Revert "Generalized sigma-points"

[rlabbe]

Reverts #247

Unit tests are failing.

filterpy/kalman/tests/test_ukf.py::test_generalized_sigma_points_2D_positively_constrained
c:\pcloud\filterpy\filterpy\kalman\sigma_points.py:731: RuntimeWarning: divide by zero encountered in true_divide
self.s[i] = self.k*np.min(self.x/np.sqrt(self.P)[:, i_])

---

def test_generalized_sigma_points_weights_1D():
    ''' test for Ebeigbe weights (example from paper: III.B)'''

    P, S, K = 0.2, -0.5, 1.3
    sp = GeneralizedSigmaPoints(1, P, S, K)


    Wm, Wc, s = sp.Wm, sp.Wc, sp.s
    assert np.allclose(Wm, Wc, 1e-12)

    ref_w = np.array([0.2, 0.0286, 0.7714])
    ref_s = np.array([0.0, 5.8055, 0.2153])

  assert np.allclose(ref_w, Wm, 1e-4)

E assert False
E + where False = <function allclose at 0x00000234893198B0>(array([0.2 , 0.0286, 0.7714]), array([0.2 , 0.02860932, 0.77139068]), 0.0001)
E + where <function allclose at 0x00000234893198B0> = np.allclose

tests\test_ukf.py:204: AssertionError