这真正是 Michael Jordan 写的 An introduction to probabilistic graphic models的草稿

概率图模型是用图来表示变量概率依赖关系的理论，分为概率图模型表示理论，概率图模型推理理论和概率图模型学习理论。在人工智能、机器学习和计算机视觉等领域有广阔的应用前景。

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opengl的配置请自行google。Computer Animation课的homework2，简单模拟了人体的行走，只有躯干（torso）和腿（legs），但Hierarchical Object Motion Control的基本原理都有。人体躯干的朝向为spline曲线的切线方向。B-Spline和Catmull-rom spline生成曲线请参考我上传的上一个资源：http://download.csdn.net/detail/thankfly/4621442 如何实现朝向的正确需要构建新的坐标系，请参考CMU的link：http://www.cs.cmu.edu/~jkh/462_s07/assts/assignment2/asst2camera.html 效果视频请点击https://www.youtube.com/watch?v=TPXZHCSRc8U

Probabilistic Graphical Models Principles and Techniques(Koller)

The Mythical Man-Month Essays on Software Engineering, Anniversary Edition.pdf

probabilistic graphical models Jordan draft