1 files changed, 49 insertions, 0 deletions
diff --git a/examples/takagi-sugeno/ObstacleAvoidance.cpp b/examples/takagi-sugeno/ObstacleAvoidance.cpp
new file mode 100644
index 0000000..32d6ba9
--- /dev/null
+++ b/examples/takagi-sugeno/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* tsSteer = new OutputVariable;
+tsSteer->setName("tsSteer");
+tsSteer->setDescription("");
+tsSteer->setEnabled(true);
+tsSteer->setRange(0.000, 1.000);
+tsSteer->setLockValueInRange(false);
+tsSteer->setAggregation(new Maximum);
+tsSteer->setDefuzzifier(new WeightedAverage("Automatic"));
+tsSteer->setDefaultValue(fl::nan);
+tsSteer->setLockPreviousValue(false);
+tsSteer->addTerm(new Constant("left", 0.333));
+tsSteer->addTerm(new Constant("right", 0.666));
+engine->addOutputVariable(tsSteer);
+
+RuleBlock* takagiSugeno = new RuleBlock;
+takagiSugeno->setName("takagiSugeno");
+takagiSugeno->setDescription("");
+takagiSugeno->setEnabled(true);
+takagiSugeno->setConjunction(fl::null);
+takagiSugeno->setDisjunction(fl::null);
+takagiSugeno->setImplication(fl::null);
+takagiSugeno->setActivation(new General);
+takagiSugeno->addRule(Rule::parse("if obstacle is left then tsSteer is right", engine));
+takagiSugeno->addRule(Rule::parse("if obstacle is right then tsSteer is left", engine));
+engine->addRuleBlock(takagiSugeno);
+
+
+}