code: def likelihood(z, x, P, H, R):
      """
      Returns likelihood of the measurement z given the Gaussian
      posterior (x, P) using measurement function H and measurement
      covariance error R
      """
      return np.exp(log_likelihood(z, x, P, H, R))
  
imports: from __future__ import absolute_import, division, unicode_literals
  import math
  from math import cos, sin
  import random
  import warnings
  import numpy
  from numpy.linalg import inv
  import scipy.linalg
  import scipy.sparse
  import scipy.sparse.linalg
  from scipy.stats import norm, multivariate_normal
label_desc: Use image node_id 4 for calling a global function with example usage: likelihood(z, x, P, H, R) and returns: np