More cleanups

- Removed unnecessary debugs
- Removed unnecessary TODO's

src/main.cpp

@@ -45,7 +45,6 @@ int main()
 
   h.onMessage([&ukf,&tools,&estimations,&ground_truth]
               (uWS::WebSocket<uWS::SERVER> ws, char *data, size_t length, uWS::OpCode opCode) {
-	std::cout << "\n";
     // "42" at the start of the message means there's a websocket message event.
     // The 4 signifies a websocket message
     // The 2 signifies a websocket event
@@ -55,8 +54,6 @@ int main()
 
       auto s = hasData(std::string(data));
       if (s != "") {
-        std::cout << "data: '" << s << "'\n";
-
         auto j = json::parse(s);
 
         std::string event = j[0].get<std::string>();
@@ -145,31 +142,16 @@ int main()
           msgJson["rmse_vx"] = RMSE(2);
           msgJson["rmse_vy"] = RMSE(3);
           auto msg = "42[\"estimate_marker\"," + msgJson.dump() + "]";
-		  std::cout << "Estimated state: "
-		            << p_x << " "
-                    << p_y << " "
-                    << v << " "
-                    << yaw << " "
-                    << v1 << " "
-                    << v2 << " "
-                    << RMSE(0) << " "
-                    << RMSE(1) << " "
-                    << RMSE(2) << " "
-                    << RMSE(3) << "\n";
-          std::cout << "telemetry: '" << msg << "'\n";
           ws.send(msg.data(), msg.length(), uWS::OpCode::TEXT);
 
         }
       } else {
 
         std::string msg = "42[\"manual\",{}]";
-	    std::cout << "NOTELEM: '" << msg << "'\n";
         ws.send(msg.data(), msg.length(), uWS::OpCode::TEXT);
       }
     }
 
-	std::cout << std::endl;
-
   });
 
   // We don't need this since we're not using HTTP but if it's removed the program

src/ukf.cpp

@@ -70,14 +70,6 @@ UKF::UKF() :
 	std_radphi_(0.03),
 	// Radar measurement noise standard deviation radius change in m/s
 	std_radrd_(0.3)
-
-	/**
-	TODO:
-
-	Complete the initialization. See ukf.h for other member properties.
-
-	Hint: one or more values initialized above might be wildly off...
-	*/
 {
 	weights_(0) = lambda_ / (lambda_ + n_aug_);
 	for (unsigned i = 1; i < weights_.rows (); ++i)
@@ -94,13 +86,6 @@ UKF::~UKF()
  */
 void UKF::ProcessMeasurement(MeasurementPackage const &meas_package)
 {
-	/**
-	TODO:
-
-	Complete this function! Make sure you switch between lidar and radar
-	measurements.
-	*/
-
 	if (! is_initialized_)
 	{
 		Initialize (meas_package);
@@ -252,7 +237,7 @@ void UKF::Prediction(double delta_t)
 		noise << 0.5f * delta_t * delta_t * cos (phi) * va,
 				 0.5f * delta_t * delta_t * sin (phi) * va,
 				 delta_t * va,
-				 0.5f * delta_t * delta_t * vphidd, ///< \todo not sure if I should wrap
+				 0.5f * delta_t * delta_t * vphidd,
 				 delta_t * vphidd;
 
 		// if phi dot is not zero
@@ -306,15 +291,6 @@ void UKF::Prediction(double delta_t)
  */
 void UKF::UpdateLidar(MeasurementPackage const &meas_package)
 {
-	/**
-	TODO:
-
-	Complete this function! Use lidar data to update the belief about the object's
-	position. Modify the state vector, x_, and covariance, P_.
-
-	You'll also need to calculate the lidar NIS.
-	*/
-
 	int constexpr n_z = 2;
 
 	VectorXd z = VectorXd (n_z);
@@ -393,15 +369,6 @@ void UKF::UpdateLidar(MeasurementPackage const &meas_package)
  */
 void UKF::UpdateRadar(MeasurementPackage const &meas_package)
 {
-	/**
-	TODO:
-
-	Complete this function! Use radar data to update the belief about the object's
-	position. Modify the state vector, x_, and covariance, P_.
-
-	You'll also need to calculate the radar NIS.
-	*/
-
 	int constexpr n_z = 3;
 
 	MatrixXd Zsig = MatrixXd(n_z, 2 * n_aug_ + 1);