[minor] add precompilation variable

cpp/include/ilqrsolver.h

@@ -9,6 +9,9 @@
 #include <qpOASES.hpp>
 #include <qpOASES/QProblemB.hpp>
 
+#define ENABLE_QPBOX 1
+#define DISABLE_QPBOX 0
+
 using namespace Eigen;
 USING_NAMESPACE_QPOASES
 

cpp/test/testModel.cpp

@@ -51,7 +51,7 @@ int main()
         cout << x << endl<<"-"<<endl;
     }*/
 
-    ILQRSolver testSolverRomeoActuator(romeoActuatorModel,costRomeoActuator,1);
+    ILQRSolver testSolverRomeoActuator(romeoActuatorModel,costRomeoActuator,ENABLE_QPBOX);
     testSolverRomeoActuator.FirstInitSolver(xinit,xDes,T,dt,iterMax,stopCrit);