/**
* Calculates the probability of particle based on another particle's sense()
*
* @param measurement distance measurements from another particle's sense()
* @return the probability of the particle being correct, between 0 and 1
*/
public double measurementProb(float[] measurement) {
double prob = 1.0;
for (int i = 0; i < landmarks.length; i++) {
float dist = (float) MathX.distance(x, y, landmarks[i].x, landmarks[i].y);
prob *= MathX.Gaussian(dist, senseNoise, measurement[i]);
}
probability = prob;
return prob;
}
/**
* Senses the distance of the particle to each of its landmarks
*
* @return a float array of distances to landmarks
*/
public float[] sense() {
float[] ret = new float[landmarks.length];
for (int i = 0; i < landmarks.length; i++) {
float dist = (float) MathX.distance(x, y, landmarks[i].x, landmarks[i].y);
ret[i] = dist + (float) random.nextGaussian() * senseNoise;
}
return ret;
}
protected double evaluate(double[] values) throws EvaluationException {
if (values.length < 1) {
throw new EvaluationException(ErrorEval.DIV_ZERO);
}
return MathX.average(values);
}
protected double evaluate(double[] values) {
return MathX.sumsq(values);
}
protected double evaluate(double[] values) {
return MathX.product(values);
}
protected double evaluate(double[] values) {
return values.length > 0 ? MathX.min(values) : 0;
}
