Discretize

PURPOSE

SYNOPSIS

DESCRIPTION

  Discretizes the state space of the CS_DO_DA_POMDP.

  Converts a POMDP on a continuous state space (but discrete actions and
  observations) into a POMDP on a discrete state space.
  Parameter 'n' is the number of states of the output state space.
  This procedure samples 'n' states (uniformly for one-dimensional
  continuous state spaces and randomly for higher dimenional spaces) and
  adjust the action/observation/reward models acordingly.
  The name given to the output POMDP is the same as that of the input
  POMDP but adding '-discrete' at the end. Remember that this name is used
  to generate files of planning results.

CROSS-REFERENCE INFORMATION

• DiscretizeActionModel Generates a new action model discretizing the action space.
• DiscretizeActionModel Produces a new action model discretizing the state space.
• DiscretizeActionModel Generates a new action model discretizing the action space of the given model.
• 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.
• DiscretizeActionModel Discretizes the action space CS_CO_CA_POMDP.
• 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.
• DiscretizeActionModel Discretizes the action space CS_DO_CA_POMDP.
• get Get function for CS_DO_CA_POMDPs.
• Discretize Discretizes the state space of the CS_DO_DA_POMDP.
• 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.
• DiscretizeActionModel Discretizes the action space DS_DO_CA_POMDP.
• get Get function for DS_DO_CA_POMDPs.
• DS_DO_DA_POMDP DS_DO_DA_POMDP constructor.
• get Get function for DS_DO_DA_POMDPs.
• DiscretizeActionModel Discretizes a POMDP on the action side.
• DiscretizeObsModel Discretizes a POMDP on the observation side.
• get Get functio for POMDPs.
• DiscretizeRewardModel Discretizes the reward model on the action side.
• DiscretizeRewardModel Discretizes the reward model on the state side.
• Discretize Converts a continuous space into a discrete one.

• GenerateFigure7aData Generates the data for Figure 7-left.
• GetTest1pParameters The example on Figure 8.
• MakeFigure7 Generates Figure 7.
• DiscretizeObsModel Discretizes the observation model on the observation side.
• DiscretizeActionModel Discretizes the action space CS_CO_CA_POMDP.
• DiscretizeActionModel Discretizes the action space CS_DO_CA_POMDP.
• Discretize Discretizes the state space of the CS_DO_DA_POMDP.
• DiscretizeActionModel Discretizes the action space DS_DO_CA_POMDP.

SOURCE CODE

0001 function DP=Discretize(CP,n)
0002 %  Discretizes the state space of the CS_DO_DA_POMDP.
0003 %
0004 %  Converts a POMDP on a continuous state space (but discrete actions and
0005 %  observations) into a POMDP on a discrete state space.
0006 %  Parameter 'n' is the number of states of the output state space.
0007 %  This procedure samples 'n' states (uniformly for one-dimensional
0008 %  continuous state spaces and randomly for higher dimenional spaces) and
0009 %  adjust the action/observation/reward models acordingly.
0010 %  The name given to the output POMDP is the same as that of the input
0011 %  POMDP but adding '-discrete' at the end. Remember that this name is used
0012 %  to generate files of planning results.
0013 %
0014   nameC=get(CP,'name');
0015   
0016   CS=get(CP,'StateSpace');
0017   CA=get(CP,'ActionSpace');
0018   CO=get(CP,'ObsSpace');
0019   
0020   COM=get(CP,'ObsModel');
0021   CAM=get(CP,'ActionModel');
0022   CRM=get(CP,'RewardModel');
0023   
0024   DS=Discretize(CS,n);
0025   DA=CA;
0026   DO=CO;
0027   
0028   DAM=DiscretizeActionModel(CAM,DS);
0029   DOM=DiscretizeObsModel(COM,DS);
0030   DRM=DiscretizeRewardModel(CRM,DS);
0031  
0032   gamma=get(CP,'gamma');
0033   
0034   nameD=sprintf('%s-discrete-%u',nameC,n);
0035   
0036   DP=DS_DO_DA_POMDP(nameD,DS,DA,DO,DAM,DOM,DRM,gamma);
0037