public GoalieStrategy(int strategyNumber, GoalieInputYDistance ballDistance, GoalieInputYDistance goalieDistance, GoalieOutputYDistance yOutput)
{
_ball_distance = ballDistance;
_goalie_distance = goalieDistance;
_y_output = yOutput;
List <ParentRule> rules;
switch (strategyNumber)
{
case 1: rules = CreateRules1();
break;
case 2: rules = CreateRules2();
break;
case 3: rules = CreateRules3();
break;
case 4: rules = CreateRules4();
break;
default: throw new ArgumentException("Startegy Number must be a number from 1 to 4 inclusive.");
}
_rule_base = new EvaluationTreeRuleBase(
new List <FuzzySet <IInputFuzzyMember> >()
{
_ball_distance, _goalie_distance
},
_y_output, rules);
_fls = new FuzzyLogicSystem(new Fuzzifier(), new CenterOfSumsDefuzzifier(), _rule_base);
}
public ShootingLeftWheelFLS(IFuzzyRuleBase ruleBase)
{
robotBallAngle = FuzzyShootingUtil.RobotBallAngleSet;
goalBallAngle = FuzzyShootingUtil.GoalBallAngleSet;
robotGoalAngle = FuzzyShootingUtil.RobotGoalAngleSet;
distance = FuzzyShootingUtil.DistanceSet;
torque = FuzzyShootingUtil.TorqueSet;
listInput = new List <FuzzySet <IInputFuzzyMember> >()
{
robotBallAngle, goalBallAngle, robotGoalAngle, distance
};
fls = new FuzzyLogicSystem(new Fuzzifier(), new CenterOfSumsDefuzzifier(), ruleBase);
}
public GoalieStrategizer(GoalieXDistance ballDistance, GoalieXDistance goalieDistance, GoalieCategory category)
{
_ball_distance = ballDistance;
_goalie_distance = goalieDistance;
_category = category;
_rule_base = new EvaluationTreeRuleBase(
new List <FuzzySet <IInputFuzzyMember> >()
{
_ball_distance, _goalie_distance
},
category, CreateRules());
_fls = new FuzzyLogicSystem(new Fuzzifier(), new CenterOfSumsDefuzzifier(), _rule_base);
}
public GoalScorer(GoalXDistance xDistance, GoalYDistance yDistance, GoalConsequence consequence)
{
_x_distance = xDistance;
_y_distance = yDistance;
_consequence = consequence;
_rule_base = new EvaluationTreeRuleBase(
new List <FuzzySet <IInputFuzzyMember> >()
{
_x_distance, _y_distance
},
Consequence, CreateRules());
_fls = new FuzzyLogicSystem(new Fuzzifier(), new CenterOfSumsDefuzzifier(), _rule_base);
}
public void SetDriver(IFuzzyRuleBase leftRuleBase, IFuzzyRuleBase rightRuleBase)
{
Driver = new ShootingDriver(leftRuleBase, rightRuleBase);
}
public ShootingDriver(IFuzzyRuleBase left, IFuzzyRuleBase right)
{
LeftFLS = new ShootingLeftWheelFLS(left);
RightFLS = new ShootingRightWheelFLS(right);
}
