1 files changed, 49 insertions, 0 deletions
diff --git a/examples/mamdani/ObstacleAvoidance.cpp b/examples/mamdani/ObstacleAvoidance.cpp
new file mode 100644
index 0000000..341ffe5
--- /dev/null
+++ b/examples/mamdani/ObstacleAvoidance.cpp
@@ -0,0 +1,49 @@
+#include <fl/Headers.h>
+
+int main(int argc, char** argv){
+//Code automatically generated with fuzzylite 6.0.
+
+using namespace fl;
+
+Engine* engine = new Engine;
+engine->setName("ObstacleAvoidance");
+engine->setDescription("");
+
+InputVariable* obstacle = new InputVariable;
+obstacle->setName("obstacle");
+obstacle->setDescription("");
+obstacle->setEnabled(true);
+obstacle->setRange(0.000, 1.000);
+obstacle->setLockValueInRange(false);
+obstacle->addTerm(new Ramp("left", 1.000, 0.000));
+obstacle->addTerm(new Ramp("right", 0.000, 1.000));
+engine->addInputVariable(obstacle);
+
+OutputVariable* mSteer = new OutputVariable;
+mSteer->setName("mSteer");
+mSteer->setDescription("");
+mSteer->setEnabled(true);
+mSteer->setRange(0.000, 1.000);
+mSteer->setLockValueInRange(false);
+mSteer->setAggregation(new Maximum);
+mSteer->setDefuzzifier(new Centroid(100));
+mSteer->setDefaultValue(fl::nan);
+mSteer->setLockPreviousValue(false);
+mSteer->addTerm(new Ramp("left", 1.000, 0.000));
+mSteer->addTerm(new Ramp("right", 0.000, 1.000));
+engine->addOutputVariable(mSteer);
+
+RuleBlock* mamdani = new RuleBlock;
+mamdani->setName("mamdani");
+mamdani->setDescription("");
+mamdani->setEnabled(true);
+mamdani->setConjunction(fl::null);
+mamdani->setDisjunction(fl::null);
+mamdani->setImplication(new AlgebraicProduct);
+mamdani->setActivation(new General);
+mamdani->addRule(Rule::parse("if obstacle is left then mSteer is right", engine));
+mamdani->addRule(Rule::parse("if obstacle is right then mSteer is left", engine));
+engine->addRuleBlock(mamdani);
+
+
+}