DS_DO_CA_POMDP

   DS_CO_DA_POMDP constructor.

   Constructor of POMDP with
     - Discrete state spaces.
     - Discrete 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: No. actions to sample when discretizing the action
                      set.
     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).

   This correspond to one of the types of POMDP in the work by Sappan 
   and Vlasis (JAIR-2005).

0001 function P=DS_DO_CA_POMDP(varargin)
0002 %   DS_CO_DA_POMDP constructor.
0003 %
0004 %   Constructor of POMDP with
0005 %     - Discrete state spaces.
0006 %     - Discrete 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: No. actions to sample when discretizing the action
0018 %                      set.
0019 %     gamma: Discount factor.
0020 %
0021 %   This type of POMDP is not used in the current implementation and, thus
0022 %   it is not even implemented (an error will be triggered if you try to
0023 %   define an object of this type).
0024 %
0025 %   This correspond to one of the types of POMDP in the work by Sappan
0026 %   and Vlasis (JAIR-2005).
0027 
0028   switch nargin
0029     case 1
0030       if isa(varargin{1},'DS_DO_CA_POMDP')
0031         P=varargin{1};
0032       else
0033         error('Wrong parameter type in DS_DO_CA_POMDP');
0034       end
0035       
0036     case 9
0037       
0038       if isa(varargin{2},'DSpace')
0039         P.S=varargin{2};
0040       else
0041         error('Wrong parameter type in DS_DO_CA_POMDP');
0042       end
0043 
0044       if isa(varargin{3},'CSpace')
0045         P.A=varargin{3};
0046       else
0047         error('Wrong parameter type in DS_DO_CA_POMDP');
0048       end
0049 
0050       if isa(varargin{4},'DSpace')
0051         P.O=varargin{4};
0052       else
0053         error('Wrong parameter type in DS_DO_CA_POMDP');
0054       end
0055 
0056       if isa(varargin{5},'DS_CA_ActionModel')
0057         AM=varargin{5};
0058       else
0059         error('Wrong parameter type in DS_DO_CA_POMDP');
0060       end
0061 
0062       if isa(varargin{6},'DS_DO_ObsModel')
0063         OM=varargin{6};
0064       else
0065         error('Wrong parameter type in DS_DO_CA_POMDP');
0066       end
0067       
0068       if isa(varargin{7},'DS_CA_RewardModel')
0069         RM=varargin{7};
0070       else
0071         error('Wrong parameter type in DS_DO_CA_POMDP');
0072       end
0073       
0074       P.nSampledActions=max(1,varargin{8});
0075       
0076       PBase=DS_DO_POMDP(varargin{1},varargin{9});
0077       
0078       P=class(P,'DS_DO_CA_POMDP',PBase,AM,OM,RM);
0079       
0080     otherwise
0081       error('Wrong number of parameters in DS_DO_CA_POMDP');
0082   end