code: def predicted_state_vec(self):
          '''The predicted state vector for the next time point
  
          From Welch eqn 1.9
          '''
          if not self.has_cached_predicted_state_vec:
              self.p_state_vec = dot_n(
                  self.translation_matrix,
                  self.state_vec[:, :, np.newaxis])[:,:,0]
          return self.p_state_vef predicted_state_vec(self):
          '''The predicted state vector for the next time point
  
          From Welch eqn 1.9
          '''
          if not self.has_cached_predicted_state_vec:
              self.p_state_vec = dot_n(
                  self.translation_matrix,
                  self.state_vec[:, :, np.newaxis])[:,:,0]
          return self.p_state_vec
docs: The predicted state vector for the next time point
  
          From Welch eqn 1.9