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Diffstat (limited to 'examples/takagi-sugeno/ObstacleAvoidance.R')
-rw-r--r-- | examples/takagi-sugeno/ObstacleAvoidance.R | 57 |
1 files changed, 57 insertions, 0 deletions
diff --git a/examples/takagi-sugeno/ObstacleAvoidance.R b/examples/takagi-sugeno/ObstacleAvoidance.R new file mode 100644 index 0000000..eb96813 --- /dev/null +++ b/examples/takagi-sugeno/ObstacleAvoidance.R @@ -0,0 +1,57 @@ +#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: tsSteer + enabled: true + range: 0.000 1.000 + lock-range: false + aggregation: Maximum + defuzzifier: WeightedAverage Automatic + default: nan + lock-previous: false + term: left Constant 0.333 + term: right Constant 0.666 +RuleBlock: takagiSugeno + enabled: true + conjunction: none + disjunction: none + implication: none + activation: General + rule: if obstacle is left then tsSteer is right + rule: if obstacle is right then tsSteer 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, tsSteer)) + + geom_line(aes(color=tsSteer), size=3, lineend="round", linejoin="mitre") + + scale_color_gradient(low="yellow", high="red") + + ggtitle("obstacle vs tsSteer") + +engine.plot.o1_i1 = ggplot(engine.df, aes(obstacle, tsSteer)) + + geom_line(aes(color=tsSteer), size=3, lineend="round", linejoin="mitre") + + scale_color_gradient(low="yellow", high="red") + + coord_flip() + + ggtitle("tsSteer 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) + } +} |