Prediction

PURPOSE

Belief evolution given a transition model.

SYNOPSIS

function bOut=Prediction(b,t,Sp)

DESCRIPTION

   Belief evolution given a transition model.
 
   Updates a Gaussian-belief with a given transiton probability function, 't'.
   Function 't' is the outcome of GetActionModelFixedA for the corresponding
   action model.

CROSS-REFERENCE INFORMATION

This function calls:

GBelief Gaussian-based belief constructor.
Compose Composes a Gaussian mixture with a Gaussian.
Crop Limits all means to be inside the given space.
Crop Forces the Gaussian mean to be in a given space.
Crop Forces a state to be in a given continuous sub-space.
Crop Forces a state to be in a given 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 bOut=Prediction(b,t,Sp)
0002 %   Belief evolution given a transition model.
0003 %
0004 %   Updates a Gaussian-belief with a given transiton probability function, 't'.
0005 %   Function 't' is the outcome of GetActionModelFixedA for the corresponding
0006 %   action model.
0007 
0008   bOut=GBelief(Crop(Compose(b.GMixture,t),Sp),b.maxC);
0009   
0010   
0011