maybe this time

SleipnirGroup · Nov 14, 2023 · 494628d · 494628d
1 parent 1a900d4
commit 494628d
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/optimization/CasADiOpti.cpp b/src/optimization/CasADiOpti.cpp
@@ -24,12 +24,12 @@ void CasADiOpti::SetInitial(const casadi::MX& expression, double value) {
   opti.set_initial(expression, value);
 }
 void CasADiOpti::Solve() {
-  auto callback = new CasADiIterCallback("f", opti.nx(), opti.ng(), opti.np());
+CasADiIterCallback cb("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;
+  pluginOptions["iteration_callback"] = cb;
   //auto reference = &pluginOptions["iteration_callback"];
   opti.solver("ipopt", pluginOptions);
 #else