{\%\%\ Compute\ the\ estimated\ measurements}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ \ \ }\hlstd{Y}\hlopt{(}\hlstd{idx}\hlopt{,\ :)\ =\ }\hlstd{H\ }\hlopt{{*}\ }\hlstd{x\textunderscore est}\hlopt{;}\hspace*{\fill}\\
\hlstd{}\hlstd{\ \ }\hlstd{}\hlkwa{end}\hlstd{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ }\hlkwa{}\hlstd{}\hlslc{\%\ of\ the\ function}\hspace*{\fill}\\
\hlstd{}\hlkwa{end}\hlstd{\ \ \ }\hlkwa{}\hlstd{}\hlslc{\%\ of\ the\ function}\hlstd{}\hspace*{\fill}
\mbox{}
\normalfont
\normalsize
\end{kframe}
\end{knitrout}
\end{document}