ZermeloAnalyticalCost:

Path: Orbit/Optimization

% Computes the analytical cost for Zermelo's problem.
 This is a test case for TrajectoryOptimization.
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   Form:
   c = ZermeloAnalyticalCost( theta, x1, y1 )
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   Inputs
   ------
   theta         (2,1) Control angles, [initial final]
   x1            (1,1) x-coordinate target
   y1            (1,1) y-coordinate target

   -------
   Outputs
   -------
   c             (1,1) Cost
   xf            (2,1) Actual coordinates

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 Reference: Bryson and Ho, "Applied Optimal Control", Hemisphere Publishing, 1975. 
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