You are an expert in writing code in many different languages. Your goal is to perform code completion for the following code, keeping in mind the rest of the code and the file meta data.
    Metadata details:
    filename: BinghamFilter.m
    path of file: ./repos/libDirectional/lib/filters
    
    the code of the file until where you have to start completion: classdef BinghamFilter < AbstractAxialFilter
    % Implements a recursive filter based on the Bingham distribution.
    %
    % For antipodally symmetric complex numbers (2D) and quaternions (4D)
    % only.
    %
    % Gerhard Kurz, Igor Gilitschenski, Simon Julier, Uwe D. Hanebeck,
    % Recursive Bingham Filter for Directional Estimation Involving 180 Degree Symmetry
    % Journal of Advances in Information Fusion, 9(2):90 - 105, December 2014.
    %
    % Igor Gilitschenski, Gerhard Kurz, Simon J. Julier, Uwe D. Hanebeck,
    % Unscented Orientation Estimation Based on the Bingham Distribution (accepted)
    % IEEE Transactions on Automatic Control, January 2016.
    
    properties
        B BinghamD
    
function setState(this, B_)
            % Sets the current system state
            %
            % Parameters:
            %   B_ (BinghamDistribution)
            %       new state
            assert(isa(B_, 'BinghamDistribution'));
            assert (B_.dim==2 || B_.dim==4, 'Only 2D and 4D distributions are supported.')
            this.B = B_;
            this.setCompositionOperator();
        end
        
        function predictIdentity(this, Bw)
            % Predicts assuming identity system model, i.e.,
            % x(k+1) = x(k) (+) w(k)    
            % where w(k) is noise given by Bw.
            % The composition operator (+) refers to a complex or quaternion
            % multiplication.
            %
            % Parameters:
            %   Bw (BinghamDistribution)
            %       distribution of noise
            assert(isa(Bw, 'BinghamDistribution'));
            this.B = this.B.compose(Bw);
        end