BeliefPrediction

PURPOSE

Belief evolution under a given action.

SYNOPSIS

function [bOut t]=BeliefPrediction(AM,b,a,Sp)

DESCRIPTION

   Belief evolution under a given action.

   Generic implementation of a prediction step according to a given action
   model
   This bunction returns a belief (bOut) resulting from applying action 
   'a' the input belief 'b'.

   Additionally, it returns the action model fixing the action to 'a'
   (i.e., the action model particularized for 'a' used in the prediction).
   The last parameter, Sp, is the state sub-space where the beliefs are
   defined. This is used to crop the belief so that it does not scape from
   the defined area. This is only used when the base state space is
   continuous.

CROSS-REFERENCE INFORMATION

This function calls:

GetActionModelFixedA Returns the action model for a given action.
Prediction Belief evolution under the given action.
GetActionModelFixedA Returns the action model for a given action.
Prediction Belief evolution under the given action.
GetActionModelFixedA Returns the action model for a given action.
Prediction Belief evolution under the given action.
GetActionModelFixedA Returns the action model for a given action.
Prediction Belief evolution under the given action.
Prediction Belief evolution given a transition model.
Prediction Belief evolution given a transition model.
Prediction Belief evolution given a transition model.

This function is called by:

Prediction Belief evolution under the given action.
Prediction Belief evolution under the given action.
Prediction Belief evolution under the given action.
Prediction Belief evolution under the given action.
DiscretizeObsModel Discretizes the observation model on the observation side.

SOURCE CODE

0001 function [bOut t]=BeliefPrediction(AM,b,a,Sp)
0002 %   Belief evolution under a given action.
0003 %
0004 %   Generic implementation of a prediction step according to a given action
0005 %   model
0006 %   This bunction returns a belief (bOut) resulting from applying action
0007 %   'a' the input belief 'b'.
0008 %
0009 %   Additionally, it returns the action model fixing the action to 'a'
0010 %   (i.e., the action model particularized for 'a' used in the prediction).
0011 %   The last parameter, Sp, is the state sub-space where the beliefs are
0012 %   defined. This is used to crop the belief so that it does not scape from
0013 %   the defined area. This is only used when the base state space is
0014 %   continuous.
0015 
0016   t=GetActionModelFixedA(AM,a);
0017   
0018   bOut=Prediction(b,t,Sp);