calcTrackingOptimizationDynamicsConstraint.m

% This function is part of the NMSM Pipeline, see file for full license.
%
% This function calculates the dynamic constraint for tracking optimization.
%
% (struct, struct) -> (2D matrix)
% Returns the dynamic constraint


function dynamics = calcTrackingOptimizationDynamicsConstraint(values, ...
    params)

dynamics = (params.maxTime - params.minTime) * ...
    ([values.stateVelocities values.stateAccelerations ...
    values.controlJerks]) ./ (params.maxState - params.minState);
end