源代码：https://github.com/alexliniger/MPCC 这个代码在原代码上进行了一点自己想法修改： （1）线性化前向欧拉法看看精度相差 （2）引入障碍物函数CBF (3) 修改为Yalmip解算 (4) 修改了等式约束放入代价函数中进行求解
具体详细信息见我的博客：https://blog.csdn.net/caokaifa/article/details/125610787?spm=1001.2014.3001.5501
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