%% costFunction
% Cost function of the optimal control problem
%
%% Syntax
%
% <html>
%        <div class="syntax">
% cost = costFunction(obj,y) <br>
%        </div>
% </html>
%
%% Description
% Cost function of the optimal control problem - implements the
% (possibly time-varying) nominal stage and terminal cost as well as
% the exact penalty term for the softened input constraints.
%
%% Input Arguments
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
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%    <td>
%        <p class="table">
%            obj
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            instance of class optimalControl
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            y
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            vector of optimization variables
%            (double array of dimension [obj.idxVars.nVars,1])
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% Output Arguments
%
% <html>
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            cost
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            value of cost function evaluated at y
%            (double)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <optimalControlhelp.html |optimalControl|>
%

%%
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