cycle with cost and applied torques</p><pre>  function draw_unicycle(latent, plant,t2,cost,text1, text2)</pre><p><b>Input arguments:</b></p><pre class="codeinput"><span class="comment">%		latent     state of the unicycle (including the torques)</span>
<span class="comment">%   plant      plant structure</span>
<span class="comment">%     .dt      sampling time</span>
<span class="comment">%     .dyno    state indices that are passed ont the cost function</span>
<span class="comment">%   t2         supersamp