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-- ***   Feature Algebra:  Robot family example (Hardware perspective)  ***

-- ***   (c) June 2006 by Peter Höfner, Ridha Khedri, Bernhard Möller  ***

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import FeatureAlg

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-- ***   basic features   ***
    
treads = bf "Moves around on treads"
wheels = bf "Moves around on wheels"
legs   = bf "Moves around on legs"
basic_means_of_locomotion =  treads .+. wheels .+. legs

turn        = bf "Able to turn an angle from the initial heading"
move_frwrd  = bf "Able to move forward"
move_bckwrd = bf "Able to move backward"
stay_idle   = bf "Able to stay inactive"

limited_spd  = bf "Robot limited to low speed of locomotion"
extended_spd = bf "Robot extended to high speed of locomotion"

basic_ctrl   = bf "Robot equipped with basic control (only on or off)"
digital_ctrl = bf "Robot equipped with digital valued indication of locomotion speed and direction"

small_pltfrm  = bf "Small size platform robot"
medium_pltfrm = bf "Medium size platform robot"
large_pltfrm  = bf "Large size platform robot"

c_s_pneumatic   = bf "Pneumatic collision sensor"
c_s_mechanical  = bf "Mechanical collision sensor"
c_s_combination = bf "Collision sensor is a combination of mechanical and pneumatic"

sur_finder  = bf "Small Ultrasonic Range Finder"
lcur_finder = bf "Low-cost Ultrasonic Ranger"
chpu_finder = bf "Compact High Performance Ultrasonic Ranger"

v_s_color_vision      = bf "Sensor capable of determining the color of objects in the robot's environment"
black_white_vision    = bf "Black and white environmental vision system" 
primary_colors_vision = bf "Primary colors environmental vision system" 

speed_of_locomotion  = limited_spd .+. extended_spd 

locomotion_ctrl_sys  =  basic_ctrl .+. digital_ctrl

c_sensor = c_s_pneumatic .+. c_s_mechanical .+. c_s_combination 

rng_finder = sur_finder .+. lcur_finder .+. chpu_finder

platform_size_snsor =     small_pltfrm  .*. (c_sensor .^<=.  3) 
                      .+. medium_pltfrm .*. (c_sensor .^<=.  7) 
                      .+. large_pltfrm  .*. (c_sensor .^<=. 11)

platform_size_finder =     small_pltfrm  .*. (rng_finder .^<=. 1) 
                       .+. medium_pltfrm .*. (rng_finder .^<=. 2) 
                       .+. large_pltfrm  .*. (rng_finder .^<=. 3)

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-- ***   product lines   ***
    
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basic_platform =     basic_means_of_locomotion 
                 .*. turn .*. move_frwrd
                 .*. move_bckwrd 
                 .*. stay_idle 
                 .*. opt[speed_of_locomotion]
                 .*. opt[locomotion_ctrl_sys]
                 .*. opt[platform_size_snsor]

enhanced_obstacle_detection =     basic_platform 
                              .*. c_sensor 
                              .*. opt[platform_size_finder]
               
environmental_vision =     enhanced_obstacle_detection 
                       .*. v_s_color_vision 
                       .*. opt[black_white_vision]
                       .*. opt[primary_colors_vision]

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-- ***   constraints   ***

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excludes =      treads        .*. wheels 
            .+. treads        .*.  legs 
            .+. wheels        .*. legs  
            .+. limited_spd   .*. extended_spd 
            .+. basic_ctrl    .*. digital_ctrl 
            .+. basic_ctrl    .*. digital_ctrl 
            .+. small_pltfrm  .*. large_pltfrm 
            .+. medium_pltfrm .*. large_pltfrm 
            .+. small_pltfrm  .*. c_sensor .^. 4  
            .+. medium_pltfrm .*. c_sensor .^. 5  
            .+. large_pltfrm  .*. c_sensor 

excludes2 =     treads .*. wheels 
            .+. treads .*.  legs 
            .+. wheels .*. legs  

excludes3 =    limited_spd    .*. extended_spd 
            .+. basic_ctrl    .*. digital_ctrl 
            .+. basic_ctrl    .*. digital_ctrl 
            .+. small_pltfrm  .*. large_pltfrm 
            .+. medium_pltfrm .*. large_pltfrm 
            .+. small_pltfrm  .*. c_sensor .^. 4  
            .+. medium_pltfrm .*. c_sensor .^. 5  
            .+. large_pltfrm  .*. c_sensor 


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-- ***   constrained family   ***

constrained_basic_platform = basic_platform .-. excludes


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