// Start is called before the first frame update
void Start()
{
m_State = new FuzzyMembership();
m_State.Add(0f, 0f);
m_State.Add(150f, 0.4f);
m_State.Add(350f, 0.6f);
m_State.Add(425f, 1f);
}
public FuzzyNavCtrl()
{
// membership funcs for Cross-Track Error Et (meters)
// leftOfCourse, ZeroCourse, rightOfCourse
leftOfCourse = new FuzzyTriLeft(-2000, 0);
rightOfCourse = new FuzzyTriRight(0, 2000);
zeroCourse = new FuzzyTrap(-2000, -1, 1, 2000);
// membership funcs for Cross-Track Velocity Vt (meters/sec)
// leftToRight, rightToLeft, and parallel
rightToLeft = new FuzzyTriLeft(-50, 0);
leftToRight = new FuzzyTriRight(0, 50);
parallel = new FuzzyTrap(-50, 0, 0, 50);
// membership funcs for output turn rate in degrees/second
// standard rate turn is 3 degrees per second
turnHardLeft = new FuzzyResultTri(-9, -6, -3);
turnLeft = new FuzzyResultTri(-5, -3, -1);
turnSlightLeft = new FuzzyResultTri(-3, -0.25f, 0);
turnNone = new FuzzyResultTri(-0.5f, 0, 0.5f);
turnSlightRight = new FuzzyResultTri(0, 0.25f, 3);
turnRight = new FuzzyResultTri(1, 3, 5);
turnHardRight = new FuzzyResultTri(3, 6, 9);
}
public FuzzyNavCtrl()
{
// membership funcs for Cross-Track Error Et (meters)
// leftOfCourse, ZeroCourse, rightOfCourse
leftOfCourse = new FuzzyTriLeft(-2000, 0);
rightOfCourse = new FuzzyTriRight(0, 2000);
zeroCourse = new FuzzyTrap(-2000, -1, 1, 2000);
// membership funcs for Cross-Track Velocity Vt (meters/sec)
// leftToRight, rightToLeft, and parallel
rightToLeft = new FuzzyTriLeft(-50, 0);
leftToRight = new FuzzyTriRight(0, 50);
parallel = new FuzzyTrap(-50, 0, 0, 50);
// membership funcs for output turn rate in degrees/second
// standard rate turn is 3 degrees per second
turnHardLeft = new FuzzyResultTri(-9, -6, -3);
turnLeft = new FuzzyResultTri(-5, -3, -1);
turnSlightLeft = new FuzzyResultTri(-3, -0.25f, 0);
turnNone = new FuzzyResultTri(-0.5f, 0, 0.5f);
turnSlightRight = new FuzzyResultTri(0, 0.25f, 3);
turnRight = new FuzzyResultTri(1, 3, 5);
turnHardRight = new FuzzyResultTri(3, 6, 9);
}
