Should be well prepared for tracking now

track_audio.m

@@ -96,10 +96,10 @@ posteriorCovariance = zeros(size(A, 1), size(A, 1), N);
 % =======================================================
 for l = 1:N
     audio = get_audio();
-    % TODO: Put the audio in the data object!
+    
     % Request processing
-    mObj.processSignal();
-    azimEst = dObj_sub.localization{1}.Data(end);
+    mObj.processSignal(audio);
+    azimEst = dObj.localization{1}.Data(end,1); % There might be an issue with several sources here!
     % Perform Kalman filter prediction and update
     [x, P] = kf_predict(x, P, A, Q);
     [x, P] = kf_update(x, P, azimEst, c', R);