ComputeAlpha_a
PURPOSE 
Compute the alpha_i_n-element for the given action and belief.
SYNOPSIS
function Element_a=ComputeAlpha_a(P,V,b,a,Alphas_j_a_o)
DESCRIPTION
Compute the alpha_i_n-element for the given action and belief. Define the alpha-elements to be used in the backup (The \alpha_n^i elements). The defintion of this function is given in abstract way (without regard of the type of the underlying state space using an abstract expectation operator) in Section 3.1 equation (8).
CROSS-REFERENCE INFORMATION
This function calls:
- size Returns the size of a policy.
- Expectation Expectation between a belief and a alpha-element.
- Expectation Expectation between a belief and a alpha-element.
- get Get for GBeliefs.
- Expectation Expectation between a belief and a alpha-element.
- get Get function for the GMixture object.
- get Gaussian object get function.
- get Get function for CS_CO_CA_POMDPs.
- get Get function for CS_CO_DA_POMDPs.
- get Get function for CS_CO_POMDPs.
- get Get function for CS_DO_CA_POMDPs.
- get Get function for CS_DO_DA_POMDPs.
- ComputeAlpha_j_a_o Computes a particular alpha-element.
- get Get function for CS_POMDPs.
- get Get function for DS_CO_CA_POMDPs.
- get Get function for DS_CO_DA_POMDPs.
- get Get function for DS_DO_CA_POMDPs.
- get Get function for DS_DO_DA_POMDPs.
- ComputeAlpha_j_a_o Computes a particular alpha-element.
- get Get functio for POMDPs.
- GetRewardModelFixedA Defines the reward function for a given action.
- GetRewardModelFixedA Defines the reward function for a given action.
- GetRewardModelFixedA Defines the reward function for a given action.
- GetRewardModelFixedA Defines the reward function for a given action.
- dim Dimensionality of a continuous space.
- max Upper bound of a CSpace
- dim Dimensionality of a discrete space.
- Backup Backup for a given belief (continuous state version).
- Backup Backupt for a given belief (discrete state version).
SOURCE CODE
0001 function Element_a=ComputeAlpha_a(P,V,b,a,Alphas_j_a_o) 0002 % Compute the alpha_i_n-element for the given action and belief. 0003 % 0004 % Define the alpha-elements to be used in the backup (The \alpha_n^i 0005 % elements). 0006 % 0007 % The defintion of this function is given in abstract way (without regard 0008 % of the type of the underlying state space using an abstract expectation 0009 % operator) in Section 3.1 equation (8). 0010 0011 rj=num2cell(1:size(V)); 0012 O=get(P,'ObsSpace'); 0013 gamma=get(P,'gamma'); 0014 no=dim(O); 0015 Element_a=GetRewardModelFixedA(P,a); 0016 for o=1:no 0017 if isempty(Alphas_j_a_o) 0018 Elements_j=cellfun(@(j)(ComputeAlpha_j_a_o(P,V,j,a,o)),rj,'UniformOutput',false); 0019 else 0020 Elements_j=Alphas_j_a_o(:,a,o); 0021 end 0022 [v_a_o nAlpha_j]=max(cellfun(@(g)(Expectation(b,g)),Elements_j)); 0023 Element_a=Element_a+gamma*Elements_j{nAlpha_j}; 0024 end 0025 0026 0027