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ut_sigmas

PURPOSE ^

UT_SIGMAS - Generate Sigma Points for Unscented Transformation

SYNOPSIS ^

function X = ut_sigmas(M,P,c);

DESCRIPTION ^

UT_SIGMAS - Generate Sigma Points for Unscented Transformation

 Syntax:
   X = ut_sigmas(M,P,c);

 In:
   M - Initial state mean (Nx1 column vector)
   P - Initial state covariance
   c - Parameter returned by UT_WEIGHTS

 Out:
   X - Matrix where 2N+1 sigma points are as columns

 Description:
   Generates sigma points and associated weights for Gaussian
   initial distribution N(M,P). For default values of parameters
   alpha, beta and kappa see UT_WEIGHTS.

 See also UT_WEIGHTS UT_TRANSFORM UT_SIGMAS

CROSS-REFERENCE INFORMATION ^

This function calls: This function is called by:
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