/**
* Measurement Update Function
*
* That's where we are scanning the world trying to find the place where are at.
* Updates the internal probability matrix
*
* @param $input
* @param Robot $robot
* @return $this
*/
public function sense($input, Robot $robot)
{
$retVal = [];
// Update measurement
foreach ($robot->getProbabilityMatrix() as $index => $p) {
if ($input == $robot->getWorld()[$index]) {
$retVal[] = $robot->getPHit() * $p;
} else {
$retVal[] = $robot->getPMiss() * $p;
}
}
// Normalize data
$normalisationFactor = array_sum($retVal);
foreach ($retVal as $index => $value) {
$retVal[$index] = $retVal[$index] * (1 / $normalisationFactor);
}
$robot->setProbabilityMatrix($retVal);
return $this;
}