code: def test_z_checks():
      kf = KalmanFilter(dim_x=3, dim_z=1)
      kf.update(3.0)
      kf.update([3])
      kf.update((3))
      kf.update([[3]])
      kf.update(np.array([[3]]))
  
      try:
          kf.update([[3, 3]])
          assert False, "accepted bad z shape"
      except ValueError:
          pass
  
      kf = KalmanFilter(dim_x=3, dim_z=2)
      kf.update([3, 4])
      kf.update([[3, 4]])
  
      kf.update(np.array([[3, 4]]))
      kf.update(np.array([[3, 4]]).T)
  
imports: from __future__ import absolute_import, division, print_function
  import numpy.random
  from numpy.random import randn
  import numpy
  import matplotlib.pyplot
  from pytest import approx
  from filterpy.kalman import KalmanFilter, update, predict, batch_filter
  from filterpy.common import Q_discrete_white_noise, kinematic_kf, Saver
  from filterpy.stats import mahalanobis
  from scipy.linalg import block_diag, norm
label_desc: Use image node_id 17 for calling a global function with example usage: test_z_checks() without return types