public override Direccion GetDireccion()
{
Goal goal = new Goal();
foreach (Targeter targeter in targeters)
{
goal.UpdateChannels(targeter.GetGoal());
}
foreach (Decomposer decomposer in decomposers)
{
goal = decomposer.Decompose(goal);
}
for (int i = 0;
i < constraintSteps; i++)
{
Camino path = actuator.GetPath(goal);
foreach (Constraint constraint in constraints)
{
if (constraint.WillViolate(path))
{
goal = constraint.Suggest(path); break;
}
return(actuator.GetOutput(path, goal));
}
}
return(base.GetDireccion());
}