text: #include "MultiPhaseDDP.h"
  #include "MHPC_CPPTypes.h"
  #include "MHPC_CompoundTypes.h"
  #include "PlanarFloatingBase.h"
  #include "PlanarQuadruped.h"
  #include "Gait.h"
  #include "ReferenceGen.h"
  #include "MHPCConstraints.h"
  #include "MHPCCost.h"
  #include "MHPCLocomotion.h"
  
  int main(int argn, char *argv[])
  {
  	
      // Choose HSDDP options
      HSDDP_OPTION<double> option;
      option.ReB_active = 1;
      option.AL_active = 1;
      option.max_AL_iter = 2;
      option.max_DDP_iter = 3;
  
      // Instantiate MHPCLocomotion
      USRCMD usrcmd;
      usrcmd.vel = 1.5;
      usrcmd.height = 0;
      usrcmd.roll=0;
      usrcmd.pitch = 0;
      usrcmd.yaw = 0;
      MHPCUserParameters mhpcparams;   
      mhpcparams.usrcmd = &usrcmd;
      Gait gait; 
      MHPCLocomotion<double> locomotion(&mhpcparams, &gait, option);    
      locomotion.initialization();
      locomotion.solve_mhpc();
      locomotion.print_debugInfo();
  }