fix wording of 7d, move cost function to top

RussTedrake / underactuated

The course text for MIT 6.832 (and 6.832x on edX)

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Closed richardrl closed 1 year ago

richardrl commented 1 year ago

The wording in 7.8.d was not clear as mentioned in Piazza post 49. It has been updated.

This change is