%% conFun
% constraint function for nonlinear programming
%
%% Syntax
%
% <html>
%        <div class="syntax">
% [c,ceq] = conFun(x,Opts) <br>
%        </div>
% </html>
%
%% Description
% This function computes the values of the constraints for a specific
% value for the control law parameters. For this, the reachable set
% is computed fist. Afterward, it is calculated how much the
% reachable set violates the constraints.
%
%% 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">
%            x
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            current value of the control law parameters
%        </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">
%            .linModel
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            structure containing the system matrices of the
%            uncontrolled system
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .ReachOpts
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            structure containing the settings for
%            reachability analysis
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .uc
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            center trajectory control 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>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            ceq
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            amount of violation for the equality constraints
%            (c == 0: no violation)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <optimizationBasedControlhelp.html |optimizationBasedControl|>, <costFunhelp.html |costFun|>
%

%%
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