1 files changed, 57 insertions, 0 deletions
diff --git a/examples/mamdani/ObstacleAvoidance.R b/examples/mamdani/ObstacleAvoidance.R
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index 0000000..5533d26
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+++ b/examples/mamdani/ObstacleAvoidance.R
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+#Code automatically generated with fuzzylite 6.0.
+
+library(ggplot2);
+
+engine.name = "ObstacleAvoidance"
+engine.fll = "Engine: ObstacleAvoidance
+InputVariable: obstacle
+  enabled: true
+  range: 0.000 1.000
+  lock-range: false
+  term: left Ramp 1.000 0.000
+  term: right Ramp 0.000 1.000
+OutputVariable: mSteer
+  enabled: true
+  range: 0.000 1.000
+  lock-range: false
+  aggregation: Maximum
+  defuzzifier: Centroid 100
+  default: nan
+  lock-previous: false
+  term: left Ramp 1.000 0.000
+  term: right Ramp 0.000 1.000
+RuleBlock: mamdani
+  enabled: true
+  conjunction: none
+  disjunction: none
+  implication: AlgebraicProduct
+  activation: General
+  rule: if obstacle is left then mSteer is right
+  rule: if obstacle is right then mSteer is left"
+
+engine.fldFile = "ObstacleAvoidance.fld"
+if (require(data.table)) {
+    engine.df = data.table::fread(engine.fldFile, sep="auto", header="auto")
+} else {
+    engine.df = read.table(engine.fldFile, header=TRUE)
+}
+
+engine.plot.i1_o1 = ggplot(engine.df, aes(obstacle, mSteer)) + 
+    geom_line(aes(color=mSteer), size=3, lineend="round", linejoin="mitre") + 
+    scale_color_gradient(low="yellow", high="red") + 
+    ggtitle("obstacle vs mSteer")
+
+engine.plot.o1_i1 = ggplot(engine.df, aes(obstacle, mSteer)) + 
+    geom_line(aes(color=mSteer), size=3, lineend="round", linejoin="mitre") + 
+    scale_color_gradient(low="yellow", high="red") + 
+    coord_flip() + 
+    ggtitle("mSteer vs obstacle")
+
+if (require(gridExtra)) {
+    engine.plots = arrangeGrob(engine.plot.i1_o1, engine.plot.o1_i1, ncol=2, top=engine.name)
+    ggsave(paste0(engine.name, ".pdf"), engine.plots)
+    if (require(grid)) {
+        grid.newpage()
+        grid.draw(engine.plots)
+    }
+}