tracking q7

tracking/inference.py

@@ -591,7 +591,8 @@ class ExactInference(InferenceModule):
         position is known.
         """
         "*** YOUR CODE HERE ***"
-        raiseNotDefined()
+        for pos in self.allPositions:
+            self.beliefs[pos] *= self.getObservationProb(observation, gameState.getPacmanPosition(), pos, self.getJailPosition())
         "*** END YOUR CODE HERE ***"
         self.beliefs.normalize()
     
@@ -609,7 +610,13 @@ class ExactInference(InferenceModule):
         current position is known.
         """
         "*** YOUR CODE HERE ***"
-        raiseNotDefined()
+        next_tick_beliefs=DiscreteDistribution()
+        for pos in self.allPositions:
+            newPosDist = self.getPositionDistribution(gameState, pos)
+            for newPos in newPosDist:
+                next_tick_beliefs[newPos] += self.beliefs[pos] * newPosDist[newPos]
+        self.beliefs=next_tick_beliefs
+        self.beliefs.normalize()
         "*** END YOUR CODE HERE ***"
 
     def getBeliefDistribution(self):