function CPD = update_ess(CPD, fmarginal, evidence, ns, cnodes, hidden_bitv)% UPDATE_ESS Update the Expected Sufficient Statistics of a hhmmF node.% function CPD = update_ess(CPD, fmarginal, evidence, ns, cnodes, hidden_bitv)% Figure out the node numbers associated with each parent% so we extract evidence from the right placedom = fmarginal.domain; % Q(1) .. Q(d) F(d+1) F(d)Qps = fmarginal.domain(1:end-2);Q = Qps(end);Qps = Qps(1:end-1);Qsz = CPD.Qsizes(CPD.Q);Qpsz = prod(CPD.Qsizes(CPD.Qps)); % may be 1% We assume the F node are always hidden, but allow some of the Q nodes% to be observed. We do case analysis for speed.%We only extract prob from fmarginal.T when F(d+1)=2 i.e., model below has finished.% wrong -> % We sum over the possibilities that F(d+1) = 1 or 2obs_self = ~hidden_bitv(Q);if obs_self  self_val = evidence{Q};endif isempty(Qps) % independent of parent context  counts = zeros(Qsz, 2);  %fmarginal.T(Q(d), F(d+1), F(d))  if obs_self    marg = myreshape(fmarginal.T, [1 2 2]);    counts(self_val,:) = marg(1,2,:);    %counts(self_val,:) = marg(1,1,:) + marg(1,2,:);  else    marg = myreshape(fmarginal.T, [Qsz 2 2]);    counts = squeeze(marg(:,2,:));    %counts = squeeze(marg(:,2,:)) + squeeze(marg(:,1,:));  endelse  counts = zeros(Qpsz, Qsz, 2);  %fmarginal.T(Q(1:d-1), Q(d), F(d+1), F(d))  obs_Qps = ~any(hidden_bitv(Qps));  % we assume that all or none of the Q  parents are observed  if obs_Qps    Qps_val = subv2ind(Qpsz, cat(1, evidence{Qps}));  end  if obs_self & obs_Qps    marg = myreshape(fmarginal.T, [1 1 2 2]);    counts(Qps_val, self_val, :) = squeeze(marg(1,1,2,:));    %counts(Qps_val, self_val, :) = squeeze(marg(1,1,2,:)) + squeeze(marg(1,1,1,:));  elseif ~obs_self & obs_Qps    marg = myreshape(fmarginal.T, [1 Qsz 2 2]);    counts(Qps_val, :, :) = squeeze(marg(1,:,2,:));    %counts(Qps_val, :, :) = squeeze(marg(1,:,2,:)) + squeeze(marg(1,:,1,:));  elseif obs_self & ~obs_Qps    error('not yet implemented')  else    marg = myreshape(fmarginal.T, [Qpsz Qsz 2 2]);    counts(:, :, :) = squeeze(marg(:,:,2,:));    %counts(:, :, :) = squeeze(marg(:,:,2,:)) + squeeze(marg(:,:,1,:));  end    endCPD.sub_CPD_term = update_ess_simple(CPD.sub_CPD_term, counts);