From 81c58289c15d53056fb7f6fd6509bef75b195904 Mon Sep 17 00:00:00 2001
From: snsd0805 <levi900227@gmail.com>
Date: Wed, 8 May 2024 00:55:35 +0800
Subject: [PATCH] feat: complete q10, q11

---
 inference.py | 18 ++++++++++++++++--
 1 file changed, 16 insertions(+), 2 deletions(-)

diff --git a/inference.py b/inference.py
index be838de..0a20371 100644
--- a/inference.py
+++ b/inference.py
@@ -683,7 +683,19 @@ class ParticleFilter(InferenceModule):
         the DiscreteDistribution may be useful.
         """
         "*** YOUR CODE HERE ***"
-        raiseNotDefined()
+        pacman_position = gameState.getPacmanPosition()
+        jail_position = self.getJailPosition()
+
+        particle_weights = DiscreteDistribution()
+        for particle in self.particles:
+            particle_weights[particle] += self.getObservationProb(observation, pacman_position, particle, jail_position)
+
+        total = sum([v for k, v in particle_weights.items()])
+        if total == 0:
+            self.initializeUniformly(gameState)
+        else:
+            self.particles = [particle_weights.sample() for time in range(self.numParticles)]
+        
         "*** END YOUR CODE HERE ***"
     
     ########### ########### ###########
@@ -696,6 +708,8 @@ class ParticleFilter(InferenceModule):
         gameState.
         """
         "*** YOUR CODE HERE ***"
-        raiseNotDefined()
+        for index, old_particle_position in enumerate(self.particles):
+            distribution = self.getPositionDistribution(gameState, old_particle_position)
+            self.particles[index] = distribution.sample()
         "*** END YOUR CODE HERE ***"