/// <summary>
/// FUZZY 'IS' RULE
///
/// "IF
/// val1 is a member of fs1,
/// THEN
/// fs3 IS fs4
/// </summary>
/// <param name="val1">Antecedent 1</param>
/// <param name="fs1">Antecedent Set 1</param>
/// <param name="fs3">Consequent Output</param>
/// <param name="fs4">Consequent</param>
/// <param name="ftemp">Rule Applicability Output Set</param>
public static FuzzySet IS(double val1, FuzzySet fs1, ref FuzzySet fs3, FuzzySet fs4,
FuzzySet ruleSet)
{
double lowRange = fs4.GetLowRange();
double highRange = fs4.GetHighRange();
string consName = fs3.Id;
Brush consColour = fs3.LineColour;
FuzzySet ftemp = new FuzzySet(ruleSet);
ftemp.Clear();
ftemp.SetRangeWithPoints(lowRange, highRange);
double membership = fs1.Fuzzify(val1);
if (membership > 0)
{
ftemp = Operations.ScaleFS(fs4, membership);
ftemp.LineColour = ruleSet.LineColour;
ftemp.Id = ruleSet.Id;
fs3 = Operations.UnionFS(fs3, ftemp, ruleSet.LineColour);
fs3.Id = consName;
fs3.LineColour = consColour;
}
return ftemp;
}
/// <summary>
/// Defizzify a FuzzySet and get its CENTER OF GRAVITY
/// </summary>
/// <param name="fs">Input Set</param>
/// <returns>Center of Gravity</returns>
public static double DeFuzzifyCOG(FuzzySet fs)
{
if (fs == null) { return -1; }
int points = (int)(((double)fs.GetNumPoints()) * 1.9 + 1);
if (points < 21) points = 21;
if (points < 4 || points > 1000) { return -1; }
if (fs.Invalid()) { fs.Err = 10; return -1; }
double sumTop = 0;
double sumBottom = 0;
double w, s, r, step;
r = fs.HighRange - fs.LowRange;
step = r / (points - 1);
int i;
for (i = 0; i < points; i++)
{
w = fs.LowRange + step * i;
s = fs.Fuzzify(w);
sumTop = sumTop + s * w;
sumBottom = sumBottom + s;
}
if (AEqual(0, sumBottom)) { fs.Err = 15; return -1; }
return sumTop / sumBottom;
}
/// <summary>
/// Performs a CLIP on a Fuzzy Set
/// </summary>
/// <param name="fs">The Fuzzy Set to Clip</param>
/// <param name="top">The scalar amount to Clip the Fuzzy Set to</param>
/// <returns>Clipped Fuzzy Set</returns>
public static FuzzySet ClipFS(FuzzySet fs, double clipVal)
{
FuzzySet fuzz = new FuzzySet(fs);
fuzz.UopFS(fuzz, 1, clipVal);
return fuzz;
}
/// <summary>
/// Returns the COMPLIMENT (inverse) of the Given Fuzzy Set
/// </summary>
/// <param name="fs">Fuzzy Set to find the compliment of</param>
/// <returns>The Compliment Set</returns>
public static FuzzySet ComplimentFS(FuzzySet fs)
{
FuzzySet fuzz = new FuzzySet(fs);
fuzz.NotFS(fuzz);
return fuzz;
}
private void SetupExampleSet1()
{
//Add a new Fuzzy Set to the Collection
ExampleSets.Add("Example 1", new FuzzySet());
//Initialize the new Fuzzy Set
ExampleSets["Example 1"] = new FuzzySet("Example 1", 0, 100);
ExampleSets["Example 1"].LineColour = new SolidBrush(Color.Brown);
//Now, define the points in the Set
ExampleSets["Example 1"].AddPoint(0, 0);
ExampleSets["Example 1"].AddPoint(25, 0.8);
ExampleSets["Example 1"].AddPoint(50, 0.8);
ExampleSets["Example 1"].AddPoint(60, 0.3);
ExampleSets["Example 1"].AddPoint(90, 0.3);
ExampleSets["Example 1"].AddPoint(100, 0);
}
/// <summary>
/// Adds a new Fuzzy Set (Checks for naming
/// conflicts first)
/// </summary>
/// <param name="_fs"></param>
/// <returns></returns>
public int Add(FuzzySet _fs)
{
// adds a fuzzy set (checks name first)
// -1 = fails
FuzzySet k = Find(_fs.GetName());
if (k != null)
return -1;
int i = FindEmpty();
if (i==-1)
return -1;
f[i] = _fs;
if (i >= numFuzzySets) numFuzzySets=i+1;
return i;
}
/// <summary>
/// Copy one set to another if invalid it will still copy
/// </summary>
/// <param name="copyTo"></param>
/// <param name="copyFrom"></param>
/// <returns></returns>
public static bool CopyFS(FuzzySet copyTo, FuzzySet copyFrom)
{
if (copyTo == null || copyFrom == null) { return false; }
copyTo.Id = copyFrom.Id;
copyTo.LowRange = copyFrom.LowRange;
copyTo.HighRange = copyFrom.HighRange;
copyTo.Valid = copyFrom.Valid;
copyTo.Err = copyFrom.Err;
int i;
for (i = 0; i < copyFrom.NumPoints; i++)
{
copyTo.WorldValue[i] = copyFrom.WorldValue[i]; // X values range lowRange .. highRange
copyTo.SetValue[i] = copyFrom.SetValue[i]; // Y values range 0..1
}
return true;
}
/// <summary>
/// FUZZY 'AND' RULE
///
/// "IF
/// val1 is a member of fs1,
/// AND
/// val2 is a member of fs2
/// THEN
/// fs3 IS fs4
/// </summary>
/// <param name="val1">Antecedent 1</param>
/// <param name="fs1">Antecedent Set 1</param>
/// <param name="val2">Antecedent 2</param>
/// <param name="fs2">Antecedent Set 2</param>
/// <param name="fs3">Consequent Output</param>
/// <param name="fs4">Consequent</param>
/// <param name="ftemp">Rule Applicability Output Set</param>
public static FuzzySet AND(double val1, FuzzySet fs1, double val2, FuzzySet fs2, ref FuzzySet fs3, FuzzySet fs4,
FuzzySet ruleSet)
{
double lowRange = fs4.GetLowRange();
double highRange = fs4.GetHighRange();
//... and of the Consequent Output...
string consName = fs3.Id;
Brush consColour = fs3.LineColour;
FuzzySet ftemp = new FuzzySet(ruleSet);
ftemp.Clear();
ftemp.SetRangeWithPoints(lowRange, highRange);
double fval1 = fs1.Fuzzify(val1);
double fval2 = fs2.Fuzzify(val2);
double membership = Math.Min(fval1, fval2); //MIN for AND
if (membership > 0)
{
FuzzySet oldRule = new FuzzySet(ftemp);
ftemp = new FuzzySet(Operations.ScaleFS(fs4, membership));
ftemp.LineColour = ruleSet.LineColour;
ftemp.Id = ruleSet.Id;
if (ftemp.GetNumPoints() < 2)
ftemp = oldRule;
fs3 = new FuzzySet(Operations.UnionFS(fs3, ftemp, consColour));
fs3.Id = consName;
}
return ftemp;
}
/**
* Defuzzify a set using the Mean of Maximums aproximation function
* if it fails it returns -1 (which may be a valid answer)
*/
/// <summary>
/// Defizzify a FuzzySet and get its MEAN OF MAXIMUMS
/// </summary>
/// <param name="fs"></param>
/// <returns>Mean of Maximums</returns>
public static double DeFuzzifyMOM(FuzzySet fs)
{
if (fs == null) { return -1; }
if (fs.Invalid()) { fs.Err = 10; return -1; }
double m = fs.GetMaxSetValue();
double sumTop = 0;
double sumBottom = 0;
double w;
int i;
for (i = 0; i < fs.GetNumPoints(); i++)
{
if (AEqual(fs.SetValue[i], m))
{
w = fs.WorldValue[i];
sumTop = sumTop + w;
sumBottom = sumBottom + 1;
}
}
if (AEqual(0, sumBottom)) { fs.Err = 15; return -1; }
return sumTop / sumBottom;
}
/// <summary>
/// Performs an Intersection on two FuzzySets
/// </summary>
/// <param name="fs1">Fuzzy Set 1</param>
/// <param name="fs2">Fuzzy Set 2</param>
/// <param name="colour">The colour of the resulting set</param>
/// <returns>The resulting Set</returns>
public static FuzzySet IntersectionFS(FuzzySet fs1, FuzzySet fs2, Brush colour)
{
FuzzySet fuzz = new FuzzySet();
fuzz.IntersectionFS(fuzz, fs1, fs2);
fuzz.LineColour = colour;
return fuzz;
}
/// <summary>
/// Sets up the Throttle Fuzzy Sets for the Throttle FuzzyCollection
/// </summary>
private void SetThrottleSets()
{
#region Throttle Set Definition - T_None, T_Soft, T_Medium, T_Hard
ThrottleSets = new FuzzyCollection("Throttle Sets", null);
ThrottleSets.Add("T_None", new FuzzySet());
ThrottleSets["T_None"] = new FuzzySet("T_None", 0, 100);
ThrottleSets["T_None"].LineColour = new SolidBrush(Color.Gray);
ThrottleSets["T_None"].AddPoint(0, 1, false, false);
ThrottleSets["T_None"].AddPoint(8, 0, false, false);
ThrottleSets["T_None"].AddPoint(100, 0, false, false);
#endregion
}
/// <summary>
/// This is where the guts of it all goes down.
///
/// Remember that because of the nature of C#, items within a collection
/// CANNOT BE PASSED BY REFERENCE! Thus, if you are making an alteration to any
/// set within a method where the set is passed by reference (ref), you will
/// need to assign the FuzzySet to a variable, pass that variable, and then set
/// the oiginal FuzzySet within the Collection to the altered variable.
/// A little bit of frigging around, but it works.
/// </summary>
public override void CalculateFuzzyLogic()
{
//Get the vars for this Simulator - dont alter this!
_lander = ((LanderSim)Globals.Simulator).SpaceShip;
//Assign the sets to variables
FuzzySet tResult = new FuzzySet(ThrottleOutputs["ThrottleResult"]);
//Clear the ThrottleResult Set so that we can repopulate it with new data
tResult.Clear();
tResult.SetRangeWithPoints(0, 100);
//WRITE YOUR RULES LIKE THIS....
//(dont forget to pass the
//accumulator variable by reference, and also pass the Rule itself
//Hot Tip: COMMENT YOUR RULES SO YOU KNOW WHAT THEY DO!
// Rule 0: IF Height is High THEN Throttle -> Soft
//RuleSets["Rule0"] = Rule.IS(_lander.Y, HeightSets["high"], ref tResult, ThrottleSets["soft"],RuleSets["Rule0"]);
/*
*
* Rules go here....
*
*
*/
//reassign the variables to the sets
ThrottleOutputs["ThrottleResult"] = new FuzzySet(tResult);
if (!Manual)
{
//THIS IS THE THROTTLE VALUE SET BY PRESSING THE BUTTONS
_lander.Throttle = throttle;
//Limit Throttle (incase of ridiculous values)
if (_lander.Throttle < 0)
_lander.Throttle = 0;
if (_lander.Throttle > 100)
_lander.Throttle = 100;
//IF YOU ARE WRITING RULES FOR THE SIDE-THRUST,
// You will need to defuzzify into _lander.Left and _lander.Right
// Otherwise, leave these here to control your lander with the function buttons
_lander.Left = throttleL;
_lander.Right = throttleR;
}
else
{
//THIS IS THE THROTTLE VALUE DEFUZZIFIED BY THE RULESETS
_lander.Throttle = Operations.DeFuzzifyCOG(ThrottleOutputs["ThrottleResult"]);
}
//Save the state of the Lander - dont alter this
((LanderSim) (Globals.Simulator)).SpaceShip = _lander;
}
public override void CalculateFuzzyLogic()
{
//START
harrier = ((HarrierSim)Globals.Simulator).Harrier;
double height;
if ( Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Easy) ||
Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Medium) ||
Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Hard) )
height = harrier.Y - 23;
else
height = harrier.Y - 5;
double speedY = harrier.YVel;
double speedX = harrier.XVel;
double safeX = harrier.X - harrier.MidSafeX - 40;
//FuzzySet throttleOutput = ;
//FuzzySet thrustVectorOutput = ;
FuzzySet throttleOutput = new FuzzySet(ThrottleAccum["ThrottleOutput"]);
FuzzySet thrustVectorOutput = new FuzzySet(ThrustVecAccum["ThrustVector"]);
throttleOutput.Clear();
thrustVectorOutput.Clear();
throttleOutput.SetRangeWithPoints(0, 120);
thrustVectorOutput.SetRangeWithPoints(-5, 5);
//if height is high and speed is med, throttle soft :R1
//YourRuleSet["Rule0"] = Rule.AND(height, "Your Height Set[high]", speedY, "Your Y Speed Set[medium]", ref throttleOutput, "Your Throttle Set[soft]", YourRuleSet["Rule0"]);
#region Throttle Rules
if (Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Hard) ||
Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.VeryHard))
{
#region Y Velocity Height Rules
// if Y vel is up then throttle is no
RuleSetThrottle["Rule0"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule0"]);
// if height is high and Y vel is high then throttle is medium
RuleSetThrottle["Rule1"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule1"]);
// if height is high and Y vel is moderate then throttle is medium
RuleSetThrottle["Rule2"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule2"]);
// if height is high and Y vel is low then throttle is low
RuleSetThrottle["Rule3"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule3"]);
// if height is high and Y vel is safe then throttle is low
RuleSetThrottle["Rule4"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule4"]);
// if height is medium and Y vel is high then throttle is high
RuleSetThrottle["Rule5"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule5"]);
// if height is medium and Y vel is moderate then throttle is high
RuleSetThrottle["Rule6"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule6"]);
// if height is medium and Y vel is low then throttle is medium
RuleSetThrottle["Rule7"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule7"]);
// if height is medium and Y vel is safe then throttle is low
RuleSetThrottle["Rule8"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule8"]);
// if height is low and Y vel is high then throttle is high
RuleSetThrottle["Rule9"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule9"]);
// if height is low and Y vel is moderate then throttle is medium
RuleSetThrottle["Rule10"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule10"]);
// if height is low and Y vel is low then throttle is medium
RuleSetThrottle["Rule11"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule11"]);
// if height is low and Y vel is safe then throttle is low
RuleSetThrottle["Rule12"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule12"]);
// if height is landing and Y vel is high then throttle is high
RuleSetThrottle["Rule13"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule13"]);
// if height is landing and Y vel is moderate then throttle is high
RuleSetThrottle["Rule14"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule14"]);
// if height is landing and Y vel is low then throttle is medium
RuleSetThrottle["Rule15"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule15"]);
// if height is landing and Y vel is safe then throttle is low
RuleSetThrottle["Rule16"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule16"]);
RuleSetThrottle["Rule17"] = Rule.IS(height + 23, HeightSets["Below Deck Height"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule17"]);
RuleSetThrottle["Rule18"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule18"]);
RuleSetThrottle["Rule19"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule19"]);
RuleSetThrottle["Rule20"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule20"]);
#endregion
}
if (Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Easy) ||
Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Medium))
{
#region Y Velocity Height Rules
// if Y vel is up then throttle is no
RuleSetThrottle["Rule0"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule0"]);
// if height is high and Y vel is high then throttle is medium
RuleSetThrottle["Rule1"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule1"]);
// if height is high and Y vel is moderate then throttle is medium
RuleSetThrottle["Rule2"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule2"]);
// if height is high and Y vel is low then throttle is low
RuleSetThrottle["Rule3"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule3"]);
// if height is high and Y vel is safe then throttle is low
RuleSetThrottle["Rule4"] = Rule.AND(height, HeightSets["High Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule4"]);
// if height is medium and Y vel is high then throttle is high
RuleSetThrottle["Rule5"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule5"]);
// if height is medium and Y vel is moderate then throttle is high
RuleSetThrottle["Rule6"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule6"]);
// if height is medium and Y vel is low then throttle is medium
RuleSetThrottle["Rule7"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule7"]);
// if height is medium and Y vel is safe then throttle is low
RuleSetThrottle["Rule8"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule8"]);
// if height is low and Y vel is high then throttle is high
RuleSetThrottle["Rule9"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule9"]);
// if height is low and Y vel is moderate then throttle is medium
RuleSetThrottle["Rule10"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule10"]);
// if height is low and Y vel is low then throttle is medium
RuleSetThrottle["Rule11"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule11"]);
// if height is low and Y vel is safe then throttle is low
RuleSetThrottle["Rule12"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule12"]);
// if height is landing and Y vel is high then throttle is high
RuleSetThrottle["Rule13"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["High Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule13"]);
// if height is landing and Y vel is moderate then throttle is high
RuleSetThrottle["Rule14"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Moderate Velocity"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule14"]);
// if height is landing and Y vel is low then throttle is medium
RuleSetThrottle["Rule15"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Low Velocity"], ref throttleOutput, ThrottleSets["Medium Throttle"], RuleSetThrottle["Rule15"]);
// if height is landing and Y vel is safe then throttle is low
RuleSetThrottle["Rule16"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Safe Velocity"], ref throttleOutput, ThrottleSets["Low Throttle"], RuleSetThrottle["Rule16"]);
RuleSetThrottle["Rule17"] = Rule.IS(height + 23, HeightSets["Below Deck Height"], ref throttleOutput, ThrottleSets["High Throttle"], RuleSetThrottle["Rule17"]);
RuleSetThrottle["Rule18"] = Rule.AND(height, HeightSets["Medium Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule18"]);
RuleSetThrottle["Rule19"] = Rule.AND(height, HeightSets["Low Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule19"]);
RuleSetThrottle["Rule20"] = Rule.AND(height, HeightSets["Landing Height"], speedY, YVelocitySets["Up Velocity"], ref throttleOutput, ThrottleSets["No Throttle"], RuleSetThrottle["Rule20"]);
#endregion
}
#endregion
#region Thrust Vector Rules
if (Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Hard) ||
Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.VeryHard))
{
#region X Velocity Left Dangerzone Rules
#region Rule 0: if distance is left high dangerzone then thrust vector is forward high thrust
RuleSetThrustVec["Rule0"] = Rule.IS(safeX, DistanceSets["Left High Dangerzone"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule0"]);
// if distance is left high dangerzone and X vel is high left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule0"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule0"]);
// if distance is left high dangerzone and X vel is moderate left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule1"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule1"]);
// if distance is left high dangerzone and X vel is Low left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule2"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule3"]);
// if distance is left high dangerzone and X vel is Neutral then thrust vector is forward high thrust
//RuleSetThrustVec["Rule3"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule3"]);
#endregion
// if distance is left moderate dangerzone and X vel is high left then thrust vector is forward high thrust
RuleSetThrustVec["Rule1"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule1"]);
// if distance is left moderate dangerzone and X vel is moderate left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule2"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule2"]);
// if distance is left moderate dangerzone and X vel is low left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule3"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule3"]);
// if distance is left moderate dangerzone and X vel is neutral then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule4"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule4"]);
// if distance is left low dangerzone and X vel is high left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule5"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule5"]);
// if distance is left low dangerzone and X vel is moderate left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule6"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule6"]);
// if distance is left low dangerzone and X vel is low left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule7"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule7"]);
// if distance is left low dangerzone and X vel is high left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule8"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Low Thrust"], RuleSetThrustVec["Rule8"]);
#endregion
#region X Velocity Safezone Rules
// if distance is safe zone and X vel is high left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule9"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule9"]);
// if distance is safe zone and X vel is moderate left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule10"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule10"]);
// if distance is safe zone and X vel is low left then thrust vector is forward low thrust
RuleSetThrustVec["Rule11"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Low Thrust"], RuleSetThrustVec["Rule11"]);
// if distance is safe zone and X vel is neutral then thrust vector is neutral thrust
RuleSetThrustVec["Rule12"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Neutral Thrust"], RuleSetThrustVec["Rule12"]);
// if distance is safe zone and X vel is low right then thrust vector is backward low thrust
RuleSetThrustVec["Rule13"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Low Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Low Thrust"], RuleSetThrustVec["Rule13"]);
// if distance is safe zone and X vel is moderate right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule14"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Moderate Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule14"]);
// if distance is safe zone and X vel is high right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule15"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["High Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule15"]);
// if distance is safe zone and X vel is moderate right then thrust vector is backward moderate thrust
//RuleSetThrustVec[""] = Rule.AND(safeX, DistanceSets[""], speedX, XVelocitySets[""], ref thrustVectorOutput, ThrustVecSets[""], RuleSetThrustVec[""]);
#endregion
#region X Velocity Right Dangerzone Rules
#region Rule 16: if distance is right high dangerzone then thrust vector is backward high thrust
RuleSetThrustVec["Rule16"] = Rule.IS(safeX, DistanceSets["Right High Dangerzone"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule16"]);
/*
// if distance is left high dangerzone and X vel is high left then thrust vector is forward high thrust
RuleSetThrustVec["Rule0"] = Rule.AND(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule0"]);
// if distance is left high dangerzone and X vel is moderate left then thrust vector is forward high thrust
RuleSetThrustVec["Rule1"] = Rule.AND(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule1"]);
// if distance is left high dangerzone and X vel is Low left then thrust vector is forward high thrust
RuleSetThrustVec["Rule2"] = Rule.AND(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule3"]);
// if distance is left high dangerzone and X vel is Neutral then thrust vector is forward high thrust
RuleSetThrustVec["Rule3"] = Rule.AND(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule3"]);
*/
#endregion
// if distance is right moderate dangerzone and X vel is high right then thrust vector is backward high thrust
RuleSetThrustVec["Rule17"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["High Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule17"]);
// if distance is right moderate dangerzone and X vel is moderate right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule18"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["Moderate Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule18"]);
// if distance is right moderate dangerzone and X vel is low right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule19"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["Low Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule19"]);
// if distance is right moderate dangerzone and X vel is neutral then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule20"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule20"]);
// if distance is right low dangerzone and X vel is high right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule21"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["High Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule21"]);
// if distance is right low dangerzone and X vel is moderate right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule22"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["Moderate Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule22"]);
// if distance is right low dangerzone and X vel is low right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule23"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["Low Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule23"]);
// if distance is right low dangerzone and X vel is high right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule24"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Low Thrust"], RuleSetThrustVec["Rule24"]);
#endregion
}
if (Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Easy) ||
Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Medium))
{
#region X Velocity Left Dangerzone Rules
#region Rule 0: if distance is left high dangerzone then thrust vector is forward high thrust
RuleSetThrustVec["Rule0"] = Rule.IS(safeX, DistanceSets["Left High Dangerzone"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule0"]);
//// if distance is left high dangerzone and X vel is high left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule0"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule0"]);
//// if distance is left high dangerzone and X vel is moderate left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule29"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule29"]);
//// if distance is left high dangerzone and X vel is Low left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule30"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule30"]);
//// if distance is left high dangerzone and X vel is Neutral then thrust vector is forward high thrust
//RuleSetThrustVec["Rule31"] = Rule.OR(safeX, DistanceSets["Left High Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule31"]);
#endregion
// if distance is left moderate dangerzone and X vel is high left then thrust vector is forward high thrust
RuleSetThrustVec["Rule1"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule1"]);
// if distance is left moderate dangerzone and X vel is moderate left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule2"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule2"]);
// if distance is left moderate dangerzone and X vel is low left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule3"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule3"]);
// if distance is left moderate dangerzone and X vel is neutral then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule4"] = Rule.AND(safeX, DistanceSets["Left Moderate Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Low Thrust"], RuleSetThrustVec["Rule4"]);
// if distance is left low dangerzone and X vel is high left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule5"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule5"]);
// if distance is left low dangerzone and X vel is moderate left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule6"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule6"]);
// if distance is left low dangerzone and X vel is low left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule7"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Low Thrust"], RuleSetThrustVec["Rule7"]);
// if distance is left low dangerzone and X vel is high left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule8"] = Rule.AND(safeX, DistanceSets["Left Low Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Low Thrust"], RuleSetThrustVec["Rule8"]);
#endregion
#region X Velocity Safezone Rules
if (Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Easy))
{
// if distance is safe zone and X vel is high left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule9"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule9"]);
// if distance is safe zone and X vel is moderate left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule10"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule10"]);
// if distance is safe zone and X vel is low left then thrust vector is forward low thrust
RuleSetThrustVec["Rule11"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule11"]);
// if distance is safe zone and X vel is neutral then thrust vector is neutral thrust
RuleSetThrustVec["Rule12"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Neutral Thrust"], RuleSetThrustVec["Rule12"]);
// if distance is safe zone and X vel is low right then thrust vector is backward low thrust
RuleSetThrustVec["Rule13"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Low Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule13"]);
// if distance is safe zone and X vel is moderate right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule14"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Moderate Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule14"]);
// if distance is safe zone and X vel is high right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule15"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["High Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule15"]);
// if distance is safe zone and X vel is moderate right then thrust vector is backward moderate thrust
//RuleSetThrustVec[""] = Rule.AND(safeX, DistanceSets[""], speedX, XVelocitySets[""], ref thrustVectorOutput, ThrustVecSets[""], RuleSetThrustVec[""]);
}
if (Globals.Simulator.Difficulty.Equals(SimDifficultyEnum.Medium))
{
// if distance is safe zone and X vel is high left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule9"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward High Thrust"], RuleSetThrustVec["Rule9"]);
// if distance is safe zone and X vel is moderate left then thrust vector is forward moderate thrust
RuleSetThrustVec["Rule10"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Moderate Thrust"], RuleSetThrustVec["Rule10"]);
// if distance is safe zone and X vel is low left then thrust vector is forward low thrust
RuleSetThrustVec["Rule11"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Forward Low Thrust"], RuleSetThrustVec["Rule11"]);
// if distance is safe zone and X vel is neutral then thrust vector is neutral thrust
RuleSetThrustVec["Rule12"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Neutral Thrust"], RuleSetThrustVec["Rule12"]);
// if distance is safe zone and X vel is low right then thrust vector is backward low thrust
RuleSetThrustVec["Rule13"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Low Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Low Thrust"], RuleSetThrustVec["Rule13"]);
// if distance is safe zone and X vel is moderate right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule14"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["Moderate Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule14"]);
// if distance is safe zone and X vel is high right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule15"] = Rule.AND(safeX, DistanceSets["Safe Zone"], speedX, XVelocitySets["High Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule15"]);
// if distance is safe zone and X vel is moderate right then thrust vector is backward moderate thrust
//RuleSetThrustVec[""] = Rule.AND(safeX, DistanceSets[""], speedX, XVelocitySets[""], ref thrustVectorOutput, ThrustVecSets[""], RuleSetThrustVec[""]);
}
#endregion
#region X Velocity Right Dangerzone Rules
#region Rule 16: if distance is right high dangerzone then thrust vector is backward high thrust
RuleSetThrustVec["Rule16"] = Rule.IS(safeX, DistanceSets["Right High Dangerzone"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule16"]);
//// if distance is left high dangerzone and X vel is high left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule25"] = Rule.AND(safeX, DistanceSets["Right High Dangerzone"], speedX, XVelocitySets["High Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule25"]);
//// if distance is left high dangerzone and X vel is moderate left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule26"] = Rule.AND(safeX, DistanceSets["Right High Dangerzone"], speedX, XVelocitySets["Moderate Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule26"]);
//// if distance is left high dangerzone and X vel is Low left then thrust vector is forward high thrust
//RuleSetThrustVec["Rule27"] = Rule.AND(safeX, DistanceSets["Right High Dangerzone"], speedX, XVelocitySets["Low Left Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule27"]);
//// if distance is left high dangerzone and X vel is Neutral then thrust vector is forward high thrust
//RuleSetThrustVec["Rule28"] = Rule.AND(safeX, DistanceSets["Right High Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule28"]);
#endregion
// if distance is right moderate dangerzone and X vel is high right then thrust vector is backward high thrust
RuleSetThrustVec["Rule17"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["High Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward High Thrust"], RuleSetThrustVec["Rule17"]);
// if distance is right moderate dangerzone and X vel is moderate right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule18"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["Moderate Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule18"]);
// if distance is right moderate dangerzone and X vel is low right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule19"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["Low Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule19"]);
// if distance is right moderate dangerzone and X vel is neutral then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule20"] = Rule.AND(safeX, DistanceSets["Right Moderate Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Low Thrust"], RuleSetThrustVec["Rule20"]);
// if distance is right low dangerzone and X vel is high right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule21"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["High Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule21"]);
// if distance is right low dangerzone and X vel is moderate right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule22"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["Moderate Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Moderate Thrust"], RuleSetThrustVec["Rule22"]);
// if distance is right low dangerzone and X vel is low right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule23"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["Low Right Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Low Thrust"], RuleSetThrustVec["Rule23"]);
// if distance is right low dangerzone and X vel is high right then thrust vector is backward moderate thrust
RuleSetThrustVec["Rule24"] = Rule.AND(safeX, DistanceSets["Right Low Dangerzone"], speedX, XVelocitySets["Neutral Velocity"], ref thrustVectorOutput, ThrustVecSets["Backward Low Thrust"], RuleSetThrustVec["Rule24"]);
#endregion
}
#endregion
ThrottleAccum["ThrottleOutput"] = new FuzzySet(throttleOutput);
ThrustVecAccum["ThrustVector"] = new FuzzySet(thrustVectorOutput);
//Switch for how to adjust throttle settings ('AutoPilot' Checkbox on form)
if (!Manual)
{
harrier.Throttle = _throttle;
harrier.ThrustVector = _tv;
}
else
{
harrier.Throttle = Operations.DeFuzzifyCOG(ThrottleAccum["ThrottleOutput"]);
harrier.ThrustVector = Operations.DeFuzzifyCOG(ThrustVecAccum["ThrustVector"]);
}
//THESE ARE UP TO YOU TO TUNE!!
harrier.Throttle += 20;
harrier.ThrustVector += 90;
//END
((HarrierSim) Globals.Simulator).Harrier = harrier;
}
private void SetupExampleSet2()
{
//Add a new Fuzzy Set to the Collection
ExampleSets.Add("Example 2", new FuzzySet());
//Initialize the new Fuzzy Set
ExampleSets["Example 2"] = new FuzzySet("Example 2", 0, 100);
ExampleSets["Example 2"].LineColour = new SolidBrush(Color.Blue);
//Now, define the points in the Set
ExampleSets["Example 2"].AddPoint(0, 0);
ExampleSets["Example 2"].AddPoint(10, 1);
ExampleSets["Example 2"].AddPoint(40, 0.2);
ExampleSets["Example 2"].AddPoint(50, 0.1);
ExampleSets["Example 2"].AddPoint(70, 0.1);
ExampleSets["Example 2"].AddPoint(90, 0.5);
ExampleSets["Example 2"].AddPoint(100, 0);
}
// static
/// <summary>
/// Checks if the Low and High range of two sets are equal
/// </summary>
/// <param name="fs1"></param>
/// <param name="fs2"></param>
/// <returns></returns>
public static bool RangeEqual(FuzzySet fs1, FuzzySet fs2)
{
if (fs1 == null || fs2 == null) { return false; }
if (!Operations.AEqual(fs1.GetHighRange(), fs2.GetHighRange())) return false;
if (!Operations.AEqual(fs1.GetLowRange(), fs2.GetLowRange())) return false;
return true;
}
/**
* Defuzzify a set using the Sugeno style aproximation function
* if it fails it returns -1 (which may be a valid answer)
*/
/// <summary>
/// Defuzzify a set using the Sugeno style aproximation function
// if it fails it returns -1 (which may be a valid answer)
/// </summary>
/// <param name="fs"></param>
/// <returns></returns>
public static double DeFuzzifySFI(FuzzySet fs)
{
if (fs == null) { return -1; }
if (fs.Invalid()) { fs.Err = 10; return -1; }
double sumTop = 0;
double sumBottom = 0;
double w, s;
int i;
for (i = 0; i < fs.GetNumPoints(); i++)
{
w = fs.WorldValue[i];
s = fs.SetValue[i];
sumTop = sumTop + s * w;
sumBottom = sumBottom + s;
}
if (Operations.AEqual(0, sumBottom)) { fs.Err = 15; return -1; }
return sumTop / sumBottom;
}
/// <summary>
/// Performs a SCALE on a Fuzzy Set
/// </summary>
/// <param name="fs">The Fuzzy Set to Scale</param>
/// <param name="val">The scalar amount to Scale the Set</param>
/// <returns></returns>
public static FuzzySet ScaleFS(FuzzySet fs, double val)
{
FuzzySet retSet = new FuzzySet();
if (fs == null)
{
retSet.SetErr(10);
return retSet;
}
retSet = new FuzzySet(fs);
if (retSet.Invalid())
{
retSet.SetErr(10);
return retSet;
}
int i;
for (i = 0; i < retSet.GetNumPoints(); i++)
{
double w = retSet.GetWorldValue(i);
double s = retSet.GetSetValue(i) * val;
if (s > 1) s = 1;
if (s < 0) s = 0;
retSet.AdjustPoint(i, w, s);
}
return retSet;
}
/// <summary>
/// Performs a UNION of two Fuzzy Sets
/// </summary>
/// <param name="fs1">Fuzzy Set 1</param>
/// <param name="fs2">Fuzzy Set 2</param>
/// <param name="colour">The colour to render the result</param>
/// <returns>Result Set</returns>
public static FuzzySet UnionFS(FuzzySet fs1, FuzzySet fs2, Brush colour)
{
FuzzySet result = new FuzzySet(); // just for error checking and returning
//verify...
if (fs1 == null || fs2 == null || fs1.Invalid() || fs2.Invalid())
{
result.SetErr(10);
return result;
}
if (!RangeEqual(fs1, fs2))
{
result.SetErr(11); return result;
}
result = new FuzzySet(fs1);
result.Clear();
//lets get to work
result.SetRange(fs1.GetLowRange(), fs1.GetHighRange());
double x = 0, y = 0;
double fs1x1, fs1x2, fs1y1, fs1y2;
double fs2x3, fs2x4, fs2y3, fs2y4;
double fs1s, fs1w, fs2s, fs2w;
int i, k, rc;
// traverse fs1 add all its points above fs2
for (i = 0; i < fs1.GetNumPoints(); i++)
{
fs1w = fs1.GetWorldValue(i);
fs1s = fs1.GetSetValue(i);
fs2s = fs2.Fuzzify(fs1w);
if (fs1s > fs2s || Operations.AEqual(fs1s, fs2s))
{
result.AddPoint(fs1w, fs1s, false, false);
}
}
// traverse fs2 add all its points above fs1
for (i = 0; i < fs2.GetNumPoints(); i++)
{
fs2w = fs2.GetWorldValue(i);
fs2s = fs2.GetSetValue(i);
fs1s = fs1.Fuzzify(fs2w);
if (fs2s > fs1s)
{
result.AddPoint(fs2w, fs2s, false, false);
}
}
// now traverse all line segments in fs1 testing for intersection with fs2
for (i = 1; i < fs1.GetNumPoints(); i++)
{
fs1x1 = fs1.GetWorldValue(i - 1);
fs1y1 = fs1.GetSetValue(i - 1);
fs1x2 = fs1.GetWorldValue(i);
fs1y2 = fs1.GetSetValue(i);
for (k = 1; k < fs2.GetNumPoints(); k++)
{
fs2x3 = fs2.GetWorldValue(k - 1);
fs2y3 = fs2.GetSetValue(k - 1);
fs2x4 = fs2.GetWorldValue(k);
fs2y4 = fs2.GetSetValue(k);
rc = Intersect(ref x, ref y,
fs1x1, fs1y1, fs1x2, fs1y2,
fs2x3, fs2y3, fs2x4, fs2y4);
if (rc == 0)
{
result.AddPoint(x, y, false, false);
}
}
}
result.ColapseSet();
result.LineColour = colour;
return result;
}
