def Evaluate( self, membershipFunction, min, max, step ):
membershipFunction.SetComposeFunction( BinaryFunction.GodelSNorm() )
# Find the maximum value of the membership function
flatMaxFunction = MembershipFunction.FlatMembershipFunction()
flatMaxFunction.SetParameters( [ self.MaximumValue( membershipFunction, min, max, step ) ] )
# This function is the max value when the original membership function achieves its max, and is zero otherwise
maxFunction = MembershipFunction.MembershipFunction()
maxFunction.AddBaseFunction( flatMaxFunction )
maxFunction.AddBaseFunction( membershipFunction )
maxFunction.SetComposeFunction( EqualBinaryFunction() )
numeratorFunction = MembershipFunction.MembershipFunction()
numeratorFunction.AddBaseFunction( maxFunction )
numeratorFunction.AddBaseFunction( XMembershipFunction() )
numeratorFunction.SetComposeFunction( BinaryFunction.GoguenTNorm() ) # Multiply x * func and integrate
denominatorFunction = MembershipFunction.MembershipFunction()
denominatorFunction.AddBaseFunction( maxFunction )
num = self.Integrate( numeratorFunction, min, max, step )
denom = self.Integrate( denominatorFunction, min, max, step )
if ( denom == 0 ):
logging.warning( "DefuzzifierMOM::Evaluate: Membership function has zero maximum." )
return 0
return num / denom
def Copy(self, other):
if (other.OutputMembershipFunction != None):
copyOutputMembershipFunction = MembershipFunction.MembershipFunction(
)
copyOutputMembershipFunction.Copy(other.OutputMembershipFunction)
self.OutputMembershipFunction = copyOutputMembershipFunction
for name in other.InputMembershipFunctions:
copyInputMembershipFunction = MembershipFunction.MembershipFunction(
)
copyInputMembershipFunction.Copy(
other.InputMembershipFunctions[name])
self.InputMembershipFunctions[name] = copyInputMembershipFunction
if (other.ComposeFunction != None):
copyComposeFunction = MembershipFunction.MembershipFunction()
copyComposeFunction.Copy(other.ComposeFunction)
self.ComposeFunction = copyComposeFunction
def AddInputMembershipFunction(self, newInputMembershipFunction,
inputName):
if (inputName not in self.InputMembershipFunctions):
self.InputMembershipFunctions[
inputName] = MembershipFunction.MembershipFunction()
self.InputMembershipFunctions[inputName].SetComposeFunction(
self.ComposeFunction)
self.InputMembershipFunctions[inputName].AddBaseFunction(
newInputMembershipFunction)
def Evaluate( self, membershipFunction, min, max, step ):
membershipFunction.SetComposeFunction( BinaryFunction.GodelSNorm() )
numeratorFunction = MembershipFunction.MembershipFunction()
numeratorFunction.AddBaseFunction( membershipFunction )
numeratorFunction.AddBaseFunction( XMembershipFunction() )
numeratorFunction.SetComposeFunction( BinaryFunction.GoguenTNorm() ) # Multiply x * func and integrate
denominatorFunction = MembershipFunction.MembershipFunction()
denominatorFunction.AddBaseFunction( membershipFunction )
num = self.Integrate( numeratorFunction, min, max, step )
denom = self.Integrate( denominatorFunction, min, max, step )
if ( denom == 0 ):
logging.warning( "DefuzzifierCOA::Evaluate: Membership function has zero area." )
return 0
return num / denom
def Evaluate(self, inputValues, transformOutputFunction):
if (self.ComposeFunction == None
or self.OutputMembershipFunction == None):
emptyMembershipFunction = MembershipFunction.FlatMembershipFunction(
)
emptyMembershipFunction.SetParameters([0])
return emptyMembershipFunction
# Find the input membership values
totalMembership = 1 - self.ComposeFunction.Evaluate(
0, 1) # This yields 1 for t-norm and 0 for s-norm
ruleUsed = False
for name in inputValues:
if (name not in self.InputMembershipFunctions):
continue
currentMembership = self.InputMembershipFunctions[name].Evaluate(
inputValues[name])
totalMembership = self.ComposeFunction.Evaluate(
totalMembership, currentMembership)
ruleUsed = True
# Assign the total memership to be zero if the rule is never used
if (ruleUsed == False):
totalMembership = 0
# Compose the flat membership function
flatMembershipFunction = MembershipFunction.FlatMembershipFunction()
flatMembershipFunction.SetParameters([totalMembership])
# Apply clipping or scaling to output membership function
transformedOutputMembershipFunction = MembershipFunction.MembershipFunction(
)
transformedOutputMembershipFunction.AddBaseFunction(
self.OutputMembershipFunction)
transformedOutputMembershipFunction.AddBaseFunction(
flatMembershipFunction)
transformedOutputMembershipFunction.SetComposeFunction(
transformOutputFunction)
# Return the transformed output membership function
return transformedOutputMembershipFunction
def __init__(self, min_thrust, max_thrust):
self.min_thrust = min_thrust
self.max_thrust = max_thrust
self.recommended_left = 0.0
self.recommended_right = 0.0
self.lastErr = 0.0
# prepare membership functions for input parameters
self.angle_err = {}
self.angle_err[2] = MembershipFunction.MembershipFunction(
False, True, 1.0 / 45.0, 90.0)
self.angle_err[1] = MembershipFunction.MembershipFunction(
False, False, 1.0 / 45.0, 45.0)
self.angle_err[0] = MembershipFunction.MembershipFunction(
False, False, 1.0 / 45.0, 0.0)
self.angle_err[-1] = MembershipFunction.MembershipFunction(
False, False, 1.0 / 45.0, -45.0)
self.angle_err[-2] = MembershipFunction.MembershipFunction(
True, False, 1.0 / 45.0, -90.0)
self.ang_vel = {}
self.ang_vel[2] = MembershipFunction.MembershipFunction(
False, True, 1.0 / 20.0, 40.0)
self.ang_vel[1] = MembershipFunction.MembershipFunction(
False, False, 1.0 / 20.0, 20.0)
self.ang_vel[0] = MembershipFunction.MembershipFunction(
False, False, 1.0 / 20.0, 0.0)
self.ang_vel[-1] = MembershipFunction.MembershipFunction(
False, False, 1.0 / 20.0, -20.0)
self.ang_vel[-2] = MembershipFunction.MembershipFunction(
True, False, 1.0 / 20.0, -40.0)
# prepare membership functions for outpur thrust recommendations
self.thr_reco = {}
self.thr_reco[3] = MembershipFunction.MembershipFunction(
False, False, 1.0 / 5.0, 60.0)
self.thr_reco[2] = MembershipFunction.MembershipFunction(
False, False, 1.0 / 5.0, 40.0)
self.thr_reco[1] = MembershipFunction.MembershipFunction(
False, False, 1.0 / 5.0, 20.0)
self.thr_reco[0] = MembershipFunction.MembershipFunction(
False, False, 1.0 / 5.0, 0.0) #!!!
# prepare rulebase
self.rules = []
self.rules.append(Rule(-2, -2, 3))
self.rules.append(Rule(-2, -1, 3))
self.rules.append(Rule(-2, 0, 2))
self.rules.append(Rule(-2, 1, 1))
self.rules.append(Rule(-2, 2, 0))
self.rules.append(Rule(-1, -2, 3))
self.rules.append(Rule(-1, -1, 2))
self.rules.append(Rule(-1, -0, 1))
self.rules.append(Rule(-1, 1, 0))
self.rules.append(Rule(-1, 2, -1))
self.rules.append(Rule(0, -2, 2))
self.rules.append(Rule(0, -1, 1))
self.rules.append(Rule(0, 0, 0))
self.rules.append(Rule(0, 1, -1))
self.rules.append(Rule(0, 2, -2))
self.rules.append(Rule(1, -2, 1))
self.rules.append(Rule(1, -1, 0))
self.rules.append(Rule(1, 0, -1))
self.rules.append(Rule(1, 1, -2))
self.rules.append(Rule(1, 2, -3))
self.rules.append(Rule(2, -2, 0))
self.rules.append(Rule(2, -1, -1))
self.rules.append(Rule(2, 0, -2))
self.rules.append(Rule(2, 1, -3))
self.rules.append(Rule(2, 2, -3))
def __init__(self, min_thrust, max_thrust, reactions):
self.min_thrust = min_thrust
self.max_thrust = max_thrust
self.recommended_left = 0.0
self.recommended_right = 0.0
self.lastErr = 0.0
# prepare membership functions for input parameters
self.angle_err = {}
self.angle_err[4] = MembershipFunction.MembershipFunction(False, True, 1.0/20.0, 60.0)
self.angle_err[3] = MembershipFunction.MembershipFunction(False, False, 1.0/15.0, 40.0)
self.angle_err[2] = MembershipFunction.MembershipFunction(False, False, 1.0/15.0, 20.0)
self.angle_err[1] = MembershipFunction.MembershipFunction(False, False, 1.0/10.0, 10.0)
self.angle_err[0] = MembershipFunction.MembershipFunction(False, False, 1.0/3.0, 0.0)
self.angle_err[-1] = MembershipFunction.MembershipFunction(False, False, 1.0/10.0, -10.0)
self.angle_err[-2] = MembershipFunction.MembershipFunction(False, False, 1.0/15.0, -20.0)
self.angle_err[-3] = MembershipFunction.MembershipFunction(False, False, 1.0/15.0, -40.0)
self.angle_err[-4] = MembershipFunction.MembershipFunction(True, False, 1.0/20.0, -60.0)
self.ang_vel = {}
self.ang_vel[4] = MembershipFunction.MembershipFunction(False, True, 1.0/7.5, 30.0)
self.ang_vel[3] = MembershipFunction.MembershipFunction(False, False, 1.0/7.5, 22.5)
self.ang_vel[2] = MembershipFunction.MembershipFunction(False, False, 1.0/7.5, 12.5)
self.ang_vel[1] = MembershipFunction.MembershipFunction(False, False, 1.0/5.0, 5.0)
self.ang_vel[0] = MembershipFunction.MembershipFunction(False, False, 1.0/5.0, 0.0)
self.ang_vel[-1] = MembershipFunction.MembershipFunction(False, False, 1.0/5.0, -5.0)
self.ang_vel[-2] = MembershipFunction.MembershipFunction(False, False, 1.0/7.5, -12.5)
self.ang_vel[-3] = MembershipFunction.MembershipFunction(False, False, 1.0/7.5, -22.5)
self.ang_vel[-4] = MembershipFunction.MembershipFunction(True, False, 1.0/7.5, -30.0)
# prepare membership functions for output thrust recommendations
span = max_thrust - min_thrust
factor = span / 8.0
self.thr_reco = {}
self.thr_reco[8] = MembershipFunction.MembershipFunction(False, False, factor, max_thrust)
self.thr_reco[7] = MembershipFunction.MembershipFunction(False, False, factor, min_thrust + span/8.0 * 7)
self.thr_reco[6] = MembershipFunction.MembershipFunction(False, False, factor, min_thrust + span/8.0 * 6)
self.thr_reco[5] = MembershipFunction.MembershipFunction(False, False, factor, min_thrust + span/8.0 * 5)
self.thr_reco[4] = MembershipFunction.MembershipFunction(False, False, factor, min_thrust + span/8.0 * 4)
self.thr_reco[3] = MembershipFunction.MembershipFunction(False, False, factor, min_thrust + span/8.0 * 3)
self.thr_reco[2] = MembershipFunction.MembershipFunction(False, False, factor, min_thrust + span/8.0 * 2)
self.thr_reco[1] = MembershipFunction.MembershipFunction(False, False, factor, min_thrust + span/8.0 * 1)
self.thr_reco[0] = MembershipFunction.MembershipFunction(False, False, factor, min_thrust)
# prepare rulebase
self.rules = []
z = 0
for verse in range(9):
for column in range(9):
self.rules.append(Rule(verse - 4, column - 4, reactions[z]))
z += 1
print(str(z) + " rules loaded")
