From 09548538ebbae416bb47465d31ef78b8d8c04457 Mon Sep 17 00:00:00 2001
From: Steven Lange <langestx@informatik.hu-berlin.de>
Date: Wed, 6 Dec 2017 22:36:55 +0100
Subject: [PATCH] Code clean up

---
 modules/CACC/.kalmanfilter.py.swp | Bin 12288 -> 12288 bytes
 modules/CACC/kalmanfilter.py      |  10 ++++------
 2 files changed, 4 insertions(+), 6 deletions(-)

diff --git a/modules/CACC/.kalmanfilter.py.swp b/modules/CACC/.kalmanfilter.py.swp
index 8c975bcc3f880ec00370de16665fd8fbb3d0897c..af88080ce0232adb046cd99d6a41b2aed11b01e6 100644
GIT binary patch
delta 349
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z3hng|c^DX`193AD*8y<?5PJi$2oMVc@po<phD|`c5r}63aU>820P$Zg28Q=Qd<%%r
z0P$%co(sfDK<o#^zCdgW#Nt5A48%-8%m~CUfwqHOa0iHwax!cdSKP}nd4Z<n<olZU
z>KPQEKv_XiQ4!AbjyBXWh*hvvFaUZDszL!(iLyded1_`!szOw1W=<+dp+a$LNmXi|
zjzUUeZf1!>ab~JQN@|`$VonK=bWAEPNz6-8$jeO5C{ZX&Ejqj;FC~?=s03*3W*%);
T#>pBwQzu{2QQ6F^`<V#<>U~c^

delta 312
zcmZojXh;xCG6?hZRj|-AU;qLE1_sj*ji{FgH;Vn@XLQ&sDDat|cO?e{!%<F%tixnM
zh4%VSJPZt{fOsnqX9ICK5C;LV2@uNzF$WM|<Yr*F0K{8>I3I}ffH(|@#ekR>h<|c1
zFgyX`OF+CAi2H#!1c)7g*dB=0ftVABzXEOk0>qzz_%;v&U9wqRaWBW@b(-9h-)i1d
zQ-A{Hf}+g45)E}-U3E<cG(m68$v3s+xu7b%)ipQ!YqK))K=`?-#bK$*lRb47a3h&9
Y`M!>xAjlY~SaE7jnx5NccHN&$02p9LGXMYp

diff --git a/modules/CACC/kalmanfilter.py b/modules/CACC/kalmanfilter.py
index 7d9fbadf..0c8de984 100644
--- a/modules/CACC/kalmanfilter.py
+++ b/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
-- 
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