public ParticleSet PerceptionUpdate(string perception, IRandomizer r)
{
// compute Particle Weight
foreach (Particle p in particles)
{
double particleWeight = hmm.SensorModel.Get(p.State, perception);
p.Weight = particleWeight;
}
// weighted sample to create new ParticleSet
ParticleSet result = new ParticleSet(hmm);
while (result.Count != Count)
{
foreach (Particle p in particles)
{
double probability = r.NextDouble();
if (probability <= p.Weight)
{
if (result.Count < Count)
{
result.Add(new Particle(p.State, p.Weight));
}
}
}
}
return(result);
}
public ParticleSet GenerateParticleSetForPredictedState(string action,
IRandomizer randomizer)
{
ParticleSet predictedParticleSet = new ParticleSet(this.hmm);
foreach (Particle p in particles)
{
string newState = hmm.TransitionModel.GetStateForProbability(
p.State, action, randomizer.NextDouble());
Particle generatedParticle = new Particle(newState);
predictedParticleSet.Add(generatedParticle);
}
return(predictedParticleSet);
}