public void testFilteringWithParticleSetsForRobotHmm() {
Randomizer r = new MockRandomizer(new double[] { 0.1, 0.2, 0.3, 0.4,
0.5, 0.6, 0.7, 0.8, 0.9 });
ParticleSet starting = robot.prior().toParticleSet(robot, r, 100);
Assert.assertEquals(56,
starting.numberOfParticlesWithState(HmmConstants.DOOR_OPEN));
Assert.assertEquals(44,
starting.numberOfParticlesWithState(HmmConstants.DOOR_CLOSED));
// step one = robot takes no action but senses open door
ParticleSet afterStepOne = starting.filter(HmmConstants.SEE_DOOR_OPEN,