CS_CA_RewardModel

   CS_CA_RewardModel constructor.

   Defines a reward function on continuous state and 
   action spaces, r(s,a).
   This kind of reward models is never directly used since continuous
   action spaces are discretized (See line 14a of Table 2 in page 21 in
   the paper).

   Note that the mixture defining this type of reward model is not
   normalized.

   Parameters
      S: Continuous state space.
      A: Continuous action space.
      w: weights of the double mixture.
      gS: Gaussians in 's'.
      gA: Gaussians in 'a'.

0001 function RM=CS_CA_RewardModel(varargin)
0002 %   CS_CA_RewardModel constructor.
0003 %
0004 %   Defines a reward function on continuous state and
0005 %   action spaces, r(s,a).
0006 %   This kind of reward models is never directly used since continuous
0007 %   action spaces are discretized (See line 14a of Table 2 in page 21 in
0008 %   the paper).
0009 %
0010 %   Note that the mixture defining this type of reward model is not
0011 %   normalized.
0012 %
0013 %   Parameters
0014 %      S: Continuous state space.
0015 %      A: Continuous action space.
0016 %      w: weights of the double mixture.
0017 %      gS: Gaussians in 's'.
0018 %      gA: Gaussians in 'a'.
0019 
0020 
0021   switch nargin
0022     case 1
0023       if isa(varargin{1},'CS_CA_RewardModel')
0024         RM=varargin{1};
0025       else
0026         error('Wrong parameter type in CS_CA_RewardModel constructor');
0027       end
0028     case 5
0029       if isa(varargin{1},'CSpace')
0030         RM.S=varargin{1};
0031       else
0032         error('Wrong parameter type in CS_CA_RewardModel constructor');
0033       end
0034       if isa(varargin{2},'CSpace')
0035         RM.A=varargin{2};
0036       else
0037         error('Wrong parameter type in CS_CA_RewardModel constructor');
0038       end
0039       if isa(varargin{3},'double')
0040         RM.w=varargin{3};
0041       end
0042       if isa(varargin{4},'cell')
0043         RM.gS=varargin{4};
0044       end
0045       if isa(varargin{5},'cell')
0046         RM.gA=varargin{5};
0047       end
0048       
0049       RM=class(RM,'CS_CA_RewardModel');
0050       
0051     otherwise
0052       error('Wrong number of parameters in CS_CA_RewardModel constructor');
0053   end
0054