belief-dependent transition function

[gdaddi]

Hi,

Is there a way to implement a transition function that depends on the belief state? I checked the source code of both POMDPs and QuickPOMDP and there does not seem to be an obvious way of doing it. Thank you!
This is the pseudocode of what I'm trying to do:

    transition = function (s, a, b)
        if mean(particles(b)) < X:
            # transitionA
        else:
            # transitionB
        end
        # return new state 
    end,