[qpoasse_interface test] PR added check for equality constraints

[qlin960618]

Hi @mmmarinho,

This PR added test for the DQ_QPOASESSolver equality constraints check that is in tandem with the PR #1 in that Repo.
Some modification were made to the original code limited to the structure, in addition to a new test_equality test case.

qlin
Best,

[juanjqo]

Hi @qlin960618, as mentioned in PR1, the cpp-interface-qpoases you are proposing is not running with the current example. I'll wait for your reply to review this PR.

Please note that your commit messages are not following the DQ Robotics convention, which is summarized in CONTRIBUTING.md. Please update your messages in newer commits.

Please indicate in your commit message, using brackets, the modified file. For instance, if you modified the class DQ_SerialManipulator, then you would do the following:

git commit -m "[DQ_SerialManipulator] your_message_explaining_the modification."

Best regards,

Juan

[juanjqo]

@qlin960618 Thank you for your PR. There are some minor modifications.

[juanjqo]

@mmmarinho This PR is ready for your review.

[mmmarinho]

@juanjqo Are all points of discussion resolved? Can I mark them as resolved if you're unable to do so?

[juanjqo]

@mmmarinho Yes, all points were resolved. I am not allowed to mark them as resolved.

[mmmarinho]

@juanjqo Seems fine. I'll proceed with the merge and let me know if something goes wrong.