function markov_td()
[T g]=setup();
gamma=.95;

Jtrue=;%give true value function
vi_plot(Jtrue)

N=100000;
Jtd=zeros(100,1);
state=ceil(100*rand());
lambda=0;
alpha=.1;
e=zeros(100,1);
for i=1:N
    if i<2e4
        lambda=.4;
        alpha=.03;
    elseif i<6e4
        lambda=.9;
        alpha=.02;
    end
    
    possibleStates=find(T(state,:)~=0);
    transProbs=T(state,possibleStates);
    transProbs=cumsum(transProbs);
    tmp=rand();
    tmp=tmp<transProbs;
    tmp=find(tmp);
    tmp=tmp(1);
    nstate=possibleStates(tmp);
    r=g(nstate);
    
    delta=;%determine delta
    e(state)=;%update eligability
    
    Jtd=;%perform update to value function
    e=;%decay eligability
    
    %insert code here that examines how the error
    %in value function depends on iteration number
    
    state=nstate;
    if mod(i,40)==0 %reset after 40 updates
        state=ceil(100*rand());
        e=zeros(100,1);
    end
end
vi_plot(Jtd)

end

function vi_plot(J)
q_bins = linspace(-pi,pi,10);
qdot_bins = linspace(-15,15,10);
figure; n1 = size(q_bins,2); n2 = size(qdot_bins,2);
imagesc(q_bins,qdot_bins,reshape(J,n1,n2)'); axis xy;
drawnow;
end

function [T g]=setup()
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