Fixing some matrix dimension tests

src/kalman_cpp.cpp

@@ -81,7 +81,7 @@ void CKalman_Cpp::set_control_input_matrix(const Eigen::MatrixXd &B)
 
 void CKalman_Cpp::set_measurement_matrix(const Eigen::MatrixXd &H)
 {
-    if(H.cols() == this->dimension && H.rows() == this->dimension)
+    if(H.cols() == this->dimension && H.rows() == this->observation_dimension)
     {
         this->H = H;
     }
@@ -105,7 +105,7 @@ void CKalman_Cpp::set_process_noise_matrix(const Eigen::MatrixXd &Q)
 
 void CKalman_Cpp::set_measurement_noise_matrix(const Eigen::MatrixXd &R)
 {
-    if(R.cols() == this->dimension &&R.rows() == this->dimension)
+    if(R.cols() == this->observation_dimension &&R.rows() == this->observation_dimension)
     {
         this-> R = R;
     }