def makeLeftRightHMM(self, nStates, pD, obsData, lData=None):
if nStates <= 0:
print 'Number of states must be > 0'
if lData is None:
lData = obsData.shape[1]
D = np.mean(lData)
D = D / nStates
mc = self.initLeftRightMC(nStates, D)
hmm = HMM(mc, pD)
hmm = hmm.init(hmm, obsData, lData)
hmm, logprobs = hmm.train(hmm, obsData, lData, 5, np.log(1.01))
return hmm
