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(end);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(i_counts_ndx, kndx, jndx) = fmarginal(i_fmarg_ndx...)% where i_fmarg_ndx = 1 and i_counts_ndx = i if old_self is observed to have value i,% i_fmarg_ndx = 1:Qsz and i_counts_ndx = 1:Qsz if old_self is hidden, etc.if hidden_bitv(old_self)  i_counts_ndx = 1:Qsz;  eff_oldQsz = Qsz;else  i_counts_ndx = evidence{old_self};  eff_oldQsz = 1;endif all(hidden_bitv(Qps)) % we assume all are hidden or all are observed  k_counts_ndx = 1:Qpsz;  eff_Qpsz = Qpsz;else  k_counts_ndx = subv2ind(Qpsz, cat(1, evidence{Qps}));  eff_Qpsz = 1;endif hidden_bitv(self)  j_counts_ndx = 1:Qsz;  eff_Qsz = Qsz;else  j_counts_ndx = evidence{self};  eff_Qsz = 1;endhor_counts = zeros(Qsz, Qpsz, Qsz);ver_counts = zeros(Qpsz, Qsz);    if ~isempty(CPD.Fbelow_ndx)  if ~isempty(CPD.Fself_ndx) % general case    fmarg = myreshape(fmarginal.T, [eff_oldQsz 2 2 eff_Qpsz eff_Qsz]);    hor_counts(i_counts_ndx, k_counts_ndx, j_counts_ndx) =  fmarg(:, 2, 1, :, :);    ver_counts(k_counts_ndx, j_counts_ndx) = ... % sum over Fbelow and Qold	sumv(fmarg(:, :,  2, :, :), [1 2]); % require Fself=2  else % no F from self, hence no startprob    fmarg = myreshape(fmarginal.T, [eff_oldQsz 2 eff_Qpsz eff_Qsz]);    hor_counts(i_counts_ndx, k_counts_ndx, j_counts_ndx) = ...	fmarg(:, 2, :, :); % require Fbelow = 2  endelse % no F signal from below  if ~isempty(CPD.Fself_ndx) % self F    fmarg = myreshape(fmarginal.T, [eff_oldQsz 2 eff_Qpsz eff_Qsz]);    hor_counts(i_counts_ndx, k_counts_ndx, j_counts_ndx) =  fmarg(:, 1, :, :);    ver_counts(k_counts_ndx, j_counts_ndx) = ... % sum over Qold	squeeze(sum(fmarg(:, 2, :, :), 1)); % Fself=2  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