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ExpectationPURPOSE
Expectation between a belief and a alpha-element.
SYNOPSIS
function e=Expectation(b,a)
DESCRIPTION
Expectation between a belief and a alpha-element. Expectation operator for a Particle-based belief 'b' on continuous state space and a given alpha element 'a' (a Gaussian mixture in this case). This is the basic operator on which the backup relies on and, consequently on which the whole planeer is based on. CROSS-REFERENCE INFORMATION
This function calls:
This function is called by:
SOURCE CODE
0001 function e=Expectation(b,a) 0002 % Expectation between a belief and a alpha-element. 0003 % 0004 % Expectation operator for a Particle-based belief 'b' on continuous 0005 % state space and a given alpha element 'a' (a Gaussian mixture in this case). 0006 % 0007 % This is the basic operator on which the backup relies on and, 0008 % consequently on which the whole planeer is based on. 0009 0010 e=sum(b.w.*Value(a,b.samples)); |