ZermeloCost:

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   Cost function of Zermelo's differential equations.
   Models a constant velocity field. This integrates the equations over
   the time interval 0 to d.tEnd and finds the minimum distance. The cost
   is just the magnitude of this minimum distance.

   Returns a datastructure if no arguments are passed.

   Since version 7.
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   Form:
   [errMag, err, x, t] = ZermeloCost( lambda, d )
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   ------
   Inputs
   ------
   lambda         (2,1) Costates [x;y]
   d              (1,1) Data structure
                        .rhsFun  (1,:) RHS Function
                        .h       (1,1) Characteristic dimension
                        .v       (1,1) Velocity
                        .x0      (2,1) Initial position
                        .xF      (2,1) Desired final position
                        .tEnd    (1,1) Final time from the optimizer
                        .data    (1,1) Integration tolerances
                                       .relTol  (1,1) ode113 relative tol
                                       .absTol  (1,1) ode113 absolute tol
                                       .maxStep (1,1) ode113 max step size

   -------
   Outputs
   -------
   errMag        (1,:) Magnitude of the error
   err           (4,1) [costates;transversality condition]
   x             (4,:) [x;y;;u;v]
   t             (1,:) Time

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   Reference: Bryson, Ho, "Applied Optimal Control", Hemisphere Publishing. 
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Children:

Math: Linear/DupVect
Math: Linear/Mag