public SensorData(float bL, float bR, float tL, float tR, float wKg, CenterOfGravity cog)
{
_bottomLeft = bL;
_bottomoRight = bR;
_topLeft = tL;
_topRight = tR;
_weightKg = wKg;
_cog = cog;
_date = DateTime.Now;
}
// Update is called once per frame
void Update()
{
Defuzzification result = new CenterOfGravity(
term,
new Dictionary <IDimension, decimal> {
{ altitude, (decimal)transform.position.y }
}
);
_rigidbody.AddForce(Vector3.up * (float)result.CrispValue);
//Debug.Log((float)result.CrispValue);
}
private float ComputeGas(float distanceToFrontBound, FuzzyRelation relation)
{
decimal distance = (decimal)Mathf.Clamp(distanceToFrontBound, 0.0f, 150.0f);
if (displayGui)
{
memberDangerouslyClose = (float)dangerousClose.IsMember(distance);
memberClose = (float)close.IsMember(distance);
memberFar = (float)far.IsMember(distance);
memberZeroSpeed = (float)zeroSpeed.IsMember((decimal)m_Car.CurrentSpeed);
memberLowSpeed = (float)lowSpeed.IsMember((decimal)m_Car.CurrentSpeed);
memberHighSpeed = (float)highSpeed.IsMember((decimal)m_Car.CurrentSpeed);
}
/*
* FuzzySet projection = simpleSteeringRules.Project(new Dictionary<IDimension, decimal>()
* {
* {inputSideBoundDistance, distance }
* });
*
* string str = "";
*
* for (decimal i = -100; i <= 100; i += 20) {
* str += i + ": " + projection.IsMember(i) + ", ";
* }
* Debug.Log(str);
*/
Defuzzification result = new CenterOfGravity(relation, new Dictionary <IDimension, decimal>()
{
{ inputFrontBoundDistance, distance },
{ inputSpeed, (decimal)m_Car.CurrentSpeed }
});
//Debug.Log("distance: " + distance + ", gas: " + result.CrispValue);
crispGas = (float)result.CrispValue;
return((float)result.CrispValue);
}
private float ComputeSteering(float distToLeftBound, float distToRightBound, FuzzyRelation relation)
{
float r = Mathf.Clamp(distToRightBound, 0.0f, 20.0f);
float l = Mathf.Clamp(distToLeftBound, 0.0f, 20.0f);
float middle = (l + r) / 2;
float fCarPosition;
if (r < middle)
{
fCarPosition = 10.0f - (r / middle) * 10.0f;
}
else
{
fCarPosition = -10.0f + (l / middle) * 10.0f;
}
decimal carPosition = (decimal)fCarPosition;
if (displayGui)
{
memberLeft = (float)dangerousLeft.IsMember(carPosition);
memberRight = (float)dangerousRight.IsMember(carPosition);
memberCenter = (float)safe.IsMember(carPosition);
}
Defuzzification result = new CenterOfGravity(relation, new Dictionary <IDimension, decimal>()
{
{ inputSideBoundDistance, carPosition }
});
crispSteeringWheel = (float)result.CrispValue;
return((float)result.CrispValue);
}
public float Calc(float inputVolume, float inputQueue)
{
inputVolume = Mathf.Clamp(inputVolume, 0, 1200);
inputQueue = Mathf.Clamp(inputQueue, 0, 30);
//#region Definitions
////Definition of dimensions on which we will measure the input values
//ContinuousDimension volume = new ContinuousDimension("Volume", "Vehicle per hour", "veh/hr", 0, 1200);
//ContinuousDimension queue = new ContinuousDimension("Weight", "Vehicle lenth on proper direction", "veh", 0, 30);
////Definition of dimension for output value
//ContinuousDimension greenLight = new ContinuousDimension("Green Time", "green phase duration of Traffic Light", "s", 5, 60);
////Definition of basic fuzzy sets with which we will work
//// input sets:
//FuzzySet Volume_small = new RightLinearSet(volume, "Small", 100, 300);
//FuzzySet Volume_middle = new TrapezoidalSet(volume, "Middle", 300, 400, 100, 600);
//FuzzySet Volume_large = new TrapezoidalSet(volume, "Large", 600, 700, 400, 900);
//FuzzySet Volume_extraLarge = new LeftLinearSet(volume, "Extra Large", 700, 900);
//FuzzySet Queue_small = new RightLinearSet(queue, "Small", 0, 7);
//FuzzySet Queue_middle = new TriangularSet(queue, "Middle", 10, 14);
//FuzzySet Queue_large = new TriangularSet(queue, "Large", 17, 14);
//FuzzySet Queue_extraLarge = new LeftLinearSet(queue, "Extra Large", 17, 23);
//// output set:
//FuzzySet Time_veryShort = new RightLinearSet(greenLight, "veryshort", 7, 15);
//FuzzySet Time_short = new TrapezoidalSet(greenLight, "short", 15, 23, 7, 30);
//FuzzySet Time_middle = new TrapezoidalSet(greenLight, "middle", 30, 38, 23, 45);
//FuzzySet Time_long = new TrapezoidalSet(greenLight, "long", 45, 53, 38, 60);
//FuzzySet Time_veryLong = new LeftLinearSet(greenLight, "verylong", 53, 60);
////Definition of antedescent
//FuzzyRelation relation =
// ((Volume_small & Queue_small) & Time_veryShort) |
// ((Volume_small & Queue_middle) & Time_short) |
// ((Volume_small & Queue_large) & Time_short) |
// ((Volume_small & Queue_extraLarge) & Time_middle) |
// ((Volume_middle & Queue_small) & Time_short) |
// ((Volume_middle & Queue_middle) & Time_middle) |
// ((Volume_middle & Queue_large) & Time_middle) |
// ((Volume_middle & Queue_extraLarge) & Time_long) |
// ((Volume_large & Queue_small) & Time_middle) |
// ((Volume_large & Queue_middle) & Time_long) |
// ((Volume_large & Queue_large) & Time_long) |
// ((Volume_large & Queue_extraLarge) & Time_veryLong) |
// ((Volume_extraLarge & Queue_small) & Time_middle) |
// ((Volume_extraLarge & Queue_middle) & Time_long) |
// ((Volume_extraLarge & Queue_large) & Time_veryLong) |
// ((Volume_extraLarge & Queue_extraLarge) & Time_veryLong);
//#endregion
#region Deffuzification of the output set
Defuzzification myRes = new CenterOfGravity(relation, new Dictionary <IDimension, decimal> {
{ volume, (decimal)inputVolume },
{ queue, (decimal)inputQueue }
});
ans = (float)myRes.CrispValue;
#endregion
return((float)ans);
}
public void Setup()
{
centerOfGravity = new CenterOfGravity();
}
