Commit b5c4c9b1 authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

[ddp] compile error

parent 1229872a
Pipeline #11613 failed with stage
in 78 minutes and 4 seconds
......@@ -319,9 +319,12 @@ void SolverDDP::computeGains(const std::size_t& t) {
throw_pretty("backward_error");
}
K_[t].topRows(nu).noalias() = Qxu_[t].leftCols(nu).transpose();
Quu_llt_[t].solveInPlace(K_[t].topRows(nu));
Eigen::Block<Eigen::MatrixXd> K = K_[t].topRows(nu);
Quu_llt_[t].solveInPlace(K);
k_[t].head(nu) = Qu_[t].head(nu);
Quu_llt_[t].solveInPlace(k_[t].head(nu));
Eigen::VectorBlock<Eigen::VectorXd, Eigen::Dynamic> k = k_[t].head(nu);
Quu_llt_[t].solveInPlace(k);
}
}
......
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