GetObsModelFixedS

PURPOSE

Defines p(o|s)

SYNOPSIS

function p=GetObsModelFixedS(OM,s)

DESCRIPTION

   Defines p(o|s)

   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'.

   Since the output is normalized p(s) is not actually needed.

   See also CS_CO_ObsModel.

CROSS-REFERENCE INFORMATION

This function calls:

Value Evaluates a GMixture.
Value Evaluation of a Gaussian.

This function is called by:

SimulationStep Executes one step of a POMDP simulation.

SOURCE CODE

0001 function p=GetObsModelFixedS(OM,s)
0002 %   Defines p(o|s)
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 %   Since the output is normalized p(s) is not actually needed.
0009 %
0010 %   See also CS_CO_ObsModel.
0011 
0012   p=cellfun(@(gm)(Value(gm,s)),OM.p);
0013   p=(p/sum(p))';
0014