code: def update(self, v):
          
          self.t += 1
          g = self.gamma()
          self.mu = (1. - g) * self.mu + g * v
          mv = v - self.mu
          self.Sigma = ((1. - g) * self.Sigma
                        + g * np.dot(mv[:, np.newaxis], mv[np.newaxis, :]))
          try:
              self.L = cholesky(self.Sigma, lower=True)
          except LinAlgError:
              self.L = self.L0
docs: Adds point v