def METHOD_NAME(simX,simU,constraint,t):
    Nsim=t.shape[0]
    plt.figure()
    alat=np.zeros(Nsim)
    for i in range(Nsim):
        alat[i]=constraint.alat(simX[i,:],simU[i,:])
    plt.plot(t,alat)
    plt.plot([t[0],t[-1]],[constraint.alat_min, constraint.alat_min],'k--')
    plt.plot([t[0],t[-1]],[constraint.alat_max, constraint.alat_max],'k--')
    plt.legend(['alat','alat_min/max'])
    plt.xlabel('t')
    plt.ylabel('alat[m/s^2]')