按功能拆分接口并清理核心乱码注释

src/api/KinematicsWebAPI.QuadrupedCommands.cpp

@@ -0,0 +1,21 @@
+#include "KinematicsWebAPI.h"
+#include "QuadrupedRobotSimulation/KinematicsHelper.h"
+
+#include <iostream>
+
+json KinematicsWebAPI::handleQuadrupedCommand(const std::string &req_cmd, const json &req_param)
+{
+    if (req_cmd == "Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles")
+    {
+        std::cout << "[DEBUG] Cmd_QuadrupedRobot_CalculateAllPointsFromMotorAngles: 开始计算点位" << std::endl;
+        return KinematicsHelper::QuadrupedRobot_CalculateAllPointsFromMotorAngles(req_param.dump());
+    }
+
+    if (req_cmd == "Cmd_QuadrupedRobot_PerformForwardKinematics")
+    {
+        std::cout << "[DEBUG] Cmd_QuadrupedRobot_PerformForwardKinematics: 开始执行正运动学" << std::endl;
+        return KinematicsHelper::QuadrupedRobot_PerformForwardKinematics(req_param.dump());
+    }
+
+    return createUnknownCommandResponse(req_cmd, req_param);
+}