cmakelist需要根据本地的软件环境进行修改
建模原理请见：https://blog.csdn.net/BIT_csy/article/details/122793064
basic_data_def.h : 基础数据结构定义
scenarios : 生成要考虑的场景，map + object
qp_smooth : QP问题构造，环境里需要装有OSQP
结果：
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