Package aima.core.probability.hmm

Examples of aima.core.probability.hmm.ParticleSet

171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
  public static void particleFilterinfDemo() {
    System.out.println("\nParticle Filtering Demo\n");
    HiddenMarkovModel rainman = HMMFactory.createRainmanHMM();
    Randomizer r = new JavaRandomizer();
    ParticleSet starting = rainman.prior().toParticleSet(rainman, r, 1000);
    System.out.println("at the beginning, "
        + starting.numberOfParticlesWithState(HmmConstants.RAINING)
        + " particles 0f 1000 indicate status == 'raining' ");
    System.out.println("at the beginning, "
        + starting.numberOfParticlesWithState(HmmConstants.NOT_RAINING)
        + " particles of 1000 indicate status == 'NOT raining' ");

    System.out
        .println("\n Filtering Particle Set.On perception == 'SEE_UMBRELLA' ..\n");
    ParticleSet afterSeeingUmbrella = starting.filter(
        HmmConstants.SEE_UMBRELLA, r);
    System.out.println("after filtering "
        + afterSeeingUmbrella
            .numberOfParticlesWithState(HmmConstants.RAINING)
        + " particles of 1000 indicate status == 'raining' ");
    System.out.println("after filtering "
        + afterSeeingUmbrella
            .numberOfParticlesWithState(HmmConstants.NOT_RAINING)
        + " particles of 1000 indicate status == 'NOT raining' ");

  }
View Full Code Here
29
30
31
32
33
34
35
36
37
38
39
  public void setUp() {
    rainman = HMMFactory.createRainmanHMM();
    robot = HMMFactory.createRobotHMM();

    randomizer = new MockRandomizer(new double[] { 0.1, 0.9 });
    particleSet = new ParticleSet(rainman);
    particleSet.add(new Particle(HmmConstants.RAINING));
    particleSet.add(new Particle(HmmConstants.RAINING));
    particleSet.add(new Particle(HmmConstants.RAINING));
    particleSet.add(new Particle(HmmConstants.NOT_RAINING));
  }
View Full Code Here
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
  @Test
  public void testFilteringWithParticleSetsWorksForRainmanHmm() {
    Randomizer r = new MockRandomizer(new double[] { 0.1, 0.2, 0.3, 0.4,
        0.5, 0.6, 0.7, 0.8, 0.9 });
    ParticleSet starting = rainman.prior().toParticleSet(rainman, r, 100);
    Assert.assertEquals(56,
        starting.numberOfParticlesWithState(HmmConstants.RAINING));
    Assert.assertEquals(44,
        starting.numberOfParticlesWithState(HmmConstants.NOT_RAINING));

    ParticleSet afterSeeingUmbrella = starting.filter(
        HmmConstants.SEE_UMBRELLA, r);
    Assert.assertEquals(84, afterSeeingUmbrella
        .numberOfParticlesWithState(HmmConstants.RAINING));
    Assert.assertEquals(16, afterSeeingUmbrella
        .numberOfParticlesWithState(HmmConstants.NOT_RAINING));

    // or alternatively
    ParticleSet afterNotSeeingUmbrella = starting.filter(
        HmmConstants.SEE_NO_UMBRELLA, r);
    Assert.assertEquals(12, afterNotSeeingUmbrella
        .numberOfParticlesWithState(HmmConstants.RAINING));
    Assert.assertEquals(88, afterNotSeeingUmbrella
        .numberOfParticlesWithState(HmmConstants.NOT_RAINING));
  }
View Full Code Here
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
  @Test
  public void testFilteringWithParticleSetsForRobotHmm() {
    Randomizer r = new MockRandomizer(new double[] { 0.1, 0.2, 0.3, 0.4,
        0.5, 0.6, 0.7, 0.8, 0.9 });
    ParticleSet starting = robot.prior().toParticleSet(robot, r, 100);
    Assert.assertEquals(56,
        starting.numberOfParticlesWithState(HmmConstants.DOOR_OPEN));
    Assert.assertEquals(44,
        starting.numberOfParticlesWithState(HmmConstants.DOOR_CLOSED));

    // step one = robot takes no action but senses open door
    ParticleSet afterStepOne = starting.filter(HmmConstants.SEE_DOOR_OPEN,
        r);
    Assert.assertEquals(66,
        afterStepOne.numberOfParticlesWithState(HmmConstants.DOOR_OPEN));
    Assert.assertEquals(34, afterStepOne
        .numberOfParticlesWithState(HmmConstants.DOOR_CLOSED));

    // step two = robot pushes the door and then senses open door
    ParticleSet afterStepTwo = starting.filter(HmmConstants.PUSH_DOOR,
        HmmConstants.SEE_DOOR_OPEN, r);
    Assert.assertEquals(100,
        afterStepTwo.numberOfParticlesWithState(HmmConstants.DOOR_OPEN));
    Assert.assertEquals(0, afterStepTwo
        .numberOfParticlesWithState(HmmConstants.DOOR_CLOSED));
  }
View Full Code Here
92
93
94
95
96
97
98
99
100
101
102
  }

  @Test
  public void testRandomVariableConversionToParticleSet() {
    VarDistribution rv = rainman.prior();
    ParticleSet ps = rv.toParticleSet(rainman, randomizer, 10);
    Assert.assertEquals(5,
        ps.numberOfParticlesWithState(HmmConstants.RAINING));
    Assert.assertEquals(5,
        ps.numberOfParticlesWithState(HmmConstants.NOT_RAINING));
  }
View Full Code Here
114
115
116
117
118
119
120
121
122
123
124
  @Test
  public void testRoundTripConversion() {
    VarDistribution rv = particleSet.toRandomVariable();
    Randomizer r = new MockRandomizer(new double[] { 0.1, 0.2, 0.3, 0.4,
        0.9 });
    ParticleSet ps2 = rv.toParticleSet(rainman, r, 10);
    Assert.assertEquals(8,
        ps2.numberOfParticlesWithState(HmmConstants.RAINING));
    Assert.assertEquals(2,
        ps2.numberOfParticlesWithState(HmmConstants.NOT_RAINING));
  }
View Full Code Here
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
  @Test
  public void testParticleSetForPredictedStateGeneratedFromOldStateParticleSet() {
    Randomizer r = new MockRandomizer(new double[] { 0.1, 0.2, 0.3, 0.4,
        0.5, 0.6, 0.7, 0.8, 0.9 });
    ParticleSet ps = rainman.prior().toParticleSet(rainman, r, 10);
    Assert.assertEquals(6,
        ps.numberOfParticlesWithState(HmmConstants.RAINING));
    Assert.assertEquals(4,
        ps.numberOfParticlesWithState(HmmConstants.NOT_RAINING));

    ParticleSet nps = ps.generateParticleSetForPredictedState(r);
    Assert.assertEquals(7,
        nps.numberOfParticlesWithState(HmmConstants.RAINING));
    Assert.assertEquals(3,
        nps.numberOfParticlesWithState(HmmConstants.NOT_RAINING));
  }
View Full Code Here
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
  @Test
  public void testParticleSetForPerceptionUpdatedStateGeneratedFromPredictedStateParticleSetGivenPerception() {
    Randomizer r = new MockRandomizer(new double[] { 0.1, 0.2, 0.3, 0.4,
        0.5, 0.6, 0.7, 0.8, 0.9 });
    ParticleSet starting = rainman.prior().toParticleSet(rainman, r, 10);
    ParticleSet predicted = starting
        .generateParticleSetForPredictedState(r);

    ParticleSet updatedWithPerceptionOfUmbrella = predicted
        .perceptionUpdate(HmmConstants.SEE_UMBRELLA, r);
    Assert.assertEquals(9, updatedWithPerceptionOfUmbrella
        .numberOfParticlesWithState(HmmConstants.RAINING));
    Assert.assertEquals(1, updatedWithPerceptionOfUmbrella
        .numberOfParticlesWithState(HmmConstants.NOT_RAINING));

    ParticleSet updatedWithPerceptionOfNoUmbrella = predicted
        .perceptionUpdate(HmmConstants.SEE_NO_UMBRELLA, r);
    Assert.assertEquals(2, updatedWithPerceptionOfNoUmbrella
        .numberOfParticlesWithState(HmmConstants.RAINING));
    Assert.assertEquals(8, updatedWithPerceptionOfNoUmbrella
        .numberOfParticlesWithState(HmmConstants.NOT_RAINING));
  }
View Full Code Here
TOP

Related Classes of aima.core.probability.hmm.ParticleSet

  • aima.gui.demo.probability.ProbabilityDemo
  • aima.test.core.unit.probability.hmm.ParticleFilterTest
    • Copyright © 2018 www.massapicom. All rights reserved.
    All source code are property of their respective owners. Java is a trademark of Sun Microsystems, Inc and owned by ORACLE Inc. Contact coftware#gmail.com.