Expectation

PURPOSE

Expectation between a belief and a alpha-element.

SYNOPSIS

function e=Expectation(b,a)

DESCRIPTION

   Expectation 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 INFORMATION

This function calls:

Value Evaluates a GMixture.
Value Evaluation of a Gaussian.

This function is called by:

Values Belief value with all alpha-elements in the Policy.
ComputeAlpha_a Compute the alpha_i_n-element for the given action and belief.
Backup Backup for a given belief (continuous state version).
ComputeAlpha_a Compute the alpha_i_n-element for the given action and belief.
Backup Backupt for a given belief (discrete state version).
Perseus The Perseus point-based POMDP solver.
iPerseus Improved version of Perseus.

SOURCE CODE

0001 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));