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
)
);
}
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
)
);
}
