%% subsetsInput
% compute sets of admissible inputs for each time step
%
%% Syntax
%
% <html>
%        <div class="syntax">
% [U,xCenter,uCenter] = subsetsInput(xc,uc,Opts) <br>
%        </div>
% </html>
%
%% Description
% Computes the sets of admissible control inputs due to the shift by
% the reference trajectory control input for all time steps.
%
%% 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">
%            xc
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            reference trajectory states (dimension: [nx,N*Ninter])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            uc
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            reference trajectory inputs (dimension: [nu,N*Ninter])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Opts
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            a 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">
%            .N
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of time-steps
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .Ninter
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of intermediate time steps
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .uMaxTotal
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            maximum allowed control input
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .uMinTotal
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            minimum allowed control input
%        </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">
%            U
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            cell-array containing the sets of admissble control
%            inputs for each time step
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            xCenter
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            cell-array containing the reference trajectory states
%            for each time step
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            uCenter
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            cell-array containing the reference trajectory inputs
%            for each time step
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <safetyNetControlhelp.html |safetyNetControl|>
%

%%
% <html>
%   <hr>
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%        <tt class="minicdot">&#149;</tt>
%        <a href="https://tumcps.github.io/AROC/">Website</a>
%        <tt class="minicdot">&#149;</tt>
%        <a href="file:txts/LICENSE.txt">License</a>
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