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

first hg version after svn

+function [engine, loglik] = dbn_update_bel(engine, evidence)
+% DBN_UPDATE_BEL Update the belief state (bk_ff_hmm)
+% [engine, loglik] = dbn_update_bel(engine, evidence)
+%
+% evidence{i,1} contains the evidence on node i in slice t-1
+% evidence{i,2} contains the evidence on node i in slice t
+
+oldbel = engine.bel;
+bnet = bnet_from_engine(engine);
+obslik = mk_hmm_obs_lik_vec(bnet, evidence);
+[newbel, lik] = normalise((engine.transmat' * oldbel) .* obslik);
+loglik = log(lik);
+
+hnodes = engine.hnodes;
+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;