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From 9ea31d76a482e812cf4b1107506aa4daa2c13284 Mon Sep 17 00:00:00 2001
From: Joris Vaillant <joris.vaillant@inria.fr>
Date: Wed, 20 May 2026 14:36:57 +0200
Subject: [PATCH] fix: Eigen5 build issue
---
include/crocoddyl/core/actions/diff-lqr.hxx | 2 +-
include/crocoddyl/core/actions/lqr.hxx | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/include/crocoddyl/core/actions/diff-lqr.hxx b/include/crocoddyl/core/actions/diff-lqr.hxx
index d99cf5a9..de57d116 100644
--- a/include/crocoddyl/core/actions/diff-lqr.hxx
+++ b/include/crocoddyl/core/actions/diff-lqr.hxx
@@ -68,7 +68,7 @@ DifferentialActionModelLQRTpl<Scalar>::DifferentialActionModelLQRTpl(
N_(MatrixXs::Zero(2 * nq, nu)),
G_(MatrixXs::Zero(0, 2 * nq + nu)),
H_(MatrixXs::Zero(0, 2 * nq + nu)),
- f_(drift_free ? VectorXs::Zero(nq) : VectorXs::Ones(nq)),
+ f_(VectorXs::Constant(nq, drift_free ? Scalar(0) : Scalar(1))),
q_(VectorXs::Ones(2 * nq)),
r_(VectorXs::Ones(nu)),
g_(VectorXs::Zero(0)),
diff --git a/include/crocoddyl/core/actions/lqr.hxx b/include/crocoddyl/core/actions/lqr.hxx
index 13f5d003..1d4426fc 100644
--- a/include/crocoddyl/core/actions/lqr.hxx
+++ b/include/crocoddyl/core/actions/lqr.hxx
@@ -68,7 +68,7 @@ ActionModelLQRTpl<Scalar>::ActionModelLQRTpl(const std::size_t nx,
N_(MatrixXs::Zero(nx, nu)),
G_(MatrixXs::Zero(0, nx + nu)),
H_(MatrixXs::Zero(0, nx + nu)),
- f_(drift_free ? VectorXs::Zero(nx) : VectorXs::Ones(nx)),
+ f_(VectorXs::Constant(nx, drift_free ? Scalar(0) : Scalar(1))),
q_(VectorXs::Ones(nx)),
r_(VectorXs::Ones(nu)),
g_(VectorXs::Zero(0)),
--
2.52.0
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