CS_CO_CA_POMDP

   CS_CO_CA_POMDP constructor.

   Constructor of POMDP with
     - Continuous state spaces.
     - Continuous observation spaces.
     - Continuous action spaces.
   
   Parameters
     name: POMDP name.
     S: Continuous state space.
     A: Continuous action space.
     O: Continuous observation space.
     AM: Action model.
     OM: Observation model.
     RM: Reward model.
     nSampledActions: Num. actions to sample when discretizing the action
                      set
     nSampledObs: Num. observations to sample when discretizing
                  observation model.
     gamma: Discount factor.
     maxAlphaC: Maximum number of components in the Alpha mixtures.

   This type of POMDP is used in the last experiment of the paper 
   (Figure 11).

0001 function P=CS_CO_CA_POMDP(varargin)
0002 %   CS_CO_CA_POMDP constructor.
0003 %
0004 %   Constructor of POMDP with
0005 %     - Continuous state spaces.
0006 %     - Continuous observation spaces.
0007 %     - Continuous action spaces.
0008 %
0009 %   Parameters
0010 %     name: POMDP name.
0011 %     S: Continuous state space.
0012 %     A: Continuous action space.
0013 %     O: Continuous observation space.
0014 %     AM: Action model.
0015 %     OM: Observation model.
0016 %     RM: Reward model.
0017 %     nSampledActions: Num. actions to sample when discretizing the action
0018 %                      set
0019 %     nSampledObs: Num. observations to sample when discretizing
0020 %                  observation model.
0021 %     gamma: Discount factor.
0022 %     maxAlphaC: Maximum number of components in the Alpha mixtures.
0023 %
0024 %   This type of POMDP is used in the last experiment of the paper
0025 %   (Figure 11).
0026 
0027   switch nargin
0028     case 1
0029       if isa(varargin{1},'CS_CO_CA_POMDP')
0030         P=varargin{1};
0031       else
0032         error('Wrong parameter type in CS_CO_CA_POMDP');
0033       end
0034       
0035     case 11
0036       
0037       if isa(varargin{2},'CSpace')
0038         P.S=varargin{2};
0039       else
0040         error('Wrong parameter type in CS_CO_CA_POMDP');
0041       end
0042 
0043       if isa(varargin{3},'CSpace')
0044         P.A=varargin{3};
0045       else
0046         error('Wrong parameter type in CS_CO_CA_POMDP');
0047       end
0048 
0049       if isa(varargin{4},'CSpace')
0050         P.O=varargin{4};
0051       else
0052         error('Wrong parameter type in CS_CO_CA_POMDP');
0053       end
0054 
0055       if isa(varargin{5},'CS_CA_ActionModel')
0056         AM=varargin{5};
0057       else
0058         error('Wrong parameter type in CS_CO_CA_POMDP');
0059       end
0060 
0061       if isa(varargin{6},'CS_CO_ObsModel')
0062         OM=varargin{6};
0063       else
0064         error('Wrong parameter type in CS_CO_CA_POMDP');
0065       end
0066       
0067       if isa(varargin{7},'CS_CA_RewardModel')
0068         RM=varargin{7};
0069       else
0070         error('Wrong parameter type in CS_CO_CA_POMDP');
0071       end
0072       
0073       P.nSampledActions=max(1,varargin{8});
0074       
0075       PBase=CS_CO_POMDP(varargin{1},varargin{9},varargin{10},varargin{11});
0076       
0077       P=class(P,'CS_CO_CA_POMDP',PBase,AM,OM,RM);
0078       
0079     otherwise
0080       error('Wrong number of parameters in CS_CO_CA_POMDP');
0081   end