code: def with_extrapolation(points, noise, n_points):
      
      n_points = 10
      return kalman_filter(extrapolate_points(points, n_points) + points, noise)[n_points:]
docs: Smooths a set of points, but it extrapolates some points at the beginning
  
      Args:
          points (:obj:`list` of :obj:`Point`)
          noise (float): Expected noise, the higher it is the more the path will
              be smoothed.
      Returns:
          :obj:`list` of :obj:`Point`