Problems about NAN values output

[Unknown]

Good morning Juan, first of all thank you Juan for your well coded library fuzzyLite. I’m in trouble about NAN values in C++ (1.#QNAN). I try to call engine->isready(“…”) function without sucess. I mean everything good with a bool returning 1. I give you my code (I was inspired by the multiple exemple). The input value is well set on engine, the error must be on the rules or on the defuzzification.

Engine* GainController::mamdaniForKuka()
{
fl::Engine* FSys_ = new fl::Engine(“Kuka”);
fl::InputVariable* position = new fl::InputVariable(“y”, 0.000, 1.000);
position->setEnabled(true);
position->addTerm(new fl::Triangle(“HIGH”, 1.000, 0.7000, 0.5000));
position->addTerm(new fl::Triangle(“LESSHIGH”, 0.7000, 0.5000, 0.3000));
position->addTerm(new fl::Triangle(“LOW”, 0.5000, 0.3000, 0.000));
FSys_->addInputVariable(position);

fl::OutputVariable* Weight = new OutputVariable(“w4”, 0.000, 80.000);
Weight->setDefaultValue(fl::nan);
Weight->setEnabled(true);
Weight->setLockPreviousOutputValue(false);
Weight->setLockOutputValueInRange(false);
Weight->addTerm(new fl::Triangle(“LESSCONSTRAINT”, 1.000, 5.000, 10.000));
Weight->addTerm(new fl::Triangle(“NORMALCONSTRAINT”, 5.000, 40.000, 60.000));
Weight->addTerm(new fl::Triangle(“VERYCONSTRAINT”, 40.000, 60.000, 80.000));
Weight->fuzzyOutput()->setAccumulation(new Maximum);
Weight->setDefuzzifier(new Centroid(500));
FSys_->addOutputVariable(Weight);

fl::RuleBlock* ruleblock = new RuleBlock();
ruleblock->setEnabled(true);
ruleblock->setConjunction(new Minimum);
ruleblock->setDisjunction(new Maximum);
ruleblock->setActivation(new Minimum);
ruleblock->addRule(fl::Rule::parse(“if y is HIGH then w4 is VERYCONSTRAINT”, FSys_));
ruleblock->addRule(fl::Rule::parse(“if y is LESSHIGH then w4 is NORMALCONSTRAINT”, FSys_));
ruleblock->addRule(fl::Rule::parse(“if y is LOW then w4 is LESSCONSTRAINT”, FSys_));
FSys_->addRuleBlock(ruleblock);

//FSys_->configure(“”, “”, “Minimum”, “Maximum”, “Centroid”);

return FSys_;
}

void GainController::update()
{
if (cartesianObjectives_.size() == 1 && jointObjectives_.size() == 7)
{
std::string* status = new std::string();
ofstream fichier(“GainControlerLog.txt”,ios::out|ios::app);
if(fichier)
{
fichier << “\n”<<“\t enter on update”<<“\t.”;
body_ = cartesianObjectives_[0]->getBody();
fichier << “\n”<<“\t position : \t”<<body_.getPosition().z()<<“\t.”;
FSys_->setInputValue(“y”,body_.getPosition().z());
fichier << “\n”<<“\t set input value : Done “<<FSys_->getInputVariable(“y”)->getInputValue()<<“\t.”;
Solve();
fichier << “\n”<<“\t solving problems “<<“\t.”;
fichier << “\n”<<“\t output value “<< FSys_->getOutputVariable(“w4”)->getOutputValue() <<“\t.”;
FSys_->isReady(status);
fichier << “\n”<<“\t Fuzzy system status “<< *status <<“;”<<FSys_->isReady(status)<<“\t.”;
fichier << “\n”<<“\t Fuzzy number of rules block : “<<“;”<<FSys_->numberOfRuleBlocks()<<“\t.”;

fichier.close();
}
else cerr<<“erreur”<<endl;
}
}

void GainController::Solve()
{
FSys_->process();
OutputVariable* outputVariable = FSys_->getOutputVariable(“w4”);
outputVariable->defuzzify();
outputValues = outputVariable->getOutputValue();
}

it’s an university project to control robot, thanks for helping me, it must probably be a noob error.
Best regard

the fairy Tingle

[Juan Rada-Vilela (admin)]

Hi,

thank you for your post and your kind words.

The best approach is to use QtFuzzyLite. You can use the either the commercial or the community version. I am sure that will help you a lot. If you still have problems, can you please post the code using the FuzzyLite Language?

FL_LOG(engine->toString()); //or using
FL_LOG(FllExporter().toString(engine));

Thanks,

Juan.

[Unknown]

Yes, it’s working properly now (the order of the rank of my triangle terms wasn’t good), thank’s i’m now working with Qt fuzzylite community it’s more intuitive for visualizing. thanks

[Author]

Posts