Autogenerate C++ Header from Jupyter Notebook parameters along with NLP binary

Create a `NLP` directory which contains both `nlp.so` and an auto-generated C++ header file containing the MPC parameters, such as prediction horizon length (`N`), time sample interval (`dt`) etc. Then (auto-)copy this directory over to the walking controller and include it is as the MPC configuration. 

After merging all repos include the generated header directly.