double FuzzyVariable::DeFuzzifyCentroid(int NumSamples)const
{
double StepSize = (m_dMaxRange - m_dMinRange)/(double)NumSamples;
double TotalArea = 0.0;
double SumOfMoments = 0.0;
for (int samp=1; samp<=NumSamples; ++samp)
{
MemberSets::const_iterator curSet = m_MemberSets.begin();
for (curSet; curSet != m_MemberSets.end(); ++curSet)
{
double contribution =
MinOf(curSet->second->CalculateDOM(m_dMinRange + samp * StepSize),
curSet->second->GetDOM());
TotalArea += contribution;
SumOfMoments += (m_dMinRange + samp * StepSize) * contribution;
}
}
if (isEqual(0, TotalArea)) return 0.0;
return (SumOfMoments / TotalArea);
}
Vector2 TikiSteering::Arrive(const Vector2& targetPos, const Deceleration decel)
{
Vector2 ToTarget = targetPos - tikiBot->Pos();
//calculate the distance to the target
float dist = ToTarget.Length();
if (dist > 0)
{
//because Deceleration is enumerated as an int, this value is required
//to provide fine tweaking of the deceleration..
const float DecelerationTweaker = 0.3f;
//calculate the speed required to reach the target given the desired deceleration
float speed = dist / ((float)decel * DecelerationTweaker);
//make sure the velocity does not exceed the max
speed = MinOf(speed, (float)tikiBot->MaxSpeed());
//from here proceed just like Seek except we don't need to normalize
//the ToTarget vector because we have already gone to the trouble of calculating its length: dist.
Vector2 DesiredVelocity = ToTarget * speed / dist;
return (DesiredVelocity - tikiBot->Velocity());
}
return Vector2::Zero;
}
