def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
if jailPosition == ghostPosition and noisyDistance == None:
return 1
if jailPosition == ghostPosition or noisyDistance == None:
return 0
return busters.getObservationProbability(noisyDistance, manhattanDistance(pacmanPosition,ghostPosition))
def update(self, observation, gameState):
noisyDistance = observation
pacmanPosition = gameState.getPacmanPosition()
allPossible = util.Counter()
for p in self.legalPositions:
trueDistance = util.manhattanDistance(p, pacmanPosition)
if noisyDistance != None and busters.getObservationProbability(noisyDistance, trueDistance) > 0:
allPossible[p] = 1.0
allPossible.normalize()
self.beliefs = allPossible
def observeUpdate(self, observation, gameState):
noisyDistance = observation
pacmanPosition = gameState.getPacmanPosition()
allPossible = util.Counter()
for p in self.legalPositions:
trueDistance = util.manhattanDistance(p, pacmanPosition)
if noisyDistance != None and \
busters.getObservationProbability(noisyDistance, trueDistance) > 0:
allPossible[p] = 1.0
allPossible.normalize()
self.beliefs = allPossible
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
if ghostPosition == jailPosition:
return 1 if noisyDistance == None else 0
else:
if noisyDistance == None:
return 0
trueDistance = manhattanDistance(pacmanPosition, ghostPosition)
return busters.getObservationProbability(noisyDistance, trueDistance)
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
if noisyDistance == None:
return ghostPosition == jailPosition
if noisyDistance != None and ghostPosition == jailPosition:
return 0
trueDistance = manhattanDistance(pacmanPosition, ghostPosition)
return busters.getObservationProbability(noisyDistance, trueDistance)
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
if ghostPosition == jailPosition:
return 1.0 if noisyDistance == None else 0.0
elif noisyDistance == None:
return 1.0 if ghostPosition == jailPosition else 0.0
else:
return busters.getObservationProbability(noisyDistance, \
manhattanDistance(pacmanPosition, ghostPosition))
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
if ghostPosition == jailPosition:
return 1.0 if noisyDistance is None else 0.0
elif noisyDistance is None:
return 0.0
else:
trueDistance = manhattanDistance(pacmanPosition, ghostPosition)
return busters.getObservationProbability(noisyDistance, trueDistance)
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition,
jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
# print(noisyDistance, pacmanPosition, ghostPosition, jailPosition)
if noisyDistance == None:
return int(ghostPosition == jailPosition)
if ghostPosition == jailPosition:
return int(noisyDistance == None)
trueDistance = manhattanDistance(ghostPosition, pacmanPosition)
return busters.getObservationProbability(noisyDistance, trueDistance)
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition,
jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
if noisyDistance is None:
return ghostPosition == jailPosition
if ghostPosition == jailPosition:
return 0
return busters.getObservationProbability(
noisyDistance, manhattanDistance(pacmanPosition, ghostPosition))
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
#raiseNotDefined()
if (noisyDistance==None and ghostPosition==jailPosition):
return 1.0
elif (noisyDistance==None or ghostPosition==jailPosition):
return 0.0
trueDistance = manhattanDistance(pacmanPosition, ghostPosition)
return busters.getObservationProbability(noisyDistance, trueDistance)
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
if ghostPosition == jailPosition and noisyDistance is None:
return 1
elif noisyDistance != None and ghostPosition == jailPosition:
return 0
elif noisyDistance != None and ghostPosition != jailPosition:
return busters.getObservationProbability(noisyDistance, manhattanDistance(pacmanPosition, ghostPosition))
return 0
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
if jailPosition == ghostPosition:
if noisyDistance != None:
return 0
else:
return 1
if noisyDistance == None:
return 0
return busters.getObservationProbability(noisyDistance, manhattanDistance(pacmanPosition, ghostPosition))
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition,
jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
if noisyDistance == None and jailPosition == ghostPosition:
return 1.0
elif noisyDistance == None and jailPosition != ghostPosition:
return 0.0
elif noisyDistance != None and jailPosition == ghostPosition:
return 0.0
return busters.getObservationProbability(
noisyDistance, manhattanDistance(pacmanPosition, ghostPosition))
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition,
jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
# raiseNotDefined()
if ghostPosition == jailPosition and noisyDistance == None:
return 1.0
if ghostPosition == jailPosition or noisyDistance == None:
return 0.0
return busters.getObservationProbability(
noisyDistance, manhattanDistance(pacmanPosition, ghostPosition))
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
truedist = manhattanDistance(pacmanPosition, ghostPosition)
if noisyDistance == None:
if ghostPosition == jailPosition:
return 1
return 0
if ghostPosition == jailPosition:
return 0
probreading = busters.getObservationProbability(noisyDistance, truedist)
return probreading
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition,
jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
if noisyDistance == None:
return ghostPosition == jailPosition
if ghostPosition == jailPosition:
return 0
trueDist = manhattanDistance(pacmanPosition, ghostPosition)
pNoisyGivenTrueDist = busters.getObservationProbability(
noisyDistance, trueDist)
return pNoisyGivenTrueDist
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
if (ghostPosition == jailPosition and noisyDistance == None):
return 1
elif (ghostPosition == jailPosition and noisyDistance != None):
return 0
if (noisyDistance == None):
return 0
trueDistance = manhattanDistance(pacmanPosition, ghostPosition)
return busters.getObservationProbability(noisyDistance, trueDistance)
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition,
jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
if noisyDistance is None:
return float(ghostPosition == jailPosition)
if ghostPosition == jailPosition:
return float(noisyDistance is None)
estimatedDistance = manhattanDistance(pacmanPosition, ghostPosition)
return busters.getObservationProbability(noisyDistance,
estimatedDistance)
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
trueDistance = manhattanDistance(pacmanPosition, ghostPosition)
if noisyDistance is not None:
if ghostPosition == jailPosition:
return 0
return busters.getObservationProbability(noisyDistance, trueDistance)
else:
if ghostPosition == jailPosition:
return 1
return 0
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition,
jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
if ghostPosition == jailPosition and noisyDistance == None:
return 1
if ghostPosition == jailPosition and noisyDistance != None:
return 0
if noisyDistance == None and ghostPosition != jailPosition:
return 0
mdist = manhattanDistance(pacmanPosition, ghostPosition)
return busters.getObservationProbability(noisyDistance, mdist)
def getObservationProb(self, noisyAction, oldGhostPos, newGhostPos,
jailPosition):
"""
Return the probability P(noisyAction | oldGhostPos, newGhostPos).
"""
"*** YOUR CODE HERE ***"
# print(noisyAction)
# print(jailPosition)
# print(oldGhostPos)
# print(newGhostPos)
return busters.getObservationProbability(noisyAction, oldGhostPos,
newGhostPos)
raiseNotDefined()
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
if ghostPosition != jailPosition and noisyDistance == None:
return 0
if ghostPosition == jailPosition and noisyDistance != None:
return 0
if ghostPosition == jailPosition and noisyDistance == None:
return 1
d = manhattanDistance(pacmanPosition, ghostPosition)
prob = busters.getObservationProbability(noisyDistance, d)
return prob
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
if ghostPosition != jailPosition and noisyDistance == None:
return 0
if ghostPosition == jailPosition and noisyDistance != None:
return 0
if ghostPosition == jailPosition and noisyDistance == None:
return 1
d = manhattanDistance(pacmanPosition, ghostPosition)
prob = busters.getObservationProbability(noisyDistance, d)
return prob
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition,
jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
if noisyDistance == None:
if ghostPosition == jailPosition:
return 1
return 0
oPGD = busters.getObservationProbability(
noisyDistance, manhattanDistance(pacmanPosition, ghostPosition))
if oPGD == None or ghostPosition == jailPosition:
return 0
return oPGD
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
if noisyDistance == None:
if ghostPosition == jailPosition:
return 1 # P(none | g = j)
else:
return 0 # P(none | g != j)
elif noisyDistance != None:
if ghostPosition == jailPosition:
return 0 #P(!none | g = j)
else:
return busters.getObservationProbability(noisyDistance, manhattanDistance(ghostPosition, pacmanPosition))
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
# "*** YOUR CODE HERE ***"
if jailPosition == ghostPosition:
if noisyDistance is None:
return 1
return 0
elif noisyDistance is None:
return 0
trueDistance = manhattanDistance(pacmanPosition, ghostPosition)
prob = busters.getObservationProbability(noisyDistance, trueDistance)
return prob
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition,
jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
if (ghostPosition == jailPosition) & (noisyDistance == None): return 1
if (ghostPosition == jailPosition) & (type(noisyDistance) != None):
return 0
if (ghostPosition != jailPosition) & (noisyDistance == None): return 0
if (ghostPosition != jailPosition) & (type(noisyDistance) != None):
trueDistance = manhattanDistance(pacmanPosition, ghostPosition)
return busters.getObservationProbability(noisyDistance,
trueDistance)
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
if ghostPosition == jailPosition:
if noisyDistance == None:
return 1.0
else:
return 0.0
if noisyDistance == None and ghostPosition != jailPosition:
return 0.0
prob_noisy_given_true = busters.getObservationProbability(noisyDistance, manhattanDistance(pacmanPosition, ghostPosition))
return prob_noisy_given_true
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
if noisyDistance == None and ghostPosition == jailPosition:
return 1
elif noisyDistance == None and ghostPosition != jailPosition:
return 0
elif noisyDistance != None and ghostPosition == jailPosition:
return 0
else:
return busters.getObservationProbability(noisyDistance, manhattanDistance(pacmanPosition, ghostPosition))
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
if (noisyDistance == None):
if (ghostPosition == jailPosition):
return 1.0
return 0.0
else:
if (ghostPosition == jailPosition):
return 0.0
trueDistance = manhattanDistance(pacmanPosition, ghostPosition)
return busters.getObservationProbability(noisyDistance, trueDistance)
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
if ghostPosition == jailPosition:
if noisyDistance == None:
return 1.0
else:
return 0.0
if noisyDistance == None:
return 0.0
trueDistance = manhattanDistance(pacmanPosition, ghostPosition)
return busters.getObservationProbability(noisyDistance, trueDistance)
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition,
jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
if noisyDistance == None and jailPosition == ghostPosition:
return 1.0
if noisyDistance == None or ghostPosition == jailPosition:
return 0.0
trueDistance = int(manhattanDistance(ghostPosition, pacmanPosition))
p = busters.getObservationProbability(noisyDistance, trueDistance)
return p
raiseNotDefined()
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
# raiseNotDefined()
if ghostPosition == jailPosition:
return 1 if noisyDistance == None else 0
if noisyDistance == None:
return 0
distance = util.manhattanDistance(ghostPosition, pacmanPosition)
return busters.getObservationProbability(noisyDistance, distance)
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition,
jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
truedist = manhattanDistance(pacmanPosition, ghostPosition)
if noisyDistance == None:
if ghostPosition != jailPosition:
return 0
return 1
else:
if ghostPosition == jailPosition:
return 0
return busters.getObservationProbability(noisyDistance, truedist)
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition,
jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
if ghostPosition == jailPosition:
return 1
trueDistance = manhattanDistance(pacmanPosition, ghostPosition)
# print "observation probability: "
distSensor = busters.getObservationProbability(noisyDistance,
trueDistance)
if distSensor == None:
return 1
return distSensor
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
if noisyDistance == None: # distense sensor
if ghostPosition == jailPosition:
return 1
else:
return 0
elif ghostPosition == jailPosition:
return 0
trueDistance = manhattanDistance(pacmanPosition, ghostPosition)
observationProb = busters.getObservationProbability(noisyDistance, trueDistance)
return observationProb
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition,
jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
# need to explicity check None because 0 is falsy
if noisyDistance == None and ghostPosition == jailPosition:
return 1
elif noisyDistance == None and ghostPosition != jailPosition:
return 0
elif noisyDistance != None and ghostPosition == jailPosition:
return 0
manDist = manhattanDistance(pacmanPosition, ghostPosition)
return busters.getObservationProbability(noisyDistance, manDist)
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
if ghostPosition == jailPosition:
if noisyDistance == None:
return 1
else:
return 0
if noisyDistance == None:
return 0
fullDistance = manhattanDistance(pacmanPosition, ghostPosition)
probNoisyifTrue = busters.getObservationProbability(noisyDistance, fullDistance)
return probNoisyifTrue
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition,
jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
if noisyDistance is None:
if ghostPosition == jailPosition:
return 1.0
return 0.0
elif ghostPosition == jailPosition:
return 0.0
distance = manhattanDistance(pacmanPosition, ghostPosition)
probability = busters.getObservationProbability(
noisyDistance, distance)
return probability
def getObservationProb(self, noisyDistance, pacmanPosition, ghostPosition, jailPosition):
"""
Return the probability P(noisyDistance | pacmanPosition, ghostPosition).
"""
"*** YOUR CODE HERE ***"
#special cases handling: if ghost in jail, noisydistance is None
if ghostPosition == jailPosition:
if noisyDistance == None:
return 1
else:
return 0
else:
if noisyDistance == None:
return 0
else:
#P(noisyDistance | pacmanPosition, ghostPosition) = #P(noisyDistance | trueDistance)
trueDistance = manhattanDistance(ghostPosition, pacmanPosition)
return busters.getObservationProbability(noisyDistance, trueDistance)
