code: def innovation_test_data(self):
      initial_state = gs.array([0.5, 1.0, 2.0])
  
      angle = initial_state[0]
      rotation = gs.array(
          [
              [gs.cos(angle), -gs.sin(angle)],
              [gs.sin(angle), gs.cos(angle)],
          ]
      )
      expected = gs.matvec(
          gs.transpose(rotation), gs.array([-0.3, 0.1])
      )
  
      data = [
          dict(
              state=initial_state,
              observation=gs.array([0.7, 2.1]),
              expected=expected,
          )
      ]
      return self.generate_tests(data)
  
imports: import geomstats.backend
  from geomstats.algebra_utils import from_vector_to_diagonal_matrix
  from geomstats.test.data import TestData
label_desc: Use image node_id 5 for calling the LocalizationTestData obj's underlying member method code with example usage: obj.innovation_test_data() and returns: self