function [trans_mat, trans_cov, obs_mat, obs_cov, init_state, init_cov] = dbn_to_lds(bnet)% DBN_TO_LDS Compute the Linear Dynamical System parameters from the Gaussian DBN.% [trans_mat, trans_cov, obs_mat, obs_cov, init_state, init_cov] = dbn_to_lds(bnet)onodes = bnet.observed;ss = length(bnet.intra);num_nodes = ss*2;assert(isequal(bnet.cnodes_slice, 1:ss));[W,D,mu] = extract_params_from_gbn(bnet);hnodes = mysetdiff(1:ss, onodes);bs = bnet.node_sizes(:); % block sizesobs_mat = W(block(hnodes,bs), block(onodes,bs))';u = block(onodes,bs);obs_cov = D(u,u);trans_mat = W(block(hnodes,bs), block(hnodes + ss, bs))';u = block(hnodes + ss, bs);trans_cov = D(u,u);u = block(hnodes,bs);init_cov = D(u,u);init_state = mu(u);