Minor modifications in the inputs of the function.

src/gaussian_densities.m

@@ -43,9 +43,6 @@ prior = probability2(st_t_1,sqr_Pss_t_t_1,particles) ;
 % likelihood 
 yt_t_1_i = measurement_equations(particles,ReducedForm,ThreadsOptions) ;
 eta_t_i = bsxfun(@minus,obs,yt_t_1_i)' ;
-%yt_t_1 = sum(yt_t_1_i*weigths1,2) ;
-%tmp = bsxfun(@minus,yt_t_1_i,yt_t_1) ;
-%Pyy = bsxfun(@times,weigths2',tmp)*tmp' + H ;
 Pyy = H ;
 sqr_det = sqrt(det(Pyy)) ;
 foo = (eta_t_i/Pyy).*eta_t_i ;

src/probability2.m

@@ -34,5 +34,4 @@ function [density] = probability2(mu,S,X)
 dim = size(X,1) ;              
 normfact = bsxfun(@power,(2*pi),(dim/2)) ;  
 foo = S\(bsxfun(@minus,X,mu)) ;
-density = exp(-0.5*sum(foo.*foo)')./abs((normfact*prod(diag(S)))) + 1e-99 ;
-
+density = exp(-0.5*sum(foo.*foo)')./abs((normfact*prod(diag(S)))) + 1e-99 ;
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