Crop

PURPOSE

Forces a state to be in a given continuous sub-space.

SYNOPSIS

function sOut=Crop(CS,s)

DESCRIPTION

   Forces a state to be in a given continuous sub-space.

   Crops the given state 's' with the boundary of the given continuous
   space for all dimensions.

CROSS-REFERENCE INFORMATION

This function calls:

max Upper bound of a CSpace
min Lower bound of a CSpace

This function is called by:

Prediction Belief evolution under the given action.
DiscretizeActionModel Produces a new action model discretizing the state space.
Prediction Belief evolution under the given action.
Prediction Belief evolution given a transition model.
Update Belief evolution under an observation model.
Update Belief evolution under an observation model.
Crop Limits all means to be inside the given space.
Crop Forces the Gaussian mean to be in a given space.
SampleBeliefs Samples a set of beliefs from a POMDP.

SOURCE CODE

0001 function sOut=Crop(CS,s)
0002 %   Forces a state to be in a given continuous sub-space.
0003 %
0004 %   Crops the given state 's' with the boundary of the given continuous
0005 %   space for all dimensions.
0006 
0007   sOut=min(CS.max,max(CS.min,s));
0008