Fix size bug in free-fwddyn

loco-3d / crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms

BSD 3-Clause "New" or "Revised" License

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Fix size bug in free-fwddyn #1115

Closed skleff1994 closed 1 year ago

skleff1994 commented 1 year ago

Fix for what seems to be inconsistent matrix sizes in free-fwddyn : Minv is nv x nv while u_drift and dtau_dx have nu rows.