onodes(i) = stringmatch(obs{i}, names);
end
onodes = sort(onodes);

dnodes = 1:ss; 
ns = zeros(1,ss);

ns(stringmatch('LeftClr', names)) = 2;
ns(stringmatch('RightClr', names)) = 2;
ns(stringmatch('LatAct', names)) = 3;
ns(stringmatch('Xdot', names)) = 7;
ns(stringmatch('InLane', names)) = 2;
ns(stringmatch('FwdAct', names)) = 3;
ns(stringmatch('Ydot', names)) = 11;
ns(stringmatch('Stopped', names)) = 2;
ns(stringmatch('EngStatus', names)) = 2;
ns(stringmatch('FBStatus', names)) = 3;
ns(stringmatch('LeftClrSens', names)) = 2;
ns(stringmatch('RightClrSens', names)) = 2;
ns(stringmatch('TurnSignalSens', names)) = 3;
ns(stringmatch('XdotSens', names)) = 7;
ns(stringmatch('YdotSens', names)) = 11;
ns(stringmatch('FYdotDiffSens', names)) = 8;
ns(stringmatch('FclrSens', names)) = 20;
ns(stringmatch('BXdotSens', names)) = 8;
ns(stringmatch('BclrSens', names)) = 20;
ns(stringmatch('BYdotDiffSens', names)) = 8;
ns(stringmatch('SensorValid', names)) = 2;
ns(stringmatch('FYdotDiff', names)) = 4;
ns(stringmatch('FcloseSlow', names)) = 2;
ns(stringmatch('Fclr', names)) = 3;
ns(stringmatch('BXdot', names)) = 8;
ns(stringmatch('BcloseFast', names)) = 2;
ns(stringmatch('Bclr', names)) = 3;
ns(stringmatch('BYdotDiff', names)) = 4;

%ns = 2*ones(1,ss);


bnet = mk_dbn(intra, inter, ns, 'discrete', dnodes, 'observed', onodes, 'eclass2', (1:ss)+ss);

% make unif params
for i=1:2*ss
  bnet.CPD{i} = tabular_CPD(bnet, i, 'CPT', 'unif');
end

i = stringmatch('LeftClr', names)+ss;
bnet.CPD{i} = tabular_CPD(bnet, i, [0.99 0.01 0.01 0.99]);

i = stringmatch('RightClr', names)+ss;