def METHOD_NAME(x, u):
    F = np.array([[1.0, 0, 0, 0],
                  [0, 1.0, 0, 0],
                  [0, 0, 1.0, 0],
                  [0, 0, 0, 0]])
    B = np.array([[DT * math.cos(x[2, 0]), 0],
                  [DT * math.sin(x[2, 0]), 0],
                  [0.0, DT],
                  [1.0, 0.0]])
    x = F @ x + B @ u
    return x