eld 2
%
%
% Copyright (C) 2008-2013 by
% Marc Deisenroth, Andrew McHutchon, Joe Hall, and Carl Edward Rasmussen.
%
% Last modified: 2013-04-04

function draw_unicycle(latent,plant,t2,cost,text1, text2)
%% Code

clf; set(gca,'FontSize',16);

t1 = plant.dt;

rw =  0.225; % wheel radius
rf =  0.54;  % frame center of mass to wheel
rt =  0.27;  % frame centre of mass to turntable
rr =  rf+rt;  % distance wheel to turntable

M = 24; MM = 2*pi*(0:M)/M;
RR = ['r-';'r-';'r-';'k-';'b-';'b-';'b-'];
ii = 10000;


qq =