CS_DO_CA_POMDP

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

   This type of POMDP is used in the experiment if Figure 10 in the paper.

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