diff --git a/src/algorithms/kalmanFilter.cpp b/src/algorithms/kalmanFilter.cpp
index 8b3821b..705e5a0 100644
--- a/src/algorithms/kalmanFilter.cpp
+++ b/src/algorithms/kalmanFilter.cpp
@@ -41,18 +41,6 @@ KalmanState KalmanFilter::predict(KalmanState state)
 {
 	state.x = F_ * state.x;
 
-	/*
-	state.x.set(0, 0, state.x[0] + F_.get_idx(0, 3) * state.x[3] + F_.get_idx(0, 6) * state.x[6]);
-	state.x.set(1, 0, state.x[1] + F_.get_idx(1, 4) * state.x[4] + F_.get_idx(1, 7) * state.x[7]);
-	state.x.set(2, 0, state.x[2] + F_.get_idx(2, 5) * state.x[5] + F_.get_idx(2, 8) * state.x[6]);
-	state.x.set(3, 0, state.x[3] + F_.get_idx(3, 6) * state.x[6]);
-	state.x.set(4, 0, state.x[4] + F_.get_idx(4, 7) * state.x[7]);
-	state.x.set(5, 0, state.x[5] + F_.get_idx(5, 8) * state.x[8]);
-	state.x.set(6, 0, state.x[6]);
-	state.x.set(7, 0, state.x[7]);
-	state.x.set(8, 0, state.x[8]);
-	*/
-
 	state.error = F_ * (state.error * F_.T()) + Q_;
 
 	return state;