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Robotics Toolbox Error using tb_optparse Too many input arguments.

Asked by Canberk Suat Gurel on 25 Apr 2018
Hi all,
I tired to run the RRT example that can be found on page 239 of robot.pdf that can be found here
goal = [0,0,0];
start = [0,2,0];
veh = Bicycle(steermax, 1.2);
rrt = RRT(veh, goal, goal, range, 5);
rrt.plan() % create navigation tree
rrt.query(start, goal) % animate path from this start location
and received the following error:
Error using tb_optparse
Too many input arguments.
Error in Bicycle (line 145)
veh = tb_optparse(opt, veh.options, veh);
The portion of Bicycle function that generates this code is as follows:
function veh = Bicycle(varargin)
%Bicycle.Bicycle Vehicle object constructor
%
% V = Bicycle(OPTIONS) creates a Bicycle object with the kinematics of a
% bicycle (or Ackerman) vehicle.
%
% Options::
% 'steermax',M Maximu steer angle [rad] (default 0.5)
% 'accelmax',M Maximum acceleration [m/s2] (default Inf)
%--
% 'covar',C specify odometry covariance (2x2) (default 0)
% 'speedmax',S Maximum speed (default 1m/s)
% 'L',L Wheel base (default 1m)
% 'x0',x0 Initial state (default (0,0,0) )
% 'dt',T Time interval (default 0.1)
% 'rdim',R Robot size as fraction of plot window (default 0.2)
% 'verbose' Be verbose
%
% Notes::
% - The covariance is used by a "hidden" random number generator within the class.
% - Subclasses the MATLAB handle class which means that pass by reference semantics
% apply.
%
% Notes::
% - Subclasses the MATLAB handle class which means that pass by reference semantics
% apply.
veh = veh@Vehicle(varargin{:});
veh.x = zeros(3,1);
opt.L = 1;
opt.steermax = 0.5;
opt.accelmax = Inf;
veh = tb_optparse(opt, veh.options, veh);
veh.vprev = 0;
veh.x = veh.x0;
end
How can I fix this issue? Thanks!

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