#NEWLINE# def predict( self , u = None ) : #NEWLINE# #INDENT# b = self . b #NEWLINE# if ( u == None ) : #NEWLINE# #INDENT# u = np . zeros ( ( b , ) ) #NEWLINE# #UNINDENT# u = np . array ( u , dtype = np . float64 ) . reshape ( b , 1 ) #NEWLINE# x_k = ( np . dot ( self . F , self . x_k ) + np . dot ( self . B , u ) ) #NEWLINE# return x_k