Code clean up

modules/CACC/kalmanfilter.py

@@ -30,15 +30,12 @@ class KalmanFilter(object):
         return None
 
     def predict(self):
-        #print(self.F)
         self.x = np.dot(self.F, self.x)
-        #print('--')
         self.P = np.add(np.dot(np.dot(self.F, self.P), self.F.T), self.Q)
         return None
     
     def update(self, mesVec):
         # Innovation
-        #print(mesVec)
         y = np.add(mesVec.T, - np.dot(self.H, self.x))
 
         # Residualkovarianz
@@ -47,10 +44,11 @@ class KalmanFilter(object):
         # Kalman - Gain
         K = np.dot(np.dot(self.P, self.H.T), np.linalg.pinv(S))
         
-        #print('K')
+        # Zweite Zeile 0.0 setzen, damit sie den alten Abstand nicht verändert!!!
+        # !!!
         K[1,0] = 0.0
-        #print(K)
-        #print('--')
+        # !!!
+
         self.x = np.add(self.x, np.dot(K, y))
         self.P = np.add(self.P, - np.dot(np.dot(K,S),K.T))
         return None