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1 function CPD = update_CPT(CPD)
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2 % Compute the big CPT for an HHMM Q node (including F parents) given internal transprob and startprob
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3 % function CPD = update_CPT(CPD)
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4
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5 Qsz = CPD.Qsz;
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6 Qpsz = CPD.Qpsz;
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7
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8 if ~isempty(CPD.Fbelow_ndx)
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9 if ~isempty(CPD.Fself_ndx) % general case
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10 % Fb(t-1) Fself(t-1) P(Q(t)=j| Q(t-1)=i, Qps(t)=k)
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11 % ------------------------------------------------------
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12 % 1 1 delta(i,j)
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13 % 2 1 transprob(i,k,j)
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14 % 1 2 impossible
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15 % 2 2 startprob(k,j)
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16 CPT = zeros(Qsz, 2, 2, Qpsz, Qsz);
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17 I = repmat(eye(Qsz), [1 1 Qpsz]); % i,j,k
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18 I = permute(I, [1 3 2]); % i,k,j
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19 CPT(:, 1, 1, :, :) = I;
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20 CPT(:, 2, 1, :, :) = CPD.transprob;
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21 CPT(:, 1, 2, :, :) = I;
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22 CPT(:, 2, 2, :, :) = repmat(reshape(CPD.startprob, [1 Qpsz Qsz]), [Qsz 1 1]); % replicate over i
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23 else % no F from self, hence no startprob
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24 % Fb(t-1) P(Q(t)=j| Q(t-1)=i, Qps(t)=k)
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25 % ------------------------------------------------------
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26 % 1 delta(i,j)
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27 % 2 transprob(i,k,j)
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28
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29 nps = length(CPD.dom_sz)-1; % num parents
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30 CPT = 0*myones(CPD.dom_sz);
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31 %CPT = zeros(Qsz, 2, Qpsz, Qsz); % assumes CPT(Q(t-1), F(t-1), Qps, Q(t))
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32 % but a member of Qps may preceed Q(t-1) or F(t-1) in the ordering
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33
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34 I = repmat(eye(Qsz), [1 1 Qpsz]); % i,j,k
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35 I = permute(I, [1 3 2]); % i,k,j
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36
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37 % the following fails if there is a member of Qps with a lower
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38 % number than F
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39 %CPT(:, 1, :, :) = I;
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40 %CPT(:, 2, :, :) = CPD.transprob;
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41
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42 ndx = mk_multi_index(nps+1, CPD.Fbelow_ndx, 1);
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43 CPT(ndx{:}) = I;
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44 ndx = mk_multi_index(nps+1, CPD.Fbelow_ndx, 2);
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45 CPT(ndx{:}) = CPD.transprob;
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46 keyboard
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47 end
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48 else % no F signal from below
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49 if ~isempty(CPD.Fself_ndx)
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50 % Q(t-1), Fself(t-1), Qps, Q(t)
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51
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52 % if condition start on previous concrete state (as in map learning),
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53 % CPT(:, 1, :, :, :) = CPD.transprob(Q(t-1), Qps, Q(t))
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54 % CPT(:, 2, :, :, :) = CPD.startprob(Q(t-1), Qps, Q(t))
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55
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56 % Fself(t-1) P(Q(t-1)=i, Qps(t)=k -> Q(t)=j)
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57 % ------------------------------------------------------
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58 % 1 transprob(i,k,j)
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59 % 2 startprob(k,j)
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60 CPT = zeros(Qsz, 2, Qpsz, Qsz);
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61 I = repmat(eye(Qsz), [1 1 Qpsz]); % i,j,k
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62 I = permute(I, [1 3 2]); % i,k,j
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63 CPT(:, 1, :, :) = CPD.transprob;
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64 if CPD.fullstartprob
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65 CPT(:, 2, :, :) = CPD.startprob;
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66 else
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67 CPT(:, 2, :, :) = repmat(reshape(CPD.startprob, [1 Qpsz Qsz]), [Qsz 1 1]); % replicate over i
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68 end
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69 else % no F from self
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70 error('An hhmmQ node without any F parents is just a tabular_CPD')
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71 end
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72 end
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73
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74 CPD = set_fields(CPD, 'CPT', CPT);
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