Merge pull request #225 from frolswe/patch-1

residual_of() does not reshahape z

Author: rlabbe

filterpy/kalman/kalman_filter.py

@@ -1105,6 +1105,7 @@ def residual_of(self, z):
         Returns the residual for the given measurement (z). Does not alter
         the state of the filter.
         """
+        z = reshape_z(z, self.dim_z, self.x.ndim)
         return z - dot(self.H, self.x_prior)
 
     def measurement_of_state(self, x):