## kffsim

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 Plots option, kffsim only plots the states, measurements, and errors. Otherwise, kffsim is a light wrapper of the kffmct function, where nr = 1.