Predicts the next state of the filter and returns it. Does not
        alter the state of the filter.

        Parameters
        ----------
        u : ndarray
            optional control input

        Returns
        -------
        x : ndarray
            State vector of the prediction.

def get_prediction(self, u=0):
        """ Predicts the next state of the filter and returns it. Does not
        alter the state of the filter.

        Parameters
        ----------
        u : ndarray
            optional control input

        Returns
        -------
        x : ndarray
            State vector of the prediction.
        """
        return dot(self.F, self.x) + dot(self.B, u)