comparison toolboxes/FullBNT-1.0.7/bnt/inference/dynamic/@bk_ff_hmm_inf_engine/dbn_predict_bel.m @ 0:e9a9cd732c1e tip

first hg version after svn

+function engine = dbn_predict_bel(engine, lag)
+% DBN_PREDICT_BEL Predict the belief state 'lag' steps into the future (bk_ff_hmm)
+% engine = dbn_predict_bel(engine, lag)
+% 'lag' defaults to 1
+
+if nargin < 2, lag = 1; end
+
+for d=1:lag
+  %newbel = engine.transmat' * engine.bel;
+  newbel = normalise(engine.transmat' * engine.bel); 
+  
+  hnodes = engine.hnodes;
+  bnet = bnet_from_engine(engine);
+  ns = bnet.node_sizes;
+  [marginals, marginalsT] = project_joint_onto_marginals(newbel, hnodes, ns);
+  newbel = combine_marginals_into_joint(marginalsT, hnodes, ns);          
+  engine.bel_marginals = marginalsT;
+  engine.bel = newbel;
+end