UT was removed from that that's all that happened and so this is the final result we have we can put this in an algorithm and this the algorithm that will be running and this is the version for discrete States of course where we can just track the Blee compute this was actually very simple you start out with some distribution prior over X your distribution over X then when you get an observation you're multiplying the likelihood of the observation given X of course if you do that for all possible values of X you sum that together