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Added fuzzy for MISO and KF with multiple update
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,158 @@ | ||
| import sys, traceback | ||
|
|
||
| import numpy as np | ||
| import matplotlib | ||
| import matplotlib.pyplot as plt | ||
| from mpl_toolkits.mplot3d import Axes3D | ||
|
|
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| sys.path.append('../maths') | ||
| from maths.fc_miso import FcMiso as FuzzyController | ||
|
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| class FuzzyDriverMiso: | ||
| """ | ||
| This class allows you to configure interaction with `FuzzyController` class | ||
| from the console application. | ||
| """ | ||
| def call(self): | ||
| """ | ||
| Calls `FuzzyController` from the console application. | ||
| """ | ||
|
|
||
| # Declare an instance of `FuzzyController` class | ||
| fc = FuzzyController() | ||
|
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| print("""VARIABLES: | ||
| In: Distance to next point. | ||
| In: Distance to previous point. | ||
| In: Angle. | ||
| Out: Speed.""") | ||
|
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| print("""Select one of these options: | ||
| 1) Enter input variables and get output variable only once, | ||
| 2) Describe relationship between input and output variable using a graph. | ||
| """) | ||
|
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||
| while(True): | ||
| command = input('Please, enter 1 or 2: ') | ||
| if command == '1': | ||
| speed = self.get_speed_console(fc) | ||
| print(f'Speed = {speed} km/h') | ||
| break | ||
| elif command == '2': | ||
| self.relationship(fc) | ||
| break | ||
|
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|
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| def draw_plot(self, input1, input2, input3, output, view): | ||
| """ | ||
| Allows to visualize relationship between 3 input variables of fuzzy | ||
| controller (distance to the previous point `dpp`, distance to | ||
| the next point `dnp` and angle of rotation `angle` in degrees) | ||
| and its output variable (speed of a car `speed`). | ||
| Graph is drawn as 3D plot of 3 input variables, output variable | ||
| is shown using colorbar. | ||
| """ | ||
| if view == 'subplots': | ||
| pass | ||
| if view == '3d': | ||
| # convert to 2d matrices | ||
| input1, input2 = np.meshgrid(input1, input2) # 10x10 | ||
| input3 = np.outer(input3.T, input3) / np.max(input3) # 10x10 | ||
| output = np.outer(output.T, output) / np.max(output) # 10x10 | ||
|
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| # fourth dimention - colormap | ||
| mappable = plt.cm.ScalarMappable(cmap='seismic') | ||
| mappable.set_array(output) | ||
|
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| fig = plt.figure() | ||
| ax = fig.add_subplot(111, projection='3d') | ||
| ax.plot_surface(input1, input2, input3, | ||
| cmap=mappable.cmap, norm=mappable.norm, | ||
| linewidth=0, antialiased=False) | ||
| fig.colorbar(mappable) | ||
|
|
||
| ax.set_xlabel('DPP (m)') | ||
| ax.set_ylabel('DNP (m)') | ||
| ax.set_zlabel('Angle (deg)') | ||
| plt.title('Three variable fuzzy controller') | ||
| plt.grid() | ||
| plt.show() | ||
| else: | ||
| raise f'Incorrect parameter of view: {view}' | ||
|
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|
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| def relationship(self, fuzzy_controller): | ||
| """ | ||
| Print out and plot the relationship between `distance` and `speed` | ||
| initiated in the rulebase. | ||
| Plot a diagram of the relationship by calling `draw_plot()` method. | ||
| """ | ||
|
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||
| dstnce_prev = np.arange(0.0, 50.0, 5.0) | ||
| dstnce_next = np.arange(0.0, 50.0, 5.0) | ||
| angle = np.arange(-45.0, 45.0, 9.0) | ||
| speed = [] | ||
| try: | ||
| for x in dstnce_prev: | ||
| for y in dstnce_next: | ||
| for z in angle: | ||
| result = fuzzy_controller.inference(x, y, z) | ||
| speed.append(result) | ||
| print(f'x: {x}\ty: {y}\tz: {z}\tresult: {result}') | ||
| speed = np.asarray(speed) | ||
| self.draw_plot(input1=dstnce_prev, input2=dstnce_next, | ||
| input3=angle, output=speed, view='3d') | ||
| except Exception: | ||
| pass | ||
|
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|
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| def get_speed_console(self, fc): | ||
| """ | ||
| This method allows you to write value of `distance` in the console and | ||
| get value of `speed` corresponding to the `distance`. | ||
| Variable `distance` is measured in meters, and `speed` is measured | ||
| in km/h. | ||
| :returns: floating point `distance`, floating point `speed`. | ||
| """ | ||
| while (1): | ||
| dstnce_prev = input('Distance to previous point (m): ') | ||
| try: | ||
| dstnce_prev = float(dstnce_prev) | ||
| if dstnce_prev < 0: | ||
| raise 'Distance cannot be negative' | ||
| else: | ||
| break | ||
| except Exception: | ||
| print('Incorrect input') | ||
|
|
||
| while (1): | ||
| dstnce_next = input('Distance to next point (m): ') | ||
| try: | ||
| dstnce_next = float(dstnce_next) | ||
| if dstnce_next < 0: | ||
| raise 'Distance cannot be negative' | ||
| else: | ||
| break | ||
| except Exception: | ||
| print('Incorrect input') | ||
|
|
||
| while (1): | ||
| angle = input('Angle of rotation (deg): ') | ||
| try: | ||
| angle = float(angle) | ||
| if angle < -90 and angle > 90: | ||
| raise 'Angle is out of range' | ||
| else: | ||
| break | ||
| except Exception: | ||
| print('Incorrect input') | ||
|
|
||
| speed = fc.inference(dpp_in=dstnce_prev, | ||
| dnp_in=dstnce_next, | ||
| angle_in=angle) | ||
| return float(speed) |
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