Examples: Jupyter Notebook with ObstacleAvoidance (#144)

* Example: ObstacleAvoidance

examples/notebook/Dockerfile

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+FROM continuumio/miniconda3
+
+RUN conda install -y -c conda-forge bash jupyter jupyter_contrib_nbextensions
+RUN conda install -y -c conda-forge xeus-cling xtensor
+
+RUN apt-get update && apt-get -y install g++-multilib cmake clang
+
+COPY . /install
+
+WORKDIR /install
+
+RUN make configure build install
+
+WORKDIR /mnt/fuzzylite

examples/notebook/Dockerfile.dockerignore

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+*
+!fl/**
+!fuzzylite/**
+!src/**
+!test/**
+!FL_*
+!Makefile
+!CMakeLists.txt
+!fuzzylite.pc.in
+!fuzzylite.1

examples/notebook/Example.ipynb

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+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "id": "e7de45bd",
+   "metadata": {},
+   "source": [
+    "Build and run Jupyter Notebook server from `/fuzzylite` as:\n",
+    "\n",
+    "```bash\n",
+    "make jupyter\n",
+    "```"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "id": "f6254062",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "#pragma cling add_library_path(\"/usr/local/lib\")\n",
+    "#pragma cling load(\"fuzzylite-debug\")\n",
+    "\n",
+    "// Use this if built in release mode\n",
+    "// #pragma cling load(\"fuzzylite\")\n",
+    "\n",
+    "#include <fuzzylite/Headers.h>"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "id": "d513faa7",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "fl::Engine* engine = fl::FllImporter().fromFile(\"../mamdani/ObstacleAvoidance.fll\");"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "id": "fc991592",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "Engine: ObstacleAvoidance\n",
+      "InputVariable: obstacle\n",
+      "  enabled: true\n",
+      "  range: 0.000 1.000\n",
+      "  lock-range: false\n",
+      "  term: left Ramp 1.000 0.000\n",
+      "  term: right Ramp 0.000 1.000\n",
+      "OutputVariable: mSteer\n",
+      "  enabled: true\n",
+      "  range: 0.000 1.000\n",
+      "  lock-range: false\n",
+      "  aggregation: Maximum\n",
+      "  defuzzifier: Centroid 100\n",
+      "  default: nan\n",
+      "  lock-previous: false\n",
+      "  term: left Ramp 1.000 0.000\n",
+      "  term: right Ramp 0.000 1.000\n",
+      "RuleBlock: mamdani\n",
+      "  enabled: true\n",
+      "  conjunction: none\n",
+      "  disjunction: none\n",
+      "  implication: AlgebraicProduct\n",
+      "  activation: General\n",
+      "  rule: if obstacle is left then mSteer is right\n",
+      "  rule: if obstacle is right then mSteer is left"
+     ]
+    }
+   ],
+   "source": [
+    "std::cout << engine->toString();"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "id": "e12835eb",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "std::string status;\n",
+    "if (not engine->isReady(&status))\n",
+    "    throw fl::Exception(\"[engine error] engine is not ready:\\n\" + status, FL_AT);"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "id": "c9dc84c6",
+   "metadata": {},
+   "outputs": [
+    {
+     "name": "stdout",
+     "output_type": "stream",
+     "text": [
+      "obstacle.input = 0.000 => steer.output = 0.667\n",
+      "obstacle.input = 0.100 => steer.output = 0.660\n",
+      "obstacle.input = 0.200 => steer.output = 0.638\n",
+      "obstacle.input = 0.300 => steer.output = 0.602\n",
+      "obstacle.input = 0.400 => steer.output = 0.554\n",
+      "obstacle.input = 0.500 => steer.output = 0.500\n",
+      "obstacle.input = 0.600 => steer.output = 0.446\n",
+      "obstacle.input = 0.700 => steer.output = 0.398\n",
+      "obstacle.input = 0.800 => steer.output = 0.362\n",
+      "obstacle.input = 0.900 => steer.output = 0.340\n",
+      "obstacle.input = 1.000 => steer.output = 0.333\n"
+     ]
+    }
+   ],
+   "source": [
+    "fl::InputVariable* obstacle = engine->getInputVariable(\"obstacle\");\n",
+    "fl::OutputVariable* steer = engine->getOutputVariable(\"mSteer\");\n",
+    "\n",
+    "int resolution = 10;\n",
+    "for (int i = 0; i <= resolution; ++i){\n",
+    "    float dx = obstacle->range() / resolution;\n",
+    "    fl::scalar location = obstacle->getMinimum() + i * dx;\n",
+    "    obstacle->setValue(location);\n",
+    "    engine->process();\n",
+    "    std::cout << \"obstacle.input = \" << fl::Op::str(location) << \n",
+    "        \" => \" << \"steer.output = \" << fl::Op::str(steer->getValue()) << std::endl;\n",
+    "}"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 6,
+   "id": "f97954ca",
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "delete engine;"
+   ]
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "C++11",
+   "language": "C++11",
+   "name": "xcpp11"
+  },
+  "language_info": {
+   "codemirror_mode": "text/x-c++src",
+   "file_extension": ".cpp",
+   "mimetype": "text/x-c++src",
+   "name": "c++",
+   "version": "11"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}