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Example Constraint Function: nonlinear_ok_box_f

Source Code
 
function [fk, Fk] = nonlinear_ok_box_f(k, xk)
	global nonlinear_ok_box_x4_min
	global nonlinear_ok_box_x4_max
	%
	% constrained so that x4_min <= x4(t) <= x4_max
	x4_min = nonlinear_ok_box_x4_min;
	x4_max = nonlinear_ok_box_x4_max;
        ell    = 2;
	n      = size(xk, 1);
	% 
	fk = [ ...
		xk(4) - x4_max;
		x4_min - xk(4) ...
	];
	Fk = zeros(ell, n);
	Fk(1, 4) = 1;
	Fk(2, 4) = -1;
	return
end

Input File: test/nonlinear_ok_box_f.m