/*
** Program :  cdfuzz.h
** This is the header file for cdfuzz.c
*/


/******** define some common functions *******/

#define min(A, B)       ((A) < (B) ? (A) : (B))
#define max(A, B)       ((A) > (B) ? (A) : (B))
#define sqr(A)          ((A)*(A))
#define sgn(A)          ( ((A) >= 0.0) ? 1.0 : (-1.0))
#define abs(A)          ( ((A) >= 0.0) ? (A) : (-1*(A)))
#define sigmoid(A, B)   ( min(max((A),(-1*(B))),(B))/(B) )
#define inclim(A, B, C) ( min(max((A)+(B),(-(C))),(C)) )
/*#define PI              3.141592654*/

/******** Define membership function types ********/
#define LEFTTRI      1
#define RIGHTTRI     2
#define TRI          3
#define LEFTGAUSS    4
#define RIGHTGAUSS   5
#define GAUSSIAN     6
#define LEFTCOS      7
#define RIGHTCOS     8
#define COS          9
#define LEFTCOS2     10
#define RIGHTCOS2    11
#define COS2         12

/******** Define the different types of t-norms *******/
#define MINTNORM     0
#define PRODTNORM    1

/******** Define the defuzzification techniques *******/
#define CENTROID     0
#define COG          1


/* define the structure for the input memberships */
typedef struct in_mem {
  int    *type;        /* type of membership fcn     */
  double *cent;        /* input membership centers   */
  double *wdth;        /* input membership widths    */
} IN_MEM;

/* define the structure for the output memberships */
typedef struct out_mem{
  double *cent;       /* output membership centers  */
  double *wdth;       /* output membership widths   */
} OUT_MEM;

/* define the structure for the fuzzy system */
typedef struct f_sys{
  int     *size;        /* size of the fuzzy system   */
  int     *invar;       /* membership locations       */
  IN_MEM  *inmem;       /* input membership functions */
  OUT_MEM *outmem;      /* output membership centers  */
  int     *rules;       /* the fuzzy rule base        */
  int     *type;        /* fuzzy system type:
		     type[0]:
		         0 - min implication   1 - prod implication
		     type[1]:
		         0 - centroid defuzz   1 - COG defuzz */
  double  *dom;         /* input degree of mem         */
  double  *imdom;       /* implied degree of mem       */
  double  area;
} F_SYS;

/***** define the function prototypes *****/
void initfuzz(F_SYS *fuzzy);
void clearfuzz(F_SYS *fuzzy);
void finddom(double *u, F_SYS *fuzzy);
double evalrules(double *u, F_SYS *fuzzy);
void fuzzupdate(double *u, F_SYS *fuzzy);
double fuzzsys(double *u, F_SYS *fuzzy);
void dumpmatrix(F_SYS *);

# define kk1 0.7          /* LQR values */
# define kk2 1.0
# define kk3 10.8
# define kk4 0.7

# define LQRk         /* can be LQRTYPE, LQRk or LFTYPE */