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Implement ICentroidalMPC interface and add the StableCentroidalMPC class #4199

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Implement ICentroidalMPC interface and add the StableCentroidalMPC class

Implement ICentroidalMPC interface and add the StableCentroidalMPC class #4199

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Job Run time
[ubuntu-latest@Release@conda]
9m 16s
[windows-2019@Release@conda]
22m 44s
[macos-latest@Release@conda]
18m 33s
50m 33s