Update

PURPOSE

Belief evolution under an observation model.

SYNOPSIS

function bOut=Update(b,po,Sp)

DESCRIPTION

   Belief evolution under an observation model.
 
   Corrects a belief with the information given by the observation model,
   'po'.
   'po' is derived with GetObservationModelFixedO for the
   corresponding obs model.

CROSS-REFERENCE INFORMATION

This function calls:

GBelief Gaussian-based belief constructor.
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:

DiscretizeObsModel Discretizes the observation model on the observation side.
Update Belief evolution under an observation model.
SimulationStep Executes one step of a POMDP simulation.

SOURCE CODE

0001 function bOut=Update(b,po,Sp)
0002 %   Belief evolution under an observation model.
0003 %
0004 %   Corrects a belief with the information given by the observation model,
0005 %   'po'.
0006 %   'po' is derived with GetObservationModelFixedO for the
0007 %   corresponding obs model.
0008 
0009   bOut=GBelief(Crop(po*b.GMixture,Sp),b.maxC);
0010   
0011