%% cvx_zonoInPolyConstraint
% implements the constraint function encoding
% the necessary and sufficient conditions for zonotope-in-polytope
% containment.
%
%% Syntax
%
% <html>
%        <div class="syntax">
% [cEq,cIneq] = cvx_zonoInPolyConstraint(cIn,GIn,s,polyOut) <br>
%        </div>
% </html>
%
%% Description
% This function implements the necessary and sufficient conditions
% for containment of a set zonotope(cIn,GIn*diag(s)) in a polytope in
% [1, Eq. 9]:
% polytope.A*cIn + abs(polytope.A*GIn)*s <= polytope.b.
% The output argument is in the form
% cIneq <= 0.
%
%% 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">
%            cIn
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            center of the inbody
%            (double array of dimension [nx,1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            GIn
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            generator matrix of the inbody
%            (double array)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            s
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            generator scaling factors for the inbody
%            (double array of dimension [size(GIn,2),1])
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            polyOut
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            circumbody
%            (class: polytope)
%        </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">
%            cIneq
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            constraint functions of the inequality constraints
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <matlab:doc('-') ->
%
%% References
% [1] L. Schäfer et al. "Scalable Computation of Robust Control
% Invariant Sets of Nonlinear Systems", in IEEE Transactions
% on Automatic Control, vol. 69, no. 2, pp. 755-770, 2024
%

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