Daniel@0: % Compare Kalman smoother with loopy
Daniel@0: 
Daniel@0: seed = 0;
Daniel@0: rand('state', seed);
Daniel@0: randn('state', seed);
Daniel@0: nlandmarks = 6;
Daniel@0: T = 12;
Daniel@0: 
Daniel@0: [A,B,C,Q,R,Qbig,Rbig,init_x,init_V,robot_block,landmark_block,...
Daniel@0: 	  true_landmark_pos, true_robot_pos, true_data_assoc, ...
Daniel@0: 	  obs_rel_pos, ctrl_signal] = mk_linear_slam(...
Daniel@0: 	      'nlandmarks', nlandmarks, 'T', T, 'ctrl', 'leftright', 'data-assoc', 'cycle');
Daniel@0: 
Daniel@0: [xsmooth, Vsmooth] = kalman_smoother(obs_rel_pos, A, C, Qbig, Rbig, init_x, init_V, ...
Daniel@0: 				     'model', true_data_assoc, 'u', ctrl_signal, 'B', B);
Daniel@0: 
Daniel@0: est_robot_pos = xsmooth(robot_block, :);
Daniel@0: est_robot_pos_cov = Vsmooth(robot_block, robot_block, :);
Daniel@0: 
Daniel@0: for i=1:nlandmarks
Daniel@0:   bi = landmark_block(:,i);
Daniel@0:   est_landmark_pos(:,i) = xsmooth(bi, T);
Daniel@0:   est_landmark_pos_cov(:,:,i) = Vsmooth(bi, bi, T);
Daniel@0: end
Daniel@0: 
Daniel@0: 
Daniel@0: if 1
Daniel@0:   [bnet, Unode, Snode, Lnodes, Rnode, Ynode, Lsnode] = ...
Daniel@0:       mk_gmux_robot_dbn(nlandmarks, Q, R, init_x, init_V, robot_block, landmark_block);
Daniel@0:   engine = pearl_unrolled_dbn_inf_engine(bnet, 'max_iter', 50, 'filename', ...
Daniel@0: 					 '/home/eecs/murphyk/matlab/loopyslam.txt');
Daniel@0: else
Daniel@0:   [bnet, Unode, Snode, Lnodes, Rnode, Ynode] = ...
Daniel@0:       mk_gmux2_robot_dbn(nlandmarks, Q, R, init_x, init_V, robot_block, landmark_block);
Daniel@0:   engine = jtree_dbn_inf_engine(bnet);
Daniel@0: end
Daniel@0: 
Daniel@0: nnodes = bnet.nnodes_per_slice;
Daniel@0: evidence = cell(nnodes, T);
Daniel@0: evidence(Ynode, :) = num2cell(obs_rel_pos, 1);
Daniel@0: evidence(Unode, :) = num2cell(ctrl_signal, 1);
Daniel@0: evidence(Snode, :) = num2cell(true_data_assoc);
Daniel@0: 
Daniel@0: [engine, ll, niter] = enter_evidence(engine, evidence);
Daniel@0: niter
Daniel@0: 
Daniel@0: loopy_est_robot_pos = zeros(2, T);
Daniel@0: for t=1:T
Daniel@0:   m = marginal_nodes(engine, Rnode, t);
Daniel@0:   loopy_est_robot_pos(:,t) = m.mu;
Daniel@0: end
Daniel@0: 
Daniel@0: for i=1:nlandmarks
Daniel@0:   m = marginal_nodes(engine, Lnodes(i), T);
Daniel@0:   loopy_est_landmark_pos(:,i) = m.mu;
Daniel@0:   loopy_est_landmark_pos_cov(:,:,i) = m.Sigma;
Daniel@0: end
Daniel@0: 
Daniel@0: