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my_controller.py
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# -*- coding: utf-8 -*-
# python imports
from math import degrees
import matplotlib.pyplot as plt
import numpy as np
# pyfuzzy imports
# from fuzzy.storage.fcl.Reader import Reader
class FuzzyController:
def __init__(self):
pass
# self.system = Reader().load_from_file(fcl_path)
def _make_input(self, world):
return dict(
cp=world.x,
cv=world.v,
pa=degrees(world.theta),
pv=degrees(world.omega)
)
def _make_output(self):
return dict(
force=0.
)
def decide(self, world):
output = self._make_output()
inp = self._make_input(world)
x, force = self.combined_force(inp)
print inp['pa']
print inp['pv']
final_force = self.defuzzification(x, force)
output['force'] = final_force
return output['force']
def line_y_output(self, x1, y1, x2, y2, x_in):
a = (y2 - y1) / float(x2 - x1) # calculate the slope of the line
y_out = a * (x_in - x2) + y2
return y_out
def pv_membership(self, x):
pv = dict()
# pv_cw_fast
if x <= -200:
pv['pv_cw_fast'] = 1
elif x < -100:
pv['pv_cw_fast'] = self.line_y_output(-200, 1, -100, 0, x)
else:
pv['pv_cw_fast'] = 0
# pv_cw_slow
if x < -200:
pv['pv_cw_slow'] = 0
elif -200 < x < -100:
pv['pv_cw_slow'] = self.line_y_output(-200, 0, -100, 1, x)
elif x <= 0:
pv['pv_cw_slow'] = self.line_y_output(-100, 1, 0, 0, x)
else:
pv['pv_cw_slow'] = 0
# pv_stop
if x < -100:
pv['pv_stop'] = 0
elif -100 < x < 0:
pv['pv_stop'] = self.line_y_output(-100, 0, 0, 1, x)
elif x <= 100:
pv['pv_stop'] = self.line_y_output(0, 1, 100, 0, x)
else:
pv['pv_stop'] = 0
# pv_ccw_slow
if x < 0:
pv['pv_ccw_slow'] = 0
elif 0 < x < 100:
pv['pv_ccw_slow'] = self.line_y_output(0, 0, 100, 1, x)
elif x <= 200:
pv['pv_ccw_slow'] = self.line_y_output(200, 0, 100, 1, x)
else:
pv['pv_ccw_slow'] = 0
# pv_ccw_fast
if x <= 100:
pv['pv_ccw_fast'] = 0
elif x < 200:
pv['pv_ccw_fast'] = self.line_y_output(200, 1, 100, 0, x)
else:
pv['pv_ccw_fast'] = 1
return pv
def pa_membership(self, x):
pa = dict()
# pa_up_more_right
if x < 0:
pa['pa_up_more_right'] = 0
elif 0 < x < 30:
pa['pa_up_more_right'] = self.line_y_output(0, 0, 30, 1, x)
elif x < 60:
pa['pa_up_more_right'] = self.line_y_output(30, 1, 60, 0, x)
else:
pa['pa_up_more_right'] = 0
# pa_up_right
if x < 30:
pa['pa_up_right'] = 0
elif 30 < x < 60:
pa['pa_up_right'] = self.line_y_output(30, 0, 60, 1, x)
elif x < 90:
pa['pa_up_right'] = self.line_y_output(60, 1, 90, 0, x)
else:
pa['pa_up_right'] = 0
# pa_up
if x < 60:
pa['pa_up'] = 0
elif 60 < x < 90:
pa['pa_up'] = self.line_y_output(60, 0, 90, 1, x)
elif x < 120:
pa['pa_up'] = self.line_y_output(90, 1, 120, 0, x)
else:
pa['pa_up'] = 0
# pa_up_left
if x < 90:
pa['pa_up_left'] = 0
elif 90 < x < 120:
pa['pa_up_left'] = self.line_y_output(90, 0, 120, 1, x)
elif x < 150:
pa['pa_up_left'] = self.line_y_output(120, 1, 150, 0, x)
else:
pa['pa_up_left'] = 0
# pa_up_more_left
if x < 120:
pa['pa_up_more_left'] = 0
elif 120 < x < 150:
pa['pa_up_more_left'] = self.line_y_output(120, 0, 150, 1, x)
elif x < 180:
pa['pa_up_more_left'] = self.line_y_output(150, 1, 180, 0, x)
else:
pa['pa_up_more_left'] = 0
# pa_down_more_left
if x < 180:
pa['pa_down_more_left'] = 0
elif 180 < x < 210:
pa['pa_down_more_left'] = self.line_y_output(180, 0, 210, 1, x)
elif x < 240:
pa['pa_down_more_left'] = self.line_y_output(210, 1, 240, 0, x)
else:
pa['pa_down_more_left'] = 0
# pa_down_left
if x < 210:
pa['pa_down_left'] = 0
elif 210 < x < 240:
pa['pa_down_left'] = self.line_y_output(210, 0, 240, 1, x)
elif x < 270:
pa['pa_down_left'] = self.line_y_output(240, 1, 270, 0, x)
else:
pa['pa_down_left'] = 0
# pa_down
if x < 240:
pa['pa_down'] = 0
elif 240 < x < 270:
pa['pa_down'] = self.line_y_output(240, 0, 270, 1, x)
elif x < 300:
pa['pa_down'] = self.line_y_output(270, 1, 300, 0, x)
else:
pa['pa_down'] = 0
# pa_down_right
if x < 270:
pa['pa_down_right'] = 0
elif 270 < x < 300:
pa['pa_down_right'] = self.line_y_output(270, 0, 300, 1, x)
elif x < 330:
pa['pa_down_right'] = self.line_y_output(300, 1, 330, 0, x)
else:
pa['pa_down_right'] = 0
# pa_down_more_right
if x < 300:
pa['pa_down_more_right'] = 0
elif 300 < x < 330:
pa['pa_down_more_right'] = self.line_y_output(300, 0, 330, 1, x)
elif x < 360:
pa['pa_down_more_right'] = self.line_y_output(330, 1, 360, 0, x)
else:
pa['pa_down_more_right'] = 0
return pa
def force_membership(self, x):
force = dict()
# force_left_fast
if x < -100:
force['force_left_fast'] = 0
elif -100 < x < -80:
force['force_left_fast'] = self.line_y_output(-100, 0, -80, 1, x)
elif x < -60:
force['force_left_fast'] = self.line_y_output(-80, 1, -60, 0, x)
else:
force['force_left_fast'] = 0
# force_left_slow
if x < -80:
force['force_left_slow'] = 0
elif -80 < x < -60:
force['force_left_slow'] = self.line_y_output(-80, 0, -60, 1, x)
elif x < 0:
force['force_left_slow'] = self.line_y_output(-60, 1, 0, 0, x)
else:
force['force_left_slow'] = 0
# force_stop
if x < -60:
force['force_stop'] = 0
elif -60 < x < 0:
force['force_stop'] = self.line_y_output(-60, 0, 0, 1, x)
elif x < 60:
force['force_stop'] = self.line_y_output(0, 1, 60, 0, x)
else:
force['force_stop'] = 0
# force_right_slow
if x < 0:
force['force_right_slow'] = 0
elif 0 < x < 60:
force['force_right_slow'] = self.line_y_output(0, 0, 60, 1, x)
elif x < 80:
force['force_right_slow'] = self.line_y_output(60, 1, 80, 0, x)
else:
force['force_right_slow'] = 0
# force_right_fast
if x < 60:
force['force_right_fast'] = 0
elif 60 < x < 80:
force['force_right_fast'] = self.line_y_output(60, 0, 80, 1, x)
elif x < 100:
force['force_right_fast'] = self.line_y_output(80, 1, 100, 0, x)
else:
force['force_right_fast'] = 0
return force
def inference(self, pa_in, pv_in):
max_force = dict()
# if pa < 0:
# pa = -pa
pa = self.pa_membership(pa_in)
pv = self.pv_membership(pv_in)
# force_right_fast
# RULE 1: IF (pa IS up_more_right) AND (pv IS ccw_slow) THEN force IS right_fast
f1 = min(pa['pa_up_more_right'], pv['pv_ccw_slow'])
# RULE 2: IF (pa IS up_more_right) AND (pv IS cw_slow) THEN force IS right_fast
f2 = min(pa['pa_up_more_right'], pv['pv_cw_slow'])
# RULE 6: IF (pa IS up_more_right) AND (pv IS cw_fast) THEN force IS right_fast
f3 = min(pa['pa_up_more_right'], pv['pv_cw_fast'])
# RULE 9: IF (pa IS down_more_right) AND (pv IS ccw_slow) THEN force IS right_fast
f4 = min(pa['pa_down_more_right'], pv['pv_ccw_slow'])
# RULE 17: IF (pa IS down_right) AND (pv IS ccw_slow) THEN force IS right_fast
f5 = min(pa['pa_down_right'], pv['pv_ccw_slow'])
# RULE 18: IF (pa IS down_right) AND (pv IS cw_slow) THEN force IS right_fast
f6 = min(pa['pa_down_right'], pv['pv_cw_slow'])
# RULE 26: IF (pa IS up_right) AND (pv IS cw_slow) THEN force IS right_fast
f7 = min(pa['pa_up_right'], pv['pv_cw_slow'])
# RULE 27: IF (pa IS up_right) AND (pv IS stop) THEN force IS right_fast
f8 = min(pa['pa_up_right'], pv['pv_stop'])
# RULE 32: IF (pa IS up_right) AND (pv IS cw_fast) THEN force IS right_fast
f9 = min(pa['pa_up_right'], pv['pv_cw_fast'])
# RULE 33: IF (pa IS up_left) AND (pv IS cw_fast) THEN force IS right_fast
f10 = min(pa['pa_up_left'], pv['pv_cw_fast'])
# RULE 35: IF (pa IS down) AND (pv IS stop) THEN force IS right_fast
f11 = min(pa['pa_down'], pv['pv_stop'])
# RULE 41: IF (pa IS up) AND (pv IS cw_fast) THEN force IS right_fast
f12 = min(pa['pa_up'], pv['pv_cw_fast'])
max_force['force_right_fast'] = max(f1, f2, f3, f4, f5, f6, f7, f8, f9, f10, f11, f12)
# force_left_fast
# RULE 3: IF (pa IS up_more_left) AND (pv IS cw_slow) THEN force IS left_fast
f1 = min(pa['pa_up_more_left'], pv['pv_cw_slow'])
# RULE 4: IF (pa IS up_more_left) AND (pv IS ccw_slow) THEN force IS left_fast
f2 = min(pa['pa_up_more_left'], pv['pv_ccw_slow'])
# RULE 8: IF (pa IS up_more_left) AND (pv IS ccw_fast) THEN force IS left_fast
f3 = min(pa['pa_up_more_left'], pv['pv_ccw_fast'])
# RULE 11: IF (pa IS down_more_left) AND (pv IS cw_slow) THEN force IS left_fast
f4 = min(pa['pa_down_more_left'], pv['pv_cw_slow'])
# RULE 19: IF (pa IS down_left) AND (pv IS cw_slow) THEN force IS left_fast
f5 = min(pa['pa_down_left'], pv['pv_cw_slow'])
# RULE 20: IF (pa IS down_left) AND (pv IS ccw_slow) THEN force IS left_fast
f6 = min(pa['pa_down_left'], pv['pv_ccw_slow'])
# RULE 29: IF (pa IS up_left) AND (pv IS ccw_slow) THEN force IS left_fast
f7 = min(pa['pa_up_left'], pv['pv_ccw_slow'])
# RULE 30: IF (pa IS up_left) AND (pv IS stop) THEN force IS left_fast
f8 = min(pa['pa_up_left'], pv['pv_stop'])
# RULE 31: IF (pa IS up_right) AND (pv IS ccw_fast) THEN force IS left_fast
f9 = min(pa['pa_up_right'], pv['pv_ccw_fast'])
# RULE 34: IF (pa IS up_left) AND (pv IS ccw_fast) THEN force IS left_fast
f10 = min(pa['pa_up_left'], pv['pv_ccw_fast'])
# RULE 39: IF (pa IS up) AND (pv IS ccw_fast) THEN force IS left_fast
f11 = min(pa['pa_up'], pv['pv_ccw_fast'])
max_force['force_left_fast'] = max(f1, f2, f3, f4, f5, f6, f7, f8, f9, f10, f11)
# force_left_slow
# RULE 5: IF (pa IS up_more_right) AND (pv IS ccw_fast) THEN force IS left_slow
f1 = min(pa['pa_up_more_right'], pv['pv_ccw_fast'])
# RULE 24: IF (pa IS down_left) AND (pv IS ccw_fast) THEN force IS left_slow
f2 = min(pa['pa_down_left'], pv['pv_ccw_fast'])
# RULE 28: IF (pa IS up_left) AND (pv IS cw_slow) THEN force IS left_slow
f3 = min(pa['pa_up_left'], pv['pv_cw_slow'])
# RULE 38: IF (pa IS up) AND (pv IS ccw_slow) THEN force IS left_slow
f4 = min(pa['pa_up'], pv['pv_ccw_slow'])
max_force['force_left_slow'] = max(f1, f2, f3, f4)
# force_right_slow
# RULE 7: IF (pa IS up_more_left) AND (pv IS cw_fast) THEN force IS right_slow
f1 = min(pa['pa_up_more_left'], pv['pv_cw_fast'])
# RULE 22: IF (pa IS down_right) AND (pv IS cw_fast) THEN force IS right_slow
f2 = min(pa['pa_down_right'], pv['pv_cw_fast'])
# RULE 25: IF (pa IS up_right) AND (pv IS ccw_slow) THEN force IS right_slow
f3 = min(pa['pa_up_right'], pv['pv_ccw_slow'])
# RULE 40: IF (pa IS up) AND (pv IS cw_slow) THEN force IS right_slow
f4 = min(pa['pa_up'], pv['pv_cw_slow'])
max_force['force_right_slow'] = max(f1, f2, f3, f4)
# force_stop
# RULE 10: IF (pa IS down_more_right) AND (pv IS cw_slow) THEN force IS stop
f1 = min(pa['pa_down_more_right'], pv['pv_cw_slow'])
# RULE 12: IF (pa IS down_more_left) AND (pv IS ccw_slow) THEN force IS stop
f2 = min(pa['pa_down_more_left'], pv['pv_ccw_slow'])
# RULE 13: IF (pa IS down_more_right) AND (pv IS ccw_fast) THEN force IS stop
f3 = min(pa['pa_down_more_right'], pv['pv_ccw_fast'])
# RULE 14: IF (pa IS down_more_right) AND (pv IS cw_fast) THEN force IS stop
f4 = min(pa['pa_down_more_right'], pv['pv_cw_fast'])
# RULE 15: IF (pa IS down_more_left) AND (pv IS cw_fast) THEN force IS stop
f5 = min(pa['pa_down_more_left'], pv['pv_cw_fast'])
# RULE 16: IF (pa IS down_more_left) AND (pv IS ccw_fast) THEN force IS stop
f6 = min(pa['pa_down_more_left'], pv['pv_ccw_fast'])
# RULE 21: IF (pa IS down_right) AND (pv IS ccw_fast) THEN force IS stop
f7 = min(pa['pa_down_right'], pv['pv_ccw_fast'])
# RULE 23: IF (pa IS down_left) AND (pv IS cw_fast) THEN force IS stop
f8 = min(pa['pa_down_left'], pv['pv_cw_fast'])
# RULE 36: IF (pa IS down) AND (pv IS cw_fast) THEN force IS stop
f9 = min(pa['pa_down'], pv['pv_cw_fast'])
# RULE 37: IF (pa IS down) AND (pv IS ccw_fast) THEN force IS stop
f10 = min(pa['pa_down'], pv['pv_ccw_fast'])
# RULE 42: IF (pa IS up) AND (pv IS stop) THEN force IS stop
f11 = min(pa['pa_up'], pv['pv_stop'])
# RULE 0: IF (pa IS up AND pv IS stop) OR (pa IS up_right AND pv IS ccw_slow) OR (pa IS up_left AND pv IS cw_slow)
# THEN force IS stop;
f12 = min(pa['pa_up'], pv['pv_stop'])
f13 = min(pa['pa_up_right'], pv['pv_ccw_slow'])
f14 = min(pa['pa_up_left'], pv['pv_cw_slow'])
max_force['force_stop'] = max(f1, f2, f3, f4, f5, f6, f7, f8, f9, f10, f11, f12, f13, f14)
return max_force
def combined_force(self, inp):
max_force = self.inference(inp['pa'], inp['pv'])
x = np.arange(-100, 100 + 0.1, 0.1)
final_force_values = np.zeros(len(x))
for i in xrange(len(x)):
force_memb = self.force_membership(x[i])
final_force_values[i] = max(
min(force_memb['force_stop'], max_force['force_stop']),
min(force_memb['force_left_fast'], max_force['force_left_fast']),
min(force_memb['force_right_fast'], max_force['force_right_fast']),
min(force_memb['force_left_slow'], max_force['force_left_slow']),
min(force_memb['force_right_slow'], max_force['force_right_slow'])
)
return x, final_force_values
def defuzzification(self, x, force):
numerator = 0.0
denominator = 0.0
for i in xrange(len(x)):
numerator += force[i] * x[i] * 0.1
denominator += force[i] * 0.1
if denominator == 0.0:
return 0.0
return numerator / denominator