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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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