def test_sense():
R = 'r'
_ = 'g'
simple_grid = [
[_,_,_],
[_,R,_],
[_,_,_]
]
p = 1.0 / 9
initial_beliefs = [
[p,p,p],
[p,p,p],
[p,p,p]
]
observation = R
expected_beliefs_after = [
[1/11, 1/11, 1/11],
[1/11, 3/11, 1/11],
[1/11, 1/11, 1/11]
]
p_hit = 3.0
p_miss = 1.0
beliefs_after_sensing = localizer.sense(
observation, simple_grid, initial_beliefs, p_hit, p_miss)
if helpers.close_enough(beliefs_after_sensing, expected_beliefs_after):
print("Tests pass! Your sense function is working as expected")
return
elif not isinstance(beliefs_after_sensing, list):
print("Your sense function doesn't return a list!")
return
elif len(beliefs_after_sensing) != len(expected_beliefs_after):
print("Dimensionality error! Incorrect height")
return
elif len(beliefs_after_sensing[0] ) != len(expected_beliefs_after[0]):
print("Dimensionality Error! Incorrect width")
return
elif beliefs_after_sensing == initial_beliefs:
print("Your code returns the initial beliefs.")
return
total_probability = 0.0
for row in beliefs_after_sensing:
for p in row:
total_probability += p
if abs(total_probability-1.0) > 0.001:
print("Your beliefs appear to not be normalized")
return
print("Something isn't quite right with your sense function")
def sense(self):
color = self.get_observed_color()
beliefs = deepcopy(self.beliefs)
new_beliefs = localizer.sense(color, self.grid, beliefs, self.p_hit, self.p_miss)
if not new_beliefs or len(new_beliefs) == 0:
print("NOTE! The robot doesn't have a working sense function at this point.")
self.beliefs = beliefs
else:
self.beliefs = new_beliefs
def sense(self):
color = self.get_observed_color()
beliefs = deepcopy(self.beliefs)
new_beliefs = localizer.sense(color, self.grid, beliefs, self.p_hit, self.p_miss)
if not new_beliefs or len(new_beliefs) == 0:
print("The localizer sense function returned nothing.")
self.beliefs = beliefs
else:
self.beliefs = new_beliefs
def sense(self):
color = self.get_observed_color()
beliefs = deepcopy(self.beliefs)
new_beliefs = localizer.sense(color, self.grid, beliefs, self.p_hit,
self.p_miss)
self.beliefs = new_beliefs
