% ruletrk.m
% rule set for truck backing problem
% copyright(c) 1997-2001 by Yu Hen Hu
% Last modified: 12/12/2001
% 
d=[5 7 7];

% Input 1 is horizontal position. 5 fuzzy sets are defined in 
% [0:100/24:100]:
%   FL(far left), ML(medium left), C (center), MR (medium right), FR (far right)
FL=[1 0 0 0 0 ];
ML=[0 1 0 0 0 ];
C =[0 0 1 0 0 ];
MR=[0 0 0 1 0 ];
FR=[0 0 0 0 1 ];
% Input 2 is orientation of the car, 7 fuzzy sets defined in 
% [0:4:360]:
%   a1, a2, a3, a4, a5, a6, a7
a1=[1 0 0 0 0 0 0];
a2=[0 1 0 0 0 0 0];
a3=[0 0 1 0 0 0 0];
a4=[0 0 0 1 0 0 0];
a5=[0 0 0 0 1 0 0];
a6=[0 0 0 0 0 1 0];
a7=[0 0 0 0 0 0 1];

% Output is steering direction. 7 fuzzy sets defined in 
% [-30:1:30]:
%  HL (Hard left), SL(soft left), L, S(straight), R, SR(soft right), HR (Hard right)
HL=[1 0 0 0 0 0 0];
SL=[0 1 0 0 0 0 0];
 L=[0 0 1 0 0 0 0];
 S=[0 0 0 1 0 0 0];
 R=[0 0 0 0 1 0 0];
SR=[0 0 0 0 0 1 0];
HR=[0 0 0 0 0 0 1];
%

rule=[...
% H_pos  Angle  &?  Steer  Wt
   FL      a1    0    SR    1  % if x is FL and phi is a1 then theta is SR
   FL      a2    0    SR    1
   FL      a3    0    SL    1
   FL      a4    0     L    1
   FL      a5    0    HL    1
   FL      a6    0    HL    1
   FL      a7    0    HL    1
   ML      a1    0     R    1
   ML      a2    0    SR    1
   ML      a3    0    SL    1
   ML      a4    0     L    1
   ML      a5    0     L    1
   ML      a6    0    HL    1
   ML      a7    0    HL    1
    C      a1    0    SR    1
    C      a2    0     R    1
    C      a3    0     R    1
    C      a4    0     S    1
    C      a5    0     L    1
    C      a6    0     L    1
    C      a7    0    SL    1
   MR      a1    0    HR    1
   MR      a2    0    HR    1
   MR      a3    0     R    1
   MR      a4    0     R    1
   MR      a5    0    SR    1
   MR      a6    0    SL    1
   MR      a7    0     L    1
   FR      a1    0    HR    1
   FR      a2    0    HR    1
   FR      a3    0    HR    1
   FR      a4    0     R    1
   FR      a5    0    SR    1
   FR      a6    0    SL    1
   FR      a7    0    SL    1];