UpdatePURPOSEBelief evolution under an observation model.
SYNOPSISfunction bOut=Update(b,po,Sp)
DESCRIPTIONBelief 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 INFORMATIONThis function calls:
SOURCE CODE0001 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 |