riccati-impl.hxx : let compiler infer Eigen::Transpose< > template param

Simple-Robotics · Oct 16, 2024 · c1bcd3c · c1bcd3c
1 parent 5f75d5e
commit c1bcd3c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/gar/include/aligator/gar/riccati-impl.hxx b/gar/include/aligator/gar/riccati-impl.hxx
@@ -84,7 +84,7 @@ void ProximalRiccatiKernel<Scalar>::terminalSolve(const KnotType &model,
   RowMatrixRef Kth = d.fth.blockRow(0);
   RowMatrixRef Zth = d.fth.blockRow(1);
 
-  Eigen::Transpose<const MatrixXs> Ct = model.C.transpose();
+  Eigen::Transpose Ct = model.C.transpose();
 
   if (model.nu == 0) {
     Z = model.C / mueq;