// <b>P</b>(e<sub>t+1</sub> | X<sub>t+1</sub>)
CategoricalDistribution s2 = sensorModel.posteriorDistribution(ProbUtil
.constructConjunction(e_tp1.toArray(new Proposition[e_tp1
.size()])), Xtp1);
return s2.multiplyBy(s1).normalize();
}
@Override
public CategoricalDistribution backward(CategoricalDistribution b_kp2t,
List<AssignmentProposition> e_kp1) {