CS_DO_DA_POMDP

   CS_DO_DA_POMDP constructor.

   Constructor of POMDP with
     - Continuous state spaces.
     - Discrete observation spaces.
     - Discrete action spaces.
   
   Parameters
     name: POMDP name.
     S: Continuos state space.
     A: Discrete action space.
     O: Discrete observation space.
     AM: Action model.
     OM: Observation model.
     RM: Reward model.
     gamma: Discount factor.
     maxAlphaC: Maximum number of components in the Alpha mixtures.

   This is the type of POMDP used in almost all the experiments in the
   paper (Figures 1,2,3,4,5,6,7,9).

0001 function P=CS_DO_DA_POMDP(varargin)
0002 %   CS_DO_DA_POMDP constructor.
0003 %
0004 %   Constructor of POMDP with
0005 %     - Continuous state spaces.
0006 %     - Discrete observation spaces.
0007 %     - Discrete action spaces.
0008 %
0009 %   Parameters
0010 %     name: POMDP name.
0011 %     S: Continuos state space.
0012 %     A: Discrete action space.
0013 %     O: Discrete observation space.
0014 %     AM: Action model.
0015 %     OM: Observation model.
0016 %     RM: Reward model.
0017 %     gamma: Discount factor.
0018 %     maxAlphaC: Maximum number of components in the Alpha mixtures.
0019 %
0020 %   This is the type of POMDP used in almost all the experiments in the
0021 %   paper (Figures 1,2,3,4,5,6,7,9).
0022 
0023   switch nargin
0024     case 1
0025       if isa(varargin{1},'CS_DO_DA_POMDP')
0026         P=varargin{1};
0027       else
0028         error('Wrong parameter type in CS_DO_DA_POMDP');
0029       end
0030       
0031     case 9
0032       
0033       if isa(varargin{2},'CSpace')
0034         P.S=varargin{2};
0035       else
0036         error('Wrong parameter type in CS_DO_DA_POMDP');
0037       end
0038 
0039       if isa(varargin{3},'DSpace')
0040         P.A=varargin{3};
0041       else
0042         error('Wrong parameter type in CS_DO_DA_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_DA_POMDP');
0049       end
0050 
0051       if isa(varargin{5},'CS_DA_ActionModel')
0052         AM=varargin{5};
0053       else
0054         error('Wrong parameter type in CS_DO_DA_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_DA_POMDP');
0061       end
0062       
0063       if isa(varargin{7},'CS_DA_RewardModel')
0064         RM=varargin{7};
0065       else
0066         error('Wrong parameter type in CS_DO_DA_POMDP');
0067       end
0068       
0069       PBase=CS_DO_POMDP(varargin{1},varargin{8},varargin{9});
0070       
0071       P=class(P,'CS_DO_DA_POMDP',PBase,AM,OM,RM);
0072       
0073     otherwise
0074       error('Wrong number of parameters in CS_DO_DA_POMDP');
0075   end