code: def get_prediction(self, u=0):
          
          return dot(self.F, self.x) + dot(self.B, u)
docs: Predicts the next state of the filter and returns it. Does not
          alter the state of the filter.
  
          Parameters
          ----------
          u : ndarray
              optional control input
  
          Returns
          -------
          x : ndarray
              State vector of the prediction.