Aster SmarTec / eFLL

Fuzzy libray for embedded targets developed by zerokol. Read more on: http://zerokol.com/product/51e93616e84c5571b7000018/2/en edit by Bruno Alfano - corrected deallocation of FuzzyOutput

Fuzzy library by Zerokol. Read more on: http://zerokol.com/product/51e93616e84c5571b7000018/2/en

edit by Bruno Alfano - corrected deallocation bug for FuzzyOutput

Fuzzy.cpp@0:66cd67db4f1b, 2015-06-24 (annotated)

Committer:
astaff15
Date:
Wed Jun 24 06:30:39 2015 +0000
Revision:
0:66cd67db4f1b
eFLL - June 2015

Who changed what in which revision?

UserRevisionLine numberNew contents of line
astaff15 0:66cd67db4f1b 1 /*
astaff15 0:66cd67db4f1b 2 * Robotic Research Group (RRG)
astaff15 0:66cd67db4f1b 3 * State University of Piaui (UESPI), Brazil - Piauí - Teresina
astaff15 0:66cd67db4f1b 4 *
astaff15 0:66cd67db4f1b 5 * Fuzzy.cpp
astaff15 0:66cd67db4f1b 6 *
astaff15 0:66cd67db4f1b 7 * Author: Msc. Marvin Lemos <marvinlemos@gmail.com>
astaff15 0:66cd67db4f1b 8 * AJ Alves <aj.alves@zerokol.com>
astaff15 0:66cd67db4f1b 9 * Co authors: Douglas S. Kridi <douglaskridi@gmail.com>
astaff15 0:66cd67db4f1b 10 * Kannya Leal <kannyal@hotmail.com>
astaff15 0:66cd67db4f1b 11 */
astaff15 0:66cd67db4f1b 12 #include "Fuzzy.h"
astaff15 0:66cd67db4f1b 13
astaff15 0:66cd67db4f1b 14 // CONSTRUTORES
astaff15 0:66cd67db4f1b 15 Fuzzy::Fuzzy(){
astaff15 0:66cd67db4f1b 16 // Iniciando os ponteiros como nulo
astaff15 0:66cd67db4f1b 17 // FuzzyInput
astaff15 0:66cd67db4f1b 18 this->fuzzyInputs = NULL;
astaff15 0:66cd67db4f1b 19 this->fuzzyInputsCursor = NULL;
astaff15 0:66cd67db4f1b 20 // FuzzyOutput
astaff15 0:66cd67db4f1b 21 this->fuzzyOutputs = NULL;
astaff15 0:66cd67db4f1b 22 this->fuzzyOutputsCursor = NULL;
astaff15 0:66cd67db4f1b 23 // FuzzyRule
astaff15 0:66cd67db4f1b 24 this->fuzzyRules = NULL;
astaff15 0:66cd67db4f1b 25 this->fuzzyRulesCursor = NULL;
astaff15 0:66cd67db4f1b 26 }
astaff15 0:66cd67db4f1b 27
astaff15 0:66cd67db4f1b 28 // DESTRUTOR
astaff15 0:66cd67db4f1b 29 Fuzzy::~Fuzzy(){
astaff15 0:66cd67db4f1b 30 this->cleanFuzzyInputs(this->fuzzyInputs);
astaff15 0:66cd67db4f1b 31 this->cleanFuzzyOutputs(this->fuzzyOutputs);
astaff15 0:66cd67db4f1b 32 this->cleanFuzzyRules(this->fuzzyRules);
astaff15 0:66cd67db4f1b 33 }
astaff15 0:66cd67db4f1b 34
astaff15 0:66cd67db4f1b 35 // MÉTODOS PÚBLICOS
astaff15 0:66cd67db4f1b 36 bool Fuzzy::addFuzzyInput(FuzzyInput* fuzzyInput){
astaff15 0:66cd67db4f1b 37 fuzzyInputArray* aux;
astaff15 0:66cd67db4f1b 38
astaff15 0:66cd67db4f1b 39 // Alocando espaço na memória
astaff15 0:66cd67db4f1b 40 if((aux = (fuzzyInputArray *) malloc(sizeof(fuzzyInputArray))) == NULL){
astaff15 0:66cd67db4f1b 41 return false;
astaff15 0:66cd67db4f1b 42 }
astaff15 0:66cd67db4f1b 43
astaff15 0:66cd67db4f1b 44 aux->fuzzyInput = fuzzyInput;
astaff15 0:66cd67db4f1b 45 aux->next = NULL;
astaff15 0:66cd67db4f1b 46
astaff15 0:66cd67db4f1b 47 if(this->fuzzyInputs == NULL){
astaff15 0:66cd67db4f1b 48 this->fuzzyInputs = aux;
astaff15 0:66cd67db4f1b 49 this->fuzzyInputsCursor = aux;
astaff15 0:66cd67db4f1b 50 }else{
astaff15 0:66cd67db4f1b 51 this->fuzzyInputsCursor->next = aux;
astaff15 0:66cd67db4f1b 52 this->fuzzyInputsCursor = aux;
astaff15 0:66cd67db4f1b 53 }
astaff15 0:66cd67db4f1b 54
astaff15 0:66cd67db4f1b 55 return true;
astaff15 0:66cd67db4f1b 56 }
astaff15 0:66cd67db4f1b 57
astaff15 0:66cd67db4f1b 58 bool Fuzzy::addFuzzyOutput(FuzzyOutput* fuzzyOutput){
astaff15 0:66cd67db4f1b 59 fuzzyOutputArray *aux;
astaff15 0:66cd67db4f1b 60 // Alocando espaço na memória
astaff15 0:66cd67db4f1b 61 if((aux = (fuzzyOutputArray *) malloc(sizeof(fuzzyOutputArray))) == NULL){
astaff15 0:66cd67db4f1b 62 return false;
astaff15 0:66cd67db4f1b 63 }
astaff15 0:66cd67db4f1b 64 aux->fuzzyOutput = fuzzyOutput;
astaff15 0:66cd67db4f1b 65 aux->next = NULL;
astaff15 0:66cd67db4f1b 66
astaff15 0:66cd67db4f1b 67 // Ordenando o fuzzyOutput
astaff15 0:66cd67db4f1b 68 fuzzyOutput->order();
astaff15 0:66cd67db4f1b 69
astaff15 0:66cd67db4f1b 70 if(this->fuzzyOutputs == NULL){
astaff15 0:66cd67db4f1b 71 this->fuzzyOutputs = aux;
astaff15 0:66cd67db4f1b 72 this->fuzzyOutputsCursor = aux;
astaff15 0:66cd67db4f1b 73 }else{
astaff15 0:66cd67db4f1b 74 this->fuzzyOutputsCursor->next = aux;
astaff15 0:66cd67db4f1b 75 this->fuzzyOutputsCursor = aux;
astaff15 0:66cd67db4f1b 76 }
astaff15 0:66cd67db4f1b 77 return true;
astaff15 0:66cd67db4f1b 78 }
astaff15 0:66cd67db4f1b 79
astaff15 0:66cd67db4f1b 80 bool Fuzzy::addFuzzyRule(FuzzyRule* fuzzyRule){
astaff15 0:66cd67db4f1b 81 fuzzyRuleArray* aux;
astaff15 0:66cd67db4f1b 82 // Alocando espaço na memória
astaff15 0:66cd67db4f1b 83 if((aux = (fuzzyRuleArray *) malloc(sizeof(fuzzyRuleArray))) == NULL){
astaff15 0:66cd67db4f1b 84 return false;
astaff15 0:66cd67db4f1b 85 }
astaff15 0:66cd67db4f1b 86 aux->fuzzyRule = fuzzyRule;
astaff15 0:66cd67db4f1b 87 aux->next = NULL;
astaff15 0:66cd67db4f1b 88
astaff15 0:66cd67db4f1b 89 if(this->fuzzyRules == NULL){
astaff15 0:66cd67db4f1b 90 this->fuzzyRules = aux;
astaff15 0:66cd67db4f1b 91 this->fuzzyRulesCursor = aux;
astaff15 0:66cd67db4f1b 92 }else{
astaff15 0:66cd67db4f1b 93 this->fuzzyRulesCursor->next = aux;
astaff15 0:66cd67db4f1b 94 this->fuzzyRulesCursor = aux;
astaff15 0:66cd67db4f1b 95 }
astaff15 0:66cd67db4f1b 96 return true;
astaff15 0:66cd67db4f1b 97 }
astaff15 0:66cd67db4f1b 98
astaff15 0:66cd67db4f1b 99 bool Fuzzy::setInput(int fuzzyInputIndex, float crispValue){
astaff15 0:66cd67db4f1b 100 fuzzyInputArray *aux;
astaff15 0:66cd67db4f1b 101 aux = this->fuzzyInputs;
astaff15 0:66cd67db4f1b 102
astaff15 0:66cd67db4f1b 103 while(aux != NULL){
astaff15 0:66cd67db4f1b 104 if(aux->fuzzyInput->getIndex() == fuzzyInputIndex){
astaff15 0:66cd67db4f1b 105 aux->fuzzyInput->setCrispInput(crispValue);
astaff15 0:66cd67db4f1b 106 return true;
astaff15 0:66cd67db4f1b 107 }
astaff15 0:66cd67db4f1b 108 aux = aux->next;
astaff15 0:66cd67db4f1b 109 }
astaff15 0:66cd67db4f1b 110 return false;
astaff15 0:66cd67db4f1b 111 }
astaff15 0:66cd67db4f1b 112
astaff15 0:66cd67db4f1b 113 bool Fuzzy::fuzzify(){
astaff15 0:66cd67db4f1b 114 fuzzyInputArray* fuzzyInputAux;
astaff15 0:66cd67db4f1b 115
astaff15 0:66cd67db4f1b 116 fuzzyOutputArray *fuzzyOutputAux;
astaff15 0:66cd67db4f1b 117
astaff15 0:66cd67db4f1b 118 fuzzyInputAux = this->fuzzyInputs;
astaff15 0:66cd67db4f1b 119 while(fuzzyInputAux != NULL){
astaff15 0:66cd67db4f1b 120 fuzzyInputAux->fuzzyInput->resetFuzzySets();
astaff15 0:66cd67db4f1b 121 fuzzyInputAux = fuzzyInputAux->next;
astaff15 0:66cd67db4f1b 122 }
astaff15 0:66cd67db4f1b 123
astaff15 0:66cd67db4f1b 124 fuzzyOutputAux = this->fuzzyOutputs;
astaff15 0:66cd67db4f1b 125 while(fuzzyOutputAux != NULL){
astaff15 0:66cd67db4f1b 126 fuzzyOutputAux->fuzzyOutput->resetFuzzySets();
astaff15 0:66cd67db4f1b 127 fuzzyOutputAux = fuzzyOutputAux->next;
astaff15 0:66cd67db4f1b 128 }
astaff15 0:66cd67db4f1b 129
astaff15 0:66cd67db4f1b 130 // Calculando a pertinência de todos os FuzzyInputs
astaff15 0:66cd67db4f1b 131 fuzzyInputAux = this->fuzzyInputs;
astaff15 0:66cd67db4f1b 132 while(fuzzyInputAux != NULL){
astaff15 0:66cd67db4f1b 133 fuzzyInputAux->fuzzyInput->calculateFuzzySetPertinences();
astaff15 0:66cd67db4f1b 134 fuzzyInputAux = fuzzyInputAux->next;
astaff15 0:66cd67db4f1b 135 }
astaff15 0:66cd67db4f1b 136
astaff15 0:66cd67db4f1b 137 // Avaliando quais regras foram disparadas
astaff15 0:66cd67db4f1b 138 fuzzyRuleArray* fuzzyRuleAux;
astaff15 0:66cd67db4f1b 139 fuzzyRuleAux = this->fuzzyRules;
astaff15 0:66cd67db4f1b 140 // Calculando as pertinências de totos os FuzzyInputs
astaff15 0:66cd67db4f1b 141 while(fuzzyRuleAux != NULL){
astaff15 0:66cd67db4f1b 142 fuzzyRuleAux->fuzzyRule->evaluateExpression();
astaff15 0:66cd67db4f1b 143 fuzzyRuleAux = fuzzyRuleAux->next;
astaff15 0:66cd67db4f1b 144 }
astaff15 0:66cd67db4f1b 145
astaff15 0:66cd67db4f1b 146 // Truncado os conjuntos de saída
astaff15 0:66cd67db4f1b 147 fuzzyOutputAux = this->fuzzyOutputs;
astaff15 0:66cd67db4f1b 148 while(fuzzyOutputAux != NULL){
astaff15 0:66cd67db4f1b 149 fuzzyOutputAux->fuzzyOutput->truncate();
astaff15 0:66cd67db4f1b 150 fuzzyOutputAux = fuzzyOutputAux->next;
astaff15 0:66cd67db4f1b 151 }
astaff15 0:66cd67db4f1b 152
astaff15 0:66cd67db4f1b 153 return true;
astaff15 0:66cd67db4f1b 154 }
astaff15 0:66cd67db4f1b 155
astaff15 0:66cd67db4f1b 156 bool Fuzzy::isFiredRule(int fuzzyRuleIndex){
astaff15 0:66cd67db4f1b 157 fuzzyRuleArray *aux;
astaff15 0:66cd67db4f1b 158 aux = this->fuzzyRules;
astaff15 0:66cd67db4f1b 159 while(aux != NULL){
astaff15 0:66cd67db4f1b 160 if(aux->fuzzyRule->getIndex() == fuzzyRuleIndex){
astaff15 0:66cd67db4f1b 161 return aux->fuzzyRule->isFired();
astaff15 0:66cd67db4f1b 162 }
astaff15 0:66cd67db4f1b 163 aux = aux->next;
astaff15 0:66cd67db4f1b 164 }
astaff15 0:66cd67db4f1b 165 return false;
astaff15 0:66cd67db4f1b 166 }
astaff15 0:66cd67db4f1b 167
astaff15 0:66cd67db4f1b 168 float Fuzzy::defuzzify(int fuzzyOutputIndex){
astaff15 0:66cd67db4f1b 169 fuzzyOutputArray *aux;
astaff15 0:66cd67db4f1b 170 aux = this->fuzzyOutputs;
astaff15 0:66cd67db4f1b 171 while(aux != NULL){
astaff15 0:66cd67db4f1b 172 if(aux->fuzzyOutput->getIndex() == fuzzyOutputIndex){
astaff15 0:66cd67db4f1b 173 return aux->fuzzyOutput->getCrispOutput();
astaff15 0:66cd67db4f1b 174 }
astaff15 0:66cd67db4f1b 175 aux = aux->next;
astaff15 0:66cd67db4f1b 176 }
astaff15 0:66cd67db4f1b 177 return 0;
astaff15 0:66cd67db4f1b 178 }
astaff15 0:66cd67db4f1b 179
astaff15 0:66cd67db4f1b 180 // MÉTODOS PRIVADOS
astaff15 0:66cd67db4f1b 181 void Fuzzy::cleanFuzzyInputs(fuzzyInputArray* aux){
astaff15 0:66cd67db4f1b 182 if(aux != NULL){
astaff15 0:66cd67db4f1b 183 // Esvaziando a memória alocada
astaff15 0:66cd67db4f1b 184 this->cleanFuzzyInputs(aux->next);
astaff15 0:66cd67db4f1b 185 free(aux);
astaff15 0:66cd67db4f1b 186 }
astaff15 0:66cd67db4f1b 187 }
astaff15 0:66cd67db4f1b 188
astaff15 0:66cd67db4f1b 189 void Fuzzy::cleanFuzzyOutputs(fuzzyOutputArray* aux){
astaff15 0:66cd67db4f1b 190 if(aux != NULL){
astaff15 0:66cd67db4f1b 191 // Esvaziando a memória alocada
astaff15 0:66cd67db4f1b 192 this->cleanFuzzyOutputs(aux->next);
astaff15 0:66cd67db4f1b 193 free(aux);
astaff15 0:66cd67db4f1b 194 }
astaff15 0:66cd67db4f1b 195 }
astaff15 0:66cd67db4f1b 196
astaff15 0:66cd67db4f1b 197 void Fuzzy::cleanFuzzyRules(fuzzyRuleArray* aux){
astaff15 0:66cd67db4f1b 198 if(aux != NULL){
astaff15 0:66cd67db4f1b 199 // Esvaziando a memória alocada
astaff15 0:66cd67db4f1b 200 this->cleanFuzzyRules(aux->next);
astaff15 0:66cd67db4f1b 201 free(aux);
astaff15 0:66cd67db4f1b 202 }
astaff15 0:66cd67db4f1b 203 }