Revert "Pre initialize the matrix size"

This reverts commit 8d39595e.

src/ZMPRefTrajectoryGeneration/qp-problem.cpp

@@ -47,25 +47,9 @@ QPProblem_s::QPProblem_s():
   iout_(0),ifail_(0), iprint_(0),
   lwar_(0), liwar_(0),
   Eps_(0),
-  NbVariables_(36), NbConstraints_(74),NbEqConstraints_(0)
+  NbVariables_(0), NbConstraints_(0),NbEqConstraints_(0)
 {
-  NbVariables_ = 36;
-  NbConstraints_ = 74;
-
-  m_ = NbConstraints_;
-  me_ = NbEqConstraints_;
-  mmax_ = m_+1;
-  n_ = NbVariables_;
-  nmax_ = n_;
-  mnn_ = m_+2*n_;
-  
-  iout_ = 0;
-  iprint_ = 1;
-  lwar_ = 3*nmax_*nmax_/2+ 10*nmax_  + 2*mmax_ + 20000;
-  liwar_ = n_;
-  Eps_ = 1e-8;
 
-  resize_all();
 }
 
 
@@ -223,21 +207,9 @@ QPProblem_s::add_term( const MAL_MATRIX (&Mat, double), int type,
       break;
     }
 
-  /*  std::cout << "NbVariables_:" << NbVariables_
+  std::cout << "NbVariables_:" << NbVariables_
 	    << " NbConstraints_:" << NbConstraints_ 
-	    << " NbEqConstraints_: " << NbEqConstraints_
-	    << " m_ :"     << m_
-	    << " me_:"     << me_
-	    << " mmax_: "  << mmax_
-	    << " n_:"      << n_
-	    << " nmax_: "  << nmax_
-	    << " mnn_: "   << mnn_ 
-	    << " lwar_:"   << lwar_
-	    << " liwar_ :" << liwar_ 
-	    << std::endl; */
-  if (NbEqConstraints_>0)
-    std::cout << "NbEqConstraints:" << NbEqConstraints_<< std::endl;
-
+	    << std::endl;
   if (NbVariables_ > pArray_s->ncols_ )
     {
       resize_all();