Sense Function

p=[0.2,0.2,0.2,0.2]
world=['green','red','red','green','green']
pHit = 0.6
pMiss = 0.2

def sense(p, Z)
	q=[]
	for i in range(len(p)):
		hit = (Z == world[i])
		q.append(p[i] * (hit * pHit + (1-hit) * pMiss))
	return q

print sense(p, Z)

p=[0.2,0.2,0.2,0.2]
world=['green','red','red','green','green']
pHit = 0.6
pMiss = 0.2

def sense(p, Z)
	q=[]
	for i in range(len(p)):
		hit = (Z == world[i])
		q.append(p[i] * (hit * pHit + (1-hit) * pMiss))
	sum i in range(len(p)):
		q[i] = q[i] / s
	return q

print sense(p, Z)

p=[0.2,0.2,0.2,0.2]
world=['green','red','red','green','green']
measurements = ['red', 'green']
pHit = 0.6
pMiss = 0.2

def sense(p, Z)
	q=[]
	for i in range(len(p)):
		hit = (Z == world[i])
		q.append(p[i] * (hit * pHit + (1-hit) * pMiss))
	sum i in range(len(p)):
		q[i] = q[i] / s
	return q

for k in range(len(measurements)):
	p = sense(p, measurements[k])

print sense(p, Z)

def move(p, U):
	q = []
	for i in range(len(p)):
		s = pExact * p[(i-U) % len(p)]
		s = s + pOvershoot * p[(i-U-1)%len(p)]
		s = s + pUndershoot * p[(i-U+1)%len(p)]
		q.append(s)
	return q