function [marginal, msg, loglik] = filter_evidence(engine, evidence)error('broken');[ss T] = size(evidence);bnet = bnet_from_engine(engine);onodes = engine.onodes;hnodes = mysetdiff(1:ss, onodes);hnodes = hnodes(:)';ns = bnet.node_sizes(:);onodes2 = [onodes(:); onodes(:)+ss];ns(onodes2) = 1;	   verbose = 1;if verbose, fprintf('\nnew filtering\n'); end  pot_type = 'd';niter = engine.max_iter;% msg(i1,t1,i2,j2) (i1,t1) -> (i2,t2)%lambda_msg = cell(ss,T,ss,T);%pi_msg = cell(ss,T,ss,T);% intra_lambda_msg(i,j,t) (i,t) -> (j,t), i is child% inter_lambda_msg(i,j,t) (i,t+1) -> (j,t), i is child% inter_pi_msg(i,j,t) (i,t-1) -> (j,t), i is parentintra_lambda_msg = cell(ss,ss,T);inter_lambda_msg = cell(ss,ss,T);inter_pi_msg = cell(ss,ss,T);lambda = cell(ss,T);pi = cell(ss,T);for t=1:T  for i=1:ss    lambda{i,t} = ones(ns(i), 1);    pi{i,t} = ones(ns(i), 1);        cs = children(bnet.intra, i);    for c=cs(:)'      intra_lambda_msg{c,i,t} = ones(ns(i),1);    end        cs = children(bnet.inter, i);    for c=cs(:)'      inter_lambda_msg{c,i,t} = ones(ns(i),1);    end        ps = parents(bnet.inter, i);    for p=ps(:)'      inter_pi_msg{p,i,t} = ones(ns(i), 1); % not used for t==1    end  endend% each hidden node absorbs lambda from its observed child (if any)for t=1:T  for i=hnodes    c = engine.obschild(i);    if c > 0      if t==1	fam = family(bnet.dag, c);	e = bnet.equiv_class(c, 1);	CPDpot = CPD_to_pot(pot_type, bnet.CPD{e}, fam, bnet.node_sizes(:), bnet.cnodes(:), evidence(:,1));      else	fam = family(bnet.dag, c, 2); % within 2 slice network	e = bnet.equiv_class(c, 2);	CPDpot = CPD_to_pot(pot_type, bnet.CPD{e}, fam, bnet.node_sizes(:), bnet.cnodes(:), evidence(:,t-1:t));      end      temp = pot_to_marginal(CPDpot);      lam_msg = normalise(temp.T);      %if verbose, fprintf('(%d,%d) sends lambda to (%d,%d)\n', c,t, i,t); disp(lam_msg); end      intra_lambda_msg{c,i,t} = lam_msg;    end  endend% FORWARDfor t=1:T  % update pi  for i=hnodes    if t==1      e = bnet.equiv_class(i,1);      temp = struct(bnet.CPD{e});      pi{i,t} = temp.CPT;    else      e = bnet.equiv_class(i,2);      temp = struct(bnet.CPD{e});      ps = parents(bnet.inter, i);      dom = [ps i+ss];      pot = dpot(dom, ns(dom), temp.CPT);      for p=ps(:)'	temp = dpot(p, ns(p), inter_pi_msg{p,i,t});	pot = multiply_by_pot(pot, temp);      end      pot = marginalize_pot(pot, i+ss);      temp = pot_to_marginal(pot);      pi{i,t} = temp.T;      %if verbose, fprintf('(%d,%d) computes pi\n', i,t); disp(pi{i,t}); end    end        c = engine.obschild(i);    if c > 0      pi{i,t} = normalise(pi{i,t} .* intra_lambda_msg{c,i,t});    end    %if verbose, fprintf('(%d,%d) recomputes pi\n', i,t); disp(pi{i,t}); end    if verbose, fprintf('%d recomputes pi\n', i+(t-1)*ss); disp(pi{i,t}); end  end    % send pi msg to children   for i=hnodes    cs = children(bnet.inter, i);    for c=cs(:)'      pot = pi{i,t};      for k=cs(:)'	if k ~= c	  pot = pot .* inter_lambda_msg{k,i,t};	end      end      cs2 = children(bnet.intra, i);      for k=cs2(:)'	pot = pot .* intra_lambda_msg{k,i,t};      end      pot = normalise(pot);      %if verbose, fprintf('(%d,%d) sends pi to (%d,%d)\n', i,t, c,t+1); disp(pot); end      if verbose, fprintf('%d sends pi to %d\n', i+(t-1)*ss, c+t*ss); disp(pot); end      inter_pi_msg{i,c,t+1} = pot;    end  endendmarginal = cell(ss,T);for t=1:T  for i=hnodes    %marginal{i,t} = normalise(pi{i,t} .* lambda{i,t});         marginal{i,t} = normalise(pi{i,t});  endendloglik = 0;msg.inter_pi_msg = inter_pi_msg;msg.inter_lambda_msg = inter_lambda_msg;msg.intra_lambda_msg = intra_lambda_msg;