[Thrun] Let’s program this. I’m giving you a skeleton code. This is the same update function as before. Now I would like you to do the predict function, which takes our current estimate and its variance and the motion and its uncertainty and computes the new updated prediction: mean and variance. So for example, if our prior is 10 and 4, our motion is 12 and 4, I would like to get out to 22 and 8 according to the formulas I’ve just given you.