public void testOneStepFixedLagSmoothingOnRainManHmm()
{
FixedLagSmoothing fls = new FixedLagSmoothing(rainmanHmm, 1);
RandomVariable smoothedDayZero = fls.smooth(HmmConstants.SEE_UMBRELLA); // see
// umbrella on day one
Assert.AreEqual(0.627, smoothedDayZero
.getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
RandomVariable smoothedDayOne = fls.smooth(HmmConstants.SEE_UMBRELLA); // see
// umbrella on day two
Assert.AreEqual(0.883, smoothedDayOne
.getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
Assert.AreEqual(0.117, smoothedDayOne
.getProbabilityOf(HmmConstants.NOT_RAINING), TOLERANCE);
RandomVariable smoothedDayTwo = fls
.smooth(HmmConstants.SEE_NO_UMBRELLA); // see no umbrella on
// day three
Assert.AreEqual(0.799, smoothedDayTwo
.getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
Assert.AreEqual(0.201, smoothedDayTwo
.getProbabilityOf(HmmConstants.NOT_RAINING), TOLERANCE);
}
public void testForwardBackwardOnRainmanHmm()
{
List <String> perceptions = new List <String>();
perceptions.Add(HmmConstants.SEE_UMBRELLA);
perceptions.Add(HmmConstants.SEE_UMBRELLA);
List <RandomVariable> results = rainmanHmm.forward_backward(perceptions);
Assert.AreEqual(3, results.Count);
Assert.IsNull(results[0]);
RandomVariable smoothedDayOne = results[1];
Assert.AreEqual(0.982, smoothedDayOne
.getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
Assert.AreEqual(0.018, smoothedDayOne
.getProbabilityOf(HmmConstants.NOT_RAINING), TOLERANCE);
RandomVariable smoothedDayTwo = results[2];
Assert.AreEqual(0.883, smoothedDayTwo
.getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
Assert.AreEqual(0.117, smoothedDayTwo
.getProbabilityOf(HmmConstants.NOT_RAINING), TOLERANCE);
}
public void testForwardBackwardOnRainmanHmmFor3daysData()
{
List <String> perceptions = new List <String>();
perceptions.Add(HmmConstants.SEE_UMBRELLA);
perceptions.Add(HmmConstants.SEE_UMBRELLA);
perceptions.Add(HmmConstants.SEE_NO_UMBRELLA);
List <RandomVariable> results = rainmanHmm.forward_backward(perceptions);
Assert.AreEqual(4, results.Count);
Assert.IsNull(results[0]);
RandomVariable smoothedDayOne = results[1];
Assert.AreEqual(0.964, smoothedDayOne
.getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
Assert.AreEqual(0.036, smoothedDayOne
.getProbabilityOf(HmmConstants.NOT_RAINING), TOLERANCE);
RandomVariable smoothedDayTwo = results[2];
Assert.AreEqual(0.484, smoothedDayTwo
.getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
Assert.AreEqual(0.516, smoothedDayTwo
.getProbabilityOf(HmmConstants.NOT_RAINING), TOLERANCE);
RandomVariable smoothedDayThree = results[3];
Assert.AreEqual(0.190, smoothedDayThree
.getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
Assert.AreEqual(0.810, smoothedDayThree
.getProbabilityOf(HmmConstants.NOT_RAINING), TOLERANCE);
}
public void testParticleSetConversionToRandomVariable()
{
RandomVariable rv = particleSet.toRandomVariable();
Assert.AreEqual(0.75, rv.getProbabilityOf(HmmConstants.RAINING),
0.001);
Assert.AreEqual(0.25,
rv.getProbabilityOf(HmmConstants.NOT_RAINING), 0.001);
}
public void testRecursiveBackwardMessageCalculationIsCorrect()
{
RandomVariable afterOneStep = rainmanHmm.forward(rainmanHmm.prior(),
HmmConstants.DO_NOTHING, HmmConstants.SEE_UMBRELLA);
RandomVariable afterTwoSteps = rainmanHmm.forward(afterOneStep,
HmmConstants.DO_NOTHING, HmmConstants.SEE_UMBRELLA);
RandomVariable postSequence = afterTwoSteps.duplicate()
.createUnitBelief();
RandomVariable smoothed = rainmanHmm.calculate_next_backward_message(
afterOneStep, postSequence, HmmConstants.SEE_UMBRELLA);
Assert.AreEqual(0.883, smoothed
.getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
Assert.AreEqual(0.117, smoothed
.getProbabilityOf(HmmConstants.NOT_RAINING), TOLERANCE);
}
public void testForwardMessagingWorksForFiltering()
{
RandomVariable afterOneStep = robotHmm.forward(robotHmm.prior(),
HmmConstants.DO_NOTHING, HmmConstants.SEE_DOOR_OPEN);
Assert.AreEqual(0.75, afterOneStep
.getProbabilityOf(HmmConstants.DOOR_OPEN), TOLERANCE);
Assert.AreEqual(0.25, afterOneStep
.getProbabilityOf(HmmConstants.DOOR_CLOSED), TOLERANCE);
RandomVariable afterTwoSteps = robotHmm.forward(afterOneStep,
HmmConstants.PUSH_DOOR, HmmConstants.SEE_DOOR_OPEN);
Assert.AreEqual(0.983, afterTwoSteps
.getProbabilityOf(HmmConstants.DOOR_OPEN), TOLERANCE);
Assert.AreEqual(0.017, afterTwoSteps
.getProbabilityOf(HmmConstants.DOOR_CLOSED), TOLERANCE);
}
public void testOneStepFixedLagSmoothingOnRainManHmmWithDifferingEvidence()
{
FixedLagSmoothing fls = new FixedLagSmoothing(rainmanHmm, 1);
RandomVariable smoothedDayZero = fls.smooth(HmmConstants.SEE_UMBRELLA);// see
// umbrella on day one
Assert.AreEqual(0.627, smoothedDayZero
.getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
RandomVariable smoothedDayOne = fls
.smooth(HmmConstants.SEE_NO_UMBRELLA);// no umbrella on day
// two
Assert.AreEqual(0.702, smoothedDayOne
.getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
Assert.AreEqual(0.297, smoothedDayOne
.getProbabilityOf(HmmConstants.NOT_RAINING), TOLERANCE);
}
public void testTwoStepFixedLagSmoothingOnRainManHmm()
{
FixedLagSmoothing fls = new FixedLagSmoothing(rainmanHmm, 2);
RandomVariable smoothedOne = fls.smooth(HmmConstants.SEE_UMBRELLA); // see
// umbrella on day one
Assert.IsNull(smoothedOne);
smoothedOne = fls.smooth(HmmConstants.SEE_UMBRELLA); // see
// umbrella on day two
Assert.AreEqual(0.653, smoothedOne
.getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
Assert.AreEqual(0.346, smoothedOne
.getProbabilityOf(HmmConstants.NOT_RAINING), TOLERANCE);
RandomVariable smoothedTwo = fls.smooth(HmmConstants.SEE_UMBRELLA);// see
// umbrella on day 3
Assert.AreEqual(0.894, smoothedTwo
.getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
Assert.AreEqual(0.105, smoothedTwo
.getProbabilityOf(HmmConstants.NOT_RAINING), TOLERANCE);
}
public void testGettingValuesOnInvalidStateThrowsException()
{
aDistribution.getProbabilityOf("invalid");
}
