private static void Main()
{
var d = Domain.IntRange(0, 11); // {0,1,...,10}
IFuzzySet set1 = new MutableFuzzySet(d)
.Set(DomainElement.Of(0), 1.0)
.Set(DomainElement.Of(1), 0.8)
.Set(DomainElement.Of(2), 0.6)
.Set(DomainElement.Of(3), 0.4)
.Set(DomainElement.Of(4), 0.2);
Console.WriteLine("Set 1:");
Console.WriteLine(set1);
Console.WriteLine();
var d2 = Domain.IntRange(-5, 6); // {-5,-4,...,4,5}
IFuzzySet set2 = new CalculatedFuzzySet(
d2,
StandardFuzzySets.LambdaFunction(
d2.IndexOfElement(DomainElement.Of(-4)),
d2.IndexOfElement(DomainElement.Of(0)),
d2.IndexOfElement(DomainElement.Of(4))
)
);
Console.WriteLine("Set 2:");
Console.WriteLine(set2);
Console.WriteLine();
Console.ReadKey();
}
static void Primjer12()
{
IDomain d = Domain.IntRange(0, 11); // {0,1,...,10}
//Debug1.Print(d, "Elementi domene d1:");
IFuzzySet set1 = new MutableFuzzySet(d)
.Set(DomainElement.Of(0), 1.0)
.Set(DomainElement.Of(1), 0.8)
.Set(DomainElement.Of(2), 0.6)
.Set(DomainElement.Of(3), 0.4)
.Set(DomainElement.Of(4), 0.2);
Debug1.Print(set1, "Set1:");
IDomain d2 = Domain.IntRange(-5, 6); // {-5,-4,...,4,5}
IFuzzySet set2 = new CalculatedFuzzySet(
d2,
StandardFuzzySets.LambdaFunction(
d2.IndexOfElement(DomainElement.Of(-4)),
d2.IndexOfElement(DomainElement.Of(0)),
d2.IndexOfElement(DomainElement.Of(4))
)
);
Debug1.Print(set2, "Set2:");
}
public static void Test33()
{
double[] antecMembershipFunctions = new double[] {
0.8, 0.8, 0.7, 1, 0.7, 0.9
};
double minMembershipFunc = antecMembershipFunctions.Min();
IDomain u = Domain.IntRange(-5, 6);
IFuzzySet _conseq = new CalculatedFuzzySet(
u,
StandardFuzzySets.LambdaFunction(
u.IndexOfElement(DomainElement.Of(-5)),
u.IndexOfElement(DomainElement.Of(-3)),
u.IndexOfElement(DomainElement.Of(0))
)
);
Debug1.Print(_conseq, "Konsekv1:");
IFuzzySet antecedents = new CalculatedFuzzySet( //mjere pripadnosti su na minimumu mj.pripadnosti antecedenata
_conseq.GetDomain(),
StandardFuzzySets.UniversalFunction(minMembershipFunc)
);
IFuzzySet conclusion = Operations.Operations.BinaryOperation(antecedents, _conseq, Operations.Operations.ZadehAnd());
Debug1.Print(conclusion, "Zakljucak1:");
}
public static void Test32()
{
IDomain u = Domain.IntRange(-5, 6); // {-5,-4,...,4,5}
IDomain u2 = Domain.Combine(u, u);
IFuzzySet set = new CalculatedFuzzySet(
u2,
StandardFuzzySets.LambdaFunction(
u2.IndexOfElement(DomainElement.Of(-4, 2)),
u2.IndexOfElement(DomainElement.Of(0, 0)),
u2.IndexOfElement(DomainElement.Of(4, 2))
)
);
Debug1.Print(set, "Set cf:");
IFuzzySet notSet1 = Operations.Operations.UnaryOperation(
set, Operations.Operations.ZadehNot());
Debug1.Print(notSet1, "notSet1:");
IFuzzySet union = Operations.Operations.BinaryOperation(
set, notSet1, Operations.Operations.ZadehOr());
Debug1.Print(union, "Set1 union notSet1:");
}
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));
}
public static void Test31()
{
IDomain u = Domain.IntRange(-5, 6); // {-5,-4,...,4,5}
IDomain u2 = Domain.Combine(u, u);
IFuzzySet set = new CalculatedFuzzySet(
u2,
StandardFuzzySets.LambdaFunction(
u2.IndexOfElement(DomainElement.Of(-4, 2)),
u2.IndexOfElement(DomainElement.Of(0, 0)),
u2.IndexOfElement(DomainElement.Of(4, 2))
)
);
Debug1.Print(set, "Set cf:");
}
private static void Main(string[] args)
{
SimpleDomain sd = new SimpleDomain(-4, 5);
PrintDomain(sd, "sd: ");
IDomain cd = IDomain.Combine(sd, sd);
PrintDomain(cd, "cd: ");
IDomain d = IDomain.IntRange(0, 11);
IFuzzySet set1 = new MutableFuzzySet(d).Set(DomainElement.Of(0), 1.0);
PrintFuzzySet(set1, "set1: ");
IDomain d2 = IDomain.IntRange(-5, 6);
IFuzzySet set2 = new CalculatedFuzzySet(d2,
StandardFuzzySets.LambdaFunction(d2.IndexOfElement(DomainElement.Of(-4)),
d2.IndexOfElement(DomainElement.Of(0)),
d2.IndexOfElement(DomainElement.Of(4))));
PrintFuzzySet(set2, "set2: ");
IDomain d7 = IDomain.IntRange(0, 11);
IFuzzySet set3 = new MutableFuzzySet(d7).Set(DomainElement.Of(0), 1.0)
.Set(DomainElement.Of(1), 0.8)
.Set(DomainElement.Of(2), 0.6)
.Set(DomainElement.Of(3), 0.4)
.Set(DomainElement.Of(4), 0.2);
PrintFuzzySet(set3, "set3: ");
IFuzzySet notSet3 = Operations.UnaryOperation(set3, Operations.ZadehNot());
PrintFuzzySet(notSet3, "notSet3: ");
IFuzzySet union = Operations.BinaryOperation(set3, notSet3, Operations.ZadehOr());
PrintFuzzySet(union, "Set3 U notSet3: ");
IFuzzySet hinters = Operations.BinaryOperation(set3, notSet3, Operations.HamacherTNorm(1.0));
PrintFuzzySet(hinters, "Set3 Intersection with notSet3 using parameterised Hamacher T norm with parameter 1.0: ");
}
private static void PrintExample2()
{
Console.WriteLine("EXAMPLE 2");
IDomain d = IDomain.IntRange(0, 11);
IFuzzySet set1 = new MutableFuzzySet(d)
.Set(DomainElement.Of(0), 1.0)
.Set(DomainElement.Of(1), 0.8)
.Set(DomainElement.Of(2), 0.6)
.Set(DomainElement.Of(3), 0.4)
.Set(DomainElement.Of(4), 0.2);
PrintFuzzySet(set1, "Set1: ");
IDomain d2 = IDomain.IntRange(-5, 6);
IFuzzySet set2 = new CalculatedFuzzySet(d2,
StandardFuzzySets.LambdaFunction(d2.IndexOfElement(DomainElement.Of(-4)),
d2.IndexOfElement(DomainElement.Of(0)),
d2.IndexOfElement(DomainElement.Of(4))));
PrintFuzzySet(set2, "Set2: ");
Console.WriteLine("---------------------------------------");
Console.WriteLine();
}
public MediumVelocity(string name)
{
Name = name;
FuzzySet = new CalculatedFuzzySet(IDomain.IntRange(0, 100), StandardFuzzySets.LambdaFunction(10, 40, 70));
}
public MiddleDistance(string name)
{
Name = name;
FuzzySet = new CalculatedFuzzySet(IDomain.IntRange(0, 1301),
StandardFuzzySets.LambdaFunction(30, 90, 150));
}
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 NoHelmRotation(string name)
{
Name = name;
FuzzySet = new CalculatedFuzzySet(IDomain.IntRange(-90, 91), StandardFuzzySets.LambdaFunction(-10, 0, 10));
}
private void KormiloRuleBook()
{
KormiloRules.Add(
new Rule(
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(0)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(80)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(0)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(80)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LambdaFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(0)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(35)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(60)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleConsequensKor(StandardFuzzySets.LambdaFunction(
Rule.UKOR.IndexOfElement(DomainElement.Of(-60)),
Rule.UKOR.IndexOfElement(DomainElement.Of(-45)),
Rule.UKOR.IndexOfElement(DomainElement.Of(-30))) //umjeren udesno
)
)
);
KormiloRules.Add(
new Rule(
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(50)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(80)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.GammaFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(70)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(90)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LambdaFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(35)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(75)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(135)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleConsequensKor(StandardFuzzySets.LambdaFunction(
Rule.UKOR.IndexOfElement(DomainElement.Of(-90)),
Rule.UKOR.IndexOfElement(DomainElement.Of(-80)),
Rule.UKOR.IndexOfElement(DomainElement.Of(-55))) //ostro udesno
)
)
);
KormiloRules.Add(
new Rule(
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(0)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(80)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(0)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(80)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LambdaFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(0)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(35)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(60)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleConsequensKor(StandardFuzzySets.LambdaFunction(
Rule.UKOR.IndexOfElement(DomainElement.Of(30)),
Rule.UKOR.IndexOfElement(DomainElement.Of(45)),
Rule.UKOR.IndexOfElement(DomainElement.Of(60))) //umjeren ulijevo
)
)
);
KormiloRules.Add(
new Rule(
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.GammaFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(70)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(90)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(50)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(80)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LambdaFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(35)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(75)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(135)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleConsequensKor(StandardFuzzySets.LambdaFunction(
Rule.UKOR.IndexOfElement(DomainElement.Of(55)),
Rule.UKOR.IndexOfElement(DomainElement.Of(80)),
Rule.UKOR.IndexOfElement(DomainElement.Of(90))) //ostro ulijevo
)
)
);
KormiloRules.Add(
new Rule(
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(30)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(50)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(30)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(60)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleConsequensKor(StandardFuzzySets.LFunction(
Rule.UKOR.IndexOfElement(DomainElement.Of(-80)),
Rule.UKOR.IndexOfElement(DomainElement.Of(-25))) //ostro udesno vrlo blizu lijevo neovisno o brzini
)
)
);
KormiloRules.Add(
new Rule(
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(30)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(50)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(30)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(60)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleConsequensKor(StandardFuzzySets.GammaFunction(
Rule.UKOR.IndexOfElement(DomainElement.Of(25)),
Rule.UKOR.IndexOfElement(DomainElement.Of(80))) //ostro ulijevo vrlo blizu desno neovisno o brzini
)
)
);
KormiloRules.Add(
new Rule(
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LambdaFunction(
Rule.UKOR.IndexOfElement(DomainElement.Of(-2)),
Rule.UKOR.IndexOfElement(DomainElement.Of(0)),
Rule.UKOR.IndexOfElement(DomainElement.Of(1)))
),
Rule.MakeFuzzyRuleConsequensAcc(StandardFuzzySets.LambdaFunction(
Rule.UKOR.IndexOfElement(DomainElement.Of(-90)),
Rule.UKOR.IndexOfElement(DomainElement.Of(-85)),
Rule.UKOR.IndexOfElement(DomainElement.Of(-80)))
) //rotiraj
)
);
}
public ZeroAcceleration(string name)
{
Name = name;
FuzzySet = new CalculatedFuzzySet(IDomain.IntRange(-50, 51), StandardFuzzySets.LambdaFunction(-15, 0, 15));
}
private void AkcelRuleBook()
{
AkcelRules.Add(
new Rule(
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(50)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(75)))
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleConsequensAcc(StandardFuzzySets.LambdaFunction(
Rule.UACC.IndexOfElement(DomainElement.Of(0)),
Rule.UACC.IndexOfElement(DomainElement.Of(10)),
Rule.UACC.IndexOfElement(DomainElement.Of(20)))
) //ubrzaj do 75
)
);
AkcelRules.Add(
new Rule(
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(0)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(80)))
), //vrlo blizu obali lijevo
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
), //nebitno desno
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(0)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(80)))
), //vrlo blizu LK
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.GammaFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(80)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(200)))
), //umjereno blizu LK
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LambdaFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(35)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(65)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(135))) //do cca 90 px/s
), //velika brzina
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
), //nebitno S?? //TODO mozda popraviti domenu od S
Rule.MakeFuzzyRuleConsequensAcc(StandardFuzzySets.LambdaFunction(
Rule.UACC.IndexOfElement(DomainElement.Of(-30)),
Rule.UACC.IndexOfElement(DomainElement.Of(-22)),
Rule.UACC.IndexOfElement(DomainElement.Of(0)))
) //zavoj
)
);
AkcelRules.Add(
new Rule(
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
), //nebitno lijevo
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(0)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(80)))
), //umjereno blizu desno
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.GammaFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(80)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(200)))
), //umjereno blizu LK
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(0)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(80)))
), //umjereno blizu DK
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LambdaFunction(
Rule.UANTEC.IndexOfElement(DomainElement.Of(35)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(65)),
Rule.UANTEC.IndexOfElement(DomainElement.Of(135))) //do cca 90 px/s
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
), //nebitno S?? //TODO mozda popraviti domenu od S
Rule.MakeFuzzyRuleConsequensAcc(StandardFuzzySets.LambdaFunction(
Rule.UACC.IndexOfElement(DomainElement.Of(-30)),
Rule.UACC.IndexOfElement(DomainElement.Of(-22)),
Rule.UACC.IndexOfElement(DomainElement.Of(0)))
) //zavoj
)
);
AkcelRules.Add(
new Rule(
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.UniversalFunction(
1)
),
Rule.MakeFuzzyRuleAntecedent(StandardFuzzySets.LambdaFunction(
Rule.UKOR.IndexOfElement(DomainElement.Of(-1)),
Rule.UKOR.IndexOfElement(DomainElement.Of(0)),
Rule.UKOR.IndexOfElement(DomainElement.Of(1)))
),
Rule.MakeFuzzyRuleConsequensAcc(StandardFuzzySets.LambdaFunction(
Rule.UACC.IndexOfElement(DomainElement.Of(-30)),
Rule.UACC.IndexOfElement(DomainElement.Of(-22)),
Rule.UACC.IndexOfElement(DomainElement.Of(0)))
) //rotiraj
)
);
}