solveLQR is failing

[kuindersma]

stack trace (one leg hopper example):

>> solveLQR(r,xtraj,utraj,ltraj)
Identified 4 modes, with timings:
t 0.000000 to 0.089744
t 0.089744 to 0.205128
t 0.205128 to 0.346154
t 0.346154 to 0.500000
Solving for P forwards, from 0.346154 to 0.500000
Error using PlanarRigidBodyManipulator/constrainedDynamics
Too many input arguments.

Error in TimeSteppingRigidBodyManipulator/constrainedDynamics (line 1203)
      xdot = constrainedDynamics(obj.manip,varargin{:});

Error in constrainedtvlqr>getFandFdot/@(t,x,u)constrainedDynamics(obj,t,x,u,constraint_ind,options)



Error in geval (line 189)
    [varargout{1:p}]=feval(fun,varargin{:});

Error in constrainedtvlqr>getFandFdot (line 197)
    [~,A] = geval(dynamicsFun,t,x,u,struct('grad_method','numerical'));

Error in constrainedtvlqr>getPdot (line 240)
  [F,Fdot] = getFandFdot(obj,t,x,u,constraint_ind,options);

Error in constrainedtvlqr>Pdynamics (line 270)
  Pdot = getPdot(obj,t,x,u,P,constraint_ind,alpha_1,alpha_2,options);

Error in constrainedtvlqr>@(t,P)Pdynamics(obj,t,xtraj,utraj,P,constraint_ind,alpha_1,alpha_2,options) (line 88)
Pfun = @(t,P) Pdynamics(obj,t,xtraj,utraj,P,constraint_ind,alpha_1,alpha_2,options);

Error in odearguments (line 87)
f0 = feval(ode,t0,y0,args{:});   % ODE15I sets args{1} to yp0.

Error in ode45 (line 113)
[neq, tspan, ntspan, next, t0, tfinal, tdir, y0, f0, odeArgs, odeFcn, ...

Error in constrainedtvlqr (line 89)
[tout,yout] = ode45(Pfun,tspan,P0);

Error in hybridconstrainedtvlqr (line 198)
    [c{i},Ktraj{i},Straj{i},Ptraj{i},Btraj{i},Ftraj{i},Straj_full{i}] = constrainedtvlqr(obj,xtraj,utraj,Q,R,Qfi,mode_data{i}.constraint_ind,sub_options);

Error in solveLQR (line 12)
[c,Ktraj,Straj,Ptraj,Btraj,tvec,Straj_full,Ftraj,xtraj,utraj,mode_data] = hybridconstrainedtvlqr(p,xtraj,utraj,ltraj,Q,R,Qf,options);]