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);
}