这个文件主要是对最优问题的构造。1.setupOptimalConrolProblemvoidLeggedRobotInterface::setupOptimalConrolProblem(conststd::string&taskFile,conststd::string&urdfFile,conststd::string&referenceFile,

1.创建MPC_ROS_Interface接口,以sqpMpc为例//自定义接口LeggedRobotInterfaceinterface(taskFile,urdfFile,referenceFile);//创建同步接口autogaitReceiverPtr=std::make_shared<GaitReceiver>(nodeHandle,interface.getSwitchedModelReferenceManagerPtr()->

1.ModelHelperFunctions.cpp1.1updateCentroidalDynamics():质心动力学更新template<typenameSCALAR_T>voidupdateCentroidalDynamics(PinocchioInterfaceTpl<SCALAR_T>&interface,constCentroidalModelInfoTpl<SCALAR_T>&info,