%   
% 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.; 
v_0     = 100.; % the initial conditions
gamma_0 = pi/2.; 

gamma_d = pi/3.; % the target goals 

d_gamma = 10; % the error weighting factor for gamma(t_f) missing gamma_d 
r = 1; % the error coefficient for the integral of alpha(t)

omega = 2*pi/t_f; 

% find the optimal value for [alpha_0,alpha_1]: 
%  
alphas = fminsearch( @(x) sect_3_prob_3_J_min_fn(x(1), x(2), x(3), omega, t_0, t_f, v_0, gamma_0, gamma_d, d_gamma, r), [ 0., 0., 0. ] );
alphas

% evaluate J at this value of alpha
sect_3_prob_3_J_min_fn(alphas(1), alphas(2), alphas(3), omega, t_0, t_f, v_0, gamma_0, gamma_d, d_gamma, r)