forked from Archive/PX4-Autopilot
92 lines
2.7 KiB
Matlab
92 lines
2.7 KiB
Matlab
function fix_c_code(fileName)
|
|
%% Initialize variables
|
|
delimiter = '';
|
|
|
|
%% Format string for each line of text:
|
|
% column1: text (%s)
|
|
% For more information, see the TEXTSCAN documentation.
|
|
formatSpec = '%s%[^\n\r]';
|
|
|
|
%% Open the text file.
|
|
fileID = fopen(fileName,'r');
|
|
|
|
%% Read columns of data according to format string.
|
|
% This call is based on the structure of the file used to generate this
|
|
% code. If an error occurs for a different file, try regenerating the code
|
|
% from the Import Tool.
|
|
dataArray = textscan(fileID, formatSpec, 'Delimiter', delimiter, 'ReturnOnError', false);
|
|
|
|
%% Close the text file.
|
|
fclose(fileID);
|
|
|
|
%% Create output variable
|
|
SymbolicOutput = [dataArray{1:end-1}];
|
|
|
|
%% Clear temporary variables
|
|
clearvars filename delimiter formatSpec fileID dataArray ans;
|
|
|
|
%% replace brackets and commas
|
|
for lineIndex = 1:length(SymbolicOutput)
|
|
SymbolicOutput(lineIndex) = regexprep(SymbolicOutput(lineIndex), '_l_', '(');
|
|
SymbolicOutput(lineIndex) = regexprep(SymbolicOutput(lineIndex), '_c_', ',');
|
|
SymbolicOutput(lineIndex) = regexprep(SymbolicOutput(lineIndex), '_r_', ')');
|
|
end
|
|
|
|
%% Convert indexing and replace brackets
|
|
|
|
% replace 1-D indexes
|
|
for arrayIndex = 1:99
|
|
strIndex = int2str(arrayIndex);
|
|
strRep = sprintf('[%d]',(arrayIndex-1));
|
|
strPat = strcat('\(',strIndex,'\)');
|
|
for lineIndex = 1:length(SymbolicOutput)
|
|
str = char(SymbolicOutput(lineIndex));
|
|
SymbolicOutput(lineIndex) = {regexprep(str, strPat, strRep)};
|
|
end
|
|
end
|
|
|
|
% replace 2-D left indexes
|
|
for arrayIndex = 1:99
|
|
strIndex = int2str(arrayIndex);
|
|
strRep = sprintf('[%d,',(arrayIndex-1));
|
|
strPat = strcat('\(',strIndex,'\,');
|
|
for lineIndex = 1:length(SymbolicOutput)
|
|
str = char(SymbolicOutput(lineIndex));
|
|
SymbolicOutput(lineIndex) = {regexprep(str, strPat, strRep)};
|
|
end
|
|
end
|
|
|
|
% replace 2-D right indexes
|
|
for arrayIndex = 1:99
|
|
strIndex = int2str(arrayIndex);
|
|
strRep = sprintf(',%d]',(arrayIndex-1));
|
|
strPat = strcat('\,',strIndex,'\)');
|
|
for lineIndex = 1:length(SymbolicOutput)
|
|
str = char(SymbolicOutput(lineIndex));
|
|
SymbolicOutput(lineIndex) = {regexprep(str, strPat, strRep)};
|
|
end
|
|
end
|
|
|
|
% replace commas
|
|
for lineIndex = 1:length(SymbolicOutput)
|
|
str = char(SymbolicOutput(lineIndex));
|
|
SymbolicOutput(lineIndex) = {regexprep(str, '\,', '][')};
|
|
end
|
|
|
|
%% Change covariance matrix variable name to P
|
|
for lineIndex = 1:length(SymbolicOutput)
|
|
strIn = char(SymbolicOutput(lineIndex));
|
|
strIn = regexprep(strIn,'OP\[','P[');
|
|
SymbolicOutput(lineIndex) = cellstr(strIn);
|
|
end
|
|
|
|
%% Write to file
|
|
fid = fopen(fileName,'wt');
|
|
for lineIndex = 1:length(SymbolicOutput)
|
|
fprintf(fid,char(SymbolicOutput(lineIndex)));
|
|
fprintf(fid,'\n');
|
|
end
|
|
fclose(fid);
|
|
clear all;
|
|
|
|
end |