public static SpecificationTemplate CreateDirectionSpecificationTemplate(IEnumerable <Segment> segments, ValueTerm speed, int index)
{
ValueTerm position = Terms.Variable(string.Format("d_{0}_position", index));
ValueTerm direction = Terms.Variable(string.Format("d_{0}_direction", index), 1);
IEnumerable <ValueTerm> segmentWeights =
(
from segmentIndex in Enumerable.Range(0, segments.Count())
select Terms.Variable(string.Format("d_{0}_segment_weight_{1}", index, segmentIndex))
)
.ToArray();
Constraint <ValueTerm> constraint = Constraints.CreateZero
(
Terms.Sum
(
Enumerable.Zip
(
segments,
segmentWeights,
(segment, segmentWeight) => Terms.Scaling
(
segmentWeight,
Terms.Difference
(
Terms.Scaling
(
Terms.Exponentiation(speed, Terms.Constant(-1)),
segment.GlobalCurve.Velocity.Apply(position)
),
Terms.Direction(direction)
)
)
)
)
);
return(new SpecificationTemplate(position, direction, segmentWeights, constraint));
}