参考线优化 OSQP

Apollo参考线优化之DiscretePointsReferenceLineSmoother
参考：
https://liuxiaofei.com.cn/blog/apollo%E5%8F%82%E8%80%83%E7%BA%BF%E4%BC%98%E5%8C%96%E4%B9%8Bdiscretepointsreferencelinesmoother/