public override void Compute(MSInput input, out MSOutput output)
{
output = new MSOutput();
var trajectory = input.Trajectory;
ShortcutProvider.Init(input, output, false);
ICollection <TPoint2D> prevShortestPath = trajectory;
for (var level = 1; level <= input.NumLevels; level++)
{
var epsilon = input.GetEpsilon(level);
var levelShortcuts = ShortcutProvider.GetShortcuts(level, epsilon);
var levelShortestPath = ShortestPathProvider.FindShortestPath(levelShortcuts, trajectory.First(), trajectory.Last()).Points;
levelShortestPath.AddFirst(trajectory.First());
//O(n)
var levelTrajectory = new Trajectory2D(levelShortestPath);
//O(n)
var levelShortestPathSet = new HashSet <TPoint2D>(levelShortestPath);
//report level trajectory
output.SetTrajectoryAtLevel(level, levelTrajectory);
//prune shortcutgraph and shortcuts
//only consider points that are not the first/last
foreach (var point in prevShortestPath)
{
//O(1)
if (!levelShortestPathSet.Contains(point))
{
//remove shortcuts from shortcut set
ShortcutProvider.RemovePoint(point);
}
}
prevShortestPath = levelShortestPath;
}
}
