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bump to 1.0.5
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camilo committed Dec 29, 2023
1 parent 09cc053 commit 71184ae
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Showing 35 changed files with 534 additions and 506 deletions.
3 changes: 2 additions & 1 deletion .vscode/settings.json
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,7 @@
"xtr1common": "cpp",
"xlocmon": "cpp",
"iomanip": "cpp",
"xloctime": "cpp"
"xloctime": "cpp",
"string": "cpp"
}
}
147 changes: 75 additions & 72 deletions check/qlibs_cpp_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,18 +17,18 @@ void test_tdl( void )
real_t delays[ 10 ];
tdl delayLine( delays );

delayLine( 3.5 );
delayLine( 5 );
delayLine( 5.0 );
delayLine( 0.5 );
delayLine( 1.5 );
delayLine( 2.5 );
delayLine( 3.5 );
delayLine( 4.5 );
delayLine( 5.5 );
delayLine( 6.5 );
delayLine( 7.5 );
delayLine( 8.5 );
delayLine( 3.5f );
delayLine( 5.0f );
delayLine( 5.0f );
delayLine( 0.5f );
delayLine( 1.5f );
delayLine( 2.5f );
delayLine( 3.5f );
delayLine( 4.5f );
delayLine( 5.5f );
delayLine( 6.5f );
delayLine( 7.5f );
delayLine( 8.5f );

cout << delayLine[ 0 ] << endl;
cout << delayLine[ 1 ] << endl;
Expand Down Expand Up @@ -67,31 +67,31 @@ void test_fis2( void )
};

flexnav.setup();
flexnav.setupInput( wt, 0.0, 0.5 );
flexnav.setupInput( dax, 0.0, 5.0 );
flexnav.setupInput( day, 0.0, 5.0 );
flexnav.setupInput( ae, 0.0, 20.0 );
flexnav.setupOutput( phit, 0.0, 1.0 );
flexnav.setupOutput( thetat, 0.0, 1.0 );
flexnav.setInputMF( wt, wtSLOW, trimf, (const real_t []){ -0.2 ,0.0 ,0.2 } );
flexnav.setInputMF( wt, wtMED, trimf, (const real_t []){ 0.1 ,0.25 , 0.4 } );
flexnav.setInputMF( wt, wtFAST, trimf, (const real_t []){ 0.3 ,0.5 ,0.7 });
flexnav.setInputMF( dax, daxLOW, trimf, (const real_t []){ -1.0 ,0.0 ,2.0 } );
flexnav.setInputMF( dax, daxMED, trimf, (const real_t []){ 1.0 , 2.5 , 4.0 } );
flexnav.setInputMF( dax, daxHIGH, trimf, (const real_t []){ 3.0 ,5.0 , 7.0 } );
flexnav.setInputMF( day, dayLOW, trimf, (const real_t []){ -2.0 ,0.0 , 2.0 } );
flexnav.setInputMF( day, dayMED, trimf, (const real_t []){ 1.0 ,2.5 ,4.0 } );
flexnav.setInputMF( day, dayHIGH, trimf, (const real_t []){ 3.0 ,5.0 , 7.0 } );
flexnav.setInputMF( ae, aeLOW, trimf, (const real_t []){ -8.0 ,0.0 ,8.0 } );
flexnav.setInputMF( ae, aeMED, trimf, (const real_t []){ 5.0 ,10.0 , 15.0 } );
flexnav.setInputMF( ae, aeHIGH, trimf, (const real_t []){ 12.0 ,20.0 ,28.0 } );
flexnav.setupInput( wt, 0.0f, 0.5f );
flexnav.setupInput( dax, 0.0f, 5.0f );
flexnav.setupInput( day, 0.0f, 5.0f );
flexnav.setupInput( ae, 0.0f, 20.0f );
flexnav.setupOutput( phit, 0.0f, 1.0f );
flexnav.setupOutput( thetat, 0.0f, 1.0f );
flexnav.setInputMF( wt, wtSLOW, trimf, (const real_t []){ -0.2f ,0.0f ,0.2f } );
flexnav.setInputMF( wt, wtMED, trimf, (const real_t []){ 0.1f ,0.25f , 0.4f } );
flexnav.setInputMF( wt, wtFAST, trimf, (const real_t []){ 0.3f ,0.5f ,0.7f });
flexnav.setInputMF( dax, daxLOW, trimf, (const real_t []){ -1.0f ,0.0f ,2.0f } );
flexnav.setInputMF( dax, daxMED, trimf, (const real_t []){ 1.0f , 2.5f , 4.0f } );
flexnav.setInputMF( dax, daxHIGH, trimf, (const real_t []){ 3.0f ,5.0f , 7.0f } );
flexnav.setInputMF( day, dayLOW, trimf, (const real_t []){ -2.0f ,0.0f , 2.0f } );
flexnav.setInputMF( day, dayMED, trimf, (const real_t []){ 1.0f ,2.5f ,4.0f } );
flexnav.setInputMF( day, dayHIGH, trimf, (const real_t []){ 3.0f ,5.0f , 7.0f } );
flexnav.setInputMF( ae, aeLOW, trimf, (const real_t []){ -8.0f ,0.0f ,8.0f } );
flexnav.setInputMF( ae, aeMED, trimf, (const real_t []){ 5.0f ,10.0f , 15.0f } );
flexnav.setInputMF( ae, aeHIGH, trimf, (const real_t []){ 12.0f ,20.0f ,28.0f } );

flexnav.setOutputMF( phit, phitGYRO, trimf, (const real_t []){ -0.4 ,0.0 ,0.4 } );
flexnav.setOutputMF( phit, phitBOTH, trimf, (const real_t []){ 0.2 , 0.5 , 0.8 } );
flexnav.setOutputMF( phit, phitACCEL, trimf, (const real_t []){ 0.6 , 1.0 , 1.4 } );
flexnav.setOutputMF( thetat, thetatGYRO, trimf, (const real_t []){ -0.4 ,0.0 , 0.4 } );
flexnav.setOutputMF( thetat, thetatBOTH, trimf, (const real_t []){ 0.2 , 0.5 , 0.8 } );
flexnav.setOutputMF( thetat, thetatACCEL, trimf, (const real_t []){ 0.6 , 1.0 , 1.4 } );
flexnav.setOutputMF( phit, phitGYRO, trimf, (const real_t []){ -0.4f ,0.0f ,0.4f } );
flexnav.setOutputMF( phit, phitBOTH, trimf, (const real_t []){ 0.2f , 0.5f , 0.8f } );
flexnav.setOutputMF( phit, phitACCEL, trimf, (const real_t []){ 0.6f , 1.0f , 1.4f } );
flexnav.setOutputMF( thetat, thetatGYRO, trimf, (const real_t []){ -0.4f ,0.0f , 0.4f } );
flexnav.setOutputMF( thetat, thetatBOTH, trimf, (const real_t []){ 0.2f , 0.5f, 0.8f } );
flexnav.setOutputMF( thetat, thetatACCEL, trimf, (const real_t []){ 0.6f , 1.0f , 1.4f } );

flexnav << wt << 0 << dax << 0 << day << 3 << ae << 0;
flexnav.fuzzify();
Expand Down Expand Up @@ -130,17 +130,17 @@ void test_fis( void )
real_t rulesStrength[ 3 ];

tipper.setup( Mamdani, tipper_inputs, tipper_outputs, MFin, MFout, rules, rulesStrength );
tipper.setupInput( service, 0.0, 1.0 );
tipper.setupInput( food, 0.0, 10.0 );
tipper.setupOutput( tip, 0.0, 30.0 );
tipper.setInputMF( service, poor, gaussmf, (const real_t[]){ 1.5, 0.0 } );
tipper.setInputMF( service, good, gaussmf, (const real_t[]){ 1.5, 5.0 } );
tipper.setInputMF( service, excellent, gaussmf, (const real_t[]){ 1.5, 10.0 } );
tipper.setInputMF( food, rancid, trapmf, (const real_t[]){ 0.0, 0.0, 1.0, 3.0 } );
tipper.setInputMF( food, delicious, trapmf, (const real_t[]){ 7.0, 9.0, 10.0, 10.0 } );
tipper.setOutputMF( tip, cheap, trimf, (const real_t[]){ 0.0, 5.0, 10.0 } );
tipper.setOutputMF( tip, average, trimf, (const real_t[]){10.0, 15.0, 20.0 } );
tipper.setOutputMF( tip, generous, trimf, (const real_t[]){ 20.0, 25.0, 30.0 } );
tipper.setupInput( service, 0.0f, 1.0f );
tipper.setupInput( food, 0.0f, 10.0f );
tipper.setupOutput( tip, 0.0f, 30.0f );
tipper.setInputMF( service, poor, gaussmf, (const real_t[]){ 1.5f, 0.0f } );
tipper.setInputMF( service, good, gaussmf, (const real_t[]){ 1.5f, 5.0f } );
tipper.setInputMF( service, excellent, gaussmf, (const real_t[]){ 1.5f, 10.0f } );
tipper.setInputMF( food, rancid, trapmf, (const real_t[]){ 0.0f, 0.0f, 1.0f, 3.0f } );
tipper.setInputMF( food, delicious, trapmf, (const real_t[]){ 7.0f, 9.0, 10.0f, 10.0f } );
tipper.setOutputMF( tip, cheap, trimf, (const real_t[]){ 0.0f, 5.0f, 10.0f } );
tipper.setOutputMF( tip, average, trimf, (const real_t[]){10.0f, 15.0f, 20.0f } );
tipper.setOutputMF( tip, generous, trimf, (const real_t[]){ 20.0f, 25.0f, 30.0f } );
tipper_outputs[ tip ].storeAggregatedRegion( xag, yag );


Expand Down Expand Up @@ -208,42 +208,45 @@ void test_ltisys( void )
cout << "LTISYS TEST"<< endl;
cout << "continuousSystem"<< endl;
continuousTF<3> ctf= {
{ 0.0, 2.0, 3.0, 6.0 },
{ 1.0, 6.0, 11.0, 16.0 },
{ 0.0f, 2.0f, 3.0f, 6.0f },
{ 1.0f, 6.0f, 11.0f, 16.0f },
};
continuousSystem gc( ctf, 0.01 );
for ( int i = 0; i < 3005; i++ ) {
cout << gc.excite( 1.0 ) << endl;
continuousSystem gc( ctf, 0.01f );
for ( int i = 0; i < 1000; i++ ) {
cout << gc.excite( 1.0f ) << endl;
}

cout << "discreteSystem"<< endl;
discreteTF<3,3> dtf= {
{ 0.1, 0.2, 0.3 },
{ 1.0, -0.85, 0.02 },
};
discreteSystem gd( dtf );
for ( int i = 0; i < 260; i++ ) {
cout << gd.excite( 1.0 ) << endl;
//discreteTF<3,3> dtf= {
// { 0.1f, 0.2f, 0.3f },
// { 1.0f, -0.85f, 0.02f },
//};
real_t num[] = { 0.1f, 0.2f, 0.3f };
real_t den[] = { 1.0f, -0.85f, 0.02f };
discreteStates<3> xd= { 0.0f, 0.0f, 0.0f };
discreteSystem gd( num, den, xd );
for ( int i = 0; i < 20; i++ ) {
cout << gd.excite( 1.0f ) << endl;
}

}

void test_ffmath(void)
{
cout << "ffmath" << endl;
cout << ffmath::exp( 0.5 ) << endl;
cout << ffmath::log( 0.5 ) << endl;
cout << ffmath::sin( 0.5 ) << endl;
cout << ffmath::cos( 0.5 ) << endl;
cout << ffmath::tan( 0.5 ) << endl;
cout << ffmath::asin( 0.5 ) << endl;
cout << ffmath::acos( 0.5 ) << endl;
cout << ffmath::atan( 0.5 ) << endl;
cout << ffmath::cosh( 0.5 ) << endl;
cout << ffmath::sinh( 0.5 ) << endl;
cout << ffmath::tanh( 0.5 ) << endl;
cout << ffmath::atan2( 0.1, 0.2 ) << endl;
cout << ffmath::pow( 3.8, 2.5 ) << endl;
cout << ffmath::exp( 0.5f ) << endl;
cout << ffmath::log( 0.5f ) << endl;
cout << ffmath::sin( 0.5f ) << endl;
cout << ffmath::cos( 0.5f ) << endl;
cout << ffmath::tan( 0.5f ) << endl;
cout << ffmath::asin( 0.5f ) << endl;
cout << ffmath::acos( 0.5f ) << endl;
cout << ffmath::atan( 0.5f ) << endl;
cout << ffmath::cosh( 0.5f ) << endl;
cout << ffmath::sinh( 0.5f ) << endl;
cout << ffmath::tanh( 0.5f ) << endl;
cout << ffmath::atan2( 0.1f, 0.2f ) << endl;
cout << ffmath::pow( 3.8f, 2.5f ) << endl;
cout << ffmath::getNan() << endl;
cout << ffmath::getInf() << endl;
}
Expand Down
46 changes: 23 additions & 23 deletions doc/qfis.dox
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Original file line number Diff line number Diff line change
Expand Up @@ -305,9 +305,9 @@
* methods as follows:
*
* @code{.c}
* tipper.setupInput( service, 0.0, 1.0 );
* tipper.setupInput( food, 0.0, 10.0 );
* tipper.setupOutput( tip, 0.0, 30.0 );
* tipper.setupInput( service, 0.0f, 1.0f );
* tipper.setupInput( food, 0.0f, 10.0f );
* tipper.setupOutput( tip, 0.0f, 30.0f );
* @endcode
*
* The next step is to configure the membership functions by relating I/O,
Expand All @@ -316,14 +316,14 @@
* Then, let's define the parameters of all the membership functions:
*
* @code{.c}
* tipper.setInputMF( service, poor, gaussmf, (const real_t[]){ 1.5, 0.0 } );
* tipper.setInputMF( service, good, gaussmf, (const real_t[]){ 1.5, 5.0 } );
* tipper.setInputMF( service, excellent, gaussmf, (const real_t[]){ 1.5, 10.0 } );
* tipper.setInputMF( food, rancid, trapmf, (const real_t[]){ 0.0, 0.0, 1.0, 3.0 } );
* tipper.setInputMF( food, delicious, trapmf, (const real_t[]){ 7.0, 9.0, 10.0, 10.0 } );
* tipper.setOutputMF( tip, cheap, trimf, (const real_t[]){ 0.0, 5.0, 10.0 } );
* tipper.setOutputMF( tip, average, trimf, (const real_t[]){10.0, 15.0, 20.0 } );
* tipper.setOutputMF( tip, generous, trimf, (const real_t[]){ 20.0, 25.0, 30.0 } );
* tipper.setInputMF( service, poor, gaussmf, (const real_t[]){ 1.5f, 0.0f } );
* tipper.setInputMF( service, good, gaussmf, (const real_t[]){ 1.5f, 5.0f } );
* tipper.setInputMF( service, excellent, gaussmf, (const real_t[]){ 1.5f, 10.0f } );
* tipper.setInputMF( food, rancid, trapmf, (const real_t[]){ 0.0f, 0.0f, 1.0f, 3.0f } );
* tipper.setInputMF( food, delicious, trapmf, (const real_t[]){ 7.0f, 9.0f, 10.0f, 10.0f } );
* tipper.setOutputMF( tip, cheap, trimf, (const real_t[]){ 0.0f, 5.0f, 10.0f } );
* tipper.setOutputMF( tip, average, trimf, (const real_t[]){10.0f, 15.0f, 20.0f } );
* tipper.setOutputMF( tip, generous, trimf, (const real_t[]){ 20.0f, 25.0f, 30.0f } );
* @endcode
*
* @note
Expand Down Expand Up @@ -370,23 +370,23 @@
* FIS_RULES_END
* };
* //Rule strengths
* real_t rStrength[ 3 ] = { 0.0 };
* real_t rStrength[ 3 ] = { 0.0f };
*
*
* void tipper_init( void )
* {
* tipper.setup( Mamdani, tipper_inputs, tipper_outputs, MFin, MFout, rules, rStrength );
* tipper.setupInput( service, 0.0, 1.0 );
* tipper.setupInput( food, 0.0, 10.0 );
* tipper.setupOutput( tip, 0.0, 30.0 );
* tipper.setInputMF( service, poor, gaussmf, (const real_t[]){ 1.5, 0.0 } );
* tipper.setInputMF( service, good, gaussmf, (const real_t[]){ 1.5, 5.0 } );
* tipper.setInputMF( service, excellent, gaussmf, (const real_t[]){ 1.5, 10.0 } );
* tipper.setInputMF( food, rancid, trapmf, (const real_t[]){ 0.0, 0.0, 1.0, 3.0 } );
* tipper.setInputMF( food, delicious, trapmf, (const real_t[]){ 7.0, 9.0, 10.0, 10.0 } );
* tipper.setOutputMF( tip, cheap, trimf, (const real_t[]){ 0.0, 5.0, 10.0 } );
* tipper.setOutputMF( tip, average, trimf, (const real_t[]){10.0, 15.0, 20.0 } );
* tipper.setOutputMF( tip, generous, trimf, (const real_t[]){ 20.0, 25.0, 30.0 } );
* tipper.setupInput( service, 0.0f, 1.0f );
* tipper.setupInput( food, 0.0f, 10.0f );
* tipper.setupOutput( tip, 0.0f, 30.0f );
* tipper.setInputMF( service, poor, gaussmf, (const real_t[]){ 1.5f, 0.0f } );
* tipper.setInputMF( service, good, gaussmf, (const real_t[]){ 1.5f, 5.0f } );
* tipper.setInputMF( service, excellent, gaussmf, (const real_t[]){ 1.5f, 10.0f } );
* tipper.setInputMF( food, rancid, trapmf, (const real_t[]){ 0.0f, 0.0f, 1.0f, 3.0f } );
* tipper.setInputMF( food, delicious, trapmf, (const real_t[]){ 7.0f, 9.0f, 10.0f, 10.0f } );
* tipper.setOutputMF( tip, cheap, trimf, (const real_t[]){ 0.0f, 5.0f, 10.0f } );
* tipper.setOutputMF( tip, average, trimf, (const real_t[]){ 10.0f, 15.0f, 20.0f } );
* tipper.setOutputMF( tip, generous, trimf, (const real_t[]){ 20.0f, 25.0f, 30.0f } );
* }
*
* void tipper_run( real_t *inputs, real_t *outputs )
Expand Down
24 changes: 12 additions & 12 deletions doc/qltisys.dox
View file
Original file line number Diff line number Diff line change
Expand Up @@ -44,11 +44,11 @@
*
* void xTaskSystemSimulate( void )
* {
* const real_t dt = 0.05; // Time step
* const real_t dt = 0.05f; // Time step
* std::chrono::milliseconds delay(static_cast<long long>( dt*1000 ) );
* real_t num[] = { 0.0, 2.0, 3.0, 6.0 };
* real_t den[] = { 1.0, 6.0, 11.0, 16.0 };
* continuousStates x = { 0, 0, 0 }; // n = 3
* real_t num[] = { 0.0f, 2.0f, 3.0f, 6.0f };
* real_t den[] = { 1.0f, 6.0f, 11.0f, 16.0f };
* continuousStates x = { 0.0f, 0.0f, 0.0f }; // n = 3
* continuousSystem gc( num, den, xC, dt );
* real_t ut, yt;
*
Expand All @@ -73,11 +73,11 @@
*
* void xTaskSystemSimulate( void )
* {
* const real_t dt = 0.05; // Time step
* const real_t dt = 0.05f; // Time step
* std::chrono::milliseconds delay(static_cast<long long>( dt*1000 ) );
* continuousTF<3> ctf= {
* { 0.0, 2.0, 3.0, 6.0 },
* { 1.0, 6.0, 11.0, 16.0 },
* { 0.0f, 2.0f, 3.0f, 6.0f },
* { 1.0f, 6.0f, 11.0f, 16.0f },
* };
*
* continuousSystem gc( ctf, dt );
Expand Down Expand Up @@ -120,9 +120,9 @@
*
* void xTaskSystemSimulate( void )
* {
* real_t num[] = { 0.1, 0.2, 0.3 };
* real_t den[] = { 1.0, -0.85, 0.02 };
* discreteStates xk[] = { 0, 0, 0 };
* real_t num[] = { 0.1f 0.2f, 0.3f };
* real_t den[] = { 1.0f, -0.85f, 0.02f };
* discreteStates xk[] = { 0.0f, 0.0f, 0.0f };
* discreteSystem gc( num, den, xC );
* real_t uk, yk;
*
Expand All @@ -147,8 +147,8 @@
* void xTaskSystemSimulate( void )
* {
* discreteTF<3,3> dtf= {
* { 0.1, 0.2, 0.3 },
* { 1.0, -0.85, 0.02 },
* { 0.1f, 0.2f, 0.3f },
* { 1.0f, -0.85f, 0.02f },
* };
* continuousSystem gc( dtf );
* real_t uk, yk;
Expand Down
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