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I did look at your code but couldn't figure anything to cause a small discrepancy. One thing to consider is a rounding error from the "1.0 - x" or the "x * 0.5", but that would be a much, much smaller error than .002.

You should be able to deduce whether it's the angle or the distance that's off. Like if it's 0.002 off along the same heading, it's the distance, while if the new and predicted points are the same distance from the previous point, it's the heading. Right?