function marginal = dbn_marginal_from_bel(engine, i)% DBN_MARGINAL_FROM_BEL Compute the marginal on a node given the current belief state (bk)% marginal = dbn_marginal_from_bel(engine, i)  if engine.slice1  j = i;  c = clq_containing_nodes(engine.sub_engine1, j);else  bnet = bnet_from_engine(engine);  ss = length(bnet.intra);  j = i+ss;  c = clq_containing_nodes(engine.sub_engine, j);endassert(c >= 1);bigpot = engine.bel_clpot{c};pot = marginalize_pot(bigpot, j);marginal = pot_to_marginal(pot);