ComputeAlpha_j_a_oPURPOSEComputes a particular alpha-element.
SYNOPSISfunction alpha_j_a_o=ComputeAlpha_j_a_o(P,V,j,a,o)
DESCRIPTIONComputes a particular alpha-element. Computes a single alpha_j_a_o element as described in Section 3.1 equation (6), but particularized for discrete state spaces. This function can be used when pre-computing the set of all alpha_j_a_o elements before the backup operation or when computing only one of them during the backup. Parameters P: The POMDP V: The previous policy/value function/set of alpha-elements. j: Index of the previous alpha element to use. a: Index of the action to use. o: Index of the observation to use. CROSS-REFERENCE INFORMATIONThis function calls:
SOURCE CODE0001 function alpha_j_a_o=ComputeAlpha_j_a_o(P,V,j,a,o) 0002 % Computes a particular alpha-element. 0003 % 0004 % Computes a single alpha_j_a_o element as described in Section 3.1 0005 % equation (6), but particularized for discrete state spaces. 0006 % 0007 % This function can be used when pre-computing the set of all alpha_j_a_o 0008 % elements before the backup operation or when computing only one of 0009 % them during the backup. 0010 % 0011 % Parameters 0012 % P: The POMDP 0013 % V: The previous policy/value function/set of alpha-elements. 0014 % j: Index of the previous alpha element to use. 0015 % a: Index of the action to use. 0016 % o: Index of the observation to use. 0017 0018 S=get(P,'StateSpace'); 0019 ns=dim(S); 0020 p_s1_a_s=GetActionModelFixedA(P,a); 0021 p_o_s1=GetObsModelFixedO(P,o); 0022 alpha_j_a_o=full(sum(repmat(V{j}.*p_o_s1,1,ns).*p_s1_a_s,1)'); 0023 0024 |