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Solve the following problem using Python, implementing the functions described below, one line at a time
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Description:
 def _compute_weights(self):
 """ Computes the weights for the unscented Kalman filter. In this formulation the weights for the mean and covariance are the same. """


        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