Remove sigma point calc from UKF update (fixes mherb#3)

For the update step, the sigma points computed in the preceding prediction step are used and not re-calculated. Thanks to zy041984 for pointing this out!
mtau87 · Dec 16, 2017 · 7973005 · 7973005
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commit 7973005
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diff --git a/include/kalman/SquareRootUnscentedKalmanFilter.hpp b/include/kalman/SquareRootUnscentedKalmanFilter.hpp
@@ -157,9 +157,6 @@ namespace Kalman {
         {
             SigmaPoints<Measurement> sigmaMeasurementPoints;
 
-            // Compute sigma points (using predicted state)
-            computeSigmaPoints();
-
             // Predict measurement (and corresponding sigma points)
             Measurement y = this->template computeMeasurementPrediction<Measurement, CovarianceBase>(m, sigmaMeasurementPoints);
 

diff --git a/include/kalman/UnscentedKalmanFilter.hpp b/include/kalman/UnscentedKalmanFilter.hpp
@@ -157,13 +157,6 @@ namespace Kalman {
         {
             SigmaPoints<Measurement> sigmaMeasurementPoints;
 
-            // Compute sigma points (using predicted state)
-            if(!computeSigmaPoints())
-            {
-                // TODO: handle numerical error
-                assert(false);
-            }
-
             // Predict measurement (and corresponding sigma points)
             Measurement y = this->template computeMeasurementPrediction<Measurement, CovarianceBase>(m, sigmaMeasurementPoints);