function [ xnew ] = pf_prediction( x, u, R, motion)
%PF_PREDICTION Particle Filter prediction step

% Number of particles:
m = size(x, 3);

% YOUR CODE STARTS HERE:


% Pay attention to the representation of particles in pf_x: 
% A trajectory is stored as a 2D matrix [x_0, x_1, x_2, x_3]
% Columns: different time steps
% Trajectories of all particles are concatenated along a third dimension,
% the result is a 3D tensor.
% The pose (3x1 vector) of particle m at timestep i can be accessed using:
%    pf_x(:,i,m);

xnew = x+motion(x,u)+;

% YOUR CODE ENDS HERE:
    
end

