%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%% Copyright (C) 2006 Simo S鋜kk