public void testFilteringWithParticleSetsForRobotHmm()
{
Randomizer r = new MockRandomizer(new double[] { 0.1, 0.2, 0.3, 0.4,
0.5, 0.6, 0.7, 0.8, 0.9 });
ParticleSet starting = robot.prior().toParticleSet(robot, r, 100);
Assert.AreEqual(56, starting
.numberOfParticlesWithState(HmmConstants.DOOR_OPEN));
Assert.AreEqual(44, starting
.numberOfParticlesWithState(HmmConstants.DOOR_CLOSED));
// step one = robot takes no action but senses open door
ParticleSet afterStepOne = starting.filter(HmmConstants.SEE_DOOR_OPEN,
r);
Assert.AreEqual(66, afterStepOne
.numberOfParticlesWithState(HmmConstants.DOOR_OPEN));
Assert.AreEqual(34, afterStepOne
.numberOfParticlesWithState(HmmConstants.DOOR_CLOSED));
// step two = robot pushes the door and then senses open door
ParticleSet afterStepTwo = starting.filter(HmmConstants.PUSH_DOOR,
HmmConstants.SEE_DOOR_OPEN, r);
Assert.AreEqual(100, afterStepTwo
.numberOfParticlesWithState(HmmConstants.DOOR_OPEN));
Assert.AreEqual(0, afterStepTwo
.numberOfParticlesWithState(HmmConstants.DOOR_CLOSED));
}
public void testFilteringWithParticleSetsWorksForRainmanHmm()
{
Randomizer r = new MockRandomizer(new double[] { 0.1, 0.2, 0.3, 0.4,
0.5, 0.6, 0.7, 0.8, 0.9 });
ParticleSet starting = rainman.prior().toParticleSet(rainman, r, 100);
Assert.AreEqual(56, starting
.numberOfParticlesWithState(HmmConstants.RAINING));
Assert.AreEqual(44, starting
.numberOfParticlesWithState(HmmConstants.NOT_RAINING));
ParticleSet afterSeeingUmbrella = starting.filter(
HmmConstants.SEE_UMBRELLA, r);
Assert.AreEqual(84, afterSeeingUmbrella
.numberOfParticlesWithState(HmmConstants.RAINING));
Assert.AreEqual(16, afterSeeingUmbrella
.numberOfParticlesWithState(HmmConstants.NOT_RAINING));
// or alternatively
ParticleSet afterNotSeeingUmbrella = starting.filter(
HmmConstants.SEE_NO_UMBRELLA, r);
Assert.AreEqual(12, afterNotSeeingUmbrella
.numberOfParticlesWithState(HmmConstants.RAINING));
Assert.AreEqual(88, afterNotSeeingUmbrella
.numberOfParticlesWithState(HmmConstants.NOT_RAINING));
}
public void testRandomVariableConversionToParticleSet()
{
RandomVariable rv = rainman.prior();
ParticleSet ps = rv.toParticleSet(rainman, randomizer, 10);
Assert.AreEqual(5, ps
.numberOfParticlesWithState(HmmConstants.RAINING));
Assert.AreEqual(5, ps
.numberOfParticlesWithState(HmmConstants.NOT_RAINING));
}
public void PlayParticleSet(ParticleSetType type, Vector3 position, int playerNum = -1)
{
int particleSetIndex = particleSetTypes.IndexOf(type);
ParticleSet targetParticleSet = particleSets[particleSetIndex];
targetParticleSet.root.position = position;
foreach (ParticleSystem particleSystem in targetParticleSet.particleSystems)
{
particleSystem.Play();
}
}
public void setUp()
{
rainman = HMMFactory.createRainmanHMM();
robot = HMMFactory.createRobotHMM();
randomizer = new MockRandomizer(new double[] { 0.1, 0.9 });
particleSet = new ParticleSet(rainman);
particleSet.add(new Particle(HmmConstants.RAINING));
particleSet.add(new Particle(HmmConstants.RAINING));
particleSet.add(new Particle(HmmConstants.RAINING));
particleSet.add(new Particle(HmmConstants.NOT_RAINING));
}
public void testRoundTripConversion()
{
RandomVariable rv = particleSet.toRandomVariable();
Randomizer r = new MockRandomizer(new double[] { 0.1, 0.2, 0.3, 0.4,
0.9 });
ParticleSet ps2 = rv.toParticleSet(rainman, r, 10);
Assert.AreEqual(8, ps2
.numberOfParticlesWithState(HmmConstants.RAINING));
Assert.AreEqual(2, ps2
.numberOfParticlesWithState(HmmConstants.NOT_RAINING));
}
public ParticleSet ToParticleSet(HiddenMarkovModel hmm,
IRandomizer randomizer, int numberOfParticles)
{
ParticleSet result = new ParticleSet(hmm);
for (int i = 0; i < numberOfParticles; i++)
{
double rvalue = randomizer.NextDouble();
string state = this.GetStateForRandomNumber(rvalue);
result.Add(new Particle(state, 0));
}
return(result);
}
public void testParticleSetForPredictedStateGeneratedFromOldStateParticleSet()
{
Randomizer r = new MockRandomizer(new double[] { 0.1, 0.2, 0.3, 0.4,
0.5, 0.6, 0.7, 0.8, 0.9 });
ParticleSet ps = rainman.prior().toParticleSet(rainman, r, 10);
Assert.AreEqual(6, ps
.numberOfParticlesWithState(HmmConstants.RAINING));
Assert.AreEqual(4, ps
.numberOfParticlesWithState(HmmConstants.NOT_RAINING));
ParticleSet nps = ps.generateParticleSetForPredictedState(r);
Assert.AreEqual(7, nps
.numberOfParticlesWithState(HmmConstants.RAINING));
Assert.AreEqual(3, nps
.numberOfParticlesWithState(HmmConstants.NOT_RAINING));
}
public void testParticleSetForPerceptionUpdatedStateGeneratedFromPredictedStateParticleSetGivenPerception()
{
Randomizer r = new MockRandomizer(new double[] { 0.1, 0.2, 0.3, 0.4,
0.5, 0.6, 0.7, 0.8, 0.9 });
ParticleSet starting = rainman.prior().toParticleSet(rainman, r, 10);
ParticleSet predicted = starting
.generateParticleSetForPredictedState(r);
ParticleSet updatedWithPerceptionOfUmbrella = predicted
.perceptionUpdate(HmmConstants.SEE_UMBRELLA, r);
Assert.AreEqual(9, updatedWithPerceptionOfUmbrella
.numberOfParticlesWithState(HmmConstants.RAINING));
Assert.AreEqual(1, updatedWithPerceptionOfUmbrella
.numberOfParticlesWithState(HmmConstants.NOT_RAINING));
ParticleSet updatedWithPerceptionOfNoUmbrella = predicted
.perceptionUpdate(HmmConstants.SEE_NO_UMBRELLA, r);
Assert.AreEqual(2, updatedWithPerceptionOfNoUmbrella
.numberOfParticlesWithState(HmmConstants.RAINING));
Assert.AreEqual(8, updatedWithPerceptionOfNoUmbrella
.numberOfParticlesWithState(HmmConstants.NOT_RAINING));
}
