diff --git a/src/optimization/CasADiOpti.cpp b/src/optimization/CasADiOpti.cpp
index 4a1bbbc8..4c32468c 100644
--- a/src/optimization/CasADiOpti.cpp
+++ b/src/optimization/CasADiOpti.cpp
@@ -24,14 +24,12 @@ void CasADiOpti::SetInitial(const casadi::MX& expression, double value) {
   opti.set_initial(expression, value);
 }
 void CasADiOpti::Solve() {
-  const auto callback = CasADiIterCallback("f", opti.nx(), opti.ng(), opti.np());
+  const auto callback = new CasADiIterCallback("f", opti.nx(), opti.ng(), opti.np());
 #ifdef DEBUG_OUTPUT
   // I don't try-catch this next line since it should always work.
   // I'm assuming the dynamic lib is on the path and casadi can find it.
   auto pluginOptions = casadi::Dict();
-  pluginOptions["iteration_callback"] = callback;
-  auto solverOptions = casadi::Dict();
-  solverOptions["iteration_callback"] = callback;
+  pluginOptions["iteration_callback"] = *callback;
   //auto reference = &pluginOptions["iteration_callback"];
   opti.solver("ipopt", pluginOptions, solverOptions);
 #else