comparison toolboxes/FullBNT-1.0.7/bnt/examples/dynamic/mk_bat_dbn.m @ 0:e9a9cd732c1e tip

first hg version after svn

+function [bnet, names] = mk_bat_dbn()
+% MK_BAT_DBN Make the BAT DBN
+% [bnet, names] = mk_bat_dbn()
+% See
+% - Forbes, Huang, Kanazawa and Russell, "The BATmobile: Towards a Bayesian Automated Taxi", IJCAI 95
+% - Boyen and Koller, "Tractable Inference for Complex Stochastic Processes", UAI98.
+
+names = {'LeftClr', 'RightClr', 'LatAct', 'Xdot', 'InLane', 'FwdAct', ...
+      'Ydot', 'Stopped', 'EngStatus', 'FBStatus', ...
+      'LeftClrSens', 'RightClrSens', 'TurnSignalSens', 'XdotSens', 'YdotSens', ...
+      'FYdotDiffSens', 'FclrSens', 'BXdotSens', 'BclrSens', 'BYdotDiffSens', ...
+      'SensorValid', 'FYdotDiff', 'FcloseSlow', 'Fclr', 'BXdot', 'BcloseFast', 'Bclr', 'BYdotDiff'};
+ss = length(names);
+
+intrac = {...
+      'LeftClr', 'LeftClrSens';
+  'RightClr', 'RightClrSens';
+  'LatAct', 'TurnSignalSens'; 'LatAct', 'Xdot';
+  'Xdot', 'XdotSens';
+  'FwdAct', 'Ydot';
+  'Ydot', 'YdotSens'; 'Ydot', 'Stopped';
+  'EngStatus', 'Ydot'; 'EngStatus', 'FYdotDiff'; 'EngStatus', 'Fclr'; 'EngStatus', 'BXdot';
+  'SensorValid', 'XdotSens';   'SensorValid', 'YdotSens';
+  'FYdotDiff', 'FYdotDiffSens'; 'FYdotDiff', 'FcloseSlow';
+  'FcloseSlow', 'FBStatus';
+  'Fclr', 'FclrSens'; 'Fclr', 'FcloseSlow';
+  'BXdot', 'BXdotSens';
+  'Bclr', 'BclrSens'; 'Bclr', 'BXdot'; 'Bclr', 'BcloseFast';
+  'BcloseFast', 'FBStatus';
+  'BYdotDiff', 'BYdotDiffSens'; 'BYdotDiff', 'BcloseFast'};
+[intra, names] = mk_adj_mat(intrac, names, 1);
+
+
+interc = {...
+      'LeftClr', 'LeftClr'; 'LeftClr', 'LatAct';
+  'RightClr', 'RightClr'; 'RightClr', 'LatAct';
+  'LatAct', 'LatAct'; 'LatAct', 'FwdAct';
+  'Xdot', 'Xdot'; 'Xdot', 'InLane';
+  'InLane', 'InLane'; 'InLane', 'LatAct';
+  'FwdAct', 'FwdAct';
+  'Ydot', 'Ydot';
+  'Stopped', 'Stopped';
+  'EngStatus', 'EngStatus';
+  'FBStatus', 'FwdAct'; 'FBStatus', 'LatAct'};
+inter = mk_adj_mat(interc, names, 0);  
+
+obs = {'LeftClrSens', 'RightClrSens', 'TurnSignalSens', 'XdotSens', 'YdotSens', 'FYdotDiffSens', ...
+      'FclrSens', 'BXdotSens', 'BclrSens', 'BYdotDiffSens'};
+
+for i=1:length(obs)
+  onodes(i) = strmatch(obs{i}, names); %stringmatch(obs{i}, names);
+end
+onodes = sort(onodes);
+
+dnodes = 1:ss; 
+ns = 2*ones(1,ss); % binary nodes
+bnet = mk_dbn(intra, inter, ns, 'discrete', dnodes, 'observed', onodes, 'eclass2', (1:ss)+ss);
+
+% make rnd params
+for i=1:2*ss
+  bnet.CPD{i} = tabular_CPD(bnet, i);
+end
+