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