%% stateAndInputConstraints
% compute state and input constraints
%
%% Syntax
%
% <html>
%        <div class="syntax">
% con = stateAndInputConstraints(Param,Opts,R,auxTerm,initSet) <br>
%        </div>
% </html>
%
%% Description
% This function computes augmented state and input constraints for
% the whole time horizon Opts.N. The constraints are fulfilled if the
% output variable con <= 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">
%            Param
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            a structure containing the benchmark parameters
%        </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">
%            .U
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            set of admissible control inputs
%            (class: interval or zonotope)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .W
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            set of uncertain disturbances
%            (class: interval or zonotope)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .V
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            set of measurement errors
%            (class: interval or zonotope)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .X
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            set of state constraints
%            (class: polytope)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            Opts
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            a structure containing 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">
%            .TpOrTi
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            consider reachable sets at time point only
%            (Opts.TpOrTi = <tt>'Tp'</tt>) or also the time interval
%            reachable sets (Opts.TpOrTi = <tt>'Ti'</tt>)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .Tdomain
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            search domain for the terminal region (class:;
%            interval)
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            .N
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            number of time steps
%            (positive interger)
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            R
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            cell-array containing overall reachable sets
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            auxTerm
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            cell-array containing auxiliary terms for the curvature
%            of the time interval reachable set
%        </p>
%    </td>
%    </tr>
%    <tr bgcolor="#F2F2F2">
%    <td>
%        <p class="table">
%            initSet
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            initial set
%        </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">
%            con
%        </p>
%    </td>
%    <td>
%        <p class="table">
%            vector storing the resulting constraints
%        </p>
%    </td>
%    </tr>
% </tbody>
% </table>
% </html>
%
%% See Also
% <reachControlledLTISystemhelp.html |reachControlledLTISystem|>, <computeTermRegZonoLinSyshelp.html |computeTermRegZonoLinSys|>
%

%%
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