wolffd@0: function [engine, loglik] = dbn_update_bel1(engine, evidence)
wolffd@0: % DBN_UPDATE_BEL Update the initial belief state (bk_ff_hmm)
wolffd@0: % [engine, loglik] = dbn_update_bel(engine, evidence)
wolffd@0: %
wolffd@0: %  evidence{i} contains the evidence on node i in slice 1
wolffd@0: 
wolffd@0: oldbel = engine.bel;
wolffd@0: bnet = bnet_from_engine(engine);
wolffd@0: obslik = mk_hmm_obs_lik_vec1(bnet, evidence);
wolffd@0: [newbel, lik] = normalise(oldbel .* obslik);
wolffd@0: loglik = log(lik);
wolffd@0: 
wolffd@0: hnodes = engine.hnodes;
wolffd@0: ns = bnet.node_sizes;
wolffd@0: [marginals, marginalsT] = project_joint_onto_marginals(newbel, hnodes, ns);
wolffd@0: newbel = combine_marginals_into_joint(marginalsT, hnodes, ns);          
wolffd@0: engine.bel_marginals = marginalsT;
wolffd@0: engine.bel = newbel;