说明：  包括非线性规划，目标规划，多目标规划等。 稍微改改就可以用在别处。 每个例子的描述是Latex文件，cpp文件是源码
(Including non-linear programming, goal planning, multi-objective planning. Little changed on the could have been spent elsewhere. A description of each example is the Latex file, cpp file is the source)