GetObsModelFixedS

   Defines p(o|s).

   Instantiates the observation model for a particular state 's'.
   In this case, the output is a vector with the size of the
   number of observation in the discrete observation space on which this
   model is defined. This vector is defined selecting the element 's' from
   the cell array of vectors (one for each observatoin) given in the
   object constructor.

   The output is normalized.

   See also DS_DO_ObsModel.

0001 function p=GetObsModelFixedS(OM,s)
0002 %   Defines p(o|s).
0003 %
0004 %   Instantiates the observation model for a particular state 's'.
0005 %   In this case, the output is a vector with the size of the
0006 %   number of observation in the discrete observation space on which this
0007 %   model is defined. This vector is defined selecting the element 's' from
0008 %   the cell array of vectors (one for each observatoin) given in the
0009 %   object constructor.
0010 %
0011 %   The output is normalized.
0012 %
0013 %   See also DS_DO_ObsModel.
0014 
0015   p=cellfun(@(x)(x(s)),OM.p);
0016   p=p/sum(p);