Error in code in case variety of input and output variables

[Unknown]

Hi everyone! I have a fuzzy controller with 4 in put and 2 output variables as below:

#include “fl/Headers.h”
#include <iostream>

using namespace std;
double leftobs, frontobs, rightobs, angleobs;
double vleft, vright;
int main(int argc, char* argv[]){

using namespace fl;
Engine* engine = new Engine(“AvoidObstacle”);

InputVariable* LeftObs = new InputVariable;
LeftObs->setName(“LeftObs”);
LeftObs->setRange(0.000, 480.000);
LeftObs->addTerm(new Trapezoid(“NEAR”, 0.000, 0.000, 80.000, 400.000));
LeftObs->addTerm(new Trapezoid(“FAR”, 80.000, 400.000, 480.000, 480.000));
engine->addInputVariable(LeftObs);

InputVariable* FrontObs = new InputVariable;
FrontObs->setName(“FrontObs”);
FrontObs->setRange(0.000, 480.000);
FrontObs->addTerm(new Trapezoid(“NEAR”, 0.000, 0.000, 80.000, 400.000));
FrontObs->addTerm(new Trapezoid(“FAR”, 80.000, 400.000, 480.000, 480.000));
engine->addInputVariable(FrontObs);

InputVariable* RightObs = new InputVariable;
RightObs->setName(“RightObs”);
RightObs->setRange(0.000, 480.000);
RightObs->addTerm(new Trapezoid(“NEAR”, 0.000, 0.000, 80.000, 400.000));
RightObs->addTerm(new Trapezoid(“FAR”, 80.000, 400.000, 480.000, 480.000));
engine->addInputVariable(RightObs);

InputVariable* AngleObs = new InputVariable;
AngleObs->setName(“AngleObs”);
AngleObs->setRange(-90.000, 90.000);
AngleObs->addTerm(new Trapezoid(“LEFT”, -90.000, -90.000, -30.000, 0.000));
AngleObs->addTerm(new Triangle(“FRONT”, -30.000, 0.000, 30.000));
AngleObs->addTerm(new Trapezoid(“RIGHT”, 0.000, 30.000, 90.000, 90.000));
engine->addInputVariable(AngleObs);

OutputVariable* VLeft = new OutputVariable;
VLeft->setName(“VLeft”);
VLeft->setRange(0.000, 12.000);
VLeft->setDefaultValue(fl::nan);
VLeft->addTerm(new Trapezoid(“SLOW”, 0.000, 0.000, 2.000, 4.000));
VLeft->addTerm(new Triangle(“LSLOW”, 2.000, 4.000, 6.000));
VLeft->addTerm(new Triangle(“MID”, 4.000, 6.000, 8.000));
VLeft->addTerm(new Triangle(“LFAST”, 6.000, 8.000, 10.000));
VLeft->addTerm(new Trapezoid(“FAST”, 8.000, 10.000, 12.000, 12.000));
engine->addOutputVariable(VLeft);

OutputVariable* VRight = new OutputVariable;
VRight->setName(“VRight”);
VRight->setRange(0.000, 12.000);
VRight->setDefaultValue(fl::nan);
VRight->addTerm(new Trapezoid(“SLOW”, 0.000, 0.000, 2.000, 4.000));
VRight->addTerm(new Triangle(“LSLOW”, 2.000, 4.000, 6.000));
VRight->addTerm(new Triangle(“MID”, 4.000, 6.000, 8.000));
VRight->addTerm(new Triangle(“LFAST”, 6.000, 8.000, 10.000));
VRight->addTerm(new Trapezoid(“FAST”, 8.000, 10.000, 12.000, 12.000));
engine->addOutputVariable(VRight);

RuleBlock* ruleblock = new RuleBlock;
ruleblock->addRule(Rule::parse(“if LeftObs is NEAR and FrontObs is NEAR and RightObs is NEAR and AngleObs is LEFT then VLeft is SLOW and VRight is L-SLOW”, engine)); //1
ruleblock->addRule(Rule::parse(“if LeftObs is NEAR and FrontObs is NEAR and RightObs is NEAR and AngleObs is FRONT then VLeft is L-SLOW and VRight is SLOW”, engine)); //2
ruleblock->addRule(Rule::parse(“if LeftObs is NEAR and FrontObs is NEAR and RightObs is NEAR and AngleObs is RIGHT then VLeft is L-SLOW and VRight is SLOW”, engine)); //3
ruleblock->addRule(Rule::parse(“if LeftObs is NEAR and FrontObs is NEAR and RightObs is FAR and AngleObs is LEFT then VLeft is L-SLOW and VRight is SLOW”, engine)); //4
ruleblock->addRule(Rule::parse(“if LeftObs is NEAR and FrontObs is NEAR and RightObs is FAR and AngleObs is FRONT then VLeft is L-SLOW and VRight is SLOW”, engine)); //5
ruleblock->addRule(Rule::parse(“if LeftObs is NEAR and FrontObs is NEAR and RightObs is FAR and AngleObs is RIGHT then VLeft is L-SLOW and VRight is SLOW”, engine)); //6
ruleblock->addRule(Rule::parse(“if LeftObs is NEAR and FrontObs is FAR and RightObs is NEAR and AngleObs is LEFT then VLeft is MID and VRight is MID”, engine)); //7
ruleblock->addRule(Rule::parse(“if LeftObs is NEAR and FrontObs is FAR and RightObs is NEAR and AngleObs is FRONT then VLeft is L-FAST and VRight is L-FAST”, engine)); //8
ruleblock->addRule(Rule::parse(“if LeftObs is NEAR and FrontObs is FAR and RightObs is NEAR and AngleObs is RIGHT then VLeft is MID and VRight is MID”, engine)); //9
ruleblock->addRule(Rule::parse(“if LeftObs is NEAR and FrontObs is FAR and RightObs is FAR and AngleObs is LEFT then VLeft is L-SLOW and VRight is SLOW”, engine)); //10
ruleblock->addRule(Rule::parse(“if LeftObs is NEAR and FrontObs is FAR and RightObs is FAR and AngleObs is FRONT then VLeft is MID and VRight is L-SLOW”, engine)); //11
ruleblock->addRule(Rule::parse(“if LeftObs is NEAR and FrontObs is FAR and RightObs is FAR and AngleObs is RIGHT then VLeft is L-FAST and VRight is MID”, engine)); //12
ruleblock->addRule(Rule::parse(“if LeftObs is FAR and FrontObs is NEAR and RightObs is NEAR and AngleObs is LEFT then VLeft is SLOW and VRight is L-SLOW”, engine)); //13
ruleblock->addRule(Rule::parse(“if LeftObs is FAR and FrontObs is NEAR and RightObs is NEAR and AngleObs is FRONT then VLeft is SLOW and VRight is L-SLOW”, engine)); //14
ruleblock->addRule(Rule::parse(“if LeftObs is FAR and FrontObs is NEAR and RightObs is NEAR and AngleObs is RIGHT then VLeft is SLOW and VRight is L-SLOW”, engine)); //15
ruleblock->addRule(Rule::parse(“if LeftObs is FAR and FrontObs is NEAR and RightObs is FAR and AngleObs is LEFT then VLeft is SLOW and VRight is L-SLOW”, engine)); //16
ruleblock->addRule(Rule::parse(“if LeftObs is FAR and FrontObs is NEAR and RightObs is FAR and AngleObs is FRONT then VLeft is L-SLOW and VRight is SLOW”, engine)); //17
ruleblock->addRule(Rule::parse(“if LeftObs is FAR and FrontObs is NEAR and RightObs is FAR and AngleObs is RIGHT then VLeft is L-SLOW and VRight is SLOW”, engine)); //18
ruleblock->addRule(Rule::parse(“if LeftObs is FAR and FrontObs is FAR and RightObs is NEAR and AngleObs is LEFT then VLeft is MID and VRight is L-FAST”, engine)); //19
ruleblock->addRule(Rule::parse(“if LeftObs is FAR and FrontObs is FAR and RightObs is NEAR and AngleObs is FRONT then VLeft is L-SLOW and VRight is MID”, engine)); //20
ruleblock->addRule(Rule::parse(“if LeftObs is FAR and FrontObs is FAR and RightObs is NEAR and AngleObs is RIGHT then VLeft is SLOW and VRight is L-SLOW”, engine)); //21
ruleblock->addRule(Rule::parse(“if LeftObs is FAR and FrontObs is FAR and RightObs is FAR and AngleObs is LEFT then VLeft is L-FAST and VRight is FAST”, engine)); //22
ruleblock->addRule(Rule::parse(“if LeftObs is FAR and FrontObs is FAR and RightObs is FAR and AngleObs is FRONT then VLeft is FAST and VRight is FAST”, engine)); //23
ruleblock->addRule(Rule::parse(“if LeftObs is FAR and FrontObs is FAR and RightObs is FAR and AngleObs is RIGHT then VLeft is FAST and VRight is L-FAST”, engine)); //24
engine->addRuleBlock(ruleblock);

engine->configure(“”, “”, “Minimum”, “Maximum”, “Centroid”);

while(1){
cout<<“Enter Left-Obs = “;
cin>>leftobs;
cout<<“Enter Front-Obs = “;
cin>>frontobs;
cout<<“Enter Right-Obs = “;
cin>>rightobs;
cout<<“Enter Angle-Obs = “;
cin>>angleobs;

LeftObs->setInputValue(leftobs);
FrontObs->setInputValue(frontobs);
RightObs->setInputValue(rightobs);
AngleObs->setInputValue(angleobs);
engine->process();

cout << “V-Left = ” << VLeft->getOutputValue();
cout<<endl;
cout << “V-Right = ” << VRight->getOutputValue();
cout<<endl;
}
system(“pause”);
return 0;
}

I can compile this, but when I run, I cause a error: Unhandled exception at 0x75d14878 in FuzzyliteExample.exe: Microsoft C++ exception: fl::Exception at memory location 0x00cbcdb8..
I think this error come from the line engine->process();

Please help me!

[Juan Rada-Vilela (admin)]

Hi,

right after configure(), please

(1) output the FLL code using: FL_LOG(engine->toString()),
(2) Use the FLL to load it into QtFuzzyLite, where you will find out what the problem is.

If you still have problems, post your FLL code here.

Cheers.

[Author]

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