Fixed KalmanFilter ports

EMADL2TORCS/src/main/dp/subcomponents/KalmanFilter.emadl

@@ -2,14 +2,14 @@ package dp.subcomponents;
 
 component KalmanFilter {
     ports 
-	in Q^{1, 2} X,
+	in Q^{2, 1} X,
 	in Q^{1, 1} Y,
 	in Q^{2, 2} stateTrans,  // state transition matrix
 	in Q^{1, 2} measM,  // C: measurement matrix
 	in Q^{2, 2} procNoiseCov,  // Q: covariance of process noise
 	in Q^{1, 1} measNoiseCov, // R: covariance of measurement noise
 	in Q^{2, 2} errCov,// P: estimate error covariance
-	out Q^{1, 2} correctedX,
+	out Q^{2, 1} correctedX,
 	out Q^{2, 2} correctedErrCov,
 	out Q predictedMeasurement;
 

EMADL2TORCS/src/main/dp/subcomponents/KalmanStatsBuffer.emadl

 package dp.subcomponents;
 
 component KalmanStatsBuffer(Q startValue) {
-    ports in Q^{1, 2} X,
+    ports in Q^{2, 1} X,
 	  in Q^{2, 2} errCov,
-          out Q^{1, 2} outX,
+          out Q^{2, 1} outX,
 	  out Q^{2, 2} outErrCov;
 
     implementation Math {
-            static Q^{1, 2} bufferedX = [startValue, 0];
+            static Q^{2, 1} bufferedX = [startValue; 0];
             static Q^{2, 2} bufferedErrCov = [1000, 0; 0, 1000];
 
 	    outX = bufferedX;