def Filter(self,origin):
		modelNoise = 0.0
		observeNoise = 0.0
		
		# Get model and observe Noise 
		modelNoise = self.Gaussian_Noise_Cov()
		observeNoise = self.Gaussian_Noise_Cov()
		
		# Algorithm 
		self.X_pre = self.X_post
		self.P_pre = self.P_post + modelNoise;
		self.K_cur = self.P_pre/(self.P_pre + observeNoise);
		self.P_post = (1 - self.K_cur)*self.P_pre;
		self.X_post = self.X_pre + self.K_cur*(self.X_pre - origin);
		
		return self.X_post
dataset/ETHPy150Open DexterInd/GrovePi/Software/Python/grove_barometer_sensors/high_accuracy_hp206c_barometer/KalmanFilter.py/KalmanFilter.Filter/swapped operands of `-`