def predict(self):
        """
        Advances the state vector and returns the predicted bounding box estimate.
        """
        if((self.kf.x[6]+self.kf.x[2]) <= 0):
            self.kf.x[6] *= 0.0

        self.kf.predict()
        self.age += 1
        if(self.time_since_update > 0):
            self.hit_streak = 0
        self.time_since_update += 1
        self.history.append(convert_x_to_bbox(self.kf.x))
        return self.history[-1]

        Advances the state vector and returns the predicted bounding box estimate.
        
trackers/ocsort_tracker/ocsort.py