
%
%
% *Input arguments:*
%
%		latent     state of the unicycle (including the torques)
%   plant      plant structure
%     .dt      sampling time
%     .dyno    state indices that are passed ont the cost function
%   t2         supersampling frequency (in case you want smoother plots)
%   cost       cost structure
%     .fcn     function handle (it is assumed to use saturating cost)
%     .<>      other fields that are passed to cost
%   text1      (optional) text field 1
%   text2      (optional) text fi