%% computeFinalReachSet
% compute the reachable set using the optimized
% control law parameters
%
%% Syntax
%
% <html>
%        <div class="syntax">
% [res,reachSet,R,K] = computeFinalReachSet(xOpt,Opts) <br>
%        </div>
% </html>
%
%% Description
% This function computes the reachable set using the optimized
% control law parameters from the optimization based control
% algorithm.
%
%% 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">
%            xOpt
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            optimized weigthening matrices
%        </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">
%            .R0
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            intial set (class: zonotope)
%        </p>
%    </td>
%    </tr>
%    <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">
%            .sys
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            parametric system object storing the
%            closed-loop dynamics (class: nonlinParamSys)
%        </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">
%            res
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            flag specifying if the constraints are satisfied
%            (1 if satisfied, 0 if not)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            reachSet
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            object storing the reachable set (class: reachSet)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            R
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            cell-array storing the time point reachable set
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            K
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            cell-array storing the feedback matrices for all time
%            steps
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <optimizationBasedControlhelp.html |optimizationBasedControl|>
%

%%
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%   <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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