protected IEnumerator <T> optimize_trajectory(NextTrajectory next, TrajectoryPredicate is_better, TrajectoryPredicate not_found)
{
T current = null;
T best = null;
var maxI = GLB.TRJ.MaxIterations;
var frameI = GLB.TRJ.PerFrameIterations;
do
{
// if(best != null && !string.IsNullOrEmpty(TCAGui.StatusMessage)) //debug
// { yield return null; continue; }
current = next(current, best);
if (best == null || is_better(current, best))
{
best = current;
}
frameI--; maxI--;
if (frameI <= 0)
{
// clear_nodes(); //debug
// add_node(current.ManeuverDeltaV, current.StartUT);//debug
// var lnd = current as LandingTrajectory;//debug
// if(lnd != null) add_node(lnd.BrakeDeltaV, lnd.BrakeStartUT);//debug
// Status("Push to continue");//debug
yield return(null);
frameI = GLB.TRJ.PerFrameIterations;
}
} while(not_found(current, best) && maxI > 0);
// Log("Best trajectory:\n{0}", best);//debug
// clear_nodes();//debug
yield return(best);
}
protected virtual void setup_calculation(NextTrajectory next)
{
next_trajectory = next;
end_predicate = target_is_far;
better_predicate = trajectory_is_better;
}
protected override void setup_calculation(NextTrajectory next)
{
next_trajectory = next;
end_predicate = trajectories_converging;
better_predicate = trajectory_is_better;
}
public virtual void Setup(NextTrajectory next, TrajectoryPredicate is_better, TrajectoryPredicate not_found)
{
Trajectory = null;
optimizer = optimize_trajectory(next, is_better, not_found);
}
public void Setup(NextTrajectory next)
{
optimizer = optimize_trajectory(next, trajectory_is_better, target_is_far);
}
protected virtual void setup_calculation(NextTrajectory next)
{
next_trajectory = next;
continue_predicate = continue_calculation;
better_predicate = trajectory_is_better;
}
