Merge pull request #397 from Zionshang/fix-issue-396

fix: use nu_max for du_tmp buffer allocation in tryLinearStep (#396)

Author: ManifoldFR

CHANGELOG.md

@@ -10,6 +10,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Fixed
 
 - Update finite difference helper to support explicit dynamics, replacing the obsolete implicit-only implementation. (https://github.com/Simple-Robotics/aligator/pull/392)
+- Fix `SolverProxDDP::tryLinearStep()` temporary control update buffer allocation to use `nu_max` instead of `ndx_max`. (https://github.com/Simple-Robotics/aligator/pull/397)
+
 
 ## [0.18.0] - 2026-01-27
 

include/aligator/solvers/proxddp/solver-proxddp.hxx

@@ -129,7 +129,7 @@ Scalar SolverProxDDPTpl<Scalar>::tryLinearStep(const Problem &problem,
   }
   ndx_max = std::max(ndx_max, workspace_.dxs.back().size());
   ArenaMatrix<VectorXs> dx_tmp{ndx_max, allocator_};
-  ArenaMatrix<VectorXs> du_tmp{ndx_max, allocator_};
+  ArenaMatrix<VectorXs> du_tmp{nu_max, allocator_};
 
   for (size_t i = 0; i < nsteps; i++) {
     const StageModel &stage = *problem.stages_[i];