import fuzzylite as fl
engine = fl.Engine(name="mam21", description="")
engine.input_variables = [
fl.InputVariable(name="angle",
description="",
enabled=True,
minimum=-5.000,
maximum=5.000,
lock_range=False,
terms=[
fl.Bell("small", -5.000, 5.000, 8.000),
fl.Bell("big", 5.000, 5.000, 8.000)
]),
fl.InputVariable(name="velocity",
description="",
enabled=True,
minimum=-5.000,
maximum=5.000,
lock_range=False,
terms=[
fl.Bell("small", -5.000, 5.000, 2.000),
fl.Bell("big", 5.000, 5.000, 2.000)
])
]
engine.output_variables = [
fl.OutputVariable(name="force",
description="",
enabled=True,
minimum=-5.000,
maximum=5.000,
import fuzzylite as fl
engine = fl.Engine(
name="tsukamoto",
description=""
)
engine.input_variables = [
fl.InputVariable(
name="X",
description="",
enabled=True,
minimum=-10.000,
maximum=10.000,
lock_range=False,
terms=[
fl.Bell("small", -10.000, 5.000, 3.000),
fl.Bell("medium", 0.000, 5.000, 3.000),
fl.Bell("large", 10.000, 5.000, 3.000)
]
)
]
engine.output_variables = [
fl.OutputVariable(
name="Ramps",
description="",
enabled=True,
minimum=0.000,
maximum=1.000,
lock_range=False,
aggregation=None,
defuzzifier=fl.WeightedAverage("Automatic"),
fl.Sigmoid("A", 0.500, -20.000),
fl.ZShape("B", 0.000, 1.000),
fl.Ramp("C", 1.000, 0.000),
fl.Triangle("D", 0.500, 1.000, 1.500),
fl.Trapezoid("E", 1.000, 1.250, 1.750, 2.000),
fl.Concave("F", 0.850, 0.250),
fl.Rectangle("G", 1.750, 2.250),
fl.Discrete("H", [
2.000, 0.000, 2.250, 1.000, 2.500, 0.500, 2.750,
1.000, 3.000, 0.000
]),
fl.Gaussian("I", 3.000, 0.200),
fl.Cosine("J", 3.250, 0.650),
fl.GaussianProduct("K", 3.500, 0.100, 3.300, 0.300),
fl.Spike("L", 3.640, 1.040),
fl.Bell("M", 4.000, 0.250, 3.000),
fl.PiShape("N", 4.000, 4.500, 4.500, 5.000),
fl.Concave("O", 5.650, 6.250),
fl.SigmoidDifference("P", 4.750, 10.000, 30.000,
5.250),
fl.SigmoidProduct("Q", 5.250, 20.000, -10.000, 5.750),
fl.Ramp("R", 5.500, 6.500),
fl.SShape("S", 5.500, 6.500),
fl.Sigmoid("T", 6.000, 20.000)
])
]
engine.output_variables = [
fl.OutputVariable(name="AllOutputTerms",
description="",
enabled=True,
minimum=0.000,
import fuzzylite as fl
engine = fl.Engine(name="invkine2", description="")
engine.input_variables = [
fl.InputVariable(name="input1",
description="",
enabled=True,
minimum=-6.287,
maximum=17.000,
lock_range=False,
terms=[
fl.Bell("in1mf1", -5.763, 3.015, 1.851),
fl.Bell("in1mf2", -1.624, 3.130, 2.111),
fl.Bell("in1mf3", 3.552, 3.193, 2.104),
fl.Bell("in1mf4", 8.273, 2.907, 1.985),
fl.Bell("in1mf5", 13.232, 2.708, 2.056),
fl.Bell("in1mf6", 17.783, 1.635, 1.897)
]),
fl.InputVariable(name="input2",
description="",
enabled=True,
minimum=0.000,
maximum=16.972,
lock_range=False,
terms=[
fl.Bell("in2mf1", 0.005, 1.877, 1.995),
fl.Bell("in2mf2", 3.312, 2.017, 1.829),
fl.Bell("in2mf3", 6.568, 2.261, 1.793),
fl.Bell("in2mf4", 10.111, 2.741, 1.978),
fl.Bell("in2mf5", 14.952, 2.045, 1.783),
fl.Bell("in2mf6", 17.910, 0.824, 1.734)
import fuzzylite as fl
engine = fl.Engine(name="membrn2", description="")
engine.input_variables = [
fl.InputVariable(name="in_n1",
description="",
enabled=True,
minimum=1.000000000,
maximum=31.000000000,
lock_range=False,
terms=[
fl.Bell("in1mf1", 1.152000000, 8.206000000,
0.874000000),
fl.Bell("in1mf2", 15.882000000, 7.078000000,
0.444000000),
fl.Bell("in1mf3", 30.575000000, 8.602000000,
0.818000000)
]),
fl.InputVariable(name="in_n2",
description="",
enabled=True,
minimum=1.000000000,
maximum=31.000000000,
lock_range=False,
terms=[
fl.Bell("in2mf1", 1.426000000, 8.602000000,
0.818000000),
fl.Bell("in2mf2", 16.118000000, 7.078000000,
0.445000000),
fl.Bell("in2mf3", 30.847000000, 8.206000000,
0.875000000)
import fuzzylite as fl
engine = fl.Engine(
name="invkine1",
description=""
)
engine.input_variables = [
fl.InputVariable(
name="input1",
description="",
enabled=True,
minimum=-6.287,
maximum=17.000,
lock_range=False,
terms=[
fl.Bell("in1mf1", -6.122, 2.259, 1.761),
fl.Bell("in1mf2", -2.181, 2.095, 2.232),
fl.Bell("in1mf3", 2.080, 2.157, 1.314),
fl.Bell("in1mf4", 4.962, 2.790, 2.508),
fl.Bell("in1mf5", 9.338, 2.506, 1.812),
fl.Bell("in1mf6", 13.150, 2.363, 2.267),
fl.Bell("in1mf7", 17.789, 1.310, 1.756)
]
),
fl.InputVariable(
name="input2",
description="",
enabled=True,
minimum=0.000,
maximum=16.972,
lock_range=False,
fl.Triangle("right", 0.333000000, 0.666000000,
1.000000000)
])
]
engine.output_variables = [
fl.OutputVariable(name="steer",
description="direction to steer the vehicle to",
enabled=True,
minimum=0.000000000,
maximum=1.000000000,
lock_range=False,
aggregation=fl.Maximum(),
defuzzifier=fl.Centroid(100),
lock_previous=False,
terms=[
fl.Bell("left", 0.333000000, 0.166500000,
3.000000000),
fl.Bell("right", 0.666500000, 0.166750000,
3.000000000)
])
]
engine.rule_blocks = [
fl.RuleBlock(name="steer_away",
description="steer away from obstacles",
enabled=True,
conjunction=None,
disjunction=None,
implication=fl.Minimum(),
activation=fl.General(),
rules=[
fl.Rule.create("if obstacle is left then steer is right",
engine),
import fuzzylite as fl
engine = fl.Engine(name="slcp", description="")
engine.input_variables = [
fl.InputVariable(name="in1",
description="",
enabled=True,
minimum=-0.300,
maximum=0.300,
lock_range=False,
terms=[
fl.Bell("in1mf1", -0.300, 0.300, 2.000),
fl.Bell("in1mf2", 0.300, 0.300, 2.000)
]),
fl.InputVariable(name="in2",
description="",
enabled=True,
minimum=-1.000,
maximum=1.000,
lock_range=False,
terms=[
fl.Bell("in2mf1", -1.000, 1.000, 2.000),
fl.Bell("in2mf2", 1.000, 1.000, 2.000)
]),
fl.InputVariable(name="in3",
description="",
enabled=True,
minimum=-3.000,
maximum=3.000,
lock_range=False,
terms=[
import fuzzylite as fl
engine = fl.Engine(name="slbb", description="")
engine.input_variables = [
fl.InputVariable(name="in1",
description="",
enabled=True,
minimum=-1.500,
maximum=1.500,
lock_range=False,
terms=[
fl.Bell("in1mf1", -1.500, 1.500, 2.000),
fl.Bell("in1mf2", 1.500, 1.500, 2.000)
]),
fl.InputVariable(name="in2",
description="",
enabled=True,
minimum=-1.500,
maximum=1.500,
lock_range=False,
terms=[
fl.Bell("in2mf1", -1.500, 1.500, 2.000),
fl.Bell("in2mf2", 1.500, 1.500, 2.000)
]),
fl.InputVariable(name="in3",
description="",
enabled=True,
minimum=-0.200,
maximum=0.200,
lock_range=False,
terms=[
import fuzzylite as fl
engine = fl.Engine(name="fpeaks", description="")
engine.input_variables = [
fl.InputVariable(name="in1",
description="",
enabled=True,
minimum=-3.000,
maximum=3.000,
lock_range=False,
terms=[
fl.Bell("in1mf1", -2.233, 1.578, 2.151),
fl.Bell("in1mf2", -0.394, 0.753, 1.838),
fl.Bell("in1mf3", 0.497, 0.689, 1.844),
fl.Bell("in1mf4", 2.270, 1.528, 2.156)
]),
fl.InputVariable(name="in2",
description="",
enabled=True,
minimum=-3.000,
maximum=3.000,
lock_range=False,
terms=[
fl.Bell("in1mf1", -2.686, 1.267, 2.044),
fl.Bell("in1mf2", -0.836, 1.266, 1.796),
fl.Bell("in1mf3", 0.859, 1.314, 1.937),
fl.Bell("in1mf4", 2.727, 1.214, 2.047)
])
]
engine.output_variables = [
fl.OutputVariable(
import fuzzylite as fl
engine = fl.Engine(
name="juggler",
description=""
)
engine.input_variables = [
fl.InputVariable(
name="xHit",
description="",
enabled=True,
minimum=-4.000,
maximum=4.000,
lock_range=False,
terms=[
fl.Bell("in1mf1", -4.000, 2.000, 4.000),
fl.Bell("in1mf2", 0.000, 2.000, 4.000),
fl.Bell("in1mf3", 4.000, 2.000, 4.000)
]
),
fl.InputVariable(
name="projectAngle",
description="",
enabled=True,
minimum=0.000,
maximum=3.142,
lock_range=False,
terms=[
fl.Bell("in2mf1", 0.000, 0.785, 4.000),
fl.Bell("in2mf2", 1.571, 0.785, 4.000),
fl.Bell("in2mf3", 3.142, 0.785, 4.000)