AIMA.Probability.Reasoning.HiddenMarkovModel.calculate_next_backward_message C# (CSharp) Method

        public RandomVariable calculate_next_backward_message(
                RandomVariable forwardBelief,
                RandomVariable present_backward_message, String perception)
        {
            RandomVariable result = present_backward_message.duplicate();
            // System.Console.WriteLine("fb :-calculating new backward message");
            // System.Console.WriteLine("fb :-diagonal matrix from sens model = ");
            Matrix oMatrix = _sensorModel.asMatrix(perception);
            // System.Console.WriteLine(oMatrix);
            Matrix transitionMatrix = _transitionModel.asMatrix();// action
            // should
            // be
            // passed
            // in
            // here?
            // System.Console.WriteLine("fb :-present backward message = "
            // +present_backward_message);
            Matrix backwardMatrix = transitionMatrix.times(oMatrix
                    .times(present_backward_message.asMatrix()));
            Matrix resultMatrix = backwardMatrix.arrayTimes(forwardBelief
                    .asMatrix());
            result.updateFrom(resultMatrix);
            result.normalize();
            // System.Console.WriteLine("fb :-normalized new backward message = "
            // +result);
            return result;
        }