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Merge pull request#248 from adm78/statesp-performance-improvements

Performance improvements to _remove_useless_states routine in statesp.py

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Lines changed: 9 additions & 14 deletions

Original file line number	Diff line number	Diff line change
`@@ -194,20 +194,15 @@ def _remove_useless_states(self):`
`194`	`194`
`195`	`195`	`"""`
`196`	`196`
`197`		`-# Indices of useless states.`
`198`		`-useless= []`
`199`		`-`
`200`		`-# Search for useless states.`
`201`		`-foriinrange(self.states):`
`202`		`-if (all(self.A[i, :]==zeros((1,self.states)))and`
`203`		`-all(self.B[i, :]==zeros((1,self.inputs)))):`
`204`		`-useless.append(i)`
`205`		`-# To avoid duplicate indices in useless, jump to the next`
`206`		`-# iteration.`
`207`		`-continue`
`208`		`-if (all(self.A[:,i]==zeros((self.states,1)))and`
`209`		`-all(self.C[:,i]==zeros((self.outputs,1)))):`
`210`		`-useless.append(i)`
	`197`	`+# Search for useless states and get the indices of these states`
	`198`	`+# as an array.`
	`199`	`+ax1_A=np.where(~self.A.any(axis=1))[0]`
	`200`	`+ax1_B=np.where(~self.B.any(axis=1))[0]`
	`201`	`+ax0_A=np.where(~self.A.any(axis=0))[1]`
	`202`	`+ax0_C=np.where(~self.C.any(axis=0))[1]`
	`203`	`+useless_1=np.intersect1d(ax1_A,ax1_B,assume_unique=True)`
	`204`	`+useless_2=np.intersect1d(ax0_A,ax0_C,assume_unique=True)`
	`205`	`+useless=np.union1d(useless_1,useless_2)`
`211`	`206`
`212`	`207`	`# Remove the useless states.`
`213`	`208`	`self.A=delete(self.A,useless,0)`

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