GetObsModelFixedO

PURPOSE

Defines p(o|s) for a fixed 'o'.

SYNOPSIS

function p=GetObsModelFixedO(OM,o)

DESCRIPTION

   Defines p(o|s) for a fixed 'o'.

   Instantiates the observation model for a particular observation 'o'.
   We use the fact that p(o|s)=p(o,s)/p(s) and we assume a uniform
   distribution in 's'.

   The output is not normalized.

   See also CS_CO_ObsModel.

CROSS-REFERENCE INFORMATION

This function calls:

UniformProbability Uniform probability value on a continuous space.
UniformProbability Uniform probability value on a discrete space.

This function is called by:

MakeFigure1 Generates Figure 1.
DiscretizeObsModel Discretizes the observation model on the observation side.
Update Belief evolution under an observation model.
ComputeAlpha_j_a_o Computes a particular alpha-element.
ComputeAlpha_j_a_o Computes a particular alpha-element.

SOURCE CODE

0001 function p=GetObsModelFixedO(OM,o)
0002 %   Defines p(o|s) for a fixed 'o'.
0003 %
0004 %   Instantiates the observation model for a particular observation 'o'.
0005 %   We use the fact that p(o|s)=p(o,s)/p(s) and we assume a uniform
0006 %   distribution in 's'.
0007 %
0008 %   The output is not normalized.
0009 %
0010 %   See also CS_CO_ObsModel.
0011 
0012   ps=UniformProbability(OM.S);
0013   p=OM.p{o}/ps;
0014