GetObsModelFixedO

   Defines p(s|o).

   Instantiates the observation model for a particular observation 'o'.
   In this case, the output is a vector with one value 
   for each state. The value for each state is obtained from evaluating 
   the Gaussian mixture in 'o' given for the corresponding state in the
   object constructor.

   The output is not normalized.

   See also DS_CO_ObsModel.

0001 function p=GetObsModelFixedO(OM,o)
0002 %   Defines p(s|o).
0003 %
0004 %   Instantiates the observation model for a particular observation 'o'.
0005 %   In this case, the output is a vector with one value
0006 %   for each state. The value for each state is obtained from evaluating
0007 %   the Gaussian mixture in 'o' given for the corresponding state in the
0008 %   object constructor.
0009 %
0010 %   The output is not normalized.
0011 %
0012 %   See also DS_CO_ObsModel.
0013 
0014   p=cellfun(@(gm)(Value(gm,o)),OM.p)';
0015 
0016