feat: complete q10, q11

inference.py

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