function CPD = update_ess(CPD, fmarginal, evidence, ns, cnodes, hidden_bitv)% UPDATE_ESS Update the Expected Sufficient Statistics of a hhmm Q node.% function CPD = update_ess(CPD, fmarginal, evidence, ns, cnodes, idden_bitv)%% we assume if one of the Qps is observed, all of them are % We assume the F nodes are already hidden % Figure out the node numbers associated with each parentdom = fmarginal.domain;self = dom(CPD.self_ndx);old_self = dom(CPD.old_self_ndx);%Fself = dom(CPD.Fself_ndx);%Fbelow = dom(CPD.Fbelow_ndx);Qps = dom(CPD.Qps_ndx);Qsz = CPD.Qsz;Qpsz = CPD.Qpsz;% hor_counts(old_self, Qps, self),% fmarginal(old_self, Fbelow, Fself, Qps, self)% hor_counts(i,k,j) = fmarginal(i,2,1,k,j) % below has finished, self has not% ver_counts(i,k,j) = fmarginal(i,2,2,k,j) % below has finished, and so has self (reset)% Since any of i,j,k may be observed, we write% hor_counts(ndx{:}) = fmarginal(...)% where e.g., ndx = {1, ':', 2} if Qps is hidden but we observe old_self=1, self=2.% ndx{i,k,j}if hidden_bitv(old_self)  ndx{1} = ':';else  ndx{1} = evidence{old_self};endif hidden_bitv(Qps)  ndx{2} = ':';else  ndx{2} = subv2ind(Qpsz, cat(1, evidence{Qps}));endif hidden_bitv(self)  ndx{3} = ':';else  ndx{3} = evidence{self};endfmarg = add_ev_to_dmarginal(fmarginal, evidence, ns);% marg(Qold(t-1), Fbelow(t-1), Fself(t-1), Qps(t), Qself(t))                            hor_counts = zeros(Qsz, Qpsz, Qsz);ver_counts = zeros(Qpsz, Qsz);    if ~isempty(CPD.Fbelow_ndx)  if ~isempty(CPD.Fself_ndx) % general case    fmarg.T = myreshape(fmarg.T, [Qsz 2 2 Qpsz Qsz]);    marg_ndx = {ndx{1}, 2, 1, ndx{2}, ndx{3}};    hor_counts(ndx{:}) = fmarg.T(marg_ndx{:});    ver_counts(ndx{2:3}) = ... % sum over Fbelow and Qold=i	sum(fmarg.T({ndx{1}, 1, 2, ndx{2}, ndx{3}}),1) + ..	sum(fmarg.T({ndx{1}, 2, 2, ndx{2}, ndx{3}}),1);  else % no F from self, hence no startprob    fmarg.T = myreshape(fmarg.T, [Qsz 2 Qpsz Qsz]);    hor_counts(ndx{:}) = fmarg.T({ndx{1}, 2, ndx{2}, ndx{3}});  endelse % no F signal from below  if ~isempty(CPD.Fself_ndx) % self F    fmarg.T = myreshape(fmarg.T, [Qsz 2 Qpsz Qsz]);    hor_counts(ndx{:}) = fmarg.T({ndx{1}, 1, ndx{2}, ndx{3}});    ver_counts(ndx{2:3}) = ... % sum over Qold=i	sum(fmarg.T({ndx{1}, 2, ndx{2}, ndx{3}}),1);  else % no F from self    error('An hhmmQ node without any F parents is just a tabular_CPD')  endendCPD.sub_CPD_trans = update_ess_simple(CPD.sub_CPD_trans, hor_counts);if ~isempty(CPD.sub_CPD_start)  CPD.sub_CPD_start = update_ess_simple(CPD.sub_CPD_start, ver_counts);end