Update
PURPOSE 
Belief evolution under an observation model.
SYNOPSIS
function [bOut po]=Update(OM,b,o,Sp)
DESCRIPTION
Belief evolution under an observation model. Updates a belief with the observation 'o'. Basically, we get the observation model fixing 'o' to get an update model and then we update the belief with this model. The parameter 'Sp' is the sub-space where beliefs are defined and is used to ensure that, after the update, the belief is still inside this sub-space.
CROSS-REFERENCE INFORMATION
This function calls:
- Update Belief evolution under an observation model.
- Update Belief evolution under an observation model.
- Update Belief evolution under an observation model.
- GetObsModelFixedO Defines p(o|s) for a fixed 'o'.
- GetObsModelFixedO Defines p(o|s) for a fixed 'o'.
- GetObsModelFixedO Defines p(s|o).
- GetObsModelFixedO Defines p(s|o).
- Update Belief evolution under an observation model.
- DiscretizeObsModel Discretizes the observation model on the observation side.
- Update Belief evolution under an observation model.
- SimulationStep Executes one step of a POMDP simulation.
SOURCE CODE
0001 function [bOut po]=Update(OM,b,o,Sp) 0002 % Belief evolution under an observation model. 0003 % 0004 % Updates a belief with the observation 'o'. 0005 % Basically, we get the observation model fixing 'o' to get an update model 0006 % and then we update the belief with this model. 0007 % The parameter 'Sp' is the sub-space where beliefs are defined and is used to 0008 % ensure that, after the update, the belief is still inside this 0009 % sub-space. 0010 0011 po=GetObsModelFixedO(OM,o); 0012 bOut=Update(b,po,Sp); 0013