Wrong template vector size for parameters
In src/control/nmpc.hpp (experimental branch) at line 139:
var0.template segment<1>(VARX_SIZE+VARU_SIZE) = m_p0;
should be
var0.template segment<NP>(VARX_SIZE+VARU_SIZE) = m_p0;
In src/control/nmpc.hpp (experimental branch) at line 139:
var0.template segment<1>(VARX_SIZE+VARU_SIZE) = m_p0;
should be
var0.template segment<NP>(VARX_SIZE+VARU_SIZE) = m_p0;