always set state to initial conditions in constructor

check size of initial conditions, enforce column vector

Author: petercorke

Bicycle.m

@@ -144,6 +144,7 @@
 
             veh = tb_optparse(opt, veh.options, veh);
             veh.vprev = 0;
+            veh.x = veh.x0;
         end
 
         function xnext = f(veh, x, odo, w)

Unicycle.m

@@ -125,13 +125,12 @@
 
             veh = veh@Vehicle(varargin{:});
 
-            veh.x = zeros(3,1);
-
             opt.W = 1;
             opt.accelmax = Inf;
 
             veh = tb_optparse(opt, veh.options, veh);
             veh.vprev = 0;
+            veh.x = veh.x0;
         end
 
 

Vehicle.m

@@ -352,7 +352,11 @@ function add_driver(veh, driver)
         % 'size',S     Draw vehicle with length S
         % 'color',C    Color of vehicle.
         % 'fill'       Filled
+        % 'trail',S    Trail with line style S, use line() name-value pairs
         %
+        % Example::
+        %          veh.plot('trail', {'Color', 'r', 'Marker', 'o', 'MarkerFaceColor', 'r', 'MarkerEdgeColor', 'r', 'MarkerSize', 3})
+
         % Notes::
         % - The last two calls are useful if animating multiple robots in the same
         %   figure.