code: def predict(self, u=0):
          
  
          # x = Fx + Bu
          self.x = dot(self.F, self.x) + dot(self.B, u)
docs: Predict next position.
  
          Parameters
          ----------
          u : ndarray
              Optional control vector. If non-zero, it is multiplied by `B`
              to create the control input into the system.