DS_CO_CA_POMDP

   DS_CO_CA_POMDP constructor.

   Constructor of POMDP with
     - Discrete state spaces.
     - Continuous observation spaces.
     - Continuous 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.
     nSampledActions: Num. actions to sample when discretizing the action
                      set
     nSampledObs: Num. observations to sample when discretizing
                  observation model.
     gamma: Discount factor.

   This type of POMDP is not used in the current implementation and, thus
   it is not even implemented (an error will be triggered if you try to
   define an object of this type).

   Actually I don't know of any work implementing this variant of POMDP.
   It is like a mix of the work of Hoey-Poupart and Spaan-Vlassis.

0001 function P=DS_CO_CA_POMDP(varargin)
0002 %   DS_CO_CA_POMDP constructor.
0003 %
0004 %   Constructor of POMDP with
0005 %     - Discrete state spaces.
0006 %     - Continuous observation spaces.
0007 %     - Continuous 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 %     nSampledActions: Num. actions to sample when discretizing the action
0018 %                      set
0019 %     nSampledObs: Num. observations to sample when discretizing
0020 %                  observation model.
0021 %     gamma: Discount factor.
0022 %
0023 %   This type of POMDP is not used in the current implementation and, thus
0024 %   it is not even implemented (an error will be triggered if you try to
0025 %   define an object of this type).
0026 %
0027 %   Actually I don't know of any work implementing this variant of POMDP.
0028 %   It is like a mix of the work of Hoey-Poupart and Spaan-Vlassis.
0029 
0030   switch nargin
0031     case 1
0032       if isa(varargin{1},'DS_CO_CA_POMDP')
0033         P=varargin{1};
0034       else
0035         error('Wrong parameter type in DS_CO_CA_POMDP');
0036       end
0037       
0038     case 10
0039       
0040       if isa(varargin{2},'CSpace')
0041         P.S=varargin{2};
0042       else
0043         error('Wrong parameter type in DS_CO_CA_POMDP');
0044       end
0045 
0046       if isa(varargin{3},'CSpace')
0047         P.A=varargin{3};
0048       else
0049         error('Wrong parameter type in DS_CO_CA_POMDP');
0050       end
0051 
0052       if isa(varargin{4},'CSpace')
0053         P.O=varargin{4};
0054       else
0055         error('Wrong parameter type in DS_CO_CA_POMDP');
0056       end
0057 
0058       if isa(varargin{5},'DS_CA_ActionModel')
0059         AM=varargin{5};
0060       else
0061         error('Wrong parameter type in DS_CO_CA_POMDP');
0062       end
0063 
0064       if isa(varargin{6},'DS_CO_ObsModel')
0065         OM=varargin{6};
0066       else
0067         error('Wrong parameter type in DS_CO_CA_POMDP');
0068       end
0069       
0070       if isa(varargin{7},'DS_CA_RewardModel')
0071         RM=varargin{7};
0072       else
0073         error('Wrong parameter type in DS_CO_CA_POMDP');
0074       end
0075       
0076       P.nSampledActions=max(1,varargin{8});
0077       
0078       PBase=DS_CO_POMDP(varargin{1},varargin{9},varargin{10});
0079       
0080       P=class(P,'DS_CO_CA_POMDP',PBase,AM,OM,RM);
0081       
0082     otherwise
0083       error('Wrong number of parameters in DS_CO_CA_POMDP');
0084   end
0085