forked from Archive/PX4-Autopilot
29 lines
862 B
Matlab
29 lines
862 B
Matlab
function [SymExpOut,SubExpArray] = OptimiseAlgebra(SymExpIn,SubExpName)
|
|
|
|
% Loop through symbolic expression, identifying repeated expressions and
|
|
% bringing them out as shared expression or sub expressions
|
|
% do this until no further repeated expressions found
|
|
% This can significantly reduce computations
|
|
|
|
syms SubExpIn SubExpArray ;
|
|
|
|
SubExpArray(1,1) = 'invalid';
|
|
index = 0;
|
|
f_complete = 0;
|
|
while f_complete==0
|
|
index = index + 1;
|
|
SubExpIn = [SubExpName,'(',num2str(index),')'];
|
|
SubExpInStore{index} = SubExpIn;
|
|
[SymExpOut,SubExpOut]=subexpr(SymExpIn,SubExpIn);
|
|
for k = 1:index
|
|
if SubExpOut == SubExpInStore{k}
|
|
f_complete = 1;
|
|
end
|
|
end
|
|
if f_complete || index > 100
|
|
SymExpOut = SymExpIn;
|
|
else
|
|
SubExpArray(index,1) = SubExpOut;
|
|
SymExpIn = SymExpOut;
|
|
end
|
|
end |