Piecewice jerk problem solved by osqp and proxqp

The optimized variables is x0, x1...xn, x0',x1'...xn',x0'',x1''...xn''.
n is the nummber of knots.

1/2 x^T H x + g^T x
s.b.  l <= Aieq x <= u


For osqp_solver:
1. install osqp 0.5.0, ref https://osqp.org/docs/get_started/sources.html#build-from-sources
2. cd osqp_solver && mkdir build && cd build
3. cmake .. && make
4. ./osqp_lat_trajectory_generation

You can change weight, constraints cond, vehicle geometry params in osqp_problem_opt_progress.cpp.


For proxqp_solver:
1. install  proxqp, ref https://simple-robotics.github.io/proxsuite/md_doc_5_installation.html
   note: The following dependencies are required at compile time
          (CMake,Eigen >= 3.0.5, C++ >= 17)
2. cd proxqp_solver && mkdir build && cd build
3. cmake .. && make
4. ./proxqp_lat_trajectory_generation 

You can change weight, constraints cond, vehicle geometry params in proxqp_lat_trajectory_generation.cpp.