def predict(self, deltaPose):
        self.stateVector[0] += deltaPose.x
        self.stateVector[1] += deltaPose.y
        self.stateVector[2] += deltaPose.r

        self.jacobianA[0][2] = -deltaPose.y
        self.jacobianA[1][2] = deltaPose.x

        self.jacobianJXR[0][2] = -deltaPose.y
        self.jacobianJXR[1][2] = deltaPose.x

        self.jacobianJZ[0][0] = math.cos(self.stateVector[2])
        self.jacobianJZ[0][1] = -self.stateVector[1]
        self.jacobianJZ[1][0] = math.sin(self.stateVector[2])
        self.jacobianJZ[1][1] = self.stateVector[0]