int main()
{
float target=60;
float actual=0;
float u=0;
int ruleMatrix[7][7]={{NB,NB,NM,NM,NS,ZO,ZO},
{NB,NB,NM,NS,NS,ZO,PS},
{NM,NM,NM,NS,ZO,PS,PS},
{NM,NM,NS,ZO,PS,PM,PM},
{NS,NS,ZO,PS,PS,PM,PM},
{NS,ZO,PS,PM,PM,PM,PB},
{ZO,ZO,PM,PM,PM,PB,PB}};
float e_mf_paras[21]={-3,-3,-2,-3,-2,-1,-2,-1,0,-1,0,1,0,1,2,1,2,3,2,3,3};
float de_mf_paras[21]={-3,-3,-2,-3,-2,-1,-2,-1,0,-1,0,1,0,1,2,1,2,3,2,3,3};
float u_mf_paras[21]={-3,-3,-2,-3,-2,-1,-2,-1,0,-1,0,1,0,1,2,1,2,3,2,3,3};
Fuzzy_controller fuzzy(100,65,50);
fuzzy.setMf("trimf",e_mf_paras,"trimf",de_mf_paras,"trimf",u_mf_paras);
fuzzy.setRule(ruleMatrix);
cout<<"num target actual"<<endl;
/*fuzzy.showInfo();*/
for(int i=0;i<100;i++)
{
u=fuzzy.realize(target,actual);
actual+=u;
cout<<i<<" "<<target<<" "<<actual<<endl;
}
fuzzy.showInfo();
system("pause");
return 0;
}
void cl_fanny(int *nn, /* = number of objects */
int *jpp, /* = number of variables for clustering */
int *kk, /* = number of clusters */
double *x, double *dss, int *jdyss, double *valmd,
int *jtmd, int *ndyst, int *nsend, int *nelem,
int *negbr, double *syl, double *p, double *dp,
double *pt, int *nfuzz, double *esp, double *ef,
double *dvec, double *ttsyl,
double *obj, /* input/output; see fuzzy() below */
int *ncluv, double *sylinf,
double *r, double *tol, int *maxit)
{
int ktrue, trace_lev = (int) obj[1];
Rboolean all_stats = (obj[0] == 0.);/* TODO: consider *not* doing caddy() */
if (*jdyss != 1) { /* compute dissimilarities from data */
int jhalt = 0;
dysta3(nn, jpp, x, dss, ndyst, jtmd, valmd, &jhalt);
if (jhalt) {
*jdyss = -1; return;
}
}
fuzzy(*nn, *kk, p, dp, pt, dss, esp,
ef, obj, *r, *tol, maxit, trace_lev);
caddy(*nn, *kk, p, /* -> */ &ktrue, nfuzz, ncluv, pt, trace_lev);
obj[0] = (double) ktrue;
/* Compute "silhouette": */
if (all_stats && 2 <= ktrue && ktrue < *nn) {
int i, nhalf = *nn * (*nn - 1) / 2;
double s = 0.; /* s := max( dss[i,j] ) */
for(i = 0; i < nhalf; i++)
if (s < dss[i])
s = dss[i];
fygur(ktrue, *nn, ncluv, dss, s,
nsend, nelem, negbr, syl, dvec, pt, ttsyl, sylinf);
}
return;
} /* cl_fanny */
int main_loop(int client_socket, int motors_socket)
{
char msg_buf[BUFSIZ];
float phi, xleft, xright;
int rc;
while (1) {
memset(msg_buf, 0, BUFSIZ);
rc = recv(client_socket, msg_buf, BUFSIZ, 0);
if (rc < 0) {
fprintf(stderr, "recv returned exit status %d\n", errno);
goto error;
}
if (rc == 0) {
close(client_socket);
break;
}
rc = parse_msg(msg_buf, &phi, &xleft, &xright);
if (rc < 0) {
fprintf(stderr, "parse_msg returned exit code %d\n", rc);
continue;
}
#if 0
fuzzy(phi, xleft, xright);
#endif
process_output(msg_buf, phi, xleft, xright);
rc = send(motors_socket, msg_buf, strlen(msg_buf), 0);
if (rc < 0) {
fprintf(stderr, "send() returned exit status %d\n", errno);
goto error;
}
}
return 0;
error:
return -errno;
}
