function plotrobot(x,colour)

edge = [ -0.75  0.75 0.75 -0.75 -0.75
         -0.5  -0.5  0.5   0.5  -0.5 ];
 
R = [cos(x(3)) -sin(x(3))
     sin(x(3)) cos(x(3)) ];
  
T = x(1:2) * ones(1,5);
  
enew = R * edge + T;

plot(enew(1,:), enew(2,:), colour);
