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By: nekosune on Mar 3rd, 2012  |  syntax: Python  |  size: 1.73 KB  |  views: 104  |  expires: Never
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  1. colors = [['red', 'green', 'green', 'red' , 'red'],
  2.           ['red', 'red', 'green', 'red', 'red'],
  3.           ['red', 'red', 'green', 'green', 'red'],
  4.           ['red', 'red', 'red', 'red', 'red']]
  5.  
  6. measurements = ['green', 'green', 'green' ,'green', 'green']
  7.  
  8.  
  9. motions = [[0,0],[0,1],[1,0],[1,0],[0,1]]
  10.  
  11. sensor_right = 0.7
  12.  
  13. p_move = 0.8
  14.  
  15. def show(p):
  16.     for i in range(len(p)):
  17.         print p[i]
  18.  
  19. #DO NOT USE IMPORT
  20. #ENTER CODE BELOW HERE
  21. #ANY CODE ABOVE WILL CAUSE
  22. #HOMEWORK TO BE GRADED
  23. #INCORRECT
  24. #INCORRECT
  25. p = []
  26. sensor_wrong=1.-sensor_right
  27.  
  28. def sense(p, Z):
  29.     q=[]
  30.     for i in range(len(p)):
  31.         r=[]
  32.         for j in range(len(p[i])):
  33.             hit = (Z == colors[i][j])
  34.             r.append(p[i][j] * (hit * sensor_right + (1-hit) * sensor_wrong))
  35.         q.append(r)
  36.     s = 0
  37.     for i in q:
  38.         s+=sum(i)
  39.  
  40.     for i in range(len(q)):
  41.         for j in range(len(q[i])):
  42.             q[i][j]=q[i][j]/s
  43.     return q
  44.  
  45. def move(p, U,V):
  46.     q = []
  47.     for i in range(len(p)):
  48.         r=[]
  49.         for j in range(len(p[i])):
  50.             s = p_move * p[(i-U) % len(p)][(j-V) % len(p[i])]
  51.             p_stationary=1.-p_move
  52.             s = s + (p_stationary) * p[i % len(p)][j % len(p[i])]
  53.             r.append(s)
  54.         q.append(r)
  55.     return q
  56.  
  57. def Norm():
  58.     p=[]
  59.     norm = len(colors)*len(colors[0])
  60.     norm=1./norm
  61.     for i in range(len(colors)):
  62.         r=[]
  63.         for j in range(len(colors[i])):
  64.             r.append(norm)
  65.         p.append(r)
  66.     return p
  67.  
  68. p=Norm()
  69. for i in range(len(motions)):
  70.     p=move(p,motions[i][0],motions[i][1])
  71.     p=sense(p,measurements[i])
  72.  
  73.  
  74.  
  75.  
  76.  
  77.  
  78.  
  79. #Your probability array must be printed
  80. #with the following code.
  81.  
  82. show(p)
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