Fix benchmark compilation

Author: EtienneAr

benchmark/go2.cpp

@@ -109,7 +109,6 @@ int main()
   int T_fly = 30;
   int T_contact = 5;
   simple_mpc::MPCSettings mpc_settings;
-  mpc_settings.ddpIteration = 1;
   mpc_settings.support_force = -gravity[2] * model_handler.getMass();
   mpc_settings.TOL = 1e-4;
   mpc_settings.mu_init = 1e-8;

benchmark/talos.cpp

@@ -72,8 +72,9 @@ int main()
   RobotModelHandler model_handler(model, "half_sitting", base_joint);
 
   // Add feet
-  model_handler.addQuadFoot("left_sole_link", base_joint);
-  model_handler.addQuadFoot("right_sole_link", base_joint);
+  Eigen::Matrix<double, 4, 3> foot_quad{{0.1, 0.075, 0}, {-0.1, 0.075, 0}, {-0.1, -0.075, 0}, {0.1, -0.075, 0}};
+  model_handler.addQuadFoot("left_sole_link", base_joint, foot_quad);
+  model_handler.addQuadFoot("right_sole_link", base_joint, foot_quad);
 
   model_handler.setFootReferencePlacement(
     model_handler.getFootNb("left_sole_link"),