public ShootingRightWheelFLS(IFuzzyRuleBase ruleBase)
{
robotBallAngle = FuzzyShootingUtil.RobotBallAngleSet;
goalBallAngle = FuzzyShootingUtil.GoalBallAngleSet;
robotGoalAngle = FuzzyShootingUtil.RobotGoalAngleSet;
distance = FuzzyShootingUtil.DistanceSet;
torque = FuzzyShootingUtil.TorqueSet;
listInput = new List <FuzzySet <IInputFuzzyMember> >()
{
robotBallAngle, goalBallAngle, robotGoalAngle, distance
};
fls = new FuzzyLogicSystem(new Fuzzifier(), new CenterOfSumsDefuzzifier(), ruleBase);
}
public GoalieRightWheelFLS()
{
angle = new GoalieRelativeAngle(1);
distance = new GoalieDistance(2);
torque = new Torque(3);
listInput = new List <FuzzySet <IInputFuzzyMember> >()
{
angle, distance
};
var rules = CreateRules();
var ruleBase = new EvaluationTreeRuleBase(listInput, torque, rules);
fls = new FuzzyLogicSystem(new Fuzzifier(), new CenterOfSumsDefuzzifier(), ruleBase);
}
public GameStateFLS()
{
orientation = new Orientation(1);
distanceDifference = new DistanceDifference(2);
distanceGoal = new DistanceGoal(3);
stateValue = new StateValue(4);
listInput = new List <FuzzySet <IInputFuzzyMember> >()
{
orientation, distanceDifference, distanceGoal
};
var rules = CreateRules();
var ruleBase = new EvaluationTreeRuleBase(listInput, stateValue, rules);
fls = new FuzzyLogicSystem(new Fuzzifier(), new CenterOfSumsDefuzzifier(), ruleBase);
}
public ArbiterFLS()
{
Shoot = new PathStatus(1);
Pass = new PathStatus(2);
BallX = new BallXLocation(3);
BallY = new BallYLocation(4);
Priority = new Priority(5);
listInput = new List <FuzzySet <IInputFuzzyMember> >()
{
Shoot, Pass, BallX, BallY
};
var rules = CreateRules();
var ruleBase = new EvaluationTreeRuleBase(listInput, Priority, rules);
fls = new FuzzyLogicSystem(new Fuzzifier(), new CenterOfSumsDefuzzifier(), ruleBase);
}