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Solve the following problem using Python, implementing the functions described below, one line at a time
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Description:
 def _compute_state_estimate(self):
 """ Computes the IMM's mixed state estimate from each filter using the the mode probability self.mu to weight the estimates. """

        self.x.fill(0)
        for f, mu in zip(self.filters, self.mu):
            self.x += f.x * mu

        self.P.fill(0)
        for f, mu in zip(self.filters, self.mu):
            y = f.x - self.x
            self.P += mu * (outer(y, y) + f.P)