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 ParticleSet perceptionUpdate(String perception, Randomizer r)
{
// compute Particle Weight
foreach (Particle p in particles)
{
double particleWeight = hmm.sensorModel().get(p.getState(),
perception);
p.setWeight(particleWeight);
}
// weighted sample to create new ParticleSet
ParticleSet result = new ParticleSet(hmm);
while (result.size() != size())
{
foreach (Particle p in particles)
{
double probability = r.nextDouble();
if (probability <= p.getWeight())
{
if (result.size() < size())
{
result.add(new Particle(p.getState(), p.getWeight()));
}
}
}
}
return(result);
}
public ParticleSet generateParticleSetForPredictedState(String action,
Randomizer randomizer)
{
ParticleSet predictedParticleSet = new ParticleSet(this.hmm);
foreach (Particle p in particles)
{
String newState = hmm.transitionModel().getStateForProbability(
p.getState(), action, randomizer.nextDouble());
Particle generatedParticle = new Particle(newState);
predictedParticleSet.add(generatedParticle);
}
return(predictedParticleSet);
}
public ParticleSet generateParticleSetForPredictedState(String action,
Randomizer randomizer)
{
ParticleSet predictedParticleSet = new ParticleSet(this.hmm);
foreach (Particle p in particles)
{
String newState = hmm.transitionModel().getStateForProbability(
p.getState(), action, randomizer.nextDouble());
Particle generatedParticle = new Particle(newState);
predictedParticleSet.add(generatedParticle);
}
return predictedParticleSet;
}
public ParticleSet perceptionUpdate(String perception, Randomizer r)
{
// compute Particle Weight
foreach (Particle p in particles)
{
double particleWeight = hmm.sensorModel().get(p.getState(),
perception);
p.setWeight(particleWeight);
}
// weighted sample to create new ParticleSet
ParticleSet result = new ParticleSet(hmm);
while (result.size() != size())
{
foreach (Particle p in particles)
{
double probability = r.nextDouble();
if (probability <= p.getWeight())
{
if (result.size() < size())
{
result.add(new Particle(p.getState(), p.getWeight()));
}
}
}
}
return result;
}
