function [ mu, cov ] = ukf_estimate_normal( S, w )
%UKF_ESTIMATE_NORMAL Estimate mean, covariance from set of sigma points

% Dimension (3 for 2D localization)
dim = size(S,1);

% Number of sigma points (= number of weights):
n = size(w,1); 

% YOUR CODE STARTS HERE:

%mu = zeros(dim,1);


mu=S*w;


cov = zeros(dim,dim);

for i =1:n
    cov = cov+ w(i)*(S(:,i)-mu)*(S(:,i)-mu)';
end
 

% YOUR CODE END HERE:

end