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function pi = CPD_to_pi(CPD, msg_type, n, ps, msg, evidence)
% CPD_TO_PI Compute the pi vector (gaussian)
% function pi = CPD_to_pi(CPD, msg_type, n, ps, msg, evidence)
switch msg_type
case 'd',
error('gaussian_CPD can''t create discrete msgs')
case 'g',
dps = ps(CPD.dps);
k = evidence{dps};
if isempty(k)
error('gmux node must have observed discrete parent')
end
m = msg{n}.pi_from_parent{k};
B = CPD.weights(:,:,k);
pi.mu = CPD.mean(:,k) + B * m.mu;
pi.Sigma = CPD.cov(:,:,k) + B * m.Sigma * B';
end
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