GetTest1coParameters

   The example on Figure 11.

   This is the same example as GetTest1caParameters but with a continuous
   observation set.

   Parameters
     - nSampledObs: Samples to use when discretezing the observation
                    space.
                    Default value 100.

   See also GetTest1caParameters.

0001 function [POMDP P]=GetTest1coParameters(varargin)
0002 %   The example on Figure 11.
0003 %
0004 %   This is the same example as GetTest1caParameters but with a continuous
0005 %   observation set.
0006 %
0007 %   Parameters
0008 %     - nSampledObs: Samples to use when discretezing the observation
0009 %                    space.
0010 %                    Default value 100.
0011 %
0012 %   See also GetTest1caParameters.
0013 
0014    % Test1ca with the default paramters
0015    %   ncBelief = 4 (not used)
0016    %   ncAlpha = 9
0017    %   actionScale = 2
0018    %   nSampledActions = 4
0019    [POMDP P]=GetTest1caParameters();
0020    
0021    % Retrive information on the CS_DA_DO_POMDP
0022    gamma=get(POMDP,'gamma');
0023    ncAlpha=get(POMDP,'maxAlphaC');
0024    nSampledActions=get(POMDP,'nSampledActions');
0025    
0026    S=get(POMDP,'StateSpace');
0027    A=get(POMDP,'ActionSpace');
0028    
0029    AM=get(POMDP,'ActionModel');
0030    RM=get(POMDP,'RewardModel');
0031    
0032    % Redefined the obs. space and the obs. model
0033    O=CSpace(0,5);
0034    
0035    % Gaussians covering the state space
0036    gS=cell(1,22);
0037    k=1;    
0038    so=1.6;
0039    for i=-21:2:21
0040      gS{k}=Gaussian(i,so);
0041      k=k+1;
0042    end
0043    
0044    % Gaussian in obs space for left, right, corridor, door
0045    % defining the noisy observations
0046    gl=Gaussian(1,0.05);
0047    gr=Gaussian(2,0.05);
0048    gc=Gaussian(3,0.05);
0049    gd=Gaussian(4,0.05);
0050    gO={gl gl gl gl gl gd gc gc gd gc gc gc gd gc gc gd gc gr gr gr gr gr};
0051    
0052    % Weigths for the double Gaussian mixture. Just use a constant weight.
0053    % Those weights are adjusted insed the CS_CO_ObsModel constructor to
0054    % ensure p(s)=UniformProbability(S).
0055    w=ones(1,22);
0056    
0057    OM=CS_CO_ObsModel(S,O,w,gS,gO);
0058    
0059    % parameters to discretize the obs space.
0060    if nargin==0
0061      nSampledObs=25;
0062    else
0063      nSampledObs=varargin{1};
0064    end
0065    
0066    % With CO planning takes longer. We redefine maxtime, the stopCriteria, and
0067    % the time in between statistics with a scale factor, sf.
0068    sf=8; 
0069 
0070    P.maxTime=sf*P.maxTime;
0071    P.stopCriteria=@(n,t,vc)(t>P.maxTime);
0072    P.stTime=sf*P.stTime;
0073    
0074    % Define the POMDP
0075    POMDP=CS_CO_CA_POMDP('Test1co',S,A,O,AM,OM,RM,nSampledActions,nSampledObs,gamma,ncAlpha);
0076