31 lines
No EOL
944 B
Matlab
31 lines
No EOL
944 B
Matlab
function loglik = compute_log_lik(P, S_bar, V, E_z, E_zz, RO, Tr, sigma_sq)
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[K, T] = size(E_z);
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J = size(S_bar, 2);
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M_t = zeros(2*J, K);
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loglik = - 0.5*T * (2*J*log(sigma_sq));
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for t = 1:T,
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R_t = RO{t};
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Sdef = S_bar;
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for kk = 1:K,
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Sdef = Sdef + E_z(kk,t)*V((kk-1)*3+[1:3],:);
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M_t(1:J, kk) = (R_t(1,:)*V((kk-1)*3+[1:3],:))';
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M_t(J+1:end, kk) = (R_t(2,:)*V((kk-1)*3+[1:3], :))';
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end;
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invSigmaSq_p = eye(2*J)./sigma_sq;
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f_bar_t = R_t(1:2,:)*S_bar;
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f_bar_t = [f_bar_t(1,:) f_bar_t(2,:)]';
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f_t = [P(t, :) P(t+T, :)]';
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t_vect_t = [Tr(t,1)*ones(J,1); Tr(t,2)*ones(J,1)];
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covZ_t = E_zz((t-1)*K+1:t*K,:) - E_z(:,t)*E_z(:,t)';
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loglik = loglik - 0.5*(((f_t-f_bar_t-t_vect_t)./sigma_sq)'*(f_t-f_bar_t-t_vect_t)) + (((f_t-f_bar_t-t_vect_t)'./sigma_sq)*M_t*E_z(:,t)) ...
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- 0.5*trace(((M_t./sigma_sq)'*M_t) * E_zz((t-1)*K+1:t*K,:)) - 0.5*log(det(covZ_t));
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end |