def init_state(self, state, covs_diag=None, covs=None, filter_time=None):
    if (covs_diag is not None):
        P = np.diag(covs_diag)
    elif (covs is not None):
        P = covs
    else:
        P = self.filter.covs()
    self.filter.init_state(state, P, filter_time)
def init_state(self, state, covs_diag=None, covs=None, filter_time=None):
    if (covs_diag is not None):
        P = np.diag(covs_diag)
    elif (covs is not None):
        P = covs
    else:
        P = self.filter.covs()
    self.filter.init_state(state, P, filter_time)