code: def test_misshapen():
      """Ensure we get a ValueError if the filter banks are not designed
      properly
      """
  
      ca = KalmanFilter(3, 1)
      cv = KalmanFilter(2, 1)
  
      trans = np.array([[0.97, 0.03], [0.03, 0.97]])
  
      try:
          IMMEstimator([ca, cv], (0.5, 0.5), trans)
          assert "IMM should raise ValueError on filter banks with filters of different sizes"
      except ValueError:
          pass
  
      try:
          IMMEstimator([], (0.5, 0.5), trans)
          assert "Should raise ValueError on empty bank"
      except ValueError:
          pass
  
imports: from __future__ import absolute_import, division, print_function, unicode_literals
  from math import sin, cos, radians
  import numpy.random
  import numpy
  from numpy import array
  from numpy.random import randn
  import matplotlib.pyplot
  from filterpy.kalman import IMMEstimator, KalmanFilter
  from filterpy.common import Q_discrete_white_noise, Saver
label_desc: Use image node_id 6 for calling a global function with example usage: test_misshapen() without return types