blob: 32d6ba9aabded96ea98fd52dec4ecacdc592ba8b (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
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);
}
|