%% constraints
% Constraint function of the optimal control problem.
%
%% Syntax
%
% <html>
%        <div class="syntax">
% con = constraints(obj,y,x0,X,U) <br>
%        </div>
% </html>
%
%% Description
% Constraints of the optimal control problem in the form
% lb <= constraints(obj,y,x0,X,U) = g(y) <= ub.
%
%% 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">
%            y
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            vector of optimization variables
%            (double array of dimension [obj.idxVars.nVars,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            x0
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            initial state
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            X
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            set of admissible states
%            (class: polytope)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            U
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            set of admissible control inputs
%            (class:polytope)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% Output Arguments
%
% <html>
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%    <td>
%        <p class="table">
%            cost
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            value of constraint function evaluated at y
%            (double / casadi SX symbolic)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <matlab:doc('@optimalControl/computeConstraintIndices') @optimalControl/computeConstraintIndices>
%

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