%% checkConstraints
% check if the input and state constraints are satisfied
%
%% Syntax
%
% <html>
%        <div class="syntax">
% c = checkConstraints(R,K,u_ref,Opts) <br>
%        </div>
% </html>
%
%% Description
% This function checks if the reachable set satisfies the state and
% input constraints. The function returns a vector that specifies how
% much each constraint is violate, where c < 0 means that all
% constraints are satisfied.
%
%% 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">
%            R
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            cell-array storing the reachable set
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            K
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            feedback matrix for the control law u = u_ref + K(x-x_ref)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            u_ref
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            reference input for the control law u = u_ref + K(x-x_ref)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Opts
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            structure containing the following options
%        </p>
%        <p class="table">
% <table cellspacing="0" cellpadding="4" width="" border="1" frame="box" rules="none" class="inner">
% <tbody valign="top">
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .stateCon
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            structure containing the state constraints
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .inputCon
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            structure containing the input constraints
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .nx
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of states
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .nu
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of inputs
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
%        </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">
%            c
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            amount of violation for the inequality constraints
%            (c <= 0: no violation)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <optimizationBasedControlhelp.html |optimizationBasedControl|>, <conFunhelp.html |conFun|>
%

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