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