38 #define JointBelief_doSanityCheckAfterEveryUpdate 0
66 if (
this == &o)
return *
this;
85 if (
this == &o)
return *
this;
88 return(
operator=(casted_o));
89 }
catch(std::bad_cast bc){
90 throw E(
"JointBelief::operator= bad_cast exception. Are you trying to assign me (a JointBelief) with some other JointBeliefInterface (e.g. JointBeliefSparse) ??");
99 vector<double> newJB_unnorm;
106 for(
Index sI=0; sI < nrS; sI++)
114 for(
Index prec_sI=0; prec_sI < nrS; prec_sI++)
115 Ps_ba += T->
Get(prec_sI, lastJAI, sI) *
_m_b[prec_sI];
120 double Pso_ba = Po_as * Ps_ba;
122 newJB_unnorm.push_back(Pso_ba);
128 for(
Index sI=0; sI < nrS; sI++)
136 for(
Index prec_sI=0; prec_sI < nrS; prec_sI++)
141 double Pso_ba = Po_as * Ps_ba;
143 newJB_unnorm.push_back(Pso_ba);
151 for(
Index sI=0; sI < nrS; sI++)
152 _m_b[sI]=newJB_unnorm[sI]/Po_ba;
156 #if JointBelief_doSanityCheckAfterEveryUpdate
158 throw(
E(
"JointBelief::Update SanityCheck failed"));