public override void Compute(MSInput input, out MSOutput output)
{
output = new MSOutput();
var trajectory = input.Trajectory;
ShortcutProvider.Init(input, output, false);
LinkedList <TPoint2D> prevShortestPath = null;
for (var level = input.NumLevels; level >= 1; level--)
{
var epsilon = input.GetEpsilon(level);
var levelShortcuts = ShortcutProvider.GetShortcuts(level, epsilon);
LinkedList <TPoint2D> shortestPath;
if (prevShortestPath == null)
{
var pointPath = ShortestPathProvider.FindShortestPath(levelShortcuts, trajectory.First(), trajectory.Last());
shortestPath = pointPath.Points;
}
else
{
shortestPath = new LinkedList <TPoint2D>();
var prevPoint = trajectory.First();
foreach (var point in prevShortestPath)
{
if (point == trajectory.First())
{
continue;
}
var pointPath = ShortestPathProvider.FindShortestPath(levelShortcuts, prevPoint, point);
foreach (var p in pointPath.Points)
{
shortestPath.AddLast(p);
}
prevPoint = point;
}
}
shortestPath.AddFirst(trajectory.First());
var newTrajectory = new Trajectory2D(shortestPath);
//report shortest path
//output.LogObject("Level Shortest Path", levelTrajectory);
output.LogLine("Level " + level + " trajectory found. Length: " + newTrajectory.Count);
output.SetTrajectoryAtLevel(level, newTrajectory);
prevShortestPath = shortestPath;
ShortcutProvider.SetSearchIntervals(shortestPath);
}
}