wolffd@0: function engine = dbn_predict_bel(engine, lag)
wolffd@0: % DBN_PREDICT_BEL Predict the belief state 'lag' steps into the future (bk_ff_hmm)
wolffd@0: % engine = dbn_predict_bel(engine, lag)
wolffd@0: % 'lag' defaults to 1
wolffd@0: 
wolffd@0: if nargin < 2, lag = 1; end
wolffd@0: 
wolffd@0: for d=1:lag
wolffd@0:   %newbel = engine.transmat' * engine.bel;
wolffd@0:   newbel = normalise(engine.transmat' * engine.bel); 
wolffd@0:   
wolffd@0:   hnodes = engine.hnodes;
wolffd@0:   bnet = bnet_from_engine(engine);
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;
wolffd@0: end