In [8]:

```
from __future__ import division, print_function
import matplotlib.pyplot as plt
import sys
sys.path.insert(0,'..') # allow us to format the book
sys.path.insert(0,'../code')
import book_format
book_format.load_style(directory='..')
```

Out[8]:

This notebook creates the animations for the Discrete Bayesian filters chapter. It is not really intended to be a readable part of the book, but of course you are free to look at the source code, and even modify it. However, if you are interested in running your own animations, I'll point you to the examples subdirectory of the book, which contains a number of python scripts that you can run and modify from an IDE or the command line. This module saves the animations to GIF files, which is quite slow and not very interactive.

In [9]:

```
from matplotlib import animation
import matplotlib.pyplot as plt
import numpy as np
from book_plots import bar_plot
%matplotlib inline
```

In [10]:

```
# the predict algorithm of the discrete bayesian filter
def predict(pos, move, p_correct, p_under, p_over):
n = len(pos)
result = np.array(pos, dtype=float)
for i in range(n):
result[i] = \
pos[(i-move) % n] * p_correct + \
pos[(i-move-1) % n] * p_over + \
pos[(i-move+1) % n] * p_under
return result
def normalize(p):
s = sum(p)
for i in range (len(p)):
p[i] = p[i] / s
# the update algorithm of the discrete bayesian filter
def update(pos, measure, p_hit, p_miss):
q = np.array(pos, dtype=float)
for i in range(len(hallway)):
if hallway[i] == measure:
q[i] = pos[i] * p_hit
else:
q[i] = pos[i] * p_miss
normalize(q)
return q
```

In [11]:

```
pos = [1.0,0,0,0,0,0,0,0,0,0]
def bar_animate(nframe):
global pos
bar_plot(pos)
pos = predict(pos, 1, .8, .1, .1)
fig = plt.figure(figsize=(6.5, 2.5))
anim = animation.FuncAnimation(fig, bar_animate,
frames=100, interval=75)
anim.save('02_no_info.gif', writer='imagemagick')
```

In [14]:

```
pos = np.array([.1]*10)
hallway = np.array([1, 1, 0, 0, 0, 0, 0, 0, 1, 0])
def bar_animate(nframe):
global pos
if nframe == 0:
return
bar_plot(pos, ylim=(0,1.0))
if nframe % 2 == 0:
pos = predict(pos, 1, .8, .1, .1)
else:
x = (nframe/2) % len(hallway)
z = hallway[x]
pos = update(pos, z, .6, .2)
fig = plt.figure(figsize=(6.5, 2.5))
anim = animation.FuncAnimation(fig, bar_animate,
frames=60, interval=75)
anim.save('02_simulate.gif', writer='imagemagick')
```