# constraints

Constraint function of the optimal control problem.

## Contents

- Syntax
- Description
- Input Arguments
- Output Arguments
- See Also

## Syntax

con = constraints(obj,y,x0,X,U)

## Description

Constraints of the optimal control problem in the form lb <= constraints(obj,y,x0,X,U) = g(y) <= ub.

## Input Arguments

obj | instance of class optimalControl
y | vector of optimization variables (double array of dimension [obj.idxVars.nVars,1])
x0 | initial state
X | set of admissible states (class: polytope)
U | set of admissible control inputs (class:polytope)

## Output Arguments

cost | value of constraint function evaluated at y (double / casadi SX symbolic)

## See Also

@optimalControl/computeConstraintIndices

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