Fix initialization for dynamics expansion

RoboticExplorationLab · Oct 25, 2021 · df6e1fb · df6e1fb
1 parent f2370cd
commit df6e1fb
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/Project.toml b/Project.toml
@@ -1,6 +1,6 @@
 name = "TrajectoryOptimization"
 uuid = "c79d492b-0548-5874-b488-5a62c1d9d0ca"
-version = "0.5.0"
+version = "0.5.1"
 
 [deps]
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"

diff --git a/src/expansions.jl b/src/expansions.jl
@@ -70,7 +70,7 @@ struct DynamicsExpansion{T,N,N̄,M}
 		fux = view(∇²f, iu, ix)
 		tmpA = SizedMatrix{n0,n0}(zeros(n0,n0))
 		tmpB = SizedMatrix{n0,m}(zeros(n0,m))
-		tmp = zeros(n0,n)
+		tmp = SizedMatrix{n0,n}(zeros(n0,n))
 		new{T,n0,n,m}(∇f,∇²f,A_,B_,A,B,fxx,fuu,fux,tmpA,tmpB,tmp)
 	end
 	function DynamicsExpansion{T}(n::Int, m::Int) where T