Initialize the state and input vectors to be of the correct length.
Initialize the state and input vectors to be of the correct length.

sheim/drake,sheim/drake,sheim/drake,sheim/drake,billhoffman/drake,billhoffman/drake,sheim/drake,billhoffman/drake,sheim/drake,billhoffman/drake,sheim/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake,billhoffman/drake,sheim/drake