@Test
public void testRobotHMMPredictionAndMeasurementUpdateStepsModifyBeliefCorrectly() {
Assert.assertEquals(0.5, robot.belief().getProbabilityOf(HmmConstants.DOOR_OPEN), 0.001);
Assert.assertEquals(0.5, robot.belief().getProbabilityOf(HmmConstants.DOOR_CLOSED), 0.001);
robot.act(HmmConstants.DO_NOTHING);
Assert.assertEquals(0.5, robot.belief().getProbabilityOf(HmmConstants.DOOR_OPEN), 0.001);
Assert.assertEquals(0.5, robot.belief().getProbabilityOf(HmmConstants.DOOR_CLOSED), 0.001);
robot.perceive(HmmConstants.SEE_DOOR_OPEN);
Assert.assertEquals(0.75, robot.belief().getProbabilityOf(HmmConstants.DOOR_OPEN), TOLERANCE);
Assert.assertEquals(0.25, robot.belief().getProbabilityOf(HmmConstants.DOOR_CLOSED), TOLERANCE);
robot.act(HmmConstants.PUSH_DOOR);
Assert.assertEquals(0.95, robot.belief().getProbabilityOf(HmmConstants.DOOR_OPEN), 0.001);
Assert.assertEquals(0.05, robot.belief().getProbabilityOf(HmmConstants.DOOR_CLOSED), 0.001);
robot.perceive(HmmConstants.SEE_DOOR_OPEN);
Assert.assertEquals(0.983, robot.belief().getProbabilityOf(HmmConstants.DOOR_OPEN), TOLERANCE);
Assert.assertEquals(
0.017, robot.belief().getProbabilityOf(HmmConstants.DOOR_CLOSED), TOLERANCE);
}
@Test
public void testRainmanHMMPredictionAndMeasurementUpdateStepsModifyBeliefCorrectly() {
Assert.assertEquals(0.5, rainman.belief().getProbabilityOf(HmmConstants.RAINING), 0.001);
Assert.assertEquals(0.5, rainman.belief().getProbabilityOf(HmmConstants.NOT_RAINING), 0.001);
rainman.waitWithoutActing();
Assert.assertEquals(0.5, rainman.belief().getProbabilityOf(HmmConstants.RAINING), 0.001);
Assert.assertEquals(0.5, rainman.belief().getProbabilityOf(HmmConstants.NOT_RAINING), 0.001);
rainman.perceive(HmmConstants.SEE_UMBRELLA);
Assert.assertEquals(0.818, rainman.belief().getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
Assert.assertEquals(
0.182, rainman.belief().getProbabilityOf(HmmConstants.NOT_RAINING), TOLERANCE);
rainman.waitWithoutActing();
Assert.assertEquals(0.627, rainman.belief().getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
Assert.assertEquals(
0.373, rainman.belief().getProbabilityOf(HmmConstants.NOT_RAINING), TOLERANCE);
rainman.perceive(HmmConstants.SEE_UMBRELLA);
Assert.assertEquals(0.883, rainman.belief().getProbabilityOf(HmmConstants.RAINING), TOLERANCE);
Assert.assertEquals(
0.117, rainman.belief().getProbabilityOf(HmmConstants.NOT_RAINING), TOLERANCE);
}
@Test
public void testRainmanInitialization() {
Assert.assertEquals(0.5, rainman.belief().getProbabilityOf(HmmConstants.RAINING), 0.001);
Assert.assertEquals(0.5, rainman.belief().getProbabilityOf(HmmConstants.NOT_RAINING), 0.001);
}
@Test
public void testRobotInitialization() {
Assert.assertEquals(0.5, robot.belief().getProbabilityOf(HmmConstants.DOOR_OPEN), 0.001);
Assert.assertEquals(0.5, robot.belief().getProbabilityOf(HmmConstants.DOOR_CLOSED), 0.001);
}