text: //
  // Academic License - for use in teaching, academic research, and meeting
  // course requirements at degree granting institutions only.  Not for
  // government, commercial, or other organizational use.
  // File: Jump2DConstraintsFinal.cpp
  //
  // MATLAB Coder version            : 3.2
  // C/C++ source code generated on  : 26-Aug-2019 18:20:14
  //
  
  // Include Files
  #include "rt_nonfinite.h"
  #include "Jump2DBounds.h"
  #include "Jump2DConstraintJacobian.h"
  #include "Jump2DConstraintJacobianFinal.h"
  #include "Jump2DConstraintJacobianFinalSP.h"
  #include "Jump2DConstraintJacobianInitial.h"
  #include "Jump2DConstraintJacobianInitialSP.h"
  #include "Jump2DConstraintJacobianSP.h"
  #include "Jump2DConstraints.h"
  #include "Jump2DConstraintsFinal.h"
  #include "Jump2DConstraintsInitial.h"
  #include "Jump2DCost.h"
  #include "Jump2DCostGradient.h"
  #include "Jump2DInitialize.h"
  #include "Jump2DLagrangianHessian.h"
  #include "Jump2DLagrangianHessianFinal.h"
  #include "Jump2DLagrangianHessianFinalSP.h"
  #include "Jump2DLagrangianHessianInitial.h"
  #include "Jump2DLagrangianHessianInitialSP.h"
  #include "Jump2DLagrangianHessianSP.h"
  
  // Function Definitions
  
  //
  // JUMP2DCONSTRAINTSFINAL
  //     CONSTRAINTS_FINAL = JUMP2DCONSTRAINTSFINAL(IN1,IN2,IN3,IN4,DT,IN6,M,IYY,G,MU_G)
  // Arguments    : const double in1[6]
  //                const double in2[4]
  //                const double in3[6]
  //                const double in4[2]
  //                double dt
  //                const double in6[4]
  //                double m
  //                double Iyy
  //                double g
  //                double mu_g
  //                double constraints_final[10]
  // Return Type  : void
  //
  void Jump2DConstraintsFinal(const double in1[6], const double in2[4], const
    double in3[6], const double in4[2], double dt, const double in6[4], double m,
    double Iyy, double g, double mu_g, double constraints_final[10])
  {
    double t2;
    double t3;
    double t6;
    double t9;
    double t10;
    double t17;
  
    //     This function was generated by the Symbolic Math Toolbox version 7.1.
    //     26-Aug-2019 18:15:40
    t2 = dt * dt;
    t3 = 1.0 / m;
    t6 = in2[2] * in4[1] + in2[0] * in4[0];
    t9 = in2[3] * in4[1] + in2[1] * in4[0];
    t10 = 1.0 / Iyy;
    t17 = in4[1] * (in2[2] * in6[3] - in2[3] * in6[2]) + in4[0] * (in2[0] * in6[1]
      - in2[1] * in6[0]);
    constraints_final[0] = ((in1[0] - in3[0]) - dt * in3[3]) - t2 * t3 * t6 * 0.5;
    constraints_final[1] = (((in1[1] - in3[1]) - dt * in3[4]) - g * t2 * 0.5) - t2
      * t3 * t9 * 0.5;
    constraints_final[2] = ((in1[2] - in3[2]) - in3[5] * dt) - t2 * t10 * t17 *
      0.5;
    constraints_final[3] = (in1[3] - in3[3]) - dt * t3 * t6;
    constraints_final[4] = ((in1[4] - in3[4]) - dt * g) - dt * t3 * t9;
    constraints_final[5] = (in1[5] - in3[5]) - dt * t10 * t17;
    constraints_final[6] = -in2[1] * in4[0] * (mu_g - 1.0);
    constraints_final[7] = -in2[1] * in4[0] * (mu_g + 1.0);
    constraints_final[8] = -in2[3] * in4[1] * (mu_g - 1.0);
    constraints_final[9] = -in2[3] * in4[1] * (mu_g + 1.0);
  }
  
  //
  // File trailer for Jump2DConstraintsFinal.cpp
  //
  // [EOF]
  //
  