def test_output_variable_changing_one_set_and_rule(self):
" should return the correct output when changing all the sets to the new instance of same value, and changing the corresponding rule "
from fuzzy_modeling.models import OutputVariableModel
from fuzzy.norm.AlgebraicSum import AlgebraicSum
from fuzzy.norm.AlgebraicProduct import AlgebraicProduct
from fuzzy.Adjective import Adjective
from fuzzy.set.Polygon import Polygon
from fuzzy.defuzzify.COG import COG
pyfuzzy_system_expected = self._createSystem()
new_pyfuzzy_system = self._createSystem()
INF = AlgebraicProduct()
ACC = AlgebraicSum()
COM = AlgebraicSum()
COG = COG(INF=INF, ACC=ACC, failsafe=0., segment_size=0.5)
acceleration = new_pyfuzzy_system.variables['a']
acceleration.adjectives['right_fast'] = a_right_fast = Adjective(
Polygon([(10., 0.), (20., 1.), (50., 0.)]), COM=COM)
new_pyfuzzy_system.rules['far right'].adjective = a_right_fast
import math
input_dict = {}
input_dict["X"] = 0.0 #: position [m]
input_dict["dX_dT"] = 0.0 #: velocity [m/s]
input_dict["Phi"] = math.radians(45.0) #: angle [rad]
input_dict["dPhi_dT"] = math.radians(0.0) #: angle velocity [rad/s]
i_dict1 = input_dict.copy()
i_dict2 = input_dict.copy()
output_dict1 = {
'a': 0.0 #: acceleration [m/s²]
}
output_dict2 = {
'a': 0.0 #: acceleration [m/s²]
}
pyfuzzy_system_expected.fuzzify(i_dict1)
pyfuzzy_system_expected.inference()
pyfuzzy_system_expected.defuzzify(output_dict1)
new_pyfuzzy_system.fuzzify(i_dict2)
new_pyfuzzy_system.inference()
new_pyfuzzy_system.defuzzify(output_dict2)
pyfuzzy_system_expected.calculate(i_dict1, output_dict1)
new_pyfuzzy_system.calculate(i_dict2, output_dict2)
self.assertEquals(output_dict1['a'], output_dict2['a'])
self._test_rules_adj_in_out_adjs(new_pyfuzzy_system)
def test_set_only(self):
" should return the correct outout when only changing the set to a SetModel in th System "
from fuzzy_modeling.models import AdjectiveModel
pyfuzzy_system_expected = self._createSystem()
new_pyfuzzy_system = self._createSystem()
SystemModel.from_pyfuzzy(pyfuzzy_system_expected).get_pyfuzzy()
from fuzzy.norm.AlgebraicSum import AlgebraicSum
from fuzzy.Adjective import Adjective
from fuzzy.set.Polygon import Polygon
COM = AlgebraicSum()
a_stop = Adjective(Polygon([(-10., 0.), (0., 1.), (10., 0.)]), COM=COM)
a_stop.name = 'stop'
new_a_stop = AdjectiveModel.from_pyfuzzy(a_stop).get_pyfuzzy()
new_pyfuzzy_system.variables['a'].adjectives['stop'] = new_a_stop
self._test_new_vs_expected_fuzzy_sysem(new_pyfuzzy_system,
pyfuzzy_system_expected)
def _createSystem():
import fuzzy.System
system = fuzzy.System.System(
description=
"""This fuzzy system is to control the inverted pendulum into an upright position as well as
at the position X=0.
It also is used to demonstrate some features of pyfuzzy.
This is the reason, it uses different fuzzy norm in normally
symmetrical rules.""")
from fuzzy.norm.AlgebraicProduct import AlgebraicProduct
from fuzzy.norm.AlgebraicSum import AlgebraicSum
from fuzzy.fuzzify.Plain import Plain
from fuzzy.defuzzify.COG import COG
# set defuzzification method and default norms
INF = AlgebraicProduct()
ACC = AlgebraicSum()
COM = AlgebraicSum()
CER = AlgebraicProduct()
COG = COG(INF=INF, ACC=ACC, failsafe=0., segment_size=0.5)
from fuzzy.InputVariable import InputVariable
from fuzzy.OutputVariable import OutputVariable
from fuzzy.Adjective import Adjective
from fuzzy.set.Polygon import Polygon
angle = InputVariable(fuzzify=Plain(),
description='angle',
min=0.,
max=360.,
unit='degrees')
system.variables['Phi'] = angle
angle.adjectives['up_more_right'] = Adjective(
Polygon([(0., 0.), (30., 1.), (60., 0.)]))
angle.adjectives['up_right'] = Adjective(
Polygon([(30., 0.), (60., 1.), (90., 0.)]))
angle.adjectives['up'] = Adjective(
Polygon([(60., 0.), (90., 1.), (120., 0.)]))
angle.adjectives['up_left'] = Adjective(
Polygon([(90., 0.), (120., 1.), (150., 0.)]))
angle.adjectives['up_more_left'] = Adjective(
Polygon([(120., 0.), (150., 1.), (180., 0.)]))
angle.adjectives['down_more_left'] = Adjective(
Polygon([(180., 0.), (210., 1.), (240., 0.)]))
angle.adjectives['down_left'] = Adjective(
Polygon([(210., 0.), (240., 1.), (270., 0.)]))
angle.adjectives['down'] = Adjective(
Polygon([(240., 0.), (270., 1.), (300., 0.)]))
angle.adjectives['down_right'] = Adjective(
Polygon([(270., 0.), (300., 1.), (330., 0.)]))
angle.adjectives['down_more_right'] = Adjective(
Polygon([(300., 0.), (330., 1.), (360., 0.)]))
angle_velocity = InputVariable(fuzzify=Plain(),
description='angle velocity',
min=-600.,
max=600.,
unit='degrees per second')
system.variables['dPhi_dT'] = angle_velocity
angle_velocity.adjectives['cw_fast'] = Adjective(
Polygon([(-600., 1.), (-300., 0.)]))
angle_velocity.adjectives['cw_slow'] = Adjective(
Polygon([(-600., 0.), (-300., 1.), (0., 0.)]))
angle_velocity.adjectives['stop'] = Adjective(
Polygon([(-300., 0.), (0., 1.), (300., 0.)]))
angle_velocity.adjectives['ccw_slow'] = Adjective(
Polygon([(0., 0.), (300., 1.), (600., 0.)]))
angle_velocity.adjectives['ccw_fast'] = Adjective(
Polygon([(300., 0.), (600., 1.)]))
position = InputVariable(fuzzify=Plain(),
description='position',
min=-20.,
max=20.,
unit='meter')
system.variables['X'] = position
position.adjectives['left_far'] = Adjective(
Polygon([(-20., 1.), (-10., 0.)]))
position.adjectives['left_near'] = Adjective(
Polygon([(-20., 0.), (-5., 1.), (0., 0.)]))
position.adjectives['stop'] = Adjective(
Polygon([(-5., 0.), (0., 1.), (5., 0.)]))
position.adjectives['right_near'] = Adjective(
Polygon([(0., 0.), (5., 1.), (20., 0.)]))
position.adjectives['right_far'] = Adjective(
Polygon([(10., 0.), (20., 1.)]))
velocity = InputVariable(fuzzify=Plain(),
description='velocity',
min=-10.,
max=10.,
unit='meter per second')
system.variables['dX_dT'] = velocity
velocity.adjectives['left_fast'] = Adjective(
Polygon([(-10., 1.), (-5., 0.)]))
velocity.adjectives['left_slow'] = Adjective(
Polygon([(-10., 0.), (-2., 1.), (0., 0.)]))
velocity.adjectives['stop'] = Adjective(
Polygon([(-2., 0.), (0., 1.), (2., 0.)]))
velocity.adjectives['right_slow'] = Adjective(
Polygon([(0., 0.), (2., 1.), (10., 0.)]))
velocity.adjectives['right_fast'] = Adjective(
Polygon([(5., 0.), (10., 1.)]))
acceleration = OutputVariable(defuzzify=COG,
description='acceleration',
min=-50.,
max=50.,
unit='meter per second^2')
system.variables['a'] = acceleration
acceleration.adjectives['left_fast'] = a_left_fast = Adjective(Polygon([
(-50., 0.), (-20., 1.), (-10., 0.)
]),
COM=COM)
acceleration.adjectives['left_slow'] = a_left_slow = Adjective(Polygon([
(-20., 0.), (-10., 1.), (0., 0.)
]),
COM=COM)
acceleration.adjectives['stop'] = a_stop = Adjective(Polygon([(-10., 0.),
(0., 1.),
(10., 0.)]),
COM=COM)
acceleration.adjectives['right_slow'] = a_right_slow = Adjective(Polygon([
(0., 0.), (10., 1.), (20., 0.)
]),
COM=COM)
acceleration.adjectives['right_fast'] = a_right_fast = Adjective(Polygon([
(10., 0.), (20., 1.), (50., 0.)
]),
COM=COM)
from fuzzy.Rule import Rule
from fuzzy.norm.Max import Max
#from fuzzy.norm.Min import Min
#from fuzzy.norm.BoundedDifference import BoundedDifference
#from fuzzy.norm.DrasticSum import DrasticSum
from fuzzy.norm.EinsteinSum import EinsteinSum
from fuzzy.norm.DombiUnion import DombiUnion
from fuzzy.operator.Compound import Compound
from fuzzy.operator.Input import Input
from fuzzy.operator.Not import Not
system.rules['stop'] = Rule(
adjective=a_stop,
# it gets its value from here
operator=Compound(
Max(),
Compound(AlgebraicProduct(),
Input(system.variables["Phi"].adjectives["up"]),
Input(system.variables["dPhi_dT"].adjectives["stop"])),
Compound(AlgebraicProduct(),
Input(system.variables["Phi"].adjectives["up_right"]),
Input(
system.variables["dPhi_dT"].adjectives["ccw_slow"])),
Compound(AlgebraicProduct(),
Input(system.variables["Phi"].adjectives["up_left"]),
Input(
system.variables["dPhi_dT"].adjectives["cw_slow"]))),
CER=CER)
system.rules['tilts right'] = Rule(
adjective=a_right_slow,
# it gets its value from here
operator=Compound(
AlgebraicProduct(),
Not(
Compound(
AlgebraicProduct(),
Compound(
AlgebraicSum(),
Input(system.variables["X"].adjectives["left_near"]),
Input(system.variables["X"].adjectives["left_far"])),
Compound(
EinsteinSum(),
Input(
system.variables["dX_dT"].adjectives["left_slow"]),
Input(system.variables["dX_dT"].adjectives["left_fast"]
))), ),
Input(system.variables["Phi"].adjectives["up_right"])),
CER=CER)
system.rules['tilts left'] = Rule(
adjective=a_left_slow,
# it gets its value from here
operator=Compound(
AlgebraicProduct(),
Not(
Compound(
AlgebraicProduct(),
Compound(
AlgebraicSum(),
Input(system.variables["X"].adjectives["right_near"]),
Input(system.variables["X"].adjectives["right_far"])),
Compound(
DombiUnion(0.25),
Input(system.variables["dX_dT"].
adjectives["right_slow"]),
Input(system.variables["dX_dT"].
adjectives["right_fast"]))), ),
Input(system.variables["Phi"].adjectives["up_left"])),
CER=CER)
system.rules['far right'] = Rule(
adjective=a_right_fast,
# it gets its value from here
operator=Input(system.variables["Phi"].adjectives["up_more_right"]),
CER=CER)
system.rules['far left'] = Rule(
adjective=a_left_fast,
# it gets its value from here
operator=Input(system.variables["Phi"].adjectives["up_more_left"]),
CER=CER)
system.rules['accelerate cw if down'] = Rule(
adjective=a_right_slow,
# it gets its value from here
operator=Compound(
AlgebraicProduct(),
Input(system.variables["Phi"].adjectives["down"]),
Compound(
AlgebraicProduct(),
Input(system.variables["dPhi_dT"].adjectives["cw_slow"]),
Input(system.variables["dPhi_dT"].adjectives["cw_slow"]),
)),
CER=CER)
system.rules['accelerate ccw if down'] = Rule(
adjective=a_left_slow,
# it gets its value from here
operator=Compound(
AlgebraicProduct(),
Input(system.variables["Phi"].adjectives["down"]),
Compound(
AlgebraicProduct(),
Input(system.variables["dPhi_dT"].adjectives["ccw_slow"]),
Input(system.variables["dPhi_dT"].adjectives["ccw_slow"]),
)),
CER=CER)
return system
def test_output_variable_only(self):
" should return the correct outout when only changing the outputvar to a OutputVariableModel in th System "
from fuzzy_modeling.models import OutputVariableModel
from fuzzy.norm.AlgebraicSum import AlgebraicSum
from fuzzy.norm.AlgebraicProduct import AlgebraicProduct
from fuzzy.Adjective import Adjective
from fuzzy.set.Polygon import Polygon
from fuzzy.defuzzify.COG import COG
from fuzzy.OutputVariable import OutputVariable
pyfuzzy_system_expected = self._createSystem()
new_pyfuzzy_system = self._createSystem()
INF = AlgebraicProduct()
ACC = AlgebraicSum()
COM = AlgebraicSum()
COG = COG(INF=INF, ACC=ACC, failsafe=0., segment_size=0.5)
acceleration = OutputVariable(defuzzify=COG,
description='acceleration',
min=-50.,
max=50.,
unit='meter per second^2')
acceleration.adjectives['left_fast'] = a_left_fast = Adjective(Polygon(
[(-50., 0.), (-20., 1.), (-10., 0.)]),
COM=COM)
acceleration.adjectives['left_slow'] = a_left_slow = Adjective(Polygon(
[(-20., 0.), (-10., 1.), (0., 0.)]),
COM=COM)
acceleration.adjectives['stop'] = a_stop = Adjective(Polygon([
(-10., 0.), (0., 1.), (10., 0.)
]),
COM=COM)
acceleration.adjectives['right_slow'] = a_right_slow = Adjective(
Polygon([(0., 0.), (10., 1.), (20., 0.)]), COM=COM)
acceleration.adjectives['right_fast'] = a_right_fast = Adjective(
Polygon([(10., 0.), (20., 1.), (50., 0.)]), COM=COM)
acceleration.name = 'a'
new_acceleration = OutputVariableModel.from_pyfuzzy(
acceleration).get_pyfuzzy()
new_pyfuzzy_system.variables['a'] = acceleration
import math
input_dict = {}
input_dict["X"] = 0.0 #: position [m]
input_dict["dX_dT"] = 0.0 #: velocity [m/s]
input_dict["Phi"] = math.radians(45.0) #: angle [rad]
input_dict["dPhi_dT"] = math.radians(0.0) #: angle velocity [rad/s]
i_dict1 = input_dict.copy()
i_dict2 = input_dict.copy()
output_dict1 = {
'a': 0.0 #: acceleration [m/s²]
}
output_dict2 = {
'a': 0.0 #: acceleration [m/s²]
}
pyfuzzy_system_expected.fuzzify(i_dict1)
pyfuzzy_system_expected.inference()
pyfuzzy_system_expected.defuzzify(output_dict1)
new_pyfuzzy_system.fuzzify(i_dict2)
new_pyfuzzy_system.inference()
new_pyfuzzy_system.defuzzify(output_dict2)
pyfuzzy_system_expected.calculate(i_dict1, output_dict1)
new_pyfuzzy_system.calculate(i_dict2, output_dict2)
self.assertNotEquals(output_dict1['a'], output_dict2['a'])