--- a/controllers/easynav_mpc_controller/include/easynav_mpc_controller/MPCOptimizer.hpp
+++ b/controllers/easynav_mpc_controller/include/easynav_mpc_controller/MPCOptimizer.hpp
@@ -72,9 +72,9 @@
 private:
   int N_ {5};                                     ///< Horizont Step to optimize.
   double dt_ {0.1};                               ///< Differential time to integrate.
-  Eigen::Matrix2d Q_ {{4.0, 0.0}, {0.0, 4.0}};    ///< Tracking Cost Matrix
-  Eigen::Matrix2d R_ {{0.1, 0.0}, {0.0, 0.1}};    ///< Effort Cost Matrix
-  Eigen::Matrix2d Rd_ {{0.1, 0.0}, {0.0, 0.1}};   ///< Smooth Cost Matrix
+  Eigen::Matrix2d Q_ = (Eigen::Matrix2d() << 4.0, 0.0, 0.0, 4.0).finished();    ///< Tracking Cost Matrix
+  Eigen::Matrix2d R_ = (Eigen::Matrix2d() << 0.1, 0.0, 0.0, 0.1).finished();    ///< Effort Cost Matrix
+  Eigen::Matrix2d Rd_ = (Eigen::Matrix2d() << 0.1, 0.0, 0.0, 0.1).finished();   ///< Smooth Cost Matrix
   double qtheta_ {3.0};                           ///< Angular cost value.
 
 };