inference.py

@@ -644,8 +644,7 @@ class ParticleFilter(InferenceModule):
         """
         self.particles = []
         "*** YOUR CODE HERE ***"
-        for index in range(self.numParticles):
-            self.particles.append(self.legalPositions[index % len(self.legalPositions)])
+        raiseNotDefined()
         "*** END YOUR CODE HERE ***"
 
     def getBeliefDistribution(self):
@@ -657,13 +656,7 @@ class ParticleFilter(InferenceModule):
         This function should return a normalized distribution.
         """
         "*** YOUR CODE HERE ***"
-        self.beliefs = DiscreteDistribution()
-
-        for particle_position in self.particles:
-            self.beliefs[particle_position] += 1
-        self.beliefs.normalize()
-        return self.beliefs
-
+        raiseNotDefined()
         "*** END YOUR CODE HERE ***"
     
     ########### ########### ###########
@@ -683,19 +676,7 @@ class ParticleFilter(InferenceModule):
         the DiscreteDistribution may be useful.
         """
         "*** YOUR CODE HERE ***"
-        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)]
-        
+        raiseNotDefined()
         "*** END YOUR CODE HERE ***"
     
     ########### ########### ###########
@@ -708,8 +689,6 @@ class ParticleFilter(InferenceModule):
         gameState.
         """
         "*** YOUR CODE HERE ***"
-        for index, old_particle_position in enumerate(self.particles):
-            distribution = self.getPositionDistribution(gameState, old_particle_position)
-            self.particles[index] = distribution.sample()
+        raiseNotDefined()
         "*** END YOUR CODE HERE ***"