Matlab shows symbolic result with new variabels

I have an issue with the result display in matlab. I want to calculate the matrix "T04", however the matlab result implements new variables to describe the result, which is annoying and basically unreadable. Is there a way to force matlab to not create these new variabels of sigma, shown in the images?

syms theta1 theta2 theta3 L1 L2 L3
T01 = [cosd(theta1)               -sind(theta1)                   0                a1
       sind(theta1)*cosd(alpha1)   cosd(theta1)*cosd(alpha1)     -sind(alpha1)    -sind(alpha1)*d1 
       sind(theta1)*sind(alpha1)   cosd(theta1)*sind(alpha1)      cosd(alpha1)     cosd(alpha1)*d1
       0                           0                              0                1];

T12 = [cosd(theta2)               -sind(theta2)                   0                a2
       sind(theta2)*cosd(alpha2)   cosd(theta2)*cosd(alpha2)     -sind(alpha2)    -sind(alpha2)*d2 
       sind(theta2)*sind(alpha2)   cosd(theta2)*sind(alpha2)      cosd(alpha2)     cosd(alpha2)*d2
       0                           0                              0                1];

and so on...

T04 = T01*T12*T23*T34

I am using "syms" and matlab seems to know how to write the matrices fine, as seen below for "T01"

Neither subs() or eval() fixes the issues

[Rik]

These are shortcuts to have a more compact result. That is why subs and eval don't fix anything. You might need to look into the options format provides, although there might be something specific to the syms toolbox.

Answer 1

[Star Strider]

The approach in Abbreviate Common Terms in Long Expressions might do what you want.

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Answer 2

[Morten Reimer]

I found that simply inputting:

sympref('AbbreviateOutput',false);

in the beginning of the code, makes matlab not use abbreviations.

[Star Strider]

I was not aware of that either until I searched the documentation and found the reference that I posted.

.