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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 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(Double.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);
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 mamdani = new RuleBlock();
mamdani.setName("mamdani");
mamdani.setDescription("");
mamdani.setEnabled(true);
mamdani.setConjunction(null);
mamdani.setDisjunction(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);
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);
}
}
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