def observationModel(ix):
# ix is a discrete location of the robot
# return a distribution over observations in that state
#! pass
return dist.MixtureDist(
dist.triangleDist(ideal[ix], obsDiscTriangleWidth, 0,
numObservations), obsBackground, 0.9)
def transitionGivenState(s):
# A uniform distribution we mix in to handle teleportation
transUniform = dist.UniformDist(range(numStates))
return dist.MixtureDist(dist.triangleDist(\
util.clip(s+a, 0, numStates-1),
transDiscTriangleWidth,
0, numStates-1),
transUniform, 1 - teleportProb)
def transitionGivenState(s):
# A uniform distribution we mix in to handle teleportation
transUniform = dist.UniformDist(range(numStates))
return dist.MixtureDist(dist.triangleDist(\
util.clip(s+a, 0, numStates-1),
transDiscTriangleWidth,
0, numStates-1),
transUniform, 1 - teleportProb)
def observationModel(ix):
# ix is a discrete location of the robot
# return a distribution over observations in that state
#! pass
return dist.MixtureDist(dist.triangleDist(ideal[ix],
obsDiscTriangleWidth,
0, numObservations),
obsBackground,
0.9)
