Minor test changes

Author: earlaud

tests/inverse_dynamics.cpp

@@ -6,7 +6,7 @@
 #include "simple-mpc/robot-handler.hpp"
 #include "test_utils.cpp"
 
-BOOST_AUTO_TEST_SUITE(qpsolvers)
+BOOST_AUTO_TEST_SUITE(inverse_dynamics)
 
 using namespace simple_mpc;
 
@@ -61,7 +61,7 @@ BOOST_AUTO_TEST_CASE(KinodynamicsID_allTasks)
   RobotModelHandler model_handler = getSoloHandler();
   RobotDataHandler data_handler(model_handler);
 
-  KinodynamicsID solver(model_handler, KinodynamicsID::Settings::Default());
+  KinodynamicsID solver(model_handler);
 
   const Eigen::VectorXd q_target = model_handler.getReferenceState().head(model_handler.getModel().nq);
   Eigen::VectorXd f_target = Eigen::VectorXd::Zero(4 * 3);