code: def linear_ode_discretation(F, L=None, Q=None, dt=1.0):
      """
      Not sure what this does, probably should be removed
      """
  
      n = F.shape[0]
  
      if L is None:
          L = eye(n)
  
      if Q is None:
          Q = zeros((n, n))
  
      A = expm(F * dt)
  
      phi = zeros((2 * n, 2 * n))
  
      phi[0:n, 0:n] = F
      phi[0:n, n : 2 * n] = L.dot(Q).dot(L.T)
      phi[n : 2 * n, n : 2 * n] = -F.T
  
      zo = vstack((zeros((n, n)), eye(n)))
  
      CD = expm(phi * dt).dot(zo)
  
      C = CD[0:n, :]
      D = CD[n : 2 * n, :]
      q = C.dot(inv(D))
  
      return (A, q)
  
file_path: filterpy/filterpy/common/discretization.py
imports: from __future__ import absolute_import, division, print_function, unicode_literals
  from numpy import zeros, vstack, eye, array
  from numpy.linalg import inv
  from scipy.linalg import expm, block_diag
label_desc: Use image node_id 5 for calling a global function with example usage: linear_ode_discretation(F, L, Q, dt) and returns: A,  q