%UT_MWEIGHTS - Generate matrix form unscented transformation weights%% Syntax:%   [WM,W,c] = ut_mweights(n,alpha,beta,kappa)%% In:%   n     - Dimensionality of random variable%   alpha - Transformation parameter  (optional, default 0.5)%   beta  - Transformation parameter  (optional, default 2)%   kappa - Transformation parameter  (optional, default 3-size(X,1))%% Out:%   WM - Weight vector for mean calculation%    W - Weight matrix for covariance calculation%    c - Scaling constant%% Description:%   Computes matrix form unscented transformation weights.%% Copyright (C) 2006 Simo S鋜kk