End state constraint in QP

[daaaachuan]

I have a problem with the coefficients in the end state constraint.
Specificly, I think the coefficient in Btraj/src/trajectory_generator.cpp should be as follows:
line 301-302
aval[0] = - 1.0 * traj_order;
aval[1] = 1.0 * traj_order;
line 315-318
aval[0] = 1.0 * traj_order * (traj_order - 1) / lstScale;
aval[1] = - 2.0 * traj_order * (traj_order - 1) / lstScale;
aval[2] = 1.0 * traj_order * (traj_order - 1) / lstScale;