TEST(Fuzzy, addFuzzyRule){
Fuzzy* fuzzy = new Fuzzy();
FuzzyRuleAntecedent* seTemperatureLowOrpressureSmall = new FuzzyRuleAntecedent();
FuzzySet* temperatureLow = new FuzzySet(0, 10, 10, 20);
temperatureLow->setPertinence(0.5);
FuzzySet* pressureSmall = new FuzzySet(0, 10, 10, 20);
pressureSmall->setPertinence(0.5);
seTemperatureLowOrpressureSmall->joinWithOR(temperatureLow, pressureSmall);
FuzzyRuleAntecedent* andRiskMinimum = new FuzzyRuleAntecedent();
FuzzySet* riskMinimum = new FuzzySet(0, 10, 10, 20);
riskMinimum->setPertinence(0.7);
andRiskMinimum->joinSingle(riskMinimum);
FuzzyRuleAntecedent* seTemperatureLowOrpressureSmallandRiskMinimum = new FuzzyRuleAntecedent();
seTemperatureLowOrpressureSmallandRiskMinimum->joinWithAND(seTemperatureLowOrpressureSmall, andRiskMinimum);
FuzzyRuleConsequent* thenDangerLow = new FuzzyRuleConsequent();
FuzzySet* dangerLow = new FuzzySet(0, 10, 10, 20);
thenDangerLow->addOutput(dangerLow);
FuzzyRule* fuzzyRule = new FuzzyRule(1, seTemperatureLowOrpressureSmallandRiskMinimum, thenDangerLow);
bool result = fuzzy->addFuzzyRule(fuzzyRule);
EXPECT_TRUE(result);
}
TEST(Fuzzy, addFuzzyOutput){
Fuzzy* fuzzy = new Fuzzy();
FuzzyOutput* climate = new FuzzyOutput(1);
FuzzySet* cold = new FuzzySet(0, 10, 10, 20);
climate->addFuzzySet(cold);
FuzzySet* good = new FuzzySet(10, 20, 30, 40);
climate->addFuzzySet(good);
FuzzySet* hot = new FuzzySet(30, 40, 40, 50);
climate->addFuzzySet(hot);
bool result = fuzzy->addFuzzyOutput(climate);
EXPECT_TRUE(result);
}
TEST(Fuzzy, addFuzzyInput){
Fuzzy* fuzzy = new Fuzzy();
FuzzyInput* temperature = new FuzzyInput(1);
FuzzySet* low = new FuzzySet(0, 10, 10, 20);
temperature->addFuzzySet(low);
FuzzySet* mean = new FuzzySet(10, 20, 30, 40);
temperature->addFuzzySet(mean);
FuzzySet* high = new FuzzySet(30, 40, 40, 50);
temperature->addFuzzySet(high);
bool result = fuzzy->addFuzzyInput(temperature);
EXPECT_TRUE(result);
}
TEST(Fuzzy, setInputAndFuzzifyAndDefuzzify08){
Fuzzy* fuzzy = new Fuzzy();
FuzzyInput* age = new FuzzyInput(1);
FuzzySet* months = new FuzzySet(-360, -6, 5, 1200);
age->addFuzzySet(months);
fuzzy->addFuzzyInput(age);
FuzzyOutput* quality = new FuzzyOutput(1);
FuzzySet* avaliation = new FuzzySet(0, 1, 1, 1);
quality->addFuzzySet(avaliation);
fuzzy->addFuzzyOutput(quality);
//-------------------- Montando as regras Fuzzy
FuzzyRuleAntecedent* ifMonths = new FuzzyRuleAntecedent();
ifMonths->joinSingle(months);
FuzzyRuleConsequent* thenAvaliation = new FuzzyRuleConsequent();
thenAvaliation->addOutput(avaliation);
// Instanciando um objeto FuzzyRule
FuzzyRule* fuzzyRule01 = new FuzzyRule(1, ifMonths, thenAvaliation);
fuzzy->addFuzzyRule(fuzzyRule01);
fuzzy->setInput(1, 50);
fuzzy->fuzzify();
// cout << "Pertinência (months): " << months->getPertinence() << endl;
// cout << "Pertinência (avaliation): " << avaliation->getPertinence() << endl;
float fuzzyAntecedentEvaluate = ifMonths->evaluate();
// cout << "Entrada: " << dist << ", Saida: " << output << endl;
EXPECT_EQ(months->getPertinence(), fuzzyAntecedentEvaluate);
}
int main(int argc, char *argv[]) {
Fuzzy* fuzzy = new Fuzzy();
// FuzzyInput
FuzzyInput* distance = new FuzzyInput(1);
FuzzySet* close = new FuzzySet(0, 20, 20, 40);
distance->addFuzzySet(close);
FuzzySet* safe = new FuzzySet(30, 50, 50, 70);
distance->addFuzzySet(safe);
FuzzySet* distante = new FuzzySet(60, 80, 100, 100);
distance->addFuzzySet(distante);
fuzzy->addFuzzyInput(distance);
// FuzzyInput
FuzzyInput* inputSpeed = new FuzzyInput(2);
FuzzySet* stoped = new FuzzySet(0, 0, 0, 0);
inputSpeed->addFuzzySet(stoped);
FuzzySet* slow = new FuzzySet(1, 10, 10, 20);
inputSpeed->addFuzzySet(slow);
FuzzySet* normal = new FuzzySet(15, 30, 30, 50);
inputSpeed->addFuzzySet(normal);
FuzzySet* quick = new FuzzySet(45, 60, 70, 70);
inputSpeed->addFuzzySet(quick);
fuzzy->addFuzzyInput(inputSpeed);
// FuzzyInput
FuzzyInput* temperature = new FuzzyInput(3);
FuzzySet* cold = new FuzzySet(-30, -30, -20, -10);
temperature->addFuzzySet(cold);
FuzzySet* good = new FuzzySet(-15, 0, 0, 15);
temperature->addFuzzySet(good);
FuzzySet* hot = new FuzzySet(10, 20, 30, 30);
temperature->addFuzzySet(hot);
fuzzy->addFuzzyInput(temperature);
// FuzzyOutput
FuzzyOutput* risk = new FuzzyOutput(1);
FuzzySet* minimum = new FuzzySet(0, 20, 20, 40);
risk->addFuzzySet(minimum);
FuzzySet* average = new FuzzySet(30, 50, 50, 70);
risk->addFuzzySet(average);
FuzzySet* maximum = new FuzzySet(60, 80, 80, 100);
risk->addFuzzySet(maximum);
fuzzy->addFuzzyOutput(risk);
// FuzzyOutput
// adicionando speed como output também
FuzzyOutput* outputSpeed = new FuzzyOutput(2);
FuzzySet* stopedOut = new FuzzySet(0, 0, 0, 0);
outputSpeed->addFuzzySet(stopedOut);
FuzzySet* slowOut = new FuzzySet(1, 10, 10, 20);
outputSpeed->addFuzzySet(slowOut);
FuzzySet* normalOut = new FuzzySet(15, 30, 30, 50);
outputSpeed->addFuzzySet(normalOut);
FuzzySet* quickOut = new FuzzySet(45, 60, 70, 70);
outputSpeed->addFuzzySet(quickOut);
fuzzy->addFuzzyOutput(outputSpeed);
// Building FuzzyRule
FuzzyRuleAntecedent* distanceCloseAndSpeedQuick = new FuzzyRuleAntecedent();
distanceCloseAndSpeedQuick->joinWithAND(close, quick);
FuzzyRuleAntecedent* temperatureCold = new FuzzyRuleAntecedent();
temperatureCold->joinSingle(cold);
FuzzyRuleAntecedent* ifDistanceCloseAndSpeedQuickOrTemperatureCold = new FuzzyRuleAntecedent();
ifDistanceCloseAndSpeedQuickOrTemperatureCold->joinWithOR(distanceCloseAndSpeedQuick, temperatureCold);
FuzzyRuleConsequent* thenRisMaximumAndSpeedSlow = new FuzzyRuleConsequent();
thenRisMaximumAndSpeedSlow->addOutput(maximum);
thenRisMaximumAndSpeedSlow->addOutput(slowOut);
FuzzyRule* fuzzyRule1 = new FuzzyRule(1, ifDistanceCloseAndSpeedQuickOrTemperatureCold, thenRisMaximumAndSpeedSlow);
fuzzy->addFuzzyRule(fuzzyRule1);
// Building FuzzyRule
FuzzyRuleAntecedent* distanceSafeAndSpeedNormal = new FuzzyRuleAntecedent();
distanceSafeAndSpeedNormal->joinWithAND(safe, normal);
FuzzyRuleAntecedent* ifDistanceSafeAndSpeedNormalOrTemperatureGood = new FuzzyRuleAntecedent();
ifDistanceSafeAndSpeedNormalOrTemperatureGood->joinWithOR(distanceSafeAndSpeedNormal, good);
FuzzyRuleConsequent* thenRiskAverageAndSpeedNormal = new FuzzyRuleConsequent();
thenRiskAverageAndSpeedNormal->addOutput(average);
thenRiskAverageAndSpeedNormal->addOutput(normalOut);
FuzzyRule* fuzzyRule2 = new FuzzyRule(2, ifDistanceSafeAndSpeedNormalOrTemperatureGood, thenRiskAverageAndSpeedNormal);
fuzzy->addFuzzyRule(fuzzyRule2);
// Building FuzzyRule
FuzzyRuleAntecedent* distanceDistanteAndSpeedSlow = new FuzzyRuleAntecedent();
distanceDistanteAndSpeedSlow->joinWithAND(distante, slow);
FuzzyRuleAntecedent* ifDistanceDistanteAndSpeedSlowOrTemperatureHot = new FuzzyRuleAntecedent();
ifDistanceDistanteAndSpeedSlowOrTemperatureHot->joinWithOR(distanceDistanteAndSpeedSlow, hot);
FuzzyRuleConsequent* thenRiskMinimumSpeedQuick = new FuzzyRuleConsequent();
thenRiskMinimumSpeedQuick->addOutput(minimum);
thenRiskMinimumSpeedQuick->addOutput(quickOut);
FuzzyRule* fuzzyRule3 = new FuzzyRule(3, ifDistanceDistanteAndSpeedSlowOrTemperatureHot, thenRiskMinimumSpeedQuick);
fuzzy->addFuzzyRule(fuzzyRule3);
fuzzy->setInput(1, 10);
fuzzy->setInput(2, 30);
fuzzy->setInput(3, -15);
fuzzy->fuzzify();
pwOut << "Distância: " << close->getPertinence() << ", " << safe->getPertinence() << ", " << distante->getPertinence() << '\n';
pwOut << "Velocidade: " << stoped->getPertinence() << ", " << slow->getPertinence() << ", " << normal->getPertinence() << ", " << quick->getPertinence() << '\n';
pwOut << "Temperatura: " << cold->getPertinence() << ", " << good->getPertinence() << ", " << hot->getPertinence() << '\n';
pwOut << "regra1: " << fuzzyRule1->isFired() << ", regra2: " << fuzzyRule2->isFired() << ", regra3: " << fuzzyRule3->isFired() << '\n';
float output1 = fuzzy->defuzzify(1);
float output2 = fuzzy->defuzzify(2);
pwOut << "Saída Risco: " << output1 << ", Saída Velocidade: " << output2 << '\n';
return 0;
}
int main(int argc, char *argv[]) {
Fuzzy* fuzzy = new Fuzzy();
FuzzySet* t1 = new FuzzySet(0, 0, 0, 2);
// FuzzySet* t2 = new FuzzySet(-1.5, 7.5, 7.5, 16.5); // Antes
FuzzySet* t2 = new FuzzySet(1.5, 7.5, 7.5, 16.5); // después
FuzzySet* t3 = new FuzzySet(3.5, 12.5, 12.5, 21.5);
FuzzySet* t4 = new FuzzySet(9.5, 18.5, 18.5, 27.5);
FuzzySet* t5 = new FuzzySet(14.5, 23.5, 23.5, 32.5);
// FuzzySet* t6 = new FuzzySet(24.5, 37, 37, 37); // Antes
FuzzySet* t6 = new FuzzySet(24.5, 37, 39, 39); // después - La temperatura puedes ser major que 37 grados
FuzzySet* mbaja = new FuzzySet(0, 0, 0, 212);
FuzzySet* baja = new FuzzySet(0, 212, 212, 425);
FuzzySet* media = new FuzzySet(212, 425, 425, 638);
FuzzySet* alta = new FuzzySet(425, 637, 637, 850);
// FuzzySet* malta = new FuzzySet(637, 850, 850, 850); // Antes
FuzzySet* malta = new FuzzySet(637, 850, 900, 900); // después - Las puertas analogicas de Arduino varian de 0 a 1024
FuzzySet* v10 = new FuzzySet(0, 0, 0, 10);
FuzzySet* v9 = new FuzzySet(0, 10, 10, 20);
FuzzySet* v8 = new FuzzySet(10, 20, 20, 30);
FuzzySet* v7 = new FuzzySet(20, 30, 30, 40);
FuzzySet* v6 = new FuzzySet(30, 40, 40, 50);
FuzzySet* v5 = new FuzzySet(40, 50, 50, 60);
FuzzySet* v4 = new FuzzySet(50, 60, 60, 70);
FuzzySet* v3 = new FuzzySet(60, 70, 70, 80);
FuzzySet* v2 = new FuzzySet(70, 80, 80, 90);
FuzzySet* v1 = new FuzzySet(80, 90, 90, 100);
FuzzySet* v0 = new FuzzySet(90, 100, 100, 100);
// FuzzyInput
FuzzyInput* temperatura = new FuzzyInput(1);
temperatura->addFuzzySet(t1);
temperatura->addFuzzySet(t2);
temperatura->addFuzzySet(t3);
temperatura->addFuzzySet(t4);
temperatura->addFuzzySet(t5);
temperatura->addFuzzySet(t6);
fuzzy->addFuzzyInput(temperatura);
// FuzzyInput
FuzzyInput* luminosidad = new FuzzyInput(2);
luminosidad->addFuzzySet(mbaja);
luminosidad->addFuzzySet(baja);
luminosidad->addFuzzySet(media);
luminosidad->addFuzzySet(alta);
luminosidad->addFuzzySet(malta);
fuzzy->addFuzzyInput(luminosidad);
// FuzzyOutput
FuzzyOutput* voltaje = new FuzzyOutput(1);
voltaje->addFuzzySet(v10);
voltaje->addFuzzySet(v9);
voltaje->addFuzzySet(v8);
voltaje->addFuzzySet(v7);
voltaje->addFuzzySet(v6);
voltaje->addFuzzySet(v5);
voltaje->addFuzzySet(v4);
voltaje->addFuzzySet(v3);
voltaje->addFuzzySet(v2);
voltaje->addFuzzySet(v1);
voltaje->addFuzzySet(v0);
fuzzy->addFuzzyOutput(voltaje);
// Building FuzzyRule1
FuzzyRuleAntecedent* iftemperaturat1Andluminosidadmbaja = new FuzzyRuleAntecedent();
iftemperaturat1Andluminosidadmbaja->joinWithAND(t1, mbaja);
FuzzyRuleConsequent* thenvoltajev0 = new FuzzyRuleConsequent();
thenvoltajev0->addOutput(v0);
FuzzyRule* fuzzyRule1 = new FuzzyRule(1, iftemperaturat1Andluminosidadmbaja, thenvoltajev0);
fuzzy->addFuzzyRule(fuzzyRule1);
// Building FuzzyRule2
FuzzyRuleAntecedent* iftemperaturat1Andluminosidadbaja = new FuzzyRuleAntecedent();
iftemperaturat1Andluminosidadbaja->joinWithAND(t1, baja);
// FuzzyRuleConsequent* thenvoltajev0 = new FuzzyRuleConsequent();
//thenvoltajev0->addOutput(v0);
FuzzyRule* fuzzyRule2 = new FuzzyRule(2, iftemperaturat1Andluminosidadbaja, thenvoltajev0);
fuzzy->addFuzzyRule(fuzzyRule2);
// Building FuzzyRule3
FuzzyRuleAntecedent* iftemperaturat1Andluminosidadmedia = new FuzzyRuleAntecedent();
iftemperaturat1Andluminosidadmedia->joinWithAND(t1, media);
//FuzzyRuleConsequent* thenvoltajev0 = new FuzzyRuleConsequent();
//thenvoltajev0->addOutput(v0);
FuzzyRule* fuzzyRule3 = new FuzzyRule(3, iftemperaturat1Andluminosidadmedia, thenvoltajev0);
fuzzy->addFuzzyRule(fuzzyRule3);
// Building FuzzyRule4
FuzzyRuleAntecedent* iftemperaturat1Andluminosidadalta = new FuzzyRuleAntecedent();
iftemperaturat1Andluminosidadalta->joinWithAND(t1, alta);
//FuzzyRuleConsequent* thenvoltajev0 = new FuzzyRuleConsequent();
//thenvoltajev0->addOutput(v0);
FuzzyRule* fuzzyRule4 = new FuzzyRule(4, iftemperaturat1Andluminosidadalta, thenvoltajev0);
fuzzy->addFuzzyRule(fuzzyRule4);
// Building FuzzyRule5
FuzzyRuleAntecedent* iftemperaturat1Andluminosidadmalta = new FuzzyRuleAntecedent();
iftemperaturat1Andluminosidadmalta->joinWithAND(t1, malta);
//FuzzyRuleConsequent* thenvoltajev0 = new FuzzyRuleConsequent();
//thenvoltajev0->addOutput(v0);
FuzzyRule* fuzzyRule5 = new FuzzyRule(5, iftemperaturat1Andluminosidadmalta, thenvoltajev0);
fuzzy->addFuzzyRule(fuzzyRule5);
// Building FuzzyRule6
FuzzyRuleAntecedent* iftemperaturat2Andluminosidadmbaja = new FuzzyRuleAntecedent();
iftemperaturat2Andluminosidadmbaja->joinWithAND(t2, mbaja);
//FuzzyRuleConsequent* thenvoltajev0 = new FuzzyRuleConsequent();
//thenvoltajev0->addOutput(v0);
FuzzyRule* fuzzyRule6 = new FuzzyRule(6, iftemperaturat2Andluminosidadmbaja, thenvoltajev0);
fuzzy->addFuzzyRule(fuzzyRule6);
// Building FuzzyRule7
FuzzyRuleAntecedent* iftemperaturat2Andluminosidadbaja = new FuzzyRuleAntecedent();
iftemperaturat2Andluminosidadbaja->joinWithAND(t2, baja);
//FuzzyRuleConsequent* thenvoltajev0 = new FuzzyRuleConsequent();
//thenvoltajev0->addOutput(v0);
FuzzyRule* fuzzyRule7 = new FuzzyRule(7, iftemperaturat2Andluminosidadbaja, thenvoltajev0);
fuzzy->addFuzzyRule(fuzzyRule7);
// Building FuzzyRule8
FuzzyRuleAntecedent* iftemperaturat2Andluminosidadmedia = new FuzzyRuleAntecedent();
iftemperaturat2Andluminosidadmedia->joinWithAND(t2, media);
FuzzyRuleConsequent* thenvoltajev1 = new FuzzyRuleConsequent();
thenvoltajev1->addOutput(v1);
FuzzyRule* fuzzyRule8 = new FuzzyRule(8, iftemperaturat2Andluminosidadmedia, thenvoltajev1);
fuzzy->addFuzzyRule(fuzzyRule8);
// Building FuzzyRule9
FuzzyRuleAntecedent* iftemperaturat2Andluminosidadalta = new FuzzyRuleAntecedent();
iftemperaturat2Andluminosidadalta->joinWithAND(t2, alta);
FuzzyRuleConsequent* thenvoltajev2 = new FuzzyRuleConsequent();
thenvoltajev2->addOutput(v2);
FuzzyRule* fuzzyRule9 = new FuzzyRule(9, iftemperaturat2Andluminosidadalta, thenvoltajev2);
fuzzy->addFuzzyRule(fuzzyRule9);
// Building FuzzyRule10
FuzzyRuleAntecedent* iftemperaturat2Andluminosidadmalta = new FuzzyRuleAntecedent();
iftemperaturat2Andluminosidadmalta->joinWithAND(t2, malta);
FuzzyRuleConsequent* thenvoltajev3 = new FuzzyRuleConsequent();
thenvoltajev3->addOutput(v3);
FuzzyRule* fuzzyRule10 = new FuzzyRule(10, iftemperaturat2Andluminosidadmalta, thenvoltajev3);
fuzzy->addFuzzyRule(fuzzyRule10);
// Building FuzzyRule11
FuzzyRuleAntecedent* iftemperaturat3Andluminosidadmbaja = new FuzzyRuleAntecedent();
iftemperaturat3Andluminosidadmbaja->joinWithAND(t3, mbaja);
//FuzzyRuleConsequent* thenvoltajev0 = new FuzzyRuleConsequent();
//thenvoltajev0->addOutput(v0);
FuzzyRule* fuzzyRule11 = new FuzzyRule(11, iftemperaturat3Andluminosidadmbaja, thenvoltajev0);
fuzzy->addFuzzyRule(fuzzyRule11);
// Building FuzzyRule12
FuzzyRuleAntecedent* iftemperaturat3Andluminosidadbaja = new FuzzyRuleAntecedent();
iftemperaturat3Andluminosidadbaja->joinWithAND(t3, baja);
//FuzzyRuleConsequent* thenvoltajev1 = new FuzzyRuleConsequent();
//thenvoltajev1->addOutput(v1);
FuzzyRule* fuzzyRule12 = new FuzzyRule(12, iftemperaturat3Andluminosidadbaja, thenvoltajev1);
fuzzy->addFuzzyRule(fuzzyRule12);
// Building FuzzyRule13
FuzzyRuleAntecedent* iftemperaturat3Andluminosidadmedia = new FuzzyRuleAntecedent();
iftemperaturat3Andluminosidadmedia->joinWithAND(t3, media);
//FuzzyRuleConsequent* thenvoltajev2 = new FuzzyRuleConsequent();
//thenvoltajev2->addOutput(v2);
FuzzyRule* fuzzyRule13 = new FuzzyRule(13, iftemperaturat3Andluminosidadmedia, thenvoltajev2);
fuzzy->addFuzzyRule(fuzzyRule13);
// Building FuzzyRule14
FuzzyRuleAntecedent* iftemperaturat3Andluminosidadalta = new FuzzyRuleAntecedent();
iftemperaturat3Andluminosidadalta->joinWithAND(t3, alta);
FuzzyRuleConsequent* thenvoltajev4 = new FuzzyRuleConsequent();
thenvoltajev4->addOutput(v4);
FuzzyRule* fuzzyRule14 = new FuzzyRule(14, iftemperaturat3Andluminosidadalta, thenvoltajev4);
fuzzy->addFuzzyRule(fuzzyRule14);
// Building FuzzyRule15
FuzzyRuleAntecedent* iftemperaturat3Andluminosidadmalta = new FuzzyRuleAntecedent();
iftemperaturat3Andluminosidadmalta->joinWithAND(t3, malta);
FuzzyRuleConsequent* thenvoltajev6 = new FuzzyRuleConsequent();
thenvoltajev6->addOutput(v6);
FuzzyRule* fuzzyRule15 = new FuzzyRule(15, iftemperaturat3Andluminosidadmalta, thenvoltajev6);
fuzzy->addFuzzyRule(fuzzyRule15);
// Building FuzzyRule16
FuzzyRuleAntecedent* iftemperaturat4Andluminosidadmbaja = new FuzzyRuleAntecedent();
iftemperaturat4Andluminosidadmbaja->joinWithAND(t4, mbaja);
//FuzzyRuleConsequent* thenvoltajev0 = new FuzzyRuleConsequent();
//thenvoltajev0->addOutput(v0);
FuzzyRule* fuzzyRule16 = new FuzzyRule(16, iftemperaturat4Andluminosidadmbaja, thenvoltajev0);
fuzzy->addFuzzyRule(fuzzyRule16);
// Building FuzzyRule17
FuzzyRuleAntecedent* iftemperaturat4Andluminosidadbaja = new FuzzyRuleAntecedent();
iftemperaturat4Andluminosidadbaja->joinWithAND(t4, baja);
//FuzzyRuleConsequent* thenvoltajev2 = new FuzzyRuleConsequent();
//thenvoltajev2->addOutput(v2);
FuzzyRule* fuzzyRule17 = new FuzzyRule(17, iftemperaturat4Andluminosidadbaja, thenvoltajev2);
fuzzy->addFuzzyRule(fuzzyRule17);
// Building FuzzyRule18
FuzzyRuleAntecedent* iftemperaturat4Andluminosidadmedia = new FuzzyRuleAntecedent();
iftemperaturat4Andluminosidadmedia->joinWithAND(t4, media);
FuzzyRuleConsequent* thenvoltajev5 = new FuzzyRuleConsequent();
thenvoltajev5->addOutput(v5);
FuzzyRule* fuzzyRule18 = new FuzzyRule(18, iftemperaturat4Andluminosidadmedia, thenvoltajev5);
fuzzy->addFuzzyRule(fuzzyRule18);
// Building FuzzyRule19
FuzzyRuleAntecedent* iftemperaturat4Andluminosidadalta = new FuzzyRuleAntecedent();
iftemperaturat4Andluminosidadalta->joinWithAND(t4, alta);
FuzzyRuleConsequent* thenvoltajev7 = new FuzzyRuleConsequent();
thenvoltajev7->addOutput(v7);
FuzzyRule* fuzzyRule19 = new FuzzyRule(19, iftemperaturat4Andluminosidadalta, thenvoltajev7);
fuzzy->addFuzzyRule(fuzzyRule19);
// Building FuzzyRule20
FuzzyRuleAntecedent* iftemperaturat4Andluminosidadmalta = new FuzzyRuleAntecedent();
iftemperaturat4Andluminosidadmalta->joinWithAND(t4, malta);
FuzzyRuleConsequent* thenvoltajev9 = new FuzzyRuleConsequent();
thenvoltajev9->addOutput(v9);
FuzzyRule* fuzzyRule20 = new FuzzyRule(20, iftemperaturat4Andluminosidadmalta, thenvoltajev9);
fuzzy->addFuzzyRule(fuzzyRule20);
// Building FuzzyRule21
FuzzyRuleAntecedent* iftemperaturat5Andluminosidadmbaja = new FuzzyRuleAntecedent();
iftemperaturat5Andluminosidadmbaja->joinWithAND(t5, mbaja);
//FuzzyRuleConsequent* thenvoltajev0 = new FuzzyRuleConsequent();
//thenvoltajev0->addOutput(v0);
FuzzyRule* fuzzyRule21 = new FuzzyRule(21, iftemperaturat5Andluminosidadmbaja, thenvoltajev0);
fuzzy->addFuzzyRule(fuzzyRule21);
// Building FuzzyRule22
FuzzyRuleAntecedent* iftemperaturat5Andluminosidadbaja = new FuzzyRuleAntecedent();
iftemperaturat5Andluminosidadbaja->joinWithAND(t5, baja);
// FuzzyRuleConsequent* thenvoltajev3 = new FuzzyRuleConsequent();
//thenvoltajev3->addOutput(v3);
FuzzyRule* fuzzyRule22 = new FuzzyRule(22, iftemperaturat5Andluminosidadbaja, thenvoltajev3);
fuzzy->addFuzzyRule(fuzzyRule22);
// Building FuzzyRule23
FuzzyRuleAntecedent* iftemperaturat5Andluminosidadmedia = new FuzzyRuleAntecedent();
iftemperaturat5Andluminosidadmedia->joinWithAND(t5, media);
// FuzzyRuleConsequent* thenvoltajev6 = new FuzzyRuleConsequent();
// thenvoltajev6->addOutput(v6);
FuzzyRule* fuzzyRule23 = new FuzzyRule(23, iftemperaturat5Andluminosidadmedia, thenvoltajev6);
fuzzy->addFuzzyRule(fuzzyRule23);
// Building FuzzyRule24
FuzzyRuleAntecedent* iftemperaturat5Andluminosidadalta = new FuzzyRuleAntecedent();
iftemperaturat5Andluminosidadalta->joinWithAND(t5, alta);
FuzzyRuleConsequent* thenvoltajev8 = new FuzzyRuleConsequent();
thenvoltajev8->addOutput(v8);
FuzzyRule* fuzzyRule24 = new FuzzyRule(24, iftemperaturat5Andluminosidadalta, thenvoltajev8);
fuzzy->addFuzzyRule(fuzzyRule24);
// Building FuzzyRule25
FuzzyRuleAntecedent* iftemperaturat5Andluminosidadmalta = new FuzzyRuleAntecedent();
iftemperaturat5Andluminosidadmalta->joinWithAND(t5, malta);
FuzzyRuleConsequent* thenvoltajev10 = new FuzzyRuleConsequent();
thenvoltajev10->addOutput(v10);
FuzzyRule* fuzzyRule25 = new FuzzyRule(25, iftemperaturat5Andluminosidadmalta, thenvoltajev10);
fuzzy->addFuzzyRule(fuzzyRule25);
// Building FuzzyRule26
FuzzyRuleAntecedent* iftemperaturat6Andluminosidadmbaja = new FuzzyRuleAntecedent();
iftemperaturat6Andluminosidadmbaja->joinWithAND(t6, mbaja);
// FuzzyRuleConsequent* thenvoltajev0 = new FuzzyRuleConsequent();
// thenvoltajev0->addOutput(v0);
FuzzyRule* fuzzyRule26 = new FuzzyRule(26, iftemperaturat6Andluminosidadmbaja, thenvoltajev0);
fuzzy->addFuzzyRule(fuzzyRule26);
// Building FuzzyRule27
FuzzyRuleAntecedent* iftemperaturat6Andluminosidadbaja = new FuzzyRuleAntecedent();
iftemperaturat6Andluminosidadbaja->joinWithAND(t6, baja);
//FuzzyRuleConsequent* thenvoltajev4 = new FuzzyRuleConsequent();
// thenvoltajev4->addOutput(v4);
FuzzyRule* fuzzyRule27 = new FuzzyRule(27, iftemperaturat6Andluminosidadbaja, thenvoltajev4);
fuzzy->addFuzzyRule(fuzzyRule27);
// Building FuzzyRule28
FuzzyRuleAntecedent* iftemperaturat6Andluminosidadmedia = new FuzzyRuleAntecedent();
iftemperaturat6Andluminosidadmedia->joinWithAND(t6, media);
//FuzzyRuleConsequent* thenvoltajev7 = new FuzzyRuleConsequent();
//thenvoltajev7->addOutput(v7);
FuzzyRule* fuzzyRule28 = new FuzzyRule(28, iftemperaturat6Andluminosidadmbaja, thenvoltajev7);
fuzzy->addFuzzyRule(fuzzyRule28);
// Building FuzzyRule29
FuzzyRuleAntecedent* iftemperaturat6Andluminosidadalta = new FuzzyRuleAntecedent();
iftemperaturat6Andluminosidadalta->joinWithAND(t6, alta);
//FuzzyRuleConsequent* thenvoltajev9 = new FuzzyRuleConsequent();
//thenvoltajev9->addOutput(v9);
FuzzyRule* fuzzyRule29 = new FuzzyRule(29, iftemperaturat6Andluminosidadalta, thenvoltajev9);
fuzzy->addFuzzyRule(fuzzyRule29);
// Building FuzzyRule30
FuzzyRuleAntecedent* iftemperaturat6Andluminosidadmalta = new FuzzyRuleAntecedent();
iftemperaturat6Andluminosidadmalta->joinWithAND(t6, malta);
//FuzzyRuleConsequent* thenvoltajev10 = new FuzzyRuleConsequent();
//thenvoltajev10->addOutput(v10);
FuzzyRule* fuzzyRule30 = new FuzzyRule(30, iftemperaturat6Andluminosidadmalta, thenvoltajev10);
fuzzy->addFuzzyRule(fuzzyRule30);
int lm35Values[10] = {200, 25, 60, 17, 9, 10, 37, 34, 40, 74};
int ldrValues[10] = {1000, 100, 376, 34, 198, 276, 200, 250, 600, 177};
for(int i=0; i < 1; i++){
std::cout << "\nIteracion " << i << std::endl;
int celsius = lm35Values[i];
int grados = (5.0 * celsius * 100) / 1024.0;
fuzzy->setInput(1, grados);
fuzzy->setInput(2, ldrValues[i]);
fuzzy->fuzzify();
float output = fuzzy->defuzzify(1);
std::cout << "temperatura: " << t1->getPertinence() << ", " << t2->getPertinence() << ", " << t3->getPertinence() << ", " << t4->getPertinence() << ", " << t5->getPertinence() << ", " << t6->getPertinence() << std::endl;
std::cout << "luminosidad: " << mbaja->getPertinence() << ", " << baja->getPertinence() << ", " << media->getPertinence() << ", " << alta->getPertinence() << ", " << malta->getPertinence() << std::endl;
std::cout << "voltaje V10-V0: " << v10->getPertinence() << ", " << v9->getPertinence() << ", " << v8->getPertinence() << ", " << v7->getPertinence() << ", " << v6->getPertinence() << ", " << v5->getPertinence() << ", " << v4->getPertinence() << ", " << v3->getPertinence() << ", " << v4->getPertinence() << ", " << v1->getPertinence() << ", " << v0->getPertinence() << std::endl;
std::cout << "Output: " << output << std::endl;
std::cout << "reglas 1-15 : " << fuzzy->isFiredRule(1) << ", " << fuzzy->isFiredRule(2) << ", " << fuzzy->isFiredRule(3) << ", " << fuzzy->isFiredRule(4) << ", " << fuzzy->isFiredRule(5) << ", " << fuzzy->isFiredRule(6) << ", " << fuzzy->isFiredRule(7) << ", " << fuzzy->isFiredRule(8) << ", " << fuzzy->isFiredRule(9) << ", " << fuzzy->isFiredRule(10) << ", " << fuzzy->isFiredRule(11) << ", " << fuzzy->isFiredRule(12) << ", " << fuzzy->isFiredRule(13) << ", " << fuzzy->isFiredRule(14) << ", " << fuzzy->isFiredRule(15) << std::endl;
std::cout << "reglas 16-30 : " << fuzzy->isFiredRule(16) << ", " << fuzzy->isFiredRule(17) << ", " << fuzzy->isFiredRule(18) << ", " << fuzzy->isFiredRule(19) << ", " << fuzzy->isFiredRule(20) << ", " << fuzzy->isFiredRule(21) << ", " << fuzzy->isFiredRule(22) << ", " << fuzzy->isFiredRule(23) << ", " << fuzzy->isFiredRule(24) << ", " << fuzzy->isFiredRule(25) << ", " << fuzzy->isFiredRule(26) << ", " << fuzzy->isFiredRule(27) << ", " << fuzzy->isFiredRule(28) << ", " << fuzzy->isFiredRule(29) << ", " << fuzzy->isFiredRule(30) << std::endl;
}
return 0;
}
int main(int argc, char *argv[]) {
Fuzzy* fuzzy = new Fuzzy();
///////////////////////////////////////////////////////////////////////////////
FuzzySet* ErroAltoNegativo = new FuzzySet(-101.0, -101.0, -100.0, -50.0);
FuzzySet* ErroMedioNegativo = new FuzzySet(-100.0, -50.0, -50.0, 0.0);
FuzzySet* ErroBaixonegativo = new FuzzySet(-50.0, 0.0, 0.0, 0.0);
FuzzySet* ErroBaixoPositivo = new FuzzySet(0.0, 0.0, 0.0, 50.0);
FuzzySet* ErroMedioPositivo = new FuzzySet(0.0, 50.0, 50.0, 100.0);
FuzzySet* ErroAltoPositivo = new FuzzySet(50.0, 100.0, 101.0, 101.0);
// Criando o FuzzyInput Erro
FuzzyInput* Erro = new FuzzyInput(1);
// Criando os FuzzySet que compoem o FuzzyInput distancia
Erro->addFuzzySet(ErroAltoNegativo); // Adicionando o FuzzySet small em Erro
Erro->addFuzzySet(ErroMedioNegativo); // Adicionando o FuzzySet small em Erro
Erro->addFuzzySet(ErroBaixonegativo); // Adicionando o FuzzySet small em Erro
Erro->addFuzzySet(ErroBaixoPositivo); // Adicionando o FuzzySet small em Erro
Erro->addFuzzySet(ErroMedioPositivo); // Adicionando o FuzzySet small em Erro
Erro->addFuzzySet(ErroAltoPositivo); // Adicionando o FuzzySet small em Erro
fuzzy->addFuzzyInput(Erro); // Adicionando o FuzzyInput no objeto Fuzzy
///////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////////////
FuzzySet* DerroAltoNegativo = new FuzzySet(-101.0, -101.0, -100.0, -50.0);
FuzzySet* DerroMedioNegativo = new FuzzySet(-100.0, -50.0, -50.0, 0.0);
FuzzySet* DerroBaixonegativo = new FuzzySet(-50.0, 0.0, 0.0, 0.0);
FuzzySet* DerroBaixoPositivo = new FuzzySet(0.0, 0.0, 0.0, 50.0);
FuzzySet* DerroMedioPositivo = new FuzzySet(0.0, 50.0, 50.0, 100.0);
FuzzySet* DerroAltoPositivo = new FuzzySet(50.0, 100.0, 101.0, 101.0);
// Criando o FuzzyInput Derivada do Erro
FuzzyInput* DErro = new FuzzyInput(2);
// Criando os FuzzySet que compoem o FuzzyInput distancia
DErro->addFuzzySet(DerroAltoNegativo); // Adicionando o FuzzySet small em DErro
DErro->addFuzzySet(DerroMedioNegativo); // Adicionando o FuzzySet small em DErro
DErro->addFuzzySet(DerroBaixonegativo); // Adicionando o FuzzySet small em DErro
DErro->addFuzzySet(DerroBaixoPositivo); // Adicionando o FuzzySet small em DErro
DErro->addFuzzySet(DerroMedioPositivo); // Adicionando o FuzzySet small em DErro
DErro->addFuzzySet(DerroAltoPositivo); // Adicionando o FuzzySet small em DErro
fuzzy->addFuzzyInput(DErro); // Adicionando o FuzzyInput no objeto Fuzzy
//////////////////////////////////////////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////
// Criando o FuzzyOutput Velocidade
FuzzyOutput* Velocidade = new FuzzyOutput(1);
FuzzySet* OutAltoNegativo = new FuzzySet(-101.0, -101.0, -100.0, -50.0);
FuzzySet* OutMedioNegativo = new FuzzySet(-100.0, -50.0, -50.0, 0.0);
FuzzySet* OutBaixonegativo = new FuzzySet(-50.0, 0.0, 0.0, 0.0);
FuzzySet* OutBaixoPositivo = new FuzzySet(0.0, 0.0, 0.0, 50.0);
FuzzySet* OutMedioPositivo = new FuzzySet(0.0, 50.0, 50.0, 100.0);
FuzzySet* OutAltoPositivo = new FuzzySet(50.0, 100.0, 101.0, 101.0);
// Criando os FuzzySet que compoem o FuzzyOutput velocidade
Velocidade->addFuzzySet(OutAltoNegativo); // Adicionando o FuzzySet slow em velocity
Velocidade->addFuzzySet(OutMedioNegativo); // Adicionando o FuzzySet slow em velocity
Velocidade->addFuzzySet(OutBaixonegativo); // Adicionando o FuzzySet slow em velocity
Velocidade->addFuzzySet(OutBaixoPositivo); // Adicionando o FuzzySet slow em velocity
Velocidade->addFuzzySet(OutMedioPositivo); // Adicionando o FuzzySet slow em velocity
Velocidade->addFuzzySet(OutAltoPositivo); // Adicionando o FuzzySet slow em velocity
fuzzy->addFuzzyOutput(Velocidade); // Adicionando o FuzzyOutput no objeto Fuzzy
//////////////////////////////////////////////////////////////////////////////////
FuzzyRuleAntecedent* IfErroAltoNegativoAndDerroAltoNegativo = new FuzzyRuleAntecedent();
IfErroAltoNegativoAndDerroAltoNegativo->joinWithAND(ErroAltoNegativo,DerroAltoNegativo);
FuzzyRuleAntecedent* IfErroAltoNegativoAndDerroMedioNegativo = new FuzzyRuleAntecedent();
IfErroAltoNegativoAndDerroMedioNegativo->joinWithAND(ErroAltoNegativo,DerroMedioNegativo);
FuzzyRuleAntecedent* IfErroAltoNegativoAndDerroBaixonegativo = new FuzzyRuleAntecedent();
IfErroAltoNegativoAndDerroBaixonegativo->joinWithAND(ErroAltoNegativo,DerroBaixonegativo);
FuzzyRuleAntecedent* IfErroAltoNegativoAndDerroBaixoPositivo = new FuzzyRuleAntecedent();
IfErroAltoNegativoAndDerroBaixoPositivo->joinWithAND(ErroAltoNegativo,DerroBaixoPositivo);
FuzzyRuleAntecedent* IfErroAltoNegativoAndDerroMedioPositivo = new FuzzyRuleAntecedent();
IfErroAltoNegativoAndDerroMedioPositivo->joinWithAND(ErroAltoNegativo,DerroMedioPositivo);
FuzzyRuleAntecedent* IfErroAltoNegativoAndDerroAltoPositivo = new FuzzyRuleAntecedent();
IfErroAltoNegativoAndDerroAltoPositivo->joinWithAND(ErroAltoNegativo,DerroAltoPositivo);
FuzzyRuleAntecedent* IfErroMedioNegativoAndDerroAltoNegativo = new FuzzyRuleAntecedent();
IfErroMedioNegativoAndDerroAltoNegativo->joinWithAND(ErroMedioNegativo,DerroAltoNegativo);
FuzzyRuleAntecedent* IfErroMedioNegativoAndDerroMedioNegativo = new FuzzyRuleAntecedent();
IfErroMedioNegativoAndDerroMedioNegativo->joinWithAND(ErroMedioNegativo,DerroMedioNegativo);
FuzzyRuleAntecedent* IfErroMedioNegativoAndDerroBaixonegativo = new FuzzyRuleAntecedent();
IfErroMedioNegativoAndDerroBaixonegativo->joinWithAND(ErroMedioNegativo,DerroBaixonegativo);
FuzzyRuleAntecedent* IfErroMedioNegativoAndDerroBaixoPositivo = new FuzzyRuleAntecedent();
IfErroMedioNegativoAndDerroBaixoPositivo->joinWithAND(ErroMedioNegativo,DerroBaixoPositivo);
FuzzyRuleAntecedent* IfErroMedioNegativoAndDerroMedioPositivo = new FuzzyRuleAntecedent();
IfErroMedioNegativoAndDerroMedioPositivo->joinWithAND(ErroMedioNegativo,DerroMedioPositivo);
FuzzyRuleAntecedent* IfErroMedioNegativoAndDerroAltoPositivo = new FuzzyRuleAntecedent();
IfErroMedioNegativoAndDerroAltoPositivo->joinWithAND(ErroMedioNegativo,DerroAltoPositivo);
FuzzyRuleAntecedent* IfErroBaixonegativoAndDerroAltoNegativo = new FuzzyRuleAntecedent();
IfErroBaixonegativoAndDerroAltoNegativo->joinWithAND(ErroBaixonegativo,DerroAltoNegativo);
FuzzyRuleAntecedent* IfErroBaixonegativoAndDerroMedioNegativo = new FuzzyRuleAntecedent();
IfErroBaixonegativoAndDerroMedioNegativo->joinWithAND(ErroBaixonegativo,DerroMedioNegativo);
FuzzyRuleAntecedent* IfErroBaixonegativoAndDerroBaixonegativo = new FuzzyRuleAntecedent();
IfErroBaixonegativoAndDerroBaixonegativo->joinWithAND(ErroBaixonegativo,DerroBaixonegativo);
FuzzyRuleAntecedent* IfErroBaixonegativoAndDerroBaixoPositivo = new FuzzyRuleAntecedent();
IfErroBaixonegativoAndDerroBaixoPositivo->joinWithAND(ErroBaixonegativo,DerroBaixoPositivo);
FuzzyRuleAntecedent* IfErroBaixonegativoAndDerroMedioPositivo = new FuzzyRuleAntecedent();
IfErroBaixonegativoAndDerroMedioPositivo->joinWithAND(ErroBaixonegativo,DerroMedioPositivo);
FuzzyRuleAntecedent* IfErroBaixonegativoAndDerroAltoPositivo = new FuzzyRuleAntecedent();
IfErroBaixonegativoAndDerroAltoPositivo->joinWithAND(ErroBaixonegativo,DerroAltoPositivo);
FuzzyRuleAntecedent* IfErroBaixoPositivoAndDerroAltoNegativo = new FuzzyRuleAntecedent();
IfErroBaixoPositivoAndDerroAltoNegativo->joinWithAND(ErroBaixoPositivo,DerroAltoNegativo);
FuzzyRuleAntecedent* IfErroBaixoPositivoAndDerroMedioNegativo = new FuzzyRuleAntecedent();
IfErroBaixoPositivoAndDerroMedioNegativo->joinWithAND(ErroBaixoPositivo,DerroMedioNegativo);
FuzzyRuleAntecedent* IfErroBaixoPositivoAndDerroBaixonegativo = new FuzzyRuleAntecedent();
IfErroBaixoPositivoAndDerroBaixonegativo->joinWithAND(ErroBaixoPositivo,DerroBaixonegativo);
FuzzyRuleAntecedent* IfErroBaixoPositivoAndDerroBaixoPositivo = new FuzzyRuleAntecedent();
IfErroBaixoPositivoAndDerroBaixoPositivo->joinWithAND(ErroBaixoPositivo,DerroBaixoPositivo);
FuzzyRuleAntecedent* IfErroBaixoPositivoAndDerroMedioPositivo = new FuzzyRuleAntecedent();
IfErroBaixoPositivoAndDerroMedioPositivo->joinWithAND(ErroBaixoPositivo,DerroMedioPositivo);
FuzzyRuleAntecedent* IfErroBaixoPositivoAndDerroAltoPositivo = new FuzzyRuleAntecedent();
IfErroBaixoPositivoAndDerroAltoPositivo->joinWithAND(ErroBaixoPositivo,DerroAltoPositivo);
FuzzyRuleAntecedent* IfErroMedioPositivoAndDerroAltoNegativo = new FuzzyRuleAntecedent();
IfErroMedioPositivoAndDerroAltoNegativo->joinWithAND(ErroMedioPositivo,DerroAltoNegativo);
FuzzyRuleAntecedent* IfErroMedioPositivoAndDerroMedioNegativo = new FuzzyRuleAntecedent();
IfErroMedioPositivoAndDerroMedioNegativo->joinWithAND(ErroMedioPositivo,DerroMedioNegativo);
FuzzyRuleAntecedent* IfErroMedioPositivoAndDerroBaixonegativo = new FuzzyRuleAntecedent();
IfErroMedioPositivoAndDerroBaixonegativo->joinWithAND(ErroMedioPositivo,DerroBaixonegativo);
FuzzyRuleAntecedent* IfErroMedioPositivoAndDerroBaixoPositivo = new FuzzyRuleAntecedent();
IfErroMedioPositivoAndDerroBaixoPositivo->joinWithAND(ErroMedioPositivo,DerroBaixoPositivo);
FuzzyRuleAntecedent* IfErroMedioPositivoAndDerroMedioPositivo = new FuzzyRuleAntecedent();
IfErroMedioPositivoAndDerroMedioPositivo->joinWithAND(ErroMedioPositivo,DerroMedioPositivo);
FuzzyRuleAntecedent* IfErroMedioPositivoAndDerroAltoPositivo = new FuzzyRuleAntecedent();
IfErroMedioPositivoAndDerroAltoPositivo->joinWithAND(ErroMedioPositivo,DerroAltoPositivo);
FuzzyRuleAntecedent* IfErroAltoPositivoAndDerroAltoNegativo = new FuzzyRuleAntecedent();
IfErroAltoPositivoAndDerroAltoNegativo->joinWithAND(ErroAltoPositivo,DerroAltoNegativo);
FuzzyRuleAntecedent* IfErroAltoPositivoAndDerroMedioNegativo = new FuzzyRuleAntecedent();
IfErroAltoPositivoAndDerroMedioNegativo->joinWithAND(ErroAltoPositivo,DerroMedioNegativo);
FuzzyRuleAntecedent* IfErroAltoPositivoAndDerroBaixonegativo = new FuzzyRuleAntecedent();
IfErroAltoPositivoAndDerroBaixonegativo->joinWithAND(ErroAltoPositivo,DerroBaixonegativo);
FuzzyRuleAntecedent* IfErroAltoPositivoAndDerroBaixoPositivo = new FuzzyRuleAntecedent();
IfErroAltoPositivoAndDerroBaixoPositivo->joinWithAND(ErroAltoPositivo,DerroBaixoPositivo);
FuzzyRuleAntecedent* IfErroAltoPositivoAndDerroMedioPositivo = new FuzzyRuleAntecedent();
IfErroAltoPositivoAndDerroMedioPositivo->joinWithAND(ErroAltoPositivo,DerroMedioPositivo);
FuzzyRuleAntecedent* IfErroAltoPositivoAndDerroAltoPositivo = new FuzzyRuleAntecedent();
IfErroAltoPositivoAndDerroAltoPositivo->joinWithAND(ErroAltoPositivo,DerroAltoPositivo);
FuzzyRuleConsequent* ThenOutAltoPositivo = new FuzzyRuleConsequent();
ThenOutAltoPositivo->addOutput(OutAltoPositivo);
FuzzyRuleConsequent* ThenOutMedioPositivo = new FuzzyRuleConsequent();
ThenOutMedioPositivo->addOutput(OutMedioPositivo);
FuzzyRuleConsequent* ThenOutBaixoPositivo = new FuzzyRuleConsequent();
ThenOutBaixoPositivo->addOutput(OutBaixoPositivo);
FuzzyRuleConsequent* ThenOutBaixonegativo = new FuzzyRuleConsequent();
ThenOutBaixonegativo->addOutput(OutBaixonegativo);
FuzzyRuleConsequent* ThenOutMedioNegativo = new FuzzyRuleConsequent();
ThenOutMedioNegativo->addOutput(OutMedioNegativo);
FuzzyRuleConsequent* ThenOutAltoNegativo = new FuzzyRuleConsequent();
ThenOutAltoNegativo->addOutput(OutAltoNegativo);
FuzzyRule* fuzzyRule01 = new FuzzyRule(1, IfErroAltoNegativoAndDerroAltoNegativo, ThenOutAltoPositivo);
fuzzy->addFuzzyRule(fuzzyRule01);
FuzzyRule* fuzzyRule02 = new FuzzyRule(2, IfErroAltoNegativoAndDerroMedioNegativo, ThenOutAltoPositivo);
fuzzy->addFuzzyRule(fuzzyRule02);
FuzzyRule* fuzzyRule03 = new FuzzyRule(3, IfErroAltoNegativoAndDerroBaixonegativo, ThenOutAltoPositivo);
fuzzy->addFuzzyRule(fuzzyRule03);
FuzzyRule* fuzzyRule04 = new FuzzyRule(4, IfErroAltoNegativoAndDerroBaixoPositivo, ThenOutMedioPositivo);
fuzzy->addFuzzyRule(fuzzyRule04);
FuzzyRule* fuzzyRule05 = new FuzzyRule(5, IfErroAltoNegativoAndDerroMedioPositivo, ThenOutMedioPositivo);
fuzzy->addFuzzyRule(fuzzyRule05);
FuzzyRule* fuzzyRule06 = new FuzzyRule(6, IfErroAltoNegativoAndDerroAltoPositivo, ThenOutBaixoPositivo);
fuzzy->addFuzzyRule(fuzzyRule06);
FuzzyRule* fuzzyRule07 = new FuzzyRule(7, IfErroMedioNegativoAndDerroAltoNegativo, ThenOutAltoPositivo);
fuzzy->addFuzzyRule(fuzzyRule07);
FuzzyRule* fuzzyRule08 = new FuzzyRule(8, IfErroMedioNegativoAndDerroMedioNegativo, ThenOutAltoPositivo); //++++
fuzzy->addFuzzyRule(fuzzyRule08);
FuzzyRule* fuzzyRule09 = new FuzzyRule(9, IfErroMedioNegativoAndDerroBaixonegativo, ThenOutMedioPositivo); //++++
fuzzy->addFuzzyRule(fuzzyRule09);
FuzzyRule* fuzzyRule10 = new FuzzyRule(10, IfErroMedioNegativoAndDerroBaixoPositivo, ThenOutBaixoPositivo);
fuzzy->addFuzzyRule(fuzzyRule10);
FuzzyRule* fuzzyRule11 = new FuzzyRule(11, IfErroMedioNegativoAndDerroMedioPositivo, ThenOutBaixoPositivo);
fuzzy->addFuzzyRule(fuzzyRule11);
FuzzyRule* fuzzyRule12 = new FuzzyRule(12, IfErroMedioNegativoAndDerroAltoPositivo, ThenOutBaixoPositivo);
fuzzy->addFuzzyRule(fuzzyRule12);
FuzzyRule* fuzzyRule13 = new FuzzyRule(13, IfErroBaixonegativoAndDerroAltoNegativo, ThenOutMedioPositivo);
fuzzy->addFuzzyRule(fuzzyRule13);
FuzzyRule* fuzzyRule14 = new FuzzyRule(14, IfErroBaixonegativoAndDerroMedioNegativo, ThenOutMedioPositivo); //++++
fuzzy->addFuzzyRule(fuzzyRule14);
FuzzyRule* fuzzyRule15 = new FuzzyRule(15, IfErroBaixonegativoAndDerroBaixonegativo, ThenOutBaixoPositivo); //++++
fuzzy->addFuzzyRule(fuzzyRule15);
FuzzyRule* fuzzyRule16 = new FuzzyRule(16, IfErroBaixonegativoAndDerroBaixoPositivo, ThenOutBaixoPositivo);
fuzzy->addFuzzyRule(fuzzyRule16);
FuzzyRule* fuzzyRule17 = new FuzzyRule(17, IfErroBaixonegativoAndDerroMedioPositivo, ThenOutBaixonegativo);
fuzzy->addFuzzyRule(fuzzyRule17);
FuzzyRule* fuzzyRule18 = new FuzzyRule(18, IfErroBaixonegativoAndDerroAltoPositivo, ThenOutBaixonegativo);
fuzzy->addFuzzyRule(fuzzyRule18);
FuzzyRule* fuzzyRule19 = new FuzzyRule(19, IfErroBaixoPositivoAndDerroAltoNegativo, ThenOutBaixoPositivo);
fuzzy->addFuzzyRule(fuzzyRule19);
FuzzyRule* fuzzyRule20 = new FuzzyRule(20, IfErroBaixoPositivoAndDerroMedioNegativo, ThenOutBaixoPositivo);
fuzzy->addFuzzyRule(fuzzyRule20);
FuzzyRule* fuzzyRule21 = new FuzzyRule(21, IfErroBaixoPositivoAndDerroBaixonegativo, ThenOutBaixonegativo);
fuzzy->addFuzzyRule(fuzzyRule21);
FuzzyRule* fuzzyRule22 = new FuzzyRule(22, IfErroBaixoPositivoAndDerroBaixoPositivo, ThenOutBaixonegativo); //----
fuzzy->addFuzzyRule(fuzzyRule22);
FuzzyRule* fuzzyRule23 = new FuzzyRule(23, IfErroBaixoPositivoAndDerroMedioPositivo, ThenOutMedioNegativo); //----
fuzzy->addFuzzyRule(fuzzyRule23);
FuzzyRule* fuzzyRule24 = new FuzzyRule(24, IfErroBaixoPositivoAndDerroAltoPositivo, ThenOutMedioNegativo);
fuzzy->addFuzzyRule(fuzzyRule24);
FuzzyRule* fuzzyRule25 = new FuzzyRule(25, IfErroMedioPositivoAndDerroAltoNegativo, ThenOutBaixonegativo);
fuzzy->addFuzzyRule(fuzzyRule25);
FuzzyRule* fuzzyRule26 = new FuzzyRule(26, IfErroMedioPositivoAndDerroMedioNegativo, ThenOutBaixonegativo);
fuzzy->addFuzzyRule(fuzzyRule26);
FuzzyRule* fuzzyRule27 = new FuzzyRule(27, IfErroMedioPositivoAndDerroBaixonegativo, ThenOutBaixonegativo);
fuzzy->addFuzzyRule(fuzzyRule27);
FuzzyRule* fuzzyRule28 = new FuzzyRule(28, IfErroMedioPositivoAndDerroBaixoPositivo, ThenOutMedioNegativo); //----
fuzzy->addFuzzyRule(fuzzyRule28);
FuzzyRule* fuzzyRule29 = new FuzzyRule(29, IfErroMedioPositivoAndDerroMedioPositivo, ThenOutAltoNegativo); //----
fuzzy->addFuzzyRule(fuzzyRule29);
FuzzyRule* fuzzyRule30 = new FuzzyRule(30, IfErroMedioPositivoAndDerroAltoPositivo, ThenOutAltoNegativo);
fuzzy->addFuzzyRule(fuzzyRule30);
FuzzyRule* fuzzyRule31 = new FuzzyRule(31, IfErroAltoPositivoAndDerroAltoNegativo, ThenOutBaixonegativo);
fuzzy->addFuzzyRule(fuzzyRule31);
FuzzyRule* fuzzyRule32 = new FuzzyRule(32, IfErroAltoPositivoAndDerroMedioNegativo, ThenOutMedioNegativo);
fuzzy->addFuzzyRule(fuzzyRule32);
FuzzyRule* fuzzyRule33 = new FuzzyRule(33, IfErroAltoPositivoAndDerroBaixonegativo, ThenOutMedioNegativo);
fuzzy->addFuzzyRule(fuzzyRule33);
FuzzyRule* fuzzyRule34 = new FuzzyRule(34, IfErroAltoPositivoAndDerroBaixoPositivo, ThenOutAltoNegativo);
fuzzy->addFuzzyRule(fuzzyRule34);
FuzzyRule* fuzzyRule35 = new FuzzyRule(35, IfErroAltoPositivoAndDerroMedioPositivo, ThenOutAltoNegativo);
fuzzy->addFuzzyRule(fuzzyRule35);
FuzzyRule* fuzzyRule36 = new FuzzyRule(36, IfErroAltoPositivoAndDerroAltoPositivo, ThenOutAltoNegativo);
fuzzy->addFuzzyRule(fuzzyRule36);
fuzzy->setInput(1, 0);
fuzzy->setInput(2, 0);
fuzzy->fuzzify();
float outputPitch = fuzzy->defuzzify(1);
std::cout << "Erro: " << ErroAltoNegativo->getPertinence() << ", " << ErroMedioNegativo->getPertinence() << ", " << ErroBaixonegativo->getPertinence() << ", " << ErroBaixoPositivo->getPertinence() << ", " << ErroMedioPositivo->getPertinence() << ", " << ErroAltoPositivo->getPertinence() << std::endl;
std::cout << "DErro: " << DerroAltoNegativo->getPertinence() << ", " << DerroMedioNegativo->getPertinence() << ", " << DerroBaixonegativo->getPertinence() << ", " << DerroBaixoPositivo->getPertinence() << ", " << DerroMedioPositivo->getPertinence() << ", " << DerroAltoPositivo->getPertinence() << std::endl;
std::cout << "velocidade: " << OutAltoNegativo->getPertinence() << ", " << OutMedioNegativo->getPertinence() << ", " << OutBaixonegativo->getPertinence() << ", " << OutBaixoPositivo->getPertinence() << ", " << OutMedioPositivo->getPertinence() << ", " << OutAltoPositivo->getPertinence() << std::endl;
std::cout << "Output: " << outputPitch << std::endl;
std::cout << "regras 1-15 : " << fuzzy->isFiredRule(1) << ", " << fuzzy->isFiredRule(2) << ", " << fuzzy->isFiredRule(3) << ", " << fuzzy->isFiredRule(4) << ", " << fuzzy->isFiredRule(5) << ", " << fuzzy->isFiredRule(6) << ", " << fuzzy->isFiredRule(7) << ", " << fuzzy->isFiredRule(8) << ", " << fuzzy->isFiredRule(9) << ", " << fuzzy->isFiredRule(10) << ", " << fuzzy->isFiredRule(11) << ", " << fuzzy->isFiredRule(12) << ", " << fuzzy->isFiredRule(13) << ", " << fuzzy->isFiredRule(14) << ", " << fuzzy->isFiredRule(15) << std::endl;
std::cout << "regras 16-30 : " << fuzzy->isFiredRule(16) << ", " << fuzzy->isFiredRule(17) << ", " << fuzzy->isFiredRule(18) << ", " << fuzzy->isFiredRule(19) << ", " << fuzzy->isFiredRule(20) << ", " << fuzzy->isFiredRule(21) << ", " << fuzzy->isFiredRule(22) << ", " << fuzzy->isFiredRule(23) << ", " << fuzzy->isFiredRule(24) << ", " << fuzzy->isFiredRule(25) << ", " << fuzzy->isFiredRule(26) << ", " << fuzzy->isFiredRule(27) << ", " << fuzzy->isFiredRule(28) << ", " << fuzzy->isFiredRule(29) << ", " << fuzzy->isFiredRule(30) << std::endl;
std::cout << "regras 31-36 : " << fuzzy->isFiredRule(31) << ", " << fuzzy->isFiredRule(32) << ", " << fuzzy->isFiredRule(33) << ", " << fuzzy->isFiredRule(34) << ", " << fuzzy->isFiredRule(35) << ", " << fuzzy->isFiredRule(36) << std::endl;
std::cout << "\n" << std::endl;
fuzzy->setInput(1, -100);
fuzzy->setInput(2, -100);
fuzzy->fuzzify();
outputPitch = fuzzy->defuzzify(1);
std::cout << "Erro: " << ErroAltoNegativo->getPertinence() << ", " << ErroMedioNegativo->getPertinence() << ", " << ErroBaixonegativo->getPertinence() << ", " << ErroBaixoPositivo->getPertinence() << ", " << ErroMedioPositivo->getPertinence() << ", " << ErroAltoPositivo->getPertinence() << std::endl;
std::cout << "DErro: " << DerroAltoNegativo->getPertinence() << ", " << DerroMedioNegativo->getPertinence() << ", " << DerroBaixonegativo->getPertinence() << ", " << DerroBaixoPositivo->getPertinence() << ", " << DerroMedioPositivo->getPertinence() << ", " << DerroAltoPositivo->getPertinence() << std::endl;
std::cout << "velocidade: " << OutAltoNegativo->getPertinence() << ", " << OutMedioNegativo->getPertinence() << ", " << OutBaixonegativo->getPertinence() << ", " << OutBaixoPositivo->getPertinence() << ", " << OutMedioPositivo->getPertinence() << ", " << OutAltoPositivo->getPertinence() << std::endl;
std::cout << "Output: " << outputPitch << std::endl;
std::cout << "regras 1-15 : " << fuzzy->isFiredRule(1) << ", " << fuzzy->isFiredRule(2) << ", " << fuzzy->isFiredRule(3) << ", " << fuzzy->isFiredRule(4) << ", " << fuzzy->isFiredRule(5) << ", " << fuzzy->isFiredRule(6) << ", " << fuzzy->isFiredRule(7) << ", " << fuzzy->isFiredRule(8) << ", " << fuzzy->isFiredRule(9) << ", " << fuzzy->isFiredRule(10) << ", " << fuzzy->isFiredRule(11) << ", " << fuzzy->isFiredRule(12) << ", " << fuzzy->isFiredRule(13) << ", " << fuzzy->isFiredRule(14) << ", " << fuzzy->isFiredRule(15) << std::endl;
std::cout << "regras 16-30 : " << fuzzy->isFiredRule(16) << ", " << fuzzy->isFiredRule(17) << ", " << fuzzy->isFiredRule(18) << ", " << fuzzy->isFiredRule(19) << ", " << fuzzy->isFiredRule(20) << ", " << fuzzy->isFiredRule(21) << ", " << fuzzy->isFiredRule(22) << ", " << fuzzy->isFiredRule(23) << ", " << fuzzy->isFiredRule(24) << ", " << fuzzy->isFiredRule(25) << ", " << fuzzy->isFiredRule(26) << ", " << fuzzy->isFiredRule(27) << ", " << fuzzy->isFiredRule(28) << ", " << fuzzy->isFiredRule(29) << ", " << fuzzy->isFiredRule(30) << std::endl;
std::cout << "regras 31-36 : " << fuzzy->isFiredRule(31) << ", " << fuzzy->isFiredRule(32) << ", " << fuzzy->isFiredRule(33) << ", " << fuzzy->isFiredRule(34) << ", " << fuzzy->isFiredRule(35) << ", " << fuzzy->isFiredRule(36) << std::endl;
return 0;
}
int main(int argc, char *argv[]) {
// Instanciando um objeto da biblioteca
Fuzzy* fuzzy = new Fuzzy();
// Criando o FuzzyInput distancia
FuzzyInput* distance = new FuzzyInput(1);
// Criando os FuzzySet que compoem o FuzzyInput distancia
FuzzySet* small = new FuzzySet(0, 20, 20, 40); // Distancia pequena
distance->addFuzzySet(small); // Adicionando o FuzzySet small em distance
FuzzySet* safe = new FuzzySet(30, 50, 50, 70); // Distancia segura
distance->addFuzzySet(safe); // Adicionando o FuzzySet safe em distance
FuzzySet* big = new FuzzySet(60, 80, 80, 80); // Distancia grande
distance->addFuzzySet(big); // Adicionando o FuzzySet big em distance
fuzzy->addFuzzyInput(distance); // Adicionando o FuzzyInput no objeto Fuzzy
// Criando o FuzzyOutput velocidade
FuzzyOutput* velocity = new FuzzyOutput(1);
// Criando os FuzzySet que compoem o FuzzyOutput velocidade
FuzzySet* slow = new FuzzySet(0, 10, 10, 20); // Velocidade lenta
velocity->addFuzzySet(slow); // Adicionando o FuzzySet slow em velocity
FuzzySet* average = new FuzzySet(10, 20, 30, 40); // Velocidade normal
velocity->addFuzzySet(average); // Adicionando o FuzzySet average em velocity
FuzzySet* fast = new FuzzySet(30, 40, 40, 50); // Velocidade alta
velocity->addFuzzySet(fast); // Adicionando o FuzzySet fast em velocity
fuzzy->addFuzzyOutput(velocity); // Adicionando o FuzzyOutput no objeto Fuzzy
//-------------------- Montando as regras Fuzzy
// FuzzyRule "SE distancia = pequena ENTAO velocidade = lenta"
FuzzyRuleAntecedent* ifDistanceSmall = new FuzzyRuleAntecedent(); // Instanciando um Antecedente para a expresso
ifDistanceSmall->joinSingle(small); // Adicionando o FuzzySet correspondente ao objeto Antecedente
FuzzyRuleConsequent* thenVelocitySlow = new FuzzyRuleConsequent(); // Instancinado um Consequente para a expressao
thenVelocitySlow->addOutput(slow);// Adicionando o FuzzySet correspondente ao objeto Consequente
// Instanciando um objeto FuzzyRule
FuzzyRule* fuzzyRule01 = new FuzzyRule(1, ifDistanceSmall, thenVelocitySlow); // Passando o Antecedente e o Consequente da expressao
fuzzy->addFuzzyRule(fuzzyRule01); // Adicionando o FuzzyRule ao objeto Fuzzy
// FuzzyRule "SE distancia = segura ENTAO velocidade = normal"
FuzzyRuleAntecedent* ifDistanceSafe = new FuzzyRuleAntecedent(); // Instanciando um Antecedente para a expresso
ifDistanceSafe->joinSingle(safe); // Adicionando o FuzzySet correspondente ao objeto Antecedente
FuzzyRuleConsequent* thenVelocityAverage = new FuzzyRuleConsequent(); // Instancinado um Consequente para a expressao
thenVelocityAverage->addOutput(average);// Adicionando o FuzzySet correspondente ao objeto Consequente
// Instanciando um objeto FuzzyRule
FuzzyRule* fuzzyRule02 = new FuzzyRule(2, ifDistanceSafe, thenVelocityAverage); // Passando o Antecedente e o Consequente da expressao
fuzzy->addFuzzyRule(fuzzyRule02); // Adicionando o FuzzyRule ao objeto Fuzzy
// FuzzyRule "SE distancia = grande ENTAO velocidade = alta"
FuzzyRuleAntecedent* ifDistanceBig = new FuzzyRuleAntecedent(); // Instanciando um Antecedente para a expresso
ifDistanceBig->joinSingle(big); // Adicionando o FuzzySet correspondente ao objeto Antecedente
FuzzyRuleConsequent* thenVelocityFast = new FuzzyRuleConsequent(); // Instancinado um Consequente para a expressao
thenVelocityFast->addOutput(fast);// Adicionando o FuzzySet correspondente ao objeto Consequente
// Instanciando um objeto FuzzyRule
FuzzyRule* fuzzyRule03 = new FuzzyRule(3, ifDistanceBig, thenVelocityFast); // Passando o Antecedente e o Consequente da expressao
fuzzy->addFuzzyRule(fuzzyRule03); // Adicionando o FuzzyRule ao objeto Fuzzy
for(int dist = 0; dist < 100; dist++){
fuzzy->setInput(1, dist);
fuzzy->fuzzify();
float output = fuzzy->defuzzify(1);
cout << "Entrada: " << dist << ", Saida: " << output << endl;
}
return 0;
}
int main(int argc, char *argv[])
{
// Set a seed to rand
srand((unsigned)time(0));
// Instantiating a Fuzzy object
Fuzzy *fuzzy = new Fuzzy();
// Instantiating a FuzzyInput object
FuzzyInput *distance = new FuzzyInput(1);
// Instantiating a FuzzySet object
FuzzySet *small = new FuzzySet(0, 20, 20, 40);
// Including the FuzzySet into FuzzyInput
distance->addFuzzySet(small);
// Instantiating a FuzzySet object
FuzzySet *safe = new FuzzySet(30, 50, 50, 70);
// Including the FuzzySet into FuzzyInput
distance->addFuzzySet(safe);
// Instantiating a FuzzySet object
FuzzySet *big = new FuzzySet(60, 80, 80, 80);
// Including the FuzzySet into FuzzyInput
distance->addFuzzySet(big);
// Including the FuzzyInput into Fuzzy
fuzzy->addFuzzyInput(distance);
// Instantiating a FuzzyOutput objects
FuzzyOutput *speed = new FuzzyOutput(1);
// Instantiating a FuzzySet object
FuzzySet *slow = new FuzzySet(0, 10, 10, 20);
// Including the FuzzySet into FuzzyOutput
speed->addFuzzySet(slow);
// Instantiating a FuzzySet object
FuzzySet *average = new FuzzySet(10, 20, 30, 40);
// Including the FuzzySet into FuzzyOutput
speed->addFuzzySet(average);
// Instantiating a FuzzySet object
FuzzySet *fast = new FuzzySet(30, 40, 40, 50);
// Including the FuzzySet into FuzzyOutput
speed->addFuzzySet(fast);
// Including the FuzzyOutput into Fuzzy
fuzzy->addFuzzyOutput(speed);
// Building FuzzyRule "IF distance = small THEN speed = slow"
// Instantiating a FuzzyRuleAntecedent objects
FuzzyRuleAntecedent *ifDistanceSmall = new FuzzyRuleAntecedent();
// Creating a FuzzyRuleAntecedent with just a single FuzzySet
ifDistanceSmall->joinSingle(small);
// Instantiating a FuzzyRuleConsequent objects
FuzzyRuleConsequent *thenSpeedSlow = new FuzzyRuleConsequent();
// Including a FuzzySet to this FuzzyRuleConsequent
thenSpeedSlow->addOutput(slow);
// Instantiating a FuzzyRule objects
FuzzyRule *fuzzyRule01 = new FuzzyRule(1, ifDistanceSmall, thenSpeedSlow);
// Including the FuzzyRule into Fuzzy
fuzzy->addFuzzyRule(fuzzyRule01);
// Building FuzzyRule "IF distance = safe THEN speed = average"
// Instantiating a FuzzyRuleAntecedent objects
FuzzyRuleAntecedent *ifDistanceSafe = new FuzzyRuleAntecedent();
// Creating a FuzzyRuleAntecedent with just a single FuzzySet
ifDistanceSafe->joinSingle(safe);
// Instantiating a FuzzyRuleConsequent objects
FuzzyRuleConsequent *thenSpeedAverage = new FuzzyRuleConsequent();
// Including a FuzzySet to this FuzzyRuleConsequent
thenSpeedAverage->addOutput(average);
// Instantiating a FuzzyRule objects
FuzzyRule *fuzzyRule02 = new FuzzyRule(2, ifDistanceSafe, thenSpeedAverage);
// Including the FuzzyRule into Fuzzy
fuzzy->addFuzzyRule(fuzzyRule02);
// Building FuzzyRule "IF distance = big THEN speed = high"
// Instantiating a FuzzyRuleAntecedent objects
FuzzyRuleAntecedent *ifDistanceBig = new FuzzyRuleAntecedent();
// Creating a FuzzyRuleAntecedent with just a single FuzzySet
ifDistanceBig->joinSingle(big);
// Instantiating a FuzzyRuleConsequent objects
FuzzyRuleConsequent *thenSpeedFast = new FuzzyRuleConsequent();
// Including a FuzzySet to this FuzzyRuleConsequent
thenSpeedFast->addOutput(fast);
// Instantiating a FuzzyRule objects
FuzzyRule *fuzzyRule03 = new FuzzyRule(3, ifDistanceBig, thenSpeedFast);
// Including the FuzzyRule into Fuzzy
fuzzy->addFuzzyRule(fuzzyRule03);
// get a random value
int input = random(0, 100);
// Printing something
cout << "\n\n\nEntrance: \n\t\t\tDistance: " << input << endl;
// Set the random value as an input
fuzzy->setInput(1, input);
// Running the Fuzzification
fuzzy->fuzzify();
// Running the Defuzzification
float output = fuzzy->defuzzify(1);
// Printing something
cout << "Result: \n\t\t\tSpeed: " << output << endl;
return 0;
}
TEST(Fuzzy, setInputAndFuzzifyAndDefuzzify07){
Fuzzy* fuzzy = new Fuzzy();
// FuzzyInput
FuzzyInput* distance = new FuzzyInput(1);
FuzzySet* close = new FuzzySet(0, 20, 20, 40);
distance->addFuzzySet(close);
FuzzySet* safe = new FuzzySet(30, 50, 50, 70);
distance->addFuzzySet(safe);
FuzzySet* distante = new FuzzySet(60, 80, 100, 100);
distance->addFuzzySet(distante);
fuzzy->addFuzzyInput(distance);
// FuzzyInput
FuzzyInput* temperature = new FuzzyInput(2);
FuzzySet* cold = new FuzzySet(-30, -30, -20, -10);
temperature->addFuzzySet(cold);
FuzzySet* good = new FuzzySet(-15, 0, 0, 15);
temperature->addFuzzySet(good);
FuzzySet* hot = new FuzzySet(10, 20, 30, 30);
temperature->addFuzzySet(hot);
fuzzy->addFuzzyInput(temperature);
// FuzzyOutput
FuzzyOutput* risk = new FuzzyOutput(1);
FuzzySet* minimum = new FuzzySet(0, 20, 20, 40);
risk->addFuzzySet(minimum);
FuzzySet* average = new FuzzySet(30, 50, 50, 70);
risk->addFuzzySet(average);
FuzzySet* maximum = new FuzzySet(60, 80, 80, 100);
risk->addFuzzySet(maximum);
fuzzy->addFuzzyOutput(risk);
// Building FuzzyRule
FuzzyRuleAntecedent* ifDistanceCloseAndTemperatureCold = new FuzzyRuleAntecedent();
ifDistanceCloseAndTemperatureCold->joinWithAND(close, cold);
FuzzyRuleConsequent* thenRiskMinimum1 = new FuzzyRuleConsequent();
thenRiskMinimum1->addOutput(minimum);
FuzzyRule* fuzzyRule1 = new FuzzyRule(1, ifDistanceCloseAndTemperatureCold, thenRiskMinimum1);
fuzzy->addFuzzyRule(fuzzyRule1);
// Building FuzzyRule
FuzzyRuleAntecedent* ifDistanceCloseAndTemperatureGood = new FuzzyRuleAntecedent();
ifDistanceCloseAndTemperatureGood->joinWithAND(close, good);
FuzzyRuleConsequent* thenRiskMinimum2 = new FuzzyRuleConsequent();
thenRiskMinimum2->addOutput(minimum);
FuzzyRule* fuzzyRule2 = new FuzzyRule(2, ifDistanceCloseAndTemperatureGood, thenRiskMinimum2);
fuzzy->addFuzzyRule(fuzzyRule2);
// Building FuzzyRule
FuzzyRuleAntecedent* ifDistanceSafeAndTemperatureCold = new FuzzyRuleAntecedent();
ifDistanceSafeAndTemperatureCold->joinWithAND(safe, cold);
FuzzyRuleConsequent* thenRiskMinimum3 = new FuzzyRuleConsequent();
thenRiskMinimum3->addOutput(minimum);
FuzzyRule* fuzzyRule3 = new FuzzyRule(3, ifDistanceSafeAndTemperatureCold, thenRiskMinimum3);
fuzzy->addFuzzyRule(fuzzyRule3);
fuzzy->setInput(1, 10);
fuzzy->setInput(2, -5);
fuzzy->fuzzify();
float output = fuzzy->defuzzify(1);
EXPECT_EQ(20.0, output);
}
TEST(Fuzzy, setInputAndFuzzifyAndDefuzzify06){
Fuzzy* fuzzy = new Fuzzy();
// FuzzyInput
FuzzyInput* distance = new FuzzyInput(1);
FuzzySet* close = new FuzzySet(0, 20, 20, 40);
distance->addFuzzySet(close);
FuzzySet* safe = new FuzzySet(30, 50, 50, 70);
distance->addFuzzySet(safe);
FuzzySet* distante = new FuzzySet(60, 80, 100, 100);
distance->addFuzzySet(distante);
fuzzy->addFuzzyInput(distance);
// FuzzyInput
FuzzyInput* inputSpeed = new FuzzyInput(2);
FuzzySet* stoped = new FuzzySet(0, 0, 0, 0);
inputSpeed->addFuzzySet(stoped);
FuzzySet* slow = new FuzzySet(1, 10, 10, 20);
inputSpeed->addFuzzySet(slow);
FuzzySet* normal = new FuzzySet(15, 30, 30, 50);
inputSpeed->addFuzzySet(normal);
FuzzySet* quick = new FuzzySet(45, 60, 70, 70);
inputSpeed->addFuzzySet(quick);
fuzzy->addFuzzyInput(inputSpeed);
// FuzzyInput
FuzzyInput* temperature = new FuzzyInput(3);
FuzzySet* cold = new FuzzySet(-30, -30, -20, -10);
temperature->addFuzzySet(cold);
FuzzySet* good = new FuzzySet(-15, 0, 0, 15);
temperature->addFuzzySet(good);
FuzzySet* hot = new FuzzySet(10, 20, 30, 30);
temperature->addFuzzySet(hot);
fuzzy->addFuzzyInput(temperature);
// FuzzyOutput
FuzzyOutput* risk = new FuzzyOutput(1);
FuzzySet* minimum = new FuzzySet(0, 20, 20, 40);
risk->addFuzzySet(minimum);
FuzzySet* average = new FuzzySet(30, 50, 50, 70);
risk->addFuzzySet(average);
FuzzySet* maximum = new FuzzySet(60, 80, 80, 100);
risk->addFuzzySet(maximum);
fuzzy->addFuzzyOutput(risk);
// FuzzyOutput
// adicionando speed como output também
FuzzyOutput* outputSpeed = new FuzzyOutput(2);
FuzzySet* stopedOut = new FuzzySet(0, 0, 0, 0);
outputSpeed->addFuzzySet(stopedOut);
FuzzySet* slowOut = new FuzzySet(1, 10, 10, 20);
outputSpeed->addFuzzySet(slowOut);
FuzzySet* normalOut = new FuzzySet(15, 30, 30, 50);
outputSpeed->addFuzzySet(normalOut);
FuzzySet* quickOut = new FuzzySet(45, 60, 70, 70);
outputSpeed->addFuzzySet(quickOut);
fuzzy->addFuzzyOutput(outputSpeed);
// Building FuzzyRule
FuzzyRuleAntecedent* distanceCloseAndSpeedQuick = new FuzzyRuleAntecedent();
distanceCloseAndSpeedQuick->joinWithAND(close, quick);
FuzzyRuleAntecedent* temperatureCold = new FuzzyRuleAntecedent();
temperatureCold->joinSingle(cold);
FuzzyRuleAntecedent* ifDistanceCloseAndSpeedQuickOrTemperatureCold = new FuzzyRuleAntecedent();
ifDistanceCloseAndSpeedQuickOrTemperatureCold->joinWithOR(distanceCloseAndSpeedQuick, temperatureCold);
FuzzyRuleConsequent* thenRisMaximumAndSpeedSlow = new FuzzyRuleConsequent();
thenRisMaximumAndSpeedSlow->addOutput(maximum);
thenRisMaximumAndSpeedSlow->addOutput(slowOut);
FuzzyRule* fuzzyRule1 = new FuzzyRule(1, ifDistanceCloseAndSpeedQuickOrTemperatureCold, thenRisMaximumAndSpeedSlow);
fuzzy->addFuzzyRule(fuzzyRule1);
// Building FuzzyRule
FuzzyRuleAntecedent* distanceSafeAndSpeedNormal = new FuzzyRuleAntecedent();
distanceSafeAndSpeedNormal->joinWithAND(safe, normal);
FuzzyRuleAntecedent* ifDistanceSafeAndSpeedNormalOrTemperatureGood = new FuzzyRuleAntecedent();
ifDistanceSafeAndSpeedNormalOrTemperatureGood->joinWithOR(distanceSafeAndSpeedNormal, good);
FuzzyRuleConsequent* thenRiskAverageAndSpeedNormal = new FuzzyRuleConsequent();
thenRiskAverageAndSpeedNormal->addOutput(average);
thenRiskAverageAndSpeedNormal->addOutput(normalOut);
FuzzyRule* fuzzyRule2 = new FuzzyRule(2, ifDistanceSafeAndSpeedNormalOrTemperatureGood, thenRiskAverageAndSpeedNormal);
fuzzy->addFuzzyRule(fuzzyRule2);
// Building FuzzyRule
FuzzyRuleAntecedent* distanceDistanteAndSpeedSlow = new FuzzyRuleAntecedent();
distanceDistanteAndSpeedSlow->joinWithAND(distante, slow);
FuzzyRuleAntecedent* ifDistanceDistanteAndSpeedSlowOrTemperatureHot = new FuzzyRuleAntecedent();
ifDistanceDistanteAndSpeedSlowOrTemperatureHot->joinWithOR(distanceDistanteAndSpeedSlow, hot);
FuzzyRuleConsequent* thenRiskMinimumSpeedQuick = new FuzzyRuleConsequent();
thenRiskMinimumSpeedQuick->addOutput(minimum);
thenRiskMinimumSpeedQuick->addOutput(quickOut);
FuzzyRule* fuzzyRule3 = new FuzzyRule(3, ifDistanceDistanteAndSpeedSlowOrTemperatureHot, thenRiskMinimumSpeedQuick);
fuzzy->addFuzzyRule(fuzzyRule3);
fuzzy->setInput(1, 10);
fuzzy->setInput(2, 30);
fuzzy->setInput(3, -15);
fuzzy->fuzzify();
float output1 = fuzzy->defuzzify(1);
float output2 = fuzzy->defuzzify(2);
EXPECT_EQ(80.0, output1);
EXPECT_EQ(10.5, output2);
}
TEST(Fuzzy, setInputAndFuzzifyAndDefuzzify05){
Fuzzy* fuzzy = new Fuzzy();
// FuzzyInput
FuzzyInput* temperature = new FuzzyInput(1);
FuzzySet* low = new FuzzySet(-20, -20, -20, -20);
temperature->addFuzzySet(low);
FuzzySet* mean = new FuzzySet(-10, -10, -10, -10);
temperature->addFuzzySet(mean);
FuzzySet* high = new FuzzySet(10, 10, 10, 10);
temperature->addFuzzySet(high);
fuzzy->addFuzzyInput(temperature);
// FuzzyInput
FuzzyInput* pressure = new FuzzyInput(2);
FuzzySet* small = new FuzzySet(-20, -20, -20, -20);
pressure->addFuzzySet(small);
FuzzySet* normal = new FuzzySet(-10, -10, -10, -10);
pressure->addFuzzySet(normal);
FuzzySet* big = new FuzzySet(10, 10, 10, 10);
pressure->addFuzzySet(big);
fuzzy->addFuzzyInput(pressure);
// FuzzyOutput
FuzzyOutput* risk = new FuzzyOutput(1);
FuzzySet* minimum = new FuzzySet(-20, -20, -20, -20);
risk->addFuzzySet(minimum);
FuzzySet* average = new FuzzySet(-10, -10, -10, -10);
risk->addFuzzySet(average);
FuzzySet* maximum = new FuzzySet(10, 10, 10, 10);
risk->addFuzzySet(maximum);
fuzzy->addFuzzyOutput(risk);
// Building FuzzyRule
FuzzyRuleAntecedent* ifTemperatureLowAndPressureSmall = new FuzzyRuleAntecedent();
ifTemperatureLowAndPressureSmall->joinWithAND(low, small);
FuzzyRuleConsequent* thenRiskMinimum = new FuzzyRuleConsequent();
thenRiskMinimum->addOutput(minimum);
FuzzyRule* fuzzyRule1 = new FuzzyRule(1, ifTemperatureLowAndPressureSmall, thenRiskMinimum);
fuzzy->addFuzzyRule(fuzzyRule1);
// Building FuzzyRule
FuzzyRuleAntecedent* ifTemperatureMeanAndPressureNormal = new FuzzyRuleAntecedent();
ifTemperatureMeanAndPressureNormal->joinWithAND(mean, normal);
FuzzyRuleConsequent* theRiskAverage = new FuzzyRuleConsequent();
theRiskAverage->addOutput(average);
FuzzyRule* fuzzyRule2 = new FuzzyRule(2, ifTemperatureMeanAndPressureNormal, theRiskAverage);
fuzzy->addFuzzyRule(fuzzyRule2);
// Building FuzzyRule
FuzzyRuleAntecedent* ifTemperatureHighAndPressureBig = new FuzzyRuleAntecedent();
ifTemperatureHighAndPressureBig->joinWithAND(high, big);
FuzzyRuleConsequent* thenRiskMaximum = new FuzzyRuleConsequent();
thenRiskMaximum->addOutput(maximum);
FuzzyRule* fuzzyRule3 = new FuzzyRule(3, ifTemperatureHighAndPressureBig, thenRiskMaximum);
fuzzy->addFuzzyRule(fuzzyRule3);
fuzzy->setInput(1, -20);
fuzzy->setInput(2, -15);
fuzzy->fuzzify();
float output = fuzzy->defuzzify(1);
EXPECT_EQ(output, 0.0);
}
TEST(Fuzzy, setInputAndFuzzifyAndDefuzzify01){
Fuzzy* fuzzy = new Fuzzy();
// FuzzyInput
FuzzyInput* temperature = new FuzzyInput(1);
FuzzySet* low = new FuzzySet(0, 10, 10, 20);
temperature->addFuzzySet(low);
FuzzySet* mean = new FuzzySet(10, 20, 30, 40);
temperature->addFuzzySet(mean);
FuzzySet* high = new FuzzySet(30, 40, 40, 50);
temperature->addFuzzySet(high);
fuzzy->addFuzzyInput(temperature);
// FuzzyOutput
FuzzyOutput* climate = new FuzzyOutput(1);
FuzzySet* cold = new FuzzySet(0, 10, 10, 20);
climate->addFuzzySet(cold);
FuzzySet* good = new FuzzySet(10, 20, 30, 40);
climate->addFuzzySet(good);
FuzzySet* hot = new FuzzySet(30, 40, 40, 50);
climate->addFuzzySet(hot);
fuzzy->addFuzzyOutput(climate);
// Building FuzzyRule
FuzzyRuleAntecedent* ifTemperatureLow = new FuzzyRuleAntecedent();
ifTemperatureLow->joinSingle(low);
FuzzyRuleConsequent* thenClimateCold = new FuzzyRuleConsequent();
thenClimateCold->addOutput(cold);
FuzzyRule* fuzzyRule1 = new FuzzyRule(1, ifTemperatureLow, thenClimateCold);
fuzzy->addFuzzyRule(fuzzyRule1);
// Building FuzzyRule
FuzzyRuleAntecedent* ifTemperatureMean = new FuzzyRuleAntecedent();
ifTemperatureMean->joinSingle(mean);
FuzzyRuleConsequent* thenClimateGood = new FuzzyRuleConsequent();
thenClimateGood->addOutput(good);
FuzzyRule* fuzzyRule2 = new FuzzyRule(2, ifTemperatureMean, thenClimateGood);
fuzzy->addFuzzyRule(fuzzyRule2);
// Building FuzzyRule
FuzzyRuleAntecedent* ifTemperatureHigh = new FuzzyRuleAntecedent();
ifTemperatureHigh->joinSingle(low);
FuzzyRuleConsequent* thenClimateHot = new FuzzyRuleConsequent();
thenClimateHot->addOutput(cold);
FuzzyRule* fuzzyRule3 = new FuzzyRule(3, ifTemperatureHigh, thenClimateHot);
fuzzy->addFuzzyRule(fuzzyRule3);
bool result1 = fuzzy->setInput(1, 15);
bool result2 = fuzzy->fuzzify();
float output = fuzzy->defuzzify(1);
EXPECT_TRUE(result1);
EXPECT_TRUE(result2);
EXPECT_GT(output, 0.0);
}
TEST(Fuzzy, setInputAndFuzzifyAndDefuzzify09){
// Instantiating an object of library
Fuzzy* fuzzy = new Fuzzy();
FuzzyInput* shift;
FuzzyInput* distance;
FuzzyOutput* steeringangle;
FuzzyOutput* runningspeed;
FuzzyRuleAntecedent* ifShiftS_4AndDistanceD_0;
FuzzyRuleConsequent* thenSteeringangleAng_4AndRunningspeedSpeed_2;
FuzzyRule* fuzzyRule1;
FuzzyRuleAntecedent* ifShiftS_4AndDistanceD_1;
FuzzyRuleConsequent* thenSteeringangleAng_4AndRunningspeedSpeed_1;
FuzzyRule* fuzzyRule2;
FuzzyRuleAntecedent* ifShiftS_4AndDistanceD_2;
FuzzyRule* fuzzyRule3;
FuzzyRuleAntecedent* ifShiftS_4AndDistanceD_3;
FuzzyRuleConsequent* thenSteeringangleAng_4AndRunningspeedSpeed_0;
FuzzyRule *fuzzyRule4;
FuzzyRuleAntecedent* ifShiftS_4AndDistanceD_4;
FuzzyRule* fuzzyRule5;
FuzzyRuleAntecedent* ifShiftS_3AndDistanceD_0;
FuzzyRuleConsequent* thenSteeringangleAng_3AndRunningspeedSpeed_3;
FuzzyRule* fuzzyRule6;
FuzzyRuleAntecedent* ifShiftS_3AndDistanceD_1;
FuzzyRuleConsequent* thenSteeringangleAng_3AndRunningspeedSpeed_2;
FuzzyRule* fuzzyRule7;
FuzzyRuleAntecedent* ifShiftS_3AndDistanceD_2;
FuzzyRuleConsequent* thenSteeringangleAng_3AndRunningspeedSpeed_1;
FuzzyRule* fuzzyRule8;
FuzzyRuleAntecedent* ifShiftS_3AndDistanceD_3;
FuzzyRule* fuzzyRule9;
FuzzyRuleAntecedent* ifShiftS_3AndDistanceD_4;
FuzzyRuleConsequent* thenSteeringangleAng_3AndRunningspeedSpeed_0;
FuzzyRule* fuzzyRule10;
FuzzyRuleAntecedent* ifShiftS_2;
FuzzyRuleConsequent* thenSteeringangleAng_2AndRunningspeedSpeed_4;
FuzzyRule* fuzzyRule11;
FuzzyRuleAntecedent* ifShiftS_1AndDistanceD_0;
FuzzyRuleConsequent* thenSteeringangleAng_1AndRunningspeedSpeed_3;
FuzzyRule* fuzzyRule12;
FuzzyRuleAntecedent* ifShiftS_1AndDistanceD_1;
FuzzyRuleConsequent* thenSteeringangleAng_1AndRunningspeedSpeed_2;
FuzzyRule* fuzzyRule13;
FuzzyRuleAntecedent* ifShiftS_1AndDistanceD_2;
FuzzyRuleConsequent* thenSteeringangleAng_1AndRunningspeedSpeed_1;
FuzzyRule* fuzzyRule14;
FuzzyRuleAntecedent* ifShiftS_1AndDistanceD_3;
FuzzyRule* fuzzyRule15;
FuzzyRuleAntecedent* ifShiftS_1AndDistanceD_4;
FuzzyRuleConsequent* thenSteeringangleAng_1AndRunningspeedSpeed_0;
FuzzyRule* fuzzyRule16;
FuzzyRuleAntecedent* ifShiftS_0AndDistanceD_0;
FuzzyRuleConsequent* thenSteeringangleAng_0AndRunningspeedSpeed_2;
FuzzyRule* fuzzyRule17;
FuzzyRuleAntecedent* ifShiftS_0AndDistanceD_1;
FuzzyRuleConsequent* thenSteeringangleAng_0AndRunningspeedSpeed_1;
FuzzyRule* fuzzyRule18;
FuzzyRuleAntecedent* ifShiftS_0AndDistanceD_2;
FuzzyRule* fuzzyRule19;
FuzzyRuleAntecedent* ifShiftS_0AndDistanceD_3;
FuzzyRuleConsequent* thenSteeringangleAng_0AndRunningspeedSpeed_0;
FuzzyRule* fuzzyRule20;
FuzzyRuleAntecedent* ifShiftS_0AndDistanceD_4;
FuzzyRule* fuzzyRule21;
// Fuzzy set
FuzzySet* s_0 = new FuzzySet (9, 21, 21, 33); //veri left
FuzzySet* s_1 = new FuzzySet (24, 31.5, 31.5, 39 ); //medium left
FuzzySet* s_2 = new FuzzySet (35, 39, 39, 43); //zero
FuzzySet* s_3 = new FuzzySet (39, 46.5, 46.5, 54); //medium right
FuzzySet* s_4 = new FuzzySet (45, 57, 57, 69); //very right
FuzzySet* d_0 = new FuzzySet (0, 5, 5, 10); //farthest
FuzzySet* d_1 = new FuzzySet (5, 10, 10, 15); //far
FuzzySet* d_2 = new FuzzySet (10, 15, 15, 20); //middle
FuzzySet* d_3 = new FuzzySet (15, 25, 25, 35); //near
FuzzySet* d_4 = new FuzzySet (25, 42, 42, 59); //nearest
FuzzySet* ang_0 = new FuzzySet (60, 70, 70, 80); //leftmost
FuzzySet* ang_1 = new FuzzySet (69, 79, 79, 89); //left
FuzzySet* ang_2 = new FuzzySet (88, 90, 90, 92); //middle
FuzzySet* ang_3 = new FuzzySet (91, 101, 101, 111); //right
FuzzySet* ang_4 = new FuzzySet (100, 110, 110, 120); // rightmost
FuzzySet* speed_0 = new FuzzySet (50, 75, 75, 100); //very slow
FuzzySet* speed_1 = new FuzzySet (75, 110, 110, 145); //slow
FuzzySet* speed_2 = new FuzzySet (120, 150, 150, 180); //middle
FuzzySet* speed_3 = new FuzzySet (155, 190, 190, 225); //fast
FuzzySet* speed_4 = new FuzzySet (200, 225, 225, 250); //veryfast
// Fuzzy input
shift = new FuzzyInput(1);
shift-> addFuzzySet(s_0);
shift-> addFuzzySet(s_1);
shift-> addFuzzySet(s_2);
shift-> addFuzzySet(s_3);
shift-> addFuzzySet(s_4);
fuzzy->addFuzzyInput(shift);
distance = new FuzzyInput(2);
distance-> addFuzzySet(d_0);
distance-> addFuzzySet(d_1);
distance-> addFuzzySet(d_2);
distance-> addFuzzySet(d_3);
distance-> addFuzzySet(d_4);
fuzzy->addFuzzyInput(distance);
// Fuzzy output
steeringangle = new FuzzyOutput(1);
steeringangle-> addFuzzySet(ang_0);
steeringangle-> addFuzzySet(ang_1);
steeringangle-> addFuzzySet(ang_2);
steeringangle-> addFuzzySet(ang_3);
steeringangle-> addFuzzySet(ang_4);
fuzzy-> addFuzzyOutput(steeringangle);
runningspeed = new FuzzyOutput(2);
runningspeed-> addFuzzySet(speed_0);
runningspeed-> addFuzzySet(speed_1);
runningspeed-> addFuzzySet(speed_2);
runningspeed-> addFuzzySet(speed_3);
fuzzy-> addFuzzyOutput(runningspeed);
// Fuzzy rule
ifShiftS_4AndDistanceD_0 = new FuzzyRuleAntecedent();
ifShiftS_4AndDistanceD_0 ->joinWithAND(s_4,d_0);
thenSteeringangleAng_4AndRunningspeedSpeed_2 = new FuzzyRuleConsequent();
thenSteeringangleAng_4AndRunningspeedSpeed_2->addOutput(ang_4);
thenSteeringangleAng_4AndRunningspeedSpeed_2->addOutput(speed_2);
fuzzyRule1 = new FuzzyRule(1, ifShiftS_4AndDistanceD_0, thenSteeringangleAng_4AndRunningspeedSpeed_2);
fuzzy->addFuzzyRule(fuzzyRule1);
ifShiftS_4AndDistanceD_1 = new FuzzyRuleAntecedent();
ifShiftS_4AndDistanceD_1 ->joinWithAND(s_4,d_1);
thenSteeringangleAng_4AndRunningspeedSpeed_1 = new FuzzyRuleConsequent();
thenSteeringangleAng_4AndRunningspeedSpeed_1->addOutput(ang_4);
thenSteeringangleAng_4AndRunningspeedSpeed_1->addOutput(speed_1);
fuzzyRule2 = new FuzzyRule(2, ifShiftS_4AndDistanceD_1, thenSteeringangleAng_4AndRunningspeedSpeed_1);
fuzzy->addFuzzyRule(fuzzyRule2);
ifShiftS_4AndDistanceD_2 = new FuzzyRuleAntecedent();
ifShiftS_4AndDistanceD_2->joinWithAND(s_4, d_2);
// FuzzyRuleConsequent* thenSteeringangleAng_4AndRunningspeedSpeed_1 = new FuzzyRuleConsequent();
// thenSteeringangleAng_4AndRunningspeedSpeed_1->addOutput(ang_4);
// thenSteeringangleAng_4AndRunningspeedSpeed_1->addOutput(speed_1);
fuzzyRule3 = new FuzzyRule(3, ifShiftS_4AndDistanceD_2, thenSteeringangleAng_4AndRunningspeedSpeed_1);
fuzzy->addFuzzyRule(fuzzyRule3);
ifShiftS_4AndDistanceD_3 = new FuzzyRuleAntecedent();
ifShiftS_4AndDistanceD_3->joinWithAND(s_4,d_3);
thenSteeringangleAng_4AndRunningspeedSpeed_0 = new FuzzyRuleConsequent();
thenSteeringangleAng_4AndRunningspeedSpeed_0->addOutput(ang_4);
thenSteeringangleAng_4AndRunningspeedSpeed_0->addOutput(speed_0);
fuzzyRule4 = new FuzzyRule(4, ifShiftS_4AndDistanceD_3, thenSteeringangleAng_4AndRunningspeedSpeed_0);
fuzzy->addFuzzyRule(fuzzyRule4);
ifShiftS_4AndDistanceD_4 = new FuzzyRuleAntecedent();
ifShiftS_4AndDistanceD_4->joinWithAND(s_4,d_4);
// FuzzyRuleConsequent* thenSteeringangleAng_4AndRunningspeedSpeed_0 = new FuzzyRuleConsequent();
// thenSteeringangleAng_4AndRunningspeedSpeed_0->addOutput(ang_4);
// thenSteeringangleAng_4AndRunningspeedSpeed_0->addOutput(speed_0);
fuzzyRule5 = new FuzzyRule(5, ifShiftS_4AndDistanceD_4, thenSteeringangleAng_4AndRunningspeedSpeed_0);
fuzzy->addFuzzyRule(fuzzyRule5);
ifShiftS_3AndDistanceD_0 = new FuzzyRuleAntecedent();
ifShiftS_3AndDistanceD_0->joinWithAND(s_3,d_0);
thenSteeringangleAng_3AndRunningspeedSpeed_3 = new FuzzyRuleConsequent();
thenSteeringangleAng_3AndRunningspeedSpeed_3->addOutput(ang_3);
thenSteeringangleAng_3AndRunningspeedSpeed_3->addOutput(speed_3);
fuzzyRule6 = new FuzzyRule(6, ifShiftS_3AndDistanceD_0, thenSteeringangleAng_3AndRunningspeedSpeed_3);
fuzzy->addFuzzyRule(fuzzyRule6);
ifShiftS_3AndDistanceD_1 = new FuzzyRuleAntecedent();
ifShiftS_3AndDistanceD_1->joinWithAND(s_3,d_1);
thenSteeringangleAng_3AndRunningspeedSpeed_2 = new FuzzyRuleConsequent();
thenSteeringangleAng_3AndRunningspeedSpeed_2->addOutput(ang_3);
thenSteeringangleAng_3AndRunningspeedSpeed_2->addOutput(speed_2);
fuzzyRule7 = new FuzzyRule(7, ifShiftS_3AndDistanceD_1, thenSteeringangleAng_3AndRunningspeedSpeed_2);
fuzzy->addFuzzyRule(fuzzyRule7);
ifShiftS_3AndDistanceD_2 = new FuzzyRuleAntecedent();
ifShiftS_3AndDistanceD_2->joinWithAND(s_3,d_2);
thenSteeringangleAng_3AndRunningspeedSpeed_1 = new FuzzyRuleConsequent();
thenSteeringangleAng_3AndRunningspeedSpeed_1->addOutput(ang_3);
thenSteeringangleAng_3AndRunningspeedSpeed_1->addOutput(speed_1);
fuzzyRule8 = new FuzzyRule(8, ifShiftS_3AndDistanceD_2, thenSteeringangleAng_3AndRunningspeedSpeed_1);
fuzzy->addFuzzyRule(fuzzyRule8);
ifShiftS_3AndDistanceD_3 = new FuzzyRuleAntecedent();
ifShiftS_3AndDistanceD_3->joinWithAND(s_3,d_3);
// FuzzyRuleConsequent* thenSteeringangleAng_3AndRunningspeedSpeed_1 = new FuzzyRuleConsequent();
// thenSteeringangleAng_3AndRunningspeedSpeed_1->addOutput(ang_3);
// thenSteeringangleAng_3AndRunningspeedSpeed_1->addOutput(speed_1);
fuzzyRule9 = new FuzzyRule(9, ifShiftS_3AndDistanceD_3, thenSteeringangleAng_3AndRunningspeedSpeed_1);
fuzzy->addFuzzyRule(fuzzyRule9);
ifShiftS_3AndDistanceD_4 = new FuzzyRuleAntecedent();
ifShiftS_3AndDistanceD_4->joinWithAND(s_3,d_4);
thenSteeringangleAng_3AndRunningspeedSpeed_0 = new FuzzyRuleConsequent();
thenSteeringangleAng_3AndRunningspeedSpeed_0->addOutput(ang_3);
thenSteeringangleAng_3AndRunningspeedSpeed_0->addOutput(speed_0);
fuzzyRule10 = new FuzzyRule(10, ifShiftS_3AndDistanceD_4, thenSteeringangleAng_3AndRunningspeedSpeed_0);
fuzzy->addFuzzyRule(fuzzyRule10);
ifShiftS_2 = new FuzzyRuleAntecedent();
ifShiftS_2->joinSingle(s_2);
thenSteeringangleAng_2AndRunningspeedSpeed_4 = new FuzzyRuleConsequent();
thenSteeringangleAng_2AndRunningspeedSpeed_4->addOutput(ang_2);
thenSteeringangleAng_2AndRunningspeedSpeed_4->addOutput(speed_4);
fuzzyRule11 = new FuzzyRule(11, ifShiftS_2, thenSteeringangleAng_2AndRunningspeedSpeed_4);
fuzzy->addFuzzyRule(fuzzyRule11);
ifShiftS_1AndDistanceD_0 = new FuzzyRuleAntecedent();
ifShiftS_1AndDistanceD_0->joinWithAND(s_1,d_0);
thenSteeringangleAng_1AndRunningspeedSpeed_3 = new FuzzyRuleConsequent();
thenSteeringangleAng_1AndRunningspeedSpeed_3->addOutput(ang_1);
thenSteeringangleAng_1AndRunningspeedSpeed_3->addOutput(speed_3);
fuzzyRule12 = new FuzzyRule(12, ifShiftS_1AndDistanceD_0, thenSteeringangleAng_1AndRunningspeedSpeed_3);
fuzzy->addFuzzyRule(fuzzyRule12);
ifShiftS_1AndDistanceD_1 = new FuzzyRuleAntecedent();
ifShiftS_1AndDistanceD_1->joinWithAND(s_1,d_1);
thenSteeringangleAng_1AndRunningspeedSpeed_2 = new FuzzyRuleConsequent();
thenSteeringangleAng_1AndRunningspeedSpeed_2->addOutput(ang_1);
thenSteeringangleAng_1AndRunningspeedSpeed_2->addOutput(speed_2);
fuzzyRule13 = new FuzzyRule(13, ifShiftS_1AndDistanceD_1, thenSteeringangleAng_1AndRunningspeedSpeed_2);
fuzzy->addFuzzyRule(fuzzyRule13);
ifShiftS_1AndDistanceD_2 = new FuzzyRuleAntecedent();
ifShiftS_1AndDistanceD_2->joinWithAND(s_1,d_2);
thenSteeringangleAng_1AndRunningspeedSpeed_1 = new FuzzyRuleConsequent();
thenSteeringangleAng_1AndRunningspeedSpeed_1->addOutput(ang_1);
thenSteeringangleAng_1AndRunningspeedSpeed_1->addOutput(speed_1);
fuzzyRule14 = new FuzzyRule(14, ifShiftS_1AndDistanceD_2, thenSteeringangleAng_1AndRunningspeedSpeed_1);
fuzzy->addFuzzyRule(fuzzyRule14);
ifShiftS_1AndDistanceD_3 = new FuzzyRuleAntecedent();
ifShiftS_1AndDistanceD_3->joinWithAND(s_1,d_3);
// FuzzyRuleConsequent* thenSteeringangleAng_1AndRunningspeedSpeed_1 = new FuzzyRuleConsequent();
// thenSteeringangleAng_1AndRunningspeedSpeed_1->addOutput(ang_1);
// thenSteeringangleAng_1AndRunningspeedSpeed_1->addOutput(speed_1);
fuzzyRule15 = new FuzzyRule(15, ifShiftS_1AndDistanceD_3, thenSteeringangleAng_1AndRunningspeedSpeed_1);
fuzzy->addFuzzyRule(fuzzyRule15);
ifShiftS_1AndDistanceD_4 = new FuzzyRuleAntecedent();
ifShiftS_1AndDistanceD_4->joinWithAND(s_1,d_4);
thenSteeringangleAng_1AndRunningspeedSpeed_0 = new FuzzyRuleConsequent();
thenSteeringangleAng_1AndRunningspeedSpeed_0->addOutput(ang_1);
thenSteeringangleAng_1AndRunningspeedSpeed_0->addOutput(speed_0);
fuzzyRule16 = new FuzzyRule(16, ifShiftS_1AndDistanceD_4, thenSteeringangleAng_1AndRunningspeedSpeed_0);
fuzzy->addFuzzyRule(fuzzyRule16);
ifShiftS_0AndDistanceD_0 = new FuzzyRuleAntecedent();
ifShiftS_0AndDistanceD_0->joinWithAND(s_0,d_0);
thenSteeringangleAng_0AndRunningspeedSpeed_2 = new FuzzyRuleConsequent();
thenSteeringangleAng_0AndRunningspeedSpeed_2->addOutput(ang_0);
thenSteeringangleAng_0AndRunningspeedSpeed_2->addOutput(speed_2);
fuzzyRule17 = new FuzzyRule(17, ifShiftS_0AndDistanceD_0, thenSteeringangleAng_0AndRunningspeedSpeed_2);
fuzzy->addFuzzyRule(fuzzyRule17);
ifShiftS_0AndDistanceD_1 = new FuzzyRuleAntecedent();
ifShiftS_0AndDistanceD_1->joinWithAND(s_0,d_1);
thenSteeringangleAng_0AndRunningspeedSpeed_1 = new FuzzyRuleConsequent();
thenSteeringangleAng_0AndRunningspeedSpeed_1->addOutput(ang_0);
thenSteeringangleAng_0AndRunningspeedSpeed_1->addOutput(speed_1);
fuzzyRule18 = new FuzzyRule(18, ifShiftS_0AndDistanceD_1, thenSteeringangleAng_0AndRunningspeedSpeed_1);
fuzzy->addFuzzyRule(fuzzyRule18);
ifShiftS_0AndDistanceD_2 = new FuzzyRuleAntecedent();
ifShiftS_0AndDistanceD_2->joinWithAND(s_0,d_2);
// FuzzyRuleConsequent* thenSteeringangleAng_0AndRunningspeedSpeed_1 = new FuzzyRuleConsequent();
// thenSteeringangleAng_0AndRunningspeedSpeed_1->addOutput(ang_0);
// thenSteeringangleAng_0AndRunningspeedSpeed_1->addOutput(speed_1);
fuzzyRule19 = new FuzzyRule(19, ifShiftS_0AndDistanceD_2, thenSteeringangleAng_0AndRunningspeedSpeed_1);
fuzzy->addFuzzyRule(fuzzyRule19);
ifShiftS_0AndDistanceD_3 = new FuzzyRuleAntecedent();
ifShiftS_0AndDistanceD_3->joinWithAND(s_0,d_3);
thenSteeringangleAng_0AndRunningspeedSpeed_0 = new FuzzyRuleConsequent();
thenSteeringangleAng_0AndRunningspeedSpeed_0->addOutput(ang_0);
thenSteeringangleAng_0AndRunningspeedSpeed_0->addOutput(speed_0);
fuzzyRule20 = new FuzzyRule(20, ifShiftS_0AndDistanceD_3, thenSteeringangleAng_0AndRunningspeedSpeed_0);
fuzzy->addFuzzyRule(fuzzyRule20);
ifShiftS_0AndDistanceD_4 = new FuzzyRuleAntecedent();
ifShiftS_0AndDistanceD_4->joinWithAND(s_0,d_4);
// FuzzyRuleConsequent* thenSteeringangleAng_0AndRunningspeedSpeed_0 = new FuzzyRuleConsequent();
// thenSteeringangleAng_0AndRunningspeedSpeed_0->addOutput(ang_0);
// thenSteeringangleAng_0AndRunningspeedSpeed_0->addOutput(speed_0);
fuzzyRule21 = new FuzzyRule(21, ifShiftS_0AndDistanceD_4, thenSteeringangleAng_0AndRunningspeedSpeed_0);
fuzzy->addFuzzyRule(fuzzyRule21);
int target_x = 21.88; // key in the digital value
int target_y = 32;
// target_x and target_y are the inputs
fuzzy->setInput(1, target_x); // shift
fuzzy->setInput(2, target_y); // deistance
fuzzy->fuzzify(); // Executing the fuzzification
// float output1 = fuzzy->defuzzify(1); // steering angle
float output2 = fuzzy->defuzzify(2); // running speed
// EXPECT_EQ(70, output1);
EXPECT_EQ(75, output2);
}
