function [T,C]=trajectory(s0,Policy,st_len,p)% trajectory : Computes a trajectory from a given start state to the 'end' state, %              with respect to a certain policy. % Arguments ---------------------------------------------------------------% Let s0 = starting state%     Policy = the policy being followed.%     st_len = number of allowed states on the track, (st_len+1) being 'accident' and%              (st_len+2) being 'end of race'.%     p = probability of command failure.% Evaluation --------------------------------------------------------------%     T = the computed trajectory.%     C = the costs associated to the transitions. The first element is always 0 as%         there has been no transsition at that time.   %--------------------------------------------------------------------------% In verbose mode, no additionnal display%--------------------------------------------------------------------------% MDP Toolbox, INRA, BIA Toulouse, France%--------------------------------------------------------------------------global Map_Data% initialisationscurrent=1;test=0;T=[s0];C=[0];while test~=1,    % we check whether we are still on the track    if (T(current)<=st_len)        [s,cost]=simulate_transitions(p,T(current),Policy(T(current)));    elseif (T(current)==st_len+1)        % if not then we are either on the 'accident' state...        s=st_len+2;        cost=100;    elseif (T(current)==st_len+2)        % ...or on the 'end of race' state.             test=1;    end        % updates    T=[T;s];    C=[C;cost];    current=current+1;end