code: def test_Hinfinity():
      dt = 0.1
      f = HInfinityFilter(2, 1, 0, gamma=0.4)
  
      f.F = array([[1.0, dt], [0.0, 1.0]])
  
      f.H = array([[0.0, 1.0]])
      f.x = array([[0.0, 0.0]]).T
      # f.G = array([[dt**2 / 2, dt]]).T
  
      f.P = 0.01
      f.W = array([[0.0003, 0.005], [0.0050, 0.100]]) / 1000
  
      f.V = 0.01
      f.Q = 0.01
  
      xs = []
      vs = []
  
      for i in range(1, 40):
          f.update(5)
          print(f.x.T)
          xs.append(f.x[0, 0])
          vs.append(f.x[1, 0])
          f.predict()
  
      plt.subplot(211)
      plt.plot(xs)
      plt.subplot(212)
      plt.plot(vs)
  
imports: from __future__ import absolute_import, division, print_function, unicode_literals
  from numpy import array
  import matplotlib.pyplot
  from filterpy.hinfinity import HInfinityFilter
label_desc: Use image node_id 1 for calling a global function with example usage: test_Hinfinity() without return types