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% Copyright (c) 2023, Amon Lahr, Simon Muntwiler, Antoine Leeman & Fabian Flürenbrock Institute for Dynamic Systems and Control, ETH Zurich.
%
% All rights reserved.
%
% Please see the LICENSE file that has been included as part of this package.
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function [H_u, h_u, H_x, h_x] = generate_constraints(params)
    % YOUR CODE HERE
    u_max = params.constraints.MaxAbsThrust;
    h_u = u_max * ones(6,1);
    H_u = [eye(3);-eye(3)];
    
    s_max = params.constraints.MaxAbsPositionXZ;
    y_max = params.constraints.MaxAbsPositionY;
    h_x = [s_max;y_max;s_max;s_max;y_max;s_max];
    H_x = [eye(3);-eye(3)];
end