RobotLocomotion/drake — pull request #1 by avalenzu (2014-01-27 14:43:56+00:00)
Title: Add utilities to compute identifiable parameters of an msspoly expression

Given an expression and a vector of parameters, `linearParameters` splits the expression into a matrix of coefficients and a vector of parameters such that their matrix-vector product yields the original expression.

Given a coefficient matrix (numeric or `msspoly`), `baseParametes` uses the numerical technique described by Khalil and Dombre to compute the independent columns of the matrix.

Given an `msspoly` expression, `identifiableParameters` computes a set of identifiable parameters, a coefficient matrix with linearly independent columns, and an offset vector such that

```
expr = coeff_mat*identifiable_parameters + offsets
```