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