ExpectationPURPOSEExpectation between a belief and a alpha-element.
SYNOPSISfunction e=Expectation(b,a)
DESCRIPTIONExpectation between a belief and a alpha-element. Expectation operator for a Particle-based belief 'b' on continuous state space and a given alpha element 'a' (a Gaussian mixture in this case). This is the basic operator on which the backup relies on and, consequently on which the whole planeer is based on. CROSS-REFERENCE INFORMATIONThis function calls: This function is called by:
SOURCE CODE0001 function e=Expectation(b,a) 0002 % Expectation between a belief and a alpha-element. 0003 % 0004 % Expectation operator for a Particle-based belief 'b' on continuous 0005 % state space and a given alpha element 'a' (a Gaussian mixture in this case). 0006 % 0007 % This is the basic operator on which the backup relies on and, 0008 % consequently on which the whole planeer is based on. 0009 0010 e=sum(b.w.*Value(a,b.samples)); |