This function exercises a filter by using its propagation and observation
functions along with process and measurement noise to produce a true
state over time with noisy measurements. The measurements are passed to
kff along with the
kffoptions structure defining the filter. The
results are returned/plotted as desired.
All of the inputs are exactly the same as for
kffmct, except that there
is always only a single run, whereas
kffmct produces the results from
multiple runs. Further, unless specified otherwise using the
kffsim only plots the states, measurements, and errors.
kffsim is a light wrapper of the
kffmct function, where
nr = 1.