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#Code automatically generated with fuzzylite 6.0.
library(ggplot2);
engine.name = "ObstacleAvoidance"
engine.fll = "Engine: ObstacleAvoidance
InputVariable: obstacle
enabled: true
range: 0.000 1.000
lock-range: false
term: left Ramp 1.000 0.000
term: right Ramp 0.000 1.000
OutputVariable: mSteer
enabled: true
range: 0.000 1.000
lock-range: false
aggregation: Maximum
defuzzifier: Centroid 100
default: nan
lock-previous: false
term: left Ramp 1.000 0.000
term: right Ramp 0.000 1.000
RuleBlock: mamdani
enabled: true
conjunction: none
disjunction: none
implication: AlgebraicProduct
activation: General
rule: if obstacle is left then mSteer is right
rule: if obstacle is right then mSteer is left"
engine.fldFile = "ObstacleAvoidance.fld"
if (require(data.table)) {
engine.df = data.table::fread(engine.fldFile, sep="auto", header="auto")
} else {
engine.df = read.table(engine.fldFile, header=TRUE)
}
engine.plot.i1_o1 = ggplot(engine.df, aes(obstacle, mSteer)) +
geom_line(aes(color=mSteer), size=3, lineend="round", linejoin="mitre") +
scale_color_gradient(low="yellow", high="red") +
ggtitle("obstacle vs mSteer")
engine.plot.o1_i1 = ggplot(engine.df, aes(obstacle, mSteer)) +
geom_line(aes(color=mSteer), size=3, lineend="round", linejoin="mitre") +
scale_color_gradient(low="yellow", high="red") +
coord_flip() +
ggtitle("mSteer vs obstacle")
if (require(gridExtra)) {
engine.plots = arrangeGrob(engine.plot.i1_o1, engine.plot.o1_i1, ncol=2, top=engine.name)
ggsave(paste0(engine.name, ".pdf"), engine.plots)
if (require(grid)) {
grid.newpage()
grid.draw(engine.plots)
}
}
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