proxqp/dense: fix memory allocation in factorize

Author: jcarpent

include/proxsuite/proxqp/dense/helpers.hpp

@@ -87,7 +87,7 @@ setup_factorization(Workspace<T>& qpwork,
     .segment(qpmodel.dim, qpmodel.n_eq)
     .setConstant(-qpresults.info.mu_eq);
 
-  qpwork.ldl.factorize(qpwork.kkt, stack);
+  qpwork.ldl.factorize(qpwork.kkt.transpose(), stack);
 }
 /*!
  * Performs the equilibration of the QP problem for reducing its

include/proxsuite/proxqp/dense/solver.hpp

@@ -55,7 +55,7 @@ refactorize(const Model<T>& qpmodel,
   proxsuite::linalg::veg::dynstack::DynStackMut stack{
     proxsuite::linalg::veg::from_slice_mut, qpwork.ldl_stack.as_mut()
   };
-  qpwork.ldl.factorize(qpwork.kkt, stack);
+  qpwork.ldl.factorize(qpwork.kkt.transpose(), stack);
 
   isize n = qpmodel.dim;
   isize n_eq = qpmodel.n_eq;