58 lines
974 B
Python
58 lines
974 B
Python
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# -*- coding: utf-8 -*-
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"""
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Created on Tue Apr 22 10:43:38 2014
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@author: rlabbe
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"""
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p = [.2, .2, .2, .2, .2]
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world = ['green', 'red', 'red', 'green', 'green']
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measurements = ['red', 'green']
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pHit = 0.6
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pMiss = 0.2
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pOvershoot = 0.1
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pUndershoot = 0.1
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pExact = 0.8
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def normalize (p):
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s = sum(p)
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for i in range (len(p)):
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p[i] = p[i] / s
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def sense(p, Z):
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q= []
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for i in range (len(p)):
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hit = (world[i] ==Z)
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q.append(p[i] * (pHit*hit + pMiss*(1-hit)))
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normalize(q)
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return q
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def move(p, U):
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q = []
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for i in range(len(p)):
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pexact = p[(i-U) % len(p)] * pExact
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pover = p[(i-U-1) % len(p)] * pOvershoot
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punder = p[(i-U+1) % len(p)] * pUndershoot
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q.append (pexact + pover + punder)
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normalize(q)
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return q
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if __name__ == "__main__":
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p = sense(p, 'red')
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print p
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pause()
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for z in measurements:
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p = sense (p, z)
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p = move (p, 1)
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print p
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