code: def _compute_weights(self):
          
  
          n = self.n
          k = self.kappa
  
          self.Wm = np.full(2*n+1, .5 / (n + k))
          self.Wm[0] = k / (n+k)
          self.Wc = self.Wm
docs: Computes the weights for the unscented Kalman filter. In this
          formulation the weights for the mean and covariance are the same.