public static IEnumerable <R> Start <R>(this IPendulum <R> p)
{
while (!p.Ranking.IsOptimized())
{
yield return(p.GetExec().Execute());
}
}
public static R Execute <R>(this IPendulum <R> p)
{
p.Modifications.MapModifications();
var optimized = p.Ranking.IsOptimized();
var constrain = p.Constrains.TestConstrains();
var rng = new Random();
var mods = p.Modifications.GetModificationCount();
var modNum = 0;
p.Ranking.Reset();
while (p.Ranking.HasStepsLeft())
{
// Bruteforce-like Strategy
p.Modifications.PerformModification(modNum);
p.GetExec().Result = p.GetExec().Execute();
p.Ranking.Evaluate();
optimized = p.Ranking.IsOptimized();
constrain = p.Constrains.TestConstrains();
if (optimized && constrain)
{
break;
}
if (!constrain)
{
modNum = rng.Next(0, mods);
}
}
p.OnDoneActions.ForEach(x => x());
return(default(R));
}
/// <summary>
/// Create base scene
/// </summary>
private void InitializeScene()
{
WindDirectionScene.Camera = SimulationScene.Camera;
cartTrajectoryLines = new LinesVisual3D();
cartTrajectoryLines.Thickness = 3;
cartTrajectoryLines.Color = Colors.Blue;
cartTrajectoryLines.Points = cartTrajectoryPoints;
SimulationScene.Children.Add(cartTrajectoryLines);
pendulumTrajectoryLines = new LinesVisual3D();
pendulumTrajectoryLines.Thickness = 3;
pendulumTrajectoryLines.Color = Colors.Gold;
pendulumTrajectoryLines.Points = pendulumTrajectoryPoints;
SimulationScene.Children.Add(pendulumTrajectoryLines);
targetTrajectoryLines = new LinesVisual3D();
targetTrajectoryLines.Thickness = 3;
targetTrajectoryLines.Color = Colors.Red;
targetTrajectoryLines.Points = targetTrajectoryPoints;
targetTrajectoryCheckPoints = new PointsVisual3D();
targetTrajectoryCheckPoints.Color = Colors.Purple;
targetTrajectoryCheckPoints.Size = 5;
targetTrajectoryCheckPoints.Points = targetTrajectoryPoints;
simulationArea = new SimulationArea();
SimulationScene.Children.Add(simulationArea.Model);
models.Add(simulationArea);
cart = new Cart();
SimulationScene.Children.Add(cart.Model);
models.Add(cart);
pendulum = new Pendulum();
SimulationScene.Children.Add(pendulum.Model);
models.Add(pendulum);
}
public static IPendulum <T> AddRanking <T>(this IPendulum <T> p, Func <T, float> eval, float goal = 1)
{
p.Ranking.AddEval(eval, goal);
return(p);
}
public static IPendulum <T> WhenDone <T>(this IPendulum <T> p, Action whenDoneAction)
{
p.OnDoneActions.Add(whenDoneAction);
return(p);
}
public static IPendulum <T> AddConstrain <T>(this IPendulum <T> p, Func <bool> constrain)
{
p.Constrains.AddConstrain(constrain);
return(p);
}
public static IPendulum <T> SetSteps <T>(this IPendulum <T> p, int i)
{
p.Ranking.SetMaxSteps(i);
return(p);
}
public static IPendulum <T> AddDimension <T>(this IPendulum <T> p, IAxis <T> axis)
{
p.Modifications.AddModificationDimension(axis);
return(p);
}
