plot
PURPOSE 
Plots the CS_CO_ObsModel
SYNOPSIS
function h=plot(OM)
DESCRIPTION
Plots the CS_CO_ObsModel Plot a 3d surface representing the obs model p(o|s) in continuous observation and state spaces It only works for one-dimensional spaces.
CROSS-REFERENCE INFORMATION
This function calls:
- size Returns the size of a policy.
- Value Evaluates a GMixture.
- Value Evaluation of a Gaussian.
- dim Dimensionality of a continuous space.
- max Upper bound of a CSpace
- min Lower bound of a CSpace
- dim Dimensionality of a discrete space.
- plot Plots a discrete belief.
- MakeFigure1 Generates Figure 1.
- MakeFigure3 Generates Figure 3.
- MakeFigure6 Generates Figure 6.
- MakeFigure7 Generates Figure 7.
- MakeFigure9 Generates Figure 9.
- plot Plots a Gaussian.
SOURCE CODE
0001 function h=plot(OM) 0002 % Plots the CS_CO_ObsModel 0003 % 0004 % Plot a 3d surface representing the obs model p(o|s) in continuous 0005 % observation and state spaces 0006 % It only works for one-dimensional spaces. 0007 0008 if dim(OM.S)==1 && dim(OM.O)==1 0009 0010 s=min(OM.S):0.25:max(OM.S); 0011 o=min(OM.O):0.25:max(OM.O); 0012 ns=size(s,2); 0013 no=size(o,2); 0014 sp=zeros(ns,no); 0015 for i=1:ns 0016 for j=1:no 0017 sp(i,j)=sum(OM.w.*cellfun(@(g)(Value(g,s(i))),OM.gS).*cellfun(@(g)(Value(g,o(j))),OM.gO)); 0018 end 0019 end 0020 h=surf(s,o,sp'); 0021 else 0022 error('CS_CO_ObsModel plot only implemented for one-dimensional S/O spaces'); 0023 end