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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.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function params = compute_tightening(K_tube,H_tube,h_tube,params)
% YOUR CODE HERE
Hx = params.constraints.StateMatrix;
hx = params.constraints.StateRHS;
Hu = params.constraints.InputMatrix;
hu = params.constraints.InputRHS;
Pxz = Polyhedron('A',Hx,'b',hx);
Puz = Polyhedron('A',Hu,'b',hu);
% Ptube = Polyhedron('A',H_tube,'b',h_tube);
Px_tube = Pxz.minus(Polyhedron('A',H_tube,'b',h_tube));
params.constraints.StateMatrix = Px_tube.A;
params.constraints.StateRHS = Px_tube.b;
Pu_tube = Puz.minus(K_tube*Polyhedron('A',H_tube,'b',h_tube))
% Pu_tube = Puz.minus(Polyhedron('A',H_tube*K_tube,'b',h_tube));
params.constraints.InputMatrix = Pu_tube.A;
params.constraints.InputRHS = Pu_tube.b;
end
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