CS_CO_DA_POMDP

   CS_CO_DA_POMDP constructor.

   Constructor of POMDP with
     - Continuous state spaces.
     - Continuous observation spaces.
     - Discrete action spaces.
   
   Parameters
     name: POMDP name.
     S: Continuous state space.
     A: Discrete action space.
     O: Continuous observation space.
     AM: Action model.
     OM: Observation model.
     RM: Reward model.
     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 not used in the example of Figure 11. In this
   example we haver continuous states, observations, and actions. When
   discretizing the actions before  the backup we get a POMPD of this
   type.

0001 function P=CS_CO_DA_POMDP(varargin)
0002 %   CS_CO_DA_POMDP constructor.
0003 %
0004 %   Constructor of POMDP with
0005 %     - Continuous state spaces.
0006 %     - Continuous observation spaces.
0007 %     - Discrete action spaces.
0008 %
0009 %   Parameters
0010 %     name: POMDP name.
0011 %     S: Continuous state space.
0012 %     A: Discrete action space.
0013 %     O: Continuous observation space.
0014 %     AM: Action model.
0015 %     OM: Observation model.
0016 %     RM: Reward model.
0017 %     nSampledObs: Num. observations to sample when discretizing
0018 %                  observation model.
0019 %     gamma: Discount factor.
0020 %     maxAlphaC: Maximum number of components in the Alpha mixtures.
0021 %
0022 %   This type of POMDP is not used in the example of Figure 11. In this
0023 %   example we haver continuous states, observations, and actions. When
0024 %   discretizing the actions before  the backup we get a POMPD of this
0025 %   type.
0026 
0027 
0028   switch nargin
0029     case 1
0030       if isa(varargin{1},'CS_CO_DA_POMDP')
0031         P=varargin{1};
0032       else
0033         error('Wrong parameter type in CS_CO_DA_POMDP');
0034       end
0035       
0036     case 10
0037       
0038       if isa(varargin{2},'CSpace')
0039         P.S=varargin{2};
0040       else
0041         error('Wrong parameter type in CS_CO_DA_POMDP');
0042       end
0043 
0044       if isa(varargin{3},'DSpace')
0045         P.A=varargin{3};
0046       else
0047         error('Wrong parameter type in CS_CO_DA_POMDP');
0048       end
0049 
0050       if isa(varargin{4},'CSpace')
0051         P.O=varargin{4};
0052       else
0053         error('Wrong parameter type in CS_CO_DA_POMDP');
0054       end
0055 
0056       if isa(varargin{5},'CS_DA_ActionModel')
0057         AM=varargin{5};
0058       else
0059         error('Wrong parameter type in CS_CO_DA_POMDP');
0060       end
0061 
0062       if isa(varargin{6},'CS_CO_ObsModel')
0063         OM=varargin{6};
0064       else
0065         error('Wrong parameter type in CS_CO_DA_POMDP');
0066       end
0067       
0068       if isa(varargin{7},'CS_DA_RewardModel')
0069         RM=varargin{7};
0070       else
0071         error('Wrong parameter type in CS_CO_DA_POMDP');
0072       end
0073       
0074       PBase=CS_CO_POMDP(varargin{1},varargin{8},varargin{9},varargin{10});
0075       
0076       P=class(P,'CS_CO_DA_POMDP',PBase,AM,OM,RM);
0077       
0078     otherwise
0079       error('Wrong number of parameters in CS_CO_DA_POMDP');
0080   end