public static void ManualSystem(Defuzzifier def, FuzzySystem fsAkcel, FuzzySystem fsKormilo)
{
int L, D, LK, DK, V, S, A, K;
while (true)
{
Console.WriteLine("Unesi L D LK DK V S || ili 'K' za kraj");
String str = Console.ReadLine();
if (str[0] == 'K')
{
break;
}
String[] p = str.Split(' ');
L = int.Parse(p[0]);
D = int.Parse(p[1]);
LK = int.Parse(p[2]);
DK = int.Parse(p[3]);
V = int.Parse(p[4]);
S = int.Parse(p[5]);
A = fsAkcel.Zakljuci(L, D, LK, DK, V, S);
//A = 4;
K = fsKormilo.Zakljuci(L, D, LK, DK, V, S);
//K = 5;
//akcel = 10; kormilo = 5;
Console.Write("Akcel:" + A.ToString() + " Kormilo:" + K.ToString() + "\r\n");
Console.Out.Flush();
}
}
private static void Pravilo(Defuzzifier def, FuzzySystem fsAkcel, FuzzySystem fsKormilo)
{
Console.WriteLine("Unesite slovo baze (kor/akc) i redni broj pravila: (npr. 'k2') ");
string pravilo = Console.ReadLine();
FuzzySystem.ManualSingleRule(pravilo, def, fsAkcel, fsKormilo);
Console.ReadKey();
}
public AkcelFuzzySystem(Defuzzifier defuzzifier)
{
this.defuzzifier = defuzzifier;
IDomain acceleration = Domain.IntRange(-5, 6);
IDomain direction = Domain.IntRange(0, 2);
IDomain distance = Domain.IntRange(0, 1301);
IDomain velocity = Domain.IntRange(0, 100);
MutableFuzzySet Id = new MutableFuzzySet(distance);
MutableFuzzySet Iv = new MutableFuzzySet(velocity);
foreach (var element in distance)
{
Id.Set(element, 1);
}
foreach (var element in velocity)
{
Iv.Set(element, 1);
}
IFuzzySet Slow = new CalculatedFuzzySet(velocity, StandardFuzzySets.LFunction(0, 40));
IFuzzySet Medium = new CalculatedFuzzySet(velocity, StandardFuzzySets.LambdaFunction(37, 45, 55));
IFuzzySet Fast = new CalculatedFuzzySet(velocity, StandardFuzzySets.GammaFunction(48, 60));
IFuzzySet CriticalClose = new CalculatedFuzzySet(distance, StandardFuzzySets.LFunction(10, 30));
IFuzzySet Close = new CalculatedFuzzySet(distance, StandardFuzzySets.LFunction(25, 50));
IFuzzySet Far = new CalculatedFuzzySet(distance, StandardFuzzySets.GammaFunction(70, 100));
IFuzzySet Backward = new MutableFuzzySet(direction).Set(DomainElement.Of(0), 1);
IFuzzySet Forward = new MutableFuzzySet(direction).Set(DomainElement.Of(1), 1);
IFuzzySet SpeedUp = new MutableFuzzySet(acceleration)
.Set(DomainElement.Of(5), 1)
.Set(DomainElement.Of(4), 0.6)
.Set(DomainElement.Of(3), 0.3);
IFuzzySet Neutral = new MutableFuzzySet(acceleration).Set(DomainElement.Of(0), 1);
IFuzzySet SlowDown = new MutableFuzzySet(acceleration)
.Set(DomainElement.Of(-5), 1)
.Set(DomainElement.Of(-4), 0.6)
.Set(DomainElement.Of(-3), 0.3);
// L, D, LK, RK, V, S
rules = new List <Rule>();
rules.Add(new Rule(new[] { Id, Id, CriticalClose, Id, Iv, Forward }, Neutral, tNorm, implication));
rules.Add(new Rule(new[] { Id, Id, Id, CriticalClose, Iv, Forward }, Neutral, tNorm, implication));
rules.Add(new Rule(new[] { Id, Id, CriticalClose, Id, Iv, Backward }, Neutral, tNorm, implication));
rules.Add(new Rule(new[] { Id, Id, Id, CriticalClose, Iv, Backward }, Neutral, tNorm, implication));
rules.Add(new Rule(new[] { Id, Id, Id, Id, Fast, Forward }, SlowDown, tNorm, implication));
rules.Add(new Rule(new[] { Id, Id, Id, Id, Medium, Forward }, Neutral, tNorm, implication));
rules.Add(new Rule(new[] { Id, Id, Id, Id, Slow, Forward }, SpeedUp, tNorm, implication));
}
internal static void ManualSingleRule(string pravilo, Defuzzifier def, FuzzySystem fsAkcel, FuzzySystem fsKormilo)
{
int L, D, LK, DK, V, S, A, K;
if (pravilo[0] == 'a' || pravilo[0] == 'A')
{
int redni = int.Parse(pravilo[1].ToString());
Console.WriteLine("Unesi L D LK DK V S");
String str = Console.ReadLine();
String[] p = str.Split(' ');
L = int.Parse(p[0]);
D = int.Parse(p[1]);
LK = int.Parse(p[2]);
DK = int.Parse(p[3]);
V = int.Parse(p[4]);
S = int.Parse(p[5]);
fsAkcel.ZakljuciPrint(L, D, LK, DK, V, S, fsAkcel.AkcelRules[redni]);
}
else if (pravilo[0] == 'k' || pravilo[0] == 'K')
{
int redni = int.Parse(pravilo[1].ToString());
Console.WriteLine("Unesi L D LK DK V S");
String str = Console.ReadLine();
String[] p = str.Split(' ');
L = int.Parse(p[0]);
D = int.Parse(p[1]);
LK = int.Parse(p[2]);
DK = int.Parse(p[3]);
V = int.Parse(p[4]);
S = int.Parse(p[5]);
fsKormilo.ZakljuciPrint(L, D, LK, DK, V, S, fsKormilo.KormiloRules[redni]);
}
}
private static void Manual(Defuzzifier def, FuzzySystem fsAkcel, FuzzySystem fsKormilo)
{
FuzzySystem.ManualSystem(def, fsAkcel, fsKormilo);
}
public KormiloFuzzySystem(Defuzzifier defuzzifier)
{
this.defuzzifier = defuzzifier;
IDomain angle = Domain.IntRange(-90, 91);
IDomain direction = Domain.IntRange(0, 2);
IDomain distance = Domain.IntRange(0, 1301);
IDomain velocity = Domain.IntRange(0, 100);
MutableFuzzySet Id = new MutableFuzzySet(distance);
MutableFuzzySet Iv = new MutableFuzzySet(velocity);
foreach (var element in distance)
{
Id.Set(element, 1);
}
foreach (var element in velocity)
{
Iv.Set(element, 1);
}
//IFuzzySet CriticalClose = new CalculatedFuzzySet(distance, StandardFuzzySets.LFunction(20, 40));
IFuzzySet Close = new CalculatedFuzzySet(distance, StandardFuzzySets.LFunction(40, 90));
IFuzzySet Far = new CalculatedFuzzySet(distance, StandardFuzzySets.GammaFunction(100, 200));
IFuzzySet VeryFar = new CalculatedFuzzySet(distance, StandardFuzzySets.GammaFunction(300, 400));
//IFuzzySet NotFar = Operations.UnaryOperation(Far, Operations.ZadehNot());
IFuzzySet Backward = new MutableFuzzySet(direction).Set(DomainElement.Of(0), 1);
IFuzzySet Forward = new MutableFuzzySet(direction).Set(DomainElement.Of(1), 1);
IFuzzySet Left = new MutableFuzzySet(angle).Set(DomainElement.Of(90), 1);
//IFuzzySet Left = new CalculatedFuzzySet(angle, StandardFuzzySets.LambdaFunction(0, 30, 50));
//IFuzzySet FullLeft = new CalculatedFuzzySet(angle, StandardFuzzySets.LambdaFunction(55, 70, 80));
IFuzzySet Neutral = new CalculatedFuzzySet(angle, StandardFuzzySets.LambdaFunction(-10, 0, 10));
//IFuzzySet Right = new CalculatedFuzzySet(angle, StandardFuzzySets.LambdaFunction(-50, -30, 0));
IFuzzySet Right = new MutableFuzzySet(angle).Set(DomainElement.Of(-90), 1);
//IFuzzySet FullRight = new CalculatedFuzzySet(angle, StandardFuzzySets.LambdaFunction(-80, -70, -55));
// L, D, LK, RK, V, S
rules = new List <Rule>();
rules.Add(new Rule(new[] { Id, Close, Id, Id, Iv, Forward }, Left, tNorm, implication));
rules.Add(new Rule(new[] { Close, Id, Id, Id, Iv, Forward }, Right, tNorm, implication));
rules.Add(new Rule(new[] { Id, Id, Id, Close, Iv, Forward }, Left, tNorm, implication));
rules.Add(new Rule(new[] { Id, Id, Close, Id, Iv, Forward }, Right, tNorm, implication));
rules.Add(new Rule(new[] { VeryFar, Id, Id, Id, Iv, Backward }, Left, tNorm, implication));
rules.Add(new Rule(new[] { Id, VeryFar, Id, Id, Iv, Backward }, Right, tNorm, implication));
//rules.Add(new Rule(new[] { Far, Close, Id, Id, Iv, Forward }, Left, tNorm, implication));
//rules.Add(new Rule(new[] { Id, Close, Id, CriticalClose, Iv, Forward }, FullLeft));
//rules.Add(new Rule(new[] { Far, Close, Id, Id, Iv, Backward }, Left, tNorm, implication));
//rules.Add(new Rule(new[] { Far, Far, Id, Id, Iv, Forward }, Neutral));
//rules.Add(new Rule(new[] { Close, Far, Id, Id, Iv, Forward }, Right, tNorm, implication));
//rules.Add(new Rule(new[] { Close, Id, CriticalClose, Id, Iv, Forward }, FullRight));
//rules.Add(new Rule(new[] { Close, Far, Id, Id, Iv, Backward }, Right, tNorm, implication));
//rules.Add(new Rule(new[] { Far, Id, Close, Close, Iv, Forward }, Left, tNorm, implication));
//rules.Add(new Rule(new[] { Id, Far, Close, Close, Iv, Forward }, Right, tNorm, implication));
//rules.Add(new Rule(new[] { VeryFar, VeryFar, Close, Close, Iv, Forward }, Right, tNorm, implication));
//rules.Add(new Rule(new[] { Far, Id, Close, Close, Iv, Backward }, Right, tNorm, implication));
////rules.Add(new Rule(new[] { Id, Far, Close, Close, Iv, Backward }, Left, tNorm, implication));
//rules.Add(new Rule(new[] { Close, Close, Id, Close, Iv, Forward }, Left, tNorm, implication));
//rules.Add(new Rule(new[] { Close, Close, Close, Id, Iv, Forward }, Right, tNorm, implication));
//rules.Add(new Rule(new[] { Id, Id, Id, Id, Iv, Backward }, Right, tNorm, implication));
//rules.Add(new Rule(new[] { VeryFar, Id, Close, Close, Iv, Forward }, Right, tNorm, implication));
//rules.Add(new Rule(new[] { Id, VeryFar, Close, Close, Iv, Forward }, Left, tNorm, implication));
}
public KormiloFuzzySystemMin(Defuzzifier def)
{
this.def = def;
KormiloRuleBook();
}
public AkcelFuzzySystemMin(Defuzzifier def)
{
this.def = def;
AkcelRuleBook();
}
