effect is independent at different times and it also assumes if you are if you're going to say whatever I get out of these calculations is the correct distribution that's only true if these assumptions are correct if you make any approximations in your dynamics model in your sensory model well those approximations will result in miss estimates that you end up with but it's the best you can do but keep that in mind it's there's a lot of assumptions made here and so you only get the result relative to the quality of the