1 files changed, 60 insertions, 0 deletions
diff --git a/examples/takagi-sugeno/ObstacleAvoidance.java b/examples/takagi-sugeno/ObstacleAvoidance.java
new file mode 100644
index 0000000..c7c7f67
--- /dev/null
+++ b/examples/takagi-sugeno/ObstacleAvoidance.java
@@ -0,0 +1,60 @@
+import com.fuzzylite.*;
+import com.fuzzylite.activation.*
+import com.fuzzylite.defuzzifier.*;
+import com.fuzzylite.factory.*;
+import com.fuzzylite.hedge.*;
+import com.fuzzylite.imex.*;
+import com.fuzzylite.norm.*;
+import com.fuzzylite.norm.s.*;
+import com.fuzzylite.norm.t.*;
+import com.fuzzylite.rule.*;
+import com.fuzzylite.term.*;
+import com.fuzzylite.variable.*;
+
+public class ObstacleAvoidance{
+public static void main(String[] args){
+//Code automatically generated with fuzzylite 6.0.
+
+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(Double.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(null);
+takagiSugeno.setDisjunction(null);
+takagiSugeno.setImplication(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);
+
+
+}
+}