update test problem generation

Author: rubengrandia

ocs2_oc/test/include/ocs2_oc/test/testProblemsGeneration.h

@@ -47,10 +47,12 @@ inline ScalarFunctionQuadraticApproximation getRandomCost(int n, int m) {
   QPPR = QPPR.transpose() * QPPR;
   ScalarFunctionQuadraticApproximation cost;
   cost.dfdxx = QPPR.topLeftCorner(n, n);
-  cost.dfdux = QPPR.bottomLeftCorner(m, n);
-  cost.dfduu = QPPR.bottomRightCorner(m, m);
   cost.dfdx = vector_t::Random(n);
-  cost.dfdu = vector_t::Random(m);
+  if (m > 0) {
+    cost.dfdux = QPPR.bottomLeftCorner(m, n);
+    cost.dfduu = QPPR.bottomRightCorner(m, m);
+    cost.dfdu = vector_t::Random(m);
+  }
   cost.f = std::rand() / static_cast<scalar_t>(RAND_MAX);
   return cost;
 }
@@ -67,7 +69,9 @@ inline std::unique_ptr<ocs2::StateCost> getOcs2StateCost(const ScalarFunctionQua
 inline VectorFunctionLinearApproximation getRandomDynamics(int n, int m) {
   VectorFunctionLinearApproximation dynamics;
   dynamics.dfdx = matrix_t::Random(n, n);
-  dynamics.dfdu = matrix_t::Random(n, m);
+  if (m > 0) {
+    dynamics.dfdu = matrix_t::Random(n, m);
+  }
   dynamics.f = vector_t::Random(n);
   return dynamics;
 }
@@ -80,7 +84,9 @@ inline std::unique_ptr<ocs2::LinearSystemDynamics> getOcs2Dynamics(const VectorF
 inline VectorFunctionLinearApproximation getRandomConstraints(int n, int m, int nc) {
   VectorFunctionLinearApproximation constraints;
   constraints.dfdx = matrix_t::Random(nc, n);
-  constraints.dfdu = matrix_t::Random(nc, m);
+  if (m > 0) {
+    constraints.dfdu = matrix_t::Random(nc, m);
+  }
   constraints.f = vector_t::Random(nc);
   return constraints;
 }