%% initialGuessInterpolate
% Initial guess for the optimal control problem.
%
%% Syntax
%
% <html>
%        <div class="syntax">
% y0 = initialGuessInterpolate(obj,x0,xf) <br>
%        </div>
% </html>
%
%% Description
% This function computes an initial guess for the optimal control
% problem by linearly interpolating between the initial and a given
% final state. The control inputs as well as all auxiliary varibales
% (e.g. slack variables) are set to zero.
%
%% Input 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">
%            obj
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            instance of class optimalControl
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            x0
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            initial state
%            (double array of dimension [obj.nx,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            xf
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            final state
%            (double array of dimension [obj.nx,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">
%            y0
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            initial guess for the optimal control problem
%            (double array of dimension [obj.idxVars.nVars,1])
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <matlab:doc('-') ->
%

%%
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%        <tt class="minicdot">&#149;</tt>
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