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  • in reply to: Unhandled exception #6360
    AvatarMag Sum
    Participant

    Hi, thanks for the quick reply.

    When using “engine->toString()” it does print out my two inputs, output, and all its proportions as well as my Rule Block. But no matter what I do, I can’t seem to get my output based on mt data input or defuzzify it.

    Any help is appreciated.

    Here is my code if that helps at all

    int main(int argc, char* argv[]) {
        using namespace fl;
    
        Engine* engine = new Engine;
        engine->setName("CAR_AI");
        engine->setDescription("");
    
        InputVariable* DistanceVariableInput = new InputVariable;
        DistanceVariableInput->setName("DistanceVariableInput");
        DistanceVariableInput->setDescription("");
        DistanceVariableInput->setEnabled(true);
        DistanceVariableInput->setRange(-1.000, 1.000);
        DistanceVariableInput->setLockValueInRange(false);
        DistanceVariableInput->addTerm(new Trapezoid("FarLeftOfLine", -1.000, -1.000, -0.900, -0.600));
        DistanceVariableInput->addTerm(new Trapezoid("LeftOfLine", -0.900, -0.600, -0.400, -0.100));
        DistanceVariableInput->addTerm(new Triangle("OnLine", -0.100, 0.000, 0.100));
        DistanceVariableInput->addTerm(new Trapezoid("RightOfLine", 0.100, 0.400, 0.600, 0.900));
        DistanceVariableInput->addTerm(new Trapezoid("FarRightOfLine", 0.700, 0.900, 1.000, 1.000));
        engine->addInputVariable(DistanceVariableInput);
    
        InputVariable* LinearVelocityInput = new InputVariable;
        LinearVelocityInput->setName("LinearVelocityInput");
        LinearVelocityInput->setDescription("");
        LinearVelocityInput->setEnabled(true);
        LinearVelocityInput->setRange(-1.000, 1.000);
        LinearVelocityInput->setLockValueInRange(false);
        LinearVelocityInput->addTerm(new Trapezoid("MovingLeftFast", -1.000, -1.000, -0.800, -0.600));
        LinearVelocityInput->addTerm(new Trapezoid("MoveingLeft", -0.800, -0.600, -0.300, -0.100));
        LinearVelocityInput->addTerm(new Triangle("GoingStraight", -0.800, 0.000, 0.800));
        LinearVelocityInput->addTerm(new Trapezoid("MovingRight", 0.100, 0.300, 0.600, 0.800));
        LinearVelocityInput->addTerm(new Trapezoid("MovingRightFast", 0.600, 0.800, 1.000, 1.000));
        engine->addInputVariable(LinearVelocityInput);
    
        OutputVariable* Steering = new OutputVariable;
        Steering->setName("Steering");
        Steering->setDescription("");
        Steering->setEnabled(true);
        Steering->setRange(-1.000, 1.000);
        Steering->setLockValueInRange(false);
        Steering->setAggregation(new Maximum);
        Steering->setDefuzzifier(new Centroid(100));
        Steering->setDefaultValue(fl::nan);
        Steering->setLockPreviousValue(false);
        Steering->addTerm(new Triangle("MakeAHardLeft", -1.000, -1.000, -0.900));
        Steering->addTerm(new Triangle("MakeALeft", -1.400, -0.900, -0.400));
        Steering->addTerm(new Triangle("GoStraight", -1.500, 0.000, 1.500));
        Steering->addTerm(new Triangle("MakeARight", 0.400, 0.900, 1.400));
        Steering->addTerm(new Triangle("MakeAHardRight", 0.900, 1.000, 1.000));
        engine->addOutputVariable(Steering);
    
        RuleBlock* OutputRule = new RuleBlock;
        OutputRule->setName("OutputRule");
        OutputRule->setDescription("");
        OutputRule->setEnabled(true);
        OutputRule->setConjunction(fl::null);
        OutputRule->setDisjunction(fl::null);
        OutputRule->setImplication(new AlgebraicProduct);
        OutputRule->setActivation(new General);
    
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is OnLine and LinearVelocityInput is GoingStraight then Steering is GoStraight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is OnLine and LinearVelocityInput is MoveingLeft then Steering is GoStraight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is OnLine and LinearVelocityInput is MovingLeftFast then Steering is MakeARight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is OnLine and LinearVelocityInput is MovingRight then Steering is GoStraight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is OnLine and LinearVelocityInput is MovingRightFast then Steering is MakeALeft", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is LeftOfLine and LinearVelocityInput is GoingStraight then Steering is MakeARight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is LeftOfLine and LinearVelocityInput is MoveingLeft then Steering is MakeARight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is LeftOfLine and LinearVelocityInput is MovingLeftFast then Steering is MakeAHardRight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is LeftOfLine and LinearVelocityInput is MovingRight then Steering is GoStraight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is LeftOfLine and LinearVelocityInput is MovingRightFast then Steering is GoStraight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is FarLeftOfLine and LinearVelocityInput is GoingStraight then Steering is MakeARight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is FarLeftOfLine and LinearVelocityInput is MoveingLeft then Steering is MakeAHardRight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is FarLeftOfLine and LinearVelocityInput is MovingLeftFast then Steering is MakeAHardRight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is FarLeftOfLine and LinearVelocityInput is MovingRight then Steering is MakeARight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is FarLeftOfLine and LinearVelocityInput is MovingRightFast then Steering is GoStraight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is RightOfLine and LinearVelocityInput is GoingStraight then Steering is MakeALeft", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is RightOfLine and LinearVelocityInput is MoveingLeft then Steering is GoStraight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is RightOfLine and LinearVelocityInput is MovingLeftFast then Steering is GoStraight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is RightOfLine and LinearVelocityInput is MovingRight then Steering is MakeALeft", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is RightOfLine and LinearVelocityInput is MovingRightFast then Steering is MakeAHardLeft", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is FarRightOfLine and LinearVelocityInput is GoingStraight then Steering is MakeALeft", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is FarRightOfLine and LinearVelocityInput is MoveingLeft then Steering is MakeALeft", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is FarRightOfLine and LinearVelocityInput is MovingLeftFast then Steering is GoStraight", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is FarRightOfLine and LinearVelocityInput is MovingRight then Steering is MakeAHardLeft", engine));
        OutputRule->addRule(Rule::parse("if DistanceVariableInput is FarRightOfLine and LinearVelocityInput is MovingRightFast then Steering is MakeAHardLeft", engine));
    
        engine->addRuleBlock(OutputRule);
    
        engine->getInputVariable(0)->setValue(-1.000);
        engine->getInputVariable(1)->setValue(-1.000);
    
        engine->process();
    
        printf("%f\n", engine->toString());
    
        OutputVariable* outputVariable = engine->getOutputVariable(0);
        printf("%f\n", outputVariable->fuzzyOutputValue());
    
        //OutputVariable* output = engine->getOutputVariable(0)->defuzzify();
        //printf("%f\n", output);
    }
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