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