#NEWLINE# def weights( self ) : #NEWLINE# #INDENT# ' Computes the weights for the unscented Kalman filter. In this\n        formulatyion the weights for the mean and covariance are the same.\n\n        Returns\n        -------s\n\n        Wm : ndarray[2n+1]\n            weights for mean\n\n        Wc : ndarray[2n+1]\n            weights for the covariances\n        ' #NEWLINE# n = self . n #NEWLINE# k = self . kappa #NEWLINE# W = np . full ( ( ( 2 * n ) + 1 ) , ( 0.5 / ( n + k ) ) ) #NEWLINE# W [ 0 ] = ( k / ( n + k ) ) #NEWLINE# return ( W , W )