[Mayer,Lagrange]=linearTangentCost(sol,iphase);

function [Mayer,Lagrange]=linearTangentCost(sol,iphase);

t0 = sol{1,1};
x0 = sol{1,2};
tf = sol{1,3};
xf = sol{1,4};
t  = sol{2,1};
x  = sol{2,2};
u  = sol{2,3};
p  = sol{2,4};

Mayer = tf;
Lagrange = zeros(size(t));