diff --git a/demo/src/main.js b/demo/src/main.js
index 229ce8b..79964f8 100644
--- a/demo/src/main.js
+++ b/demo/src/main.js
@@ -16,7 +16,9 @@ const delay = 200;
 let promise = Promise.resolve();
 let previousCorrected = null;
 
-const delayPromise = delay => new Promise(resolve => setTimeout(resolve, delay));
+const delayPromise = delay => new Promise(resolve => {
+	setTimeout(resolve, delay);
+});
 
 module.exports = {
 	run() {
diff --git a/lib/setup/set-dimensions.js b/lib/setup/set-dimensions.js
index 62fef8e..543967c 100644
--- a/lib/setup/set-dimensions.js
+++ b/lib/setup/set-dimensions.js
@@ -12,16 +12,12 @@ module.exports = function ({observation, dynamic}) {
 	const dynamicDimension = dynamic.dimension;
 	const observationDimension = observation.dimension;
 
-	if (dynamicDimension && observationDimension && Array.isArray(stateProjection)) {
-		if (dynamicDimension !== stateProjection[0].length || observationDimension !== stateProjection.length) {
-			throw (new TypeError('stateProjection dimensions not matching with observation and dynamic dimensions'));
-		}
+	if (dynamicDimension && observationDimension && Array.isArray(stateProjection) && (dynamicDimension !== stateProjection[0].length || observationDimension !== stateProjection.length)) {
+		throw (new TypeError('stateProjection dimensions not matching with observation and dynamic dimensions'));
 	}
 
-	if (dynamicDimension && Array.isArray(transition)) {
-		if (dynamicDimension !== transition.length) {
-			throw (new TypeError('transition dimension not matching with dynamic dimension'));
-		}
+	if (dynamicDimension && Array.isArray(transition) && dynamicDimension !== transition.length) {
+		throw (new TypeError('transition dimension not matching with dynamic dimension'));
 	}
 
 	if (Array.isArray(stateProjection)) {
diff --git a/package-lock.json b/package-lock.json
index 6f5bd7b..6f43d81 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -13,6 +13,54 @@
         "@babel/highlight": "^7.10.1"
       }
     },
+    "@babel/generator": {
+      "version": "7.12.15",
+      "resolved": "https://registry.npmjs.org/@babel/generator/-/generator-7.12.15.tgz",
+      "integrity": "sha512-6F2xHxBiFXWNSGb7vyCUTBF8RCLY66rS0zEPcP8t/nQyXjha5EuK4z7H5o7fWG8B4M7y6mqVWq1J+1PuwRhecQ==",
+      "dev": true,
+      "requires": {
+        "@babel/types": "^7.12.13",
+        "jsesc": "^2.5.1",
+        "source-map": "^0.5.0"
+      },
+      "dependencies": {
+        "source-map": {
+          "version": "0.5.7",
+          "resolved": "https://registry.npmjs.org/source-map/-/source-map-0.5.7.tgz",
+          "integrity": "sha1-igOdLRAh0i0eoUyA2OpGi6LvP8w=",
+          "dev": true
+        }
+      }
+    },
+    "@babel/helper-function-name": {
+      "version": "7.12.13",
+      "resolved": "https://registry.npmjs.org/@babel/helper-function-name/-/helper-function-name-7.12.13.tgz",
+      "integrity": "sha512-TZvmPn0UOqmvi5G4vvw0qZTpVptGkB1GL61R6lKvrSdIxGm5Pky7Q3fpKiIkQCAtRCBUwB0PaThlx9vebCDSwA==",
+      "dev": true,
+      "requires": {
+        "@babel/helper-get-function-arity": "^7.12.13",
+        "@babel/template": "^7.12.13",
+        "@babel/types": "^7.12.13"
+      }
+    },
+    "@babel/helper-get-function-arity": {
+      "version": "7.12.13",
+      "resolved": "https://registry.npmjs.org/@babel/helper-get-function-arity/-/helper-get-function-arity-7.12.13.tgz",
+      "integrity": "sha512-DjEVzQNz5LICkzN0REdpD5prGoidvbdYk1BVgRUOINaWJP2t6avB27X1guXK1kXNrX0WMfsrm1A/ZBthYuIMQg==",
+      "dev": true,
+      "requires": {
+        "@babel/types": "^7.12.13"
+      }
+    },
+    "@babel/helper-split-export-declaration": {
+      "version": "7.12.13",
+      "resolved": "https://registry.npmjs.org/@babel/helper-split-export-declaration/-/helper-split-export-declaration-7.12.13.tgz",
+      "integrity": "sha512-tCJDltF83htUtXx5NLcaDqRmknv652ZWCHyoTETf1CXYJdPC7nohZohjUgieXhv0hTJdRf2FjDueFehdNucpzg==",
+      "dev": true,
+      "requires": {
+        "@babel/types": "^7.12.13"
+      }
+    },
     "@babel/helper-validator-identifier": {
       "version": "7.10.1",
       "resolved": "https://registry.npmjs.org/@babel/helper-validator-identifier/-/helper-validator-identifier-7.10.1.tgz",
@@ -82,6 +130,221 @@
         }
       }
     },
+    "@babel/parser": {
+      "version": "7.12.15",
+      "resolved": "https://registry.npmjs.org/@babel/parser/-/parser-7.12.15.tgz",
+      "integrity": "sha512-AQBOU2Z9kWwSZMd6lNjCX0GUgFonL1wAM1db8L8PMk9UDaGsRCArBkU4Sc+UCM3AE4hjbXx+h58Lb3QT4oRmrA==",
+      "dev": true
+    },
+    "@babel/template": {
+      "version": "7.12.13",
+      "resolved": "https://registry.npmjs.org/@babel/template/-/template-7.12.13.tgz",
+      "integrity": "sha512-/7xxiGA57xMo/P2GVvdEumr8ONhFOhfgq2ihK3h1e6THqzTAkHbkXgB0xI9yeTfIUoH3+oAeHhqm/I43OTbbjA==",
+      "dev": true,
+      "requires": {
+        "@babel/code-frame": "^7.12.13",
+        "@babel/parser": "^7.12.13",
+        "@babel/types": "^7.12.13"
+      },
+      "dependencies": {
+        "@babel/code-frame": {
+          "version": "7.12.13",
+          "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.12.13.tgz",
+          "integrity": "sha512-HV1Cm0Q3ZrpCR93tkWOYiuYIgLxZXZFVG2VgK+MBWjUqZTundupbfx2aXarXuw5Ko5aMcjtJgbSs4vUGBS5v6g==",
+          "dev": true,
+          "requires": {
+            "@babel/highlight": "^7.12.13"
+          }
+        },
+        "@babel/helper-validator-identifier": {
+          "version": "7.12.11",
+          "resolved": "https://registry.npmjs.org/@babel/helper-validator-identifier/-/helper-validator-identifier-7.12.11.tgz",
+          "integrity": "sha512-np/lG3uARFybkoHokJUmf1QfEvRVCPbmQeUQpKow5cQ3xWrV9i3rUHodKDJPQfTVX61qKi+UdYk8kik84n7XOw==",
+          "dev": true
+        },
+        "@babel/highlight": {
+          "version": "7.12.13",
+          "resolved": "https://registry.npmjs.org/@babel/highlight/-/highlight-7.12.13.tgz",
+          "integrity": "sha512-kocDQvIbgMKlWxXe9fof3TQ+gkIPOUSEYhJjqUjvKMez3krV7vbzYCDq39Oj11UAVK7JqPVGQPlgE85dPNlQww==",
+          "dev": true,
+          "requires": {
+            "@babel/helper-validator-identifier": "^7.12.11",
+            "chalk": "^2.0.0",
+            "js-tokens": "^4.0.0"
+          }
+        },
+        "ansi-styles": {
+          "version": "3.2.1",
+          "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-3.2.1.tgz",
+          "integrity": "sha512-VT0ZI6kZRdTh8YyJw3SMbYm/u+NqfsAxEpWO0Pf9sq8/e94WxxOpPKx9FR1FlyCtOVDNOQ+8ntlqFxiRc+r5qA==",
+          "dev": true,
+          "requires": {
+            "color-convert": "^1.9.0"
+          }
+        },
+        "chalk": {
+          "version": "2.4.2",
+          "resolved": "https://registry.npmjs.org/chalk/-/chalk-2.4.2.tgz",
+          "integrity": "sha512-Mti+f9lpJNcwF4tWV8/OrTTtF1gZi+f8FqlyAdouralcFWFQWF2+NgCHShjkCb+IFBLq9buZwE1xckQU4peSuQ==",
+          "dev": true,
+          "requires": {
+            "ansi-styles": "^3.2.1",
+            "escape-string-regexp": "^1.0.5",
+            "supports-color": "^5.3.0"
+          }
+        },
+        "color-convert": {
+          "version": "1.9.3",
+          "resolved": "https://registry.npmjs.org/color-convert/-/color-convert-1.9.3.tgz",
+          "integrity": "sha512-QfAUtd+vFdAtFQcC8CCyYt1fYWxSqAiK2cSD6zDB8N3cpsEBAvRxp9zOGg6G/SHHJYAT88/az/IuDGALsNVbGg==",
+          "dev": true,
+          "requires": {
+            "color-name": "1.1.3"
+          }
+        },
+        "color-name": {
+          "version": "1.1.3",
+          "resolved": "https://registry.npmjs.org/color-name/-/color-name-1.1.3.tgz",
+          "integrity": "sha1-p9BVi9icQveV3UIyj3QIMcpTvCU=",
+          "dev": true
+        },
+        "has-flag": {
+          "version": "3.0.0",
+          "resolved": "https://registry.npmjs.org/has-flag/-/has-flag-3.0.0.tgz",
+          "integrity": "sha1-tdRU3CGZriJWmfNGfloH87lVuv0=",
+          "dev": true
+        },
+        "supports-color": {
+          "version": "5.5.0",
+          "resolved": "https://registry.npmjs.org/supports-color/-/supports-color-5.5.0.tgz",
+          "integrity": "sha512-QjVjwdXIt408MIiAqCX4oUKsgU2EqAGzs2Ppkm4aQYbjm+ZEWEcW4SfFNTr4uMNZma0ey4f5lgLrkB0aX0QMow==",
+          "dev": true,
+          "requires": {
+            "has-flag": "^3.0.0"
+          }
+        }
+      }
+    },
+    "@babel/traverse": {
+      "version": "7.12.13",
+      "resolved": "https://registry.npmjs.org/@babel/traverse/-/traverse-7.12.13.tgz",
+      "integrity": "sha512-3Zb4w7eE/OslI0fTp8c7b286/cQps3+vdLW3UcwC8VSJC6GbKn55aeVVu2QJNuCDoeKyptLOFrPq8WqZZBodyA==",
+      "dev": true,
+      "requires": {
+        "@babel/code-frame": "^7.12.13",
+        "@babel/generator": "^7.12.13",
+        "@babel/helper-function-name": "^7.12.13",
+        "@babel/helper-split-export-declaration": "^7.12.13",
+        "@babel/parser": "^7.12.13",
+        "@babel/types": "^7.12.13",
+        "debug": "^4.1.0",
+        "globals": "^11.1.0",
+        "lodash": "^4.17.19"
+      },
+      "dependencies": {
+        "@babel/code-frame": {
+          "version": "7.12.13",
+          "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.12.13.tgz",
+          "integrity": "sha512-HV1Cm0Q3ZrpCR93tkWOYiuYIgLxZXZFVG2VgK+MBWjUqZTundupbfx2aXarXuw5Ko5aMcjtJgbSs4vUGBS5v6g==",
+          "dev": true,
+          "requires": {
+            "@babel/highlight": "^7.12.13"
+          }
+        },
+        "@babel/helper-validator-identifier": {
+          "version": "7.12.11",
+          "resolved": "https://registry.npmjs.org/@babel/helper-validator-identifier/-/helper-validator-identifier-7.12.11.tgz",
+          "integrity": "sha512-np/lG3uARFybkoHokJUmf1QfEvRVCPbmQeUQpKow5cQ3xWrV9i3rUHodKDJPQfTVX61qKi+UdYk8kik84n7XOw==",
+          "dev": true
+        },
+        "@babel/highlight": {
+          "version": "7.12.13",
+          "resolved": "https://registry.npmjs.org/@babel/highlight/-/highlight-7.12.13.tgz",
+          "integrity": "sha512-kocDQvIbgMKlWxXe9fof3TQ+gkIPOUSEYhJjqUjvKMez3krV7vbzYCDq39Oj11UAVK7JqPVGQPlgE85dPNlQww==",
+          "dev": true,
+          "requires": {
+            "@babel/helper-validator-identifier": "^7.12.11",
+            "chalk": "^2.0.0",
+            "js-tokens": "^4.0.0"
+          }
+        },
+        "ansi-styles": {
+          "version": "3.2.1",
+          "resolved": "https://registry.npmjs.org/ansi-styles/-/ansi-styles-3.2.1.tgz",
+          "integrity": "sha512-VT0ZI6kZRdTh8YyJw3SMbYm/u+NqfsAxEpWO0Pf9sq8/e94WxxOpPKx9FR1FlyCtOVDNOQ+8ntlqFxiRc+r5qA==",
+          "dev": true,
+          "requires": {
+            "color-convert": "^1.9.0"
+          }
+        },
+        "chalk": {
+          "version": "2.4.2",
+          "resolved": "https://registry.npmjs.org/chalk/-/chalk-2.4.2.tgz",
+          "integrity": "sha512-Mti+f9lpJNcwF4tWV8/OrTTtF1gZi+f8FqlyAdouralcFWFQWF2+NgCHShjkCb+IFBLq9buZwE1xckQU4peSuQ==",
+          "dev": true,
+          "requires": {
+            "ansi-styles": "^3.2.1",
+            "escape-string-regexp": "^1.0.5",
+            "supports-color": "^5.3.0"
+          }
+        },
+        "color-convert": {
+          "version": "1.9.3",
+          "resolved": "https://registry.npmjs.org/color-convert/-/color-convert-1.9.3.tgz",
+          "integrity": "sha512-QfAUtd+vFdAtFQcC8CCyYt1fYWxSqAiK2cSD6zDB8N3cpsEBAvRxp9zOGg6G/SHHJYAT88/az/IuDGALsNVbGg==",
+          "dev": true,
+          "requires": {
+            "color-name": "1.1.3"
+          }
+        },
+        "color-name": {
+          "version": "1.1.3",
+          "resolved": "https://registry.npmjs.org/color-name/-/color-name-1.1.3.tgz",
+          "integrity": "sha1-p9BVi9icQveV3UIyj3QIMcpTvCU=",
+          "dev": true
+        },
+        "globals": {
+          "version": "11.12.0",
+          "resolved": "https://registry.npmjs.org/globals/-/globals-11.12.0.tgz",
+          "integrity": "sha512-WOBp/EEGUiIsJSp7wcv/y6MO+lV9UoncWqxuFfm8eBwzWNgyfBd6Gz+IeKQ9jCmyhoH99g15M3T+QaVHFjizVA==",
+          "dev": true
+        },
+        "has-flag": {
+          "version": "3.0.0",
+          "resolved": "https://registry.npmjs.org/has-flag/-/has-flag-3.0.0.tgz",
+          "integrity": "sha1-tdRU3CGZriJWmfNGfloH87lVuv0=",
+          "dev": true
+        },
+        "supports-color": {
+          "version": "5.5.0",
+          "resolved": "https://registry.npmjs.org/supports-color/-/supports-color-5.5.0.tgz",
+          "integrity": "sha512-QjVjwdXIt408MIiAqCX4oUKsgU2EqAGzs2Ppkm4aQYbjm+ZEWEcW4SfFNTr4uMNZma0ey4f5lgLrkB0aX0QMow==",
+          "dev": true,
+          "requires": {
+            "has-flag": "^3.0.0"
+          }
+        }
+      }
+    },
+    "@babel/types": {
+      "version": "7.12.13",
+      "resolved": "https://registry.npmjs.org/@babel/types/-/types-7.12.13.tgz",
+      "integrity": "sha512-oKrdZTld2im1z8bDwTOQvUbxKwE+854zc16qWZQlcTqMN00pWxHQ4ZeOq0yDMnisOpRykH2/5Qqcrk/OlbAjiQ==",
+      "dev": true,
+      "requires": {
+        "@babel/helper-validator-identifier": "^7.12.11",
+        "lodash": "^4.17.19",
+        "to-fast-properties": "^2.0.0"
+      },
+      "dependencies": {
+        "@babel/helper-validator-identifier": {
+          "version": "7.12.11",
+          "resolved": "https://registry.npmjs.org/@babel/helper-validator-identifier/-/helper-validator-identifier-7.12.11.tgz",
+          "integrity": "sha512-np/lG3uARFybkoHokJUmf1QfEvRVCPbmQeUQpKow5cQ3xWrV9i3rUHodKDJPQfTVX61qKi+UdYk8kik84n7XOw==",
+          "dev": true
+        }
+      }
+    },
     "@concordance/react": {
       "version": "2.0.0",
       "resolved": "https://registry.npmjs.org/@concordance/react/-/react-2.0.0.tgz",
@@ -105,6 +368,38 @@
       "integrity": "sha512-HyYEUDeIj5rRQU2Hk5HTB2uHsbRQpF70nvMhVzi+VJR0X+xNEhjPui4/kBf3VeH/wqD28PT4sVOm8qqLjBrSZg==",
       "dev": true
     },
+    "@eslint/eslintrc": {
+      "version": "0.3.0",
+      "resolved": "https://registry.npmjs.org/@eslint/eslintrc/-/eslintrc-0.3.0.tgz",
+      "integrity": "sha512-1JTKgrOKAHVivSvOYw+sJOunkBjUOvjqWk1DPja7ZFhIS2mX/4EgTT8M7eTK9jrKhL/FvXXEbQwIs3pg1xp3dg==",
+      "dev": true,
+      "requires": {
+        "ajv": "^6.12.4",
+        "debug": "^4.1.1",
+        "espree": "^7.3.0",
+        "globals": "^12.1.0",
+        "ignore": "^4.0.6",
+        "import-fresh": "^3.2.1",
+        "js-yaml": "^3.13.1",
+        "lodash": "^4.17.20",
+        "minimatch": "^3.0.4",
+        "strip-json-comments": "^3.1.1"
+      },
+      "dependencies": {
+        "ignore": {
+          "version": "4.0.6",
+          "resolved": "https://registry.npmjs.org/ignore/-/ignore-4.0.6.tgz",
+          "integrity": "sha512-cyFDKrqc/YdcWFniJhzI42+AzS+gNwmUzOSFcRCQYwySuBBBy/KjuxWLZ/FHEH6Moq1NizMOBWyTcv8O4OZIMg==",
+          "dev": true
+        },
+        "strip-json-comments": {
+          "version": "3.1.1",
+          "resolved": "https://registry.npmjs.org/strip-json-comments/-/strip-json-comments-3.1.1.tgz",
+          "integrity": "sha512-6fPc+R4ihwqP6N/aIv2f1gMH8lOVtWQHoqC4yK6oSDVVocumAsfCqjkXnqiYMhmMwS/mEHLp7Vehlt3ql6lEig==",
+          "dev": true
+        }
+      }
+    },
     "@mrmlnc/readdir-enhanced": {
       "version": "2.2.1",
       "resolved": "https://registry.npmjs.org/@mrmlnc/readdir-enhanced/-/readdir-enhanced-2.2.1.tgz",
@@ -491,12 +786,6 @@
         "@types/estree": "*"
       }
     },
-    "@types/eslint-visitor-keys": {
-      "version": "1.0.0",
-      "resolved": "https://registry.npmjs.org/@types/eslint-visitor-keys/-/eslint-visitor-keys-1.0.0.tgz",
-      "integrity": "sha512-OCutwjDZ4aFS6PB1UZ988C4YgwlBHJd6wCeQqaLdmadZ/7e+w79+hbMUFC1QXDNCmdyoRfAFdm0RypzwR+Qpag==",
-      "dev": true
-    },
     "@types/estree": {
       "version": "0.0.46",
       "resolved": "https://registry.npmjs.org/@types/estree/-/estree-0.0.46.tgz",
@@ -526,6 +815,12 @@
       "integrity": "sha512-8+KAKzEvSUdeo+kmqnKrqgeE+LcA0tjYWFY7RPProVYwnqDjukzO+3b6dLD56rYX5TdWejnEOLJYOIeh4CXKuA==",
       "dev": true
     },
+    "@types/json5": {
+      "version": "0.0.29",
+      "resolved": "https://registry.npmjs.org/@types/json5/-/json5-0.0.29.tgz",
+      "integrity": "sha1-7ihweulOEdK4J7y+UnC86n8+ce4=",
+      "dev": true
+    },
     "@types/minimatch": {
       "version": "3.0.3",
       "resolved": "https://registry.npmjs.org/@types/minimatch/-/minimatch-3.0.3.tgz",
@@ -563,59 +858,84 @@
       "dev": true
     },
     "@typescript-eslint/eslint-plugin": {
-      "version": "3.1.0",
-      "resolved": "https://registry.npmjs.org/@typescript-eslint/eslint-plugin/-/eslint-plugin-3.1.0.tgz",
-      "integrity": "sha512-D52KwdgkjYc+fmTZKW7CZpH5ZBJREJKZXRrveMiRCmlzZ+Rw9wRVJ1JAmHQ9b/+Ehy1ZeaylofDB9wwXUt83wg==",
+      "version": "4.14.2",
+      "resolved": "https://registry.npmjs.org/@typescript-eslint/eslint-plugin/-/eslint-plugin-4.14.2.tgz",
+      "integrity": "sha512-uMGfG7GFYK/nYutK/iqYJv6K/Xuog/vrRRZX9aEP4Zv1jsYXuvFUMDFLhUnc8WFv3D2R5QhNQL3VYKmvLS5zsQ==",
       "dev": true,
       "requires": {
-        "@typescript-eslint/experimental-utils": "3.1.0",
+        "@typescript-eslint/experimental-utils": "4.14.2",
+        "@typescript-eslint/scope-manager": "4.14.2",
+        "debug": "^4.1.1",
         "functional-red-black-tree": "^1.0.1",
+        "lodash": "^4.17.15",
         "regexpp": "^3.0.0",
         "semver": "^7.3.2",
         "tsutils": "^3.17.1"
       },
       "dependencies": {
         "semver": {
-          "version": "7.3.2",
-          "resolved": "https://registry.npmjs.org/semver/-/semver-7.3.2.tgz",
-          "integrity": "sha512-OrOb32TeeambH6UrhtShmF7CRDqhL6/5XpPNp2DuRH6+9QLw/orhp72j87v8Qa1ScDkvrrBNpZcDejAirJmfXQ==",
-          "dev": true
+          "version": "7.3.4",
+          "resolved": "https://registry.npmjs.org/semver/-/semver-7.3.4.tgz",
+          "integrity": "sha512-tCfb2WLjqFAtXn4KEdxIhalnRtoKFN7nAwj0B3ZXCbQloV2tq5eDbcTmT68JJD3nRJq24/XgxtQKFIpQdtvmVw==",
+          "dev": true,
+          "requires": {
+            "lru-cache": "^6.0.0"
+          }
         }
       }
     },
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diff --git a/package.json b/package.json
index 6b58c31..cba9646 100644
--- a/package.json
+++ b/package.json
@@ -22,12 +22,21 @@
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-      ["@semantic-release/github", {
-        "assets": [
-          {"path": "dist/kalman-filter.js", "label": "Raw JS distribution"},
-          {"path": "dist/kalman-filter.min.js", "label": "Minified JS distribution"}
-        ]
-      }],
+      [
+        "@semantic-release/github",
+        {
+          "assets": [
+            {
+              "path": "dist/kalman-filter.js",
+              "label": "Raw JS distribution"
+            },
+            {
+              "path": "dist/kalman-filter.min.js",
+              "label": "Minified JS distribution"
+            }
+          ]
+        }
+      ],
       "@semantic-release/git"
     ]
   },
@@ -78,7 +87,7 @@
     "semantic-release": "^17.1.1",
     "webpack": "^5.21.1",
     "webpack-cli": "^4.5.0",
-    "xo": "^0.32.0"
+    "xo": "^0.37.1"
   },
   "dependencies": {
     "@rayyamhk/matrix": "^1.0.5",
@@ -87,10 +96,10 @@
   "xo": {
     "ignores": [
       "./docs/**",
-      "kalman-filter.js",
-      "kalman-filter.min.js"
+      "./dist/**"
     ],
     "rules": {
+      "unicorn/no-array-reduce": 0,
       "no-multi-assign": 0,
       "unicorn/no-reduce": 0,
       "import/no-unresolved": 0,
diff --git a/test/helpers/equal-state.js b/test/helpers/equal-state.js
index ff06a13..44bd391 100644
--- a/test/helpers/equal-state.js
+++ b/test/helpers/equal-state.js
@@ -1,12 +1,11 @@
 const State = require('../../lib/state.js');
 const distanceMat = require('../../lib/linalgebra/distance-mat.js');
 
-module.exports = function (state1, state2, tolerance) {
+module.exports = function (state1, state2, tolerance = 1e-6) {
 	if ((!(state1 instanceof State)) || (!(state2 instanceof State))) {
 		throw (new TypeError('One of the args is not a State'));
 	}
 
-	tolerance = tolerance || 1e-6;
 	return (
 		(distanceMat(state1.mean, state2.mean) < tolerance) &&
 		(distanceMat(state1.covariance, state2.covariance) < tolerance)
diff --git a/test/unit/kalman-filter/filter.js b/test/unit/kalman-filter/filter.js
index 1105690..e1bca78 100644
--- a/test/unit/kalman-filter/filter.js
+++ b/test/unit/kalman-filter/filter.js
@@ -15,7 +15,7 @@ test('Filter method', t => {
 			name: 'sensor'
 		}
 	});
-	const filtered = kf.filter({observation: observations[0]}); // eslint-disable-line unicorn/no-fn-reference-in-iterator
+	const filtered = kf.filter({observation: observations[0]});
 	t.true(filtered instanceof State);
 
 	const predicted = kf.predict();
@@ -35,7 +35,7 @@ test('FilterAll', t => {
 	});
 	const allFiltered = kf.filterAll(observations);
 	t.is(allFiltered.length, 3);
-	const filtered = kf.filter({observation: observations[0]}); // eslint-disable-line unicorn/no-fn-reference-in-iterator
+	const filtered = kf.filter({observation: observations[0]});
 	const firstMean = filtered.mean.map(m => m[0]);
 	t.deepEqual(firstMean, allFiltered[0]);
 });
diff --git a/webpack.config.js b/webpack.config.js
index 7fff652..67ba9d8 100644
--- a/webpack.config.js
+++ b/webpack.config.js
@@ -1,24 +1,24 @@
-const path = require('path');
-
 module.exports = [{
-		entry: './index.js',
-		mode: 'development',
-		optimization: {
-	    minimize: false
-	  },
-		name: 'raw',
-		devtool: "inline-source-map",
-		output: {
-			filename: 'kalman-filter.js',
-			library: 'kalmanFilter',
-			libraryTarget: 'var'
-		}
-	},{
-		entry: './index.js',
-		name: 'min',
-		output: {
-			filename: 'kalman-filter.min.js',
-			library: 'kalmanFilter',
-			libraryTarget: 'var'
-		}
+	entry: './index.js',
+	mode: 'development',
+	optimization: {
+		minimize: false
+	},
+	name: 'raw',
+	devtool: 'inline-source-map',
+	resolve: {},
+	output: {
+		filename: 'kalman-filter.js',
+		library: 'kalmanFilter',
+		libraryTarget: 'var'
+	}
+}, {
+	entry: './index.js',
+	name: 'min',
+	resolve: {},
+	output: {
+		filename: 'kalman-filter.min.js',
+		library: 'kalmanFilter',
+		libraryTarget: 'var'
+	}
 }];