Resize samples instead of reallocating

Author: EtienneAr

src/inverse-dynamics/centroidal.cpp

@@ -26,7 +26,7 @@ namespace simple_mpc
     if (settings_.w_com > 0.)
       formulation_.addMotionTask(*comTask_, settings_.w_com, 1);
 
-    sampleCom_ = tsid::trajectories::TrajectorySample(3);
+    sampleCom_.resize(3);
 
     // Add foot tracking task
     const size_t n_contacts = model_handler_.getFeetNb();

src/inverse-dynamics/kinodynamics.cpp

@@ -70,7 +70,7 @@ KinodynamicsID::KinodynamicsID(const RobotModelHandler & model_handler, double c
   if (settings_.w_base > 0.)
     formulation_.addMotionTask(*baseTask_, settings_.w_base, 1);
 
-  sampleBase_ = tsid::trajectories::TrajectorySample(12, 6);
+  sampleBase_.resize(12, 6);
 
   // Add joint limit task
   boundsTask_ = std::make_shared<tsid::tasks::TaskJointPosVelAccBounds>("task-joint-limits", robot_, control_dt);