function [ newmean, newcov ] = ukf_prediction( mean, cov, u, R, motion)
%UKF_PREDICTION Computes the UKF prediction step- 

% YOUR CODE STARTS HERE:

[S,w]=ukf_sigma_points(mean,cov);
%Sm= rowfun(motion,S) % By default, rowfun returns the first output of func
%wie bring ich hier das u unter?
Sm=zeros(size(S));

for i =1:size(S,2)
    Sm(:,i)= motion(S(:,i),u);
end
[newmean,newcov]=ukf_estimate_normal( Sm, w );
newcov = newcov+R;


% YOUR CODE ENDS HERE:

end