Distance

PURPOSE

Distance between beliefs.

SYNOPSIS

function d=Distance(pb1,pb2)

DESCRIPTION

   Distance between beliefs.

   Distance between two beliefs on a continuous state space defined using
   particles.

CROSS-REFERENCE INFORMATION

This function calls:

min Lower bound of a CSpace

This function is called by:

SampleBeliefs Samples a set of beliefs from a POMDP.

SOURCE CODE

0001 function d=Distance(pb1,pb2)
0002 %   Distance between beliefs.
0003 %
0004 %   Distance between two beliefs on a continuous state space defined using
0005 %   particles.
0006 
0007   md=arrayfun(@(i)(min(sum((pb2.samples-repmat(pb1.samples(:,i),1,pb2.np)).^2,1))),1:pb1.np);
0008   d=sum(pb1.w.*md);