loopshaping used in legged robot was no working

[aaLiujs]

I add LoopshapingRobotInterface and LoopshapingReferenceManager and LoopshapingSynchronizedModule in LeggedRobotSqpMpcNode,but Loopshaping make a mistake solution of mpc.

[NaCl-1374]

I also want to know how to use loop shaping, can you provide some sample programs

[aaLiujs]

邮件收到，O(∩_∩)O谢谢。