public override void OnNewShortcutStart(TPoint2D start)
{
hull = new EnhancedConvexHull(start);
}
public override void Compute(MSSInput input, out MSSOutput output)
{
output = new MSSOutput(input);
var trajectory = input.Trajectory;
var errors = new double[trajectory.Count - 2][];
for (var i = 0; i < trajectory.Count - 2; i++)
{
errors[i] = new double[trajectory.Count - i - 1];
var pointI = trajectory[i];
var hull = new EnhancedConvexHull(pointI);
for (var j = i + 1; j < trajectory.Count; j++)
{
var pointJ = trajectory[j];
hull.Insert(pointJ);
if (Math.Abs(j - i) > 1)
{
errors[i][j - i - 1] = hull.GetMinEpsilon(pointJ, true);
}
}
}
for (var i = trajectory.Count - 1; i >= 2; i--)
{
var pointI = trajectory[i];
var hull = new EnhancedConvexHull(pointI);
for (var j = i - 1; j >= 0; j--)
{
var pointJ = trajectory[j];
hull.Insert(pointJ);
if (Math.Abs(j - i) > 1)
{
errors[j][i - j - 1] = Math.Max(errors[j][i - j - 1], hull.GetMinEpsilon(pointJ, false));
}
}
}
var shortcutSet = new MSSimpleShortcutSet(input, ShortcutSetBuilder.ShortcutSetFactory);
for (var level = 1; level <= input.NumLevels; level++)
{
output.LogLine("Dumping level " + level);
var shortcuts = ShortcutSetBuilder.ShortcutSetFactory.Create(input.Trajectory);
for (var i = 0; i < trajectory.Count - 1; i++)
{
shortcuts.PrependShortcut(trajectory[i], trajectory[i + 1]);
}
for (var i = 0; i < trajectory.Count - 2; i++)
{
var pointI = trajectory[i];
for (var j = i + 2; j < trajectory.Count; j++)
{
var pointJ = trajectory[j];
if (errors[i][j - i - 1] <= input.GetEpsilon(level))
{
shortcuts.AppendShortcut(pointI, pointJ);
}
}
}
shortcutSet.Shortcuts[level] = shortcuts;
}
output.Shortcuts = shortcutSet;
}
