function [engine, loglik] = dbn_update_bel(engine, evidence)% DBN_UPDATE_BEL Update the belief state (bk_ff_hmm)% [engine, loglik] = dbn_update_bel(engine, evidence)%% evidence{i,1} contains the evidence on node i in slice t-1% evidence{i,2} contains the evidence on node i in slice toldbel = engine.bel;bnet = bnet_from_engine(engine);obslik = mk_hmm_obs_lik_vec(bnet, evidence);[newbel, lik] = normalise((engine.transmat' * oldbel) .* obslik);loglik = log(lik);hnodes = engine.hnodes;ns = bnet.node_sizes;[marginals, marginalsT] = project_joint_onto_marginals(newbel, hnodes, ns);newbel = combine_marginals_into_joint(marginalsT, hnodes, ns);          engine.bel_marginals = marginalsT;engine.bel = newbel;