Prediction

PURPOSE

Belief evolution under the given action.

SYNOPSIS

function [sOut bOut]=Prediction(AM,s,b,a,Sp)

DESCRIPTION

   Belief evolution under the given action. 

   Updates a belief applying action 'a'.
   Parameters:
     AM: The action model to use.
     s: The hidden state. We also update it to use it in simulations.
        Note, however, that this state is never accesible by the planner
        (only the beliefs are).
     b: The belief to update.
     a: The action to apply
     Sp: Space where the belief is defined (used to bound the belief and
         the hidden state if necessary).
   Outputs:
     sOut: The updated hidden state.
     bOut: The updated belief.

CROSS-REFERENCE INFORMATION

This function calls:

BeliefPrediction Belief evolution under a given action.
rand Random state from a discrete belief.
rand Random state from a belief.
Crop Limits all means to be inside the given space.
rand Generates random points on a GMixture.
Crop Forces the Gaussian mean to be in a given space.
rand Generates random ponts on a Gaussian.
Crop Forces a state to be in a given continuous sub-space.
rand Random state from a continuous space.
Crop Forces a state to be in a given discrete space.
rand Random state from a discrete space.

This function is called by:

BeliefPrediction Belief evolution under a given action.
SimulationStep Executes one step of a POMDP simulation.

SOURCE CODE

0001 function [sOut bOut]=Prediction(AM,s,b,a,Sp)
0002 %   Belief evolution under the given action.
0003 %
0004 %   Updates a belief applying action 'a'.
0005 %   Parameters:
0006 %     AM: The action model to use.
0007 %     s: The hidden state. We also update it to use it in simulations.
0008 %        Note, however, that this state is never accesible by the planner
0009 %        (only the beliefs are).
0010 %     b: The belief to update.
0011 %     a: The action to apply
0012 %     Sp: Space where the belief is defined (used to bound the belief and
0013 %         the hidden state if necessary).
0014 %   Outputs:
0015 %     sOut: The updated hidden state.
0016 %     bOut: The updated belief.
0017 
0018   [bOut t]=BeliefPrediction(AM,b,a,Sp);
0019   
0020   sOut=Crop(Sp,s+rand(t));
0021