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--- 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.
};
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