public uint?CalculateLastValueBeforeRelease()
{
Spline2D spline = new Spline2D();
float curT = Time.time;
foreach (HistoricValue pair in history)
{
if (pair.value > deadzone + epsilon)
{
spline.AddPoint(new Vector2(curT - (float)pair.time, (float)pair.value));
}
}
/*
* StringBuilder sb = new StringBuilder("Spline: ");
* for (float t = 0.0f; t <= 1.0; t += 0.05f)
* {
* sb.Append("(");
* Vector2 v = spline.Interpolate(t);
* sb.Append(v.x);
* sb.Append(", ");
* sb.Append(v.y);
* sb.Append("), ");
* }
* Debug.Log(sb.ToString());
*/
float value = GradientAscent(spline);
return((uint?)value);
}
private float GradientAscent(Spline2D spline)
{
float gamma = 0.01f;
float precision = 0.018f;
float curAlpha = 0.0f;
float previousStepSize = 1.0f;
float prevAlpha = 0.0f;
while (previousStepSize > precision && curAlpha <= 1.0f)
{
prevAlpha = curAlpha;
float df = spline.Derivative(prevAlpha).magnitude;
curAlpha += gamma * df;
previousStepSize = Mathf.Abs(curAlpha - prevAlpha);
// Debug.Log("df: " + df + " newAlpha: " + curAlpha + " prevStep: " + previousStepSize+" value: "+spline.Interpolate(prevAlpha).y);
}
return(spline.Interpolate(prevAlpha).y);
}