Code.C#

.gitignore

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+!*.dll

Codes.C#/P10/P10.sln

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+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 2013
+VisualStudioVersion = 12.0.21005.1
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "P10", "P10\P10.csproj", "{E9C02F89-4E17-4DBE-B064-D4C358C984F8}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|Any CPU = Debug|Any CPU
+		Release|Any CPU = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{E9C02F89-4E17-4DBE-B064-D4C358C984F8}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{E9C02F89-4E17-4DBE-B064-D4C358C984F8}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{E9C02F89-4E17-4DBE-B064-D4C358C984F8}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{E9C02F89-4E17-4DBE-B064-D4C358C984F8}.Release|Any CPU.Build.0 = Release|Any CPU
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

Codes.C#/P10/P10/App.config

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+<?xml version="1.0" encoding="utf-8" ?>
+<configuration>
+    <startup> 
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5" />
+    </startup>
+</configuration>

Codes.C#/P10/P10/Form1.cs

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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Windows.Forms;
+
+namespace P10
+{
+    public partial class Form1 : Form
+    {
+        public Form1()
+        {
+            InitializeComponent();
+            comboBox1.Items.Add("green");
+            comboBox1.Items.Add("red");
+            comboBox1.Text = "green";
+            print();
+        }
+        void print()
+        {
+            tBPrior.Text = "";
+            tBq.Text = "";
+            string[,] world = {{"red", "green", "green", "red" ,   "red"},
+                               {"red", "red",   "green", "red",    "red"},
+                               {"red", "red",   "green", "green",  "red"},
+                               {"red", "red",   "red",   "red",    "red"}}; // Map
+            double[,] ones = { { 1, 1, 1, 1, 1 }, { 1, 1, 1, 1, 1 }, { 1, 1, 1, 1, 1 }, { 1, 1, 1, 1, 1 }, { 1, 1, 1, 1, 1 } };
+            int nRow = world.GetLength(0);
+            int nCol = world.GetLength(1);
+            double[,] prior = new double[nRow, nCol];
+            List<List<double>> q = new List<List<double>>(nRow);
+
+            double pSenseCorrect = 0.7;
+            double pStart = 0.7;
+
+            for (int i = 0; i < nRow; i++)
+            {
+                for (int j = 0; j < nCol; j++)
+                {
+                    prior[i, j] = (1 - pStart) / (nRow * nCol - 1) * ones[i, j];// Prior
+                }
+            }
+            prior[2, 1] = pStart;
+            string measurements = comboBox1.Text;
+            // Measurment update
+            q = sense(prior, measurements, world, nRow, nCol, pSenseCorrect);
+
+            for (int i = 0; i < nRow; i++)
+            {
+                for (int j = 0; j < nCol; j++)
+                {
+                    tBPrior.Text += string.Format("{0:F4}\t", prior[i, j]);
+                }
+                tBPrior.Text += Environment.NewLine;
+            }
+
+            // disp('The probability after moving:');
+            for (int i = 0; i < nRow; i++)
+            {
+                for (int j = 0; j < nCol; j++)
+                {
+                    tBq.Text += string.Format("{0:F4}\t", q[i][j]);
+                }
+                tBq.Text += Environment.NewLine;
+            }
+            int[] maxindex = new int[2];
+            maxindex = FindMax(q);
+            label1.Text = string.Format("The largest probability {0:F4} occurs at cell({1},{2})", q[maxindex[0]][maxindex[1]], maxindex[0], maxindex[1]);
+        }
+
+        List<List<double>> sense(double[,] p, string z, string[,] world, int nRow,int nCol,double pSenseCorrect)
+        {
+            nRow = p.GetLength(0);
+            nCol = p.GetLength(1);
+            List<double> tList = new List<double>(nCol);                    
+            List<List<double>> tposterior = new List<List<double>>();
+            List<List<double>> posterior = new List<List<double>>();
+            for(int r = 0;r < nRow;r++)
+            {
+                tList = new List<double>(nCol);                            
+                for(int c = 0;c < nCol;c++)
+                {
+                    int hit = z.CompareTo(world[r,c]); // 相同为0，否则为1或-1
+                    tList.Add((pSenseCorrect * (1 - hit * hit) + (1 - pSenseCorrect) * hit * hit) * p[r, c]);
+                }
+                tposterior.Add(tList);
+                //tList.Clear();                      // List是引用类型，所以清空后，tposterior也清空了!!!!!!!!!!!!
+            }
+
+            double sum = tposterior[0].Sum() + tposterior[1].Sum() + tposterior[2].Sum() + tposterior[3].Sum();
+            for (int i = 0; i < nRow; i++)
+            {
+                tList = new List<double>(nCol);                
+                for (int j = 0; j < nCol;j++)
+                {
+                    tList.Add(tposterior[i][j] / sum);
+                }
+                posterior.Add(tList);
+            }
+            return posterior;
+        }
+
+        int[] FindMax(List<List<double>> array)
+        {
+            int[] index = new int[2];
+            double max = array[0][0];
+            if (array == null || array.Count == 0)
+            {
+                index = new int[] { -1, -1 };
+                return index;
+            }
+            index = new int[] { 0, 0 };
+            for (int i = 0; i < array.Count; i++)
+            {
+                for (int j = 0; j < array[i].Count; j++)
+                {
+                    if (array[i][j] > max)
+                    {
+                        index[0] = i;
+                        index[1] = j;
+                        max = array[i][j];
+                    }
+                }
+            }
+            return index;
+        }
+
+        private void comboBox1_SelectionChangeCommitted(object sender, EventArgs e)
+        {
+            print();
+        }
+    }
+}