code: def _compute_weights(self):
          
  
          n = self.n
          lambda_ = self.alpha**2 * (n +self.kappa) - n
  
          c = .5 / (n + lambda_)
          self.Wc = np.full(2*n + 1, c)
          self.Wm = np.full(2*n + 1, c)
          self.Wc[0] = lambda_ / (n + lambda_) + (1 - self.alpha**2 + self.beta)
          self.Wm[0] = lambda_ / (n + lambda_)
docs: Computes the weights for the scaled unscented Kalman filter.