KalmanPendulum.xml

<Contents>
  <OBJECTS>
    <Lib
      LibName = "fhsim_base"
      SimObject = "Kalman/Example/Pendulum"
      Name = "Pen"
      Length = "3"
      AngleNoise = "1e-1"
      AngularVelocityNoise = "1e-3"
      MeasurementNoise = "1e-0"
      InitialP = "1e-0,1e-0"
    />
  </OBJECTS>
 
  <INTERCONNECTIONS>
  <Connection
    Pen.Angle = "0"
  />
  </INTERCONNECTIONS>
 
  <INITIALIZATION>
    <InitialCondition
      Pen.Angle = "0.5"
      Pen.AngularVelocity = "0"
    />
  </INITIALIZATION>
 
  <SIMULATION>
    <Timing TStart="0" TEnd="100"/>
    <Integrator Method="RK45_i" NumCores="1">
      <StepControl Step="1e-6" StepMin="0.5"/>
    </Integrator>
      </SIMULATION>
</Contents>