// Convex MPC formulation void ConvexMPC::solve(const State& state) {   // Define state and control variables Matrix<double, 13, 1> x_t; x_t << state.rpy, state.pos, state.omega, state.vel, -9.8;   // Quadratic Programming qp_solver.settings()->setWarmStart(true); qp_solver.solve();   // Update foot forces update_reaction_forces(qp_solver.getSolution()); }