Make mathescape=true by default

This significantly reduces the clutter around all the \lstinline where math is used.

chapters/annotations.tex

@@ -1796,7 +1796,7 @@ \subsection{Version Date and Build Information}\doublelabel{version-date-and-bui
 \end{lstlisting}
 
 \begin{example}
-\begin{lstlisting}[language=modelica]
+\begin{lstlisting}[language=modelica,mathescape=false]
 package Modelica
   ...
   annotation(version = "3.0.1",
@@ -1912,7 +1912,7 @@ \section{Annotations for Access Control to Protect Intellectual Property}\double
 
 In this section annotations are defined for protection and licensing.  Obfuscation and encryption are not standardized.
 Protection and licensing are both defined inside the \lstinline!Protection! annotation:
-\begin{lstlisting}[language=modelica,mathescape=true]
+\begin{lstlisting}[language=modelica]
 annotation(Protection($\ldots$));
 \end{lstlisting}
 

chapters/classes.tex

@@ -864,11 +864,11 @@ \section{Specialized Classes}\doublelabel{specialized-classes}
 record.
 \begin{nonnormative}
 A function declaration
-\begin{lstlisting}[language=modelica,mathescape=true]
+\begin{lstlisting}[language=modelica]
 operator function foo $\ldots$ end foo;
 \end{lstlisting}
 is conceptually treated as
-\begin{lstlisting}[language=modelica,mathescape=true]
+\begin{lstlisting}[language=modelica]
 operator foo function foo1
   $\ldots$
 end foo1; end foo;
@@ -885,7 +885,7 @@ \section{Specialized Classes}\doublelabel{specialized-classes}
 
 \begin{example}
 Use of \lstinline!operator!:
-\begin{lstlisting}[language=modelica,mathescape=true]
+\begin{lstlisting}[language=modelica]
 operator record Complex
   Real re;
   Real im;

chapters/connectors.tex

@@ -9,7 +9,7 @@ \section{Connect-Equations and Connectors}\doublelabel{connect-equations-and-con
 
 Connections between objects are introduced by connect-equations in the
 equation part of a class. A connect-equation has the following syntax:
-\begin{lstlisting}[language=modelica,mathescape=true]
+\begin{lstlisting}[language=modelica]
 connect(component-reference, component-reference);
 \end{lstlisting}
 

chapters/equations.tex

@@ -754,7 +754,7 @@ \section{Initialization, initial equation, and initial algorithm}\doublelabel{in
 (such as simulation or linearization).  The equations of a
 when-clause are active during initialization, if and only if they are
 explicitly enabled with \lstinline!initial()!; and only in one of the
-two forms \lstinline!when initial() then! or \lstinline[mathescape=true]!when {$\ldots$, initial(), $\ldots$} then!
+two forms \lstinline!when initial() then! or \lstinline!when {$\ldots$, initial(), $\ldots$} then!
 (and similarly for algorithms see below). In this case, the when-clause equations remain active during the
 whole initialization phase. In case of a
 \lstinline!reinit(x, expr)! being active during initialization (due to being inside
@@ -769,7 +769,7 @@ \section{Initialization, initial equation, and initial algorithm}\doublelabel{in
 
 The algorithmic statements within a when-statement are active during initialization, if and only they are
 explicitly enabled with \lstinline!initial()!; and only in one of the
-two forms \lstinline!when initial() then! or \lstinline[mathescape=true]!when {$\ldots$, initial(), $\ldots$} then!.
+two forms \lstinline!when initial() then! or \lstinline!when {$\ldots$, initial(), $\ldots$} then!.
 In this case, the algorithmic statements within the when-statement remain active during the whole initialization phase.
 
 \begin{nonnormative}

chapters/functions.tex

@@ -16,7 +16,7 @@ \section{Function Declaration}\doublelabel{function-declaration}
 \begin{nonnormative}
 The structure of a typical function declaration is sketched by
 the following schematic function example:
-\begin{lstlisting}[language=modelica,mathescape=true,escapechar=!]
+\begin{lstlisting}[language=modelica,escapechar=!]
 function  !\emph{functionname}!
   input  TypeI1 in1;
   input  TypeI2 in2;
@@ -318,7 +318,7 @@ \section{Pure Modelica Functions}\doublelabel{pure-modelica-functions}
 \item
   a when-statement,
 \item
-  \lstinline[mathescape=true]!pure(impureFunctionCall($\ldots$))! --- which allows calling impure
+  \lstinline!pure(impureFunctionCall($\ldots$))! --- which allows calling impure
   functions in any pure context,
 \item
   in initial equations and initial algorithms,
@@ -684,7 +684,7 @@ \subsection{Output Formal Parameters of Functions}\doublelabel{output-formal-par
 the equation or assignment shall contain a list of component references
 within parentheses:
 
-\lstinline[mathescape=true]!(out1, out2, out3) = f($\ldots$);!
+\lstinline!(out1, out2, out3) = f($\ldots$);!
 
 The component references are associated with the output components
 according to their position in the list. Thus output component i is set
@@ -889,7 +889,7 @@ \subsection{Scalar Functions Applied to Array Arguments}\doublelabel{scalar-func
   If the argument is not a foreach argument, it is used as-is.
 \item
   If the argument is a foreach argument, the element at index
-  \lstinline[mathescape=true]![i, $\ldots$, j]! is used.
+  \lstinline![i, $\ldots$, j]! is used.
 \end{itemize}
 \end{enumerate}
 
@@ -1596,7 +1596,7 @@ \section{Declaring Inverses of Functions}\doublelabel{declaring-inverses-of-func
 
 Every function with one output formal parameter may have one or more
 \lstinline!inverse! annotations to define inverses of this function:
-\begin{lstlisting}[language=modelica,mathescape=true]
+\begin{lstlisting}[language=modelica]
 function $f_1$
   input $A_1$ $u_1$;
   ...
@@ -1619,8 +1619,8 @@ \section{Declaring Inverses of Functions}\doublelabel{declaring-inverses-of-func
 Several inverses are separated by commas.
 
 \begin{nonnormative}
-The inverse requires that for all valid values of the input arguments of \lstinline[mathescape=true]!$f_2$(..., y, ...)! and $u_k$ being calculated as \lstinline[mathescape=true]!$u_k$ := $f_2$(..., y, ...)! implies
-the equality \lstinline[mathescape=true]!y = $f_1$(..., $u_k$, ...,)! up to a certain precision.
+The inverse requires that for all valid values of the input arguments of \lstinline!$f_2$(..., y, ...)! and $u_k$ being calculated as \lstinline!$u_k$ := $f_2$(..., y, ...)! implies
+the equality \lstinline!y = $f_1$(..., $u_k$, ...,)! up to a certain precision.
 \end{nonnormative}
 
 Function $f_1$ can have any number and types of formal
@@ -1884,14 +1884,14 @@ \subsubsection{Arrays}\doublelabel{arrays-1}
 \tablehead{Modelica} & \tablehead{C}\\ \hline
 & \tablehead{Input and Output}\\ \hline
 \endhead
-\lstinline[mathescape=true]!T[$\textit{dim}_{1}$]! &
-\lstinline[mathescape=true,language=C]!T' *, size_t $\textit{dim}_{1}$!
+\lstinline!T[$\textit{dim}_{1}$]! &
+\lstinline[language=C]!T' *, size_t $\textit{dim}_{1}$!
 \\ \hline
-\lstinline[mathescape=true]!T[$\textit{dim}_{1}$, $\textit{dim}_{2}$]! &
-\lstinline[mathescape=true,language=C]!T' *, size_t $\textit{dim}_{1}$, size_t$\textit{dim}_{2}$!
+\lstinline!T[$\textit{dim}_{1}$, $\textit{dim}_{2}$]! &
+\lstinline[language=C]!T' *, size_t $\textit{dim}_{1}$, size_t$\textit{dim}_{2}$!
 \\ \hline
-\lstinline[mathescape=true]!T[$\textit{dim}_{1}$, $\ldots$, $\textit{dim}_{n}$]! &
-\lstinline[mathescape=true,language=C]!T' *, size_t $\textit{dim}_{1}$, $\ldots$, size_t $\textit{dim}_{n}$!
+\lstinline!T[$\textit{dim}_{1}$, $\ldots$, $\textit{dim}_{n}$]! &
+\lstinline[language=C]!T' *, size_t $\textit{dim}_{1}$, $\ldots$, size_t $\textit{dim}_{n}$!
 \\ \hline
 \end{longtable}
 
@@ -1908,14 +1908,14 @@ \subsubsection{Arrays}\doublelabel{arrays-1}
 \tablehead{Modelica} & \tablehead{FORTRAN~77}\\ \hline
 & \tablehead{Input and Output}\\ \hline
 \endhead
-\lstinline[mathescape=true]!T[$\textit{dim}_{1}$]! &
-\lstinline[mathescape=true,language=FORTRAN77]!T', INTEGER $\textit{dim}_{1}$!
+\lstinline!T[$\textit{dim}_{1}$]! &
+\lstinline[language=FORTRAN77]!T', INTEGER $\textit{dim}_{1}$!
 \\ \hline
-\lstinline[mathescape=true]!T[$\textit{dim}_{1}$, $\textit{dim}_{2}$]! &
-\lstinline[mathescape=true,language=FORTRAN77]!T', INTEGER $\textit{dim}_{1}$, INTEGER $\textit{dim}_{2}$!
+\lstinline!T[$\textit{dim}_{1}$, $\textit{dim}_{2}$]! &
+\lstinline[language=FORTRAN77]!T', INTEGER $\textit{dim}_{1}$, INTEGER $\textit{dim}_{2}$!
 \\ \hline
-\lstinline[mathescape=true]!T[$\textit{dim}_{1}$, $\ldots$, $\textit{dim}_{n}$]! &
-\lstinline[mathescape=true,language=FORTRAN77]!T', INTEGER $\textit{dim}_{1}$, $\ldots$, INTEGER $\textit{dim}_{n}$!
+\lstinline!T[$\textit{dim}_{1}$, $\ldots$, $\textit{dim}_{n}$]! &
+\lstinline[language=FORTRAN77]!T', INTEGER $\textit{dim}_{1}$, $\ldots$, INTEGER $\textit{dim}_{n}$!
 \\ \hline
 \end{longtable}
 
@@ -2068,7 +2068,7 @@ \subsection{Return Type Mapping}\doublelabel{return-type-mapping}
 \lstinline!Integer! & \lstinline!int! & \lstinline!INTEGER!\\ \hline
 \lstinline!Boolean! & \lstinline!int! & \lstinline!LOGICAL!\\ \hline
 \lstinline!String! & \lstinline!const char*! & Not allowed.\\ \hline
-\lstinline[mathescape=true]!T[$\mathit{dim}_{1}$, $\ldots$, $\mathit{dim}_{n}$]! & Not allowed. & Not allowed.\\ \hline
+\lstinline!T[$\mathit{dim}_{1}$, $\ldots$, $\mathit{dim}_{n}$]! & Not allowed. & Not allowed.\\ \hline
 Enumeration type & \lstinline!int! & \lstinline!INTEGER!\\ \hline
 Record & See \autoref{records}. & Not allowed.\\ \hline
 \end{longtable}

chapters/inheritance.tex

@@ -685,12 +685,12 @@ \section{Redeclaration}\doublelabel{redeclaration}
 
 \subsection{The class extends Redeclaration Mechanism}\doublelabel{the-class-extends-redeclaration-mechanism}
 
-A class declaration of the type \lstinline[mathescape=true]!redeclare class extends B($\ldots$)! ,
+A class declaration of the type \lstinline!redeclare class extends B($\ldots$)! ,
 where \lstinline!class! as usual can be replaced by any other specialized class,
 replaces the inherited class \lstinline!B! with another declaration that extends the
 inherited class where the optional class-modification is applied to the
 inherited class.  Inherited \lstinline!B! here means that the class
-containing \lstinline[mathescape=true]!redeclare class extends B($\ldots$)! should also inherit
+containing \lstinline!redeclare class extends B($\ldots$)! should also inherit
 another declaration of \lstinline!B! from one of its extends-clauses. The new
 declaration should explicitly include redeclare.
 
@@ -699,7 +699,7 @@ \subsection{The class extends Redeclaration Mechanism}\doublelabel{the-class-ext
 to apply modifiers to the new declaration.
 \end{nonnormative}
 
-For \lstinline[mathescape=true]!redeclare class extends B($\ldots$)! the inherited class is subject
+For \lstinline!redeclare class extends B($\ldots$)! the inherited class is subject
 to the same restrictions as a redeclare of the inherited element, and
 the original class \lstinline!B! should be replaceable, and the new element is only
 replaceable if the new definition is replaceable. In contrast to normal

chapters/lexicalstructure.tex

@@ -87,7 +87,7 @@ \subsection{Identifiers}\doublelabel{identifiers}
 A full BNF definition of the Modelica syntax and
 lexical units is available in \autoref{modelica-concrete-syntax}.
 
-\begin{lstlisting}[language=grammar]
+\begin{lstlisting}[language=grammar,mathescape=false]
 IDENT   = NONDIGIT { DIGIT | NONDIGIT } | Q-IDENT
 Q-IDENT = "'" { Q-CHAR | S-ESCAPE | """ } "'"
 NONDIGIT = "_" | letters "a" ... "z" | letters "A" ... "Z"

chapters/operatorsandexpressions.tex

@@ -55,11 +55,11 @@ \section{Operator Precedence and Associativity}\doublelabel{operator-precedence-
 \tablehead{Operator Group} & \tablehead{Operator Syntax} & \tablehead{Examples}\\ \hline
 postfix array index operator & \lstinline![]! & \lstinline!arr[index]! \\ \hline
 postfix access operator & \lstinline!.! & \lstinline!a.b! \\ \hline
-postfix function call & \lstinline[mathescape=true]!$\mathit{funcName}$($\mathit{functionArguments}$)! & \lstinline!sin(4.36)! \\ \hline
+postfix function call & \lstinline!$\mathit{funcName}$($\mathit{functionArguments}$)! & \lstinline!sin(4.36)! \\ \hline
 array construct/concat & \begin{tabular}{@{}p{5cm}@{}}
-\lstinline[mathescape=true]!{$\mathit{expressions}$}!\\
-\lstinline[mathescape=true]![$\mathit{expressions}$]!\\
-\lstinline[mathescape=true]![$\mathit{expressions}$; $\mathit{expressions}\ldots$]!
+\lstinline!{$\mathit{expressions}$}!\\
+\lstinline![$\mathit{expressions}$]!\\
+\lstinline![$\mathit{expressions}$; $\mathit{expressions}\ldots$]!
 \end{tabular} & \begin{tabular}{@{}p{5cm}@{}}
 \lstinline!{2,3}! \\
 \lstinline![5,6]! \\
@@ -70,21 +70,21 @@ \section{Operator Precedence and Associativity}\doublelabel{operator-precedence-
 \lstinline!2*3!, \lstinline!2/3! \\
 \lstinline![1,2;3,4].*[2,3;5,6]!
 \end{tabular} \\ \hline
-additive and array elementwise additive & \lstinline[mathescape=true]!+ - +$\mathit{expr}$ -$\mathit{expr}$ .+ .-! & \lstinline![1,2;3,4].+[2,3;5,6]!\\ \hline
+additive and array elementwise additive & \lstinline!+ - +$\mathit{expr}$ -$\mathit{expr}$ .+ .-! & \lstinline![1,2;3,4].+[2,3;5,6]!\\ \hline
 relational & \lstinline!< <= > >= == <>! &
 \lstinline!a<b!, \lstinline!a<=b!, \lstinline!a>b!, \ldots\\ \hline
-unary negation & \lstinline[mathescape=true]!not $\mathit{expr}$! & \lstinline!not b1! \\ \hline
+unary negation & \lstinline!not $\mathit{expr}$! & \lstinline!not b1! \\ \hline
 logical and & \lstinline!and! & \lstinline!b1 and b2! \\ \hline
 logical or & \lstinline!or! & \lstinline!b1 or b2!\\ \hline
 array range & \begin{tabular}{@{}p{5cm}@{}}
-\lstinline[mathescape=true]!$\mathit{expr}$ : $\mathit{expr}$! \\
-\lstinline[mathescape=true]!$\mathit{expr}$ : $\mathit{expr}$ : $\mathit{expr}$!
+\lstinline!$\mathit{expr}$ : $\mathit{expr}$! \\
+\lstinline!$\mathit{expr}$ : $\mathit{expr}$ : $\mathit{expr}$!
 \end{tabular} & \begin{tabular}{@{}p{5cm}@{}}
 \lstinline!1:5! \\
 \lstinline!start:step:stop!
 \end{tabular} \\ \hline
-conditional & \lstinline[mathescape=true]!if $\mathit{expr}$ then $\mathit{expr}$ else $\mathit{expr}$! & \lstinline!if b then 3 else x!\\ \hline
-named argument & \lstinline[mathescape=true]!$\mathit{ident}$ = $\mathit{expr}$! & \lstinline!x = 2.26!\\ \hline
+conditional & \lstinline!if $\mathit{expr}$ then $\mathit{expr}$ else $\mathit{expr}$! & \lstinline!if b then 3 else x!\\ \hline
+named argument & \lstinline!$\mathit{ident}$ = $\mathit{expr}$! & \lstinline!x = 2.26!\\ \hline
 \end{tabular}
 \end{table}
 
@@ -270,11 +270,11 @@ \subsection{String Concatenation}\doublelabel{string-concatenation}
 
 \subsection{Array Constructor Operator}\doublelabel{array-constructor-operator}
 
-The array constructor operator \lstinline[mathescape=true]!{ $\ldots$ }! is described in \autoref{vector-matrix-and-array-constructors}.
+The array constructor operator \lstinline!{ $\ldots$ }! is described in \autoref{vector-matrix-and-array-constructors}.
 
 \subsection{Array Concatenation Operator}\doublelabel{array-concatenation-operator}
 
-The array concatenation operator \lstinline[mathescape=true]![ $\ldots$ ]! is described in \autoref{array-concatenation}.
+The array concatenation operator \lstinline![ $\ldots$ ]! is described in \autoref{array-concatenation}.
 
 \subsection{Array Range Operator}\doublelabel{array-range-operator}
 
@@ -891,7 +891,7 @@ \subsubsection{homotopy}\doublelabel{homotopy}
 over the whole model, and not several homotopy iterations over the
 respective non-linear algebraic equation systems. The reason is that the
 following structure can be present:
-\begin{lstlisting}[language=modelica, mathescape=true]
+\begin{lstlisting}[language=modelica]
 w = $f_1$(x) // has homotopy
 0 = $f_2$(der(x), x, z, w)
 \end{lstlisting}
@@ -1024,7 +1024,7 @@ \subsubsection{semiLinear}\doublelabel{semilinear}
 ...
 \end{lstlisting}
 may be replaced by
-\begin{lstlisting}[language=modelica, mathescape=true]
+\begin{lstlisting}[language=modelica]
 s1 = if x >= 0 then sa else sb
 s2 = s1;
 s3 = s2;