comment">% Copyright (C) 2008-2013 by</span>
<span class="comment">% Marc Deisenroth, Andrew McHutchon, Joe Hall, and Carl Edward Rasmussen.</span>
<span class="comment">%</span>
<span class="comment">% Last modified: 2013-04-04</span>

<span class="keyword">function</span> draw_unicycle(latent,plant,t2,cost,text1, text2)
</pre><h2>Code<a name="2"></a></h2><pre class="codeinput">clf; set(gca,<span class="string">'FontSize'</span>,16);

t1 = plant.dt;

rw =  0.225; <span class="comment">% wheel radius</span>