?? smsp.m
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function [chi,w] = smsp(x, S, kappa, nx)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Method msp for the calculation of sigma-points, called from methods for prediction, filtration and smoothing.
% For square-root estimation algorithms.
%
% function [ch,w]=smsp(x,S,kappa,nx)
% input parameters - x - mean value,
% - S - decomposition covariance matrix,
% - kappa
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