%   
% Written by:
% -- 
% John L. Weatherwax                2006-08-28
% 
% email: wax@alum.mit.edu
% 
% Please send comments and especially bug reports to the
% above email address.
% 
%-----

close all; clc; clear; 

% set the constants of this problem: 
t_0     = 0.; 
t_f     = 10.; 
gamma_0 = pi/2.; 
gamma_d = pi/3.; % the desired gamma
v_0     = 100.; % the initial velocity
h_0     = 0; % the initial height
h_d     = 20000; % the new desired height

d_gamma = 10; % error factor for gamma(t_f) error
d_h     = 0.01; % factor for h(t_f) error 

% find the optimal value for [alpha_0,alpha_1]: 
%  
options = optimset('MaxFunEvals',1000);
alphas  = fminsearch( @(x) sect_3_prob_2_part_e_J_min_fn(x(1), x(2), t_0, t_f, v_0, gamma_0, h_0, gamma_d, h_d, d_gamma, d_h), [ 0., 0. ], options );
alphas

% evaluate J at this value of alpha
sect_3_prob_2_part_e_J_min_fn(alphas(1), alphas(2), t_0, t_f, v_0, gamma_0, h_0, gamma_d, h_d, d_gamma, d_h)