def noteCarMove(self, oldPos, newPos):
oldRow, oldCol = util.yToRow(oldPos.y), util.xToCol(oldPos.x)
newRow, newCol = util.yToRow(newPos.y), util.xToCol(newPos.x)
oldTile = (oldRow, oldCol)
newTile = (newRow, newCol)
if oldTile in self.transitions:
self.transitions[oldTile][newTile] += 1
else:
self.transitions[oldTile] = collections.Counter()
self.transitions[oldTile][newTile] = 1
def noteCarMove(self, oldPos, newPos):
oldRow, oldCol = util.yToRow(oldPos.y), util.xToCol(oldPos.x)
newRow, newCol = util.yToRow(newPos.y), util.xToCol(newPos.x)
oldTile = (oldRow, oldCol)
newTile = (newRow, newCol)
''' your code here '''
if oldTile in self.posDict:
if newTile in self.posDict[oldTile]:
self.posDict[oldTile][newTile] += 1.0
else:
self.posDict[oldTile][newTile] = 1.0
else:
self.posDict[oldTile] = {newTile: 1.0}
def noteCarMove(self, oldPos, newPos):
oldRow, oldCol = util.yToRow(oldPos.y), util.xToCol(oldPos.x)
newRow, newCol = util.yToRow(newPos.y), util.xToCol(newPos.x)
oldTile = (oldRow, oldCol)
newTile = (newRow, newCol)
''' your code here '''
if not oldTile in self.info:
self.info[oldTile] = {}
self.info[oldTile][newTile] = 1
else:
if not newTile in self.info[oldTile]:
self.info[oldTile][newTile] = 1
else:
self.info[oldTile][newTile] += 1
def isCloseToOtherCar(self, beliefOfOtherCars):
newBounds = []
offset = self.dir.normalized() * 1.5 * Car.LENGTH
newPos = self.pos + offset
row = util.yToRow(newPos.y)
col = util.xToCol(newPos.x)
p = beliefOfOtherCars.getProb(row, col)
return p > AutoDriver.MIN_PROB
def isCloseToOtherCar(self, beliefOfOtherCars):
newBounds = []
offset = self.dir.normalized() * 1.5 * Car.LENGTH
newPos = self.pos + offset
row = util.yToRow(newPos.y)
col = util.xToCol(newPos.x)
p = beliefOfOtherCars.getProb(row, col)
return p > AutoDriver.MIN_PROB
def isCloseToOtherCar(self, beliefOfOtherCars):
newBounds = []
# The multiplier was 1.5
offset = self.dir.normalized() * 1 * Car.LENGTH
newPos = self.pos + offset
row = util.yToRow(newPos.y)
col = util.xToCol(newPos.x)
p = beliefOfOtherCars.getProb(row, col)
# print 'row:{0} col:{1} prob:{2}'.format(row,col,p);
return p > AutoDriver.MIN_PROB
def noteCarMove(self, oldPos, newPos):
oldRow, oldCol = util.yToRow(oldPos.y), util.xToCol(oldPos.x)
newRow, newCol = util.yToRow(newPos.y), util.xToCol(newPos.x)
oldTile = (oldRow, oldCol)
newTile = (newRow, newCol)
if oldRow not in self.transTable:
self.transTable[oldRow] = {}
self.visitedTable[oldRow] = {}
if oldCol not in self.transTable[oldRow]:
self.transTable[oldRow][oldCol] = {}
self.visitedTable[oldRow][oldCol] = 0
self.visitedTable[oldRow][oldCol] += 1
if newRow not in self.transTable[oldRow][oldCol]:
self.transTable[oldRow][oldCol][newRow] = {}
if newCol not in self.transTable[oldRow][oldCol][newRow]:
self.transTable[oldRow][oldCol][newRow][newCol] = 0
self.transTable[oldRow][oldCol][newRow][newCol] += 1
def calculateErrorForCar(self, otherCar):
pos = otherCar.getPos()
carRow = util.yToRow(pos.y)
carCol = util.xToCol(pos.x)
belief = otherCar.getInference().getBelief()
total = belief.getSum()
if abs(total - 1.0) > 0.001:
raise Exception('belief does not sum to 1. Use the normalize method.')
totalError = 0
for r in range(belief.getNumRows()):
for c in range(belief.getNumCols()):
prob = belief.getProb(r, c)
difRow = r - carRow
difCol = c - carCol
error = math.sqrt(difRow ** 2 + difCol ** 2)
errorSquared = error ** 2
totalError += errorSquared * prob
return totalError
def getProbAtPos(self, beliefOfOtherCars, pos):
row = util.yToRow(pos.y)
col = util.xToCol(pos.x)
p = beliefOfOtherCars.getProb(row, col)
return p
def noteCarMove(self, oldPos, newPos):
oldRow, oldCol = util.yToRow(oldPos.y), util.xToCol(oldPos.x)
newRow, newCol = util.yToRow(newPos.y), util.xToCol(newPos.x)
oldTile = (oldRow, oldCol)
newTile = (newRow, newCol)
''' your code here '''