DiscretizeObsModel

PURPOSE

SYNOPSIS

DESCRIPTION

   Discretizes the observation model on the observation side.

   Wrapper for the CS_CO_ObsModel/DiscretizeObsModel.

   See also @CS_CO_ObsModel/DiscretizeObsModel.m.

CROSS-REFERENCE INFORMATION

• size Returns the size of a policy.
• BeliefPrediction Belief evolution under a given action.
• get Get for GBeliefs.
• get Get function for the GMixture object.
• get Gaussian object get function.
• DiscretizeObsModel Discretizes the observation model on the observation side.
• DiscretizeObsModel Discretizes the observation model on the state side.
• DiscretizeObsModel Discretizes the observation model on the observation side.
• DiscretizeObsModel Discretizes the observation model on the observation side.
• get Get function for CS_CO_CA_POMDPs.
• DiscretizeObsModel Discretizes the observation model on the observation side.
• get Get function for CS_CO_DA_POMDPs.
• get Get function for CS_CO_POMDPs.
• get Get function for CS_DO_CA_POMDPs.
• CS_DO_DA_POMDP CS_DO_DA_POMDP constructor.
• get Get function for CS_DO_DA_POMDPs.
• get Get function for CS_POMDPs.
• DiscretizeObsModel Discretizes the observation model on the observation side.
• get Get function for DS_CO_CA_POMDPs.
• DiscretizeObsModel Discretizes the observation model on the observation side.
• get Get function for DS_CO_DA_POMDPs.
• get Get function for DS_DO_CA_POMDPs.
• get Get function for DS_DO_DA_POMDPs.
• DiscretizeObsModel Discretizes a POMDP on the observation side.
• get Get functio for POMDPs.
• DSpace DSpace constructor.

• DiscretizeObsModel Discretizes the observation model on the observation side.
• DiscretizeObsModel Discretizes the observation model on the observation side.
• ComputeAlpha_a Compute the alpha_i_n-element for the given action and belief.
• Discretize Discretizes the state space of the CS_DO_DA_POMDP.
• DiscretizeObsModel Discretizes the observation model on the observation side.
• DiscretizeObsModel Discretizes the observation model on the observation side.

SOURCE CODE

0001 function DO_POMDP=DiscretizeObsModel(CO_POMDP,V,b,a)
0002 %   Discretizes the observation model on the observation side.
0003 %
0004 %   Wrapper for the CS_CO_ObsModel/DiscretizeObsModel.
0005 %
0006 %   See also @CS_CO_ObsModel/DiscretizeObsModel.m.
0007 
0008   S=get(CO_POMDP,'StateSpace');
0009   A=get(CO_POMDP,'ActionSpace'); 
0010   O=DSpace(size(V));
0011   
0012   AM=get(CO_POMDP,'ActionModel');
0013   
0014   CS_CO_OM=get(CO_POMDP,'ObsModel');
0015   nSampledObs=get(CO_POMDP,'nSampledObs');
0016   ba=BeliefPrediction(AM,b,a,S);
0017   OM=DiscretizeObsModel(CS_CO_OM,V,ba,nSampledObs);
0018   
0019   RM=get(CO_POMDP,'RewardModel');
0020   
0021   name=get(CO_POMDP,'name');
0022   gamma=get(CO_POMDP,'gamma');
0023   ncAlpha=get(CO_POMDP,'maxAlphaC');
0024   
0025   DO_POMDP=CS_DO_DA_POMDP(name,S,A,O,AM,OM,RM,gamma,ncAlpha);
0026