From 649063d6b7fc80a58430f6beb444c19f76da8f77 Mon Sep 17 00:00:00 2001
From: cyy_mac <cyy@mac.com>
Date: Fri, 27 Mar 2026 05:34:05 +0800
Subject: [PATCH] fix_wust_mpc erro

---
 src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp b/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp
index a869b49..0d682d0 100644
--- a/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp
+++ b/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp
@@ -290,6 +290,7 @@ void MpcPlanner::setupProblem() {
     // Cost weights
     Q_(0) = params_.Q_yaw_p;
     Q_(1) = params_.Q_yaw_v;
+    R_.resize(1);
     R_(0) = params_.R_yaw;
 }