Music of the Spheres

J’ai complêtement foiré la première évaluation du CS 373: PROGRAMMING A ROBOTIC CAR.
Mais je suis quand même fier de mon premier programme python qui produit le résultat voulu mais seulement après le deadline.

colors = [['red', 'green', 'green', 'red' , 'red'],
          ['red', 'red', 'green', 'red', 'red'],
          ['red', 'red', 'green', 'green', 'red'],
          ['red', 'red', 'red', 'red', 'red']]

measurements = ['green', 'green', 'green' ,'green', 'green']
motions = [[0,0],[0,1],[1,0],[1,0],[0,1]]
sensor_right = 0.7
p_move = 0.8

def show(p):
    for i in range(len(p)):
        print p[i]

#DO NOT USE IMPORT
#ENTER CODE BELOW HERE
#ANY CODE ABOVE WILL CAUSE
#HOMEWORK TO BE GRADED
#INCORRECT

equi_prob = 1./ (len(colors) * len(colors[0]))
mat_x = len(colors)
mat_y = len(colors[0])

p = [[equi_prob for x in range(mat_y)] for y in range(mat_x)]

def sense(p, Z):
    q = p
    s = 0
    for i in range(mat_x):
        for j in range(mat_y):
            hit = (Z == colors[i][j])
            q[i][j] = p[i][j] * (hit * sensor_right + (1-hit) * (1-sensor_right))
            s += q[i][j]

    for i in range(mat_x):
        for j in range(mat_y):
            q[i][j] = q[i][j] / s
    return q

def moveRight(p):
    q = [[equi_prob for x in range(mat_y)] for y in range(mat_x)]
    for i in range(mat_x):
        for j in range(mat_y):
            k = i+1
            if k >= mat_x:
                k=0
            q[k][j] = p[i][j]*(p_move) + p[k][j]*(1-p_move)
    return q

def moveLeft(p):
    q = [[equi_prob for x in range(mat_y)] for y in range(mat_x)]
    for i in range(mat_x):
        for j in range(mat_y):
            k = i-1
            if k < 0:
                k=mat_x-1
            q[k][j] = p[i][j]*(p_move) + p[k][j]*(1-p_move)
    return q

def moveUp(p):
    q = [[equi_prob for x in range(mat_y)] for y in range(mat_x)]
    for i in range(mat_x):
        for j in range(mat_y):
            k = j-1
            if k < 0:
                k=mat_y-1
            q[i][k] = p[i][j]*(p_move) + p[i][k]*(1-p_move)
    return q

def moveDown(p):
    q = [[equi_prob for x in range(mat_y)] for y in range(mat_x)]
    for i in range(mat_x):
        for j in range(mat_y):
            k = j+1
            if k >= mat_y:
                k=0
            q[i][k] = p[i][j]*(p_move) + p[i][k]*(1-p_move)
    return q

def process(p):
    for i in range(len(measurements)):
         if motions[i][0] == 1:
            p = moveRight(p)
         if motions[i][0] == -1:
            p = moveLeft(p)
         if motions[i][1] == -1:
            p = moveUp(p)
         if motions[i][1] == 1:
            p = moveDown(p)
         p = sense(p, measurements[i])

    return p

p = process(p)

#Your probability array must be printed
#with the following code.
#
show(p)