From 715ed1d284b31069c7cbe023e04253e5dc808003 Mon Sep 17 00:00:00 2001
From: ManifoldFR <wilson.jallet@polytechnique.org>
Date: Wed, 16 Oct 2024 15:43:38 +0200
Subject: [PATCH] [gar] lqr-problem : move impl of addParameterization() to hxx
 file

---
 gar/include/aligator/gar/lqr-problem.hpp |  9 +--------
 gar/include/aligator/gar/lqr-problem.hxx | 10 ++++++++++
 2 files changed, 11 insertions(+), 8 deletions(-)

diff --git a/gar/include/aligator/gar/lqr-problem.hpp b/gar/include/aligator/gar/lqr-problem.hpp
index 137dbf1e2..6cb17ab13 100644
--- a/gar/include/aligator/gar/lqr-problem.hpp
+++ b/gar/include/aligator/gar/lqr-problem.hpp
@@ -47,14 +47,7 @@ template <typename Scalar> struct LQRKnotTpl {
   LQRKnotTpl(uint nx, uint nu, uint nc) : LQRKnotTpl(nx, nu, nc, nx) {}
 
   // reallocates entire buffer for contigousness
-  inline void addParameterization(uint nth) {
-    this->nth = nth;
-    Gth.setZero(nth, nth);
-    Gx.setZero(nx, nth);
-    Gu.setZero(nu, nth);
-    Gv.setZero(nc, nth);
-    gamma.setZero(nth);
-  }
+  void addParameterization(uint nth);
 };
 
 template <typename Scalar> struct LQRProblemTpl {
diff --git a/gar/include/aligator/gar/lqr-problem.hxx b/gar/include/aligator/gar/lqr-problem.hxx
index 19c907e1a..6c1edcc98 100644
--- a/gar/include/aligator/gar/lqr-problem.hxx
+++ b/gar/include/aligator/gar/lqr-problem.hxx
@@ -33,6 +33,16 @@ LQRKnotTpl<Scalar>::LQRKnotTpl(uint nx, uint nu, uint nc, uint nx2, uint nth)
   gamma.setZero();
 }
 
+template <typename Scalar>
+void LQRKnotTpl<Scalar>::addParameterization(uint nth) {
+  this->nth = nth;
+  Gth.setZero(nth, nth);
+  Gx.setZero(nx, nth);
+  Gu.setZero(nu, nth);
+  Gv.setZero(nc, nth);
+  gamma.setZero(nth);
+}
+
 template <typename Scalar>
 Scalar LQRProblemTpl<Scalar>::evaluate(
     const VectorOfVectors &xs, const VectorOfVectors &us,