Predictors' Errors: Kalman_basis.py and bicycle_prediction.py are not working.

[djamelbenr]

Hi, I would like to bring to your attention two errors that have been encountered while working on the code.

Firstly, upon executing the Kalman Filter on both Argo and NGSIM datasets, I encountered the following error message: "ValueError: operands could not be broadcast together with shapes (128,2,1) (2,128,1)". I suspect that this error is related to the "update" function in kalman_basis.py.

Secondly, I also encountered an error while running with bicycle_prediction.py: "AttributeError: 'Bicycle_model' object has no attribute '_coef_G'".

Could you please look into these issues and provide any necessary assistance or guidance on how to resolve them?

Thank you for your time and attention!