mirror of https://github.com/ArduPilot/ardupilot
29 lines
862 B
Mathematica
29 lines
862 B
Mathematica
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function [SymExpOut,SubExpArray] = OptimiseAlgebra(SymExpIn,SubExpName)
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% Loop through symbolic expression, identifying repeated expressions and
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% bringing them out as shared expression or sub expressions
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% do this until no further repeated expressions found
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% This can significantly reduce computations
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syms SubExpIn SubExpArray ;
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SubExpArray(1,1) = 'invalid';
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index = 0;
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f_complete = 0;
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while f_complete==0
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index = index + 1;
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SubExpIn = [SubExpName,'(',num2str(index),')'];
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SubExpInStore{index} = SubExpIn;
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[SymExpOut,SubExpOut]=subexpr(SymExpIn,SubExpIn);
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for k = 1:index
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if SubExpOut == SubExpInStore{k}
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f_complete = 1;
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end
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end
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if f_complete || index > 100
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SymExpOut = SymExpIn;
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else
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SubExpArray(index,1) = SubExpOut;
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SymExpIn = SymExpOut;
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end
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end
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