Improvements
Improvements

-> Fix polar conversion to use object state (x__) instead of measurement
(z)
-> Improve efficiency by pre-calucating P_h_transpose once

swirlingsand/self-driving-car-nanodegree-nd013,swirlingsand/self-driving-car-nanodegree-nd013,swirlingsand/self-driving-car-nanodegree-nd013,swirlingsand/self-driving-car-nanodegree-nd013,swirlingsand/self-driving-car-nanodegree-nd013,swirlingsand/self-driving-car-nanodegree-nd013,swirlingsand/self-driving-car-nanodegree-nd013