circular corridors beginning

src/CompressedBeliefMDPs.jl

@@ -1,6 +1,7 @@
 module CompressedBeliefMDPs
 
 using POMDPs, POMDPTools, POMDPModels
+using QuickPOMDPs
 using ParticleFilters
 using LocalApproximationValueIteration
 using LocalFunctionApproximation

src/envs/circular_corridors.jl

@@ -0,0 +1,43 @@
+struct CircularCorridorsState
+    is_top::Bool
+    index::Integer
+end
+
+
+struct CircularCorridorsPOMDP <: POMDP{CircularCorridorsState, Integer, Integer}
+    top_goal::CircularCorridorsState
+    bot_goal::CircularCorridorsState
+end
+
+
+# actions
+const LEFT = 0
+const RIGHT = 1
+const SENSE_CORRIDOR = 2
+const DECLARE_GOAL = 3
+
+
+function states(p::CircularCorridorsPOMDP)
+    return nothing
+end
+
+
+function stateindex(p::CircularCorridorsPOMDP, s::CircularCorridorsState)
+    return nothing
+end
+
+
+# function observation(p::CircularCorridorsPOMDP, a::Integer, sp::CircularCorridorsState)
+#     if a == SENSE_CORRIDOR
+#         if sp.is_top
+#             return sp === p.top_goal
+#         else
+#             return sp === p.bot_goal
+#         end
+#     else
+#         # TODO: von Mises distribution
+#     end
+# end
+
+
+