hongyuan

**Describe the bug** file ： apollo/modules/planning/planning_base/math/discretized_points_smoothing/fem_pos_deviation_sqp_osqp_interface.cc 部分代码与公式推导不符，导致fem_sqp 外环曲率判断条件不符合逻辑 546 row： ` double cviolation = curvature_constraint_sqr - (-2.0 * x_m + x_f + x_l) * (-2.0 * x_m + x_f +...