Institut de Robòtica i Informàtica Industrial

ComputeAlphas_j_a_o

PURPOSE ^

Computes the set of al possible alpha-elements.

SYNOPSIS ^

function As=ComputeAlphas_j_a_o(P,V)

DESCRIPTION ^

   Computes the set of al possible alpha-elements.

   Compute the whole se of alpha_j_a_o elements.

   This function only works for POMDP with discrete action and observation
   spaces.

   The function is a generic implementation that uses the particular 
   ComputeAlpha_j_a_o function of the corresponding type of POMDP.

   Parameters
     P: The POMDP.
     V: The previous policy/value function/set of alpha-elements.

   See also @DS_ComputeAlpha_j_a_o, @CS_ComputeAlpha_j_a_o.

CROSS-REFERENCE INFORMATION ^

This function calls:
  • size Returns the size of a policy.
  • get Get for GBeliefs.
  • 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.
  • dim Dimensionality of a continuous space.
  • dim Dimensionality of a discrete space.
This function is called by:
  • Perseus The Perseus point-based POMDP solver.
  • iPerseus Improved version of Perseus.

SOURCE CODE ^

0001 function As=ComputeAlphas_j_a_o(P,V)
0002 %   Computes the set of al possible alpha-elements.
0003 %
0004 %   Compute the whole se of alpha_j_a_o elements.
0005 %
0006 %   This function only works for POMDP with discrete action and observation
0007 %   spaces.
0008 %
0009 %   The function is a generic implementation that uses the particular
0010 %   ComputeAlpha_j_a_o function of the corresponding type of POMDP.
0011 %
0012 %   Parameters
0013 %     P: The POMDP.
0014 %     V: The previous policy/value function/set of alpha-elements.
0015 %
0016 %   See also @DS_ComputeAlpha_j_a_o, @CS_ComputeAlpha_j_a_o.
0017 
0018 
0019   A=get(P,'ActionSpace');
0020   O=get(P,'ObsSpace');
0021   if isa(A,'DSpace') && isa(O,'DSpace')
0022     na=dim(A);
0023     no=dim(O);
0024     nj=size(V);
0025     ro=1:no;
0026     As=cell(nj,na,no);
0027     for j=1:nj
0028       for a=1:na
0029         As(j,a,:)=arrayfun(@(o)(ComputeAlpha_j_a_o(P,V,j,a,o)),ro,'UniformOutput',false);
0030       end
0031     end
0032   else
0033     As={};
0034   end


Institut de Robòtica i Informàtica Industrial

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